+ python -m lidar_slam --no-model /working/910217d2-2dd4-4806-a3b7-a019c7e66750 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/910217d2-2dd4-4806-a3b7-a019c7e66750 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 0.028040942 Adjusted end_distance from 9.223372036854776e+18 to 199.178040942 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028040942 meters Centerline goodness : 0.996868 Centerline is valid? [0, True] SLAMing on 0.058040942 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:0.02, Y:-0.01, Z:0.01 [[ 9.99988406e-01 -4.91755120e-04 4.79028714e-03 2.12981842e-02] [ 3.58759038e-04 9.99615521e-01 2.77250965e-02 -9.83946285e-03] [-4.80207933e-03 -2.77230564e-02 9.99604108e-01 5.69330336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.088040942 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.999896 -0.00866004 0.01153258 0.04935154] [ 0.00826439 0.99939026 0.03392356 0.00525823] [-0.01181932 -0.03382472 0.99935789 -0.00286719] [ 0. 0. 0. 1. ]] SLAMing on 0.118040942 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:0.09, Y:0.04, Z:-0.00 [[ 9.99973555e-01 -4.84852963e-03 -5.42036149e-03 8.78445107e-02] [ 4.64180407e-03 9.99285028e-01 -3.75218069e-02 4.31248750e-02] [ 5.59841167e-03 3.74956544e-02 9.99281108e-01 -2.00772708e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148040942 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.06, Z:0.04 [[ 9.99965308e-01 2.33520540e-03 -7.99565817e-03 1.02078242e-01] [-9.44829390e-04 9.85501996e-01 1.69661201e-01 -5.88858242e-02] [ 8.27593084e-03 -1.69647761e-01 9.85470013e-01 4.16039242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17804094199999998 meters Centerline goodness : 0.987259 Centerline is valid? [True, True] Translation: X:0.13, Y:0.04, Z:0.02 [[ 9.99893093e-01 4.36951458e-04 -1.46154384e-02 1.33751178e-01] [-6.47464094e-04 9.99896079e-01 -1.44018141e-02 4.13148672e-02] [ 1.46076266e-02 1.44097374e-02 9.99789466e-01 1.67913480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.208040942 meters Centerline goodness : 0.191265 Centerline is valid? [True, False] Translation: X:0.14, Y:0.04, Z:0.01 [[ 9.99956087e-01 -7.00925298e-04 -9.34523795e-03 1.44768678e-01] [ 6.41268313e-04 9.99979409e-01 -6.38514635e-03 4.21943491e-02] [ 9.34952103e-03 6.37887315e-03 9.99935946e-01 1.36629864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23804094199999998 meters Centerline goodness : 0.206128 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:0.01 [[ 0.99998042 0.00106929 -0.00616585 0.16346389] [-0.00111389 0.99997321 -0.00723414 0.04635555] [ 0.00615795 0.00724087 0.99995482 0.0134346 ] [ 0. 0. 0. 1. ]] SLAMing on 0.268040942 meters Centerline goodness : 0.977877 Centerline is valid? [False, True] Translation: X:0.18, Y:0.05, Z:0.01 [[ 0.99999204 0.00235509 -0.00322163 0.18273032] [-0.00238325 0.99995873 -0.00876713 0.05092595] [ 0.00320085 0.00877474 0.99995638 0.01293759] [ 0. 0. 0. 1. ]] SLAMing on 0.29804094200000003 meters Centerline goodness : 0.968254 Centerline is valid? [True, True] Translation: X:0.21, Y:0.05, Z:0.03 [[ 9.99841494e-01 4.53808002e-03 -1.72160370e-02 2.12811948e-01] [-4.52949591e-03 9.99989597e-01 5.37571487e-04 5.37312188e-02] [ 1.72182975e-02 -4.59506309e-04 9.99851649e-01 3.34136188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.328040942 meters Centerline goodness : 0.316634 Centerline is valid? [True, False] Translation: X:0.23, Y:0.06, Z:0.03 [[ 0.99988512 0.00316523 -0.0148229 0.23226042] [-0.00324376 0.99998082 -0.00527695 0.06052023] [ 0.01480591 0.00532442 0.99987621 0.03239594] [ 0. 0. 0. 1. ]] SLAMing on 0.358040942 meters Centerline goodness : 0.335859 Centerline is valid? [False, False] Translation: X:0.27, Y:0.07, Z:0.03 [[ 0.99987808 0.00267579 -0.01538414 0.27273156] [-0.00284264 0.99993727 -0.01083375 0.06992615] [ 0.01535419 0.01087616 0.99982296 0.03333316] [ 0. 0. 0. 1. ]] SLAMing on 0.388040942 meters Centerline goodness : 0.331007 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:0.03 [[ 0.99990017 0.00379409 -0.01361116 0.29411744] [-0.00394928 0.9999273 -0.01139324 0.07326402] [ 0.01356695 0.01144585 0.99984245 0.03221754] [ 0. 0. 0. 1. ]] SLAMing on 0.418040942 meters Centerline goodness : 0.313988 Centerline is valid? [False, False] Translation: X:0.33, Y:0.08, Z:0.03 [[ 0.99991574 0.00341831 -0.01252332 0.3331882 ] [-0.00360633 0.99988067 -0.01502164 0.08226469] [ 0.01247047 0.01506554 0.99980874 0.03339517] [ 0. 0. 0. 1. ]] SLAMing on 0.448040942 meters Centerline goodness : 0.309612 Centerline is valid? [False, False] Translation: X:0.35, Y:0.08, Z:0.03 [[ 0.99993901 0.00445174 -0.01010687 0.35376068] [-0.00460009 0.99988134 -0.01470204 0.08465476] [ 0.01004022 0.01474764 0.99984084 0.03279556] [ 0. 0. 0. 1. ]] SLAMing on 0.47804094199999997 meters Centerline goodness : 0.310851 Centerline is valid? [False, False] Translation: X:0.36, Y:0.08, Z:0.03 [[ 0.99995368 0.00337175 -0.00901525 0.36359455] [-0.00341727 0.99998147 -0.00503789 0.08381949] [ 0.00899809 0.00506847 0.99994667 0.03369783] [ 0. 0. 0. 1. ]] SLAMing on 0.5080409419999999 meters Centerline goodness : 0.317857 Centerline is valid? [False, False] Translation: X:0.37, Y:0.09, Z:0.03 [[ 0.99993941 0.00343555 -0.01045791 0.36722121] [-0.00347944 0.99998521 -0.00418093 0.09111983] [ 0.01044339 0.00421707 0.99993657 0.03454679] [ 0. 0. 0. 1. ]] SLAMing on 0.538040942 meters Centerline goodness : 0.319107 Centerline is valid? [False, False] Translation: X:0.37, Y:0.10, Z:0.03 [[ 0.99992566 0.00357944 -0.01165631 0.37182442] [-0.00361703 0.99998832 -0.0032061 0.09518705] [ 0.0116447 0.00324802 0.99992692 0.03311399] [ 0. 0. 0. 1. ]] SLAMing on 0.568040942 meters Centerline goodness : 0.315503 Centerline is valid? [False, False] Translation: X:0.37, Y:0.10, Z:0.03 [[ 0.99991852 0.00219482 -0.01257485 0.37420228] [-0.00225289 0.99998686 -0.00460565 0.10054784] [ 0.01256458 0.00463361 0.99991033 0.03325353] [ 0. 0. 0. 1. ]] SLAMing on 0.5980409419999999 meters Centerline goodness : 0.314455 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.03 [[ 0.99989901 -0.00175901 -0.01410212 0.38912276] [ 0.00177397 0.99999788 0.00104848 0.10688464] [ 0.01410025 -0.00107339 0.99990001 0.03335525] [ 0. 0. 0. 1. ]] SLAMing on 0.6280409419999999 meters Centerline goodness : 0.316320 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.03 [[ 9.99878757e-01 -3.30680228e-03 -1.52163286e-02 3.92031945e-01] [ 3.30577986e-03 9.99994532e-01 -9.23443817e-05 1.11419799e-01] [ 1.52165508e-02 4.20313528e-05 9.99884221e-01 3.35285095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.658040942 meters Centerline goodness : 0.312841 Centerline is valid? [False, False] Translation: X:0.39, Y:0.12, Z:0.03 [[ 0.99985504 -0.00495563 -0.01628909 0.3948366 ] [ 0.00493684 0.9999871 -0.00119356 0.11554702] [ 0.01629479 0.00111297 0.99986661 0.03382014] [ 0. 0. 0. 1. ]] SLAMing on 0.6880409419999999 meters Centerline goodness : 0.310446 Centerline is valid? [False, False] Translation: X:0.42, Y:0.12, Z:0.03 [[ 0.99983936 -0.01274782 -0.01259982 0.4180426 ] [ 0.01284186 0.99989007 0.00741113 0.1206413 ] [ 0.01250396 -0.00757175 0.99989315 0.03223112] [ 0. 0. 0. 1. ]] SLAMing on 0.7180409419999999 meters Centerline goodness : 0.310629 Centerline is valid? [False, False] Translation: X:0.42, Y:0.12, Z:0.03 [[ 0.9998009 -0.01471292 -0.01347893 0.42062045] [ 0.01479711 0.99987149 0.00616764 0.12484893] [ 0.01338646 -0.00636586 0.99989013 0.03250741] [ 0. 0. 0. 1. ]] SLAMing on 0.7480409419999999 meters Centerline goodness : 0.312984 Centerline is valid? [False, False] Translation: X:0.44, Y:0.13, Z:0.03 [[ 9.99789570e-01 -1.80739091e-02 -9.70310262e-03 4.39461699e-01] [ 1.80753721e-02 9.99836625e-01 6.30962374e-05 1.32637761e-01] [ 9.70037699e-03 -2.38470150e-04 9.99952922e-01 3.14000660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.778040942 meters Centerline goodness : 0.320508 Centerline is valid? [False, False] Translation: X:0.45, Y:0.14, Z:0.03 [[ 9.99653971e-01 -2.26669838e-02 -1.33471305e-02 4.49750570e-01] [ 2.26693322e-02 9.99743017e-01 2.46653976e-05 1.40772837e-01] [ 1.33431414e-02 -3.27227398e-04 9.99910923e-01 3.24893320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.808040942 meters Centerline goodness : 0.325445 Centerline is valid? [False, False] Translation: X:0.45, Y:0.15, Z:0.03 [[ 9.99596575e-01 -2.45345354e-02 -1.43088788e-02 4.52951188e-01] [ 2.45199110e-02 9.99698626e-01 -1.19661860e-03 1.45123114e-01] [ 1.43339249e-02 8.45283416e-04 9.99896907e-01 3.22538174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8380409419999999 meters Centerline goodness : 0.327212 Centerline is valid? [False, False] Translation: X:0.47, Y:0.15, Z:0.03 [[ 0.99962633 -0.02180859 -0.01648004 0.46859359] [ 0.02173309 0.99975254 -0.00474669 0.14873975] [ 0.01657948 0.00438676 0.99985293 0.03293884] [ 0. 0. 0. 1. ]] SLAMing on 0.8680409419999999 meters Centerline goodness : 0.327405 Centerline is valid? [False, False] Translation: X:0.49, Y:0.16, Z:0.03 [[ 0.99965784 -0.02300129 -0.01245563 0.491612 ] [ 0.02295444 0.99972894 -0.00389101 0.15835495] [ 0.01254175 0.00360377 0.99991486 0.03278413] [ 0. 0. 0. 1. ]] SLAMing on 0.898040942 meters Centerline goodness : 0.846773 Centerline is valid? [False, False] Translation: X:0.51, Y:0.16, Z:0.03 [[ 0.99969618 -0.0230233 -0.00880231 0.51079281] [ 0.02297737 0.99972203 -0.00528312 0.16478214] [ 0.0089215 0.00507926 0.9999473 0.0322556 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9280409419999999 meters Centerline goodness : 0.073884 Centerline is valid? [False, False] Translation: X:0.52, Y:0.17, Z:0.03 [[ 0.99958358 -0.0253518 -0.0137823 0.52473651] [ 0.02532852 0.99967745 -0.00186156 0.17436369] [ 0.01382505 0.0015117 0.99990329 0.03474124] [ 0. 0. 0. 1. ]] SLAMing on 0.9580409419999999 meters Centerline goodness : 0.066858 Centerline is valid? [False, False] Translation: X:0.54, Y:0.18, Z:0.03 [[ 0.99960074 -0.02658648 -0.0095662 0.54293001] [ 0.02652683 0.99962819 -0.00630942 0.18175633] [ 0.00973038 0.00605314 0.99993434 0.03311108] [ 0. 0. 0. 1. ]] SLAMing on 0.9880409419999999 meters Centerline goodness : 0.067141 Centerline is valid? [False, False] Translation: X:0.55, Y:0.19, Z:0.03 [[ 0.9996031 -0.02620323 -0.01034596 0.54726493] [ 0.02615471 0.99964639 -0.00479765 0.18514261] [ 0.01046801 0.00452515 0.99993497 0.03186115] [ 0. 0. 0. 1. ]] SLAMing on 1.018040942 meters SLAMing on 1.048040942 meters SLAMing on 1.0780409420000001 meters SLAMing on 1.1080409420000001 meters SLAMing on 1.138040942 meters SLAMing on 1.168040942 meters SLAMing on 1.198040942 meters Centerline goodness : 0.119796 Centerline is valid? [False, False] Translation: X:0.65, Y:0.22, Z:0.03 [[ 9.99561066e-01 -2.96101072e-02 -9.57938386e-04 6.53059390e-01] [ 2.96096573e-02 9.99561422e-01 -4.80504991e-04 2.20235143e-01] [ 9.71746060e-04 4.51929853e-04 9.99999426e-01 3.20133040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.228040942 meters Centerline goodness : 0.122162 Centerline is valid? [False, False] Translation: X:0.67, Y:0.23, Z:0.03 [[ 0.99941793 -0.03383856 -0.0043303 0.66632862] [ 0.03384955 0.99942383 0.00249127 0.22611396] [ 0.0042435 -0.00263639 0.99998752 0.03160518] [ 0. 0. 0. 1. ]] SLAMing on 1.258040942 meters SLAMing on 1.288040942 meters Centerline goodness : 0.132998 Centerline is valid? [False, False] Translation: X:0.68, Y:0.23, Z:0.03 [[ 0.99932476 -0.03608725 -0.006909 0.67564071] [ 0.03613587 0.99932204 0.00704651 0.22968116] [ 0.00665003 -0.00729141 0.99995131 0.03266829] [ 0. 0. 0. 1. ]] SLAMing on 1.318040942 meters Centerline goodness : 0.882935 Centerline is valid? [False, False] Translation: X:0.70, Y:0.24, Z:0.03 [[ 0.99921782 -0.03886843 -0.00727964 0.70067343] [ 0.03891446 0.99922273 0.00629239 0.23623198] [ 0.00702941 -0.00657075 0.99995371 0.03228902] [ 0. 0. 0. 1. ]] SLAMing on 1.348040942 meters Centerline goodness : 0.289577 Centerline is valid? [False, False] Translation: X:0.71, Y:0.23, Z:0.03 [[ 0.99923093 -0.03817775 -0.00894483 0.70659984] [ 0.03828254 0.99919666 0.01185253 0.23483497] [ 0.00848514 -0.01218584 0.99988975 0.03254583] [ 0. 0. 0. 1. ]] SLAMing on 1.378040942 meters Centerline goodness : 0.135739 Centerline is valid? [False, False] Translation: X:0.71, Y:0.23, Z:0.03 [[ 0.99915444 -0.03990877 -0.00988453 0.71025817] [ 0.04002675 0.99912606 0.01204042 0.23492245] [ 0.00939537 -0.01242588 0.99987865 0.03210147] [ 0. 0. 0. 1. ]] SLAMing on 1.408040942 meters Centerline goodness : 0.173549 Centerline is valid? [False, False] Translation: X:0.72, Y:0.23, Z:0.03 [[ 0.99904439 -0.04222848 -0.0112721 0.71738177] [ 0.04237561 0.99901522 0.01314882 0.23430502] [ 0.01070574 -0.01361392 0.99985001 0.02989994] [ 0. 0. 0. 1. ]] SLAMing on 1.438040942 meters Centerline goodness : 0.133963 Centerline is valid? [False, False] Translation: X:0.72, Y:0.23, Z:0.03 [[ 0.99897246 -0.04365351 -0.01218186 0.7210078 ] [ 0.0438174 0.99894797 0.01352744 0.23490668] [ 0.01157853 -0.01404731 0.99983429 0.02946626] [ 0. 0. 0. 1. ]] SLAMing on 1.468040942 meters Centerline goodness : 0.117837 Centerline is valid? [False, False] Translation: X:0.73, Y:0.24, Z:0.03 [[ 0.99884653 -0.04595797 -0.01390924 0.72803441] [ 0.04616632 0.99882042 0.0150482 0.23590809] [ 0.01320125 -0.01567298 0.99979002 0.02876072] [ 0. 0. 0. 1. ]] SLAMing on 1.498040942 meters Centerline goodness : 0.197870 Centerline is valid? [False, False] Translation: X:0.73, Y:0.24, Z:0.03 [[ 0.99877899 -0.04710505 -0.01488737 0.73170223] [ 0.04733838 0.99875506 0.01572925 0.23569569] [ 0.01412791 -0.01641479 0.99976545 0.02830986] [ 0. 0. 0. 1. ]] SLAMing on 1.528040942 meters Centerline goodness : 0.167984 Centerline is valid? [False, False] Translation: X:0.74, Y:0.24, Z:0.03 [[ 0.99870214 -0.04837279 -0.01594077 0.73561606] [ 0.04863186 0.99868398 0.01628633 0.23502291] [ 0.01513198 -0.01704042 0.99974029 0.02756013] [ 0. 0. 0. 1. ]] SLAMing on 1.558040942 meters Centerline goodness : 0.207252 Centerline is valid? [False, False] Translation: X:0.74, Y:0.23, Z:0.03 [[ 0.99856423 -0.05068576 -0.01733275 0.74330798] [ 0.05101014 0.99852089 0.0188147 0.23095551] [ 0.01635348 -0.01967183 0.99967274 0.02554123] [ 0. 0. 0. 1. ]] SLAMing on 1.5880409420000001 meters Centerline goodness : 0.162282 Centerline is valid? [False, False] Translation: X:0.75, Y:0.23, Z:0.02 [[ 0.99831638 -0.05512691 -0.01803945 0.74666131] [ 0.05539998 0.99835149 0.01500495 0.23113523] [ 0.01718253 -0.01597907 0.99972468 0.02423576] [ 0. 0. 0. 1. ]] SLAMing on 1.618040942 meters Centerline goodness : 0.176096 Centerline is valid? [False, False] Translation: X:0.75, Y:0.23, Z:0.02 [[ 0.99823347 -0.05620679 -0.01925446 0.75175077] [ 0.05652039 0.99827083 0.01614925 0.22865192] [ 0.01831347 -0.01720899 0.99968418 0.0225237 ] [ 0. 0. 0. 1. ]] SLAMing on 1.648040942 meters Centerline goodness : 0.154461 Centerline is valid? [False, False] Translation: X:0.78, Y:0.23, Z:0.02 [[ 0.99794728 -0.05973947 -0.02307407 0.77928103] [ 0.06014086 0.99804321 0.01711199 0.22623788] [ 0.02200666 -0.01846456 0.9995873 0.02093619] [ 0. 0. 0. 1. ]] SLAMing on 1.678040942 meters Centerline goodness : 0.169279 Centerline is valid? [False, False] Translation: X:0.78, Y:0.23, Z:0.02 [[ 0.9978227 -0.0612642 -0.02442433 0.78480352] [ 0.06167692 0.99795947 0.01651802 0.22539426] [ 0.02336252 -0.01798848 0.99956521 0.01827904] [ 0. 0. 0. 1. ]] SLAMing on 1.708040942 meters Centerline goodness : 0.662250 Centerline is valid? [False, False] Translation: X:0.80, Y:0.22, Z:0.02 [[ 0.99779939 -0.06070899 -0.02666062 0.80023402] [ 0.06103806 0.99806678 0.01170692 0.2214248 ] [ 0.02589837 -0.01330847 0.99957599 0.0160831 ] [ 0. 0. 0. 1. ]] SLAMing on 1.738040942 meters Centerline goodness : 0.159677 Centerline is valid? [False, False] Translation: X:0.82, Y:0.22, Z:0.01 [[ 0.9978731 -0.05995279 -0.0255917 0.81540453] [ 0.06005718 0.99818939 0.00332953 0.2224987 ] [ 0.02534575 -0.00485942 0.99966693 0.0130672 ] [ 0. 0. 0. 1. ]] SLAMing on 1.768040942 meters Centerline goodness : 0.168644 Centerline is valid? [False, False] Translation: X:0.82, Y:0.22, Z:0.01 [[ 0.99776449 -0.06127776 -0.02666581 0.8203618 ] [ 0.06136771 0.99811192 0.00256721 0.22097782] [ 0.02645815 -0.00419789 0.99964111 0.01033472] [ 0. 0. 0. 1. ]] SLAMing on 1.798040942 meters Centerline goodness : 0.172690 Centerline is valid? [False, False] Translation: X:0.84, Y:0.22, Z:0.00 [[ 0.99797954 -0.05809638 -0.02572232 0.83837171] [ 0.05815141 0.9983068 0.00139565 0.21595208] [ 0.02559769 -0.00288862 0.99966815 0.00455575] [ 0. 0. 0. 1. ]] SLAMing on 1.828040942 meters Centerline goodness : 0.168040 Centerline is valid? [False, False] Translation: X:0.85, Y:0.21, Z:0.00 [[ 0.9981846 -0.05414555 -0.02637745 0.8538615 ] [ 0.05409915 0.99853251 -0.00247013 0.21439547] [ 0.02647249 0.00103865 0.999649 0.00176343] [ 0. 0. 0. 1. ]] SLAMing on 1.858040942 meters Centerline goodness : 0.177358 Centerline is valid? [False, False] Translation: X:0.86, Y:0.21, Z:-0.00 [[ 9.98195614e-01 -5.34171575e-02 -2.74248725e-02 8.57697213e-01] [ 5.34133081e-02 9.98572108e-01 -8.73430184e-04 2.11140851e-01] [ 2.74323689e-02 -5.92998988e-04 9.99623486e-01 -6.60148977e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.888040942 meters Centerline goodness : 0.141810 Centerline is valid? [False, False] Translation: X:0.89, Y:0.21, Z:-0.00 [[ 9.98444706e-01 -4.92896971e-02 -2.60517810e-02 8.92342777e-01] [ 4.92670098e-02 9.98784498e-01 -1.51238438e-03 2.05191666e-01] [ 2.60946599e-02 2.26538834e-04 9.99659451e-01 -3.11360585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.918040942 meters Centerline goodness : 0.941775 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:-0.00 [[ 9.98461534e-01 -4.83714697e-02 -2.71065632e-02 8.96228288e-01] [ 4.83990869e-02 9.98828011e-01 3.63296811e-04 2.01308198e-01] [ 2.70572214e-02 -1.67467080e-03 9.99632484e-01 -4.93652635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.948040942 meters Centerline goodness : 0.913225 Centerline is valid? [False, False] Translation: X:0.91, Y:0.19, Z:-0.01 [[ 9.98659154e-01 -4.31844600e-02 -2.85481348e-02 9.11645211e-01] [ 4.32297347e-02 9.99064687e-01 9.70335759e-04 1.92986129e-01] [ 2.84795299e-02 -2.20316298e-03 9.99591948e-01 -7.97048769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.978040942 meters Centerline goodness : 0.924389 Centerline is valid? [False, False] Translation: X:0.92, Y:0.19, Z:-0.01 [[ 9.98596360e-01 -4.39996435e-02 -2.94845877e-02 9.15722191e-01] [ 4.40339937e-02 9.99029900e-01 5.16418740e-04 1.91246253e-01] [ 2.94332624e-02 -1.81401802e-03 9.99565102e-01 -1.01182545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008040942 meters Centerline goodness : 0.918381 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:-0.01 [[ 0.99877789 -0.04153067 -0.02679435 0.92938555] [ 0.04137737 0.99912404 -0.00625067 0.19121241] [ 0.02703048 0.00513435 0.99962142 -0.01295518] [ 0. 0. 0. 1. ]] SLAMing on 2.038040942 meters Centerline goodness : 0.929847 Centerline is valid? [False, False] Translation: X:0.94, Y:0.19, Z:-0.02 [[ 0.99898803 -0.03854635 -0.02317538 0.94197412] [ 0.03825833 0.99918659 -0.01274591 0.1907785 ] [ 0.02364784 0.01184636 0.99965016 -0.01572648] [ 0. 0. 0. 1. ]] SLAMing on 2.068040942 meters Centerline goodness : 0.936828 Centerline is valid? [False, False] Translation: X:0.96, Y:0.18, Z:-0.02 [[ 0.99912847 -0.03559137 -0.02180728 0.96404666] [ 0.03549324 0.99935805 -0.00487079 0.18081557] [ 0.02196664 0.00409253 0.99975033 -0.01703671] [ 0. 0. 0. 1. ]] SLAMing on 2.098040942 meters Centerline goodness : 0.939841 Centerline is valid? [False, False] Translation: X:0.98, Y:0.18, Z:-0.02 [[ 0.99933104 -0.03126568 -0.01897159 0.97696908] [ 0.03107881 0.99946625 -0.01006605 0.18006508] [ 0.01927619 0.00946971 0.99976935 -0.01975767] [ 0. 0. 0. 1. ]] SLAMing on 2.128040942 meters Centerline goodness : 0.942805 Centerline is valid? [False, False] Translation: X:0.98, Y:0.18, Z:-0.02 [[ 0.99931515 -0.03112678 -0.02000888 0.97983283] [ 0.0309413 0.99947592 -0.00951398 0.17852573] [ 0.02029454 0.00888836 0.99975453 -0.02069238] [ 0. 0. 0. 1. ]] SLAMing on 2.158040942 meters Centerline goodness : 0.945186 Centerline is valid? [False, False] Translation: X:1.00, Y:0.17, Z:-0.02 [[ 0.99942873 -0.02860375 -0.01800102 1.00191173] [ 0.02853778 0.99958506 -0.00391092 0.17196739] [ 0.01810542 0.00339497 0.99983032 -0.02259307] [ 0. 0. 0. 1. ]] SLAMing on 2.188040942 meters Centerline goodness : 0.941458 Centerline is valid? [False, False] Translation: X:1.01, Y:0.17, Z:-0.03 [[ 0.99960195 -0.02497344 -0.01312533 1.01415359] [ 0.02485208 0.99964761 -0.00932936 0.17254957] [ 0.01335369 0.00899946 0.99987034 -0.02620547] [ 0. 0. 0. 1. ]] SLAMing on 2.218040942 meters Centerline goodness : 0.943893 Centerline is valid? [False, False] Translation: X:1.04, Y:0.17, Z:-0.03 [[ 0.99966501 -0.02366294 -0.01048519 1.03507578] [ 0.0236071 0.99970663 -0.00541852 0.16760523] [ 0.01061033 0.00516918 0.99993035 -0.02747297] [ 0. 0. 0. 1. ]] SLAMing on 2.248040942 meters Centerline goodness : 0.949986 Centerline is valid? [False, False] Translation: X:1.05, Y:0.17, Z:-0.03 [[ 0.99977128 -0.01971929 -0.00827928 1.04878107] [ 0.01962775 0.99974689 -0.01099613 0.16766076] [ 0.00849402 0.01083111 0.99990526 -0.03058995] [ 0. 0. 0. 1. ]] SLAMing on 2.278040942 meters Centerline goodness : 0.956317 Centerline is valid? [False, True] Translation: X:1.07, Y:0.16, Z:-0.03 [[ 0.99980954 -0.01856636 -0.00601457 1.07054214] [ 0.01852659 0.99980656 -0.00660332 0.16201062] [ 0.006136 0.00649063 0.99996011 -0.03229823] [ 0. 0. 0. 1. ]] SLAMing on 2.308040942 meters Centerline goodness : 0.960513 Centerline is valid? [True, True] Translation: X:1.10, Y:0.16, Z:-0.03 [[ 0.99989062 -0.01430744 -0.00374657 1.09906594] [ 0.01427775 0.99986736 -0.00783637 0.16199596] [ 0.00385819 0.00778202 0.99996228 -0.02854591] [ 0. 0. 0. 1. ]] SLAMing on 2.338040942 meters Centerline goodness : 0.849097 Centerline is valid? [True, False] Translation: X:1.12, Y:0.16, Z:-0.03 [[ 9.99907037e-01 -1.36172104e-02 6.99853896e-04 1.11618347e+00] [ 1.36212172e-02 9.99888738e-01 -6.08063367e-03 1.60126168e-01] [-6.16974760e-04 6.08960125e-03 9.99981268e-01 -2.83679704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.368040942 meters Centerline goodness : 0.960568 Centerline is valid? [False, True] Translation: X:1.14, Y:0.16, Z:-0.03 [[ 9.99905582e-01 -1.37343825e-02 4.40390135e-04 1.13889045e+00] [ 1.37373432e-02 9.99876543e-01 -7.62790359e-03 1.61819631e-01] [-3.35571220e-04 7.63323317e-03 9.99970810e-01 -2.88734890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.398040942 meters Centerline goodness : 0.963150 Centerline is valid? [True, True] Translation: X:1.18, Y:0.10, Z:-0.01 [[ 0.99935492 0.03330507 -0.01343543 1.17960463] [-0.0330469 0.99927317 0.01900066 0.10449554] [ 0.01405848 -0.01854441 0.9997292 -0.00646836] [ 0. 0. 0. 1. ]] SLAMing on 2.428040942 meters Centerline goodness : 0.953292 Centerline is valid? [True, True] Translation: X:1.19, Y:0.13, Z:-0.01 [[ 0.99903193 0.04060348 -0.01692797 1.19011452] [-0.04089436 0.99901532 -0.01720615 0.12952775] [ 0.01621267 0.01788176 0.99970865 -0.01442605] [ 0. 0. 0. 1. ]] SLAMing on 2.458040942 meters Centerline goodness : 0.945028 Centerline is valid? [True, False] Translation: X:1.20, Y:0.13, Z:-0.01 [[ 0.99919393 0.03755367 -0.01418468 1.19804761] [-0.03768241 0.99924995 -0.00892002 0.12823994] [ 0.01383906 0.00944734 0.9998596 -0.01353712] [ 0. 0. 0. 1. ]] SLAMing on 2.488040942 meters Centerline goodness : 0.967987 Centerline is valid? [False, True] Translation: X:1.21, Y:0.13, Z:-0.01 [[ 0.9993067 0.03479233 -0.01325175 1.20958203] [-0.03481564 0.99939258 -0.00153219 0.12971342] [ 0.0131904 0.00199249 0.99991102 -0.01385319] [ 0. 0. 0. 1. ]] SLAMing on 2.518040942 meters Centerline goodness : 0.970488 Centerline is valid? [True, True] Translation: X:1.20, Y:0.12, Z:-0.02 [[ 0.99908791 0.03954977 -0.01609878 1.1953309 ] [-0.03936804 0.99915914 0.0114527 0.12038309] [ 0.01653819 -0.01080848 0.99980481 -0.01777834] [ 0. 0. 0. 1. ]] SLAMing on 2.548040942 meters Centerline goodness : 0.973085 Centerline is valid? [True, True] Translation: X:1.24, Y:0.12, Z:-0.01 [[ 0.99922901 0.0354818 -0.01680539 1.24192921] [-0.03524008 0.99927415 0.01446772 0.12076056] [ 0.01730654 -0.01386435 0.9997541 -0.01375683] [ 0. 0. 0. 1. ]] SLAMing on 2.578040942 meters Centerline goodness : 0.974298 Centerline is valid? [True, True] Translation: X:1.27, Y:0.12, Z:-0.01 [[ 0.99899329 0.03957834 -0.0211176 1.26664205] [-0.03942419 0.99919315 0.00766683 0.1238495 ] [ 0.021404 -0.00682657 0.9997476 -0.00660172] [ 0. 0. 0. 1. ]] SLAMing on 2.608040942 meters Centerline goodness : 0.974045 Centerline is valid? [True, True] Translation: X:1.29, Y:0.13, Z:0.00 [[ 9.98408729e-01 4.80559007e-02 -2.95066260e-02 1.28877849e+00] [-4.83096896e-02 9.98800775e-01 -7.94888941e-03 1.27798824e-01] [ 2.90892499e-02 9.36169651e-03 9.99532978e-01 1.26621883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.638040942 meters Centerline goodness : 0.977321 Centerline is valid? [True, True] Translation: X:1.33, Y:0.11, Z:0.00 [[ 0.99865684 0.04601307 -0.02381817 1.33201341] [-0.0455672 0.99878179 0.01893585 0.11373168] [ 0.02466045 -0.01782509 0.99953696 0.00465395] [ 0. 0. 0. 1. ]] SLAMing on 2.6680409419999997 meters Centerline goodness : 0.971452 Centerline is valid? [True, True] Translation: X:1.40, Y:0.15, Z:0.02 [[ 0.99867767 0.040783 -0.03129943 1.40268144] [-0.04187961 0.99850174 -0.03521901 0.14934886] [ 0.0298162 0.03648325 0.99888937 0.01651779] [ 0. 0. 0. 1. ]] SLAMing on 2.698040942 meters Centerline goodness : 0.973799 Centerline is valid? [True, True] Translation: X:1.44, Y:0.12, Z:0.02 [[ 0.99877386 0.04026064 -0.02880731 1.43847459] [-0.03989893 0.99911885 0.01302291 0.12264534] [ 0.02930624 -0.01185756 0.99950015 0.01964089] [ 0. 0. 0. 1. ]] SLAMing on 2.728040942 meters Centerline goodness : 0.985312 Centerline is valid? [True, True] Translation: X:1.47, Y:0.06, Z:0.02 [[ 9.99344215e-01 3.57921595e-02 5.48287432e-03 1.46522152e+00] [-3.62022486e-02 9.90685312e-01 1.31270750e-01 6.06560891e-02] [-7.33339434e-04 -1.31383157e-01 9.91331392e-01 1.86434588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.758040942 meters Centerline goodness : 0.981157 Centerline is valid? [True, True] Translation: X:1.46, Y:0.20, Z:0.02 [[ 0.99900546 0.03321058 -0.02975139 1.46373434] [-0.03640536 0.99278879 -0.11421503 0.19978385] [ 0.0257437 0.11518455 0.99301046 0.01964818] [ 0. 0. 0. 1. ]] SLAMing on 2.788040942 meters Centerline goodness : 0.979146 Centerline is valid? [True, True] Translation: X:1.52, Y:0.15, Z:0.02 [[ 0.99893446 0.03386022 -0.0313598 1.5216262 ] [-0.03484482 0.99889929 -0.03140132 0.15114678] [ 0.03026203 0.03246059 0.99901477 0.02459055] [ 0. 0. 0. 1. ]] SLAMing on 2.818040942 meters Centerline goodness : 0.987905 Centerline is valid? [True, True] Translation: X:1.56, Y:0.08, Z:0.03 [[ 9.99630429e-01 2.70989063e-02 2.15769317e-03 1.56456421e+00] [-2.71813762e-02 9.95120078e-01 9.48535847e-02 8.36496697e-02] [ 4.23264611e-04 -9.48771786e-02 9.95488896e-01 2.58076473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.848040942 meters Centerline goodness : 0.981636 Centerline is valid? [True, True] Translation: X:1.59, Y:0.19, Z:0.03 [[ 0.99916865 0.02103247 -0.03492351 1.59498992] [-0.0244959 0.99449242 -0.10190572 0.19480478] [ 0.03258783 0.10267648 0.99418086 0.03073794] [ 0. 0. 0. 1. ]] SLAMing on 2.878040942 meters Centerline goodness : 0.988861 Centerline is valid? [True, True] Translation: X:1.63, Y:0.08, Z:0.03 [[ 9.99785757e-01 2.06964991e-02 3.06900833e-04 1.62566838e+00] [-2.06104685e-02 9.94042869e-01 1.07023286e-01 8.06455401e-02] [ 1.90993477e-03 -1.07006683e-01 9.94256467e-01 2.81603001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.908040942 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:1.66, Y:0.14, Z:0.03 [[ 9.99921434e-01 1.24036304e-02 -1.81004681e-03 1.65797191e+00] [-1.24047716e-02 9.99922865e-01 -6.20612557e-04 1.44502350e-01] [ 1.80220934e-03 6.43017015e-04 9.99998169e-01 2.79537172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9380409419999998 meters Centerline goodness : 0.984458 Centerline is valid? [True, True] Translation: X:1.71, Y:0.20, Z:0.04 [[ 9.99398889e-01 -1.69250097e-03 -3.46265235e-02 1.70532924e+00] [-1.66061030e-03 9.95323926e-01 -9.65791092e-02 2.01931523e-01] [ 3.46280676e-02 9.65785556e-02 9.94722815e-01 3.83040183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.968040942 meters Centerline goodness : 0.984243 Centerline is valid? [True, True] Translation: X:1.71, Y:0.16, Z:0.03 [[ 0.99921147 0.00855148 -0.03877245 1.71423573] [-0.00876737 0.99994698 -0.00540167 0.15574493] [ 0.03872421 0.00573734 0.99923347 0.02939048] [ 0. 0. 0. 1. ]] SLAMing on 2.998040942 meters Centerline goodness : 0.991846 Centerline is valid? [True, True] Translation: X:1.74, Y:0.08, Z:0.02 [[ 9.99994529e-01 3.24629104e-03 -6.35872774e-04 1.74086232e+00] [-3.12457698e-03 9.90053220e-01 1.40658662e-01 7.89091006e-02] [ 1.08616684e-03 -1.40655905e-01 9.90057946e-01 2.33827488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.028040942 meters Centerline goodness : 0.983919 Centerline is valid? [True, True] Translation: X:1.78, Y:0.24, Z:0.05 [[ 0.99877895 -0.00419471 -0.04922417 1.77766446] [-0.00282909 0.98989716 -0.14175899 0.24035367] [ 0.0493215 0.14172515 0.98867658 0.05183644] [ 0. 0. 0. 1. ]] SLAMing on 3.058040942 meters Centerline goodness : 0.987551 Centerline is valid? [True, True] Translation: X:1.82, Y:0.15, Z:0.02 [[ 0.9991493 -0.00864238 -0.04032347 1.81920032] [ 0.00993956 0.99943586 0.0320806 0.14923122] [ 0.04002347 -0.03245411 0.99867154 0.02379091] [ 0. 0. 0. 1. ]] SLAMing on 3.088040942 meters Centerline goodness : 0.987551 Centerline is valid? [True, True] Translation: X:1.85, Y:0.17, Z:0.03 [[ 0.99904207 -0.00981519 -0.04264504 1.84868765] [ 0.00990677 0.99994905 0.00193666 0.16582867] [ 0.04262386 -0.00235728 0.99908841 0.0271541 ] [ 0. 0. 0. 1. ]] SLAMing on 3.118040942 meters Centerline goodness : 0.987094 Centerline is valid? [True, True] Translation: X:1.88, Y:0.18, Z:0.04 [[ 0.99884283 -0.00682074 -0.04760755 1.88416664] [ 0.00592219 0.99980214 -0.01898961 0.17872227] [ 0.04772765 0.0186857 0.99868559 0.04004303] [ 0. 0. 0. 1. ]] SLAMing on 3.148040942 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:1.90, Y:0.10, Z:0.03 [[ 0.99996137 0.00537801 -0.00695232 1.89640361] [-0.0045557 0.99354883 0.11331354 0.10371563] [ 0.00751687 -0.11327749 0.99353496 0.03209468] [ 0. 0. 0. 1. ]] SLAMing on 3.178040942 meters Centerline goodness : 0.992826 Centerline is valid? [True, True] Translation: X:1.95, Y:0.22, Z:0.04 [[ 0.99918667 -0.00660249 -0.03977935 1.95375592] [ 0.00295292 0.99583602 -0.09111482 0.22264795] [ 0.04021529 0.09092325 0.99504557 0.04290109] [ 0. 0. 0. 1. ]] SLAMing on 3.208040942 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:2.00, Y:0.17, Z:0.04 [[ 0.99961862 -0.00859719 -0.02624296 2.00228927] [ 0.00877156 0.99994017 0.00653645 0.17256195] [ 0.0261852 -0.00676415 0.99963422 0.03545988] [ 0. 0. 0. 1. ]] SLAMing on 3.238040942 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:1.98, Y:0.13, Z:0.02 [[ 0.9999084 0.01308179 -0.00347308 1.98241354] [-0.01277514 0.99694091 0.07710789 0.12962604] [ 0.00447117 -0.07705646 0.99701671 0.02372431] [ 0. 0. 0. 1. ]] SLAMing on 3.268040942 meters Centerline goodness : 0.987382 Centerline is valid? [True, True] Translation: X:2.03, Y:0.30, Z:0.07 [[ 0.99836846 0.00767657 -0.05658166 2.02788524] [-0.01968399 0.97645057 -0.21484141 0.29567652] [ 0.05359995 0.21560464 0.97500856 0.06514329] [ 0. 0. 0. 1. ]] SLAMing on 3.298040942 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:2.05, Y:0.06, Z:0.03 [[ 0.9997665 0.02130346 -0.0036203 2.04914685] [-0.02010757 0.9785144 0.20519563 0.0590091 ] [ 0.00791389 -0.20507492 0.97871428 0.03191378] [ 0. 0. 0. 1. ]] SLAMing on 3.328040942 meters Centerline goodness : 0.991803 Centerline is valid? [True, True] Translation: X:2.18, Y:0.24, Z:0.04 [[ 0.9992984 -0.0165888 -0.0335787 2.17843519] [ 0.01387103 0.99672945 -0.07961157 0.23631788] [ 0.03478954 0.07908995 0.99626024 0.04236348] [ 0. 0. 0. 1. ]] SLAMing on 3.358040942 meters Centerline goodness : 0.897630 Centerline is valid? [True, False] Translation: X:2.18, Y:0.22, Z:0.04 [[ 0.99923692 -0.01503916 -0.03604725 2.18486823] [ 0.01321412 0.99864456 -0.0503431 0.22057479] [ 0.0367555 0.04982835 0.99808124 0.04105607] [ 0. 0. 0. 1. ]] SLAMing on 3.388040942 meters Centerline goodness : 0.996365 Centerline is valid? [False, True] Translation: X:2.19, Y:0.21, Z:0.04 [[ 0.99928043 -0.01683675 -0.03398756 2.18840473] [ 0.01570193 0.99931924 -0.03338433 0.21270757] [ 0.0345265 0.03282664 0.99886452 0.03822838] [ 0. 0. 0. 1. ]] SLAMing on 3.4180409419999997 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:2.22, Y:0.20, Z:0.03 [[ 0.99923611 -0.01846069 -0.03444407 2.21851607] [ 0.01824097 0.99981129 -0.00668249 0.199065 ] [ 0.03456093 0.00604909 0.99938429 0.03436586] [ 0. 0. 0. 1. ]] SLAMing on 3.448040942 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:2.25, Y:0.20, Z:0.04 [[ 0.99908538 -0.01943809 -0.03808616 2.25223605] [ 0.01907058 0.99976824 -0.00998905 0.19805463] [ 0.0382715 0.00925359 0.99922453 0.03605829] [ 0. 0. 0. 1. ]] SLAMing on 3.478040942 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:2.29, Y:0.22, Z:0.04 [[ 0.99869815 -0.02153344 -0.04624193 2.28693573] [ 0.02031461 0.99943791 -0.0266679 0.21583317] [ 0.04679019 0.0256938 0.99857424 0.04103016] [ 0. 0. 0. 1. ]] SLAMing on 3.508040942 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:2.31, Y:0.17, Z:0.04 [[ 0.99898718 -0.02115789 -0.0397109 2.3103156 ] [ 0.02286114 0.9988161 0.04293909 0.17071365] [ 0.03875538 -0.04380344 0.99828817 0.03980754] [ 0. 0. 0. 1. ]] SLAMing on 3.538040942 meters Centerline goodness : 0.996530 Centerline is valid? [True, True] Translation: X:2.33, Y:0.20, Z:0.04 [[ 9.99297001e-01 -1.92743885e-02 -3.21559107e-02 2.32792799e+00] [ 1.93374912e-02 9.99811648e-01 1.65253797e-03 1.98161689e-01] [ 3.21180024e-02 -2.27319088e-03 9.99481499e-01 3.98805795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.568040942 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:2.37, Y:0.19, Z:0.04 [[ 0.99918767 -0.02055755 -0.03466117 2.36922455] [ 0.02073324 0.99977392 0.00471709 0.19026193] [ 0.03455636 -0.00543189 0.99938799 0.03635439] [ 0. 0. 0. 1. ]] SLAMing on 3.598040942 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:2.39, Y:0.21, Z:0.05 [[ 0.99886689 -0.03123226 -0.03590933 2.39196794] [ 0.03073315 0.99942435 -0.01436823 0.21010075] [ 0.03633741 0.01324834 0.99925176 0.04520335] [ 0. 0. 0. 1. ]] SLAMing on 3.6280409419999997 meters Centerline goodness : 0.997084 Centerline is valid? [True, True] Translation: X:2.41, Y:0.18, Z:0.06 [[ 0.99869924 -0.02389096 -0.04504505 2.4129067 ] [ 0.02537157 0.99914674 0.03258941 0.18363433] [ 0.04422802 -0.03368988 0.99845324 0.05792886] [ 0. 0. 0. 1. ]] SLAMing on 3.658040942 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:2.45, Y:0.20, Z:0.06 [[ 9.98752239e-01 -2.98328557e-02 -4.00495391e-02 2.44903695e+00] [ 2.97275001e-02 9.99552842e-01 -3.22371592e-03 2.02782185e-01] [ 4.01278032e-02 2.02912081e-03 9.99192495e-01 5.72018093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6880409419999998 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:2.49, Y:0.21, Z:0.06 [[ 0.99817211 -0.03427833 -0.04977385 2.48804587] [ 0.03388884 0.99938819 -0.00864838 0.20776562] [ 0.05003985 0.0069458 0.99872307 0.05726774] [ 0. 0. 0. 1. ]] SLAMing on 3.718040942 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:2.51, Y:0.19, Z:0.06 [[ 0.9986855 -0.02853628 -0.04257879 2.50794684] [ 0.02891216 0.99954801 0.0082382 0.19461471] [ 0.04232446 -0.00945842 0.99905915 0.05932142] [ 0. 0. 0. 1. ]] SLAMing on 3.748040942 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:2.53, Y:0.19, Z:0.06 [[ 0.9988861 -0.02317357 -0.04110403 2.5348025 ] [ 0.02377603 0.99961604 0.0142291 0.19053055] [ 0.04075851 -0.01519054 0.99905355 0.05771318] [ 0. 0. 0. 1. ]] SLAMing on 3.778040942 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:2.56, Y:0.20, Z:0.07 [[ 0.99865981 -0.02356968 -0.04607671 2.56339969] [ 0.02387142 0.99969698 0.00600927 0.19694295] [ 0.04592111 -0.00710113 0.99891983 0.07015739] [ 0. 0. 0. 1. ]] SLAMing on 3.808040942 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:2.59, Y:0.21, Z:0.06 [[ 0.99890761 -0.02255631 -0.04092432 2.59343512] [ 0.02192278 0.9996338 -0.01586384 0.20974591] [ 0.04126716 0.01494934 0.99903631 0.06481926] [ 0. 0. 0. 1. ]] SLAMing on 3.838040942 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:2.62, Y:0.20, Z:0.06 [[ 0.99904154 -0.0192934 -0.03929071 2.61932728] [ 0.01942016 0.99980736 0.00284713 0.20027071] [ 0.03922821 -0.00360743 0.99922377 0.06312509] [ 0. 0. 0. 1. ]] SLAMing on 3.868040942 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:2.65, Y:0.20, Z:0.07 [[ 9.98996335e-01 -1.88861683e-02 -4.06157055e-02 2.64939753e+00] [ 1.88031297e-02 9.99820263e-01 -2.42556679e-03 2.01500797e-01] [ 4.06542151e-02 1.65942995e-03 9.99171898e-01 6.63913987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8980409419999997 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:2.67, Y:0.20, Z:0.07 [[ 0.99878004 -0.01186044 -0.04793507 2.66785096] [ 0.01132293 0.99987011 -0.01146946 0.20167863] [ 0.04806488 0.01091271 0.9987846 0.06780795] [ 0. 0. 0. 1. ]] SLAMing on 3.928040942 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:2.70, Y:0.19, Z:0.06 [[ 0.99910654 -0.0205673 -0.03692037 2.7046976 ] [ 0.02114692 0.99965811 0.01537793 0.18954548] [ 0.03659147 -0.01614494 0.99919988 0.0619295 ] [ 0. 0. 0. 1. ]] SLAMing on 3.958040942 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:2.72, Y:0.20, Z:0.07 [[ 0.99873543 -0.01352503 -0.04842119 2.7237423 ] [ 0.01266893 0.99975873 -0.01794356 0.20060599] [ 0.0486522 0.01730743 0.99866582 0.07190926] [ 0. 0. 0. 1. ]] SLAMing on 3.988040942 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:2.75, Y:0.18, Z:0.07 [[ 0.99869366 -0.01157389 -0.04976959 2.75263941] [ 0.01218831 0.999853 0.01205949 0.18302913] [ 0.0496227 -0.01265035 0.99868792 0.07271439] [ 0. 0. 0. 1. ]] SLAMing on 4.018040942 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:2.78, Y:0.19, Z:0.08 [[ 0.99857722 -0.01323806 -0.05165541 2.77921469] [ 0.01349525 0.9998982 0.0046334 0.18839805] [ 0.05158881 -0.00532391 0.99865422 0.07816424] [ 0. 0. 0. 1. ]] SLAMing on 4.048040941999999 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:2.81, Y:0.19, Z:0.08 [[ 0.99849462 -0.01556717 -0.0525943 2.80559292] [ 0.01576698 0.99986996 0.0033863 0.19058847] [ 0.05253474 -0.00421045 0.99861022 0.08097653] [ 0. 0. 0. 1. ]] SLAMing on 4.0780409419999994 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:2.83, Y:0.19, Z:0.08 [[ 9.98358830e-01 -1.75079839e-02 -5.45262906e-02 2.83319669e+00] [ 1.75096145e-02 9.99846595e-01 -4.47853095e-04 1.90081901e-01] [ 5.45257670e-02 -5.07616240e-04 9.98512235e-01 8.27089563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108040942 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:2.86, Y:0.19, Z:0.08 [[ 9.98300689e-01 -1.91222900e-02 -5.50460884e-02 2.86136563e+00] [ 1.91256780e-02 9.99816979e-01 -4.65296616e-04 1.88266080e-01] [ 5.50449114e-02 -5.88287828e-04 9.98483706e-01 8.42610597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138040941999999 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:2.89, Y:0.19, Z:0.09 [[ 9.98342920e-01 -2.11599433e-02 -5.35132823e-02 2.88799011e+00] [ 2.11654205e-02 9.99775880e-01 -4.64429828e-04 1.85004945e-01] [ 5.35111162e-02 -6.68970894e-04 9.98567030e-01 8.60370767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168040941999999 meters Centerline goodness : 0.991253 Centerline is valid? [True, True] Translation: X:2.92, Y:0.19, Z:0.09 [[ 9.98384288e-01 -2.23945769e-02 -5.22235179e-02 2.91554148e+00] [ 2.24012057e-02 9.99748956e-01 -4.58472624e-04 1.85268105e-01] [ 5.22206749e-02 -7.12137903e-04 9.98635316e-01 8.72063651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1980409419999996 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:2.94, Y:0.19, Z:0.09 [[ 9.98368637e-01 -2.37794555e-02 -5.19095487e-02 2.94326105e+00] [ 2.37872508e-02 9.99716934e-01 -4.67720165e-04 1.85673149e-01] [ 5.19059770e-02 -7.67828312e-04 9.98651681e-01 8.84354930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228040942 meters Centerline goodness : 0.991067 Centerline is valid? [True, True] Translation: X:2.97, Y:0.18, Z:0.09 [[ 9.98348940e-01 -2.64854734e-02 -5.09697400e-02 2.97113590e+00] [ 2.64959219e-02 9.99648811e-01 -4.70799870e-04 1.84769240e-01] [ 5.09643093e-02 -8.80467696e-04 9.98700087e-01 8.96630756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.258040941999999 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:3.00, Y:0.18, Z:0.09 [[ 9.98315876e-01 -2.79754299e-02 -5.08211362e-02 2.99770504e+00] [ 2.79871394e-02 9.99608167e-01 -4.81346832e-04 1.84106657e-01] [ 5.08146887e-02 -9.41802042e-04 9.98707655e-01 8.98643668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288040941999999 meters Centerline goodness : 0.990144 Centerline is valid? [True, True] Translation: X:3.03, Y:0.18, Z:0.09 [[ 9.98190946e-01 -3.06430742e-02 -5.17284984e-02 3.02608335e+00] [ 3.06585128e-02 9.99529795e-01 -4.95197862e-04 1.83786508e-01] [ 5.17193498e-02 -1.09161681e-03 9.98661062e-01 9.13636242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318040942 meters Centerline goodness : 0.990470 Centerline is valid? [True, True] Translation: X:3.05, Y:0.18, Z:0.09 [[ 9.97891985e-01 -3.50694801e-02 -5.46051123e-02 3.05299104e+00] [ 3.50925862e-02 9.99383922e-01 -5.35922796e-04 1.82570645e-01] [ 5.45902658e-02 -1.38144155e-03 9.98507884e-01 9.12507030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348040942 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:3.08, Y:0.18, Z:0.09 [[ 9.97823689e-01 -3.65435033e-02 -5.48858667e-02 3.08049118e+00] [ 3.65683827e-02 9.99331001e-01 -5.51274538e-04 1.82380577e-01] [ 5.48692936e-02 -1.45701259e-03 9.98492483e-01 9.25427689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.378040941999999 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:3.11, Y:0.18, Z:0.09 [[ 9.97818118e-01 -3.75291168e-02 -5.43191366e-02 3.10745411e+00] [ 3.75542899e-02 9.99294433e-01 -5.57569303e-04 1.82441647e-01] [ 5.43017359e-02 -1.48356385e-03 9.98523470e-01 9.41813655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4080409419999995 meters Centerline goodness : 0.990440 Centerline is valid? [True, True] Translation: X:3.13, Y:0.18, Z:0.10 [[ 9.97878755e-01 -3.67397341e-02 -5.37418036e-02 3.13447394e+00] [ 3.67629465e-02 9.99323859e-01 -5.56914395e-04 1.83229771e-01] [ 5.37259274e-02 -1.41997401e-03 9.98554710e-01 9.59165940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.438040942 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:3.16, Y:0.18, Z:0.10 [[ 9.97968875e-01 -3.50905798e-02 -5.31674341e-02 3.16236190e+00] [ 3.51106765e-02 9.99383275e-01 -5.56283878e-04 1.84352915e-01] [ 5.31541647e-02 -1.31159058e-03 9.98585457e-01 9.81418913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468040941999999 meters Centerline goodness : 0.990476 Centerline is valid? [True, True] Translation: X:3.19, Y:0.19, Z:0.10 [[ 9.98067701e-01 -3.35579219e-02 -5.22946523e-02 3.19061199e+00] [ 3.35746545e-02 9.99436056e-01 -5.58736218e-04 1.86181997e-01] [ 5.22839111e-02 -1.19811831e-03 9.98631542e-01 1.00551398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498040941999999 meters Centerline goodness : 0.991881 Centerline is valid? [True, True] Translation: X:3.22, Y:0.19, Z:0.10 [[ 9.98239320e-01 -3.03285350e-02 -5.09748958e-02 3.21704282e+00] [ 3.03396508e-02 9.99539492e-01 -5.55883492e-04 1.87803479e-01] [ 5.09682806e-02 -9.91655778e-04 9.98699780e-01 1.02569184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528040942 meters Centerline goodness : 0.992250 Centerline is valid? [True, True] Translation: X:3.25, Y:0.19, Z:0.10 [[ 9.98232754e-01 -2.96428320e-02 -5.15040884e-02 3.24543043e+00] [ 2.96530117e-02 9.99560092e-01 -5.66640523e-04 1.87689720e-01] [ 5.14982281e-02 -9.61612205e-04 9.98672623e-01 1.03815304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558040942 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:3.27, Y:0.19, Z:0.10 [[ 9.98188818e-01 -2.97102887e-02 -5.23104389e-02 3.27229660e+00] [ 2.97202707e-02 9.99558083e-01 -5.87210508e-04 1.86734300e-01] [ 5.23047682e-02 -9.68533445e-04 9.98630699e-01 1.04569974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588040941999999 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:3.30, Y:0.19, Z:0.11 [[ 9.98137473e-01 -3.00504018e-02 -5.30900917e-02 3.30048538e+00] [ 3.00608812e-02 9.99547889e-01 -6.01311044e-04 1.86875408e-01] [ 5.30841587e-02 -9.95743854e-04 9.98589546e-01 1.05627194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6180409419999995 meters Centerline goodness : 0.992427 Centerline is valid? [True, True] Translation: X:3.33, Y:0.19, Z:0.11 [[ 9.98126909e-01 -2.96633935e-02 -5.35047369e-02 3.32700702e+00] [ 2.96726953e-02 9.99559476e-01 -6.20700435e-04 1.87234745e-01] [ 5.34995789e-02 -9.68091947e-04 9.98567403e-01 1.06406365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648040942 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:3.36, Y:0.19, Z:0.11 [[ 9.98130926e-01 -2.80619741e-02 -5.42879288e-02 3.35526516e+00] [ 2.80688078e-02 9.99605791e-01 -6.36728056e-04 1.88700975e-01] [ 5.42843958e-02 -8.88259473e-04 9.98525120e-01 1.08106046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.678040941999999 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:3.38, Y:0.19, Z:0.11 [[ 9.98111826e-01 -2.73273626e-02 -5.50090793e-02 3.38275271e+00] [ 2.73324302e-02 9.99626181e-01 -6.60352013e-04 1.90336627e-01] [ 5.50065616e-02 -8.44426667e-04 9.98485636e-01 1.09849709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708040941999999 meters Centerline goodness : 0.992145 Centerline is valid? [True, True] Translation: X:3.41, Y:0.19, Z:0.11 [[ 9.98125774e-01 -2.52162761e-02 -5.57591181e-02 3.41057821e+00] [ 2.52173347e-02 9.99681758e-01 -6.84721865e-04 1.91237615e-01] [ 5.57586393e-02 -7.22657803e-04 9.98444015e-01 1.10944031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738040942 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:3.44, Y:0.19, Z:0.11 [[ 9.98144464e-01 -2.44640883e-02 -5.57596411e-02 3.43726108e+00] [ 2.44631115e-02 9.99700488e-01 -7.00178284e-04 1.91484652e-01] [ 5.57600697e-02 -6.65175242e-04 9.98443975e-01 1.12588712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768040942 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:3.46, Y:0.19, Z:0.11 [[ 9.98147188e-01 -2.38236942e-02 -5.59876929e-02 3.46401437e+00] [ 2.38213091e-02 9.99715980e-01 -7.10069808e-04 1.91144373e-01] [ 5.59887078e-02 -6.24945955e-04 9.98431206e-01 1.14836344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.798040941999999 meters Centerline goodness : 0.992389 Centerline is valid? [True, True] Translation: X:3.49, Y:0.19, Z:0.12 [[ 9.98199465e-01 -2.29425728e-02 -5.54208206e-02 3.49260341e+00] [ 2.28721084e-02 9.99736583e-01 -1.90547369e-03 1.91337232e-01] [ 5.54499383e-02 6.34451796e-04 9.98461267e-01 1.16015528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8280409419999994 meters Centerline goodness : 0.992536 Centerline is valid? [True, True] Translation: X:3.52, Y:0.19, Z:0.12 [[ 9.98220128e-01 -2.29477293e-02 -5.50452289e-02 3.51988605e+00] [ 2.30124423e-02 9.99735032e-01 5.41994646e-04 1.88942131e-01] [ 5.50182061e-02 -1.80775512e-03 9.98483715e-01 1.18726046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.858040942 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:3.55, Y:0.19, Z:0.12 [[ 9.98225660e-01 -2.25940369e-02 -5.50912038e-02 3.54802712e+00] [ 2.25882976e-02 9.99744588e-01 -7.26937184e-04 1.89375174e-01] [ 5.50935573e-02 -5.18769156e-04 9.98481062e-01 1.20398043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888040941999999 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:3.58, Y:0.19, Z:0.12 [[ 9.98337276e-01 -2.17305332e-02 -5.33897602e-02 3.57568812e+00] [ 2.15506503e-02 9.99759983e-01 -3.94270307e-03 1.89735784e-01] [ 5.34626228e-02 2.78556339e-03 9.98565966e-01 1.20732809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918040941999999 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:3.60, Y:0.19, Z:0.12 [[ 9.98313705e-01 -2.18000040e-02 -5.38006108e-02 3.60325665e+00] [ 2.19645766e-02 9.99755700e-01 2.46948094e-03 1.85946142e-01] [ 5.37336326e-02 -3.64702431e-03 9.98548645e-01 1.23818182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9480409419999996 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:3.63, Y:0.19, Z:0.13 [[ 9.98327926e-01 -2.26426507e-02 -5.31851664e-02 3.63031419e+00] [ 2.26350070e-02 9.99743517e-01 -7.46141108e-04 1.87076348e-01] [ 5.31884199e-02 -4.58953110e-04 9.98584389e-01 1.25315640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978040942 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:3.66, Y:0.19, Z:0.13 [[ 9.98321938e-01 -2.29053907e-02 -5.31850722e-02 3.65874320e+00] [ 2.28977650e-02 9.99737528e-01 -7.52797069e-04 1.87571507e-01] [ 5.31883557e-02 -4.66285455e-04 9.98584389e-01 1.26798964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.008040941999999 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:3.69, Y:0.19, Z:0.12 [[ 0.99846743 -0.02327191 -0.05021166 3.6856752 ] [ 0.02280633 0.99969162 -0.00982557 0.19158206] [ 0.05042484 0.00866536 0.99869027 0.12404537] [ 0. 0. 0. 1. ]] SLAMing on 5.038040941999999 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:3.71, Y:0.18, Z:0.12 [[ 9.98491036e-01 -2.51901911e-02 -4.87965728e-02 3.71405416e+00] [ 2.51477509e-02 9.99682644e-01 -1.48356724e-03 1.83799110e-01] [ 4.88184583e-02 2.54204536e-04 9.98807636e-01 1.24931017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068040942 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:3.74, Y:0.18, Z:0.13 [[ 0.99835538 -0.02517283 -0.05150598 3.74357624] [ 0.0256558 0.99963265 0.00873728 0.17535997] [ 0.05126712 -0.01004434 0.99863446 0.13113925] [ 0. 0. 0. 1. ]] SLAMing on 5.098040941999999 meters Centerline goodness : 0.992358 Centerline is valid? [True, True] Translation: X:3.77, Y:0.19, Z:0.13 [[ 0.9984325 -0.02677876 -0.04914711 3.77131881] [ 0.02548461 0.99931665 -0.02677264 0.19129678] [ 0.04983046 0.02547818 0.99843267 0.12704305] [ 0. 0. 0. 1. ]] SLAMing on 5.128040941999999 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:3.80, Y:0.16, Z:0.13 [[ 0.99827019 -0.02482671 -0.05329403 3.80188324] [ 0.02615341 0.99936152 0.02434247 0.16207128] [ 0.05265566 -0.02569418 0.99828212 0.13417455] [ 0. 0. 0. 1. ]] SLAMing on 5.1580409419999995 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:3.83, Y:0.17, Z:0.14 [[ 9.98214542e-01 -2.60915435e-02 -5.37304357e-02 3.82904584e+00] [ 2.60854465e-02 9.99659385e-01 -8.14888962e-04 1.73527193e-01] [ 5.37333960e-02 -5.88148393e-04 9.98555144e-01 1.36442325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188040942 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:3.86, Y:0.17, Z:0.14 [[ 9.98188949e-01 -2.66896584e-02 -5.39118109e-02 3.85715544e+00] [ 2.66840297e-02 9.99643578e-01 -8.24347439e-04 1.72339578e-01] [ 5.39145971e-02 -6.15729857e-04 9.98545361e-01 1.38358397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218040941999999 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:3.89, Y:0.17, Z:0.14 [[ 9.98201427e-01 -2.72657479e-02 -5.33899779e-02 3.88548232e+00] [ 2.72602826e-02 9.99628024e-01 -8.30730818e-04 1.70808339e-01] [ 5.33927687e-02 -6.26189200e-04 9.98573392e-01 1.40330463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248040941999999 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:3.91, Y:0.19, Z:0.13 [[ 0.99835676 -0.03106778 -0.04815148 3.91299852] [ 0.02936585 0.99893249 -0.03565859 0.18732905] [ 0.04920791 0.03418599 0.99820334 0.13405195] [ 0. 0. 0. 1. ]] SLAMing on 5.278040942 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:3.94, Y:0.16, Z:0.14 [[ 0.99819292 -0.03186427 -0.05094661 3.94334339] [ 0.03243428 0.99941975 0.01040085 0.16195742] [ 0.05058564 -0.01203447 0.99864722 0.13702886] [ 0. 0. 0. 1. ]] SLAMing on 5.308040941999999 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:3.97, Y:0.17, Z:0.14 [[ 0.99820003 -0.0330138 -0.05006793 3.97060414] [ 0.03224599 0.99935082 -0.01606663 0.1704812 ] [ 0.05056585 0.01442322 0.99861658 0.13675453] [ 0. 0. 0. 1. ]] SLAMing on 5.338040941999999 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:4.00, Y:0.14, Z:0.15 [[ 0.99802711 -0.03025304 -0.05501493 3.99973973] [ 0.03228486 0.9988147 0.0364263 0.13898577] [ 0.05384771 -0.03813059 0.99782087 0.14668534] [ 0. 0. 0. 1. ]] SLAMing on 5.3680409419999995 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:4.03, Y:0.18, Z:0.14 [[ 0.99817155 -0.03614732 -0.04844508 4.02657669] [ 0.03402553 0.99845505 -0.04392923 0.18364134] [ 0.04995816 0.04220054 0.99785936 0.13847494] [ 0. 0. 0. 1. ]] SLAMing on 5.398040942 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:4.06, Y:0.13, Z:0.15 [[ 0.9979554 -0.03126433 -0.05574554 4.0567195 ] [ 0.03360284 0.99857254 0.04151784 0.13453506] [ 0.05436793 -0.04330616 0.99758143 0.14978457] [ 0. 0. 0. 1. ]] SLAMing on 5.428040941999999 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:4.08, Y:0.16, Z:0.15 [[ 9.97799274e-01 -3.46164011e-02 -5.65536397e-02 4.08426960e+00] [ 3.46174045e-02 9.99400175e-01 -9.62205661e-04 1.56194848e-01] [ 5.65530255e-02 -9.97652113e-04 9.98399099e-01 1.51643749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458040941999999 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:4.11, Y:0.15, Z:0.15 [[ 9.97761051e-01 -3.51394994e-02 -5.69043122e-02 4.11139258e+00] [ 3.51404719e-02 9.99381899e-01 -9.83851644e-04 1.54783995e-01] [ 5.69037116e-02 -1.01799554e-03 9.98379152e-01 1.53047796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488040942 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:4.14, Y:0.15, Z:0.16 [[ 9.97687714e-01 -3.60215829e-02 -5.76339341e-02 4.13931139e+00] [ 3.60236023e-02 9.99350435e-01 -1.00425432e-03 1.50137309e-01] [ 5.76326720e-02 -1.07424973e-03 9.98337278e-01 1.55358197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518040942 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:4.17, Y:0.15, Z:0.16 [[ 9.97697432e-01 -3.63288158e-02 -5.72717317e-02 4.16691000e+00] [ 3.63304285e-02 9.99339318e-01 -1.01339297e-03 1.48885178e-01] [ 5.72707087e-02 -1.06964699e-03 9.98358113e-01 1.57413052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548040941999999 meters Centerline goodness : 0.996103 Centerline is valid? [True, True] Translation: X:4.19, Y:0.15, Z:0.16 [[ 9.97734056e-01 -3.52620297e-02 -5.73004676e-02 4.19498596e+00] [ 3.52609730e-02 9.99377608e-01 -1.02982100e-03 1.46912987e-01] [ 5.73011178e-02 -9.92982755e-04 9.98356447e-01 1.59708054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5780409419999994 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:4.22, Y:0.15, Z:0.16 [[ 9.97753374e-01 -3.48456139e-02 -5.72187658e-02 4.22277747e+00] [ 3.48429749e-02 9.99392254e-01 -1.04407714e-03 1.46121234e-01] [ 5.72203728e-02 -9.51940533e-04 9.98361118e-01 1.61559833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608040942 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:4.25, Y:0.15, Z:0.16 [[ 9.97797045e-01 -3.41610660e-02 -5.68689647e-02 4.25104993e+00] [ 3.41564558e-02 9.99415943e-01 -1.05335763e-03 1.45365421e-01] [ 5.68717338e-02 -8.91405146e-04 9.98381095e-01 1.63648696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638040941999999 meters Centerline goodness : 0.995949 Centerline is valid? [True, True] Translation: X:4.28, Y:0.14, Z:0.17 [[ 9.97819133e-01 -3.34598649e-02 -5.68982851e-02 4.27901181e+00] [ 3.34532122e-02 9.99439712e-01 -1.06967394e-03 1.44095006e-01] [ 5.69021969e-02 -8.36089284e-04 9.98379407e-01 1.65165704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668040941999999 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:4.31, Y:0.14, Z:0.17 [[ 9.97866825e-01 -3.09134758e-02 -5.74991806e-02 4.30632153e+00] [ 3.09015591e-02 9.99521831e-01 -1.09659476e-03 1.40217134e-01] [ 5.75055858e-02 -6.82558792e-04 9.98344951e-01 1.67104530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6980409419999996 meters Centerline goodness : 0.996486 Centerline is valid? [True, True] Translation: X:4.33, Y:0.14, Z:0.17 [[ 9.97904420e-01 -2.90172025e-02 -5.78339842e-02 4.33297342e+00] [ 2.90015560e-02 9.99578750e-01 -1.11004058e-03 1.38453180e-01] [ 5.78418319e-02 -5.69561129e-04 9.98325597e-01 1.68538569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728040942 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:4.36, Y:0.13, Z:0.17 [[ 0.99804295 -0.02613403 -0.05680913 4.36124387] [ 0.02644186 0.99963943 0.00467356 0.13418192] [ 0.05666651 -0.00616656 0.99837412 0.16986543] [ 0. 0. 0. 1. ]] SLAMing on 5.758040941999999 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:4.39, Y:0.14, Z:0.17 [[ 9.98231270e-01 -2.10023745e-02 -5.56168387e-02 4.38926897e+00] [ 2.10460906e-02 9.99778486e-01 2.00362477e-04 1.35052014e-01] [ 5.56003107e-02 -1.37052511e-03 9.98452166e-01 1.70936324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788040941999999 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:4.42, Y:0.14, Z:0.17 [[ 9.98208785e-01 -1.88394282e-02 -5.67828989e-02 4.41639192e+00] [ 1.86812492e-02 9.99819994e-01 -3.31525734e-03 1.36174544e-01] [ 5.68351351e-02 2.24854351e-03 9.98381045e-01 1.72842393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818040942 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:4.45, Y:0.13, Z:0.18 [[ 0.99821924 -0.01654747 -0.0573108 4.44654884] [ 0.01626379 0.99985309 -0.00541271 0.1339309 ] [ 0.05739195 0.00447098 0.99834171 0.17502441] [ 0. 0. 0. 1. ]] SLAMing on 5.848040941999999 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:4.47, Y:0.13, Z:0.18 [[ 9.98229844e-01 -1.61421872e-02 -5.72416679e-02 4.47366467e+00] [ 1.60363820e-02 9.99868747e-01 -2.30729366e-03 1.29845944e-01] [ 5.72713995e-02 1.38526013e-03 9.98357685e-01 1.76666584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878040941999999 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:4.50, Y:0.13, Z:0.18 [[ 9.98302669e-01 -1.60448877e-02 -5.59851969e-02 4.50123099e+00] [ 1.60072666e-02 9.99871248e-01 -1.12038466e-03 1.26220585e-01] [ 5.59959651e-02 2.22313022e-04 9.98430970e-01 1.78249750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9080409419999995 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:4.53, Y:0.12, Z:0.18 [[ 9.98245467e-01 -1.89532828e-02 -5.60959953e-02 4.52691315e+00] [ 1.90985400e-02 9.99815496e-01 2.05442784e-03 1.19068575e-01] [ 5.60467071e-02 -3.12217489e-03 9.98423266e-01 1.80702853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938040942 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:4.56, Y:0.12, Z:0.18 [[ 9.98181672e-01 -2.12774803e-02 -5.63969760e-02 4.55635354e+00] [ 2.10511683e-02 9.99767799e-01 -4.60395780e-03 1.21856190e-01] [ 5.64818412e-02 3.40836406e-03 9.98397809e-01 1.82513960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968040941999999 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:4.58, Y:0.12, Z:0.18 [[ 9.98177044e-01 -2.19161478e-02 -5.62340838e-02 4.58408684e+00] [ 2.20803232e-02 9.99753555e-01 2.29976246e-03 1.17286308e-01] [ 5.61698233e-02 -3.53723683e-03 9.98414963e-01 1.83406544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998040941999999 meters Centerline goodness : 0.997769 Centerline is valid? [True, True] Translation: X:4.61, Y:0.12, Z:0.18 [[ 9.97986572e-01 -2.50662801e-02 -5.82622003e-02 4.61220186e+00] [ 2.48387838e-02 9.99680768e-01 -4.62573286e-03 1.18452201e-01] [ 5.83595511e-02 3.16925708e-03 9.98290598e-01 1.84764111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028040942 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:4.64, Y:0.12, Z:0.19 [[ 9.97891085e-01 -2.65458979e-02 -5.92342653e-02 4.63966431e+00] [ 2.65172615e-02 9.99647549e-01 -1.26958632e-03 1.15441809e-01] [ 5.92470904e-02 -3.03821630e-04 9.98243302e-01 1.85462073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058040941999999 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:4.67, Y:0.11, Z:0.19 [[ 9.97774539e-01 -2.89034374e-02 -6.00879345e-02 4.66718139e+00] [ 2.88777546e-02 9.99582111e-01 -1.29594424e-03 1.14111653e-01] [ 6.01002816e-02 -4.42144461e-04 9.98192246e-01 1.86490487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088040941999999 meters Centerline goodness : 0.997484 Centerline is valid? [True, True] Translation: X:4.70, Y:0.11, Z:0.19 [[ 9.97527212e-01 -3.21603842e-02 -6.24913639e-02 4.69554461e+00] [ 3.21379239e-02 9.99482512e-01 -1.36479611e-03 1.08742179e-01] [ 6.25029177e-02 -6.46921441e-04 9.98044572e-01 1.87738655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1180409419999995 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:4.72, Y:0.11, Z:0.19 [[ 9.97345908e-01 -3.45591157e-02 -6.40843835e-02 4.72418617e+00] [ 3.43000262e-02 9.99398368e-01 -5.13905354e-03 1.09244847e-01] [ 6.42234294e-02 2.92731799e-03 9.97931251e-01 1.89404837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148040942 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:4.75, Y:0.10, Z:0.19 [[ 9.97388722e-01 -3.51310917e-02 -6.30994718e-02 4.75136599e+00] [ 3.53558406e-02 9.99371788e-01 2.44843111e-03 1.04767260e-01] [ 6.29738159e-02 -4.67297244e-03 9.98004239e-01 1.91340027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.178040941999999 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:4.78, Y:0.11, Z:0.19 [[ 9.97342237e-01 -3.72653042e-02 -6.26079831e-02 4.78065883e+00] [ 3.70826405e-02 9.99303884e-01 -4.07742870e-03 1.07616366e-01] [ 6.27163473e-02 1.74492254e-03 9.98029867e-01 1.93666539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208040941999999 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:4.81, Y:0.10, Z:0.20 [[ 9.97443230e-01 -3.71315627e-02 -6.10594016e-02 4.80721855e+00] [ 3.72820962e-02 9.99303899e-01 1.32754523e-03 1.04037949e-01] [ 6.09676042e-02 -3.60057349e-03 9.98133251e-01 1.95696649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.238040942 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:4.83, Y:0.10, Z:0.20 [[ 9.97463719e-01 -3.77870322e-02 -6.03180751e-02 4.83474964e+00] [ 3.77729480e-02 9.99285403e-01 -1.37412429e-03 1.04751137e-01] [ 6.03268960e-02 -9.07752392e-04 9.98178261e-01 1.97717001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268040942 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:4.86, Y:0.10, Z:0.20 [[ 9.97510181e-01 -3.85346387e-02 -5.90637040e-02 4.86266994e+00] [ 3.85215697e-02 9.99256843e-01 -1.36028439e-03 1.02317827e-01] [ 5.90722285e-02 -9.18329065e-04 9.98253289e-01 2.00423681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.298040941999999 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:4.89, Y:0.10, Z:0.20 [[ 9.97488252e-01 -3.94338898e-02 -5.88400853e-02 4.89044634e+00] [ 3.94215619e-02 9.99221728e-01 -1.37074281e-03 1.02204770e-01] [ 5.88483454e-02 -9.52268212e-04 9.98266480e-01 2.01313566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3280409419999994 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:4.92, Y:0.10, Z:0.20 [[ 9.97532050e-01 -3.90120551e-02 -5.83769600e-02 4.91845541e+00] [ 3.89982823e-02 9.99238331e-01 -1.37561656e-03 1.01898378e-01] [ 5.83861617e-02 -9.04379560e-04 9.98293663e-01 2.03243560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358040942 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:4.95, Y:0.11, Z:0.20 [[ 0.99738714 -0.03841922 -0.06117884 4.94645189] [ 0.03763888 0.99919532 -0.01385723 0.10908077] [ 0.06166199 0.01151832 0.99803062 0.2035776 ] [ 0. 0. 0. 1. ]] SLAMing on 6.388040941999999 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:4.97, Y:0.10, Z:0.21 [[ 0.99757988 -0.03654617 -0.0591503 4.97454129] [ 0.03724718 0.99924781 0.01079206 0.0966535 ] [ 0.0587114 -0.01296913 0.99819075 0.20729214] [ 0. 0. 0. 1. ]] SLAMing on 6.418040941999999 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:5.00, Y:0.10, Z:0.21 [[ 9.97657568e-01 -3.41188925e-02 -5.92897854e-02 5.00112540e+00] [ 3.40938433e-02 9.99417607e-01 -1.43432983e-03 1.03764539e-01] [ 5.93041932e-02 -5.90446638e-04 9.98239783e-01 2.07273558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4480409419999996 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:5.03, Y:0.11, Z:0.21 [[ 9.97720796e-01 -3.24115325e-02 -5.91836675e-02 5.02743453e+00] [ 3.23579467e-02 9.99474607e-01 -1.86381399e-03 1.05203218e-01] [ 5.92129818e-02 -5.54959840e-05 9.98245370e-01 2.08757367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478040942 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:5.06, Y:0.11, Z:0.21 [[ 9.97827283e-01 -3.13682253e-02 -5.79374430e-02 5.05651482e+00] [ 3.13459993e-02 9.99507758e-01 -1.29262218e-03 1.06118561e-01] [ 5.79494710e-02 -5.26293363e-04 9.98319379e-01 2.11122485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508040941999999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:5.08, Y:0.11, Z:0.21 [[ 9.97891301e-01 -2.99365251e-02 -5.75912801e-02 5.08465938e+00] [ 2.99040514e-02 9.99551757e-01 -1.42579778e-03 1.06139907e-01] [ 5.76081487e-02 -2.99421400e-04 9.98339227e-01 2.12558279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538040941999999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:5.11, Y:0.11, Z:0.21 [[ 9.97931694e-01 -2.84320168e-02 -5.76537505e-02 5.11244191e+00] [ 2.83960931e-02 9.99595709e-01 -1.44241687e-03 1.05219678e-01] [ 5.76714525e-02 -1.97707756e-04 9.98335597e-01 2.13317383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568040942 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:5.14, Y:0.10, Z:0.22 [[ 9.98065543e-01 -2.44103683e-02 -5.71778498e-02 5.14029309e+00] [ 2.43674948e-02 9.99702021e-01 -1.44702172e-03 1.02959375e-01] [ 5.71961343e-02 5.09415630e-05 9.98362960e-01 2.15432052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598040941999999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:5.17, Y:0.10, Z:0.22 [[ 9.98099907e-01 -2.35371762e-02 -5.69436278e-02 5.16721032e+00] [ 2.34923321e-02 9.99722956e-01 -1.45689598e-03 1.03263823e-01] [ 5.69621431e-02 1.16389127e-04 9.98376332e-01 2.16998106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628040941999999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:5.19, Y:0.10, Z:0.22 [[ 9.98138194e-01 -2.29423736e-02 -5.65136470e-02 5.19412102e+00] [ 2.28968360e-02 9.99736777e-01 -1.45324329e-03 1.03864684e-01] [ 5.65321122e-02 1.56553925e-04 9.98400769e-01 2.17759328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6580409419999995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:5.22, Y:0.10, Z:0.22 [[ 9.98127494e-01 -2.32178367e-02 -5.65900795e-02 5.22165205e+00] [ 2.31719706e-02 9.99730418e-01 -1.46662805e-03 1.03986755e-01] [ 5.66088758e-02 1.52578121e-04 9.98396420e-01 2.19689732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688040942 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:5.25, Y:0.10, Z:0.22 [[ 9.98095513e-01 -2.38564273e-02 -5.68877615e-02 5.24993617e+00] [ 2.38101940e-02 9.99715386e-01 -1.49047290e-03 1.03741872e-01] [ 5.69071278e-02 1.33125674e-04 9.98379467e-01 2.21015123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718040941999999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:5.28, Y:0.10, Z:0.22 [[ 9.97943760e-01 -2.60374372e-02 -5.85688031e-02 5.27669673e+00] [ 2.59912401e-02 9.99660968e-01 -1.55054965e-03 1.00852656e-01] [ 5.85893188e-02 2.50855206e-05 9.98282170e-01 2.21298728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748040941999999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:5.30, Y:0.10, Z:0.22 [[ 9.97895966e-01 -2.77921227e-02 -5.85767809e-02 5.30467822e+00] [ 2.77484596e-02 9.99613722e-01 -1.55883227e-03 9.98979153e-02] [ 5.85974773e-02 -6.98630041e-05 9.98281689e-01 2.23993465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778040942 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:5.33, Y:0.10, Z:0.23 [[ 9.97848620e-01 -3.02501728e-02 -5.81640624e-02 5.33227320e+00] [ 3.02103595e-02 9.99542339e-01 -1.56390314e-03 9.92840497e-02] [ 5.81847514e-02 -1.96618645e-04 9.98305813e-01 2.25846138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808040941999999 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:5.36, Y:0.11, Z:0.22 [[ 0.99797799 -0.03632154 -0.05216013 5.3589791 ] [ 0.03475382 0.99892564 -0.030655 0.1143364 ] [ 0.05321752 0.02878025 0.99816812 0.21778592] [ 0. 0. 0. 1. ]] SLAMing on 6.838040941999999 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:5.39, Y:0.10, Z:0.22 [[ 0.99791105 -0.03475746 -0.05445607 5.38518011] [ 0.0342822 0.99936572 -0.0096377 0.10133275] [ 0.05475651 0.0077507 0.99846965 0.22212643] [ 0. 0. 0. 1. ]] SLAMing on 6.8680409419999995 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:5.41, Y:0.10, Z:0.22 [[ 9.97887025e-01 -3.66324287e-02 -5.36614447e-02 5.41259903e+00] [ 3.64522166e-02 9.99326001e-01 -4.33354755e-03 9.90077431e-02] [ 5.37840253e-02 2.36831226e-03 9.98549783e-01 2.22734065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898040942 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:5.44, Y:0.10, Z:0.23 [[ 9.97854921e-01 -3.64845237e-02 -5.43547336e-02 5.44137189e+00] [ 3.63734190e-02 9.99333668e-01 -3.03226127e-03 9.89354255e-02] [ 5.44291459e-02 1.04868932e-03 9.98517085e-01 2.25075610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928040941999999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:5.47, Y:0.10, Z:0.23 [[ 0.99774256 -0.03752577 -0.05569208 5.47338339] [ 0.03714941 0.99927945 -0.00777823 0.10064364] [ 0.05594383 0.00569175 0.99841769 0.22658734] [ 0. 0. 0. 1. ]] SLAMing on 6.958040941999999 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:5.50, Y:0.09, Z:0.23 [[ 0.99761207 -0.03936064 -0.05675293 5.50346584] [ 0.03997985 0.99915227 0.00981639 0.09008451] [ 0.05631844 -0.01206192 0.99833999 0.23046807] [ 0. 0. 0. 1. ]] SLAMing on 6.988040942 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:5.53, Y:0.10, Z:0.23 [[ 9.97574292e-01 -4.05949480e-02 -5.65471649e-02 5.53141905e+00] [ 4.04893586e-02 9.99175429e-01 -3.01220066e-03 9.67896816e-02] [ 5.66228179e-02 7.15335506e-04 9.98395385e-01 2.31023574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.018040941999999 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:5.56, Y:0.10, Z:0.23 [[ 9.97517450e-01 -4.21140769e-02 -5.64388370e-02 5.55941151e+00] [ 4.20035426e-02 9.99112516e-01 -3.14383926e-03 9.53946816e-02] [ 5.65211483e-02 7.65403423e-04 9.98401109e-01 2.33617189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048040941999999 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:5.59, Y:0.10, Z:0.24 [[ 9.97565413e-01 -4.02368256e-02 -5.69582669e-02 5.58526267e+00] [ 3.99686987e-02 9.99183870e-01 -5.83928656e-03 9.58095813e-02] [ 5.71467359e-02 3.54852250e-03 9.98359484e-01 2.35552523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0780409419999994 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:5.62, Y:0.07, Z:0.25 [[ 0.99721941 -0.04200411 -0.06155561 5.61807763] [ 0.04426326 0.99837795 0.03580828 0.07255545] [ 0.05995167 -0.03843336 0.99746111 0.25120452] [ 0. 0. 0. 1. ]] SLAMing on 7.108040942 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:5.65, Y:0.09, Z:0.25 [[ 9.97124703e-01 -4.48523700e-02 -6.10785630e-02 5.64580089e+00] [ 4.48321480e-02 9.98993084e-01 -1.70215452e-03 9.20748230e-02] [ 6.10934077e-02 -1.04102286e-03 9.98131510e-01 2.49022127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.138040941999999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:5.67, Y:0.09, Z:0.25 [[ 9.97100065e-01 -4.51178797e-02 -6.12848917e-02 5.67267153e+00] [ 4.50970951e-02 9.98981123e-01 -1.72299714e-03 9.17541272e-02] [ 6.13001879e-02 -1.04577003e-03 9.98118827e-01 2.50807546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168040941999999 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:5.70, Y:0.09, Z:0.25 [[ 9.97130446e-01 -4.50077336e-02 -6.08701640e-02 5.70020723e+00] [ 4.49865638e-02 9.98986113e-01 -1.71887830e-03 9.18176651e-02] [ 6.08858114e-02 -1.02439364e-03 9.98144212e-01 2.52701358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1980409419999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:5.73, Y:0.09, Z:0.25 [[ 9.97172656e-01 -4.59912890e-02 -5.94263924e-02 5.72817295e+00] [ 4.59719674e-02 9.98941296e-01 -1.69300105e-03 9.25352809e-02] [ 5.94413407e-02 -1.04373382e-03 9.98231255e-01 2.54674500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228040941999999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.75, Y:0.09, Z:0.26 [[ 9.97152959e-01 -4.64414287e-02 -5.94068159e-02 5.75473054e+00] [ 4.64220286e-02 9.98920457e-01 -1.70738110e-03 9.32207835e-02] [ 5.94219770e-02 -1.05526480e-03 9.98232395e-01 2.56396853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.258040941999999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:5.78, Y:0.09, Z:0.26 [[ 9.97066363e-01 -4.73129329e-02 -6.01677098e-02 5.78230132e+00] [ 4.72939569e-02 9.98879499e-01 -1.74022000e-03 9.28039473e-02] [ 6.01826267e-02 -1.11045425e-03 9.98186765e-01 2.57508461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288040941999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.81, Y:0.09, Z:0.26 [[ 9.96990802e-01 -4.77558772e-02 -6.10632225e-02 5.80999804e+00] [ 4.77362075e-02 9.98858388e-01 -1.78173986e-03 9.27027389e-02] [ 6.10786006e-02 -1.13854841e-03 9.98132310e-01 2.59689796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.318040942 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:5.84, Y:0.10, Z:0.26 [[ 0.99680384 -0.04614938 -0.06521003 5.83556717] [ 0.04477101 0.99874513 -0.02244357 0.10267432] [ 0.06616396 0.01945232 0.99761913 0.26005429] [ 0. 0. 0. 1. ]] SLAMing on 7.348040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:0.08, Z:0.27 [[ 0.99692396 -0.0469229 -0.06277621 5.86792098] [ 0.04804146 0.99871024 0.01642813 0.08170896] [ 0.06192439 -0.01939345 0.99789241 0.26663762] [ 0. 0. 0. 1. ]] SLAMing on 7.378040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:0.12, Z:0.25 [[ 0.99729986 -0.05202024 -0.05183519 5.8954933 ] [ 0.0500927 0.99802837 -0.03781653 0.11514142] [ 0.05370021 0.03511786 0.99793939 0.24566231] [ 0. 0. 0. 1. ]] SLAMing on 7.4080409419999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.92, Y:0.07, Z:0.27 [[ 0.99696638 -0.04604201 -0.06275486 5.92492751] [ 0.04825119 0.99825113 0.03415406 0.07432505] [ 0.06107259 -0.03707845 0.9974444 0.27300259] [ 0. 0. 0. 1. ]] SLAMing on 7.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:0.12, Z:0.25 [[ 0.99734516 -0.05097052 -0.05200606 5.95313085] [ 0.04899129 0.99805117 -0.03864862 0.11671548] [ 0.05387465 0.03599817 0.99789862 0.2495508 ] [ 0. 0. 0. 1. ]] SLAMing on 7.468040941999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.98, Y:0.09, Z:0.26 [[ 9.97407422e-01 -4.52607697e-02 -5.59454911e-02 5.97952892e+00] [ 4.56090373e-02 9.98947036e-01 4.96341355e-03 9.06447496e-02] [ 5.56619346e-02 -7.50216550e-03 9.98421487e-01 2.58290770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:0.10, Z:0.26 [[ 0.99740108 -0.04842141 -0.05335225 6.01077473] [ 0.04798169 0.9988031 -0.00949292 0.09970437] [ 0.05374805 0.00690831 0.99853063 0.25591133] [ 0. 0. 0. 1. ]] SLAMing on 7.528040942 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:6.04, Y:0.09, Z:0.26 [[ 9.97362555e-01 -4.72800257e-02 -5.50684419e-02 6.03818019e+00] [ 4.72796071e-02 9.98880834e-01 -1.31112818e-03 9.39101284e-02] [ 5.50688013e-02 -1.29594414e-03 9.98481721e-01 2.61456018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.558040941999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.07, Y:0.09, Z:0.26 [[ 0.99751434 -0.04641588 -0.05301617 6.06605507] [ 0.04681222 0.9988841 0.00625804 0.09056811] [ 0.05266654 -0.00872429 0.99857404 0.26278076] [ 0. 0. 0. 1. ]] SLAMing on 7.588040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:0.08, Z:0.28 [[ 0.99709729 -0.04549143 -0.06105348 6.09412803] [ 0.04708962 0.99857783 0.02499788 0.08206837] [ 0.05982946 -0.02780031 0.99782142 0.28211194] [ 0. 0. 0. 1. ]] SLAMing on 7.6180409419999995 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:6.12, Y:0.11, Z:0.28 [[ 0.99647632 -0.04433966 -0.07119646 6.11631605] [ 0.04194765 0.99851536 -0.03474871 0.11240256] [ 0.07263151 0.03163974 0.99685686 0.28231963] [ 0. 0. 0. 1. ]] SLAMing on 7.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:0.08, Z:0.29 [[ 0.99713874 -0.04353536 -0.06179815 6.15061567] [ 0.04544432 0.99852146 0.02982789 0.0805903 ] [ 0.06040821 -0.03255092 0.99764286 0.28639981] [ 0. 0. 0. 1. ]] SLAMing on 7.678040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:0.10, Z:0.28 [[ 9.97135263e-01 -4.50259492e-02 -6.07777236e-02 6.17862062e+00] [ 4.49946177e-02 9.98985451e-01 -1.88470711e-03 9.78518780e-02] [ 6.08009224e-02 -8.55362523e-04 9.98149546e-01 2.84890537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708040941999999 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:6.20, Y:0.10, Z:0.29 [[ 9.97199200e-01 -4.34748732e-02 -6.08579573e-02 6.20466608e+00] [ 4.30283348e-02 9.99036584e-01 -8.62940160e-03 1.00896175e-01] [ 6.11744879e-02 5.98661581e-03 9.98109134e-01 2.86059358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:0.11, Z:0.28 [[ 0.99730844 -0.04599003 -0.05710328 6.23896594] [ 0.04493794 0.99879799 -0.0195743 0.10809167] [ 0.05793486 0.01695551 0.99817637 0.28084773] [ 0. 0. 0. 1. ]] SLAMing on 7.768040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:0.10, Z:0.28 [[ 0.9973972 -0.04553664 -0.05590388 6.26766593] [ 0.04509957 0.99894145 -0.00905577 0.10361054] [ 0.05625707 0.00651096 0.99839509 0.28128628] [ 0. 0. 0. 1. ]] SLAMing on 7.798040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:0.10, Z:0.28 [[ 9.97327211e-01 -4.43138719e-02 -5.80922909e-02 6.29779463e+00] [ 4.40880935e-02 9.99014305e-01 -5.16310508e-03 1.01648699e-01] [ 5.82638268e-02 2.58812684e-03 9.98297865e-01 2.83872785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8280409419999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.32, Y:0.08, Z:0.31 [[ 0.99662924 -0.04041643 -0.07139103 6.32351348] [ 0.0430279 0.99844551 0.03542826 0.07941427] [ 0.06984817 -0.03838065 0.99681902 0.3069128 ] [ 0. 0. 0. 1. ]] SLAMing on 7.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.35, Y:0.12, Z:0.28 [[ 0.99722668 -0.04609914 -0.05842796 6.35408491] [ 0.04361904 0.99812092 -0.04303505 0.12222816] [ 0.06030205 0.04036713 0.9973636 0.28205944] [ 0. 0. 0. 1. ]] SLAMing on 7.888040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.38, Y:0.09, Z:0.29 [[ 0.99718614 -0.04177396 -0.06224735 6.38319901] [ 0.04225491 0.99908617 0.00642952 0.09463839] [ 0.06192188 -0.00904169 0.99804004 0.29203776] [ 0. 0. 0. 1. ]] SLAMing on 7.918040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.41, Y:0.10, Z:0.29 [[ 9.97318120e-01 -3.94692508e-02 -6.16339643e-02 6.41131295e+00] [ 3.96656423e-02 9.99211075e-01 1.96565809e-03 9.67490111e-02] [ 6.15077566e-02 -4.40513721e-03 9.98096884e-01 2.94424926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9480409419999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.44, Y:0.10, Z:0.30 [[ 9.97237832e-01 -3.89771093e-02 -6.32257238e-02 6.43926639e+00] [ 3.89179911e-02 9.99240059e-01 -2.16677456e-03 9.90643433e-02] [ 6.32621306e-02 -2.99828591e-04 9.97996900e-01 2.97650713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.978040941999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.47, Y:0.09, Z:0.31 [[ 0.99716533 -0.03365595 -0.06729477 6.46930184] [ 0.03442678 0.99935386 0.01032749 0.09091966] [ 0.06690371 -0.01261496 0.99767969 0.30715337] [ 0. 0. 0. 1. ]] SLAMing on 8.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.50, Y:0.09, Z:0.31 [[ 9.97146035e-01 -3.25005539e-02 -6.81432250e-02 6.49709457e+00] [ 3.27851732e-02 9.99457730e-01 3.06230884e-03 9.47329920e-02] [ 6.80067463e-02 -5.28765656e-03 9.97670849e-01 3.10360875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.52, Y:0.10, Z:0.32 [[ 0.99690078 -0.03440971 -0.07074462 6.5213163 ] [ 0.03502052 0.99935911 0.00741146 0.09626073] [ 0.07044426 -0.00986601 0.99746693 0.3181241 ] [ 0. 0. 0. 1. ]] SLAMing on 8.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:0.10, Z:0.32 [[ 9.96956266e-01 -3.42463686e-02 -7.00384836e-02 6.54832092e+00] [ 3.43473442e-02 9.99409928e-01 2.37572976e-04 9.96498720e-02] [ 6.99890198e-02 -2.64248577e-03 9.97544262e-01 3.20070458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.58, Y:0.10, Z:0.32 [[ 9.96984765e-01 -3.51957099e-02 -6.91566387e-02 6.57518094e+00] [ 3.51221240e-02 9.99380427e-01 -2.28005730e-03 1.01474436e-01] [ 6.91940394e-02 -1.55745644e-04 9.97603208e-01 3.21536951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.60, Y:0.10, Z:0.32 [[ 9.97017177e-01 -3.68433883e-02 -6.78182460e-02 6.60346561e+00] [ 3.67758727e-02 9.99321019e-01 -2.24416867e-03 1.00571736e-01] [ 6.78548815e-02 -2.56600473e-04 9.97695168e-01 3.23361681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.63, Y:0.10, Z:0.33 [[ 9.96970810e-01 -3.77993167e-02 -6.79736410e-02 6.63087390e+00] [ 3.77323921e-02 9.99285305e-01 -2.26864791e-03 1.00561758e-01] [ 6.80108139e-02 -3.03032327e-04 9.97684538e-01 3.25267814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:0.10, Z:0.33 [[ 9.96939387e-01 -3.88805889e-02 -6.78244736e-02 6.65882715e+00] [ 3.88158800e-02 9.99243796e-01 -2.27215359e-03 1.00770953e-01] [ 6.78615271e-02 -3.67467227e-04 9.97694682e-01 3.26497520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.69, Y:0.11, Z:0.32 [[ 0.99696335 -0.04020173 -0.06669262 6.6902559 ] [ 0.0393093 0.99911983 -0.01464053 0.10678574] [ 0.0672225 0.01197443 0.99766615 0.32202184] [ 0. 0. 0. 1. ]] SLAMing on 8.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.72, Y:0.10, Z:0.33 [[ 0.99677503 -0.04037451 -0.06935008 6.71513018] [ 0.04119565 0.99909644 0.01045085 0.09579078] [ 0.06886547 -0.01327406 0.99753764 0.3312062 ] [ 0. 0. 0. 1. ]] SLAMing on 8.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.74, Y:0.10, Z:0.33 [[ 9.96733186e-01 -4.25770195e-02 -6.86305559e-02 6.74316147e+00] [ 4.25164845e-02 9.99093018e-01 -2.34315247e-03 1.04209096e-01] [ 6.86680737e-02 -5.82432138e-04 9.97639392e-01 3.31548704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:0.12, Z:0.32 [[ 0.99676605 -0.04958632 -0.06323483 6.77058347] [ 0.04769737 0.99837941 -0.03104052 0.12486217] [ 0.06467154 0.027924 0.99751584 0.31939089] [ 0. 0. 0. 1. ]] SLAMing on 8.338040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.80, Y:0.09, Z:0.34 [[ 0.99657281 -0.04270298 -0.07084549 6.80089432] [ 0.04455634 0.99869927 0.02478914 0.09187735] [ 0.06969477 -0.0278608 0.99717923 0.33892796] [ 0. 0. 0. 1. ]] SLAMing on 8.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.83, Y:0.11, Z:0.34 [[ 9.96567244e-01 -4.53619803e-02 -6.92532997e-02 6.82785186e+00] [ 4.53051932e-02 9.98970331e-01 -2.39123496e-03 1.07564504e-01] [ 6.92904628e-02 -7.54507691e-04 9.97596242e-01 3.36855442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.398040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.86, Y:0.11, Z:0.34 [[ 9.96564713e-01 -4.54463495e-02 -6.92344010e-02 6.85600205e+00] [ 4.53891968e-02 9.98966498e-01 -2.39922258e-03 1.08810057e-01] [ 6.92718830e-02 -7.51513289e-04 9.97597535e-01 3.38333647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.88, Y:0.11, Z:0.34 [[ 9.96595669e-01 -4.50228402e-02 -6.90653044e-02 6.88364595e+00] [ 4.49636271e-02 9.98985712e-01 -2.41247072e-03 1.09370983e-01] [ 6.91038685e-02 -7.01168719e-04 9.97609224e-01 3.39591405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.458040942 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:6.91, Y:0.11, Z:0.34 [[ 9.96569569e-01 -4.47415353e-02 -6.96224801e-02 6.91095144e+00] [ 4.46792885e-02 9.98998373e-01 -2.45181908e-03 1.09695338e-01] [ 6.96624425e-02 -6.67274596e-04 9.97570398e-01 3.41761510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.94, Y:0.11, Z:0.34 [[ 9.96580432e-01 -4.42928790e-02 -6.97537316e-02 6.93887929e+00] [ 4.42286759e-02 9.99018391e-01 -2.46535605e-03 1.10576595e-01] [ 6.97944584e-02 -6.28189596e-04 9.97561196e-01 3.43501830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.97, Y:0.11, Z:0.34 [[ 9.96573269e-01 -4.40144969e-02 -7.00317283e-02 6.96540859e+00] [ 4.39477238e-02 9.99030717e-01 -2.49469315e-03 1.12293265e-01] [ 7.00736504e-02 -5.91590545e-04 9.97541645e-01 3.44528831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.99, Y:0.11, Z:0.35 [[ 9.96572258e-01 -4.39483037e-02 -7.00876617e-02 6.99362454e+00] [ 4.38806383e-02 9.99033639e-01 -2.50553282e-03 1.14415413e-01] [ 7.01300456e-02 -5.78546829e-04 9.97537690e-01 3.45979509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.578040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.02, Y:0.12, Z:0.35 [[ 9.96588176e-01 -4.45388111e-02 -6.94859883e-02 7.02133768e+00] [ 4.44724006e-02 9.99007477e-01 -2.50319229e-03 1.15702581e-01] [ 6.95285111e-02 -5.95556870e-04 9.97579787e-01 3.47983681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.05, Y:0.12, Z:0.35 [[ 9.96597808e-01 -4.49565412e-02 -6.90776226e-02 7.04801522e+00] [ 4.48905513e-02 9.98988763e-01 -2.50811242e-03 1.16982327e-01] [ 6.91205247e-02 -6.01353218e-04 9.97608135e-01 3.49691778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:0.12, Z:0.35 [[ 9.96684315e-01 -4.58255257e-02 -6.72338997e-02 7.07587530e+00] [ 4.57641345e-02 9.98949259e-01 -2.45382060e-03 1.18663179e-01] [ 6.72757019e-02 -6.31216722e-04 9.97734224e-01 3.51677864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.10, Y:0.12, Z:0.35 [[ 9.96689696e-01 -4.58829664e-02 -6.71148546e-02 7.10350821e+00] [ 4.58206526e-02 9.98946633e-01 -2.46834282e-03 1.19897747e-01] [ 6.71574129e-02 -6.15074582e-04 9.97742203e-01 3.53640397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.698040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.13, Y:0.12, Z:0.36 [[ 9.96679245e-01 -4.60687867e-02 -6.71427533e-02 7.13138543e+00] [ 4.60055413e-02 9.98938084e-01 -2.48868832e-03 1.21321186e-01] [ 6.71861042e-02 -6.08514715e-04 9.97740275e-01 3.55407947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728040942 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:7.16, Y:0.12, Z:0.36 [[ 9.96712733e-01 -4.58298114e-02 -6.68083531e-02 7.15911917e+00] [ 4.56830618e-02 9.98949045e-01 -3.72344161e-03 1.24066015e-01] [ 6.69087851e-02 6.59191546e-04 9.97758879e-01 3.56277597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.758040942000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.19, Y:0.12, Z:0.36 [[ 9.96722544e-01 -4.57101449e-02 -6.67439357e-02 7.18634452e+00] [ 4.57284695e-02 9.98953119e-01 -1.25397654e-03 1.24022732e-01] [ 6.67313822e-02 -1.80223134e-03 9.97769349e-01 3.58536186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.21, Y:0.13, Z:0.36 [[ 9.96709928e-01 -4.60538318e-02 -6.66960595e-02 7.21475410e+00] [ 4.59880853e-02 9.98938806e-01 -2.52156774e-03 1.25868637e-01] [ 6.67414099e-02 -5.53952476e-04 9.97770153e-01 3.60332724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.818040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.24, Y:0.13, Z:0.36 [[ 9.96734598e-01 -4.57445806e-02 -6.65400176e-02 7.24228470e+00] [ 4.56773082e-02 9.98953036e-01 -2.53282450e-03 1.26875110e-01] [ 6.65862156e-02 -5.14815079e-04 9.97780542e-01 3.61404726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.27, Y:0.13, Z:0.36 [[ 9.96649699e-01 -4.59429490e-02 -6.76655238e-02 7.27022196e+00] [ 4.58725432e-02 9.98943931e-01 -2.59472812e-03 1.28350437e-01] [ 6.77132738e-02 -5.17954672e-04 9.97704688e-01 3.62930793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.878040942 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:7.30, Y:0.13, Z:0.36 [[ 0.99651224 -0.04598367 -0.06963376 7.29675896] [ 0.04524969 0.99890264 -0.01208234 0.1348606 ] [ 0.07011293 0.0088893 0.99749945 0.36346042] [ 0. 0. 0. 1. ]] SLAMing on 8.908040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.33, Y:0.13, Z:0.37 [[ 9.96474743e-01 -4.49530206e-02 -7.08329951e-02 7.32557221e+00] [ 4.51898426e-02 9.98976896e-01 1.74364739e-03 1.28529183e-01] [ 7.06821433e-02 -4.93843248e-03 9.97486665e-01 3.67417097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.35, Y:0.13, Z:0.37 [[ 9.96593468e-01 -4.68452918e-02 -6.78747224e-02 7.35490644e+00] [ 4.71453654e-02 9.98884044e-01 2.82503794e-03 1.28306314e-01] [ 6.76666375e-02 -6.01539295e-03 9.97689852e-01 3.69333475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.38, Y:0.13, Z:0.37 [[ 9.96645172e-01 -4.85999662e-02 -6.58516902e-02 7.38297563e+00] [ 4.85372811e-02 9.98818110e-01 -2.55239578e-03 1.31070610e-01] [ 6.58979071e-02 -6.52429066e-04 9.97826157e-01 3.70913716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.998040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.41, Y:0.13, Z:0.37 [[ 9.96688411e-01 -4.89732686e-02 -6.49140163e-02 7.41114969e+00] [ 4.89119933e-02 9.98799878e-01 -2.53377919e-03 1.31637043e-01] [ 6.49601990e-02 -6.49685580e-04 9.97887644e-01 3.72040528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.44, Y:0.13, Z:0.37 [[ 9.96677762e-01 -4.88614604e-02 -6.51613122e-02 7.43845656e+00] [ 4.87982142e-02 9.98805370e-01 -2.56278050e-03 1.32423171e-01] [ 6.52086897e-02 -6.25489338e-04 9.97871452e-01 3.73690669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.058040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.47, Y:0.13, Z:0.38 [[ 9.96687773e-01 -4.86034758e-02 -6.52011106e-02 7.46684549e+00] [ 4.85391110e-02 9.98817972e-01 -2.57183788e-03 1.33762402e-01] [ 6.52490413e-02 -6.01484575e-04 9.97868829e-01 3.75085640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088040942000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.50, Y:0.13, Z:0.38 [[ 9.96709023e-01 -4.71948026e-02 -6.59073191e-02 7.49519226e+00] [ 4.71247617e-02 9.98885581e-01 -2.61780690e-03 1.34662519e-01] [ 6.59574176e-02 -4.96674944e-04 9.97822315e-01 3.76284004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.118040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.52, Y:0.14, Z:0.38 [[ 9.96726083e-01 -4.67602942e-02 -6.59590052e-02 7.52191287e+00] [ 4.66879242e-02 9.98906038e-01 -2.63903962e-03 1.35342965e-01] [ 6.60102509e-02 -4.49089411e-04 9.97818844e-01 3.77920083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:7.55, Y:0.14, Z:0.38 [[ 9.96763126e-01 -4.51491890e-02 -6.65193260e-02 7.54842183e+00] [ 4.50714502e-02 9.98980199e-01 -2.66969271e-03 1.35359064e-01] [ 6.65720240e-02 -3.37071241e-04 9.97781565e-01 3.79665073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.178040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.58, Y:0.14, Z:0.38 [[ 9.96732857e-01 -4.46327287e-02 -6.73166500e-02 7.57664639e+00] [ 4.45514209e-02 9.99003419e-01 -2.70933774e-03 1.36661443e-01] [ 6.73704887e-02 -2.98566462e-04 9.97727983e-01 3.81003814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.60, Y:0.15, Z:0.37 [[ 0.99715895 -0.04592932 -0.05970369 7.60260885] [ 0.04457083 0.99872052 -0.02389054 0.15213887] [ 0.06072458 0.02116162 0.99793021 0.37177409] [ 0. 0. 0. 1. ]] SLAMing on 9.238040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.63, Y:0.13, Z:0.39 [[ 0.99694162 -0.03922978 -0.06759012 7.63372887] [ 0.04054054 0.99901338 0.01813092 0.1265387 ] [ 0.06681216 -0.02081561 0.99754842 0.3871157 ] [ 0. 0. 0. 1. ]] SLAMing on 9.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.66, Y:0.14, Z:0.39 [[ 9.96986186e-01 -3.95971288e-02 -6.67129139e-02 7.66115797e+00] [ 3.95032919e-02 9.99215723e-01 -2.72566887e-03 1.38610708e-01] [ 6.67685212e-02 8.20744943e-05 9.97768489e-01 3.86136314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.69, Y:0.15, Z:0.38 [[ 0.99730626 -0.03778024 -0.06287198 7.68749361] [ 0.0370148 0.99922627 -0.01329561 0.14616699] [ 0.06332565 0.0109326 0.99793303 0.3824104 ] [ 0. 0. 0. 1. ]] SLAMing on 9.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.72, Y:0.14, Z:0.39 [[ 9.96979037e-01 -3.57317563e-02 -6.89640563e-02 7.71820184e+00] [ 3.58212179e-02 9.99358212e-01 6.06004946e-05 1.37600251e-01] [ 6.89176306e-02 -2.53079391e-03 9.97619143e-01 3.89902633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.75, Y:0.14, Z:0.39 [[ 9.97022747e-01 -3.46397201e-02 -6.88892686e-02 7.74593528e+00] [ 3.45288930e-02 9.99399780e-01 -2.79922909e-03 1.39019958e-01] [ 6.89448844e-02 4.12224886e-04 9.97620385e-01 3.91444889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:0.14, Z:0.39 [[ 9.97006483e-01 -3.32304186e-02 -6.98126904e-02 7.77413429e+00] [ 3.31688818e-02 9.99447678e-01 -2.04081107e-03 1.36809981e-01] [ 6.98419483e-02 -2.80907012e-04 9.97558030e-01 3.93137563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.418040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.80, Y:0.13, Z:0.40 [[ 9.97078937e-01 -3.34140929e-02 -6.86810816e-02 7.80195182e+00] [ 3.36701360e-02 9.99429687e-01 2.57344443e-03 1.33922571e-01] [ 6.85559226e-02 -4.87842859e-03 9.97635347e-01 3.96030295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.83, Y:0.13, Z:0.40 [[ 9.97062967e-01 -3.45246405e-02 -6.83629264e-02 7.82895087e+00] [ 3.44083754e-02 9.99403713e-01 -2.87783256e-03 1.34312462e-01] [ 6.84215186e-02 5.17123034e-04 9.97656368e-01 3.97930803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.86, Y:0.14, Z:0.40 [[ 9.96972600e-01 -3.50261099e-02 -6.94176273e-02 7.85589885e+00] [ 3.45057148e-02 9.99366789e-01 -8.68192792e-03 1.36552725e-01] [ 6.96777655e-02 6.26033940e-03 9.97549907e-01 3.99009851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.88, Y:0.13, Z:0.40 [[ 9.96823455e-01 -3.78219217e-02 -7.00892364e-02 7.88475619e+00] [ 3.80940769e-02 9.99270904e-01 2.54994117e-03 1.27721337e-01] [ 6.99416909e-02 -5.21182593e-03 9.97537466e-01 4.02587585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.91, Y:0.15, Z:0.39 [[ 0.99716637 -0.0465155 -0.05912307 7.90515274] [ 0.04526007 0.99872408 -0.0223996 0.14773416] [ 0.06008956 0.01966021 0.99799936 0.39028212] [ 0. 0. 0. 1. ]] SLAMing on 9.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:0.12, Z:0.41 [[ 0.99663291 -0.04016974 -0.0714789 7.94162943] [ 0.04137334 0.99902448 0.01543787 0.11764172] [ 0.07078903 -0.01834321 0.99732264 0.40806024] [ 0. 0. 0. 1. ]] SLAMing on 9.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.97, Y:0.12, Z:0.41 [[ 9.96462834e-01 -4.54061540e-02 -7.07113985e-02 7.96818656e+00] [ 4.53068530e-02 9.98968587e-01 -3.00837454e-03 1.23967475e-01] [ 7.07750646e-02 -2.05977517e-04 9.97492280e-01 4.07384299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:0.12, Z:0.41 [[ 9.96317185e-01 -4.76646035e-02 -7.12751922e-02 7.99597642e+00] [ 4.73785540e-02 9.98860745e-01 -5.69951253e-03 1.24851636e-01] [ 7.14656566e-02 2.30160674e-03 9.97440406e-01 4.08800946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.02, Y:0.12, Z:0.41 [[ 9.96219541e-01 -4.96768150e-02 -7.12659880e-02 8.02373553e+00] [ 4.97692865e-02 9.98760626e-01 -4.78645956e-04 1.21157249e-01] [ 7.12014405e-02 -3.07002092e-03 9.97457232e-01 4.11757517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.05, Y:0.14, Z:0.40 [[ 0.99614855 -0.06048629 -0.06347816 8.04714917] [ 0.05883503 0.99788696 -0.02756926 0.13828841] [ 0.06501159 0.02372834 0.99760236 0.399431 ] [ 0. 0. 0. 1. ]] SLAMing on 9.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:0.12, Z:0.41 [[ 9.96345567e-01 -5.98183046e-02 -6.09695206e-02 8.07467486e+00] [ 6.01276893e-02 9.98185400e-01 3.25077687e-03 1.20777846e-01] [ 6.06644294e-02 -6.90485351e-03 9.98134335e-01 4.06823812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.10, Y:0.13, Z:0.41 [[ 9.96098985e-01 -6.26343660e-02 -6.21590502e-02 8.10336314e+00] [ 6.20911890e-02 9.98013830e-01 -1.06339000e-02 1.25147489e-01] [ 6.27016393e-02 6.73288766e-03 9.98009605e-01 4.06903024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.778040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:8.13, Y:0.12, Z:0.41 [[ 9.95738981e-01 -6.33514940e-02 -6.70109633e-02 8.13292384e+00] [ 6.30416866e-02 9.97988203e-01 -6.72992677e-03 1.22209718e-01] [ 6.73025017e-02 2.47676628e-03 9.97729542e-01 4.10476263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:0.11, Z:0.42 [[ 9.95849387e-01 -6.09126627e-02 -6.76287392e-02 8.16137831e+00] [ 6.13962327e-02 9.98100477e-01 5.09314515e-03 1.14706681e-01] [ 6.71900398e-02 -9.22415528e-03 9.97697556e-01 4.15498559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.838040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:0.12, Z:0.42 [[ 9.95822529e-01 -6.06900681e-02 -6.82217368e-02 8.18909822e+00] [ 6.04858841e-02 9.98156245e-01 -5.05651675e-03 1.20500338e-01] [ 6.84028330e-02 9.08941227e-04 9.97657369e-01 4.15742228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.22, Y:0.10, Z:0.43 [[ 0.99575617 -0.05314071 -0.07513799 8.22140482] [ 0.05441048 0.99840669 0.01495287 0.10338282] [ 0.07422366 -0.01897771 0.99706103 0.42995938] [ 0. 0. 0. 1. ]] SLAMing on 9.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.25, Y:0.11, Z:0.43 [[ 9.95771538e-01 -5.33507010e-02 -7.47846733e-02 8.24884684e+00] [ 5.32523976e-02 9.98575601e-01 -3.30932026e-03 1.13135859e-01] [ 7.48547046e-02 -6.87136226e-04 9.97194214e-01 4.28794891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928040942 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:8.28, Y:0.12, Z:0.43 [[ 0.99598937 -0.05061669 -0.07377761 8.27693236] [ 0.04965863 0.99865712 -0.01476392 0.1174958 ] [ 0.07442583 0.01104101 0.99716543 0.42601242] [ 0. 0. 0. 1. ]] SLAMing on 9.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.30, Y:0.10, Z:0.44 [[ 9.96010703e-01 -4.74442857e-02 -7.55759210e-02 8.30435285e+00] [ 4.81697884e-02 9.98808668e-01 7.80488037e-03 1.04456048e-01] [ 7.51155880e-02 -1.14142205e-02 9.97109505e-01 4.35143325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.33, Y:0.10, Z:0.44 [[ 9.96011977e-01 -4.16693679e-02 -7.88910968e-02 8.33063755e+00] [ 4.20506874e-02 9.99110425e-01 3.17765120e-03 1.04157454e-01] [ 7.86885065e-02 -6.48240350e-03 9.96878176e-01 4.39622808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.36, Y:0.11, Z:0.44 [[ 9.96247140e-01 -4.44034794e-02 -7.42964849e-02 8.35962504e+00] [ 4.37777133e-02 9.98990938e-01 -1.00307836e-02 1.12847971e-01] [ 7.46669168e-02 6.74060926e-03 9.97185748e-01 4.36086432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.39, Y:0.11, Z:0.44 [[ 9.96251140e-01 -4.33998552e-02 -7.48339408e-02 8.38655210e+00] [ 4.32662666e-02 9.99057770e-01 -3.40614361e-03 1.08567881e-01] [ 7.49112562e-02 1.55589224e-04 9.97190192e-01 4.39311285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:0.11, Z:0.44 [[ 9.96291546e-01 -4.29013014e-02 -7.45830725e-02 8.41481748e+00] [ 4.27664577e-02 9.99079295e-01 -3.40481789e-03 1.07256989e-01] [ 7.46604746e-02 2.02537468e-04 9.97208991e-01 4.41078803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:0.09, Z:0.45 [[ 9.96212747e-01 -3.85713427e-02 -7.79257013e-02 8.44697460e+00] [ 3.92705295e-02 9.99200771e-01 7.45949914e-03 9.44989196e-02] [ 7.75756979e-02 -1.04914317e-02 9.96931262e-01 4.49491203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.47, Y:0.11, Z:0.44 [[ 0.99643437 -0.04200662 -0.07317099 8.4722853 ] [ 0.04111748 0.99906153 -0.01361648 0.10734687] [ 0.07367431 0.01055932 0.99722645 0.44482075] [ 0. 0. 0. 1. ]] SLAMing on 10.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.50, Y:0.10, Z:0.45 [[ 9.96532959e-01 -4.01470537e-02 -7.28716325e-02 8.49990529e+00] [ 4.00079188e-02 9.99193685e-01 -3.36856459e-03 9.95207703e-02] [ 7.29481129e-02 4.41443288e-04 9.97335640e-01 4.48666606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.53, Y:0.10, Z:0.45 [[ 9.96547689e-01 -3.65028832e-02 -7.45670317e-02 8.52829974e+00] [ 3.63462428e-02 9.99333277e-01 -3.45704670e-03 9.72307860e-02] [ 7.46435084e-02 7.34880463e-04 9.97210011e-01 4.50956887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.56, Y:0.10, Z:0.45 [[ 9.96549834e-01 -3.86887695e-02 -7.34275602e-02 8.55833361e+00] [ 3.84701339e-02 9.99250107e-01 -4.39006058e-03 9.67931260e-02] [ 7.35423434e-02 1.55014607e-03 9.97290891e-01 4.51353176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.258040942000001 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:8.59, Y:0.10, Z:0.45 [[ 0.99661741 -0.03924197 -0.07220676 8.58668253] [ 0.03848372 0.99918881 -0.01186309 0.09954406] [ 0.07261371 0.00904418 0.99731913 0.4507044 ] [ 0. 0. 0. 1. ]] SLAMing on 10.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:0.09, Z:0.46 [[ 9.96558966e-01 -3.78523527e-02 -7.37389093e-02 8.61386868e+00] [ 3.84366603e-02 9.99239763e-01 6.52060641e-03 8.79099480e-02] [ 7.34360300e-02 -9.33244619e-03 9.97256263e-01 4.58821636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.318040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.64, Y:0.09, Z:0.46 [[ 9.96493957e-01 -3.92946559e-02 -7.38628654e-02 8.64172454e+00] [ 3.91474136e-02 9.99227522e-01 -3.44070731e-03 9.14202834e-02] [ 7.39410094e-02 5.37103898e-04 9.97262472e-01 4.57768801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.67, Y:0.09, Z:0.46 [[ 9.96398319e-01 -4.17464446e-02 -7.38080218e-02 8.66980098e+00] [ 4.16046352e-02 9.99128167e-01 -3.45843275e-03 8.66142071e-02] [ 7.38880508e-02 3.75220757e-04 9.97266471e-01 4.60674559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.378040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.69, Y:0.09, Z:0.46 [[ 0.99622622 -0.04286667 -0.07547033 8.6943334 ] [ 0.04198124 0.99903013 -0.01328037 0.09009839] [ 0.07596642 0.01006191 0.99705961 0.46063591] [ 0. 0. 0. 1. ]] SLAMing on 10.408040942 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:8.73, Y:0.08, Z:0.47 [[ 9.96189682e-01 -4.67472960e-02 -7.36261305e-02 8.72541778e+00] [ 4.72263965e-02 9.98872780e-01 4.77883937e-03 7.90642332e-02] [ 7.33197398e-02 -8.23772730e-03 9.97274464e-01 4.65100169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.75, Y:0.08, Z:0.47 [[ 9.96030656e-01 -5.03432351e-02 -7.34063361e-02 8.75233367e+00] [ 5.02204571e-02 9.98731959e-01 -3.51853789e-03 8.29556685e-02] [ 7.34903884e-02 -1.81928147e-04 9.97295909e-01 4.65079229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.78, Y:0.08, Z:0.47 [[ 9.95934149e-01 -5.24807275e-02 -7.32184655e-02 8.78049257e+00] [ 5.23634833e-02 9.98621884e-01 -3.52126705e-03 8.11389793e-02] [ 7.33023606e-02 -3.27023790e-04 9.97309710e-01 4.67149680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.81, Y:0.08, Z:0.47 [[ 9.95829057e-01 -5.46430345e-02 -7.30659155e-02 8.80759201e+00] [ 5.45305529e-02 9.98505845e-01 -3.53489329e-03 7.90758699e-02] [ 7.31499010e-02 -4.64175319e-04 9.97320849e-01 4.69988778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.83, Y:0.08, Z:0.47 [[ 9.95613795e-01 -5.86756866e-02 -7.28720510e-02 8.83484008e+00] [ 5.83954401e-02 9.98275666e-01 -5.97217245e-03 7.65392711e-02] [ 7.30968165e-02 1.69058180e-03 9.97323417e-01 4.72021823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:0.07, Z:0.47 [[ 9.95510060e-01 -6.08588970e-02 -7.24976961e-02 8.86318437e+00] [ 6.09266859e-02 9.98141426e-01 -1.27807499e-03 7.36621105e-02] [ 7.24407360e-02 -3.14470786e-03 9.97367761e-01 4.74719568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.89, Y:0.08, Z:0.47 [[ 9.95316578e-01 -6.54660896e-02 -7.11273598e-02 8.89276485e+00] [ 6.49245159e-02 9.97841048e-01 -9.90201979e-03 7.79284089e-02] [ 7.16220457e-02 5.23773505e-03 9.97418091e-01 4.70913820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.92, Y:0.07, Z:0.48 [[ 9.95201700e-01 -6.49105407e-02 -7.32133676e-02 8.91999070e+00] [ 6.52943194e-02 9.97861956e-01 2.85820224e-03 7.06755051e-02] [ 7.28713067e-02 -7.62490473e-03 9.97312205e-01 4.79093723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.95, Y:0.07, Z:0.48 [[ 9.95141877e-01 -6.58777993e-02 -7.31625536e-02 8.94819355e+00] [ 6.57907728e-02 9.97826941e-01 -3.60142990e-03 7.41365558e-02] [ 7.32408213e-02 -1.22948723e-03 9.97313527e-01 4.79388783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.98, Y:0.07, Z:0.48 [[ 9.95041360e-01 -6.64124333e-02 -7.40410700e-02 8.97688314e+00] [ 6.63231895e-02 9.97791458e-01 -3.66610003e-03 7.15675617e-02] [ 7.41210219e-02 -1.26271876e-03 9.97248454e-01 4.80761721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.01, Y:0.07, Z:0.48 [[ 9.95022239e-01 -6.66995601e-02 -7.40399435e-02 9.00533270e+00] [ 6.66094275e-02 9.97772307e-01 -3.68871501e-03 7.30499795e-02] [ 7.41210410e-02 -1.26140479e-03 9.97248455e-01 4.82753739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.03, Y:0.07, Z:0.49 [[ 9.95054505e-01 -6.64516661e-02 -7.38289083e-02 9.03234028e+00] [ 6.63598373e-02 9.97788901e-01 -3.69881895e-03 7.29762830e-02] [ 7.39114579e-02 -1.21874788e-03 9.97264063e-01 4.86230678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:0.08, Z:0.48 [[ 9.95139719e-01 -6.74784452e-02 -7.17188872e-02 9.06134843e+00] [ 6.67531299e-02 9.97691655e-01 -1.24652066e-02 7.82999108e-02] [ 7.23944680e-02 7.61716203e-03 9.97346991e-01 4.81966149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:0.07, Z:0.49 [[ 9.95074391e-01 -6.56529814e-02 -7.42740971e-02 9.08770055e+00] [ 6.62138353e-02 9.97792364e-01 5.11144993e-03 6.95365125e-02] [ 7.37745450e-02 -1.00042458e-02 9.97224765e-01 4.91873161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:0.08, Z:0.49 [[ 9.95159374e-01 -6.72120338e-02 -7.16963248e-02 9.11647370e+00] [ 6.66359558e-02 9.97723158e-01 -1.03995083e-02 7.90799730e-02] [ 7.22320557e-02 5.57161508e-03 9.97372291e-01 4.86554917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:0.07, Z:0.50 [[ 9.95345768e-01 -6.36155085e-02 -7.23869355e-02 9.14273923e+00] [ 6.41654388e-02 9.97925228e-01 5.29483900e-03 7.00686314e-02] [ 7.18999153e-02 -9.91493507e-03 9.97362570e-01 4.96061986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:0.08, Z:0.50 [[ 9.95388332e-01 -6.28990018e-02 -7.24277915e-02 9.17088900e+00] [ 6.26470952e-02 9.98019196e-01 -5.74673953e-03 7.64664352e-02] [ 7.26457905e-02 1.18284673e-03 9.97357103e-01 4.95206908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:0.08, Z:0.49 [[ 9.95666430e-01 -6.06873553e-02 -7.04656373e-02 9.20053959e+00] [ 5.99051938e-02 9.98117285e-01 -1.31625563e-02 8.05277750e-02] [ 7.11317714e-02 8.88425774e-03 9.97427361e-01 4.92923881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.23, Y:0.07, Z:0.50 [[ 9.95732745e-01 -5.81771213e-02 -7.16360421e-02 9.22891421e+00] [ 5.82920909e-02 9.98299452e-01 -4.86411824e-04 7.46465021e-02] [ 7.15425196e-02 -3.69147849e-03 9.97430720e-01 4.99035426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.978040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.26, Y:0.08, Z:0.50 [[ 9.95627849e-01 -5.77194760e-02 -7.34414650e-02 9.25710807e+00] [ 5.74138059e-02 9.98330789e-01 -6.26820318e-03 7.94623266e-02] [ 7.36806731e-02 2.02424363e-03 9.97279831e-01 4.99006443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.29, Y:0.07, Z:0.50 [[ 9.95941799e-01 -5.45175182e-02 -7.16084777e-02 9.28500888e+00] [ 5.50071958e-02 9.98474020e-01 4.88266154e-03 7.43467220e-02] [ 7.12330140e-02 -8.80182827e-03 9.97420867e-01 5.03804529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.038040942 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:9.31, Y:0.08, Z:0.50 [[ 9.95874134e-01 -5.52296751e-02 -7.20027203e-02 9.31389636e+00] [ 5.45671462e-02 9.98447984e-01 -1.11377506e-02 8.39601261e-02] [ 7.25061053e-02 7.16281479e-03 9.97342248e-01 5.01974476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.34, Y:0.08, Z:0.51 [[ 9.95924513e-01 -5.45223184e-02 -7.18448388e-02 9.34359059e+00] [ 5.44564898e-02 9.98512002e-01 -2.87614636e-03 7.91438634e-02] [ 7.18947480e-02 -1.04799307e-03 9.97411674e-01 5.08311279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.37, Y:0.08, Z:0.51 [[ 9.95918508e-01 -5.43909185e-02 -7.20274508e-02 9.36953712e+00] [ 5.47714720e-02 9.98493405e-01 3.31747388e-03 7.70904467e-02] [ 7.17384942e-02 -7.24898314e-03 9.97397133e-01 5.13979239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.40, Y:0.08, Z:0.51 [[ 9.95875079e-01 -5.55965781e-02 -7.17066826e-02 9.39960537e+00] [ 5.50301518e-02 9.98436085e-01 -9.85226099e-03 8.43853829e-02] [ 7.21422915e-02 5.86559156e-03 9.97377103e-01 5.11587453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.158040942 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:9.43, Y:0.08, Z:0.52 [[ 9.95897361e-01 -5.56185190e-02 -7.13794535e-02 9.42673763e+00] [ 5.60095179e-02 9.98424148e-01 3.48641879e-03 7.83525871e-02] [ 7.10730606e-02 -7.47004405e-03 9.97443140e-01 5.15543268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.45, Y:0.08, Z:0.52 [[ 9.95845733e-01 -5.71975580e-02 -7.08499552e-02 9.45298727e+00] [ 5.69561994e-02 9.98361945e-01 -5.42381646e-03 8.41396405e-02] [ 7.10441281e-02 1.36594030e-03 9.97472238e-01 5.16548509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.218040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.48, Y:0.08, Z:0.52 [[ 9.95686577e-01 -5.73162918e-02 -7.29594622e-02 9.48469515e+00] [ 5.74142230e-02 9.98350157e-01 -7.56005938e-04 8.10316671e-02] [ 7.28824220e-02 -3.43616587e-03 9.97334621e-01 5.20170314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.51, Y:0.09, Z:0.52 [[ 9.95652154e-01 -6.13564997e-02 -7.00868673e-02 9.51052069e+00] [ 6.05849386e-02 9.98077291e-01 -1.30838270e-02 9.03795254e-02] [ 7.07548885e-02 8.78073202e-03 9.97455084e-01 5.16951453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.278040942 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:9.54, Y:0.09, Z:0.52 [[ 9.95466743e-01 -6.34706080e-02 -7.08339341e-02 9.53730047e+00] [ 6.34358603e-02 9.97982150e-01 -2.74225368e-03 8.53575838e-02] [ 7.08650544e-02 -1.76358921e-03 9.97484353e-01 5.20524625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.56, Y:0.08, Z:0.52 [[ 9.95420241e-01 -6.39157239e-02 -7.10867401e-02 9.56307362e+00] [ 6.42721111e-02 9.97928662e-01 2.73507258e-03 8.29814584e-02] [ 7.07646813e-02 -7.29144146e-03 9.97466388e-01 5.22904019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.338040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.59, Y:0.09, Z:0.52 [[ 9.95204344e-01 -6.69112647e-02 -7.13526200e-02 9.59076058e+00] [ 6.68111825e-02 9.97758435e-01 -3.79102622e-03 8.51670120e-02] [ 7.14463408e-02 -9.94307151e-04 9.97443949e-01 5.23187652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368040942 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:9.62, Y:0.09, Z:0.52 [[ 9.95021185e-01 -6.88825381e-02 -7.20280372e-02 9.62056313e+00] [ 6.82651122e-02 9.97606553e-01 -1.10018081e-02 8.99717225e-02] [ 7.26134744e-02 6.03003005e-03 9.97341928e-01 5.24078311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.398040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.65, Y:0.08, Z:0.53 [[ 9.95076175e-01 -6.80265721e-02 -7.20818350e-02 9.64661621e+00] [ 6.84593936e-02 9.97647594e-01 3.54826699e-03 8.27732411e-02] [ 7.16708928e-02 -8.46547466e-03 9.97392410e-01 5.29486701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.68, Y:0.09, Z:0.53 [[ 9.95041130e-01 -6.95503206e-02 -7.11048688e-02 9.67618751e+00] [ 6.88300175e-02 9.97549667e-01 -1.25336113e-02 9.18153376e-02] [ 7.18023548e-02 7.57730937e-03 9.97390097e-01 5.26683408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:0.08, Z:0.53 [[ 9.95111680e-01 -6.80170615e-02 -7.15990448e-02 9.70195141e+00] [ 6.85518822e-02 9.97634841e-01 5.03621779e-03 8.39281825e-02] [ 7.10871529e-02 -9.91984844e-03 9.97420780e-01 5.34844686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488040942 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:9.73, Y:0.09, Z:0.53 [[ 9.94892720e-01 -6.79596749e-02 -7.46321532e-02 9.73058995e+00] [ 6.76817389e-02 9.97687387e-01 -6.24986819e-03 9.08211253e-02] [ 7.48842969e-02 1.16671445e-03 9.97191547e-01 5.34854277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:0.09, Z:0.54 [[ 9.95247091e-01 -6.28287382e-02 -7.44028068e-02 9.75531333e+00] [ 6.27526800e-02 9.98023446e-01 -3.36185784e-03 8.79475797e-02] [ 7.44669669e-02 -1.32309629e-03 9.97222603e-01 5.36148082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.79, Y:0.09, Z:0.54 [[ 9.95223361e-01 -6.19940150e-02 -7.54135533e-02 9.78593262e+00] [ 6.16523397e-02 9.98074161e-01 -6.85255906e-03 9.12097834e-02] [ 7.56931366e-02 2.17040485e-03 9.97128797e-01 5.37272331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.81, Y:0.09, Z:0.54 [[ 9.95422263e-01 -5.62347633e-02 -7.72798183e-02 9.81337060e+00] [ 5.61396125e-02 9.98417123e-01 -3.40490565e-03 8.99591502e-02] [ 7.73489678e-02 -9.49140164e-04 9.97003629e-01 5.40009735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:0.06, Z:0.57 [[ 0.99491483 -0.0446462 -0.09028396 9.84739595] [ 0.04844531 0.99801111 0.04033444 0.06098283] [ 0.08830361 -0.04450317 0.99509896 0.57116505] [ 0. 0. 0. 1. ]] SLAMing on 11.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.88, Y:0.08, Z:0.56 [[ 9.94973462e-01 -4.44224370e-02 -8.97466214e-02 9.87631267e+00] [ 4.46420734e-02 9.99002949e-01 4.40493166e-04 8.19349191e-02] [ 8.96375716e-02 -4.44475427e-03 9.95964532e-01 5.63215703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:0.12, Z:0.54 [[ 0.99584625 -0.05321166 -0.07388346 9.89655342] [ 0.0499105 0.99770158 -0.04583126 0.11652524] [ 0.07615241 0.04195333 0.99621319 0.53501733] [ 0. 0. 0. 1. ]] SLAMing on 11.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.92, Y:0.09, Z:0.55 [[ 9.95857612e-01 -4.83179551e-02 -7.70259117e-02 9.92367390e+00] [ 4.81290853e-02 9.98831836e-01 -4.30758679e-03 9.30028802e-02] [ 7.71440666e-02 5.82556415e-04 9.97019786e-01 5.48410458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:0.08, Z:0.57 [[ 0.99539602 -0.04215041 -0.08608194 9.95683657] [ 0.04385025 0.99887682 0.01795147 0.07525395] [ 0.08522859 -0.02164353 0.99612632 0.56618985] [ 0. 0. 0. 1. ]] SLAMing on 11.758040942000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.99, Y:0.09, Z:0.56 [[ 9.95450772e-01 -4.48579335e-02 -8.40566856e-02 9.98543597e+00] [ 4.47124716e-02 9.98993363e-01 -3.61319801e-03 8.56734622e-02] [ 8.41341516e-02 -1.61621420e-04 9.96454424e-01 5.60337659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:0.09, Z:0.56 [[ 9.95478655e-01 -4.75900567e-02 -8.22036075e-02 1.00142115e+01] [ 4.70533333e-02 9.98856593e-01 -8.45526026e-03 8.94446824e-02] [ 8.25120016e-02 4.54907738e-03 9.96579688e-01 5.58435503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:0.09, Z:0.56 [[ 9.95357767e-01 -4.81534953e-02 -8.33316030e-02 1.00412127e+01] [ 4.80511667e-02 9.98839639e-01 -3.23428224e-03 8.69052430e-02] [ 8.33906502e-02 -7.84912793e-04 9.96516625e-01 5.61692216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.07, Y:0.09, Z:0.55 [[ 0.99533611 -0.05315591 -0.08050146 10.06909044] [ 0.0519759 0.99850895 -0.01668487 0.09436591] [ 0.08126833 0.01242292 0.99661484 0.55382632] [ 0. 0. 0. 1. ]] SLAMing on 11.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.10, Y:0.09, Z:0.55 [[ 9.95292844e-01 -5.46024984e-02 -8.00669834e-02 1.00965528e+01] [ 5.40068320e-02 9.98494533e-01 -9.58800651e-03 9.12769286e-02] [ 8.04699743e-02 5.21871016e-03 9.96743371e-01 5.54860058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:0.10, Z:0.55 [[ 0.99530415 -0.0590828 -0.07667384 10.12187553] [ 0.0578807 0.99816465 -0.01780874 0.09549507] [ 0.07758531 0.01328718 0.99689717 0.54774421] [ 0. 0. 0. 1. ]] SLAMing on 11.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:0.09, Z:0.55 [[ 9.95108476e-01 -6.06172356e-02 -7.80043112e-02 1.01525082e+01] [ 6.00721860e-02 9.98150550e-01 -9.31725033e-03 9.13128735e-02] [ 7.84248322e-02 4.58578528e-03 9.96909482e-01 5.51312965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:0.09, Z:0.55 [[ 9.95047958e-01 -6.21720812e-02 -7.75512351e-02 1.01805035e+01] [ 6.14923381e-02 9.98045555e-01 -1.11248242e-02 9.36059794e-02] [ 7.80913190e-02 6.30092688e-03 9.96926298e-01 5.50049860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.998040942 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:10.21, Y:0.07, Z:0.57 [[ 0.99447521 -0.06074148 -0.08561264 10.21114078] [ 0.06254511 0.99786987 0.01854246 0.07131168] [ 0.08430398 -0.02379467 0.99615594 0.56645754] [ 0. 0. 0. 1. ]] SLAMing on 12.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:0.08, Z:0.56 [[ 9.94467287e-01 -6.29445689e-02 -8.40999165e-02 1.02391625e+01] [ 6.26065048e-02 9.98016109e-01 -6.65366583e-03 8.44542483e-02] [ 8.43518836e-02 1.35165118e-03 9.96435112e-01 5.62041607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:0.09, Z:0.56 [[ 9.94532225e-01 -6.48914407e-02 -8.18214839e-02 1.02650423e+01] [ 6.39157486e-02 9.97850086e-01 -1.44907912e-02 9.00968557e-02] [ 8.25859031e-02 9.18187742e-03 9.96541651e-01 5.57677241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:0.07, Z:0.57 [[ 0.99428468 -0.06381935 -0.08558655 10.29179237] [ 0.06500948 0.99782192 0.01118849 0.0745222 ] [ 0.08468609 -0.01668849 0.99626792 0.57374411] [ 0. 0. 0. 1. ]] SLAMing on 12.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.32, Y:0.08, Z:0.57 [[ 9.94404316e-01 -6.29755830e-02 -8.48182308e-02 1.03187762e+01] [ 6.27654215e-02 9.98015046e-01 -5.14480616e-03 8.49045371e-02] [ 8.49738677e-02 -2.07634562e-04 9.96383159e-01 5.70774303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:10.35, Y:0.09, Z:0.57 [[ 9.94645272e-01 -5.82240314e-02 -8.53858656e-02 1.03470966e+01] [ 5.72364221e-02 9.98262888e-01 -1.39713195e-02 9.43580385e-02] [ 8.60510074e-02 9.00932543e-03 9.96249997e-01 5.66977434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.178040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.38, Y:0.09, Z:0.58 [[ 9.94967447e-01 -5.43339945e-02 -8.41878620e-02 1.03751033e+01] [ 5.48241382e-02 9.98489823e-01 3.51941774e-03 8.67311759e-02] [ 8.38694994e-02 -8.11723306e-03 9.96443685e-01 5.75578316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.41, Y:0.08, Z:0.58 [[ 9.95092194e-01 -4.46406888e-02 -8.83104467e-02 1.04119400e+01] [ 4.56804263e-02 9.98908161e-01 9.78691981e-03 7.99982423e-02] [ 8.77771311e-02 -1.37729464e-02 9.96044919e-01 5.83323764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:0.09, Z:0.58 [[ 9.95019614e-01 -4.34557933e-02 -8.97081998e-02 1.04408769e+01] [ 4.33311211e-02 9.99055190e-01 -3.33771598e-03 8.90027084e-02] [ 8.97684857e-02 -5.66064001e-04 9.95962499e-01 5.83429913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.46, Y:0.11, Z:0.58 [[ 0.99535277 -0.04873387 -0.08305346 10.45987712] [ 0.04745441 0.99872338 -0.01731151 0.10574296] [ 0.08379109 0.0132898 0.99639472 0.57508314] [ 0. 0. 0. 1. ]] SLAMing on 12.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:0.08, Z:0.60 [[ 0.99499623 -0.03815345 -0.09234074 10.49937429] [ 0.04039377 0.99893015 0.02251461 0.07758994] [ 0.09138294 -0.02613194 0.99547289 0.59720371] [ 0. 0. 0. 1. ]] SLAMing on 12.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:0.12, Z:0.57 [[ 0.99521128 -0.04912601 -0.08450528 10.51481951] [ 0.04596105 0.99818163 -0.03900022 0.12205255] [ 0.08626754 0.03492951 0.9956595 0.57049464] [ 0. 0. 0. 1. ]] SLAMing on 12.358040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.54, Y:0.10, Z:0.58 [[ 9.95295818e-01 -4.65301615e-02 -8.49775206e-02 1.05444743e+01] [ 4.69699095e-02 9.98891237e-01 3.18182906e-03 1.01564060e-01] [ 8.47352497e-02 -7.15824762e-03 9.96377788e-01 5.84437602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:0.11, Z:0.58 [[ 9.95289224e-01 -4.82645366e-02 -8.40826629e-02 1.05718279e+01] [ 4.79827217e-02 9.98833728e-01 -5.37044348e-03 1.07573534e-01] [ 8.42438017e-02 1.31062951e-03 9.96444311e-01 5.84349333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.418040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:10.61, Y:0.08, Z:0.61 [[ 0.99449511 -0.03720041 -0.09795714 10.61285132] [ 0.0402676 0.9987527 0.02952227 0.07800618] [ 0.09673672 -0.03330425 0.99475265 0.61210255] [ 0. 0. 0. 1. ]] SLAMing on 12.448040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:10.63, Y:0.13, Z:0.57 [[ 0.99517739 -0.05335655 -0.08231059 10.62793549] [ 0.04933864 0.99752477 -0.05010019 0.13456873] [ 0.08478003 0.04579748 0.99534664 0.57463556] [ 0. 0. 0. 1. ]] SLAMing on 12.478040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.67, Y:0.07, Z:0.63 [[ 0.99447611 -0.0411529 -0.09655932 10.67150747] [ 0.04654333 0.99744191 0.05425266 0.0673911 ] [ 0.09407966 -0.05844717 0.99384755 0.62810143] [ 0. 0. 0. 1. ]] SLAMing on 12.508040942000001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:10.68, Y:0.14, Z:0.58 [[ 0.99477905 -0.06022292 -0.08238841 10.68498312] [ 0.05497574 0.99639962 -0.06454044 0.14408912] [ 0.08597859 0.05967411 0.99450826 0.57566344] [ 0. 0. 0. 1. ]] SLAMing on 12.538040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.73, Y:0.08, Z:0.62 [[ 0.99408242 -0.05177528 -0.09549586 10.72671907] [ 0.05462042 0.99813057 0.02742225 0.08208764] [ 0.09389754 -0.03247601 0.99505204 0.61676386] [ 0. 0. 0. 1. ]] SLAMing on 12.568040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:10.74, Y:0.12, Z:0.59 [[ 0.99418122 -0.06507113 -0.08584546 10.74235375] [ 0.06260467 0.9975531 -0.03112012 0.12478312] [ 0.08766043 0.02556471 0.99582232 0.59029249] [ 0. 0. 0. 1. ]] SLAMing on 12.598040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:10.78, Y:0.08, Z:0.62 [[ 0.99400427 -0.05632886 -0.09371538 10.78478334] [ 0.05908542 0.99789037 0.02690196 0.08371291] [ 0.09200232 -0.03227788 0.99523551 0.61902526] [ 0. 0. 0. 1. ]] SLAMing on 12.628040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:10.81, Y:0.10, Z:0.61 [[ 9.94052509e-01 -5.91432372e-02 -9.14422545e-02 1.08127427e+01] [ 5.90731110e-02 9.98247608e-01 -3.47564566e-03 1.01998946e-01] [ 9.14875727e-02 -1.94680416e-03 9.95804315e-01 6.10315379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.83, Y:0.12, Z:0.60 [[ 0.993881 -0.06628993 -0.08835277 10.83466285] [ 0.06415911 0.99758121 -0.02674581 0.11635045] [ 0.08991204 0.02091352 0.99573011 0.60049124] [ 0. 0. 0. 1. ]] SLAMing on 12.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:0.11, Z:0.60 [[ 9.93817184e-01 -6.93168744e-02 -8.67327886e-02 1.08621691e+01] [ 6.86986988e-02 9.97586371e-01 -1.00956270e-02 1.10781600e-01] [ 8.72232452e-02 4.07477788e-03 9.96180456e-01 6.04631784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:0.10, Z:0.61 [[ 9.93691641e-01 -6.99807519e-02 -8.76334270e-02 1.08928515e+01] [ 7.06399422e-02 9.97491998e-01 4.43985820e-03 1.04074199e-01] [ 8.71029376e-02 -1.06022702e-02 9.96142896e-01 6.13577331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:0.10, Z:0.63 [[ 9.93383374e-01 -6.89982919e-02 -9.18079941e-02 1.09213423e+01] [ 7.01444038e-02 9.97493380e-01 9.31231602e-03 9.75760141e-02] [ 9.09353325e-02 -1.56905169e-02 9.95733184e-01 6.26551717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.778040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:10.95, Y:0.10, Z:0.63 [[ 9.93388218e-01 -7.06562281e-02 -9.04850633e-02 1.09521991e+01] [ 7.14226355e-02 9.97432294e-01 5.25612629e-03 9.94607726e-02] [ 8.98813462e-02 -1.16840556e-02 9.95883942e-01 6.27595156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:0.11, Z:0.63 [[ 9.93469601e-01 -7.08733729e-02 -8.94154223e-02 1.09774890e+01] [ 7.03657448e-02 9.97482259e-01 -8.82066838e-03 1.08064875e-01] [ 8.98154479e-02 2.47128311e-03 9.95955359e-01 6.27622776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:0.11, Z:0.63 [[ 9.93555482e-01 -7.05007592e-02 -8.87532980e-02 1.10061722e+01] [ 7.05997319e-02 9.97502665e-01 -2.02746832e-03 1.07440323e-01] [ 8.86745894e-02 -4.25155679e-03 9.96051576e-01 6.31091675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:11.03, Y:0.11, Z:0.64 [[ 9.93701315e-01 -6.73905929e-02 -8.95332645e-02 1.10340954e+01] [ 6.82092038e-02 9.97652320e-01 6.11162910e-03 1.05399286e-01] [ 8.89112028e-02 -1.21801266e-02 9.95965081e-01 6.38750750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.898040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:11.05, Y:0.14, Z:0.62 [[ 0.99407237 -0.07286299 -0.08069148 11.05300762] [ 0.07005931 0.99685448 -0.03705189 0.13777703] [ 0.08313737 0.03117907 0.99605022 0.61725935] [ 0. 0. 0. 1. ]] SLAMing on 12.928040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:11.09, Y:0.11, Z:0.64 [[ 0.99384895 -0.06285366 -0.09117938 11.08691736] [ 0.06451148 0.99779894 0.01534724 0.10561009] [ 0.09001406 -0.02113496 0.99571622 0.64491072] [ 0. 0. 0. 1. ]] SLAMing on 12.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:0.12, Z:0.64 [[ 9.94094190e-01 -6.49662503e-02 -8.69259882e-02 1.11172980e+01] [ 6.47708492e-02 9.97887287e-01 -5.06948981e-03 1.19744239e-01] [ 8.70716843e-02 -5.90719711e-04 9.96201874e-01 6.38316350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988040942 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:11.14, Y:0.12, Z:0.64 [[ 9.94216043e-01 -6.37131803e-02 -8.64586026e-02 1.11438124e+01] [ 6.32464744e-02 9.97964827e-01 -8.12936379e-03 1.23241556e-01] [ 8.68005920e-02 2.61414211e-03 9.96222276e-01 6.39987720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.018040942 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:11.17, Y:0.13, Z:0.64 [[ 9.94559269e-01 -6.55758247e-02 -8.09424030e-02 1.11706387e+01] [ 6.47218917e-02 9.97816935e-01 -1.31316973e-02 1.32596877e-01] [ 8.16268224e-02 7.82150583e-03 9.96632272e-01 6.36088387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048040942 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:11.20, Y:0.13, Z:0.64 [[ 9.94617095e-01 -6.39556282e-02 -8.15261413e-02 1.11984379e+01] [ 6.37337020e-02 9.97952738e-01 -5.32424036e-03 1.30446456e-01] [ 8.16997511e-02 9.96176814e-05 9.96656982e-01 6.41388939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.078040942 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:11.23, Y:0.14, Z:0.63 [[ 0.99469594 -0.06652774 -0.07844777 11.22573224] [ 0.06498527 0.99764243 -0.02205683 0.14409752] [ 0.07973021 0.01684189 0.99667419 0.63388329] [ 0. 0. 0. 1. ]] SLAMing on 13.108040942 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:11.25, Y:0.13, Z:0.64 [[ 9.94804739e-01 -6.47816504e-02 -7.85294110e-02 1.12547211e+01] [ 6.50130953e-02 9.97884334e-01 3.91461202e-04 1.34518045e-01] [ 7.83379095e-02 -5.49486754e-03 9.96911720e-01 6.43537582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.138040942 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:11.28, Y:0.14, Z:0.64 [[ 9.94916725e-01 -6.40548193e-02 -7.77025785e-02 1.12813504e+01] [ 6.37893951e-02 9.97945967e-01 -5.89571898e-03 1.42826956e-01] [ 7.79206241e-02 9.09148938e-04 9.96959152e-01 6.42850333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168040942 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:11.31, Y:0.14, Z:0.65 [[ 9.94862684e-01 -6.19063665e-02 -8.00989509e-02 1.13104041e+01] [ 6.23648201e-02 9.98048186e-01 3.23219591e-03 1.39477214e-01] [ 7.97425191e-02 -8.21094776e-03 9.96781677e-01 6.49833885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.198040942 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:11.33, Y:0.15, Z:0.65 [[ 9.95121147e-01 -6.16678932e-02 -7.70128157e-02 1.13349893e+01] [ 6.09325647e-02 9.98071375e-01 -1.18639389e-02 1.49349246e-01] [ 7.75959110e-02 7.11346814e-03 9.96959514e-01 6.46478155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228040942 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:11.37, Y:0.14, Z:0.66 [[ 9.94828614e-01 -6.05582872e-02 -8.15396972e-02 1.13676912e+01] [ 6.05940766e-02 9.98160411e-01 -2.03782417e-03 1.44043045e-01] [ 8.15131048e-02 -2.91353686e-03 9.96668011e-01 6.57049742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.258040942 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:11.40, Y:0.15, Z:0.66 [[ 9.95021163e-01 -6.14597771e-02 -7.84575122e-02 1.13979447e+01] [ 6.15067543e-02 9.98105008e-01 -1.81995480e-03 1.46891220e-01] [ 7.84206899e-02 -3.01477339e-03 9.96915797e-01 6.58630285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288040942 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:11.43, Y:0.14, Z:0.67 [[ 9.94505978e-01 -5.67085330e-02 -8.79886506e-02 1.14265993e+01] [ 5.72190231e-02 9.98356234e-01 3.28841352e-03 1.44191461e-01] [ 8.76575368e-02 -8.30497154e-03 9.96116049e-01 6.71758857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.318040942 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:11.45, Y:0.17, Z:0.66 [[ 0.99475616 -0.06445396 -0.07940953 11.44763056] [ 0.06235745 0.99764383 -0.02860663 0.17204574] [ 0.08106624 0.02350485 0.99643153 0.65505466] [ 0. 0. 0. 1. ]] SLAMing on 13.348040942 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:11.47, Y:0.15, Z:0.67 [[ 0.99521468 -0.05993413 -0.07717284 11.47354076] [ 0.0611279 0.99804268 0.01319842 0.15368231] [ 0.07623075 -0.01785268 0.99693037 0.66940336] [ 0. 0. 0. 1. ]] SLAMing on 13.378040942 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:11.50, Y:0.16, Z:0.66 [[ 9.95913842e-01 -5.78560088e-02 -6.93419175e-02 1.15013986e+01] [ 5.76048112e-02 9.98323654e-01 -5.61843798e-03 1.64969423e-01] [ 6.95507368e-02 1.60105210e-03 9.97577131e-01 6.57094801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408040942 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:11.53, Y:0.19, Z:0.65 [[ 0.99532604 -0.06315585 -0.07305754 11.53318174] [ 0.06035581 0.99737829 -0.03992153 0.18674952] [ 0.07538729 0.03532549 0.99652841 0.64839012] [ 0. 0. 0. 1. ]] SLAMing on 13.438040942 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:11.56, Y:0.17, Z:0.66 [[ 9.95310626e-01 -6.20172956e-02 -7.42335009e-02 1.15636683e+01] [ 6.23580052e-02 9.98051245e-01 2.27856802e-03 1.67432828e-01] [ 7.39475274e-02 -6.89693600e-03 9.97238284e-01 6.62686637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468040942 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:11.59, Y:0.17, Z:0.68 [[ 9.94577535e-01 -6.33665750e-02 -8.24633523e-02 1.15886794e+01] [ 6.43039009e-02 9.97891930e-01 8.75808975e-03 1.67878859e-01] [ 8.17345436e-02 -1.40133145e-02 9.96555614e-01 6.76502696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.498040942 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:11.61, Y:0.17, Z:0.68 [[ 9.94825667e-01 -6.37517467e-02 -7.91050410e-02 1.16146754e+01] [ 6.44440024e-02 9.97901899e-01 6.22663903e-03 1.72402080e-01] [ 7.85421115e-02 -1.12922658e-02 9.96846840e-01 6.76264991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528040942 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:11.64, Y:0.18, Z:0.67 [[ 9.94606251e-01 -6.77514412e-02 -7.85375616e-02 1.16419072e+01] [ 6.75093190e-02 9.97702149e-01 -5.73697363e-03 1.82492184e-01] [ 7.87457823e-02 4.04012536e-04 9.96894648e-01 6.73820359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.558040942 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:11.67, Y:0.18, Z:0.68 [[ 9.94396078e-01 -7.00727872e-02 -7.91596205e-02 1.16703000e+01] [ 6.98323343e-02 9.97541851e-01 -5.80521400e-03 1.84784366e-01] [ 7.93718219e-02 2.44780946e-04 9.96845050e-01 6.75113992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588040942 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:11.70, Y:0.19, Z:0.68 [[ 9.94187456e-01 -7.37125418e-02 -7.84714125e-02 1.16968942e+01] [ 7.34859414e-02 9.97279530e-01 -5.77545123e-03 1.86635468e-01] [ 7.86836566e-02 -2.46644550e-05 9.96899635e-01 6.78469336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.618040942 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:11.72, Y:0.19, Z:0.68 [[ 9.93997829e-01 -7.60562320e-02 -7.86369267e-02 1.17245416e+01] [ 7.58351151e-02 9.97103510e-01 -5.79875329e-03 1.89880122e-01] [ 7.88501870e-02 -1.99492213e-04 9.96886457e-01 6.79723698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648040942 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:11.75, Y:0.19, Z:0.68 [[ 9.93962372e-01 -7.78761837e-02 -7.72923216e-02 1.17513175e+01] [ 7.76665107e-02 9.96962988e-01 -5.71963069e-03 1.93263192e-01] [ 7.75030069e-02 -3.17927239e-04 9.96992068e-01 6.81974504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.678040942 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:11.78, Y:0.20, Z:0.68 [[ 9.93709676e-01 -8.02391689e-02 -7.81201417e-02 1.17789006e+01] [ 8.00314093e-02 9.96775516e-01 -5.79176119e-03 1.97210776e-01] [ 7.83329706e-02 -4.96735898e-04 9.96927128e-01 6.83075502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708040942 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:11.81, Y:0.21, Z:0.68 [[ 0.9933298 -0.08362899 -0.07938579 11.80526591] [ 0.08216079 0.99638521 -0.0215899 0.2101706 ] [ 0.08090437 0.0149235 0.99661014 0.68179626] [ 0. 0. 0. 1. ]] SLAMing on 13.738040942 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:11.84, Y:0.20, Z:0.69 [[ 9.93128404e-01 -8.44172134e-02 -8.10537251e-02 1.18363994e+01] [ 8.44094217e-02 9.96424908e-01 -3.52876813e-03 2.04085046e-01] [ 8.10618394e-02 -3.33717820e-03 9.96703487e-01 6.90001967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768040942 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:11.86, Y:0.20, Z:0.70 [[ 9.93474470e-01 -8.47419901e-02 -7.63365722e-02 1.18625641e+01] [ 8.55898550e-02 9.96299145e-01 7.89875052e-03 2.02799198e-01] [ 7.53847058e-02 -1.43808431e-02 9.97050820e-01 6.95831896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.798040942 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:11.89, Y:0.21, Z:0.69 [[ 9.93527909e-01 -8.59732294e-02 -7.42354166e-02 1.18899668e+01] [ 8.57962699e-02 9.96297102e-01 -5.57537949e-03 2.14352004e-01] [ 7.44398638e-02 -8.29826716e-04 9.97225159e-01 6.93734999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828040942 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:11.92, Y:0.22, Z:0.70 [[ 9.93561827e-01 -8.60013704e-02 -7.37472672e-02 1.19164014e+01] [ 8.58252857e-02 9.96294693e-01 -5.55927298e-03 2.19386581e-01] [ 7.39521160e-02 -8.05898850e-04 9.97261468e-01 6.95549975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.858040942 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:11.94, Y:0.23, Z:0.70 [[ 9.93721862e-01 -8.48171875e-02 -7.29582432e-02 1.19441589e+01] [ 8.46409822e-02 9.96396283e-01 -5.50912356e-03 2.27321638e-01] [ 7.31625907e-02 -7.00720839e-04 9.97319780e-01 6.96747603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888040942 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:11.97, Y:0.23, Z:0.70 [[ 9.93745939e-01 -8.43512079e-02 -7.31702357e-02 1.19708080e+01] [ 8.41712379e-02 9.96435875e-01 -5.54520287e-03 2.31944381e-01] [ 7.33771924e-02 -6.48306493e-04 9.97304050e-01 6.98484346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.918040942 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:12.00, Y:0.24, Z:0.70 [[ 9.93812635e-01 -8.41756432e-02 -7.24631423e-02 1.19984551e+01] [ 8.39980205e-02 9.96450740e-01 -5.50055839e-03 2.36579462e-01] [ 7.26689647e-02 -6.20236079e-04 9.97355923e-01 6.99817491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948040942 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:12.03, Y:0.22, Z:0.72 [[ 0.99370655 -0.07782411 -0.08056493 12.03230971] [ 0.08030936 0.99637449 0.02807652 0.22016088] [ 0.07808781 -0.03436994 0.99635385 0.71966608] [ 0. 0. 0. 1. ]] SLAMing on 13.978040942 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:12.06, Y:0.27, Z:0.69 [[ 0.99348147 -0.08893262 -0.07131304 12.05675765] [ 0.08545899 0.99506764 -0.05037007 0.27096933] [ 0.07544084 0.04394739 0.99618136 0.69157755] [ 0. 0. 0. 1. ]] SLAMing on 14.008040942 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:12.08, Y:0.24, Z:0.71 [[ 9.93854682e-01 -8.40417201e-02 -7.20406813e-02 1.20834685e+01] [ 8.49552872e-02 9.96337480e-01 9.70693703e-03 2.43841810e-01] [ 7.09610432e-02 -1.57675216e-02 9.97354458e-01 7.09923880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.038040942 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:12.11, Y:0.27, Z:0.70 [[ 0.99343857 -0.0876369 -0.07348183 12.11067827] [ 0.08620339 0.99602426 -0.0224642 0.26805558] [ 0.07515838 0.01598242 0.99704352 0.70158721] [ 0. 0. 0. 1. ]] SLAMing on 14.068040942 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:12.14, Y:0.27, Z:0.71 [[ 9.93366531e-01 -8.61144806e-02 -7.62051860e-02 1.21364558e+01] [ 8.54228302e-02 9.96268917e-01 -1.22957487e-02 2.66786122e-01] [ 7.69797001e-02 5.70452256e-03 9.97016341e-01 7.06423448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.098040942 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:12.17, Y:0.26, Z:0.72 [[ 0.99367546 -0.08494868 -0.07343571 12.16638423] [ 0.08611674 0.99620176 0.0128829 0.26017049] [ 0.0720624 -0.01912546 0.99721674 0.71679448] [ 0. 0. 0. 1. ]] SLAMing on 14.128040942 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:12.19, Y:0.28, Z:0.71 [[ 0.99354621 -0.08556508 -0.07446175 12.19219658] [ 0.08402386 0.99618433 -0.02359603 0.28263527] [ 0.07619662 0.01718719 0.99694467 0.70980503] [ 0. 0. 0. 1. ]] SLAMing on 14.158040942 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:12.22, Y:0.28, Z:0.72 [[ 9.93286644e-01 -8.46349689e-02 -7.88578770e-02 1.22233645e+01] [ 8.47374219e-02 9.96401203e-01 -2.05224195e-03 2.76019061e-01] [ 7.87477749e-02 -4.64374867e-03 9.96883756e-01 7.20281509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188040942 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:12.25, Y:0.26, Z:0.75 [[ 0.99264766 -0.07688542 -0.09348395 12.25172622] [ 0.08069431 0.996027 0.03766492 0.25809758] [ 0.09021665 -0.04493162 0.99490809 0.74904944] [ 0. 0. 0. 1. ]] SLAMing on 14.218040942 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:12.28, Y:0.31, Z:0.71 [[ 0.99376571 -0.08558464 -0.07144922 12.27854934] [ 0.08300912 0.99581349 -0.03827505 0.30552849] [ 0.07442585 0.0321055 0.9967096 0.7140079 ] [ 0. 0. 0. 1. ]] SLAMing on 14.248040942 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:12.31, Y:0.29, Z:0.72 [[ 9.93948635e-01 -8.20291318e-02 -7.30570478e-02 1.23069531e+01] [ 8.17886560e-02 9.96629896e-01 -6.28224220e-03 2.92209941e-01] [ 7.33261648e-02 2.68988304e-04 9.97307977e-01 7.24762677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.278040942 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:12.33, Y:0.29, Z:0.73 [[ 9.94126933e-01 -8.07541698e-02 -7.20444626e-02 1.23345078e+01] [ 8.10114783e-02 9.96712955e-01 6.51891318e-04 2.92209030e-01] [ 7.17550063e-02 -6.48449113e-03 9.97401208e-01 7.29077893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308040942 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:12.36, Y:0.30, Z:0.73 [[ 9.94330650e-01 -7.96031326e-02 -7.04975154e-02 1.23612075e+01] [ 7.94520927e-02 9.96826403e-01 -4.94844984e-03 3.00125350e-01] [ 7.06676968e-02 -6.80779774e-04 9.97499681e-01 7.30505168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.338040942 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:12.39, Y:0.29, Z:0.75 [[ 0.99374451 -0.07561235 -0.08218654 12.39089595] [ 0.0776706 0.99673327 0.02213737 0.28804411] [ 0.0802442 -0.02838236 0.99637107 0.75094571] [ 0. 0. 0. 1. ]] SLAMing on 14.368040942 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:12.42, Y:0.31, Z:0.75 [[ 9.93880609e-01 -7.63914409e-02 -7.97852291e-02 1.24181533e+01] [ 7.64243864e-02 9.97071871e-01 -2.64511579e-03 3.05328447e-01] [ 7.97536718e-02 -3.46860788e-03 9.96808568e-01 7.46253339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.398040942 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:12.45, Y:0.33, Z:0.73 [[ 0.99408637 -0.08212162 -0.07105162 12.44585886] [ 0.07886691 0.99575453 -0.04746496 0.33491631] [ 0.07464787 0.04158065 0.99634268 0.72571089] [ 0. 0. 0. 1. ]] SLAMing on 14.428040941999999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:12.47, Y:0.30, Z:0.76 [[ 0.99394884 -0.07241839 -0.08259102 12.47444879] [ 0.07524776 0.99666177 0.03167152 0.295017 ] [ 0.08002171 -0.03769466 0.99608014 0.75745361] [ 0. 0. 0. 1. ]] SLAMing on 14.458040942 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:12.50, Y:0.34, Z:0.73 [[ 0.99424758 -0.07895724 -0.07237063 12.50205573] [ 0.07593864 0.99616066 -0.0435576 0.33998546] [ 0.07553196 0.03781132 0.99642623 0.73102018] [ 0. 0. 0. 1. ]] SLAMing on 14.488040942 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:12.53, Y:0.32, Z:0.75 [[ 9.94407548e-01 -7.49995792e-02 -7.43551762e-02 1.25321588e+01] [ 7.56392925e-02 9.97118253e-01 5.82116700e-03 3.17615249e-01] [ 7.37043183e-02 -1.14127853e-02 9.97214832e-01 7.45150034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.518040942 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:12.56, Y:0.33, Z:0.74 [[ 9.94419768e-01 -7.54823298e-02 -7.37003632e-02 1.25597894e+01] [ 7.52579235e-02 9.97147110e-01 -5.82114111e-03 3.26982553e-01] [ 7.39294974e-02 2.42121501e-04 9.97263441e-01 7.43571890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548040942 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:12.59, Y:0.33, Z:0.75 [[ 9.94399756e-01 -7.57471143e-02 -7.36987117e-02 1.25881696e+01] [ 7.55218900e-02 9.97127031e-01 -5.84197701e-03 3.29327942e-01] [ 7.39294904e-02 2.43394520e-04 9.97263441e-01 7.45608364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.578040942 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:12.62, Y:0.33, Z:0.75 [[ 9.94406527e-01 -7.56871178e-02 -7.36689864e-02 1.26162861e+01] [ 7.54604505e-02 9.97131580e-01 -5.85933006e-03 3.33060114e-01] [ 7.39011486e-02 2.67461150e-04 9.97265536e-01 7.47978594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608040942 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:12.64, Y:0.34, Z:0.75 [[ 9.94498395e-01 -7.45790244e-02 -7.35588983e-02 1.26425136e+01] [ 7.42515698e-02 9.97213694e-01 -7.18006131e-03 3.36093487e-01] [ 7.38894227e-02 1.67869577e-03 9.97265028e-01 7.49846294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.638040942 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:12.67, Y:0.34, Z:0.75 [[ 9.94193520e-01 -7.67120180e-02 -7.54619792e-02 1.26721198e+01] [ 7.65366695e-02 9.97053118e-01 -5.21714126e-03 3.36657576e-01] [ 7.56398190e-02 -5.88760519e-04 9.97135032e-01 7.52742865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668040942 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:12.70, Y:0.32, Z:0.77 [[ 0.99399872 -0.07579472 -0.07887776 12.70221007] [ 0.07770262 0.99674683 0.0214023 0.32318113] [ 0.07699897 -0.02740286 0.99665452 0.76662621] [ 0. 0. 0. 1. ]] SLAMing on 14.698040942 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:12.73, Y:0.35, Z:0.75 [[ 0.99416646 -0.08143839 -0.0707166 12.72796768] [ 0.07924366 0.99629859 -0.03330996 0.354902 ] [ 0.07316756 0.0275118 0.99694012 0.75114883] [ 0. 0. 0. 1. ]] SLAMing on 14.728040942 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:12.75, Y:0.36, Z:0.74 [[ 0.99414162 -0.08774168 -0.06311759 12.75350174] [ 0.08602049 0.99585671 -0.02949394 0.36030929] [ 0.06544393 0.02389175 0.99757019 0.74067675] [ 0. 0. 0. 1. ]] SLAMing on 14.758040942 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:12.78, Y:0.35, Z:0.75 [[ 9.94205659e-01 -8.67627130e-02 -6.34613266e-02 1.27804189e+01] [ 8.70221818e-02 9.96205485e-01 1.33081119e-03 3.46284866e-01] [ 6.31050569e-02 -6.84564312e-03 9.97983411e-01 7.49877242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788040942 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:12.81, Y:0.36, Z:0.75 [[ 9.94040475e-01 -8.95967266e-02 -6.20963891e-02 1.28081151e+01] [ 8.87282911e-02 9.95917365e-01 -1.66100349e-02 3.59271206e-01] [ 6.33310770e-02 1.10013405e-02 9.97931934e-01 7.45155271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.818040942 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:12.84, Y:0.33, Z:0.78 [[ 0.9932082 -0.08005068 -0.08443559 12.84364031] [ 0.08210347 0.99639999 0.02112078 0.32955005] [ 0.08244088 -0.02790979 0.99620507 0.78444972] [ 0. 0. 0. 1. ]] SLAMing on 14.848040942 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:12.87, Y:0.36, Z:0.75 [[ 0.99415934 -0.08947934 -0.06033788 12.86896119] [ 0.08834199 0.99586316 -0.02126636 0.36432766] [ 0.06199117 0.01581179 0.99795144 0.74769569] [ 0. 0. 0. 1. ]] SLAMing on 14.878040942 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:12.90, Y:0.35, Z:0.77 [[ 9.93527022e-01 -8.81113622e-02 -7.16968915e-02 1.28991379e+01] [ 8.84739020e-02 9.96076701e-01 1.89042173e-03 3.51303872e-01] [ 7.12490356e-02 -8.22148882e-03 9.97424675e-01 7.68491952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908040942 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:12.93, Y:0.34, Z:0.78 [[ 0.99330119 -0.08637052 -0.07676512 12.92675502] [ 0.08891803 0.99557475 0.03040549 0.33882532] [ 0.07379928 -0.03702761 0.99658548 0.78039351] [ 0. 0. 0. 1. ]] SLAMing on 14.938040942 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:12.95, Y:0.37, Z:0.76 [[ 9.93213934e-01 -9.32906048e-02 -6.94474267e-02 1.29515465e+01] [ 9.22021274e-02 9.95564247e-01 -1.87242802e-02 3.68316816e-01] [ 7.08861745e-02 1.21940155e-02 9.97409874e-01 7.64981690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968040942 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:12.98, Y:0.38, Z:0.76 [[ 0.9931754 -0.09750289 -0.06399847 12.97708917] [ 0.09560929 0.99490382 -0.03201954 0.37852431] [ 0.06679432 0.02568217 0.99743619 0.75738351] [ 0. 0. 0. 1. ]] SLAMing on 14.998040942 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:13.00, Y:0.38, Z:0.75 [[ 0.99328062 -0.10034846 -0.05765233 13.00168513] [ 0.09935592 0.99485417 -0.01983907 0.37895039] [ 0.05934648 0.01397767 0.99813958 0.75249375] [ 0. 0. 0. 1. ]] SLAMing on 15.028040942 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:13.04, Y:0.35, Z:0.78 [[ 0.99299712 -0.0982146 -0.0656552 13.03826519] [ 0.10036177 0.99449137 0.03023945 0.35183818] [ 0.06232358 -0.03661696 0.99738406 0.77797358] [ 0. 0. 0. 1. ]] SLAMing on 15.058040942 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:13.06, Y:0.38, Z:0.77 [[ 9.93018599e-01 -1.00800340e-01 -6.12646198e-02 1.30607665e+01] [ 1.00162973e-01 9.94880875e-01 -1.33949336e-02 3.78196432e-01] [ 6.23012124e-02 7.16497174e-03 9.98031674e-01 7.66822607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088040942 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:13.09, Y:0.38, Z:0.77 [[ 9.92981961e-01 -1.03340071e-01 -5.75122144e-02 1.30904177e+01] [ 1.03381581e-01 9.94639199e-01 -2.26109278e-03 3.76919212e-01] [ 5.74375644e-02 -3.70047933e-03 9.98342242e-01 7.68011545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.118040942 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:13.12, Y:0.39, Z:0.77 [[ 0.99272816 -0.10059046 -0.06612388 13.11642513] [ 0.09943141 0.99483116 -0.02060014 0.38641629] [ 0.06785428 0.01387555 0.99759875 0.77288339] [ 0. 0. 0. 1. ]] SLAMing on 15.148040942 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:13.15, Y:0.38, Z:0.78 [[ 9.92766893e-01 -1.01253289e-01 -6.45109943e-02 1.31488722e+01] [ 1.01965320e-01 9.94757109e-01 7.83378275e-03 3.75862582e-01] [ 6.33795739e-02 -1.43550043e-02 9.97886248e-01 7.80672556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.178040941999999 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:13.18, Y:0.39, Z:0.78 [[ 9.92837952e-01 -1.03175784e-01 -6.02292169e-02 1.31775520e+01] [ 1.03176867e-01 9.94658194e-01 -3.10031595e-03 3.85437782e-01] [ 6.02273616e-02 -3.13615055e-03 9.98179758e-01 7.76810107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208040942 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:13.20, Y:0.40, Z:0.77 [[ 9.92960839e-01 -1.04756881e-01 -5.52699514e-02 1.32011042e+01] [ 1.04199112e-01 9.94472965e-01 -1.28867175e-02 3.95532898e-01] [ 5.63144448e-02 7.03692601e-03 9.98388284e-01 7.68170002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.238040942 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:13.23, Y:0.41, Z:0.77 [[ 0.9929666 -0.10494809 -0.05480167 13.2275287 ] [ 0.10360321 0.99425654 -0.02683857 0.40652171] [ 0.05730358 0.02097217 0.9981365 0.76625291] [ 0. 0. 0. 1. ]] SLAMing on 15.268040942 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:13.26, Y:0.39, Z:0.78 [[ 9.92948560e-01 -1.01740455e-01 -6.08443708e-02 1.32581580e+01] [ 1.02280011e-01 9.94738670e-01 5.81195265e-03 3.90295697e-01] [ 5.99329377e-02 -1.19941329e-02 9.98130344e-01 7.80609876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.298040942 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:13.29, Y:0.40, Z:0.78 [[ 9.92903152e-01 -1.04241853e-01 -5.72447921e-02 1.32853022e+01] [ 1.03698828e-01 9.94531642e-01 -1.23841398e-02 4.03655626e-01] [ 5.82227027e-02 6.36003357e-03 9.98283360e-01 7.75762197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:13.31, Y:0.40, Z:0.78 [[ 9.92930558e-01 -1.03981125e-01 -5.72436194e-02 1.33147239e+01] [ 1.04133318e-01 9.94563294e-01 -3.25913439e-04 4.00133773e-01] [ 5.69662915e-02 -5.63735863e-03 9.98360186e-01 7.81996365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.358040942 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:13.34, Y:0.41, Z:0.78 [[ 9.92893258e-01 -1.04004852e-01 -5.78443451e-02 1.33426208e+01] [ 1.03271879e-01 9.94531953e-01 -1.55278126e-02 4.11207548e-01] [ 5.91430174e-02 9.44376621e-03 9.98204848e-01 7.79995074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388040942 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:13.37, Y:0.42, Z:0.78 [[ 9.92989788e-01 -1.03423086e-01 -5.72271423e-02 1.33710833e+01] [ 1.02836068e-01 9.94611825e-01 -1.31171869e-02 4.15199148e-01] [ 5.82754124e-02 7.14021841e-03 9.98275009e-01 7.81521959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.418040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.40, Y:0.41, Z:0.78 [[ 9.92878627e-01 -1.03381311e-01 -5.91974393e-02 1.33997861e+01] [ 1.03768566e-01 9.94595322e-01 3.49716464e-03 4.12211085e-01] [ 5.85159548e-02 -9.61509344e-03 9.98240168e-01 7.83750778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:13.42, Y:0.42, Z:0.78 [[ 9.92983583e-01 -1.03923599e-01 -5.64224140e-02 1.34231489e+01] [ 1.03426029e-01 9.94568611e-01 -1.16762264e-02 4.24597375e-01] [ 5.73293974e-02 5.75875485e-03 9.98338709e-01 7.80754031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.478040942 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:13.45, Y:0.43, Z:0.78 [[ 9.93214648e-01 -1.01649534e-01 -5.64981004e-02 1.34515102e+01] [ 1.01243962e-01 9.94811344e-01 -1.00025148e-02 4.28139135e-01] [ 5.72217021e-02 4.21455272e-03 9.98352600e-01 7.80795586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:13.48, Y:0.44, Z:0.78 [[ 0.99325016 -0.10179442 -0.05560587 13.4805532 ] [ 0.10042809 0.99458212 -0.02684417 0.44065268] [ 0.05803719 0.02107859 0.99809187 0.77786568] [ 0. 0. 0. 1. ]] SLAMing on 15.538040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:13.51, Y:0.43, Z:0.79 [[ 9.93329824e-01 -9.94383214e-02 -5.83770514e-02 1.35101464e+01] [ 9.92938368e-02 9.95043624e-01 -5.37776747e-03 4.32085947e-01] [ 5.86224689e-02 -4.54584603e-04 9.98280121e-01 7.85327649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:13.54, Y:0.43, Z:0.79 [[ 9.93182783e-01 -9.93392308e-02 -6.09891581e-02 1.35388813e+01] [ 9.94838170e-02 9.95038955e-01 -6.68813044e-04 4.34547854e-01] [ 6.07530276e-02 -5.40318064e-03 9.98138204e-01 7.89502050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.598040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.57, Y:0.44, Z:0.79 [[ 9.93020698e-01 -1.01689387e-01 -5.97424581e-02 1.35680682e+01] [ 1.01755779e-01 9.94807522e-01 -1.93785620e-03 4.40242583e-01] [ 5.96293062e-02 -4.15480907e-03 9.98211943e-01 7.90111043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.59, Y:0.45, Z:0.79 [[ 9.92599478e-01 -1.02342071e-01 -6.53634279e-02 1.35948723e+01] [ 1.01926329e-01 9.94744924e-01 -9.67260344e-03 4.46793081e-01] [ 6.60098524e-02 2.93876685e-03 9.97814644e-01 7.92536398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.658040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.63, Y:0.43, Z:0.80 [[ 0.99246425 -0.09952023 -0.07148728 13.62734304] [ 0.10150415 0.99452923 0.0246682 0.42992546] [ 0.0686412 -0.03173856 0.99713642 0.8048741 ] [ 0. 0. 0. 1. ]] SLAMing on 15.688040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.65, Y:0.48, Z:0.79 [[ 0.99227596 -0.10922549 -0.05880658 13.65204698] [ 0.10643098 0.99312525 -0.04873066 0.47584416] [ 0.06372493 0.04209542 0.99707929 0.78635878] [ 0. 0. 0. 1. ]] SLAMing on 15.718040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.68, Y:0.44, Z:0.80 [[ 0.99265663 -0.10143873 -0.06590141 13.68185813] [ 0.10287445 0.99451739 0.01876175 0.44225713] [ 0.06363693 -0.02540354 0.99764974 0.79932863] [ 0. 0. 0. 1. ]] SLAMing on 15.748040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.71, Y:0.46, Z:0.81 [[ 9.91943252e-01 -1.07013115e-01 -6.77995443e-02 1.37116072e+01] [ 1.06590156e-01 9.94254390e-01 -9.83595216e-03 4.63156168e-01] [ 6.84625705e-02 2.52994236e-03 9.97650478e-01 8.05994199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.778040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.75, Y:0.41, Z:0.86 [[ 0.99107097 -0.09375684 -0.09480501 13.75033311] [ 0.10086011 0.99220925 0.07313031 0.41450337] [ 0.08720995 -0.08203937 0.99280611 0.86154009] [ 0. 0. 0. 1. ]] SLAMing on 15.808040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.77, Y:0.49, Z:0.81 [[ 0.99130454 -0.11072965 -0.07109331 13.77019189] [ 0.10675653 0.99262379 -0.05745485 0.49309492] [ 0.07693087 0.04936558 0.99581358 0.81437089] [ 0. 0. 0. 1. ]] SLAMing on 15.838040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.81, Y:0.44, Z:0.86 [[ 0.99091298 -0.09842468 -0.0916736 13.80849986] [ 0.10278208 0.99372678 0.04407874 0.43592852] [ 0.08676007 -0.0531006 0.99481306 0.85598596] [ 0. 0. 0. 1. ]] SLAMing on 15.868040942 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:13.83, Y:0.50, Z:0.81 [[ 0.99146324 -0.11020878 -0.06967543 13.83033669] [ 0.10599988 0.99246406 -0.0614745 0.4988968 ] [ 0.07592539 0.05356412 0.99567375 0.81436762] [ 0. 0. 0. 1. ]] SLAMing on 15.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:0.47, Z:0.83 [[ 9.91341101e-01 -1.09076240e-01 -7.31108415e-02 1.38576084e+01] [ 1.09350470e-01 9.94003225e-01 -2.53288659e-04 4.73770237e-01] [ 7.27000400e-02 -7.74360945e-03 9.97323789e-01 8.31756053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928040941999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.89, Y:0.48, Z:0.83 [[ 9.91353980e-01 -1.09486635e-01 -7.23184845e-02 1.38856492e+01] [ 1.09310317e-01 9.93987048e-01 -6.40333667e-03 4.81400631e-01] [ 7.25847167e-02 -1.55718316e-03 9.97361035e-01 8.31167006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.958040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:13.91, Y:0.51, Z:0.81 [[ 0.99204722 -0.1098355 -0.06146938 13.91295644] [ 0.1075036 0.9933978 -0.04004739 0.50553391] [ 0.06546217 0.03312072 0.99730523 0.81188311] [ 0. 0. 0. 1. ]] SLAMing on 15.988040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.94, Y:0.49, Z:0.82 [[ 9.92280106e-01 -1.07022692e-01 -6.26604643e-02 1.39428159e+01] [ 1.06537494e-01 9.94247355e-01 -1.10435377e-02 4.92986220e-01] [ 6.34819101e-02 4.28259395e-03 9.97973800e-01 8.16802076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.018040942 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:13.97, Y:0.50, Z:0.82 [[ 9.92399853e-01 -1.06109055e-01 -6.23169259e-02 1.39689155e+01] [ 1.05324903e-01 9.94313201e-01 -1.57455765e-02 4.98120442e-01] [ 6.36332903e-02 9.06238359e-03 9.97932201e-01 8.16732970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.00, Y:0.47, Z:0.84 [[ 0.99269585 -0.10009417 -0.06735056 13.99813632] [ 0.10268634 0.99405537 0.0361861 0.4734042 ] [ 0.06332817 -0.04283777 0.99707295 0.83816642] [ 0. 0. 0. 1. ]] SLAMing on 16.078040942 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:14.02, Y:0.53, Z:0.81 [[ 0.9928976 -0.10339213 -0.05885927 14.02377717] [ 0.09980758 0.99314152 -0.06089638 0.5265231 ] [ 0.06475179 0.05458927 0.99640715 0.81251777] [ 0. 0. 0. 1. ]] SLAMing on 16.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.06, Y:0.47, Z:0.84 [[ 0.99340592 -0.09450812 -0.06490674 14.0556084 ] [ 0.09778037 0.99398953 0.04923231 0.47407874] [ 0.05986376 -0.05525428 0.99667612 0.84342993] [ 0. 0. 0. 1. ]] SLAMing on 16.138040942 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:14.08, Y:0.53, Z:0.81 [[ 0.99371892 -0.09992509 -0.05037534 14.08185176] [ 0.09745708 0.99401892 -0.04927994 0.53017486] [ 0.05499834 0.04406098 0.99751382 0.81180328] [ 0. 0. 0. 1. ]] SLAMing on 16.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:0.49, Z:0.84 [[ 0.99363968 -0.09326967 -0.06309489 14.1122511 ] [ 0.09582005 0.99464705 0.03867517 0.48662855] [ 0.05914992 -0.04447493 0.99725787 0.84171382] [ 0. 0. 0. 1. ]] SLAMing on 16.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:0.51, Z:0.83 [[ 9.93731026e-01 -9.47984978e-02 -5.92612168e-02 1.41373249e+01] [ 9.46467887e-02 9.95496444e-01 -5.36804604e-03 5.11616190e-01] [ 5.95032133e-02 -2.74489964e-04 9.98228076e-01 8.32651274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:0.51, Z:0.83 [[ 9.94000139e-01 -9.28151100e-02 -5.78712311e-02 1.41655585e+01] [ 9.26666492e-02 9.95683350e-01 -5.24954367e-03 5.12376620e-01] [ 5.81086583e-02 -1.44685938e-04 9.98310254e-01 8.33499297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.258040942 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:14.19, Y:0.55, Z:0.81 [[ 0.99421262 -0.09577683 -0.04866271 14.19315564] [ 0.09271568 0.99377976 -0.06168948 0.54504346] [ 0.05426844 0.05682066 0.9969084 0.81387368] [ 0. 0. 0. 1. ]] SLAMing on 16.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.23, Y:0.49, Z:0.85 [[ 0.9943527 -0.0877813 -0.05964189 14.22506013] [ 0.09087039 0.99454471 0.051219 0.48606705] [ 0.05482045 -0.05634943 0.99690494 0.8486137 ] [ 0. 0. 0. 1. ]] SLAMing on 16.318040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.25, Y:0.52, Z:0.84 [[ 9.94342340e-01 -9.10631693e-02 -5.46882910e-02 1.42498365e+01] [ 9.09262288e-02 9.95845118e-01 -4.99217307e-03 5.17829189e-01] [ 5.49156707e-02 -8.67100042e-06 9.98490996e-01 8.36835238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.28, Y:0.52, Z:0.84 [[ 9.94329382e-01 -9.13007520e-02 -5.45275502e-02 1.42776732e+01] [ 9.11646104e-02 9.95823364e-01 -4.98410930e-03 5.20824889e-01] [ 5.47548614e-02 -1.51365572e-05 9.98499827e-01 8.37195641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:0.52, Z:0.84 [[ 9.94221047e-01 -9.24487974e-02 -5.45685676e-02 1.43044385e+01] [ 9.23132981e-02 9.95717438e-01 -5.00390148e-03 5.23106246e-01] [ 5.47974790e-02 -6.24202789e-05 9.98497487e-01 8.36545911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.33, Y:0.53, Z:0.84 [[ 9.94196919e-01 -9.27082791e-02 -5.45679543e-02 1.43328049e+01] [ 9.25728037e-02 9.95693311e-01 -5.01058110e-03 5.25804570e-01] [ 5.47974694e-02 -7.00042262e-05 9.98497487e-01 8.38137044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.36, Y:0.53, Z:0.84 [[ 9.94105168e-01 -9.36771441e-02 -5.45848632e-02 1.43601611e+01] [ 9.35422473e-02 9.95602622e-01 -5.02664643e-03 5.26850332e-01] [ 5.48157149e-02 -1.08975584e-04 9.98496482e-01 8.39429942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.39, Y:0.53, Z:0.84 [[ 9.93967536e-01 -9.55372364e-02 -5.38625477e-02 1.43884175e+01] [ 9.54082815e-02 9.95425836e-01 -4.96632648e-03 5.27301298e-01] [ 5.40906407e-02 -2.02565827e-04 9.98536009e-01 8.40745119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.42, Y:0.53, Z:0.84 [[ 9.93804153e-01 -9.78349429e-02 -5.27411623e-02 1.44161703e+01] [ 9.77137781e-02 9.95202608e-01 -4.87724945e-03 5.27731487e-01] [ 5.29653076e-02 -3.06507469e-04 9.98596306e-01 8.42502083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528040942 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:14.45, Y:0.55, Z:0.83 [[ 0.99342169 -0.10510126 -0.04546515 14.44571395] [ 0.10263011 0.99327181 -0.05364865 0.55472913] [ 0.05079779 0.04862964 0.99752431 0.8250509 ] [ 0. 0. 0. 1. ]] SLAMing on 16.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.48, Y:0.53, Z:0.84 [[ 9.93092280e-01 -1.04277142e-01 -5.37959278e-02 1.44809067e+01] [ 1.04570401e-01 9.94513935e-01 2.65795144e-03 5.27863690e-01] [ 5.32236363e-02 -8.26505279e-03 9.98548413e-01 8.41992320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.51, Y:0.53, Z:0.84 [[ 9.92638305e-01 -1.07705789e-01 -5.53954717e-02 1.45090599e+01] [ 1.07673607e-01 9.94179874e-01 -3.57395946e-03 5.31733385e-01] [ 5.54579992e-02 -2.41698118e-03 9.98458096e-01 8.42046457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:0.53, Z:0.84 [[ 9.92500419e-01 -1.09153118e-01 -5.50319553e-02 1.45359878e+01] [ 1.09025468e-01 9.94024691e-01 -5.32547210e-03 5.32828547e-01] [ 5.52844143e-02 -7.14351405e-04 9.98470392e-01 8.42741549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.56, Y:0.51, Z:0.87 [[ 0.99225858 -0.107496 -0.06218935 14.56255854] [ 0.10996176 0.99322142 0.03767797 0.51154803] [ 0.05771756 -0.04422474 0.99735292 0.86639853] [ 0. 0. 0. 1. ]] SLAMing on 16.678040942 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:14.59, Y:0.56, Z:0.84 [[ 0.99181163 -0.11505274 -0.05543065 14.58962743] [ 0.11255608 0.99256871 -0.04624383 0.55739018] [ 0.06033921 0.03962611 0.99739107 0.84490749] [ 0. 0. 0. 1. ]] SLAMing on 16.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.62, Y:0.52, Z:0.87 [[ 0.99227173 -0.1084133 -0.06036032 14.61848067] [ 0.11067578 0.99322288 0.03548484 0.51695362] [ 0.05610422 -0.04189103 0.99754572 0.86973002] [ 0. 0. 0. 1. ]] SLAMing on 16.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.64, Y:0.54, Z:0.86 [[ 9.92439108e-01 -1.08849788e-01 -5.67127930e-02 1.46439214e+01] [ 1.08720798e-01 9.94057853e-01 -5.36413578e-03 5.41369094e-01] [ 5.69596822e-02 -8.42281982e-04 9.98376124e-01 8.61047460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.67, Y:0.54, Z:0.86 [[ 9.92545035e-01 -1.07433133e-01 -5.75541150e-02 1.46718903e+01] [ 1.07297539e-01 9.94212017e-01 -5.45003608e-03 5.43432904e-01] [ 5.78065073e-02 -7.66008666e-04 9.98327512e-01 8.62542640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.70, Y:0.54, Z:0.86 [[ 9.92666041e-01 -1.05984853e-01 -5.81493005e-02 1.46989517e+01] [ 1.05842945e-01 9.94367518e-01 -5.52367114e-03 5.44787627e-01] [ 5.84072011e-02 -6.71532443e-04 9.98292616e-01 8.64116614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.73, Y:0.55, Z:0.87 [[ 9.92859147e-01 -1.04187933e-01 -5.80998241e-02 1.47270939e+01] [ 1.04042814e-01 9.94557471e-01 -5.52543828e-03 5.45702902e-01] [ 5.83592981e-02 -5.58887274e-04 9.98295487e-01 8.65960276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:0.55, Z:0.87 [[ 9.93089175e-01 -1.02195641e-01 -5.77056375e-02 1.47554008e+01] [ 1.02048191e-01 9.94764229e-01 -5.50404629e-03 5.46392464e-01] [ 5.79659936e-02 -4.22747128e-04 9.98318469e-01 8.68174159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.78, Y:0.55, Z:0.87 [[ 9.93193936e-01 -1.01312017e-01 -5.74602574e-02 1.47836184e+01] [ 1.01163398e-01 9.94854638e-01 -5.49695003e-03 5.48656499e-01] [ 5.77215106e-02 -3.53337464e-04 9.98332661e-01 8.70100785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:0.56, Z:0.87 [[ 9.93320738e-01 -1.00417205e-01 -5.68356948e-02 1.48153150e+01] [ 9.94972662e-02 9.94860259e-01 -1.87978467e-02 5.56280063e-01] [ 5.84312013e-02 1.30172947e-02 9.98206564e-01 8.65427807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.84, Y:0.55, Z:0.88 [[ 9.93340034e-01 -9.94395590e-02 -5.82009488e-02 1.48397180e+01] [ 1.00086522e-01 9.94944107e-01 8.30134257e-03 5.45065823e-01] [ 5.70812091e-02 -1.40711865e-02 9.98270373e-01 8.76598854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.87, Y:0.55, Z:0.88 [[ 9.93280342e-01 -1.00744408e-01 -5.69625029e-02 1.48669750e+01] [ 1.00595262e-01 9.94912301e-01 -5.48703317e-03 5.53280413e-01] [ 5.72254827e-02 -2.79995711e-04 9.98361240e-01 8.75699671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.89, Y:0.55, Z:0.88 [[ 9.93301587e-01 -1.01126628e-01 -5.59049377e-02 1.48940814e+01] [ 1.00982652e-01 9.94873523e-01 -5.40160705e-03 5.52309582e-01] [ 5.61645887e-02 -2.80004026e-04 9.98421484e-01 8.77979820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.038040942 meters Centerline goodness : 0.997240 Centerline is valid? [True, True] Translation: X:14.92, Y:0.56, Z:0.88 [[ 0.9929258 -0.10421895 -0.05689258 14.92335013] [ 0.10296464 0.9943818 -0.0245583 0.56476755] [ 0.05913239 0.01852665 0.99807822 0.87607909] [ 0. 0. 0. 1. ]] SLAMing on 17.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.95, Y:0.55, Z:0.89 [[ 9.93251417e-01 -1.00503986e-01 -5.78841193e-02 1.49511012e+01] [ 1.01444043e-01 9.94749236e-01 1.35300691e-02 5.46271231e-01] [ 5.62203576e-02 -1.93107594e-02 9.98231619e-01 8.86707116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.98, Y:0.56, Z:0.88 [[ 9.93335296e-01 -1.00314577e-01 -5.67624555e-02 1.49827313e+01] [ 9.97161714e-02 9.94927225e-01 -1.32853805e-02 5.61492290e-01] [ 5.78072297e-02 7.53670261e-03 9.98299315e-01 8.77830559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:0.56, Z:0.89 [[ 9.93286623e-01 -9.98221201e-02 -5.84570768e-02 1.50062643e+01] [ 1.00147597e-01 9.94969043e-01 2.65749813e-03 5.56930732e-01] [ 5.78977046e-02 -8.49399313e-03 9.98286386e-01 8.86070091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.04, Y:0.56, Z:0.89 [[ 9.93255281e-01 -9.78005233e-02 -6.22816523e-02 1.50390286e+01] [ 9.78261014e-02 9.95200007e-01 -2.64587625e-03 5.58434637e-01] [ 6.22414689e-02 -3.46474068e-03 9.98055106e-01 8.88802416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.06, Y:0.57, Z:0.89 [[ 9.93421857e-01 -9.85885677e-02 -5.82521085e-02 1.50621820e+01] [ 9.82696449e-02 9.95125033e-01 -8.32139019e-03 5.65568084e-01] [ 5.87885254e-02 2.54223687e-03 9.98267222e-01 8.88178119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.218040942 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:15.09, Y:0.57, Z:0.89 [[ 9.93266838e-01 -9.95496586e-02 -5.92524644e-02 1.50907144e+01] [ 9.87348859e-02 9.94976463e-01 -1.65306075e-02 5.72532900e-01] [ 6.06004238e-02 1.05690189e-02 9.98106149e-01 8.89048111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248040942 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:15.12, Y:0.57, Z:0.89 [[ 9.93290530e-01 -9.86617174e-02 -6.03306537e-02 1.51188150e+01] [ 9.86376523e-02 9.95117662e-01 -3.38420933e-03 5.68326658e-01] [ 6.03699909e-02 -2.58937095e-03 9.98172710e-01 8.94326008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:0.55, Z:0.91 [[ 0.99324164 -0.09362385 -0.06859751 15.15031582] [ 0.09561464 0.99507014 0.02632963 0.5525736 ] [ 0.06579426 -0.03271061 0.99729691 0.91002166] [ 0. 0. 0. 1. ]] SLAMing on 17.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:0.57, Z:0.90 [[ 9.93128298e-01 -9.70383498e-02 -6.54197434e-02 1.51775246e+01] [ 9.67722212e-02 9.95280279e-01 -7.23213639e-03 5.72396101e-01] [ 6.58127751e-02 8.51625418e-04 9.97831626e-01 9.00878927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:0.57, Z:0.91 [[ 9.92900050e-01 -9.68311344e-02 -6.90885070e-02 1.52050977e+01] [ 9.70952653e-02 9.95274983e-01 4.67344370e-04 5.69022449e-01] [ 6.87168092e-02 -7.17219317e-03 9.97610425e-01 9.06674047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.22, Y:0.60, Z:0.88 [[ 0.99297597 -0.10613997 -0.05227844 15.22329497] [ 0.10419499 0.99380642 -0.03862915 0.59967416] [ 0.05605474 0.03291067 0.99788514 0.88281941] [ 0. 0. 0. 1. ]] SLAMing on 17.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.26, Y:0.56, Z:0.92 [[ 0.99275651 -0.09828023 -0.06910499 15.26201333] [ 0.10049815 0.99450342 0.02937804 0.56083814] [ 0.06583787 -0.03611016 0.99717673 0.91648852] [ 0. 0. 0. 1. ]] SLAMing on 17.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.28, Y:0.61, Z:0.89 [[ 0.99286122 -0.10746666 -0.05174471 15.27976746] [ 0.1054283 0.99359621 -0.040638 0.60689438] [ 0.05578058 0.03489254 0.99783317 0.88646787] [ 0. 0. 0. 1. ]] SLAMing on 17.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.32, Y:0.58, Z:0.91 [[ 9.92732741e-01 -1.02332634e-01 -6.33224787e-02 1.53156849e+01] [ 1.03297552e-01 9.94576311e-01 1.21481116e-02 5.78572953e-01] [ 6.17358890e-02 -1.86008851e-02 9.97919179e-01 9.09617395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:0.58, Z:0.92 [[ 0.99267299 -0.0999932 -0.06783578 15.34737245] [ 0.10151435 0.99464584 0.01935161 0.57523364] [ 0.06553755 -0.02609612 0.99750881 0.92104599] [ 0. 0. 0. 1. ]] SLAMing on 17.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:0.60, Z:0.91 [[ 9.92781929e-01 -1.03889419e-01 -5.99252084e-02 1.53724554e+01] [ 1.02760784e-01 9.94470976e-01 -2.16263330e-02 6.00233159e-01] [ 6.18406277e-02 1.53122712e-02 9.97968572e-01 9.05474783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.39, Y:0.61, Z:0.89 [[ 0.99279317 -0.10781538 -0.05232178 15.3948317 ] [ 0.10624247 0.99382604 -0.03197405 0.61251538] [ 0.05544604 0.02618483 0.99811828 0.89479796] [ 0. 0. 0. 1. ]] SLAMing on 17.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.42, Y:0.60, Z:0.90 [[ 9.92617927e-01 -1.06853288e-01 -5.73761789e-02 1.54244596e+01] [ 1.06759752e-01 9.94273729e-01 -4.70182729e-03 6.00902257e-01] [ 5.75500331e-02 -1.45834858e-03 9.98341558e-01 9.04241421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.45, Y:0.60, Z:0.91 [[ 9.92633698e-01 -1.06966993e-01 -5.68893976e-02 1.54525345e+01] [ 1.06992668e-01 9.94256402e-01 -2.60313252e-03 6.03192981e-01] [ 5.68410970e-02 -3.50279135e-03 9.98377093e-01 9.05927934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.48, Y:0.63, Z:0.88 [[ 0.9925578 -0.11369599 -0.04361463 15.47527804] [ 0.11191492 0.9928585 -0.04131639 0.63239013] [ 0.04800067 0.03612778 0.99819373 0.88384264] [ 0. 0. 0. 1. ]] SLAMing on 17.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.51, Y:0.59, Z:0.92 [[ 0.99247173 -0.10539869 -0.0623778 15.51284126] [ 0.10724936 0.99386289 0.02709473 0.58911155] [ 0.05913923 -0.03358074 0.99768476 0.92090809] [ 0. 0. 0. 1. ]] SLAMing on 17.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:0.58, Z:0.94 [[ 0.99221763 -0.09980736 -0.07444911 15.54870336] [ 0.10259588 0.99412075 0.03461246 0.58073952] [ 0.07055683 -0.04198126 0.99662396 0.94029898] [ 0. 0. 0. 1. ]] SLAMing on 17.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.58, Y:0.60, Z:0.93 [[ 9.92530203e-01 -1.00887206e-01 -6.85971397e-02 1.55767041e+01] [ 1.01496062e-01 9.94821066e-01 5.44029335e-03 5.97726032e-01] [ 6.76930236e-02 -1.23619950e-02 9.97629608e-01 9.29256302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:0.61, Z:0.93 [[ 9.92020104e-01 -1.05672779e-01 -6.87704617e-02 1.56015805e+01] [ 1.04664470e-01 9.94342618e-01 -1.81137263e-02 6.12059536e-01] [ 7.02955287e-02 1.07713568e-02 9.97468053e-01 9.31060697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.63, Y:0.61, Z:0.93 [[ 9.91718989e-01 -1.08187645e-01 -6.92017320e-02 1.56307319e+01] [ 1.07537552e-01 9.94115207e-01 -1.30625386e-02 6.13459735e-01] [ 7.02076995e-02 5.51258273e-03 9.97517163e-01 9.31273703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:0.61, Z:0.94 [[ 9.91372742e-01 -1.09518860e-01 -7.20118459e-02 1.56581864e+01] [ 1.09496774e-01 9.93977996e-01 -4.26625237e-03 6.09683947e-01] [ 7.20454253e-02 -3.65561847e-03 9.97394653e-01 9.36067170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.68, Y:0.61, Z:0.94 [[ 9.91467839e-01 -1.11140024e-01 -6.81132825e-02 1.56849223e+01] [ 1.11035863e-01 9.93802134e-01 -5.32504554e-03 6.13094385e-01] [ 6.82829512e-02 -2.28340568e-03 9.97663382e-01 9.35184646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:0.61, Z:0.94 [[ 9.91176715e-01 -1.12234996e-01 -7.05125960e-02 1.57159205e+01] [ 1.12115931e-01 9.93679033e-01 -5.65661225e-03 6.14362886e-01] [ 7.07017580e-02 -2.29888298e-03 9.97494850e-01 9.39438640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.74, Y:0.64, Z:0.91 [[ 0.99108918 -0.12133225 -0.05496107 15.73614009] [ 0.11898252 0.99191253 -0.04418928 0.6423284 ] [ 0.05987815 0.03725611 0.99751019 0.9131301 ] [ 0. 0. 0. 1. ]] SLAMing on 17.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.77, Y:0.60, Z:0.95 [[ 0.99081105 -0.11474004 -0.07161139 15.77280876] [ 0.11687399 0.99279733 0.02634257 0.60161541] [ 0.06807305 -0.03447002 0.99708469 0.94916062] [ 0. 0. 0. 1. ]] SLAMing on 17.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:0.62, Z:0.94 [[ 9.90725351e-01 -1.17203842e-01 -6.87498295e-02 1.58006165e+01] [ 1.17156136e-01 9.93102199e-01 -4.73948400e-03 6.18155617e-01] [ 6.88310926e-02 -3.35893744e-03 9.97622673e-01 9.43167202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.83, Y:0.63, Z:0.93 [[ 9.90574885e-01 -1.21181206e-01 -6.38475659e-02 1.58275413e+01] [ 1.19890131e-01 9.92504411e-01 -2.36928249e-02 6.29596533e-01] [ 6.62401159e-02 1.58148243e-02 9.97678374e-01 9.33893138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:0.61, Z:0.95 [[ 0.99057792 -0.11742212 -0.07047997 15.85901108] [ 0.1190319 0.99270713 0.0190778 0.60846808] [ 0.06772582 -0.02728741 0.99733074 0.95310124] [ 0. 0. 0. 1. ]] SLAMing on 18.058040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:0.63, Z:0.94 [[ 9.90731048e-01 -1.17926236e-01 -6.74195377e-02 1.58845796e+01] [ 1.17297591e-01 9.93008788e-01 -1.32220350e-02 6.26138356e-01] [ 6.85074183e-02 5.19133118e-03 9.97637100e-01 9.43519927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.91, Y:0.64, Z:0.93 [[ 0.99082474 -0.12283126 -0.05638102 15.9062279 ] [ 0.12116629 0.99211407 -0.03206859 0.64481037] [ 0.05987543 0.02494288 0.99789418 0.92672707] [ 0. 0. 0. 1. ]] SLAMing on 18.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.94, Y:0.62, Z:0.95 [[ 0.99097483 -0.1153624 -0.06826711 15.94278958] [ 0.11678348 0.99300859 0.01719176 0.61592734] [ 0.06580654 -0.02500908 0.99751894 0.9523206 ] [ 0. 0. 0. 1. ]] SLAMing on 18.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:0.63, Z:0.95 [[ 9.91331549e-01 -1.14758127e-01 -6.39713414e-02 1.59678670e+01] [ 1.14220074e-01 9.93382782e-01 -1.20176427e-02 6.32478709e-01] [ 6.49271512e-02 4.60665704e-03 9.97879373e-01 9.45325324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.00, Y:0.64, Z:0.94 [[ 9.91662059e-01 -1.14766131e-01 -5.86096870e-02 1.59960940e+01] [ 1.14015804e-01 9.93350076e-01 -1.60007289e-02 6.38255588e-01] [ 6.00562788e-02 9.18488520e-03 9.98152734e-01 9.41606693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.02, Y:0.63, Z:0.95 [[ 9.91990313e-01 -1.11131070e-01 -6.00425229e-02 1.60232998e+01] [ 1.11252457e-01 9.93791290e-01 -1.32789832e-03 6.32494243e-01] [ 5.98173070e-02 -5.36261590e-03 9.98194937e-01 9.47350507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.05, Y:0.65, Z:0.93 [[ 0.99202999 -0.11324225 -0.05525126 16.04952924] [ 0.11197194 0.99338209 -0.02557949 0.65045762] [ 0.05778229 0.01918903 0.99814477 0.93479629] [ 0. 0. 0. 1. ]] SLAMing on 18.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.08, Y:0.65, Z:0.94 [[ 9.92173242e-01 -1.10343694e-01 -5.84510608e-02 1.60801878e+01] [ 1.09711311e-01 9.93865882e-01 -1.39296925e-02 6.45021826e-01] [ 5.96295688e-02 7.40792570e-03 9.98193086e-01 9.38048814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:0.63, Z:0.95 [[ 9.92561110e-01 -1.03700565e-01 -6.37858623e-02 1.61059616e+01] [ 1.04560771e-01 9.94465266e-01 1.02898180e-02 6.31666728e-01] [ 6.23657646e-02 -1.68827721e-02 9.97910559e-01 9.50277177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.13, Y:0.64, Z:0.95 [[ 9.92556626e-01 -1.04943028e-01 -6.17924289e-02 1.61335662e+01] [ 1.04742925e-01 9.94478235e-01 -6.47770937e-03 6.43562894e-01] [ 6.21310160e-02 -4.28263717e-05 9.98068001e-01 9.46782302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.16, Y:0.64, Z:0.95 [[ 9.92975723e-01 -1.02719947e-01 -5.87181984e-02 1.61627080e+01] [ 1.02678906e-01 9.94707583e-01 -3.72370418e-03 6.44099502e-01] [ 5.87899359e-02 -2.33157255e-03 9.98267653e-01 9.47807598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.19, Y:0.67, Z:0.93 [[ 0.99290689 -0.10687862 -0.05208517 16.18749769] [ 0.10497751 0.99374947 -0.03796993 0.6691636 ] [ 0.05581779 0.03223284 0.99792055 0.93006463] [ 0. 0. 0. 1. ]] SLAMing on 18.418040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:16.23, Y:0.63, Z:0.97 [[ 0.99279282 -0.09755388 -0.06961075 16.2276905 ] [ 0.09956379 0.99469131 0.0260049 0.63258539] [ 0.06670433 -0.03274819 0.99723522 0.96609858] [ 0. 0. 0. 1. ]] SLAMing on 18.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:0.65, Z:0.96 [[ 9.92974186e-01 -9.72698149e-02 -6.73858258e-02 1.62555049e+01] [ 9.75488085e-02 9.95230375e-01 8.54398694e-04 6.45492660e-01] [ 6.69813135e-02 -7.42180286e-03 9.97726626e-01 9.63633533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.27, Y:0.66, Z:0.95 [[ 9.93130475e-01 -1.02709676e-01 -5.60587315e-02 1.62710598e+01] [ 1.01892749e-01 9.94645836e-01 -1.72490148e-02 6.63215081e-01] [ 5.75302246e-02 1.14185440e-02 9.98278463e-01 9.49997969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:0.67, Z:0.95 [[ 0.99261621 -0.10441778 -0.06172513 16.29980638] [ 0.10288881 0.99431377 -0.02745933 0.66922938] [ 0.06424139 0.02090575 0.99771539 0.94846185] [ 0. 0. 0. 1. ]] SLAMing on 18.538040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.34, Y:0.64, Z:0.97 [[ 0.99258438 -0.09646756 -0.07396116 16.34072525] [ 0.09838694 0.99488807 0.02275408 0.63883593] [ 0.07138805 -0.02986216 0.9970015 0.97474785] [ 0. 0. 0. 1. ]] SLAMing on 18.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:0.66, Z:0.96 [[ 9.92563443e-01 -9.76875643e-02 -7.26288596e-02 1.63634543e+01] [ 9.66323733e-02 9.95158963e-01 -1.79115296e-02 6.61269026e-01] [ 7.40269943e-02 1.07600304e-02 9.97198188e-01 9.63745133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.38, Y:0.68, Z:0.95 [[ 0.99227107 -0.10420652 -0.06737304 16.3833309 ] [ 0.10207941 0.99418513 -0.03428867 0.6776925 ] [ 0.07055438 0.02714626 0.99713849 0.95268572] [ 0. 0. 0. 1. ]] SLAMing on 18.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.42, Y:0.64, Z:0.98 [[ 0.9923009 -0.09601992 -0.0782247 16.42235802] [ 0.09835451 0.99479719 0.0265508 0.64336618] [ 0.07526831 -0.03404013 0.99658213 0.98214301] [ 0. 0. 0. 1. ]] SLAMing on 18.658040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.45, Y:0.66, Z:0.97 [[ 9.92219830e-01 -9.96175072e-02 -7.46736964e-02 1.64485806e+01] [ 9.94607095e-02 9.95024441e-01 -5.82489133e-03 6.62019899e-01] [ 7.48824141e-02 -1.64752614e-03 9.97191010e-01 9.73997200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.47, Y:0.69, Z:0.96 [[ 0.99196012 -0.10966415 -0.06315775 16.46712808] [ 0.10750273 0.99352829 -0.03667027 0.68583426] [ 0.06677043 0.02958581 0.99732963 0.95647642] [ 0. 0. 0. 1. ]] SLAMing on 18.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.50, Y:0.67, Z:0.97 [[ 9.91578647e-01 -1.11584188e-01 -6.57324585e-02 1.64962980e+01] [ 1.11349816e-01 9.93754973e-01 -7.22994419e-03 6.73324214e-01] [ 6.61287049e-02 -1.50238865e-04 9.97811090e-01 9.66545468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.52, Y:0.68, Z:0.97 [[ 9.91339081e-01 -1.13917363e-01 -6.53426474e-02 1.65244136e+01] [ 1.13689653e-01 9.93490187e-01 -7.20488649e-03 6.76612362e-01] [ 6.57380407e-02 -2.86297369e-04 9.97836874e-01 9.67780437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.55, Y:0.68, Z:0.97 [[ 9.91023128e-01 -1.16348192e-01 -6.58502633e-02 1.65526799e+01] [ 1.16121016e-01 9.93208393e-01 -7.27997304e-03 6.79404486e-01] [ 6.62500459e-02 -4.31977803e-04 9.97802959e-01 9.69377023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:0.67, Z:0.98 [[ 9.90807699e-01 -1.15312169e-01 -7.07333511e-02 1.65861361e+01] [ 1.15606517e-01 9.93295086e-01 6.80854820e-05 6.73598170e-01] [ 7.02512390e-02 -8.24469595e-03 9.97495257e-01 9.78028234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.61, Y:0.68, Z:0.98 [[ 9.90128469e-01 -1.20230539e-01 -7.20432689e-02 1.66140837e+01] [ 1.20050717e-01 9.92744219e-01 -6.83671568e-03 6.76661346e-01] [ 7.23425208e-02 -1.87961927e-03 9.97378076e-01 9.79322849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.64, Y:0.69, Z:0.97 [[ 9.89660706e-01 -1.26480085e-01 -6.76348665e-02 1.66362937e+01] [ 1.25755863e-01 9.91949657e-01 -1.48775410e-02 6.87275769e-01] [ 6.89720953e-02 6.21823672e-03 9.97599210e-01 9.73385873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.67, Y:0.67, Z:0.99 [[ 9.89143624e-01 -1.25121387e-01 -7.70683490e-02 1.66708931e+01] [ 1.26703064e-01 9.91812160e-01 1.59678447e-02 6.69574066e-01] [ 7.44394069e-02 -2.55592877e-02 9.96897937e-01 9.93078900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.70, Y:0.68, Z:0.99 [[ 9.88961519e-01 -1.28272909e-01 -7.41699018e-02 1.66978013e+01] [ 1.28051239e-01 9.91737225e-01 -7.75612492e-03 6.84448492e-01] [ 7.45519532e-02 -1.82703876e-03 9.97215457e-01 9.87213143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:0.69, Z:0.98 [[ 9.88820673e-01 -1.31463762e-01 -7.03630322e-02 1.67234464e+01] [ 1.30485982e-01 9.91280570e-01 -1.83368464e-02 6.94250143e-01] [ 7.21601375e-02 8.95046339e-03 9.97352898e-01 9.81162947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:0.68, Z:1.00 [[ 9.88781899e-01 -1.29409919e-01 -7.45883971e-02 1.67537826e+01] [ 1.30207749e-01 9.91469094e-01 5.91419620e-03 6.82018584e-01] [ 7.31867349e-02 -1.55598375e-02 9.97196868e-01 9.95782468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:0.69, Z:0.99 [[ 9.88838100e-01 -1.30840182e-01 -7.12745368e-02 1.67799309e+01] [ 1.30269842e-01 9.91398351e-01 -1.26126089e-02 6.94817724e-01] [ 7.23116943e-02 3.18690561e-03 9.97376991e-01 9.90365979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:0.69, Z:0.99 [[ 9.88923279e-01 -1.30693085e-01 -7.03566990e-02 1.68084769e+01] [ 1.30626650e-01 9.91416016e-01 -5.56425105e-03 6.94886560e-01] [ 7.04799674e-02 -3.68784248e-03 9.97506378e-01 9.93319088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:0.71, Z:0.98 [[ 0.98909693 -0.13360327 -0.061947 16.83038476] [ 0.13214031 0.99085889 -0.02715889 0.71484911] [ 0.06500925 0.01867708 0.99770986 0.98080762] [ 0. 0. 0. 1. ]] SLAMing on 19.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.86, Y:0.71, Z:0.99 [[ 9.89267886e-01 -1.31335978e-01 -6.40305509e-02 1.68580551e+01] [ 1.31141042e-01 9.91337165e-01 -7.25615281e-03 7.07925736e-01] [ 6.44288587e-02 -1.21875419e-03 9.97921558e-01 9.88319840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.89, Y:0.71, Z:0.99 [[ 9.89537844e-01 -1.29054933e-01 -6.44955788e-02 1.68863572e+01] [ 1.28851469e-01 9.91636874e-01 -7.32182705e-03 7.10025862e-01] [ 6.49011120e-02 -1.06512512e-03 9.97891132e-01 9.90334755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.91, Y:0.71, Z:0.99 [[ 9.89671885e-01 -1.27939995e-01 -6.46600190e-02 1.69138984e+01] [ 1.27731919e-01 9.91781430e-01 -7.35883003e-03 7.12501659e-01] [ 6.50700948e-02 -9.76321128e-04 9.97880218e-01 9.93010910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:0.72, Z:1.00 [[ 9.89896460e-01 -1.26756140e-01 -6.35443151e-02 1.69418851e+01] [ 1.26551618e-01 9.91933532e-01 -7.24955242e-03 7.15784083e-01] [ 6.39506622e-02 -8.65329583e-04 9.97952686e-01 9.95090619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:0.72, Z:1.00 [[ 9.90290957e-01 -1.23899102e-01 -6.30304107e-02 1.69682113e+01] [ 1.23690980e-01 9.92294603e-01 -7.20845302e-03 7.19863627e-01] [ 6.34378572e-02 -6.57827419e-04 9.97985574e-01 9.97112591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:0.72, Z:1.01 [[ 9.90408294e-01 -1.20159764e-01 -6.82132106e-02 1.70005505e+01] [ 1.20632827e-01 9.92693122e-01 2.84373639e-03 7.15510099e-01] [ 6.73730823e-02 -1.10452125e-02 9.97666713e-01 1.00542259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:0.73, Z:1.00 [[ 9.90429614e-01 -1.21161458e-01 -6.60990155e-02 1.70274589e+01] [ 1.20665059e-01 9.92627057e-01 -1.14660413e-02 7.27047797e-01] [ 6.70009134e-02 3.38046533e-03 9.97747187e-01 1.00043648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.05, Y:0.74, Z:1.00 [[ 9.90374586e-01 -1.23307276e-01 -6.28768272e-02 1.70523231e+01] [ 1.22456122e-01 9.92324351e-01 -1.72302312e-02 7.35475733e-01] [ 6.45188196e-02 9.36473066e-03 9.97872549e-01 9.95381450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:17.08, Y:0.73, Z:1.00 [[ 9.90284676e-01 -1.23185389e-01 -6.45106200e-02 1.70793091e+01] [ 1.23023656e-01 9.92382526e-01 -6.48865234e-03 7.32425704e-01] [ 6.48185192e-02 -1.51071932e-03 9.97895925e-01 1.00135535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.11, Y:0.73, Z:1.01 [[ 9.89966559e-01 -1.25387447e-01 -6.51475247e-02 1.71052662e+01] [ 1.25459886e-01 9.92094175e-01 -2.99420110e-03 7.33278032e-01] [ 6.50079150e-02 -5.20924204e-03 9.97871151e-01 1.00624944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:0.74, Z:1.01 [[ 9.89837735e-01 -1.26404314e-01 -6.51399106e-02 1.71353224e+01] [ 1.26206142e-01 9.91978162e-01 -7.16485307e-03 7.37908089e-01] [ 6.55230372e-02 -1.12901487e-03 9.97850418e-01 1.00665020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.16, Y:0.74, Z:1.01 [[ 9.89580757e-01 -1.28062444e-01 -6.58022412e-02 1.71628154e+01] [ 1.27979830e-01 9.91761594e-01 -5.48667632e-03 7.41614599e-01] [ 6.59627728e-02 -2.99185036e-03 9.97817599e-01 1.00895447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.19, Y:0.75, Z:1.01 [[ 9.89086558e-01 -1.32687741e-01 -6.40448616e-02 1.71881991e+01] [ 1.32365494e-01 9.91157651e-01 -9.26755610e-03 7.50681129e-01] [ 6.47082456e-02 6.89085441e-04 9.97903987e-01 1.00757709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.22, Y:0.76, Z:1.00 [[ 9.88935011e-01 -1.34718184e-01 -6.21172704e-02 1.72165231e+01] [ 1.34002813e-01 9.90858766e-01 -1.55612255e-02 7.57156863e-01] [ 6.36458219e-02 7.06515173e-03 9.97947540e-01 1.00396068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:0.76, Z:1.01 [[ 9.88700871e-01 -1.36627478e-01 -6.16726899e-02 1.72449956e+01] [ 1.36135330e-01 9.90615958e-01 -1.21324417e-02 7.59378802e-01] [ 6.27515757e-02 3.59952365e-03 9.98022687e-01 1.00513877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.558040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:0.75, Z:1.02 [[ 9.88213362e-01 -1.37809567e-01 -6.66548898e-02 1.72725150e+01] [ 1.38490868e-01 9.90347372e-01 5.68875837e-03 7.52747557e-01] [ 6.52275296e-02 -1.48528006e-02 9.97759873e-01 1.01933299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.30, Y:0.76, Z:1.02 [[ 9.88009632e-01 -1.39985427e-01 -6.51233213e-02 1.72989427e+01] [ 1.39786904e-01 9.90152308e-01 -7.61764715e-03 7.63818689e-01] [ 6.55483665e-02 -1.57707870e-03 9.97848147e-01 1.01695289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:0.77, Z:1.02 [[ 9.87798593e-01 -1.41587925e-01 -6.48598360e-02 1.73249930e+01] [ 1.41393946e-01 9.89924277e-01 -7.59458893e-03 7.70057374e-01] [ 6.52816284e-02 -1.66886388e-03 9.97865484e-01 1.01792878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.35, Y:0.77, Z:1.02 [[ 9.87777564e-01 -1.41826024e-01 -6.46595973e-02 1.73511639e+01] [ 1.41633250e-01 9.89890188e-01 -7.57881201e-03 7.74855273e-01] [ 6.50807737e-02 -1.67176844e-03 9.97878599e-01 1.01927670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:0.78, Z:1.02 [[ 9.87720437e-01 -1.42148412e-01 -6.48241256e-02 1.73788125e+01] [ 1.41954802e-01 9.89843915e-01 -7.60644783e-03 7.79724134e-01] [ 6.52470107e-02 -1.68905195e-03 9.97867714e-01 1.02067709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.40, Y:0.79, Z:1.02 [[ 9.87769624e-01 -1.41365844e-01 -6.57789334e-02 1.74049099e+01] [ 1.41163615e-01 9.89956056e-01 -7.73564117e-03 7.85267295e-01] [ 6.62118090e-02 -1.64456068e-03 9.97804235e-01 1.02208827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.43, Y:0.79, Z:1.02 [[ 9.87726310e-01 -1.41588758e-01 -6.59496826e-02 1.74323540e+01] [ 1.41385405e-01 9.89924181e-01 -7.76425627e-03 7.89891936e-01] [ 6.63845169e-02 -1.65536242e-03 9.97792742e-01 1.02385290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:0.80, Z:1.03 [[ 9.87736597e-01 -1.41485657e-01 -6.60168503e-02 1.74598336e+01] [ 1.41280495e-01 9.89938959e-01 -7.78965723e-03 7.95972016e-01] [ 6.64547768e-02 -1.63276374e-03 9.97788102e-01 1.02526365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.798040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.50, Y:0.79, Z:1.04 [[ 9.88133188e-01 -1.34744316e-01 -7.37344649e-02 1.74952558e+01] [ 1.35811587e-01 9.90687838e-01 9.63431524e-03 7.86116202e-01] [ 7.17496684e-02 -1.95339813e-02 9.97231372e-01 1.03793877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.52, Y:0.81, Z:1.03 [[ 9.88183460e-01 -1.37079687e-01 -6.85755732e-02 1.75198490e+01] [ 1.36338245e-01 9.90542638e-01 -1.54001802e-02 8.05060941e-01] [ 7.00380811e-02 5.86873005e-03 9.97527055e-01 1.02918645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.858040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.54, Y:0.83, Z:1.01 [[ 0.98838891 -0.14153352 -0.05527766 17.54448162] [ 0.13923478 0.98930571 -0.04344984 0.83061952] [ 0.06083612 0.03524876 0.99752518 1.01280508] [ 0. 0. 0. 1. ]] SLAMing on 19.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.57, Y:0.80, Z:1.04 [[ 0.98819263 -0.13669755 -0.06920335 17.57312902] [ 0.13853041 0.99010494 0.02239506 0.79988925] [ 0.06545723 -0.0317174 0.99735117 1.04346054] [ 0. 0. 0. 1. ]] SLAMing on 19.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.60, Y:0.82, Z:1.04 [[ 9.88275526e-01 -1.37661333e-01 -6.60366692e-02 1.75996994e+01] [ 1.37443245e-01 9.90478488e-01 -7.85614395e-03 8.19624665e-01] [ 6.64893875e-02 -1.31225929e-03 9.97786269e-01 1.03619090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.63, Y:0.83, Z:1.04 [[ 9.88492872e-01 -1.35871404e-01 -6.64891234e-02 1.76263272e+01] [ 1.35645174e-01 9.90725774e-01 -7.92631664e-03 8.25655218e-01] [ 6.69494480e-02 -1.18382121e-03 9.97755666e-01 1.03707506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.65, Y:0.83, Z:1.04 [[ 9.88553404e-01 -1.35396116e-01 -6.65586983e-02 1.76534808e+01] [ 1.35167788e-01 9.90790887e-01 -7.94277030e-03 8.30580526e-01] [ 6.70211719e-02 -1.14473940e-03 9.97750897e-01 1.03870262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:0.83, Z:1.04 [[ 9.88689376e-01 -1.34690977e-01 -6.59671010e-02 1.76810347e+01] [ 1.34463966e-01 9.90887075e-01 -7.88959388e-03 8.34655422e-01] [ 6.64286049e-02 -1.06984036e-03 9.97790607e-01 1.04077944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:0.84, Z:1.04 [[ 9.88610365e-01 -1.35376784e-01 -6.57470314e-02 1.77090828e+01] [ 1.35151573e-01 9.90793586e-01 -7.88176929e-03 8.38081180e-01] [ 6.62087456e-02 -1.09381590e-03 9.97805194e-01 1.04251802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:0.84, Z:1.04 [[ 9.88492058e-01 -1.36134469e-01 -6.59610302e-02 1.77355807e+01] [ 1.35908260e-01 9.90689724e-01 -7.92564537e-03 8.41169414e-01] [ 6.64258683e-02 -1.13021135e-03 9.97790723e-01 1.04423697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.76, Y:0.84, Z:1.05 [[ 9.88379552e-01 -1.37068895e-01 -6.57113314e-02 1.77630396e+01] [ 1.36845603e-01 9.90560819e-01 -7.90853618e-03 8.44303270e-01] [ 6.61750846e-02 -1.17567135e-03 9.97807334e-01 1.04607290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.79, Y:0.85, Z:1.05 [[ 9.88233678e-01 -1.38388036e-01 -6.51379274e-02 1.77910043e+01] [ 1.38170316e-01 9.90377315e-01 -7.85736716e-03 8.47143900e-01] [ 6.55984913e-02 -1.23521315e-03 9.97845335e-01 1.04784613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.82, Y:0.84, Z:1.06 [[ 9.88594646e-01 -1.34193038e-01 -6.83582784e-02 1.78244389e+01] [ 1.34263747e-01 9.90939166e-01 -3.57989975e-03 8.44182158e-01] [ 6.82192930e-02 -5.63896888e-03 9.97654414e-01 1.05540135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.85, Y:0.85, Z:1.06 [[ 9.88586645e-01 -1.34449005e-01 -6.79699283e-02 1.78515922e+01] [ 1.34381490e-01 9.90913930e-01 -5.58548952e-03 8.49905865e-01] [ 6.81033123e-02 -3.61215989e-03 9.97671735e-01 1.05573038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.88, Y:0.85, Z:1.06 [[ 9.88530798e-01 -1.35001310e-01 -6.76868402e-02 1.78798019e+01] [ 1.34822291e-01 9.90843439e-01 -7.22703265e-03 8.54431693e-01] [ 6.80427204e-02 -1.98155052e-03 9.97680441e-01 1.05695952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:0.87, Z:1.05 [[ 9.88408464e-01 -1.37245717e-01 -6.49023925e-02 1.79015318e+01] [ 1.36664631e-01 9.90527671e-01 -1.33308296e-02 8.66104433e-01] [ 6.61172150e-02 4.30644330e-03 9.97802570e-01 1.05422195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:0.86, Z:1.07 [[ 9.88748439e-01 -1.32229650e-01 -6.99417210e-02 1.79377522e+01] [ 1.32670991e-01 9.91158705e-01 1.68235437e-03 8.55607519e-01] [ 6.91008885e-02 -1.09426627e-02 9.97549661e-01 1.06570169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308040941999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.96, Y:0.86, Z:1.06 [[ 9.89512844e-01 -1.29659283e-01 -6.36616246e-02 1.79584818e+01] [ 1.29711583e-01 9.91546180e-01 -3.32836834e-03 8.61786303e-01] [ 6.35549945e-02 -4.96418687e-03 9.97965991e-01 1.06112380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.99, Y:0.88, Z:1.06 [[ 9.88402491e-01 -1.38192705e-01 -6.29546759e-02 1.79851599e+01] [ 1.37060660e-01 9.90318769e-01 -2.19797980e-02 8.80947378e-01] [ 6.53826449e-02 1.30962777e-02 9.97774322e-01 1.05704622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:18.02, Y:0.87, Z:1.06 [[ 9.88833632e-01 -1.33834898e-01 -6.55459219e-02 1.80200402e+01] [ 1.33542101e-01 9.91003643e-01 -8.84799500e-03 8.74412761e-01] [ 6.61404179e-02 -3.94512019e-06 9.97810325e-01 1.06164318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.04, Y:0.88, Z:1.06 [[ 9.88342211e-01 -1.37453454e-01 -6.54692517e-02 1.80415432e+01] [ 1.37352489e-01 9.90503682e-01 -6.06222897e-03 8.80623456e-01] [ 6.56808091e-02 -3.00080789e-03 9.97836172e-01 1.06428755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.07, Y:0.90, Z:1.05 [[ 0.98872265 -0.13805606 -0.05803486 18.0725968 ] [ 0.13643026 0.99016078 -0.03111933 0.89629504] [ 0.06176006 0.02285068 0.99782942 1.04992424] [ 0. 0. 0. 1. ]] SLAMing on 20.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.10, Y:0.88, Z:1.07 [[ 9.88378014e-01 -1.34830526e-01 -7.02113302e-02 1.80993079e+01] [ 1.36254854e-01 9.90546433e-01 1.58864075e-02 8.76934919e-01] [ 6.74056101e-02 -2.52684105e-02 9.97405630e-01 1.07350644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:18.13, Y:0.91, Z:1.05 [[ 0.98868049 -0.13731263 -0.06046589 18.12735869] [ 0.13559451 0.99025795 -0.03167535 0.90607515] [ 0.06422626 0.02311796 0.99766755 1.05286566] [ 0. 0. 0. 1. ]] SLAMing on 20.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:0.90, Z:1.05 [[ 9.88761844e-01 -1.37847096e-01 -5.78635833e-02 1.81517691e+01] [ 1.37567238e-01 9.90453236e-01 -8.81151554e-03 9.00682255e-01] [ 5.85258151e-02 7.52357012e-04 9.98285612e-01 1.05434989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:0.89, Z:1.08 [[ 0.98860881 -0.13358354 -0.0693402 18.18342517] [ 0.1351818 0.99064107 0.01887185 0.88823376] [ 0.06617029 -0.02803041 0.99741455 1.07888982] [ 0. 0. 0. 1. ]] SLAMing on 20.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.21, Y:0.91, Z:1.07 [[ 9.88558432e-01 -1.35669237e-01 -6.59248369e-02 1.82104027e+01] [ 1.35427126e-01 9.90753802e-01 -8.14845058e-03 9.05413930e-01] [ 6.64207769e-02 -8.72791640e-04 9.97791320e-01 1.07281927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.24, Y:0.91, Z:1.07 [[ 9.88284679e-01 -1.37703193e-01 -6.58120340e-02 1.82380430e+01] [ 1.37465147e-01 9.90473045e-01 -8.15356198e-03 9.08248572e-01] [ 6.63078172e-02 -9.88820541e-04 9.97798725e-01 1.07409241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.27, Y:0.91, Z:1.08 [[ 9.88083590e-01 -1.39283446e-01 -6.55052731e-02 1.82659503e+01] [ 1.39049839e-01 9.90251975e-01 -8.13435815e-03 9.11702292e-01] [ 6.59997075e-02 -1.07107189e-03 9.97819067e-01 1.07579588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:0.92, Z:1.08 [[ 9.87888769e-01 -1.40999817e-01 -6.47675257e-02 1.82936391e+01] [ 1.40773924e-01 9.90008949e-01 -8.06116441e-03 9.15681512e-01] [ 6.52570528e-02 -1.15404499e-03 9.97867820e-01 1.07715957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.698040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:18.32, Y:0.92, Z:1.08 [[ 9.87646158e-01 -1.43263023e-01 -6.34883654e-02 1.83209435e+01] [ 1.43049529e-01 9.89683847e-01 -7.91927950e-03 9.19801646e-01] [ 6.39679497e-02 -1.26053479e-03 9.97951157e-01 1.07663320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.35, Y:0.92, Z:1.08 [[ 9.87561643e-01 -1.44438662e-01 -6.21246636e-02 1.83485409e+01] [ 1.44236084e-01 9.89512902e-01 -7.75690955e-03 9.23604624e-01] [ 6.25935538e-02 -1.30019184e-03 9.98038254e-01 1.07918303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.38, Y:0.93, Z:1.08 [[ 9.87466655e-01 -1.45563994e-01 -6.09977703e-02 1.83754710e+01] [ 1.45369813e-01 9.89347944e-01 -7.63299927e-03 9.26685874e-01] [ 6.14591085e-02 -1.32990219e-03 9.98108716e-01 1.08085884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.40, Y:0.93, Z:1.08 [[ 9.87505637e-01 -1.46466785e-01 -5.81386015e-02 1.84020456e+01] [ 1.46291332e-01 9.89214721e-01 -7.28577563e-03 9.29247679e-01] [ 5.85786845e-02 -1.31042892e-03 9.98281934e-01 1.08217773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:0.93, Z:1.08 [[ 9.87381309e-01 -1.47641603e-01 -5.72722263e-02 1.84298547e+01] [ 1.47472716e-01 9.89040008e-01 -7.18758290e-03 9.33273004e-01] [ 5.77057094e-02 -1.34920573e-03 9.98332725e-01 1.08366017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.46, Y:0.94, Z:1.08 [[ 9.87420700e-01 -1.47716129e-01 -5.63941994e-02 1.84579731e+01] [ 1.47551636e-01 9.89028922e-01 -7.09263151e-03 9.36804070e-01] [ 5.68231903e-02 -1.31764523e-03 9.98383388e-01 1.08408137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.878040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:18.49, Y:0.94, Z:1.08 [[ 9.87437707e-01 -1.47594955e-01 -5.64136882e-02 1.84861911e+01] [ 1.47429275e-01 9.89047041e-01 -7.11046848e-03 9.40014838e-01] [ 5.68452606e-02 -1.29588448e-03 9.98382160e-01 1.08417426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:0.94, Z:1.09 [[ 9.87578316e-01 -1.47042961e-01 -5.53844483e-02 1.85140168e+01] [ 1.46881540e-01 9.89129347e-01 -6.99627151e-03 9.43952969e-01] [ 5.58111357e-02 -1.22558702e-03 9.98440592e-01 1.08628182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.54, Y:0.95, Z:1.09 [[ 9.87890195e-01 -1.45203951e-01 -5.46696851e-02 1.85414816e+01] [ 1.45043011e-01 9.89401142e-01 -6.92132680e-03 9.47539602e-01] [ 5.50952529e-02 -1.09194484e-03 9.98480506e-01 1.08696824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.57, Y:0.95, Z:1.09 [[ 9.88063798e-01 -1.44174422e-01 -5.42555773e-02 1.85678495e+01] [ 1.44013461e-01 9.89551775e-01 -6.88532438e-03 9.50470937e-01] [ 5.46813905e-02 -1.01039372e-03 9.98503342e-01 1.08840266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.60, Y:0.95, Z:1.09 [[ 9.88208800e-01 -1.43530505e-01 -5.33137992e-02 1.85955539e+01] [ 1.43373866e-01 9.89645435e-01 -6.77109907e-03 9.53593820e-01] [ 5.37336173e-02 -9.52545827e-04 9.98554851e-01 1.08953988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.62, Y:0.96, Z:1.09 [[ 9.88580282e-01 -1.41097246e-01 -5.29206264e-02 1.86223803e+01] [ 1.40938561e-01 9.89995419e-01 -6.73735108e-03 9.56022365e-01] [ 5.33417994e-02 -7.98144492e-04 9.98575994e-01 1.09006615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.058040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.67, Y:0.93, Z:1.12 [[ 0.98936266 -0.12727246 -0.07045033 18.66921952] [ 0.12998261 0.99088752 0.035305 0.92557236] [ 0.065315 -0.04408676 0.99689032 1.12040242] [ 0. 0. 0. 1. ]] SLAMing on 21.088040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.70, Y:0.95, Z:1.11 [[ 9.89703709e-01 -1.27402119e-01 -6.52324181e-02 1.86965534e+01] [ 1.27235083e-01 9.91849787e-01 -6.72565864e-03 9.48314205e-01] [ 6.55576232e-02 -1.64344286e-03 9.97847432e-01 1.11101537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:0.98, Z:1.08 [[ 0.98917367 -0.13880538 -0.04762895 18.70517494] [ 0.13668853 0.98958417 -0.04515991 0.98387959] [ 0.05340129 0.03816066 0.99784371 1.08353152] [ 0. 0. 0. 1. ]] SLAMing on 21.148040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.73, Y:0.97, Z:1.10 [[ 9.89452435e-01 -1.35113291e-01 -5.22329135e-02 1.87337202e+01] [ 1.34947789e-01 9.90830067e-01 -6.69870174e-03 9.65855025e-01] [ 5.26590248e-02 -4.20669453e-04 9.98612462e-01 1.09514133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.78, Y:0.94, Z:1.12 [[ 0.99026512 -0.12183718 -0.06731041 18.77841063] [ 0.12371595 0.99201588 0.02447137 0.94098067] [ 0.06379148 -0.03256052 0.99743193 1.11819114] [ 0. 0. 0. 1. ]] SLAMing on 21.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.80, Y:0.96, Z:1.11 [[ 9.90501881e-01 -1.22788364e-01 -6.18792526e-02 1.88040670e+01] [ 1.22252339e-01 9.92421715e-01 -1.23897235e-02 9.63298273e-01] [ 6.29316279e-02 4.70716101e-03 9.98006740e-01 1.10698330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:0.95, Z:1.13 [[ 9.90865517e-01 -1.16494735e-01 -6.79301375e-02 1.88391903e+01] [ 1.17960343e-01 9.92855789e-01 1.79649813e-02 9.45960855e-01] [ 6.53520045e-02 -2.58139428e-02 9.97528323e-01 1.12761308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:0.96, Z:1.12 [[ 9.90984099e-01 -1.17416890e-01 -6.45274267e-02 1.88668944e+01] [ 1.17458356e-01 9.93072769e-01 -3.16382711e-03 9.59466899e-01] [ 6.44519170e-02 -4.44398307e-03 9.97910919e-01 1.12253498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.89, Y:0.97, Z:1.12 [[ 9.90972726e-01 -1.19556651e-01 -6.06569360e-02 1.88928321e+01] [ 1.19315129e-01 9.92827336e-01 -7.60132222e-03 9.67178822e-01] [ 6.11306528e-02 2.95412875e-04 9.98129729e-01 1.11513308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.92, Y:0.97, Z:1.12 [[ 9.91030711e-01 -1.16107709e-01 -6.61598860e-02 1.89217321e+01] [ 1.14928671e-01 9.93143865e-01 -2.13696868e-02 9.74724392e-01] [ 6.81874703e-02 1.35743481e-02 9.97580175e-01 1.11739398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:0.98, Z:1.12 [[ 9.90978210e-01 -1.17141825e-01 -6.51151286e-02 1.89493571e+01] [ 1.16318180e-01 9.93078035e-01 -1.63125184e-02 9.76104266e-01] [ 6.65752821e-02 8.59127703e-03 9.97744417e-01 1.11842773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:0.97, Z:1.13 [[ 9.91148256e-01 -1.17154774e-01 -6.24491247e-02 1.89785815e+01] [ 1.18054814e-01 9.92947144e-01 1.09100776e-02 9.66089854e-01] [ 6.07305123e-02 -1.81859242e-02 9.97988515e-01 1.12708861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:0.98, Z:1.12 [[ 9.91062426e-01 -1.20456275e-01 -5.73197504e-02 1.90055115e+01] [ 1.19721388e-01 9.92676989e-01 -1.60992071e-02 9.82550121e-01] [ 5.88392478e-02 9.09291919e-03 9.98226057e-01 1.11648287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.03, Y:0.99, Z:1.11 [[ 9.90747657e-01 -1.22593056e-01 -5.82238939e-02 1.90316391e+01] [ 1.21447974e-01 9.92335269e-01 -2.28277027e-02 9.91504016e-01] [ 6.05761413e-02 1.55453191e-02 9.98042521e-01 1.10923378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.06, Y:0.98, Z:1.12 [[ 9.90538567e-01 -1.21038306e-01 -6.46766984e-02 1.90629882e+01] [ 1.21165087e-01 9.92630409e-01 -1.97305451e-03 9.80692681e-01] [ 6.44388727e-02 -5.88217123e-03 9.97904320e-01 1.12137565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.09, Y:0.98, Z:1.12 [[ 9.90621715e-01 -1.20686542e-01 -6.40576021e-02 1.90888317e+01] [ 1.20731172e-01 9.92680120e-01 -3.18790783e-03 9.83799830e-01] [ 6.39734458e-02 -4.57573867e-03 9.97941111e-01 1.12329079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.12, Y:0.99, Z:1.12 [[ 9.90636957e-01 -1.23506080e-01 -5.81778984e-02 1.91160649e+01] [ 1.22861570e-01 9.92317275e-01 -1.45416877e-02 9.94071668e-01] [ 5.95269205e-02 7.25770538e-03 9.98200316e-01 1.11844615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:1.00, Z:1.12 [[ 9.90346890e-01 -1.24914257e-01 -6.00788302e-02 1.91440587e+01] [ 1.24473316e-01 9.92161519e-01 -1.10414639e-02 9.96003228e-01] [ 6.09871397e-02 3.45666820e-03 9.98132566e-01 1.12045147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.598040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.18, Y:1.00, Z:1.12 [[ 9.89987432e-01 -1.28730620e-01 -5.79077882e-02 1.91765880e+01] [ 1.28994915e-01 9.91644904e-01 8.33762571e-04 9.95484090e-01] [ 5.73166324e-02 -8.29522472e-03 9.98321588e-01 1.12356283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:1.00, Z:1.13 [[ 9.89870568e-01 -1.27265890e-01 -6.29257669e-02 1.92009605e+01] [ 1.27204812e-01 9.91863908e-01 -4.99229653e-03 1.00049617e+00] [ 6.30491462e-02 -3.06273292e-03 9.98005724e-01 1.12591615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:1.02, Z:1.11 [[ 0.98946438 -0.13505029 -0.0521696 19.22796501] [ 0.13359019 0.99056586 -0.03054407 1.01909914] [ 0.05580241 0.02325293 0.99817102 1.11054449] [ 0. 0. 0. 1. ]] SLAMing on 21.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.26, Y:1.01, Z:1.12 [[ 9.89253976e-01 -1.35167948e-01 -5.57332573e-02 1.92569099e+01] [ 1.34974795e-01 9.90822633e-01 -7.23284303e-03 1.00880500e+00] [ 5.61994213e-02 -3.67466221e-04 9.98419496e-01 1.11929688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.28, Y:1.01, Z:1.12 [[ 9.89180743e-01 -1.35116229e-01 -5.71407232e-02 1.92822618e+01] [ 1.34986125e-01 9.90828413e-01 -6.14839072e-03 1.01060042e+00] [ 5.74473995e-02 -1.63133512e-03 9.98347202e-01 1.12173527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.32, Y:1.00, Z:1.14 [[ 9.88670181e-01 -1.35246709e-01 -6.51122211e-02 1.93171124e+01] [ 1.36382772e-01 9.90566791e-01 1.33105860e-02 1.00198424e+00] [ 6.26977910e-02 -2.20399647e-02 9.97789170e-01 1.13529959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.34, Y:1.03, Z:1.11 [[ 0.98826742 -0.14465077 -0.04902707 19.3403698 ] [ 0.14329379 0.98922038 -0.03016509 1.03469866] [ 0.05286198 0.02278591 0.99834183 1.11158776] [ 0. 0. 0. 1. ]] SLAMing on 21.808040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.36, Y:1.03, Z:1.12 [[ 9.88110039e-01 -1.43756793e-01 -5.45209599e-02 1.93640345e+01] [ 1.42833739e-01 9.89534676e-01 -2.04853322e-02 1.03287186e+00] [ 5.68952860e-02 1.24543299e-02 9.98302467e-01 1.11521322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.40, Y:1.00, Z:1.14 [[ 0.98867837 -0.13438802 -0.0667454 19.40489953] [ 0.13723373 0.98972924 0.04003677 0.99800741] [ 0.06067942 -0.04874321 0.99696645 1.13726861] [ 0. 0. 0. 1. ]] SLAMing on 21.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.43, Y:1.05, Z:1.11 [[ 0.9878386 -0.14795449 -0.04779516 19.42584181] [ 0.14622634 0.98852686 -0.03784833 1.048551 ] [ 0.05284663 0.03039913 0.99813983 1.11481317] [ 0. 0. 0. 1. ]] SLAMing on 21.898040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.46, Y:1.03, Z:1.13 [[ 9.87463618e-01 -1.46648083e-01 -5.83947176e-02 1.94561306e+01] [ 1.46650825e-01 9.89179140e-01 -4.26185859e-03 1.02977377e+00] [ 5.83878299e-02 -4.35520323e-03 9.98284475e-01 1.13227038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.49, Y:1.03, Z:1.14 [[ 9.87422831e-01 -1.47128951e-01 -5.78724928e-02 1.94852861e+01] [ 1.47558308e-01 9.89048203e-01 3.19352957e-03 1.02924857e+00] [ 5.67688243e-02 -1.16929311e-02 9.98318875e-01 1.13864380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:1.03, Z:1.15 [[ 9.87294858e-01 -1.46488340e-01 -6.15632241e-02 1.95163141e+01] [ 1.47559064e-01 9.88965201e-01 1.31967566e-02 1.02688719e+00] [ 5.89507154e-02 -2.21133016e-02 9.98015939e-01 1.14901462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.55, Y:1.04, Z:1.14 [[ 9.87702057e-01 -1.47048890e-01 -5.31156282e-02 1.95482843e+01] [ 1.47197595e-01 9.89106469e-01 -1.12285460e-03 1.03890155e+00] [ 5.27021260e-02 -6.70944691e-03 9.98587737e-01 1.13783434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.018040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.57, Y:1.05, Z:1.14 [[ 9.86726842e-01 -1.52009652e-01 -5.71244764e-02 1.95686707e+01] [ 1.50688420e-01 9.88218227e-01 -2.67906099e-02 1.05412160e+00] [ 6.05238801e-02 1.78270168e-02 9.98007544e-01 1.13951289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:1.04, Z:1.15 [[ 9.86580609e-01 -1.52404474e-01 -5.85796788e-02 1.96007444e+01] [ 1.52796727e-01 9.88255078e-01 2.24980896e-03 1.04314984e+00] [ 5.75487840e-02 -1.11704011e-02 9.98280201e-01 1.15071946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.63, Y:1.05, Z:1.15 [[ 9.86498280e-01 -1.54385776e-01 -5.46459151e-02 1.96271545e+01] [ 1.53995756e-01 9.88006858e-01 -1.13028969e-02 1.05367201e+00] [ 5.57355454e-02 2.73504934e-03 9.98441820e-01 1.14705854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:1.06, Z:1.15 [[ 9.86471522e-01 -1.54835508e-01 -5.38507390e-02 1.96550036e+01] [ 1.54594229e-01 9.87940244e-01 -8.64288707e-03 1.05659472e+00] [ 5.45395380e-02 2.00948490e-04 9.98511592e-01 1.14852137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.68, Y:1.06, Z:1.15 [[ 9.86380539e-01 -1.55350761e-01 -5.40330772e-02 1.96833594e+01] [ 1.55194048e-01 9.87858420e-01 -7.10987294e-03 1.06031464e+00] [ 5.44815544e-02 -1.37257165e-03 9.98513834e-01 1.15049552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.70, Y:1.06, Z:1.14 [[ 9.86817033e-01 -1.52244504e-01 -5.48976651e-02 1.97049638e+01] [ 1.51888594e-01 9.88340535e-01 -1.06227220e-02 1.06446495e+00] [ 5.58748388e-02 2.14435384e-03 9.98435478e-01 1.14360120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:1.07, Z:1.14 [[ 9.86764506e-01 -1.52763338e-01 -5.43982810e-02 1.97333551e+01] [ 1.52535138e-01 9.88262799e-01 -8.34702234e-03 1.06734456e+00] [ 5.50349164e-02 -6.11039147e-05 9.98484429e-01 1.14429362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.76, Y:1.07, Z:1.15 [[ 9.85946333e-01 -1.58371290e-01 -5.31823643e-02 1.97634609e+01] [ 1.58460080e-01 9.87362041e-01 -2.56975735e-03 1.06960448e+00] [ 5.29172235e-02 -5.89363885e-03 9.98581510e-01 1.15262906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:1.08, Z:1.14 [[ 9.85879774e-01 -1.58902330e-01 -5.28310489e-02 1.97878087e+01] [ 1.58413011e-01 9.87282673e-01 -1.33507463e-02 1.07839449e+00] [ 5.42806438e-02 4.79310526e-03 9.98514215e-01 1.14412065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:1.08, Z:1.15 [[ 9.86046067e-01 -1.58959218e-01 -4.94481665e-02 1.98176136e+01] [ 1.58711630e-01 9.87284696e-01 -8.91894479e-03 1.08058700e+00] [ 5.02371665e-02 9.46491350e-04 9.98736868e-01 1.14834198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.84, Y:1.09, Z:1.15 [[ 9.85784350e-01 -1.60065462e-01 -5.10711667e-02 1.98435211e+01] [ 1.58984119e-01 9.86974551e-01 -2.46025548e-02 1.09320059e+00] [ 5.43439612e-02 1.61333090e-02 9.98391932e-01 1.14580929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.87, Y:1.09, Z:1.15 [[ 9.86100810e-01 -1.57961981e-01 -5.15092657e-02 1.98713912e+01] [ 1.57309521e-01 9.87411334e-01 -1.65097366e-02 1.09293528e+00] [ 5.34687435e-02 8.17736677e-03 9.98536040e-01 1.15308756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.90, Y:1.08, Z:1.16 [[ 9.86002356e-01 -1.58293031e-01 -5.23705046e-02 1.99019824e+01] [ 1.59177761e-01 9.87162342e-01 1.31510672e-02 1.08149403e+00] [ 4.96164677e-02 -2.13032029e-02 9.98541126e-01 1.16186737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.93, Y:1.09, Z:1.16 [[ 9.85311227e-01 -1.62426672e-01 -5.27196572e-02 1.99275762e+01] [ 1.62557750e-01 9.86697351e-01 -1.82077687e-03 1.09318805e+00] [ 5.23140888e-02 -6.77595696e-03 9.98607692e-01 1.15568264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:1.10, Z:1.16 [[ 9.86160932e-01 -1.58110733e-01 -4.98759689e-02 1.99552069e+01] [ 1.57133781e-01 9.87310384e-01 -2.29604038e-02 1.10387241e+00] [ 5.28733483e-02 1.48054536e-02 9.98491466e-01 1.15897926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.99, Y:1.09, Z:1.17 [[ 9.85931245e-01 -1.58008921e-01 -5.45230295e-02 1.99870120e+01] [ 1.58277444e-01 9.87394487e-01 6.15159733e-04 1.09474771e+00] [ 5.37385380e-02 -9.23627097e-03 9.98512324e-01 1.16939877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:1.10, Z:1.17 [[ 9.86044111e-01 -1.56943213e-01 -5.55503388e-02 2.00107110e+01] [ 1.56586718e-01 9.87605817e-01 -1.07401390e-02 1.10332789e+00] [ 5.65474296e-02 1.89180556e-03 9.98398122e-01 1.16591653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:1.10, Z:1.18 [[ 9.86099836e-01 -1.55036662e-01 -5.97557211e-02 2.00393521e+01] [ 1.55344769e-01 9.87860180e-01 5.17209221e-04 1.09963648e+00] [ 5.89501110e-02 -9.79275861e-03 9.98212896e-01 1.17543018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.558040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:1.12, Z:1.17 [[ 9.85986324e-01 -1.57270604e-01 -5.56500333e-02 2.00693857e+01] [ 1.56520437e-01 9.87517564e-01 -1.76185477e-02 1.11571665e+00] [ 5.77262649e-02 8.66127955e-03 9.98294877e-01 1.16655157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:1.11, Z:1.18 [[ 9.85651664e-01 -1.57517852e-01 -6.06541345e-02 2.00958755e+01] [ 1.57802816e-01 9.87470639e-01 -9.30787487e-05 1.11097286e+00] [ 5.99088385e-02 -9.47965003e-03 9.98158839e-01 1.17925246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:1.13, Z:1.17 [[ 9.85877852e-01 -1.59288545e-01 -5.16915940e-02 2.01258772e+01] [ 1.58400047e-01 9.87154241e-01 -2.08789192e-02 1.12637879e+00] [ 5.43533489e-02 1.23961131e-02 9.98444816e-01 1.16692166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.15, Y:1.13, Z:1.17 [[ 9.85716278e-01 -1.59398687e-01 -5.43642975e-02 2.01513898e+01] [ 1.58439475e-01 9.87133544e-01 -2.15476178e-02 1.12994179e+00] [ 5.70994837e-02 1.26263869e-02 9.98288647e-01 1.16762709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:1.12, Z:1.17 [[ 9.85783358e-01 -1.57953361e-01 -5.72879257e-02 2.01825149e+01] [ 1.58269939e-01 9.87395372e-01 1.00289517e-03 1.12120881e+00] [ 5.64074220e-02 -1.00555938e-02 9.98357194e-01 1.17421518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:1.12, Z:1.19 [[ 9.86028188e-01 -1.56423837e-01 -5.72712386e-02 2.02107462e+01] [ 1.57423464e-01 9.87440926e-01 1.33518090e-02 1.11757729e+00] [ 5.44634237e-02 -2.21810968e-02 9.98269370e-01 1.18799153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:1.14, Z:1.17 [[ 9.85856189e-01 -1.59559400e-01 -5.12676619e-02 2.02366554e+01] [ 1.58308282e-01 9.87003129e-01 -2.76280860e-02 1.14181267e+00] [ 5.50096635e-02 1.91212241e-02 9.98302717e-01 1.17270477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:1.13, Z:1.19 [[ 9.85946805e-01 -1.56534071e-01 -5.83608005e-02 2.02667319e+01] [ 1.57221476e-01 9.87536013e-01 7.35048639e-03 1.12539275e+00] [ 5.64827907e-02 -1.64227598e-02 9.98268495e-01 1.19041023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.29, Y:1.15, Z:1.18 [[ 9.86057157e-01 -1.56881755e-01 -5.54923276e-02 2.02945772e+01] [ 1.55969979e-01 9.87550625e-01 -2.04237364e-02 1.14611957e+00] [ 5.80055944e-02 1.14838342e-02 9.98250205e-01 1.18148484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.32, Y:1.15, Z:1.18 [[ 9.86422229e-01 -1.56314521e-01 -5.03682212e-02 2.03198756e+01] [ 1.55750538e-01 9.87683156e-01 -1.49583711e-02 1.15059402e+00] [ 5.20860543e-02 6.91039221e-03 9.98618691e-01 1.17860456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.35, Y:1.15, Z:1.18 [[ 9.86680195e-01 -1.54174333e-01 -5.18890011e-02 2.03487837e+01] [ 1.53948448e-01 9.88043630e-01 -8.34633458e-03 1.15150245e+00] [ 5.25553876e-02 2.46931858e-04 9.98617980e-01 1.18270976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.38, Y:1.15, Z:1.19 [[ 9.86923780e-01 -1.52340783e-01 -5.26662976e-02 2.03757901e+01] [ 1.52450343e-01 9.88309199e-01 -1.95435146e-03 1.15152373e+00] [ 5.23483139e-02 -6.10019922e-03 9.98610255e-01 1.18696196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.41, Y:1.16, Z:1.19 [[ 9.87311701e-01 -1.49588676e-01 -5.32807040e-02 2.04056581e+01] [ 1.49306697e-01 9.88747605e-01 -9.25656625e-03 1.15895004e+00] [ 5.40658459e-02 1.18395023e-03 9.98536671e-01 1.18759844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:1.16, Z:1.19 [[ 9.87631440e-01 -1.46650222e-01 -5.54783864e-02 2.04348344e+01] [ 1.46444468e-01 9.89188312e-01 -7.77823546e-03 1.16153169e+00] [ 5.60192513e-02 -4.42472909e-04 9.98429591e-01 1.19165453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.46, Y:1.17, Z:1.19 [[ 9.87522087e-01 -1.45861645e-01 -5.93675665e-02 2.04633839e+01] [ 1.45607698e-01 9.89304988e-01 -8.60461426e-03 1.16665032e+00] [ 5.99877128e-02 -1.47128072e-04 9.98199105e-01 1.19453233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.49, Y:1.17, Z:1.20 [[ 9.87780221e-01 -1.44367233e-01 -5.87225396e-02 2.04913129e+01] [ 1.44570732e-01 9.89494153e-01 -7.90559780e-04 1.16853765e+00] [ 5.82197405e-02 -7.70866121e-03 9.98274030e-01 1.19840884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.038040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.53, Y:1.16, Z:1.22 [[ 0.98774468 -0.13894581 -0.07109506 20.5254279 ] [ 0.14077649 0.98981014 0.02139757 1.15838457] [ 0.06739751 -0.03114385 0.99724001 1.21866739] [ 0. 0. 0. 1. ]] SLAMing on 23.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.54, Y:1.21, Z:1.18 [[ 0.98771615 -0.1477127 -0.0509683 20.54309675] [ 0.14509633 0.98806513 -0.05171411 1.20646485] [ 0.05799883 0.04368355 0.99736046 1.18175798] [ 0. 0. 0. 1. ]] SLAMing on 23.098040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.57, Y:1.19, Z:1.19 [[ 9.87379420e-01 -1.48006086e-01 -5.63567103e-02 2.05723799e+01] [ 1.47097358e-01 9.88920442e-01 -1.99681591e-02 1.19456344e+00] [ 5.86877119e-02 1.14262262e-02 9.98210997e-01 1.19165625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:20.60, Y:1.18, Z:1.20 [[ 9.87568237e-01 -1.45177796e-01 -6.02692740e-02 2.06001749e+01] [ 1.45717847e-01 9.89315304e-01 4.64087423e-03 1.18392094e+00] [ 5.89515633e-02 -1.33654889e-02 9.98171366e-01 1.20448614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.63, Y:1.19, Z:1.21 [[ 9.86879938e-01 -1.49130253e-01 -6.18720842e-02 2.06328723e+01] [ 1.49702906e-01 9.88719858e-01 4.69925944e-03 1.18925668e+00] [ 6.04733565e-02 -1.39000357e-02 9.98073024e-01 1.21042380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.66, Y:1.20, Z:1.21 [[ 9.86649025e-01 -1.51416159e-01 -5.99737301e-02 2.06572246e+01] [ 1.51187791e-01 9.88469760e-01 -8.35378275e-03 1.20143607e+00] [ 6.05471163e-02 -8.25044169e-04 9.98164999e-01 1.20768069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.68, Y:1.21, Z:1.21 [[ 9.85966769e-01 -1.55834582e-01 -5.98758189e-02 2.06824965e+01] [ 1.55239994e-01 9.87770576e-01 -1.44856346e-02 1.21128288e+00] [ 6.14009350e-02 4.98723261e-03 9.98100723e-01 1.20835755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:1.21, Z:1.21 [[ 9.85724804e-01 -1.57617722e-01 -5.91883734e-02 2.07087119e+01] [ 1.57617352e-01 9.87489058e-01 -4.70433267e-03 1.21175638e+00] [ 5.91893573e-02 -4.69193732e-03 9.98235747e-01 1.21160434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:1.23, Z:1.21 [[ 9.85166802e-01 -1.61369795e-01 -5.83623242e-02 2.07372009e+01] [ 1.60241418e-01 9.86796785e-01 -2.35540612e-02 1.22701417e+00] [ 6.13926679e-02 1.38526176e-02 9.98017558e-01 1.20717608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:1.22, Z:1.22 [[ 9.84711137e-01 -1.62840483e-01 -6.18623816e-02 2.07668561e+01] [ 1.63073335e-01 9.86613094e-01 -1.30003841e-03 1.22037732e+00] [ 6.12459346e-02 -8.80794258e-03 9.98083842e-01 1.21583298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.79, Y:1.23, Z:1.21 [[ 9.84140837e-01 -1.66230150e-01 -6.19221347e-02 2.07934700e+01] [ 1.65895364e-01 9.86086977e-01 -1.05452429e-02 1.23254190e+00] [ 6.28135479e-02 1.05409112e-04 9.98025274e-01 1.21346254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.82, Y:1.23, Z:1.22 [[ 9.84313238e-01 -1.65950955e-01 -5.98976680e-02 2.08179973e+01] [ 1.66607106e-01 9.86004513e-01 6.09689589e-03 1.23129387e+00] [ 5.80475853e-02 -1.59806325e-02 9.98185903e-01 1.21605564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.398040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.84, Y:1.25, Z:1.21 [[ 9.83823849e-01 -1.69392125e-01 -5.82832962e-02 2.08444167e+01] [ 1.68195186e-01 9.85439197e-01 -2.48991509e-02 1.25474666e+00] [ 6.16523647e-02 1.46934086e-02 9.97989524e-01 1.21278994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.87, Y:1.25, Z:1.22 [[ 9.83578077e-01 -1.70679431e-01 -5.86745168e-02 2.08735401e+01] [ 1.70392400e-01 9.85326577e-01 -9.89783334e-03 1.25368332e+00] [ 5.95029173e-02 -2.62399836e-04 9.98228097e-01 1.21833577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.90, Y:1.25, Z:1.23 [[ 9.83145820e-01 -1.70858664e-01 -6.50508548e-02 2.09038892e+01] [ 1.71725882e-01 9.85112771e-01 7.94042949e-03 1.24875097e+00] [ 6.27257367e-02 -1.89775155e-02 9.97850357e-01 1.23214637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:1.27, Z:1.22 [[ 9.82511287e-01 -1.76880401e-01 -5.81798401e-02 2.09274343e+01] [ 1.75745978e-01 9.84140263e-01 -2.41100283e-02 1.27174629e+00] [ 6.15217146e-02 1.34635021e-02 9.98014936e-01 1.21930470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:1.27, Z:1.23 [[ 9.81800190e-01 -1.78452445e-01 -6.49854692e-02 2.09569911e+01] [ 1.78141679e-01 9.83947834e-01 -1.05925671e-02 1.26935600e+00] [ 6.58325811e-02 -1.17683617e-03 9.97829989e-01 1.22833236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.98, Y:1.28, Z:1.23 [[ 9.81744327e-01 -1.79973327e-01 -6.15441206e-02 2.09829528e+01] [ 1.79620107e-01 9.83671491e-01 -1.12701340e-02 1.27789718e+00] [ 6.25675203e-02 9.82864886e-06 9.98040733e-01 1.22936905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.01, Y:1.28, Z:1.24 [[ 9.81589242e-01 -1.79775581e-01 -6.45236419e-02 2.10104030e+01] [ 1.79541197e-01 9.83704965e-01 -9.46047196e-03 1.28247856e+00] [ 6.51729888e-02 -2.29835442e-03 9.97871334e-01 1.23521797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.04, Y:1.29, Z:1.23 [[ 9.81759029e-01 -1.79420601e-01 -6.29083156e-02 2.10364946e+01] [ 1.79231329e-01 9.83768619e-01 -8.68534832e-03 1.28962964e+00] [ 6.34455571e-02 -2.74822189e-03 9.97981517e-01 1.23475030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.06, Y:1.30, Z:1.24 [[ 9.81576896e-01 -1.79381412e-01 -6.57959508e-02 2.10647103e+01] [ 1.78378404e-01 9.83740763e-01 -2.08627904e-02 1.30011882e+00] [ 6.84685557e-02 8.74185636e-03 9.97614974e-01 1.23629109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.09, Y:1.30, Z:1.24 [[ 9.81942452e-01 -1.76614517e-01 -6.77962636e-02 2.10895865e+01] [ 1.76388295e-01 9.84276197e-01 -9.35613552e-03 1.29969344e+00] [ 6.83826779e-02 -2.77128067e-03 9.97655316e-01 1.24108749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.12, Y:1.30, Z:1.25 [[ 9.82815743e-01 -1.71719422e-01 -6.77174661e-02 2.11217317e+01] [ 1.73442654e-01 9.84632607e-01 2.04028378e-02 1.29526378e+00] [ 6.31732616e-02 -3.17973272e-02 9.97495899e-01 1.25346318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728040942 meters Centerline goodness : 0.996065 Centerline is valid? [True, True] Translation: X:21.14, Y:1.34, Z:1.24 [[ 0.98260697 -0.17404955 -0.06473252 21.14196533] [ 0.17145592 0.98422161 -0.04371137 1.33614814] [ 0.07131909 0.03185232 0.99694484 1.23704471] [ 0. 0. 0. 1. ]] SLAMing on 23.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.18, Y:1.31, Z:1.26 [[ 9.83268672e-01 -1.67690838e-01 -7.11512630e-02 2.11793801e+01] [ 1.69147127e-01 9.85477901e-01 1.49182969e-02 1.31108645e+00] [ 6.76163356e-02 -2.67037258e-02 9.97353970e-01 1.25584873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.20, Y:1.34, Z:1.24 [[ 9.82950306e-01 -1.71843351e-01 -6.54106887e-02 2.11981619e+01] [ 1.70426911e-01 9.85008704e-01 -2.66930759e-02 1.34453923e+00] [ 6.90171253e-02 1.50902256e-02 9.97501339e-01 1.24305384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.818040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.23, Y:1.34, Z:1.25 [[ 9.83002152e-01 -1.70597224e-01 -6.78480462e-02 2.12263236e+01] [ 1.70226844e-01 9.85340724e-01 -1.12462816e-02 1.34266114e+00] [ 6.87720274e-02 -4.94439748e-04 9.97632279e-01 1.25016664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.25, Y:1.35, Z:1.25 [[ 9.83134062e-01 -1.70364707e-01 -6.65077651e-02 2.12519407e+01] [ 1.70007123e-01 9.85380973e-01 -1.10415274e-02 1.35096983e+00] [ 6.74165729e-02 -4.51492159e-04 9.97724813e-01 1.25290784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:1.36, Z:1.26 [[ 9.83075442e-01 -1.70728869e-01 -6.64404134e-02 2.12781307e+01] [ 1.70372286e-01 9.85317936e-01 -1.10385649e-02 1.35795612e+00] [ 6.73495327e-02 -4.67863063e-04 9.97729333e-01 1.25536777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.31, Y:1.37, Z:1.26 [[ 9.83010492e-01 -1.71291237e-01 -6.59521367e-02 2.13053166e+01] [ 1.70940530e-01 9.85220315e-01 -1.09666219e-02 1.36511284e+00] [ 6.68558712e-02 -4.93588797e-04 9.97762521e-01 1.25709992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.34, Y:1.35, Z:1.28 [[ 9.83117803e-01 -1.66906673e-01 -7.49769853e-02 2.13412621e+01] [ 1.68662995e-01 9.85514968e-01 1.76930085e-02 1.35353603e+00] [ 7.09378601e-02 -3.00401545e-02 9.97028289e-01 1.27771705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:1.39, Z:1.25 [[ 0.98275657 -0.17452682 -0.06107295 21.35908945] [ 0.17236075 0.98425598 -0.03914004 1.39363768] [ 0.06694241 0.02793855 0.99736561 1.25304224] [ 0. 0. 0. 1. ]] SLAMing on 23.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:1.39, Z:1.26 [[ 9.82497009e-01 -1.74000947e-01 -6.65078738e-02 2.13873436e+01] [ 1.73648058e-01 9.84745272e-01 -1.10951088e-02 1.38756006e+00] [ 6.74238737e-02 -6.48051937e-04 9.97724211e-01 1.26214567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.42, Y:1.39, Z:1.26 [[ 9.82452687e-01 -1.74251859e-01 -6.65056996e-02 2.14154444e+01] [ 1.73898663e-01 9.84700901e-01 -1.11081268e-02 1.39235602e+00] [ 6.74238341e-02 -6.52043174e-04 9.97724211e-01 1.26383312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.058040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.45, Y:1.39, Z:1.28 [[ 9.82566198e-01 -1.69751490e-01 -7.58162184e-02 2.14488067e+01] [ 1.70858599e-01 9.85260469e-01 8.31551908e-03 1.38528613e+00] [ 7.32871512e-02 -2.11244008e-02 9.97087134e-01 1.27968065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.48, Y:1.40, Z:1.28 [[ 9.82469630e-01 -1.70068209e-01 -7.63559502e-02 2.14766827e+01] [ 1.70304453e-01 9.85385437e-01 -3.45464974e-03 1.39796113e+00] [ 7.58275674e-02 -9.60966987e-03 9.97074638e-01 1.28019120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:1.43, Z:1.26 [[ 0.98249698 -0.17622556 -0.06036758 21.49996585] [ 0.17421151 0.98400594 -0.0371842 1.42621655] [ 0.06595486 0.02601664 0.99748338 1.25953525] [ 0. 0. 0. 1. ]] SLAMing on 24.148040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:1.41, Z:1.28 [[ 9.82152522e-01 -1.71491177e-01 -7.72476479e-02 2.15318231e+01] [ 1.72715676e-01 9.84926774e-01 9.40980170e-03 1.40826907e+00] [ 7.44695787e-02 -2.25837402e-02 9.96967530e-01 1.28359195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.56, Y:1.42, Z:1.28 [[ 9.82259546e-01 -1.72307788e-01 -7.40014262e-02 2.15571938e+01] [ 1.71917828e-01 9.85042337e-01 -1.16557001e-02 1.42476164e+00] [ 7.49029057e-02 -1.27324176e-03 9.97190019e-01 1.28019757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:1.43, Z:1.29 [[ 9.82441172e-01 -1.69526143e-01 -7.79116869e-02 2.15859844e+01] [ 1.69639519e-01 9.85492412e-01 -5.20949643e-03 1.42918910e+00] [ 7.76645221e-02 -8.09887728e-03 9.96946654e-01 1.28783392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:1.45, Z:1.28 [[ 9.82527077e-01 -1.73361901e-01 -6.77214390e-02 2.16116124e+01] [ 1.72471821e-01 9.84834631e-01 -1.88207699e-02 1.44607743e+00] [ 6.99572228e-02 6.81187612e-03 9.97526734e-01 1.27891279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.64, Y:1.45, Z:1.28 [[ 9.82521615e-01 -1.71114491e-01 -7.32878309e-02 2.16366826e+01] [ 1.70492587e-01 9.85249214e-01 -1.47059294e-02 1.45168645e+00] [ 7.47231754e-02 1.95386162e-03 9.97202401e-01 1.28329750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:1.45, Z:1.29 [[ 9.82413791e-01 -1.69844197e-01 -7.75634649e-02 2.16648271e+01] [ 1.70064118e-01 9.85425635e-01 -3.80966451e-03 1.45165189e+00] [ 7.70800760e-02 -9.44809528e-03 9.96980138e-01 1.29098039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:1.47, Z:1.28 [[ 9.82375306e-01 -1.72991485e-01 -7.08004463e-02 2.16904625e+01] [ 1.71731572e-01 9.84862072e-01 -2.35577180e-02 1.46970512e+00] [ 7.38039589e-02 1.09838485e-02 9.97212280e-01 1.28331728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:1.47, Z:1.29 [[ 9.82249215e-01 -1.72228383e-01 -7.43227056e-02 2.17196167e+01] [ 1.72297159e-01 9.85029475e-01 -5.53376150e-03 1.46625108e+00] [ 7.41631265e-02 -7.37005814e-03 9.97218889e-01 1.29175110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.74, Y:1.49, Z:1.28 [[ 9.82110725e-01 -1.75756738e-01 -6.75876633e-02 2.17439644e+01] [ 1.74551640e-01 9.84370244e-01 -2.33868997e-02 1.48557870e+00] [ 7.06416899e-02 1.11709875e-02 9.97439202e-01 1.28476692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:1.48, Z:1.29 [[ 9.81990942e-01 -1.75558437e-01 -6.98070543e-02 2.17718422e+01] [ 1.75345165e-01 9.84463853e-01 -9.21929011e-03 1.48488681e+00] [ 7.03410458e-02 -3.18707010e-03 9.97517910e-01 1.29067656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448040942 meters Centerline goodness : 0.997332 Centerline is valid? [True, True] Translation: X:21.80, Y:1.50, Z:1.29 [[ 9.82006915e-01 -1.77054403e-01 -6.56822444e-02 2.17991485e+01] [ 1.76174121e-01 9.84175505e-01 -1.90066834e-02 1.49852471e+00] [ 6.80080731e-02 7.09318285e-03 9.97659556e-01 1.28885802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.478040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.83, Y:1.49, Z:1.30 [[ 9.81873428e-01 -1.75959943e-01 -7.04462208e-02 2.18263165e+01] [ 1.76666289e-01 9.84263176e-01 3.87589351e-03 1.49311392e+00] [ 6.86556191e-02 -1.62511092e-02 9.97508049e-01 1.29807911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.85, Y:1.51, Z:1.30 [[ 9.81754479e-01 -1.77713116e-01 -6.76475567e-02 2.18530458e+01] [ 1.77477588e-01 9.84078755e-01 -9.52413807e-03 1.50667258e+00] [ 6.82630876e-02 -2.65556002e-03 9.97663821e-01 1.29665927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:1.53, Z:1.29 [[ 9.81474831e-01 -1.80875616e-01 -6.31756912e-02 2.18763931e+01] [ 1.79279874e-01 9.83336866e-01 -3.01219919e-02 1.52543723e+00] [ 6.75713200e-02 1.82378469e-02 9.97547742e-01 1.29042753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.90, Y:1.52, Z:1.29 [[ 9.81265555e-01 -1.81135302e-01 -6.56346860e-02 2.19049273e+01] [ 1.80772629e-01 9.83457998e-01 -1.14727063e-02 1.52328761e+00] [ 6.66270690e-02 -6.07183224e-04 9.97777763e-01 1.29337459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.598040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.93, Y:1.53, Z:1.29 [[ 9.81098589e-01 -1.81990375e-01 -6.57652097e-02 2.19316576e+01] [ 1.81626951e-01 9.83300098e-01 -1.15138002e-02 1.53037255e+00] [ 6.67623379e-02 -6.48561393e-04 9.97768695e-01 1.29315755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:1.54, Z:1.29 [[ 9.81175322e-01 -1.81347287e-01 -6.63938946e-02 2.19578082e+01] [ 1.80974795e-01 9.83418934e-01 -1.16328969e-02 1.53840493e+00] [ 6.74026073e-02 -6.01710103e-04 9.97725677e-01 1.29422192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.658040942 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:21.98, Y:1.56, Z:1.29 [[ 9.81375869e-01 -1.81770347e-01 -6.21364998e-02 2.19809114e+01] [ 1.80002291e-01 9.83112351e-01 -3.30042506e-02 1.55592966e+00] [ 6.70863545e-02 2.12048628e-02 9.97521817e-01 1.28688646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.01, Y:1.54, Z:1.30 [[ 9.81474818e-01 -1.78744824e-01 -6.89744162e-02 2.20129650e+01] [ 1.79806989e-01 9.83656416e-01 9.46058670e-03 1.54219582e+00] [ 6.61560961e-02 -2.16874097e-02 9.97573570e-01 1.30155831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.04, Y:1.56, Z:1.30 [[ 9.81517336e-01 -1.79784143e-01 -6.55849111e-02 2.20388308e+01] [ 1.79413998e-01 9.83705986e-01 -1.15390694e-02 1.55866997e+00] [ 6.65908114e-02 -4.41054433e-04 9.97780271e-01 1.29777093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.07, Y:1.56, Z:1.30 [[ 9.81759306e-01 -1.77936917e-01 -6.69859579e-02 2.20667101e+01] [ 1.77545123e-01 9.84041850e-01 -1.18054013e-02 1.56371132e+00] [ 6.80176026e-02 -3.02967527e-04 9.97684075e-01 1.29929188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:1.57, Z:1.30 [[ 9.81690157e-01 -1.78479990e-01 -6.65531995e-02 2.20929597e+01] [ 1.78093346e-01 9.83943489e-01 -1.17460791e-02 1.56786067e+00] [ 6.75810274e-02 -3.21671734e-04 9.97713737e-01 1.30112761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.12, Y:1.57, Z:1.30 [[ 9.81915525e-01 -1.77175694e-01 -6.67133854e-02 2.21191731e+01] [ 1.76783533e-01 9.84179213e-01 -1.17838365e-02 1.57237584e+00] [ 6.77457366e-02 -2.23095970e-04 9.97702594e-01 1.30290486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.15, Y:1.58, Z:1.30 [[ 9.81989132e-01 -1.76628264e-01 -6.70805490e-02 2.21462003e+01] [ 1.76229510e-01 9.84277617e-01 -1.18630981e-02 1.57775568e+00] [ 6.81212414e-02 -1.72138878e-04 9.97677035e-01 1.30435829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.17, Y:1.58, Z:1.31 [[ 9.82259096e-01 -1.75109374e-01 -6.71101778e-02 2.21737709e+01] [ 1.74705420e-01 9.84548986e-01 -1.18874410e-02 1.58290193e+00] [ 6.81548598e-02 -4.79647418e-05 9.97674753e-01 1.30588027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.898040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:1.59, Z:1.31 [[ 9.82496924e-01 -1.73794124e-01 -6.70477170e-02 2.22007803e+01] [ 1.73386686e-01 9.84782006e-01 -1.18936360e-02 1.58708743e+00] [ 6.80944293e-02 6.02793447e-05 9.97678879e-01 1.30810190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:1.59, Z:1.31 [[ 9.82723841e-01 -1.72588317e-01 -6.68365553e-02 2.22272167e+01] [ 1.72180080e-01 9.84994035e-01 -1.18646536e-02 1.59106481e+00] [ 6.78813089e-02 1.51754471e-04 9.97693392e-01 1.31055215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.958040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.25, Y:1.60, Z:1.31 [[ 9.83290429e-01 -1.69851952e-01 -6.54999797e-02 2.22548280e+01] [ 1.69453147e-01 9.85469531e-01 -1.16376635e-02 1.59560473e+00] [ 6.65249141e-02 3.44025510e-04 9.97784705e-01 1.31277439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.28, Y:1.60, Z:1.31 [[ 9.83580377e-01 -1.68559086e-01 -6.44784882e-02 2.22822020e+01] [ 1.68168638e-01 9.85691452e-01 -1.14748142e-02 1.60033037e+00] [ 6.54900788e-02 4.43142576e-04 9.97853122e-01 1.31401999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.31, Y:1.60, Z:1.31 [[ 9.84085135e-01 -1.65883241e-01 -6.37118261e-02 2.23089380e+01] [ 1.65495330e-01 9.86145199e-01 -1.13553073e-02 1.60398573e+00] [ 6.47127665e-02 6.30579412e-04 9.97903733e-01 1.31486399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.34, Y:1.61, Z:1.32 [[ 9.84168758e-01 -1.65381507e-01 -6.37245086e-02 2.23371226e+01] [ 1.64991732e-01 9.86229437e-01 -1.13677248e-02 1.60828279e+00] [ 6.47269977e-02 6.73742593e-04 9.97902782e-01 1.31608697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.37, Y:1.61, Z:1.32 [[ 9.84199413e-01 -1.65171079e-01 -6.37967858e-02 2.23652479e+01] [ 1.64778774e-01 9.86264678e-01 -1.13991445e-02 1.61204977e+00] [ 6.48033254e-02 7.06675150e-04 9.97897805e-01 1.31742567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.39, Y:1.61, Z:1.32 [[ 9.84197539e-01 -1.65361534e-01 -6.33306182e-02 2.23929451e+01] [ 1.64974168e-01 9.86232763e-01 -1.13340468e-02 1.61394132e+00] [ 6.43329460e-02 7.07024894e-04 9.97928240e-01 1.31835261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:1.62, Z:1.32 [[ 9.84144025e-01 -1.65579585e-01 -6.35919797e-02 2.24195697e+01] [ 1.65188390e-01 9.86196174e-01 -1.13974486e-02 1.61738474e+00] [ 6.46013519e-02 7.12074170e-04 9.97910897e-01 1.31953090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:1.62, Z:1.32 [[ 9.84144589e-01 -1.65853058e-01 -6.28664515e-02 2.24480657e+01] [ 1.65470683e-01 9.86150231e-01 -1.12771586e-02 1.61983834e+00] [ 6.38661169e-02 6.95800008e-04 9.97958233e-01 1.32088130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.47, Y:1.62, Z:1.32 [[ 9.84183225e-01 -1.65865475e-01 -6.22255806e-02 2.24747680e+01] [ 1.65489820e-01 9.86148137e-01 -1.11790797e-02 1.62321286e+00] [ 6.32178637e-02 7.04562619e-04 9.97999502e-01 1.32236206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.50, Y:1.63, Z:1.32 [[ 9.84194478e-01 -1.65698817e-01 -6.24910466e-02 2.25021558e+01] [ 1.65319093e-01 9.86176138e-01 -1.12349005e-02 1.62614075e+00] [ 6.34887887e-02 7.26363918e-04 9.97982287e-01 1.32325588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.53, Y:1.63, Z:1.32 [[ 9.84124489e-01 -1.65989698e-01 -6.28204572e-02 2.25298270e+01] [ 1.65605926e-01 9.86127223e-01 -1.13038460e-02 1.62981108e+00] [ 6.38252850e-02 7.20951677e-04 9.97960828e-01 1.32415913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:22.56, Y:1.63, Z:1.33 [[ 9.84130191e-01 -1.65709323e-01 -6.34679974e-02 2.25569983e+01] [ 1.65315836e-01 9.86174343e-01 -1.14384771e-02 1.63252737e+00] [ 6.44859730e-02 7.64685584e-04 9.97918321e-01 1.32526168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.318040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:22.58, Y:1.63, Z:1.33 [[ 9.84086827e-01 -1.65513881e-01 -6.46395488e-02 2.25844410e+01] [ 1.65104476e-01 9.86207133e-01 -1.16620613e-02 1.63363682e+00] [ 6.56782171e-02 8.04202117e-04 9.97840531e-01 1.32707705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:22.61, Y:1.64, Z:1.33 [[ 9.84035327e-01 -1.65859168e-01 -6.45384456e-02 2.26121109e+01] [ 1.65451102e-01 9.86149133e-01 -1.16542118e-02 1.63740349e+00] [ 6.55774900e-02 7.90199173e-04 9.97847167e-01 1.32837210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.378040942 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:22.64, Y:1.65, Z:1.33 [[ 9.84390044e-01 -1.65147966e-01 -6.08472683e-02 2.26379279e+01] [ 1.64182089e-01 9.86215342e-01 -2.05801223e-02 1.64549596e+00] [ 6.34072748e-02 1.02688359e-02 9.97934902e-01 1.32681531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408040942 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:22.67, Y:1.64, Z:1.33 [[ 9.84262324e-01 -1.65581338e-01 -6.17292261e-02 2.26670240e+01] [ 1.65290303e-01 9.86195994e-01 -9.82733517e-03 1.64211787e+00] [ 6.25043389e-02 -5.30566747e-04 9.98044551e-01 1.33135613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.438040942 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:22.70, Y:1.65, Z:1.33 [[ 9.84078730e-01 -1.66735893e-01 -6.15483119e-02 2.26956866e+01] [ 1.66491426e-01 9.86000767e-01 -9.11556684e-03 1.64576945e+00] [ 6.22065749e-02 -1.27683076e-03 9.98062479e-01 1.33387553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468040942 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:22.73, Y:1.60, Z:1.38 [[ 0.98309975 -0.16014884 -0.08869735 22.7314442 ] [ 0.16766878 0.98216972 0.08502837 1.59872183] [ 0.07349866 -0.09846315 0.99242277 1.3811024 ] [ 0. 0. 0. 1. ]] SLAMing on 25.498040942 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:22.74, Y:1.71, Z:1.29 [[ 0.9837464 -0.1775492 -0.02681964 22.73586993] [ 0.17323713 0.97773827 -0.11839244 1.71381269] [ 0.04724307 0.11182198 0.99260462 1.28597436] [ 0. 0. 0. 1. ]] SLAMing on 25.528040942 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:22.77, Y:1.66, Z:1.31 [[ 9.83253226e-01 -1.75951723e-01 -4.74772033e-02 2.27730993e+01] [ 1.75731890e-01 9.84398749e-01 -8.79807655e-03 1.66009180e+00] [ 4.82845362e-02 3.07478471e-04 9.98833574e-01 1.31329556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.558040941999998 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:22.80, Y:1.66, Z:1.31 [[ 9.83003058e-01 -1.77401381e-01 -4.72624291e-02 2.28004765e+01] [ 1.77184553e-01 9.84138551e-01 -8.77189853e-03 1.66405945e+00] [ 4.80689255e-02 2.48630719e-04 9.98843990e-01 1.31453141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588040942 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:22.83, Y:1.67, Z:1.32 [[ 9.82517732e-01 -1.80281873e-01 -4.64473067e-02 2.28279944e+01] [ 1.80075051e-01 9.83614982e-01 -8.63387635e-03 1.66819557e+00] [ 4.72427981e-02 1.18935490e-04 9.98883429e-01 1.31540254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.618040942 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:22.86, Y:1.68, Z:1.31 [[ 9.82632086e-01 -1.80721174e-01 -4.21193578e-02 2.28553403e+01] [ 1.80166437e-01 9.83495287e-01 -1.66455875e-02 1.67730992e+00] [ 4.44324000e-02 8.76799378e-03 9.98973916e-01 1.31334685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648040941999998 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:22.89, Y:1.66, Z:1.33 [[ 9.82261805e-01 -1.79855844e-01 -5.30435908e-02 2.28871216e+01] [ 1.81020242e-01 9.83314782e-01 1.79919903e-02 1.66188135e+00] [ 4.89225823e-02 -2.72748085e-02 9.98430101e-01 1.32963484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.678040942 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:22.91, Y:1.70, Z:1.31 [[ 0.98165704 -0.18656755 -0.03926833 22.90580862] [ 0.18538683 0.98214918 -0.03185452 1.69511305] [ 0.04451037 0.02399039 0.99872083 1.3050286 ] [ 0. 0. 0. 1. ]] SLAMing on 25.708040942 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:22.94, Y:1.69, Z:1.31 [[ 9.81442853e-01 -1.86330424e-01 -4.52868664e-02 2.29365071e+01] [ 1.86132763e-01 9.82487136e-01 -8.58028965e-03 1.68500424e+00] [ 4.60925327e-02 -8.30563646e-06 9.98937174e-01 1.31287658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.738040941999998 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:22.97, Y:1.66, Z:1.35 [[ 0.98153934 -0.17951513 -0.06599124 22.9747444 ] [ 0.18205502 0.98267643 0.03468447 1.66162046] [ 0.05862165 -0.04605821 0.9972172 1.34519167] [ 0. 0. 0. 1. ]] SLAMing on 25.768040942 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:23.00, Y:1.69, Z:1.34 [[ 9.81874436e-01 -1.81127077e-01 -5.58173231e-02 2.30017558e+01] [ 1.81059919e-01 9.83451887e-01 -6.30019259e-03 1.68585364e+00] [ 5.60347872e-02 -3.92028194e-03 9.98421121e-01 1.33543342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.798040942 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:23.03, Y:1.70, Z:1.32 [[ 9.81661538e-01 -1.85487441e-01 -4.39890295e-02 2.30251955e+01] [ 1.84301530e-01 9.82421803e-01 -2.96706519e-02 1.70374886e+00] [ 4.87193149e-02 2.10192923e-02 9.98591317e-01 1.32079233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828040942 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:23.05, Y:1.70, Z:1.33 [[ 9.81279127e-01 -1.86863061e-01 -4.66205110e-02 2.30547575e+01] [ 1.86739588e-01 9.82384306e-01 -7.02863624e-03 1.69591639e+00] [ 4.71126508e-02 -1.80884098e-03 9.98887945e-01 1.32507318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.858040942 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:23.09, Y:1.69, Z:1.34 [[ 9.81892699e-01 -1.82163804e-01 -5.19911239e-02 2.30879519e+01] [ 1.82376332e-01 9.83228574e-01 -6.66824957e-04 1.69286059e+00] [ 5.12406300e-02 -8.82719990e-03 9.98647324e-01 1.33744768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888040942 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:23.11, Y:1.72, Z:1.31 [[ 0.98117455 -0.19068159 -0.03061089 23.10587954] [ 0.18939637 0.98106468 -0.04051066 1.72373262] [ 0.0377559 0.03395044 0.9987101 1.30870922] [ 0. 0. 0. 1. ]] SLAMing on 25.918040942 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:23.15, Y:1.69, Z:1.35 [[ 0.98160523 -0.18263577 -0.05563593 23.14878371] [ 0.18451925 0.98234622 0.03079861 1.68668738] [ 0.04902882 -0.04049798 0.997976 1.34875902] [ 0. 0. 0. 1. ]] SLAMing on 25.948040942 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:23.17, Y:1.71, Z:1.34 [[ 9.81683503e-01 -1.84501621e-01 -4.75042212e-02 2.31741977e+01] [ 1.84306781e-01 9.82832118e-01 -8.48749712e-03 1.71153431e+00] [ 4.82546313e-02 -4.23314202e-04 9.98834977e-01 1.33697365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.978040942 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:23.19, Y:1.74, Z:1.31 [[ 0.98061706 -0.19346045 -0.03103607 23.18947625] [ 0.19197166 0.98035073 -0.04537976 1.74256273] [ 0.03920542 0.03854212 0.99848758 1.31134197] [ 0. 0. 0. 1. ]] SLAMing on 26.008040942 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:23.22, Y:1.73, Z:1.32 [[ 9.80229294e-01 -1.94221168e-01 -3.77977484e-02 2.32193482e+01] [ 1.94083673e-01 9.80957751e-01 -7.30886633e-03 1.72652601e+00] [ 3.84975308e-02 -1.71560953e-04 9.99258681e-01 1.32324230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.038040942 meters Centerline goodness : 0.998070 Centerline is valid? [True, True] Translation: X:23.25, Y:1.73, Z:1.32 [[ 9.80049169e-01 -1.95208927e-01 -3.73778056e-02 2.32469734e+01] [ 1.95074948e-01 9.80761660e-01 -7.23399662e-03 1.73071338e+00] [ 3.80708594e-02 -2.01801102e-04 9.99275022e-01 1.32435430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068040942 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:23.27, Y:1.73, Z:1.33 [[ 9.79919027e-01 -1.95974016e-01 -3.67815875e-02 2.32743124e+01] [ 1.95844478e-01 9.80609064e-01 -7.12765596e-03 1.73406746e+00] [ 3.74651935e-02 -2.18945100e-04 9.99297909e-01 1.32570304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.098040942 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:23.31, Y:1.73, Z:1.33 [[ 9.80675587e-01 -1.91389577e-01 -4.05638206e-02 2.33123400e+01] [ 1.91370954e-01 9.81508020e-01 -4.37785148e-03 1.73154531e+00] [ 4.06515903e-02 -3.46948498e-03 9.99167359e-01 1.33165746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128040942 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:23.33, Y:1.75, Z:1.33 [[ 9.79876270e-01 -1.96418018e-01 -3.55310949e-02 2.33287795e+01] [ 1.96207153e-01 9.80517779e-01 -9.36151912e-03 1.74540260e+00] [ 3.66776412e-02 2.20167545e-03 9.99324724e-01 1.32646427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.158040942 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:23.36, Y:1.75, Z:1.32 [[ 9.80676582e-01 -1.93130262e-01 -3.12112779e-02 2.33611480e+01] [ 1.92671651e-01 9.81113991e-01 -1.71164331e-02 1.75189657e+00] [ 3.39275227e-02 1.07721566e-02 9.99366241e-01 1.31922604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188040942 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:23.38, Y:1.75, Z:1.33 [[ 9.79786615e-01 -1.96332875e-01 -3.83613297e-02 2.33846936e+01] [ 1.96625026e-01 9.80470762e-01 3.96036226e-03 1.74935592e+00] [ 3.68346129e-02 -1.14231074e-02 9.99256085e-01 1.33144534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.218040942 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:23.42, Y:1.76, Z:1.32 [[ 9.80616433e-01 -1.93155573e-01 -3.28988608e-02 2.34175309e+01] [ 1.92796178e-01 9.81141821e-01 -1.37971627e-02 1.75940237e+00] [ 3.49434470e-02 7.18694992e-03 9.99363449e-01 1.32259605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248040942 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:23.44, Y:1.76, Z:1.33 [[ 9.79441717e-01 -1.98252159e-01 -3.72827653e-02 2.34404338e+01] [ 1.98413760e-01 9.80118135e-01 6.48492498e-04 1.75954952e+00] [ 3.64129494e-02 -8.03257426e-03 9.99304546e-01 1.33190208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.278040942 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:23.47, Y:1.77, Z:1.32 [[ 9.79980299e-01 -1.96491976e-01 -3.20860969e-02 2.34741625e+01] [ 1.96136942e-01 9.80478103e-01 -1.38920358e-02 1.76900083e+00] [ 3.41893890e-02 7.32065248e-03 9.99388560e-01 1.32139114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308040941999998 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:23.51, Y:1.76, Z:1.33 [[ 9.79880474e-01 -1.95869250e-01 -3.83339746e-02 2.35065301e+01] [ 1.96011822e-01 9.80601532e-01 -3.99007125e-05 1.76453316e+00] [ 3.75981695e-02 -7.47481429e-03 9.99264982e-01 1.33201477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.338040942 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:23.54, Y:1.77, Z:1.33 [[ 9.79802686e-01 -1.96366681e-01 -3.77733143e-02 2.35361426e+01] [ 1.96562480e-01 9.80490146e-01 1.50505235e-03 1.76945156e+00] [ 3.67408203e-02 -8.89947068e-03 9.99285200e-01 1.33466527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368040942 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:23.56, Y:1.78, Z:1.33 [[ 9.79464606e-01 -1.98620921e-01 -3.46239016e-02 2.35601330e+01] [ 1.98173974e-01 9.80037411e-01 -1.59294780e-02 1.78392834e+00] [ 3.70966465e-02 8.74080377e-03 9.99273455e-01 1.32812111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.398040941999998 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:23.59, Y:1.78, Z:1.33 [[ 9.79271185e-01 -1.99079112e-01 -3.73557599e-02 2.35855275e+01] [ 1.99002584e-01 9.79981840e-01 -5.79344074e-03 1.78332166e+00] [ 3.77613194e-02 -1.76054317e-03 9.99285236e-01 1.33345030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428040942 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:23.61, Y:1.79, Z:1.34 [[ 9.78500715e-01 -2.03415491e-01 -3.40365800e-02 2.36070732e+01] [ 2.03389023e-01 9.79088674e-01 -4.27476586e-03 1.79232256e+00] [ 3.41943836e-02 -2.73980531e-03 9.99411446e-01 1.33707203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.458040942 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:23.63, Y:1.80, Z:1.34 [[ 9.78866312e-01 -2.01862877e-01 -3.27432893e-02 2.36333526e+01] [ 2.01759698e-01 9.79413753e-01 -6.45954115e-03 1.79823986e+00] [ 3.33731694e-02 -2.83248941e-04 9.99442920e-01 1.33782709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488040941999998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:23.66, Y:1.80, Z:1.34 [[ 9.78999876e-01 -2.01170345e-01 -3.30111379e-02 2.36609799e+01] [ 2.01064902e-01 9.79556239e-01 -6.51757230e-03 1.80446909e+00] [ 3.36474084e-02 -2.56678753e-04 9.99433733e-01 1.33841817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.518040942 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:23.69, Y:1.82, Z:1.32 [[ 0.9793587 -0.20023413 -0.0276195 23.69242688] [ 0.19923216 0.97931856 -0.03523777 1.82339313] [ 0.0341041 0.02900773 0.99899723 1.32260402] [ 0. 0. 0. 1. ]] SLAMing on 26.548040942 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:23.73, Y:1.80, Z:1.35 [[ 9.79826639e-01 -1.94583252e-01 -4.55753873e-02 2.37289716e+01] [ 1.95605317e-01 9.80496416e-01 1.91138000e-02 1.79794269e+00] [ 4.09672786e-02 -2.76429985e-02 9.98778027e-01 1.35295444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.578040942 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:23.75, Y:1.83, Z:1.34 [[ 9.79147537e-01 -2.00158163e-01 -3.47391890e-02 2.37459694e+01] [ 1.99587292e-01 9.79691451e-01 -1.92242784e-02 1.82733894e+00] [ 3.78815827e-02 1.18899042e-02 9.99211497e-01 1.33808785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608040942 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:23.77, Y:1.83, Z:1.34 [[ 9.79301691e-01 -1.98921748e-01 -3.73943448e-02 2.37747553e+01] [ 1.98707938e-01 9.80013791e-01 -9.38744100e-03 1.82579578e+00] [ 3.85143398e-02 1.76258371e-03 9.99256493e-01 1.34336563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.638040942 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:23.80, Y:1.83, Z:1.35 [[ 9.79474108e-01 -1.97947055e-01 -3.80451824e-02 2.38035682e+01] [ 1.97971345e-01 9.80202697e-01 -3.16544903e-03 1.82812122e+00] [ 3.79185817e-02 -4.43138058e-03 9.99271006e-01 1.34699780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668040942 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:23.83, Y:1.84, Z:1.34 [[ 9.79884113e-01 -1.96357774e-01 -3.56475701e-02 2.38345243e+01] [ 1.96070238e-01 9.80523299e-01 -1.14246410e-02 1.83649775e+00] [ 3.71965901e-02 4.20539666e-03 9.99299119e-01 1.34362858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.698040942 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:23.86, Y:1.84, Z:1.35 [[ 9.80467999e-01 -1.93546880e-01 -3.49586787e-02 2.38608159e+01] [ 1.93524224e-01 9.81087084e-01 -4.06294803e-03 1.84081525e+00] [ 3.50838791e-02 -2.78176064e-03 9.99380500e-01 1.34628967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728040942 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:23.89, Y:1.85, Z:1.35 [[ 9.80349904e-01 -1.93960589e-01 -3.59632513e-02 2.38874871e+01] [ 1.93747968e-01 9.81006882e-01 -9.33928122e-03 1.84994856e+00] [ 3.70916495e-02 2.18795660e-03 9.99309473e-01 1.34644675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.758040942 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:23.91, Y:1.86, Z:1.34 [[ 9.80377447e-01 -1.94144286e-01 -3.41768719e-02 2.39137507e+01] [ 1.93913520e-01 9.80967924e-01 -9.97387456e-03 1.85669132e+00] [ 3.54627859e-02 3.15080414e-03 9.99366031e-01 1.34382501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788040942 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:23.94, Y:1.86, Z:1.35 [[ 9.80227548e-01 -1.94347812e-01 -3.71871196e-02 2.39388358e+01] [ 1.94388053e-01 9.80921355e-01 -2.56527236e-03 1.85744411e+00] [ 3.69761948e-02 -4.71418113e-03 9.99305027e-01 1.35329273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.818040942 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:23.97, Y:1.86, Z:1.35 [[ 9.79971597e-01 -1.96269220e-01 -3.36758356e-02 2.39703607e+01] [ 1.96157878e-01 9.80550038e-01 -6.61133489e-03 1.86455146e+00] [ 3.43184434e-02 -1.26860024e-04 9.99410941e-01 1.34841020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848040942 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:24.00, Y:1.87, Z:1.35 [[ 9.79851274e-01 -1.96644078e-01 -3.49655291e-02 2.39955808e+01] [ 1.96607692e-01 9.80471864e-01 -4.50982993e-03 1.86835790e+00] [ 3.51695489e-02 -2.45552938e-03 9.99378343e-01 1.35318429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.878040942 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:24.02, Y:1.87, Z:1.36 [[ 9.79715684e-01 -1.97272053e-01 -3.52266332e-02 2.40241392e+01] [ 1.97505775e-01 9.80296341e-01 3.24848565e-03 1.87109290e+00] [ 3.38917042e-02 -1.01400558e-02 9.99374070e-01 1.35615616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908040942 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:24.05, Y:1.89, Z:1.35 [[ 9.79340582e-01 -1.99690725e-01 -3.18690812e-02 2.40492607e+01] [ 1.99203687e-01 9.79796057e-01 -1.78207341e-02 1.88897712e+00] [ 3.47838354e-02 1.11041297e-02 9.99333169e-01 1.34660801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.938040942 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:24.08, Y:1.88, Z:1.36 [[ 9.79089818e-01 -1.99203235e-01 -4.12456089e-02 2.40761886e+01] [ 1.99498713e-01 9.79893075e-01 3.13459335e-03 1.88411279e+00] [ 3.97918653e-02 -1.12974943e-02 9.99144121e-01 1.36084160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968040942 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:24.10, Y:1.89, Z:1.36 [[ 9.79099789e-01 -1.99604796e-01 -3.90067675e-02 2.41020313e+01] [ 1.99583144e-01 9.79870617e-01 -4.48795423e-03 1.89250487e+00] [ 3.91174025e-02 -3.39093827e-03 9.99228868e-01 1.35970559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.998040942 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:24.13, Y:1.90, Z:1.36 [[ 9.78110836e-01 -2.04590473e-01 -3.79727741e-02 2.41320914e+01] [ 2.04216497e-01 9.78832375e-01 -1.35204762e-02 1.90219483e+00] [ 3.99351413e-02 5.46985737e-03 9.99187302e-01 1.35877120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028040942 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:24.16, Y:1.91, Z:1.36 [[ 9.78020377e-01 -2.04827862e-01 -3.90088430e-02 2.41628848e+01] [ 2.04303727e-01 9.78759538e-01 -1.70221840e-02 1.90836664e+00] [ 4.16668947e-02 8.67839081e-03 9.99093867e-01 1.35760676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.058040941999998 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:24.19, Y:1.91, Z:1.36 [[ 9.77364836e-01 -2.07898790e-01 -3.91927223e-02 2.41900371e+01] [ 2.08273412e-01 9.78054118e-01 5.68577645e-03 1.90539473e+00] [ 3.71505374e-02 -1.37198800e-02 9.99215494e-01 1.36382923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088040942 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:24.21, Y:1.92, Z:1.36 [[ 9.77208320e-01 -2.09120591e-01 -3.65031170e-02 2.42134388e+01] [ 2.09029915e-01 9.77888787e-01 -6.32573304e-03 1.91862175e+00] [ 3.70188298e-02 -1.44868449e-03 9.99313518e-01 1.36229106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.118040942 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:24.24, Y:1.93, Z:1.36 [[ 9.76695924e-01 -2.11592576e-01 -3.59674016e-02 2.42443667e+01] [ 2.11266800e-01 9.77346279e-01 -1.26724275e-02 1.92587696e+00] [ 3.78339977e-02 4.77839041e-03 9.99272613e-01 1.35961774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148040941999998 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:24.27, Y:1.93, Z:1.37 [[ 9.76812742e-01 -2.10846110e-01 -3.71589021e-02 2.42676092e+01] [ 2.10927318e-01 9.77500153e-01 -1.76574252e-03 1.92688475e+00] [ 3.66951324e-02 -6.11302777e-03 9.99307810e-01 1.36560982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.178040942 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:24.30, Y:1.94, Z:1.36 [[ 9.76573868e-01 -2.12530503e-01 -3.36788715e-02 2.42972160e+01] [ 2.11805361e-01 9.77020873e-01 -2.38474929e-02 1.94374678e+00] [ 3.79732801e-02 1.61554728e-02 9.99148153e-01 1.35588278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208040942 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:24.32, Y:1.93, Z:1.37 [[ 9.76703271e-01 -2.10983553e-01 -3.92002601e-02 2.43240792e+01] [ 2.11492222e-01 9.77335719e-01 9.26992198e-03 1.93460473e+00] [ 3.63560133e-02 -1.73445132e-02 9.99188375e-01 1.36910290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.238040941999998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:24.35, Y:1.95, Z:1.36 [[ 9.76933902e-01 -2.10598771e-01 -3.53314257e-02 2.43486343e+01] [ 2.10474171e-01 9.77572521e-01 -7.25187316e-03 1.95022916e+00] [ 3.60662664e-02 -3.51751780e-04 9.99349339e-01 1.36333189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268040942 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:24.37, Y:1.96, Z:1.36 [[ 9.77069362e-01 -2.10128631e-01 -3.43717935e-02 2.43745068e+01] [ 2.10010266e-01 9.77673696e-01 -7.05923818e-03 1.95626982e+00] [ 3.50877465e-02 -3.21064168e-04 9.99384184e-01 1.36345544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.298040942 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:24.40, Y:1.96, Z:1.36 [[ 9.77260154e-01 -2.09337307e-01 -3.37710314e-02 2.44012081e+01] [ 2.09222426e-01 9.77843449e-01 -6.94009703e-03 1.96272453e+00] [ 3.44756030e-02 -2.83376807e-04 9.99405500e-01 1.36361443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328040942 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:24.43, Y:1.97, Z:1.36 [[ 9.77688363e-01 -2.07613649e-01 -3.19693111e-02 2.44277975e+01] [ 2.07509654e-01 9.78210882e-01 -6.57368036e-03 1.96990873e+00] [ 3.26375138e-02 -2.06929899e-04 9.99467233e-01 1.36332078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.358040942 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:24.45, Y:1.99, Z:1.35 [[ 0.97757806 -0.20857536 -0.02893897 24.45397761] [ 0.20759148 0.97763643 -0.03365684 1.98997014] [ 0.03531178 0.0268947 0.99901439 1.35170933] [ 0. 0. 0. 1. ]] SLAMing on 27.388040942 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:24.49, Y:1.97, Z:1.37 [[ 9.77803100e-01 -2.06373591e-01 -3.62082633e-02 2.44863999e+01] [ 2.07180520e-01 9.78095749e-01 2.01230958e-02 1.96925804e+00] [ 3.12622728e-02 -2.71780722e-02 9.99141643e-01 1.37199776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.418040942 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:24.51, Y:2.00, Z:1.35 [[ 0.97749431 -0.20931093 -0.02634017 24.50890971] [ 0.20835699 0.97743026 -0.03489197 2.00425569] [ 0.03304895 0.02861854 0.99904392 1.35289654] [ 0. 0. 0. 1. ]] SLAMing on 27.448040942 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:24.54, Y:1.98, Z:1.37 [[ 9.77543244e-01 -2.07862503e-01 -3.46754391e-02 2.45421280e+01] [ 2.08687124e-01 9.77732426e-01 2.21130373e-02 1.98210224e+00] [ 2.93068300e-02 -2.88527679e-02 9.99153956e-01 1.37328681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.478040942 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:24.57, Y:2.01, Z:1.35 [[ 9.76877957e-01 -2.12636967e-01 -2.22481062e-02 2.45659502e+01] [ 2.12068783e-01 9.76924728e-01 -2.53950221e-02 2.01390316e+00] [ 2.71346455e-02 2.00897085e-02 9.99429895e-01 1.35397305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508040942 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:24.60, Y:2.00, Z:1.37 [[ 9.76950577e-01 -2.11184861e-01 -3.11211154e-02 2.45969374e+01] [ 2.11700599e-01 9.77230039e-01 1.42935874e-02 1.99854069e+00] [ 2.73938995e-02 -2.05524872e-02 9.99413413e-01 1.37126576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.538040942 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:24.62, Y:2.01, Z:1.37 [[ 9.76645710e-01 -2.13136391e-01 -2.71299916e-02 2.46215061e+01] [ 2.13062645e-01 9.77022410e-01 -5.61417502e-03 2.01407695e+00] [ 2.77031947e-02 -2.97327798e-04 9.99616149e-01 1.36536135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568040942 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:24.65, Y:2.02, Z:1.37 [[ 9.76378992e-01 -2.14308516e-01 -2.74940545e-02 2.46477311e+01] [ 2.14233084e-01 9.76765966e-01 -5.69510665e-03 2.01920412e+00] [ 2.80757665e-02 -3.29553598e-04 9.99605744e-01 1.36520940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.598040942 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:24.68, Y:2.03, Z:1.37 [[ 9.76288146e-01 -2.14736418e-01 -2.73811249e-02 2.46755717e+01] [ 2.14661687e-01 9.76671980e-01 -5.67476475e-03 2.02515513e+00] [ 2.79609561e-02 -3.37472902e-04 9.99608959e-01 1.36604809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628040942 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:24.70, Y:2.03, Z:1.37 [[ 9.76373065e-01 -2.14462634e-01 -2.64842686e-02 2.47025422e+01] [ 2.14392420e-01 9.76732144e-01 -5.49624883e-03 2.03268670e+00] [ 2.70467765e-02 -3.11637124e-04 9.99634120e-01 1.36676189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.658040942 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:24.73, Y:2.04, Z:1.37 [[ 9.76482272e-01 -2.14066407e-01 -2.56504621e-02 2.47293885e+01] [ 2.14000223e-01 9.76819069e-01 -5.33029216e-03 2.03993601e+00] [ 2.61968969e-02 -2.84268785e-04 9.99656762e-01 1.36709763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688040942 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:24.76, Y:2.05, Z:1.37 [[ 9.76663227e-01 -2.13267177e-01 -2.54175689e-02 2.47552982e+01] [ 2.13201713e-01 9.76993883e-01 -5.28982353e-03 2.04649648e+00] [ 2.59609550e-02 -2.52693094e-04 9.99662926e-01 1.36777888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.718040942 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.78, Y:2.05, Z:1.37 [[ 9.76921527e-01 -2.11964378e-01 -2.63710687e-02 2.47831200e+01] [ 2.11893355e-01 9.77277367e-01 -5.49122785e-03 2.05210954e+00] [ 2.69357933e-02 -2.23355538e-04 9.99637141e-01 1.36919274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:24.83, Y:2.02, Z:1.41 [[ 0.97796241 -0.20205306 -0.05257458 24.82703263] [ 0.20440213 0.97790062 0.04393349 2.02498998] [ 0.04253582 -0.05371166 0.99765012 1.40735122] [ 0. 0. 0. 1. ]] SLAMing on 27.778040942 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:24.85, Y:2.06, Z:1.39 [[ 9.78163864e-01 -2.03285511e-01 -4.32487745e-02 2.48484724e+01] [ 2.02277308e-01 9.78967511e-01 -2.65801287e-02 2.06398541e+00] [ 4.77425002e-02 1.72514757e-02 9.98710689e-01 1.38689010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808040941999998 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:24.87, Y:2.09, Z:1.37 [[ 0.97778892 -0.20698041 -0.0329839 24.86876253] [ 0.20505685 0.97727159 -0.05377668 2.08714308] [ 0.04336495 0.04581867 0.99800808 1.37058696] [ 0. 0. 0. 1. ]] SLAMing on 27.838040942 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:24.90, Y:2.07, Z:1.38 [[ 9.77703632e-01 -2.05653038e-01 -4.24551123e-02 2.49008615e+01] [ 2.05476043e-01 9.78624896e-01 -8.53863720e-03 2.06989061e+00] [ 4.33036266e-02 -3.75251893e-04 9.99061888e-01 1.38471718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:24.93, Y:2.07, Z:1.39 [[ 9.77848423e-01 -2.05131396e-01 -4.16361824e-02 2.49304404e+01] [ 2.05693698e-01 9.78568774e-01 9.65696077e-03 2.06687571e+00] [ 3.87629221e-02 -1.80073442e-02 9.99086168e-01 1.39002097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.898040941999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.97, Y:2.06, Z:1.41 [[ 9.78374868e-01 -1.99870422e-01 -5.32393853e-02 2.49682017e+01] [ 2.01207388e-01 9.79323353e-01 2.10085214e-02 2.06008111e+00] [ 4.79395913e-02 -3.12663670e-02 9.98360761e-01 1.41135604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928040942 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:24.98, Y:2.11, Z:1.38 [[ 0.9774065 -0.208513 -0.0346246 24.98344353] [ 0.20682442 0.97725913 -0.0467788 2.10586997] [ 0.0435912 0.03856069 0.998305 1.38026955] [ 0. 0. 0. 1. ]] SLAMing on 27.958040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:25.03, Y:2.06, Z:1.42 [[ 0.97781007 -0.20161358 -0.05691606 25.02676115] [ 0.20395334 0.97821258 0.03877099 2.06251535] [ 0.04785925 -0.04951889 0.99762587 1.42119439] [ 0. 0. 0. 1. ]] SLAMing on 27.988040941999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:25.05, Y:2.11, Z:1.40 [[ 9.77521198e-01 -2.06595563e-01 -4.20782687e-02 2.50483989e+01] [ 2.05247630e-01 9.78111864e-01 -3.42139117e-02 2.10513680e+00] [ 4.82256962e-02 2.48083590e-02 9.98528331e-01 1.39614985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.018040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:25.07, Y:2.12, Z:1.38 [[ 0.97663713 -0.21266736 -0.03086273 25.0663146 ] [ 0.21111666 0.97633182 -0.04696733 2.12346899] [ 0.04012068 0.0393544 0.99841953 1.37827572] [ 0. 0. 0. 1. ]] SLAMing on 28.048040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.11, Y:2.08, Z:1.43 [[ 0.97689666 -0.20477869 -0.0611441 25.11349447] [ 0.20776663 0.97703544 0.04727341 2.07658083] [ 0.05005936 -0.05888494 0.99700884 1.42782384] [ 0. 0. 0. 1. ]] SLAMing on 28.078040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:25.14, Y:2.10, Z:1.41 [[ 9.77066380e-01 -2.07047305e-01 -4.97262777e-02 2.51373153e+01] [ 2.07332877e-01 9.78270269e-01 5.98490429e-04 2.10454188e+00] [ 4.85218233e-02 -1.08946571e-02 9.98762704e-01 1.41444104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.15, Y:2.15, Z:1.38 [[ 0.97583923 -0.21618214 -0.0316714 25.15152767] [ 0.21422153 0.97518267 -0.05592756 2.14705335] [ 0.04297594 0.04779161 0.99793238 1.3839423 ] [ 0. 0. 0. 1. ]] SLAMing on 28.138040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.19, Y:2.11, Z:1.42 [[ 9.76741724e-01 -2.08492062e-01 -5.00666058e-02 2.51934144e+01] [ 2.09538362e-01 9.77659688e-01 1.65894256e-02 2.11071945e+00] [ 4.54893386e-02 -2.66944587e-02 9.98608094e-01 1.41515610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:25.20, Y:2.16, Z:1.38 [[ 9.76283036e-01 -2.15101360e-01 -2.45527569e-02 2.52049073e+01] [ 2.13735045e-01 9.75665917e-01 -4.89218653e-02 2.15554349e+00] [ 3.44784478e-02 4.25138026e-02 9.98500783e-01 1.37912247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.25, Y:2.10, Z:1.43 [[ 0.9774949 -0.20214909 -0.06032806 25.25474225] [ 0.20506336 0.97763087 0.04676439 2.10481432] [ 0.0495252 -0.05808302 0.99708255 1.43185856] [ 0. 0. 0. 1. ]] SLAMing on 28.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.28, Y:2.14, Z:1.41 [[ 9.77871610e-01 -2.03380309e-01 -4.90261635e-02 2.52770032e+01] [ 2.03058121e-01 9.79098943e-01 -1.15178014e-02 2.13790151e+00] [ 5.03439588e-02 1.30777033e-03 9.98731083e-01 1.41463649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.31, Y:2.14, Z:1.42 [[ 9.77831236e-01 -2.02789811e-01 -5.21763066e-02 2.53089655e+01] [ 2.02786507e-01 9.79208013e-01 -5.41294104e-03 2.14044386e+00] [ 5.21891468e-02 -5.28770816e-03 9.98623219e-01 1.41980237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.32, Y:2.17, Z:1.39 [[ 0.97677914 -0.21132644 -0.03526526 25.3194375 ] [ 0.20992983 0.97691768 -0.03951351 2.17350451] [ 0.0428015 0.03119274 0.99859654 1.3945017 ] [ 0. 0. 0. 1. ]] SLAMing on 28.318040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.35, Y:2.16, Z:1.41 [[ 9.77427035e-01 -2.07334847e-01 -4.06035925e-02 2.53461131e+01] [ 2.07338316e-01 9.78260404e-01 -4.17193735e-03 2.15933633e+00] [ 4.05858748e-02 -4.34091614e-03 9.99166624e-01 1.40647384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.39, Y:2.15, Z:1.43 [[ 9.78299280e-01 -2.00622174e-01 -5.17809018e-02 2.53886939e+01] [ 2.01530151e-01 9.79397360e-01 1.29000002e-02 2.14626419e+00] [ 4.81260524e-02 -2.30554739e-02 9.98575149e-01 1.42659442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.378040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.40, Y:2.18, Z:1.40 [[ 9.77317495e-01 -2.08770645e-01 -3.55714926e-02 2.54000127e+01] [ 2.07786485e-01 9.77730391e-01 -2.94628459e-02 2.18185851e+00] [ 4.09303068e-02 2.14032794e-02 9.98932735e-01 1.40223641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.44, Y:2.16, Z:1.43 [[ 9.78140712e-01 -2.01709723e-01 -5.05364747e-02 2.54446635e+01] [ 2.02510341e-01 9.79216028e-01 1.12040930e-02 2.15820604e+00] [ 4.72261515e-02 -2.11933382e-02 9.98659368e-01 1.42694641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:2.17, Z:1.42 [[ 9.77834073e-01 -2.03956744e-01 -4.73515798e-02 2.54731352e+01] [ 2.03980438e-01 9.78965154e-01 -4.38259292e-03 2.17030116e+00] [ 4.72494060e-02 -5.37334732e-03 9.98868670e-01 1.42380707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:2.18, Z:1.43 [[ 9.77578659e-01 -2.05125449e-01 -4.75764248e-02 2.55011798e+01] [ 2.05111619e-01 9.78724641e-01 -5.22506778e-03 2.17537200e+00] [ 4.76360137e-02 -4.65056274e-03 9.98853935e-01 1.42585707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.52, Y:2.19, Z:1.42 [[ 9.77052049e-01 -2.09010448e-01 -4.10356770e-02 2.55246173e+01] [ 2.08210317e-01 9.77815084e-01 -2.29374234e-02 2.19145676e+00] [ 4.49194651e-02 1.38670052e-02 9.98894363e-01 1.41517327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:2.19, Z:1.42 [[ 9.76854094e-01 -2.09023395e-01 -4.54455566e-02 2.55554248e+01] [ 2.09077602e-01 9.77892388e-01 -3.61035771e-03 2.18737885e+00] [ 4.51955131e-02 -5.97485529e-03 9.98960293e-01 1.42361926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.558040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:2.20, Z:1.42 [[ 9.76646734e-01 -2.10533314e-01 -4.28588361e-02 2.55810070e+01] [ 2.10223164e-01 9.77583767e-01 -1.16704818e-02 2.19784650e+00] [ 4.43551277e-02 2.38801782e-03 9.99012973e-01 1.42079557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.60, Y:2.21, Z:1.41 [[ 9.75472791e-01 -2.16988491e-01 -3.69976762e-02 2.55956232e+01] [ 2.16417508e-01 9.76119023e-01 -1.88445030e-02 2.21471353e+00] [ 4.02031758e-02 1.03753550e-02 9.99137657e-01 1.41196439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:2.20, Z:1.43 [[ 9.76216927e-01 -2.11546120e-01 -4.74209944e-02 2.56375551e+01] [ 2.12029318e-01 9.77248692e-01 5.34446338e-03 2.20057186e+00] [ 4.52115043e-02 -1.52719967e-02 9.98860694e-01 1.42888472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.67, Y:2.21, Z:1.43 [[ 9.76026384e-01 -2.12337301e-01 -4.78055256e-02 2.56654546e+01] [ 2.12389066e-01 9.77176780e-01 -4.05284950e-03 2.20954502e+00] [ 4.75750206e-02 -6.19768286e-03 9.98848440e-01 1.42943130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.69, Y:2.22, Z:1.42 [[ 9.75743584e-01 -2.14191417e-01 -4.52382012e-02 2.56915077e+01] [ 2.13751228e-01 9.76781836e-01 -1.44103139e-02 2.22129037e+00] [ 4.72744188e-02 4.39105028e-03 9.98872288e-01 1.42479775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:2.22, Z:1.43 [[ 9.75345827e-01 -2.15429911e-01 -4.78588618e-02 2.57179484e+01] [ 2.15285220e-01 9.76516627e-01 -8.21894354e-03 2.22413098e+00] [ 4.85055806e-02 -2.28699330e-03 9.98820293e-01 1.42740292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.738040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:2.23, Z:1.43 [[ 9.75207479e-01 -2.15728484e-01 -4.93111954e-02 2.57469572e+01] [ 2.15751786e-01 9.76435880e-01 -4.91323032e-03 2.22760355e+00] [ 4.92091441e-02 -5.84755950e-03 9.98771378e-01 1.43173187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.77, Y:2.24, Z:1.43 [[ 9.75071310e-01 -2.16824519e-01 -4.71494152e-02 2.57733145e+01] [ 2.16560282e-01 9.76210570e-01 -1.07036227e-02 2.23651059e+00] [ 4.83485654e-02 2.26104801e-04 9.98830499e-01 1.42982917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:2.24, Z:1.43 [[ 9.74774363e-01 -2.17761089e-01 -4.89392394e-02 2.58002815e+01] [ 2.17746751e-01 9.75988723e-01 -5.68902763e-03 2.23953219e+00] [ 4.90029946e-02 -5.11084207e-03 9.98785555e-01 1.43408220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828040941999998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.82, Y:2.26, Z:1.42 [[ 9.74327548e-01 -2.21235775e-01 -4.17200324e-02 2.58239834e+01] [ 2.20308180e-01 9.75091345e-01 -2.57133282e-02 2.25844632e+00] [ 4.63695506e-02 1.58619397e-02 9.98798410e-01 1.42117170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.85, Y:2.26, Z:1.43 [[ 9.74228527e-01 -2.21362558e-01 -4.33289103e-02 2.58514074e+01] [ 2.21152863e-01 9.75191560e-01 -9.63492430e-03 2.25765196e+00] [ 4.43867991e-02 -1.95694428e-04 9.99014401e-01 1.42611448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:2.26, Z:1.43 [[ 9.73965575e-01 -2.22401271e-01 -4.39173541e-02 2.58773923e+01] [ 2.22275158e-01 9.74952805e-01 -7.79627551e-03 2.26409956e+00] [ 4.45512491e-02 -2.16843283e-03 9.99004747e-01 1.42656097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.90, Y:2.27, Z:1.43 [[ 9.73810647e-01 -2.23230380e-01 -4.31395674e-02 2.59043588e+01] [ 2.23188409e-01 9.74757780e-01 -5.84846723e-03 2.26966243e+00] [ 4.33561845e-02 -3.93295176e-03 9.99051937e-01 1.42892671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.93, Y:2.28, Z:1.42 [[ 9.73631989e-01 -2.25100270e-01 -3.70218541e-02 2.59283653e+01] [ 2.24552258e-01 9.74288271e-01 -1.84024213e-02 2.28481603e+00] [ 4.02123483e-02 9.60384515e-03 9.99145001e-01 1.42040912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.978040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.96, Y:2.29, Z:1.42 [[ 9.73573119e-01 -2.24751764e-01 -4.05219281e-02 2.59586343e+01] [ 2.24413754e-01 9.74410351e-01 -1.27645930e-02 2.28921654e+00] [ 4.23538509e-02 3.33358661e-03 9.99097112e-01 1.42442362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.98, Y:2.29, Z:1.43 [[ 9.73727722e-01 -2.23781026e-01 -4.21470799e-02 2.59843991e+01] [ 2.23778865e-01 9.74627976e-01 -4.82984976e-03 2.29128800e+00] [ 4.21585519e-02 -4.72866712e-03 9.99099743e-01 1.42832416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.01, Y:2.31, Z:1.42 [[ 9.73685455e-01 -2.24909567e-01 -3.67739144e-02 2.60096626e+01] [ 2.24507388e-01 9.74360350e-01 -1.47763984e-02 2.30625342e+00] [ 3.91543974e-02 6.13154877e-03 9.99214360e-01 1.42262279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:2.29, Z:1.46 [[ 0.9743614 -0.21821842 -0.05477759 26.05003268] [ 0.21995178 0.97511352 0.02783604 2.28513913] [ 0.04734003 -0.03917079 0.9981105 1.45706489] [ 0. 0. 0. 1. ]] SLAMing on 29.098040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:26.07, Y:2.31, Z:1.45 [[ 9.74240463e-01 -2.20929435e-01 -4.52294614e-02 2.60746796e+01] [ 2.20938294e-01 9.75275651e-01 -4.86570345e-03 2.30955732e+00] [ 4.51861695e-02 -5.25255482e-03 9.98964775e-01 1.44588492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.09, Y:2.35, Z:1.43 [[ 0.97388991 -0.22322593 -0.04133554 26.08566863] [ 0.2193231 0.97215216 -0.08256848 2.35360289] [ 0.05861586 0.07134677 0.99572778 1.42538071] [ 0. 0. 0. 1. ]] SLAMing on 29.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:2.31, Z:1.45 [[ 0.97362271 -0.2227301 -0.04949876 26.12790797] [ 0.22495497 0.97332468 0.04510345 2.30524257] [ 0.03813246 -0.05504874 0.99775526 1.45386323] [ 0. 0. 0. 1. ]] SLAMing on 29.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:2.32, Z:1.46 [[ 9.73895002e-01 -2.20607048e-01 -5.34888406e-02 2.61619064e+01] [ 2.21741138e-01 9.74970790e-01 1.62119379e-02 2.32061716e+00] [ 4.85735894e-02 -2.76494017e-02 9.98436837e-01 1.46075510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:2.34, Z:1.45 [[ 9.73764043e-01 -2.22459725e-01 -4.79088571e-02 2.61864367e+01] [ 2.22623577e-01 9.74902517e-01 -1.95603045e-03 2.33654940e+00] [ 4.71416033e-02 -8.76092900e-03 9.98849796e-01 1.45483010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.21, Y:2.35, Z:1.45 [[ 9.73447528e-01 -2.24559109e-01 -4.44197786e-02 2.62115759e+01] [ 2.24245328e-01 9.74458969e-01 -1.19896309e-02 2.34892332e+00] [ 4.59776325e-02 1.71034873e-03 9.98941005e-01 1.45062272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.278040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:26.24, Y:2.35, Z:1.45 [[ 9.73241045e-01 -2.24984396e-01 -4.67321076e-02 2.62368393e+01] [ 2.24708112e-01 9.74362303e-01 -1.11519982e-02 2.35405786e+00] [ 4.80430295e-02 3.52498694e-04 9.98845205e-01 1.45390430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.27, Y:2.36, Z:1.45 [[ 9.72882727e-01 -2.27135738e-01 -4.36870312e-02 2.62655830e+01] [ 2.26988745e-01 9.73861481e-01 -8.36213892e-03 2.36079407e+00] [ 4.44444575e-02 -1.78108389e-03 9.99010269e-01 1.45274298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.29, Y:2.37, Z:1.45 [[ 9.72868226e-01 -2.27582564e-01 -4.16364232e-02 2.62900072e+01] [ 2.26847349e-01 9.73689289e-01 -2.16667713e-02 2.37395597e+00] [ 4.54719186e-02 1.16338011e-02 9.98897872e-01 1.44800547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:2.38, Z:1.45 [[ 9.72588045e-01 -2.28404847e-01 -4.36316515e-02 2.63186626e+01] [ 2.27869324e-01 9.73544299e-01 -1.69431202e-02 2.37962128e+00] [ 4.63472364e-02 6.53636116e-03 9.98904004e-01 1.44871098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.398040941999998 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:26.34, Y:2.40, Z:1.44 [[ 9.72494989e-01 -2.29923232e-01 -3.72666681e-02 2.63420790e+01] [ 2.28854967e-01 9.72972438e-01 -3.08226924e-02 2.39618516e+00] [ 4.33462940e-02 2.14462518e-02 9.98829894e-01 1.44043009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:2.37, Z:1.46 [[ 0.97284428 -0.22609858 -0.04953226 26.37879414] [ 0.22760228 0.97337694 0.02710214 2.37328378] [ 0.0420858 -0.03763982 0.99840474 1.46055087] [ 0. 0. 0. 1. ]] SLAMing on 29.458040942 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:26.40, Y:2.41, Z:1.44 [[ 0.97254017 -0.23023934 -0.03399214 26.39717338] [ 0.22882523 0.97260736 -0.04091375 2.41486344] [ 0.04248096 0.03201201 0.9985843 1.43779888] [ 0. 0. 0. 1. ]] SLAMing on 29.488040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:2.40, Z:1.45 [[ 9.72836674e-01 -2.27962742e-01 -4.02715004e-02 2.64276117e+01] [ 2.28219103e-01 9.73608087e-01 1.82618635e-03 2.39953761e+00] [ 3.87923560e-02 -1.09673067e-02 9.99187105e-01 1.44963068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.45, Y:2.41, Z:1.45 [[ 9.72903837e-01 -2.27956373e-01 -3.86525028e-02 2.64529658e+01] [ 2.27800248e-01 9.73671175e-01 -8.45519242e-03 2.41131715e+00] [ 3.95622428e-02 -5.78960561e-04 9.99216940e-01 1.44758815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.48, Y:2.42, Z:1.45 [[ 9.72888681e-01 -2.28059091e-01 -3.84274004e-02 2.64806400e+01] [ 2.27904645e-01 9.73647123e-01 -8.41140587e-03 2.41799489e+00] [ 3.93330255e-02 -5.74421481e-04 9.99225992e-01 1.44806665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.578040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.52, Y:2.42, Z:1.46 [[ 9.73286075e-01 -2.25217901e-01 -4.46218891e-02 2.65161950e+01] [ 2.25229983e-01 9.74293694e-01 -4.82217939e-03 2.41911096e+00] [ 4.45608663e-02 -5.35682728e-03 9.98992309e-01 1.45589130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:2.42, Z:1.46 [[ 9.73559373e-01 -2.22787900e-01 -5.04747365e-02 2.65471233e+01] [ 2.22902450e-01 9.74834756e-01 -3.41990721e-03 2.42249793e+00] [ 4.99664414e-02 -7.92145970e-03 9.98719483e-01 1.46302665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:2.43, Z:1.46 [[ 9.73708095e-01 -2.22464151e-01 -4.90127206e-02 2.65748115e+01] [ 2.22695654e-01 9.74887725e-01 -7.55090486e-04 2.42824062e+00] [ 4.79498802e-02 -1.01796821e-02 9.98797869e-01 1.46475167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.59, Y:2.46, Z:1.44 [[ 9.73329209e-01 -2.27238447e-01 -3.15109416e-02 2.65912618e+01] [ 2.26196072e-01 9.73506412e-01 -3.34754023e-02 2.45840119e+00] [ 3.82830022e-02 2.54549356e-02 9.98942670e-01 1.44376850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.62, Y:2.45, Z:1.45 [[ 9.73859060e-01 -2.24130006e-01 -3.69360458e-02 2.66197041e+01] [ 2.24274474e-01 9.74525989e-01 -2.37908210e-04 2.44805755e+00] [ 3.60484590e-02 -8.05212318e-03 9.99317603e-01 1.45389902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:2.45, Z:1.46 [[ 9.74620286e-01 -2.18860567e-01 -4.70675124e-02 2.66562391e+01] [ 2.18816350e-01 9.75746660e-01 -6.15315239e-03 2.45288332e+00] [ 4.72726504e-02 -4.30215415e-03 9.98872759e-01 1.46243551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:2.46, Z:1.46 [[ 9.74493981e-01 -2.19573420e-01 -4.63572480e-02 2.66838035e+01] [ 2.19387270e-01 9.75595146e-01 -9.12885933e-03 2.46092096e+00] [ 4.72303610e-02 -1.27417159e-03 9.98883211e-01 1.46252437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.71, Y:2.48, Z:1.46 [[ 9.74321371e-01 -2.20882722e-01 -4.36885442e-02 2.67107133e+01] [ 2.20079565e-01 9.75223082e-01 -2.24705397e-02 2.47632857e+00] [ 4.75694307e-02 1.22785712e-02 9.98792464e-01 1.45702972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:2.46, Z:1.47 [[ 9.74579443e-01 -2.19341088e-01 -4.56551827e-02 2.67415682e+01] [ 2.20251221e-01 9.75313565e-01 1.59012429e-02 2.46418493e+00] [ 4.10403231e-02 -2.55526343e-02 9.98830694e-01 1.46792044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:2.48, Z:1.46 [[ 9.74367391e-01 -2.20947122e-01 -4.23149712e-02 2.67643517e+01] [ 2.20372654e-01 9.75252428e-01 -1.78492126e-02 2.48487754e+00] [ 4.52115106e-02 8.06662818e-03 9.98944868e-01 1.46202206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:2.50, Z:1.46 [[ 9.73676101e-01 -2.25015688e-01 -3.63701767e-02 2.67878169e+01] [ 2.24176937e-01 9.74208290e-01 -2.57469976e-02 2.49866460e+00] [ 4.12256060e-02 1.69158814e-02 9.99006658e-01 1.45501239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.82, Y:2.48, Z:1.47 [[ 9.74038065e-01 -2.21464481e-01 -4.69396660e-02 2.68242820e+01] [ 2.22371546e-01 9.74846474e-01 1.50082399e-02 2.48216593e+00] [ 4.24351758e-02 -2.50566431e-02 9.98784972e-01 1.47086964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:2.52, Z:1.45 [[ 0.97391364 -0.22407972 -0.035784 26.84260574] [ 0.22278117 0.97416845 -0.03693755 2.51590234] [ 0.0431366 0.02800199 0.99867669 1.45322643] [ 0. 0. 0. 1. ]] SLAMing on 29.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.88, Y:2.49, Z:1.47 [[ 9.73652366e-01 -2.23200166e-01 -4.67199762e-02 2.68800166e+01] [ 2.24328357e-01 9.74299668e-01 2.04192633e-02 2.49364957e+00] [ 4.09616743e-02 -3.03618795e-02 9.98699303e-01 1.47377284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.90, Y:2.51, Z:1.47 [[ 9.73269145e-01 -2.25565342e-01 -4.32139647e-02 2.69032439e+01] [ 2.25437383e-01 9.74225827e-01 -7.87553460e-03 2.51179236e+00] [ 4.38766082e-02 -2.07702828e-03 9.99034799e-01 1.46872190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:2.52, Z:1.47 [[ 9.72659804e-01 -2.28311566e-01 -4.25057019e-02 2.69333450e+01] [ 2.28181881e-01 9.73586121e-01 -7.94311899e-03 2.51848544e+00] [ 4.31964674e-02 -1.97307846e-03 9.99064649e-01 1.46764070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.058040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:2.54, Z:1.46 [[ 9.72326049e-01 -2.31355599e-01 -3.25060250e-02 2.69518581e+01] [ 2.30618809e-01 9.72725914e-01 -2.48849410e-02 2.53520014e+00] [ 3.73767233e-02 1.66997755e-02 9.99161698e-01 1.45673190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:2.53, Z:1.46 [[ 9.71179571e-01 -2.36151587e-01 -3.22903794e-02 2.69806910e+01] [ 2.36038061e-01 9.71716102e-01 -7.33830639e-03 2.53399862e+00] [ 3.31100343e-02 -4.94945272e-04 9.99451590e-01 1.45746594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:2.56, Z:1.45 [[ 9.70407556e-01 -2.40501751e-01 -2.16352453e-02 2.70041291e+01] [ 2.39754943e-01 9.70297036e-01 -3.22680884e-02 2.55700531e+00] [ 2.87531461e-02 2.61260398e-02 9.99245058e-01 1.44605763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.04, Y:2.53, Z:1.47 [[ 9.71782186e-01 -2.32045999e-01 -4.23560829e-02 2.70384442e+01] [ 2.33174670e-01 9.72140303e-01 2.39333475e-02 2.52826103e+00] [ 3.56224177e-02 -3.31343664e-02 9.98815877e-01 1.47343089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.07, Y:2.55, Z:1.47 [[ 9.71520026e-01 -2.34109547e-01 -3.66273111e-02 2.70651034e+01] [ 2.33923477e-01 9.72210089e-01 -9.34605187e-03 2.55102388e+00] [ 3.77974414e-02 5.11888566e-04 9.99285290e-01 1.46514427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.10, Y:2.53, Z:1.49 [[ 0.97213126 -0.22797069 -0.05468247 27.10356048] [ 0.22972773 0.97284448 0.0282628 2.53199427] [ 0.04675445 -0.04003723 0.99810372 1.49432427] [ 0. 0. 0. 1. ]] SLAMing on 30.238040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.13, Y:2.55, Z:1.49 [[ 9.71955506e-01 -2.29936145e-01 -4.93139358e-02 2.71307941e+01] [ 2.29858523e-01 9.73196552e-01 -7.31653550e-03 2.55443360e+00] [ 4.96744882e-02 -4.22388146e-03 9.98756529e-01 1.48730880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.14, Y:2.59, Z:1.46 [[ 9.70764642e-01 -2.38597386e-01 -2.62163420e-02 2.71391085e+01] [ 2.36995490e-01 9.70066181e-01 -5.29598243e-02 2.59337901e+00] [ 3.80676624e-02 4.51983701e-02 9.98252453e-01 1.45834543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:2.58, Z:1.47 [[ 9.70811825e-01 -2.37062661e-01 -3.64101061e-02 2.71707759e+01] [ 2.36872717e-01 9.71494173e-01 -9.50722321e-03 2.57770242e+00] [ 3.76260136e-02 6.05163933e-04 9.99291708e-01 1.47159044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.20, Y:2.58, Z:1.47 [[ 9.71546420e-01 -2.34171296e-01 -3.55155911e-02 2.71989237e+01] [ 2.34050134e-01 9.72194900e-01 -7.59020017e-03 2.58399983e+00] [ 3.63054835e-02 -9.38197043e-04 9.99340298e-01 1.47279976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:2.59, Z:1.47 [[ 9.71906113e-01 -2.32613141e-01 -3.59114682e-02 2.72247530e+01] [ 2.32147322e-01 9.72537340e-01 -1.66956162e-02 2.59450788e+00] [ 3.88088635e-02 7.88982027e-03 9.99215504e-01 1.47168745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388040942 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:27.26, Y:2.60, Z:1.47 [[ 9.73206841e-01 -2.27407789e-01 -3.39726692e-02 2.72581738e+01] [ 2.27001552e-01 9.73772277e-01 -1.54223154e-02 2.59894536e+00] [ 3.65887981e-02 7.29725418e-03 9.99303763e-01 1.46792223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:2.60, Z:1.48 [[ 9.73009568e-01 -2.27103326e-01 -4.09446012e-02 2.72811882e+01] [ 2.27227496e-01 9.73840295e-01 -1.65693528e-03 2.59764940e+00] [ 4.02497981e-02 -7.69152533e-03 9.99160044e-01 1.47910820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.31, Y:2.61, Z:1.48 [[ 9.73641807e-01 -2.24860632e-01 -3.82011373e-02 2.73137201e+01] [ 2.24677236e-01 9.74390901e-01 -9.08360405e-03 2.60657827e+00] [ 3.92653855e-02 2.61250725e-04 9.99228783e-01 1.47522456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.478040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:27.34, Y:2.62, Z:1.47 [[ 9.74156761e-01 -2.23001107e-01 -3.59041979e-02 2.73382812e+01] [ 2.22607528e-01 9.74797902e-01 -1.46607636e-02 2.61658572e+00] [ 3.82687033e-02 6.28933725e-03 9.99247692e-01 1.47267577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:27.37, Y:2.61, Z:1.49 [[ 9.74683556e-01 -2.18210442e-01 -4.87459521e-02 2.73722414e+01] [ 2.19058628e-01 9.75628666e-01 1.27288503e-02 2.60590700e+00] [ 4.47803801e-02 -2.30848225e-02 9.98730098e-01 1.48877494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.39, Y:2.64, Z:1.47 [[ 9.74408602e-01 -2.22499886e-01 -3.19636807e-02 2.73920315e+01] [ 2.21577435e-01 9.74680734e-01 -3.00150972e-02 2.63780857e+00] [ 3.78327395e-02 2.21645385e-02 9.99038246e-01 1.47028135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:2.62, Z:1.49 [[ 9.75598179e-01 -2.15003605e-01 -4.45156521e-02 2.74230707e+01] [ 2.15621071e-01 9.76430795e-01 9.51089688e-03 2.61768070e+00] [ 4.14215764e-02 -1.88773263e-02 9.98963413e-01 1.49047052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.44, Y:2.64, Z:1.48 [[ 9.74672407e-01 -2.20429543e-01 -3.77427520e-02 2.74449544e+01] [ 2.20013091e-01 9.75383045e-01 -1.49048529e-02 2.63851060e+00] [ 4.00991103e-02 6.22344928e-03 9.99176326e-01 1.48387977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:2.63, Z:1.49 [[ 9.75665964e-01 -2.15215634e-01 -4.19304037e-02 2.74750282e+01] [ 2.15227087e-01 9.76554585e-01 -4.29449986e-03 2.63444189e+00] [ 4.18715715e-02 -4.83456132e-03 9.99111304e-01 1.49114906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.50, Y:2.65, Z:1.49 [[ 9.74705579e-01 -2.20183655e-01 -3.83170021e-02 2.75000940e+01] [ 2.19821653e-01 9.75447083e-01 -1.34695420e-02 2.64870449e+00] [ 4.03419809e-02 4.70593098e-03 9.99174849e-01 1.48647322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.53, Y:2.64, Z:1.50 [[ 9.75382777e-01 -2.15906029e-01 -4.48667479e-02 2.75327551e+01] [ 2.16400167e-01 9.76283730e-01 6.40679427e-03 2.64049072e+00] [ 4.24194105e-02 -1.59582485e-02 9.98972436e-01 1.49733061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:2.65, Z:1.49 [[ 9.74906956e-01 -2.18683306e-01 -4.16417891e-02 2.75617104e+01] [ 2.18460625e-01 9.75795739e-01 -9.88081008e-03 2.65409223e+00] [ 4.27946486e-02 5.35779201e-04 9.99083746e-01 1.49374395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:2.67, Z:1.48 [[ 9.73686284e-01 -2.25407288e-01 -3.35644933e-02 2.75794868e+01] [ 2.24737356e-01 9.74157312e-01 -2.25975987e-02 2.66872619e+00] [ 3.77907600e-02 1.44597764e-02 9.99181051e-01 1.48445551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.61, Y:2.67, Z:1.49 [[ 9.73447704e-01 -2.25897048e-01 -3.70147517e-02 2.76090240e+01] [ 2.25728099e-01 9.74151170e-01 -8.73636136e-03 2.66657535e+00] [ 3.80314819e-02 1.49121367e-04 9.99276530e-01 1.48969427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.64, Y:2.67, Z:1.49 [[ 9.73123403e-01 -2.27110181e-01 -3.81026043e-02 2.76365158e+01] [ 2.26931632e-01 9.73869063e-01 -9.00454303e-03 2.66982289e+00] [ 3.91519709e-02 1.15845371e-04 9.99233261e-01 1.49100562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:2.66, Z:1.51 [[ 9.73811371e-01 -2.21482622e-01 -5.13503730e-02 2.76771743e+01] [ 2.22369971e-01 9.74886120e-01 1.21921646e-02 2.65801411e+00] [ 4.73604133e-02 -2.32916495e-02 9.98606274e-01 1.50892626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.71, Y:2.67, Z:1.51 [[ 9.73401749e-01 -2.23657129e-01 -4.96640999e-02 2.77065369e+01] [ 2.23814478e-01 9.74628708e-01 -2.44148096e-03 2.66838356e+00] [ 4.89501121e-02 -8.73900277e-03 9.98762993e-01 1.50851475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.898040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.72, Y:2.70, Z:1.49 [[ 0.9719446 -0.23305066 -0.03179745 27.71770163] [ 0.23179844 0.97199568 -0.03865073 2.69921342] [ 0.03991456 0.03019577 0.99874674 1.48603624] [ 0. 0. 0. 1. ]] SLAMing on 30.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.75, Y:2.69, Z:1.50 [[ 9.71592351e-01 -2.33462066e-01 -3.87784467e-02 2.77482751e+01] [ 2.33280342e-01 9.72365906e-01 -9.21019303e-03 2.68892700e+00] [ 3.98570701e-02 -9.76962055e-05 9.99205387e-01 1.49660753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.958040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.78, Y:2.69, Z:1.50 [[ 9.71292329e-01 -2.34710941e-01 -3.87554541e-02 2.77762437e+01] [ 2.34529949e-01 9.72065201e-01 -9.21671272e-03 2.69324402e+00] [ 3.98360916e-02 -1.37192306e-04 9.99206218e-01 1.49844903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988040941999998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:27.80, Y:2.70, Z:1.50 [[ 9.70715341e-01 -2.37083249e-01 -3.87718888e-02 2.78030427e+01] [ 2.36903552e-01 9.71489312e-01 -9.23170834e-03 2.69565705e+00] [ 3.98551590e-02 -2.23837248e-04 9.99205442e-01 1.49964752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.83, Y:2.70, Z:1.50 [[ 9.71374099e-01 -2.33294058e-01 -4.47910945e-02 2.78346483e+01] [ 2.33108073e-01 9.72405357e-01 -9.40469397e-03 2.69525302e+00] [ 4.57491594e-02 -1.30568961e-03 9.98952106e-01 1.50470549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:2.70, Z:1.51 [[ 9.70279226e-01 -2.37954497e-01 -4.39986500e-02 2.78674784e+01] [ 2.38089650e-01 9.71240647e-01 -2.21911224e-03 2.69752548e+00] [ 4.32613250e-02 -8.32246467e-03 9.99029126e-01 1.50778232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.078040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.89, Y:2.71, Z:1.51 [[ 9.69991735e-01 -2.39452998e-01 -4.21698553e-02 2.78941749e+01] [ 2.39224502e-01 9.70907956e-01 -1.04584387e-02 2.70654449e+00] [ 4.34473525e-02 5.65364015e-05 9.99055716e-01 1.50577692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:2.71, Z:1.51 [[ 9.69650020e-01 -2.40912089e-01 -4.17157592e-02 2.79190047e+01] [ 2.40626819e-01 9.70545919e-01 -1.18047676e-02 2.71255700e+00] [ 4.33309711e-02 1.40856273e-03 9.99059779e-01 1.50555396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.95, Y:2.71, Z:1.51 [[ 9.69237780e-01 -2.42209999e-01 -4.37314893e-02 2.79467219e+01] [ 2.42067081e-01 9.70221271e-01 -8.61467924e-03 2.71447016e+00] [ 4.45157826e-02 -2.23628139e-03 9.99006178e-01 1.50879761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:27.97, Y:2.71, Z:1.52 [[ 9.69626588e-01 -2.39866118e-01 -4.78385374e-02 2.79731783e+01] [ 2.40314258e-01 9.70687851e-01 3.76197181e-03 2.71251503e+00] [ 4.55339175e-02 -1.51439905e-02 9.98847997e-01 1.51819982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.198040942 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:27.99, Y:2.74, Z:1.50 [[ 9.68354689e-01 -2.47060415e-01 -3.53602428e-02 2.79929195e+01] [ 2.46105917e-01 9.68801208e-01 -2.92591183e-02 2.74024777e+00] [ 4.14858159e-02 1.96308395e-02 9.98946223e-01 1.50073366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:28.03, Y:2.73, Z:1.51 [[ 9.68818612e-01 -2.43722121e-01 -4.46096994e-02 2.80307517e+01] [ 2.43807165e-01 9.69817019e-01 -3.60777365e-03 2.72779137e+00] [ 4.41425399e-02 -7.38088609e-03 9.98997977e-01 1.51327583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.05, Y:2.74, Z:1.51 [[ 9.67945189e-01 -2.48223906e-01 -3.83014885e-02 2.80496206e+01] [ 2.47793906e-01 9.68686061e-01 -1.56682780e-02 2.74269446e+00] [ 4.09913592e-02 5.67515888e-03 9.99143384e-01 1.50705329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.07, Y:2.78, Z:1.47 [[ 9.67047934e-01 -2.54463214e-01 -8.17111608e-03 2.80672512e+01] [ 2.53172423e-01 9.64538747e-01 -7.46239256e-02 2.78473430e+00] [ 2.68704020e-02 7.00962118e-02 9.97178270e-01 1.46678346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:2.72, Z:1.53 [[ 0.96867748 -0.24092812 -0.06014628 28.12234253] [ 0.2440083 0.96845809 0.0504863 2.71814534] [ 0.04608558 -0.06358113 0.99691201 1.53412906] [ 0. 0. 0. 1. ]] SLAMing on 31.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.13, Y:2.78, Z:1.48 [[ 9.67751182e-01 -2.51267486e-01 -1.79527416e-02 2.81291681e+01] [ 2.49937554e-01 9.66636233e-01 -5.60857593e-02 2.78417078e+00] [ 3.14462982e-02 4.97899955e-02 9.98264537e-01 1.47801643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.378040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.18, Y:2.73, Z:1.54 [[ 0.96940936 -0.23892173 -0.05623068 28.17690682] [ 0.24183319 0.96890549 0.0523341 2.72648836] [ 0.04197846 -0.06433161 0.99704526 1.53831345] [ 0. 0. 0. 1. ]] SLAMing on 31.408040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.20, Y:2.77, Z:1.51 [[ 9.68848475e-01 -2.45068398e-01 -3.56947221e-02 2.81984690e+01] [ 2.44371749e-01 9.69413773e-01 -2.27900146e-02 2.77136129e+00] [ 4.01880676e-02 1.33572892e-02 9.99102849e-01 1.50768618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.22, Y:2.77, Z:1.51 [[ 9.69383686e-01 -2.42629507e-01 -3.77649410e-02 2.82243701e+01] [ 2.42281174e-01 9.70110592e-01 -1.36114934e-02 2.77221447e+00] [ 3.99387192e-02 4.04502545e-03 9.99193943e-01 1.51189879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:28.25, Y:2.77, Z:1.52 [[ 9.69557680e-01 -2.41880541e-01 -3.81012978e-02 2.82514248e+01] [ 2.41905533e-01 9.70291468e-01 -4.02238026e-03 2.77249218e+00] [ 3.79422997e-02 -5.31698508e-03 9.99265786e-01 1.51643752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.498040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.28, Y:2.78, Z:1.52 [[ 9.69425184e-01 -2.42473460e-01 -3.77019023e-02 2.82783322e+01] [ 2.42369860e-01 9.70155980e-01 -7.36385071e-03 2.77970170e+00] [ 3.83622643e-02 -1.99910245e-03 9.99261898e-01 1.51663473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.30, Y:2.78, Z:1.52 [[ 9.69651527e-01 -2.41528974e-01 -3.79429996e-02 2.83045578e+01] [ 2.41289957e-01 9.70392680e-01 -1.08260622e-02 2.78458569e+00] [ 3.94344167e-02 1.34224300e-03 9.99221259e-01 1.51619113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.558040941999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.33, Y:2.79, Z:1.52 [[ 9.69737501e-01 -2.41201089e-01 -3.78313771e-02 2.83329619e+01] [ 2.41255989e-01 9.70456317e-01 -3.17567839e-03 2.78640361e+00] [ 3.74796760e-02 -6.04747186e-03 9.99279091e-01 1.52089312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.36, Y:2.79, Z:1.53 [[ 9.69855896e-01 -2.40108642e-01 -4.15617777e-02 2.83616131e+01] [ 2.40170631e-01 9.70724126e-01 -3.56936777e-03 2.79092195e+00] [ 4.12020563e-02 -6.52014598e-03 9.99129560e-01 1.52502196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:2.80, Z:1.53 [[ 9.69813875e-01 -2.40148633e-01 -4.23046386e-02 2.83900423e+01] [ 2.40204366e-01 9.70714760e-01 -3.83634626e-03 2.79669477e+00] [ 4.19870304e-02 -6.44121705e-03 9.99097393e-01 1.52589036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.42, Y:2.81, Z:1.52 [[ 9.69751183e-01 -2.40663432e-01 -4.07891653e-02 2.84170963e+01] [ 2.40478090e-01 9.70608425e-01 -9.46433741e-03 2.80646226e+00] [ 4.18680274e-02 -6.30848150e-04 9.99122951e-01 1.52468591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.678040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:28.45, Y:2.82, Z:1.52 [[ 9.69309863e-01 -2.42873564e-01 -3.80896453e-02 2.84457540e+01] [ 2.42592266e-01 9.70055214e-01 -1.19111209e-02 2.81666668e+00] [ 3.98419554e-02 2.30531361e-03 9.99203335e-01 1.52310003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.47, Y:2.83, Z:1.52 [[ 9.68356770e-01 -2.47037756e-01 -3.54614242e-02 2.84668316e+01] [ 2.46595712e-01 9.68979510e-01 -1.64092671e-02 2.82730425e+00] [ 3.84151020e-02 7.14538971e-03 9.99236320e-01 1.52111138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.738040941999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.50, Y:2.83, Z:1.53 [[ 9.68207579e-01 -2.47439777e-01 -3.67102171e-02 2.84950442e+01] [ 2.47369439e-01 9.68899314e-01 -6.51764921e-03 2.82814721e+00] [ 3.71812299e-02 -2.77054845e-03 9.99304698e-01 1.52625756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.53, Y:2.83, Z:1.53 [[ 9.68914968e-01 -2.44347775e-01 -3.87033579e-02 2.85289087e+01] [ 2.44628279e-01 9.69613417e-01 2.61267595e-03 2.82598469e+00] [ 3.68888935e-02 -1.19993967e-02 9.99247329e-01 1.53360744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.798040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.56, Y:2.84, Z:1.53 [[ 9.68246973e-01 -2.47554656e-01 -3.48495615e-02 2.85553993e+01] [ 2.47075647e-01 9.68838028e-01 -1.75071542e-02 2.84192965e+00] [ 3.80975580e-02 8.34077113e-03 9.99239214e-01 1.52604074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828040941999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.58, Y:2.84, Z:1.53 [[ 9.67964932e-01 -2.48816115e-01 -3.36813127e-02 2.85831726e+01] [ 2.48720612e-01 9.68549518e-01 -7.06318329e-03 2.84450748e+00] [ 3.43794530e-02 -1.54032300e-03 9.99407665e-01 1.52797300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.62, Y:2.84, Z:1.55 [[ 9.68108336e-01 -2.45891734e-01 -4.79948387e-02 2.86193302e+01] [ 2.46680088e-01 9.69032632e-01 1.11665299e-02 2.83811214e+00] [ 4.37628075e-02 -2.26497818e-02 9.98785164e-01 1.54641667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.64, Y:2.86, Z:1.53 [[ 9.67800239e-01 -2.48703759e-01 -3.88476141e-02 2.86426133e+01] [ 2.48257735e-01 9.68562055e-01 -1.59888389e-02 2.85871376e+00] [ 4.16028093e-02 5.82978143e-03 9.99117220e-01 1.53424652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.918040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.67, Y:2.86, Z:1.54 [[ 9.67624449e-01 -2.49319411e-01 -3.92779474e-02 2.86713694e+01] [ 2.49139211e-01 9.68421125e-01 -9.49623975e-03 2.86293031e+00] [ 4.04051909e-02 -5.96883055e-04 9.99183199e-01 1.53644143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.69, Y:2.88, Z:1.52 [[ 9.66301248e-01 -2.55764058e-01 -2.90971770e-02 2.86878077e+01] [ 2.54896980e-01 9.66488844e-01 -3.04441236e-02 2.88489739e+00] [ 3.59086095e-02 2.20014121e-02 9.99112861e-01 1.52157294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.978040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.73, Y:2.86, Z:1.55 [[ 9.67811385e-01 -2.47245314e-01 -4.70199714e-02 2.87318450e+01] [ 2.48689834e-01 9.68185070e-01 2.77675687e-02 2.85772017e+00] [ 3.86586330e-02 -3.85671580e-02 9.98507929e-01 1.55297483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.75, Y:2.89, Z:1.54 [[ 9.67767234e-01 -2.48705363e-01 -3.96512790e-02 2.87532207e+01] [ 2.48214803e-01 9.68557109e-01 -1.69274267e-02 2.88573622e+00] [ 4.26144700e-02 6.53977453e-03 9.99070187e-01 1.53730553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.78, Y:2.89, Z:1.54 [[ 9.67533878e-01 -2.49732849e-01 -3.88805760e-02 2.87788829e+01] [ 2.49460727e-01 9.68313289e-01 -1.17779280e-02 2.89080450e+00] [ 4.05899140e-02 1.69636762e-03 9.99174450e-01 1.53725617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.81, Y:2.90, Z:1.53 [[ 9.66310692e-01 -2.54767534e-01 -3.65670661e-02 2.88104372e+01] [ 2.54327410e-01 9.66980815e-01 -1.62994337e-02 2.90346404e+00] [ 3.95122179e-02 6.45030987e-03 9.99198268e-01 1.53403566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.098040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:28.82, Y:2.92, Z:1.53 [[ 9.66113533e-01 -2.56485966e-01 -2.89756832e-02 2.88243457e+01] [ 2.55769303e-01 9.66381040e-01 -2.62630617e-02 2.91742848e+00] [ 3.47376576e-02 1.79620090e-02 9.99235038e-01 1.52556965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:28.85, Y:2.91, Z:1.53 [[ 9.66119595e-01 -2.55937207e-01 -3.33027678e-02 2.88547644e+01] [ 2.55786073e-01 9.66693408e-01 -8.79427857e-03 2.91497617e+00] [ 3.44443492e-02 -2.20593578e-05 9.99406617e-01 1.53263226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.90, Y:2.90, Z:1.56 [[ 9.67224384e-01 -2.49025797e-01 -4.96300598e-02 2.88973545e+01] [ 2.50243800e-01 9.67977075e-01 1.99605503e-02 2.90151540e+00] [ 4.30700681e-02 -3.17259458e-02 9.98568192e-01 1.55614247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.92, Y:2.92, Z:1.54 [[ 9.67765439e-01 -2.48991655e-01 -3.78577855e-02 2.89172032e+01] [ 2.48881874e-01 9.68503548e-01 -7.66091120e-03 2.92186340e+00] [ 3.85729025e-02 -2.00815150e-03 9.99253771e-01 1.54359471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.218040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.93, Y:2.95, Z:1.52 [[ 9.66601513e-01 -2.55022258e-01 -2.54000715e-02 2.89308748e+01] [ 2.53816545e-01 9.66301723e-01 -4.28735548e-02 2.95236319e+00] [ 3.54778436e-02 3.49946845e-02 9.98757576e-01 1.52247883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248040941999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.98, Y:2.92, Z:1.55 [[ 9.67881743e-01 -2.47414755e-01 -4.46191675e-02 2.89754968e+01] [ 2.48536229e-01 9.68382887e-01 2.15482315e-02 2.92136071e+00] [ 3.78770879e-02 -3.19456195e-02 9.98771647e-01 1.55376477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.278040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:29.00, Y:2.95, Z:1.54 [[ 9.68164351e-01 -2.48323222e-01 -3.15177190e-02 2.89962529e+01] [ 2.47900072e-01 9.68640762e-01 -1.67519605e-02 2.94885809e+00] [ 3.46892482e-02 8.40540616e-03 9.99362800e-01 1.53617529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.03, Y:2.94, Z:1.55 [[ 9.68885006e-01 -2.44511248e-01 -3.84199832e-02 2.90282121e+01] [ 2.44891777e-01 9.69535050e-01 5.45927643e-03 2.94422874e+00] [ 3.59146658e-02 -1.46981490e-02 9.99246767e-01 1.54797210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:2.96, Z:1.53 [[ 9.69090225e-01 -2.44938479e-01 -2.94835241e-02 2.90534166e+01] [ 2.44721526e-01 9.69533138e-01 -1.08105555e-02 2.96188367e+00] [ 3.12331747e-02 3.26115062e-03 9.99506805e-01 1.53335309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:2.96, Z:1.54 [[ 9.69653393e-01 -2.41581714e-01 -3.75575936e-02 2.90759812e+01] [ 2.41468534e-01 9.70378973e-01 -7.58922007e-03 2.96005042e+00] [ 3.82785159e-02 -1.71006406e-03 9.99265646e-01 1.53986071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.398040941999994 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:29.10, Y:2.99, Z:1.53 [[ 9.67878776e-01 -2.50153416e-01 -2.51782526e-02 2.90990493e+01] [ 2.49044692e-01 9.67650838e-01 -4.03558939e-02 2.99367533e+00] [ 3.44589219e-02 3.27891030e-02 9.98868088e-01 1.52937284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428040941999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.14, Y:2.97, Z:1.55 [[ 9.68735933e-01 -2.44737912e-01 -4.06699833e-02 2.91375965e+01] [ 2.45583507e-01 9.69222603e-01 1.72129779e-02 2.96811830e+00] [ 3.52055988e-02 -2.66627073e-02 9.99024357e-01 1.55414493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.458040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:29.16, Y:2.99, Z:1.54 [[ 9.68354199e-01 -2.47611169e-01 -3.12866589e-02 2.91622474e+01] [ 2.47343094e-01 9.68850805e-01 -1.22274831e-02 2.99067508e+00] [ 3.33397661e-02 4.10199556e-03 9.99435658e-01 1.54095105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.19, Y:3.00, Z:1.54 [[ 9.67971148e-01 -2.49347496e-01 -2.92862318e-02 2.91877781e+01] [ 2.49182094e-01 9.68412701e-01 -9.22633786e-03 2.99647723e+00] [ 3.06617231e-02 1.63322430e-03 9.99528484e-01 1.54055183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.21, Y:3.00, Z:1.54 [[ 9.67108983e-01 -2.52626589e-01 -2.96651519e-02 2.92143121e+01] [ 2.52593740e-01 9.67559962e-01 -4.91140891e-03 3.00126889e+00] [ 2.99435657e-02 -2.74336398e-03 9.99547826e-01 1.54109128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.24, Y:3.01, Z:1.54 [[ 9.66602017e-01 -2.54574332e-01 -2.95372554e-02 2.92436985e+01] [ 2.54390440e-01 9.67051050e-01 -9.88792111e-03 3.00667313e+00] [ 3.10812448e-02 2.04368908e-03 9.99514772e-01 1.54291069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.27, Y:3.01, Z:1.54 [[ 9.65867232e-01 -2.57622649e-01 -2.70381387e-02 2.92717144e+01] [ 2.57371321e-01 9.66232292e-01 -1.24563736e-02 3.01458453e+00] [ 2.93341666e-02 5.07236160e-03 9.99556791e-01 1.54105418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.30, Y:3.02, Z:1.54 [[ 9.64972848e-01 -2.61164491e-01 -2.49100707e-02 2.92985717e+01] [ 2.60853163e-01 9.65260725e-01 -1.50784871e-02 3.02202211e+00] [ 2.79826783e-02 8.05245994e-03 9.99575974e-01 1.53811711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.638040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.33, Y:3.03, Z:1.54 [[ 9.64631534e-01 -2.62184358e-01 -2.73013825e-02 2.93275547e+01] [ 2.62076853e-01 9.65017800e-01 -7.50788028e-03 3.02506894e+00] [ 2.83147689e-02 8.72776385e-05 9.99599053e-01 1.54134404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:3.03, Z:1.54 [[ 9.64213609e-01 -2.63412374e-01 -3.01004623e-02 2.93583795e+01] [ 2.63463344e-01 9.64666591e-01 -2.33137519e-03 3.02934532e+00] [ 2.96510234e-02 -5.68242476e-03 9.99544160e-01 1.54454668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.39, Y:3.03, Z:1.54 [[ 9.62952726e-01 -2.68005113e-01 -2.99216811e-02 2.93858798e+01] [ 2.68257712e-01 9.63335726e-01 4.69874500e-03 3.03366502e+00] [ 2.75653367e-02 -1.25513910e-02 9.99541202e-01 1.54229452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.41, Y:3.05, Z:1.54 [[ 9.63756189e-01 -2.65324401e-01 -2.78741925e-02 2.94125772e+01] [ 2.64954259e-01 9.64123331e-01 -1.62924322e-02 3.04844259e+00] [ 3.11969391e-02 8.31654633e-03 9.99478657e-01 1.54227540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.758040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:3.05, Z:1.55 [[ 9.63593108e-01 -2.65656754e-01 -3.02458424e-02 2.94418382e+01] [ 2.65456347e-01 9.64065348e-01 -1.05324939e-02 3.05232253e+00] [ 3.19569967e-02 2.12008770e-03 9.99486996e-01 1.54509256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788040941999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.47, Y:3.05, Z:1.55 [[ 9.63594858e-01 -2.65456460e-01 -3.19032363e-02 2.94697930e+01] [ 2.65532450e-01 9.64100035e-01 -1.90823939e-03 3.05485132e+00] [ 3.12644657e-02 -6.63257482e-03 9.99489141e-01 1.54970391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.50, Y:3.07, Z:1.54 [[ 9.63210435e-01 -2.67448356e-01 -2.64014109e-02 2.94957710e+01] [ 2.67154782e-01 9.63549768e-01 -1.41480027e-02 3.06972170e+00] [ 2.92229334e-02 6.57424066e-03 9.99551299e-01 1.54261966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:3.07, Z:1.54 [[ 9.63039895e-01 -2.67877405e-01 -2.82109300e-02 2.95244886e+01] [ 2.67734246e-01 9.63452561e-01 -8.80549042e-03 3.07386992e+00] [ 2.95386846e-02 9.27006496e-04 9.99563208e-01 1.54499179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:3.08, Z:1.55 [[ 9.62706806e-01 -2.68953590e-01 -2.93184547e-02 2.95523409e+01] [ 2.68961923e-01 9.63143576e-01 -3.73308654e-03 3.07764823e+00] [ 2.92419083e-02 -4.29168014e-03 9.99563151e-01 1.54937476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:3.09, Z:1.55 [[ 9.62336112e-01 -2.70245999e-01 -2.96024984e-02 2.95790625e+01] [ 2.70159608e-01 9.62790424e-01 -6.95595327e-03 3.08641749e+00] [ 3.03808205e-02 -1.30343433e-03 9.99537546e-01 1.54996102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.93804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:3.08, Z:1.56 [[ 9.62301528e-01 -2.69657798e-01 -3.55026943e-02 2.96116869e+01] [ 2.70282424e-01 9.62678284e-01 1.40688860e-02 3.08225508e+00] [ 3.03838880e-02 -2.31342648e-02 9.99270547e-01 1.56368635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:3.10, Z:1.55 [[ 9.62465688e-01 -2.69956133e-01 -2.79908019e-02 2.96334988e+01] [ 2.69688062e-01 9.62859740e-01 -1.30180560e-02 3.10384141e+00] [ 3.04655203e-02 4.98064708e-03 9.99523409e-01 1.55311379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.998040941999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:29.67, Y:3.10, Z:1.56 [[ 9.62404077e-01 -2.69481980e-01 -3.40272739e-02 2.96654957e+01] [ 2.69806032e-01 9.62900467e-01 5.23405411e-03 3.10166542e+00] [ 3.13543946e-02 -1.42180388e-02 9.99407199e-01 1.56214724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.69, Y:3.12, Z:1.56 [[ 9.62873314e-01 -2.68554834e-01 -2.74459765e-02 2.96899482e+01] [ 2.68296918e-01 9.63251858e-01 -1.27523421e-02 3.11959615e+00] [ 2.98620910e-02 4.91521897e-03 9.99541943e-01 1.55619891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.72, Y:3.12, Z:1.57 [[ 9.64105984e-01 -2.63357706e-01 -3.37989526e-02 2.97202397e+01] [ 2.63743452e-01 9.64564226e-01 7.43271530e-03 3.11716476e+00] [ 3.06437977e-02 -1.60801777e-02 9.99401013e-01 1.56936181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:29.75, Y:3.12, Z:1.58 [[ 9.65038564e-01 -2.58614296e-01 -4.26522733e-02 2.97529055e+01] [ 2.59471880e-01 9.65620142e-01 1.58771680e-02 3.11721786e+00] [ 3.70798316e-02 -2.63891450e-02 9.98963813e-01 1.58209991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.11804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.78, Y:3.15, Z:1.56 [[ 9.64224973e-01 -2.63572527e-01 -2.82794169e-02 2.97796166e+01] [ 2.63143642e-01 9.64588514e-01 -1.80117296e-02 3.14897535e+00] [ 3.20253978e-02 9.92581072e-03 9.99437768e-01 1.56496120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.81, Y:3.14, Z:1.58 [[ 9.65575355e-01 -2.57438954e-01 -3.72749188e-02 2.98119799e+01] [ 2.57735282e-01 9.66209956e-01 3.29324437e-03 3.14494122e+00] [ 3.51675883e-02 -1.27869373e-02 9.99299622e-01 1.57800448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.178040941999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:29.83, Y:3.16, Z:1.57 [[ 9.65507760e-01 -2.58480569e-01 -3.13458224e-02 2.98344542e+01] [ 2.58165539e-01 9.66002384e-01 -1.37822016e-02 3.16300749e+00] [ 3.38425705e-02 5.21441148e-03 9.99413573e-01 1.57055133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:3.18, Z:1.56 [[ 9.65808505e-01 -2.58342174e-01 -2.17543540e-02 2.98569495e+01] [ 2.58026776e-01 9.66000542e-01 -1.62829638e-02 3.17689831e+00] [ 2.52212940e-02 1.01130191e-02 9.99630738e-01 1.56106780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.238040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.89, Y:3.17, Z:1.57 [[ 9.66022012e-01 -2.56311789e-01 -3.32526519e-02 2.98932686e+01] [ 2.56491888e-01 9.66545644e-01 1.19588933e-03 3.17399516e+00] [ 3.18336853e-02 -9.68429090e-03 9.99446262e-01 1.57354829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:29.92, Y:3.19, Z:1.56 [[ 9.65356653e-01 -2.59765121e-01 -2.46701277e-02 2.99150458e+01] [ 2.59493004e-01 9.65647638e-01 -1.37120440e-02 3.19471033e+00] [ 2.73845613e-02 6.83528731e-03 9.99601603e-01 1.56404179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29804094199999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:29.94, Y:3.19, Z:1.57 [[ 9.65781394e-01 -2.57565091e-01 -3.04388394e-02 2.99425371e+01] [ 2.57812298e-01 9.66184868e-01 4.42942567e-03 3.19256496e+00] [ 2.82686806e-02 -1.21253640e-02 9.99526817e-01 1.57295277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:3.22, Z:1.56 [[ 9.65513738e-01 -2.59651697e-01 -1.90845014e-02 2.99635529e+01] [ 2.59236121e-01 9.65568573e-01 -2.17707090e-02 3.21737050e+00] [ 2.40801963e-02 1.60725265e-02 9.99580821e-01 1.55842321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.99, Y:3.21, Z:1.57 [[ 9.65490827e-01 -2.58880659e-01 -2.84300445e-02 2.99945982e+01] [ 2.59082433e-01 9.65848522e-01 3.59517160e-03 3.21089146e+00] [ 2.65283961e-02 -1.08368303e-02 9.99589319e-01 1.57065120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388040941999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:30.02, Y:3.23, Z:1.56 [[ 9.64789134e-01 -2.62046090e-01 -2.26666004e-02 3.00194305e+01] [ 2.61719992e-01 9.65004927e-01 -1.63748904e-02 3.22844126e+00] [ 2.61643570e-02 9.86601381e-03 9.99608968e-01 1.56016564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.05, Y:3.23, Z:1.56 [[ 9.64638222e-01 -2.62295372e-01 -2.59661103e-02 3.00492117e+01] [ 2.62074810e-01 9.64977578e-01 -1.16218360e-02 3.23463204e+00] [ 2.81050681e-02 4.40580380e-03 9.99595265e-01 1.56495173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.08, Y:3.23, Z:1.57 [[ 9.63986854e-01 -2.64408494e-01 -2.85918505e-02 3.00796371e+01] [ 2.64647097e-01 9.64333174e-01 4.84193413e-03 3.23458585e+00] [ 2.62918214e-02 -1.22343111e-02 9.99579442e-01 1.57147950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.11, Y:3.25, Z:1.57 [[ 9.63846275e-01 -2.65140616e-01 -2.64728613e-02 3.01058656e+01] [ 2.65090873e-01 9.64208115e-01 -5.43512222e-03 3.24878134e+00] [ 2.69664193e-02 -1.77909160e-03 9.99634757e-01 1.56846469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.13, Y:3.26, Z:1.57 [[ 9.63509624e-01 -2.66592274e-01 -2.40367323e-02 3.01322075e+01] [ 2.66457592e-01 9.63807369e-01 -8.70099829e-03 3.25876470e+00] [ 2.54863987e-02 1.97872577e-03 9.99673211e-01 1.56532702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.538040941999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:30.16, Y:3.26, Z:1.57 [[ 9.63254968e-01 -2.67459909e-01 -2.45980549e-02 3.01581097e+01] [ 2.67434265e-01 9.63566118e-01 -4.38739286e-03 3.26387287e+00] [ 2.48753040e-02 -2.35218479e-03 9.99687795e-01 1.56771473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568040941999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:30.19, Y:3.27, Z:1.57 [[ 9.63068432e-01 -2.68219581e-01 -2.36104287e-02 3.01860535e+01] [ 2.68166548e-01 9.63357187e-01 -5.44356539e-03 3.27270457e+00] [ 2.42053470e-02 -1.08900117e-03 9.99706415e-01 1.56722598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:3.28, Z:1.57 [[ 9.62508199e-01 -2.70242803e-01 -2.33836236e-02 3.02131573e+01] [ 2.70191388e-01 9.62791541e-01 -5.39091526e-03 3.28030205e+00] [ 2.39704110e-02 -1.12925357e-03 9.99712031e-01 1.56703317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.24, Y:3.28, Z:1.57 [[ 9.62357904e-01 -2.70282249e-01 -2.85441782e-02 3.02410056e+01] [ 2.70368514e-01 9.62756520e-01 -8.66088201e-04 3.28333199e+00] [ 2.77151819e-02 -6.88396020e-03 9.99592157e-01 1.57329938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.27, Y:3.29, Z:1.57 [[ 9.61378818e-01 -2.74155030e-01 -2.42855389e-02 3.02705022e+01] [ 2.74258743e-01 9.61655435e-01 9.82956467e-04 3.29177050e+00] [ 2.30848380e-02 -7.60551490e-03 9.99704580e-01 1.57291155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.30, Y:3.31, Z:1.57 [[ 9.61200111e-01 -2.74944620e-01 -2.23562701e-02 3.02958193e+01] [ 2.74704227e-01 9.61437421e-01 -1.32541447e-02 3.30660876e+00] [ 2.51383105e-02 6.59852343e-03 9.99662205e-01 1.56616302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:3.31, Z:1.57 [[ 9.60821640e-01 -2.76092208e-01 -2.43899501e-02 3.03240354e+01] [ 2.76085916e-01 9.61125870e-01 -3.69172641e-03 3.31045485e+00] [ 2.44610689e-02 -3.18663110e-03 9.99695704e-01 1.56930183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748040941999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:30.35, Y:3.32, Z:1.56 [[ 9.60285306e-01 -2.78384483e-01 -1.88205040e-02 3.03484389e+01] [ 2.78145903e-01 9.60431791e-01 -1.43398743e-02 3.32431196e+00] [ 2.20678088e-02 8.53552453e-03 9.99720039e-01 1.56037903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.778040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.38, Y:3.33, Z:1.56 [[ 9.60182783e-01 -2.78695577e-01 -1.94370586e-02 3.03755227e+01] [ 2.78541177e-01 9.60369073e-01 -1.02983532e-02 3.33069283e+00] [ 2.15368554e-02 4.47428027e-03 9.99758043e-01 1.56166340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.40, Y:3.34, Z:1.56 [[ 9.60614069e-01 -2.77162077e-01 -2.00447791e-02 3.04026223e+01] [ 2.77071064e-01 9.60822160e-01 -7.23895482e-03 3.33590106e+00] [ 2.12658317e-02 1.40001358e-03 9.99772876e-01 1.56364302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.838040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:30.43, Y:3.34, Z:1.56 [[ 9.60442313e-01 -2.77917441e-01 -1.76765314e-02 3.04297171e+01] [ 2.77839342e-01 9.60603631e-01 -6.77974753e-03 3.34419585e+00] [ 1.88643503e-02 1.60032056e-03 9.99820772e-01 1.56145225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.45, Y:3.35, Z:1.56 [[ 9.60609707e-01 -2.77605506e-01 -1.28129929e-02 3.04522723e+01] [ 2.77489222e-01 9.60675257e-01 -1.01381639e-02 3.35493416e+00] [ 1.51235353e-02 6.18335126e-03 9.99866514e-01 1.55553579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.898040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:30.49, Y:3.36, Z:1.56 [[ 9.60402702e-01 -2.78087650e-01 -1.71437938e-02 3.04854585e+01] [ 2.78166519e-01 9.60529983e-01 2.35366801e-03 3.35749205e+00] [ 1.58126020e-02 -7.02929857e-03 9.99850264e-01 1.56094655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:3.36, Z:1.57 [[ 9.61205900e-01 -2.75167035e-01 -1.91394978e-02 3.05121858e+01] [ 2.75313810e-01 9.61338913e-01 5.45889386e-03 3.36243286e+00] [ 1.68974363e-02 -1.05164890e-02 9.99801920e-01 1.56577183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:3.37, Z:1.56 [[ 9.61482713e-01 -2.74466372e-01 -1.48054884e-02 3.05403213e+01] [ 2.74533534e-01 9.61573811e-01 2.67278105e-03 3.37226675e+00] [ 1.35029814e-02 -6.63443584e-03 9.99886820e-01 1.56383750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988040942 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:30.55, Y:3.41, Z:1.54 [[ 9.60142102e-01 -2.79492745e-01 3.30893744e-03 3.05540891e+01] [ 2.79422621e-01 9.59466771e-01 -3.66948723e-02 3.40589452e+00] [ 7.08113508e-03 3.61568838e-02 9.99321038e-01 1.53713733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.018040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.58, Y:3.40, Z:1.55 [[ 9.60834677e-01 -2.77065713e-01 -5.59591368e-03 3.05832244e+01] [ 2.77031013e-01 9.60840631e-01 -6.25293953e-03 3.39668639e+00] [ 7.10925638e-03 4.45779950e-03 9.99964793e-01 1.54898032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:3.38, Z:1.58 [[ 9.62400951e-01 -2.70724716e-01 -2.21931978e-02 3.06246435e+01] [ 2.71397665e-01 9.61752099e-01 3.70972594e-02 3.37614944e+00] [ 1.13012096e-02 -4.17256197e-02 9.99065191e-01 1.57820951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.078040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.63, Y:3.43, Z:1.54 [[ 9.60915094e-01 -2.76799293e-01 4.93277868e-03 3.06341129e+01] [ 2.76784767e-01 9.60193407e-01 -3.76671414e-02 3.42695044e+00] [ 5.68981655e-03 3.75602427e-02 9.99278167e-01 1.53816342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.67, Y:3.41, Z:1.56 [[ 9.61588289e-01 -2.74296132e-01 -1.04687722e-02 3.06742979e+01] [ 2.74385210e-01 9.61584114e-01 8.29147223e-03 3.40846210e+00] [ 7.79228624e-03 -1.08454588e-02 9.99910824e-01 1.55891846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.69, Y:3.44, Z:1.54 [[ 9.60957539e-01 -2.76672263e-01 3.61490601e-03 3.06935969e+01] [ 2.76676245e-01 9.60651721e-01 -2.44648070e-02 3.43714428e+00] [ 3.29606784e-03 2.45097993e-02 9.99694156e-01 1.53688817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.72, Y:3.43, Z:1.55 [[ 9.61405610e-01 -2.75123196e-01 -2.54573319e-03 3.07240250e+01] [ 2.75125889e-01 9.61407901e-01 7.69442656e-04 3.43147821e+00] [ 2.23579648e-03 -1.44014359e-03 9.99996464e-01 1.54598182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.75, Y:3.44, Z:1.55 [[ 9.61746268e-01 -2.73901453e-01 -4.70209436e-03 3.07516430e+01] [ 2.73912643e-01 9.61752667e-01 1.91613109e-03 3.43703034e+00] [ 3.99742070e-03 -3.13079502e-03 9.99987109e-01 1.54851890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.78, Y:3.45, Z:1.55 [[ 9.61895976e-01 -2.73357059e-01 -5.66116071e-03 3.07770366e+01] [ 2.73358207e-01 9.61912131e-01 -5.84972160e-04 3.44625060e+00] [ 5.60544544e-03 -9.84842378e-04 9.99983804e-01 1.54821330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.258040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.80, Y:3.46, Z:1.54 [[ 9.61459581e-01 -2.74937483e-01 -2.20316410e-03 3.08026146e+01] [ 2.74898151e-01 9.61410284e-01 -1.10123845e-02 3.46176949e+00] [ 5.14586190e-03 9.98231687e-03 9.99936935e-01 1.54031815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:3.46, Z:1.55 [[ 9.61251692e-01 -2.75574212e-01 -7.35105386e-03 3.08286520e+01] [ 2.75645816e-01 9.61186971e-01 1.17894760e-02 3.45899393e+00] [ 3.81686165e-03 -1.33589409e-02 9.99903480e-01 1.54957150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.86, Y:3.46, Z:1.56 [[ 9.61656404e-01 -2.73963897e-01 -1.26784832e-02 3.08628636e+01] [ 2.74185965e-01 9.61431990e-01 2.16929781e-02 3.45784019e+00] [ 6.24640657e-03 -2.43374535e-02 9.99684286e-01 1.55809980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.88, Y:3.48, Z:1.54 [[ 9.61319564e-01 -2.75408621e-01 -3.84539490e-03 3.08840383e+01] [ 2.75370701e-01 9.61302594e-01 -8.26433028e-03 3.48012830e+00] [ 5.97265589e-03 6.88575329e-03 9.99958456e-01 1.54491349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.378040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.91, Y:3.50, Z:1.54 [[ 9.60023066e-01 -2.79920492e-01 4.80738115e-04 3.09079516e+01] [ 2.79881424e-01 9.59857403e-01 -1.84432841e-02 3.49537335e+00] [ 4.70121313e-03 1.78405279e-02 9.99829793e-01 1.53512071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40804094199999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:30.94, Y:3.49, Z:1.55 [[ 9.59831284e-01 -2.80380375e-01 -1.05238097e-02 3.09401569e+01] [ 2.80462383e-01 9.59837063e-01 7.32560607e-03 3.48885861e+00] [ 8.04718642e-03 -9.98287863e-03 9.99917789e-01 1.54779076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.96, Y:3.51, Z:1.53 [[ 9.59233592e-01 -2.82614387e-01 -1.58551707e-04 3.09611574e+01] [ 2.82574000e-01 9.59105701e-01 -1.63764575e-02 3.51140957e+00] [ 4.78029034e-03 1.56640456e-02 9.99865884e-01 1.53400748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.99, Y:3.51, Z:1.54 [[ 9.57923996e-01 -2.86939530e-01 -6.87926886e-03 3.09925702e+01] [ 2.86940033e-01 9.57948090e-01 -9.34976828e-04 3.51205708e+00] [ 6.85826428e-03 -1.07830090e-03 9.99975900e-01 1.54172709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.02, Y:3.52, Z:1.54 [[ 9.57342675e-01 -2.88895849e-01 -5.84730551e-03 3.10162726e+01] [ 2.88857645e-01 9.57349399e-01 -6.58704414e-03 3.52296898e+00] [ 7.50088413e-03 4.61701956e-03 9.99961209e-01 1.53937060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:3.52, Z:1.55 [[ 9.55845672e-01 -2.93658549e-01 -1.11223911e-02 3.10527163e+01] [ 2.93844539e-01 9.55570338e-01 2.32532994e-02 3.51609226e+00] [ 3.79969687e-03 -2.54948195e-02 9.99667733e-01 1.55221257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.07, Y:3.54, Z:1.54 [[ 9.55810066e-01 -2.93915835e-01 -6.37178924e-03 3.10725497e+01] [ 2.93753577e-01 9.55693276e-01 -1.89525435e-02 3.54269211e+00] [ 1.16599288e-02 1.62432960e-02 9.99800081e-01 1.53969282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:3.55, Z:1.54 [[ 9.55146568e-01 -2.96067126e-01 -6.26817160e-03 3.10987194e+01] [ 2.96024846e-01 9.55155555e-01 -6.86709471e-03 3.54634771e+00] [ 8.02019992e-03 4.70354741e-03 9.99956776e-01 1.53985410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.13, Y:3.54, Z:1.56 [[ 9.54460072e-01 -2.98000515e-01 -1.42008715e-02 3.11347190e+01] [ 2.98290885e-01 9.54077479e-01 2.75447269e-02 3.53768573e+00] [ 5.34038887e-03 -3.05263325e-02 9.99519696e-01 1.55567158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.16, Y:3.55, Z:1.55 [[ 9.53998168e-01 -2.99630032e-01 -1.04565143e-02 3.11622349e+01] [ 2.99747295e-01 9.53937606e-01 1.24339184e-02 3.55439462e+00] [ 6.24928684e-03 -1.49962472e-02 9.99868021e-01 1.55147990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:3.58, Z:1.54 [[ 9.54196893e-01 -2.99153641e-01 -3.92275679e-03 3.11820569e+01] [ 2.99027219e-01 9.54047771e-01 -1.93796921e-02 3.57855908e+00] [ 9.54000282e-03 1.73190309e-02 9.99804501e-01 1.53867234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.22, Y:3.57, Z:1.55 [[ 9.53616678e-01 -3.00870956e-01 -9.58646414e-03 3.12168889e+01] [ 3.00983401e-01 9.53526271e-01 1.40229509e-02 3.57024807e+00] [ 4.92184677e-03 -1.62578864e-02 9.99855718e-01 1.55068681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.24, Y:3.58, Z:1.55 [[ 9.53600955e-01 -3.00996821e-01 -6.79212666e-03 3.12441644e+01] [ 3.01031912e-01 9.53601453e-01 4.90470650e-03 3.58325863e+00] [ 5.00068079e-03 -6.72177968e-03 9.99964905e-01 1.54858598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.27, Y:3.60, Z:1.54 [[ 9.53929824e-01 -2.99966977e-01 -6.14026414e-03 3.12695483e+01] [ 2.99914069e-01 9.53930517e-01 -8.25344131e-03 3.59808062e+00] [ 8.33314519e-03 6.03165221e-03 9.99947088e-01 1.54426946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79804094199999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:31.29, Y:3.60, Z:1.55 [[ 9.55029371e-01 -2.96390182e-01 -8.47121723e-03 3.12936201e+01] [ 2.96420884e-01 9.55053860e-01 2.60450606e-03 3.60108960e+00] [ 7.31851869e-03 -4.99842549e-03 9.99960727e-01 1.54699202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828040941999994 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:31.32, Y:3.61, Z:1.55 [[ 9.54859145e-01 -2.96982649e-01 -6.73200953e-03 3.13230511e+01] [ 2.97028875e-01 9.54839718e-01 7.41351256e-03 3.60867041e+00] [ 4.22630549e-03 -9.07846147e-03 9.99949859e-01 1.54680445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.858040941999995 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:31.34, Y:3.63, Z:1.54 [[ 9.55250931e-01 -2.95794160e-01 1.21427146e-03 3.13448165e+01] [ 2.95782496e-01 9.55157001e-01 -1.37046630e-02 3.62917172e+00] [ 2.89393939e-03 1.34505523e-02 9.99905349e-01 1.53527118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888040941999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:31.37, Y:3.65, Z:1.53 [[ 9.56325031e-01 -2.92259988e-01 5.15117172e-03 3.13653662e+01] [ 2.92293596e-01 9.55979740e-01 -2.58300171e-02 3.64526249e+00] [ 2.62466470e-03 2.62075465e-02 9.99653078e-01 1.52645973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.918040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:31.40, Y:3.63, Z:1.54 [[ 9.56572158e-01 -2.91480829e-01 -2.93814116e-03 3.13998017e+01] [ 2.91483723e-01 9.56393341e-01 1.86819564e-02 3.63171805e+00] [-2.63541349e-03 -1.87270597e-02 9.99821160e-01 1.54275323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948040942 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:31.41, Y:3.67, Z:1.51 [[ 9.55155973e-01 -2.95071256e-01 2.46986232e-02 3.14131364e+01] [ 2.95761535e-01 9.54734806e-01 -3.17263871e-02 3.67334782e+00] [-1.42190903e-02 3.76085508e-02 9.99191380e-01 1.50636858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97804094199999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:31.46, Y:3.64, Z:1.54 [[ 9.56297508e-01 -2.92377389e-01 -3.24636092e-03 3.14556420e+01] [ 2.92337251e-01 9.55826926e-01 3.05584473e-02 3.64435627e+00] [-5.83163984e-03 -3.01719992e-02 9.99527710e-01 1.54332562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008040941999994 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:31.47, Y:3.69, Z:1.51 [[ 9.55050172e-01 -2.95423173e-01 2.45828726e-02 3.14692706e+01] [ 2.95995703e-01 9.54880622e-01 -2.42804693e-02 3.68592970e+00] [-1.63006954e-02 3.04654911e-02 9.99402892e-01 1.50835348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.038040941999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:31.51, Y:3.66, Z:1.54 [[ 9.56314451e-01 -2.92339326e-01 -6.24645205e-04 3.15058325e+01] [ 2.92272518e-01 9.56045633e-01 2.35270672e-02 3.66163057e+00] [-6.28069764e-03 -2.26818409e-02 9.99723005e-01 1.54200510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068040941999996 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:31.52, Y:3.70, Z:1.51 [[ 9.54792933e-01 -2.96400951e-01 2.27361305e-02 3.15246695e+01] [ 2.96800393e-01 9.54791983e-01 -1.67867725e-02 3.69568076e+00] [-1.67326598e-02 2.27759842e-02 9.99600557e-01 1.51156875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.098040942 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:31.56, Y:3.68, Z:1.54 [[ 9.55848416e-01 -2.93856092e-01 -1.55038490e-03 3.15577373e+01] [ 2.93821770e-01 9.55624868e-01 2.12103766e-02 3.67922211e+00] [-4.75121201e-03 -2.07294417e-02 9.99773833e-01 1.54041870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128040942 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:31.59, Y:3.69, Z:1.54 [[ 9.55647606e-01 -2.94509769e-01 -1.28426676e-03 3.15853231e+01] [ 2.94458797e-01 9.55380714e-01 2.32746328e-02 3.68720664e+00] [-5.62764303e-03 -2.26205107e-02 9.99728284e-01 1.53991375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15804094199999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:31.61, Y:3.71, Z:1.53 [[ 9.55691243e-01 -2.94352671e-01 3.27931459e-03 3.16087979e+01] [ 2.94370334e-01 9.55652525e-01 -8.62311017e-03 3.71095394e+00] [-5.95649760e-04 9.20636381e-03 9.99957443e-01 1.52936155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18804094199999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:31.63, Y:3.72, Z:1.53 [[ 9.54859786e-01 -2.97044679e-01 2.69230138e-03 3.16349444e+01] [ 2.97055126e-01 9.54846071e-01 -5.21851125e-03 3.71751225e+00] [-1.02060239e-03 5.78270846e-03 9.99982759e-01 1.52765468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.218040941999995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:31.66, Y:3.72, Z:1.53 [[ 9.54575246e-01 -2.97958840e-01 2.57487440e-03 3.16626783e+01] [ 2.97949262e-01 9.54575147e-01 3.53917371e-03 3.72076830e+00] [-3.51243920e-03 -2.61122568e-03 9.99990422e-01 1.52930612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248040941999996 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:31.69, Y:3.73, Z:1.52 [[ 9.53570785e-01 -3.01016919e-01 9.56939217e-03 3.16865270e+01] [ 3.01064563e-01 9.53595493e-01 -3.97041923e-03 3.73434081e+00] [-7.93016588e-03 6.66708066e-03 9.99946330e-01 1.52160158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.278040942 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:31.72, Y:3.73, Z:1.53 [[ 9.53029029e-01 -3.02811341e-01 6.40004972e-03 3.17163846e+01] [ 3.02770338e-01 9.53040391e-01 6.64345621e-03 3.73496500e+00] [-8.11121977e-03 -4.39366141e-03 9.99957451e-01 1.52647617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308040942 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:31.74, Y:3.75, Z:1.52 [[ 9.52496865e-01 -3.04427521e-01 8.57947005e-03 3.17441835e+01] [ 3.04522032e-01 9.52407063e-01 -1.36791135e-02 3.75376225e+00] [-4.00684926e-03 1.56419504e-02 9.99869629e-01 1.51812094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33804094199999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:31.77, Y:3.75, Z:1.52 [[ 9.52570111e-01 -3.04205240e-01 8.32796812e-03 3.17687006e+01] [ 3.04181646e-01 9.52605662e-01 3.99730888e-03 3.75290473e+00] [-9.14927189e-03 -1.27450191e-03 9.99957332e-01 1.52072158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36804094199999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:31.79, Y:3.77, Z:1.51 [[ 9.53143207e-01 -3.02061891e-01 1.66325391e-02 3.17944601e+01] [ 3.02224855e-01 9.53200551e-01 -8.29736239e-03 3.76796613e+00] [-1.33478285e-02 1.29353413e-02 9.99827241e-01 1.50868890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.398040941999994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:31.82, Y:3.77, Z:1.51 [[ 9.53582782e-01 -3.00870334e-01 1.25268007e-02 3.18235186e+01] [ 3.00846886e-01 9.53665040e-01 3.76065125e-03 3.77047772e+00] [-1.30778403e-02 1.82556702e-04 9.99914465e-01 1.51293183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428040941999996 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:31.85, Y:3.78, Z:1.51 [[ 9.54492954e-01 -2.98003115e-01 1.17193540e-02 3.18496722e+01] [ 2.97982333e-01 9.54564888e-01 3.52177398e-03 3.78005668e+00] [-1.22363835e-02 1.30652001e-04 9.99925124e-01 1.51266874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.458040942 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:31.88, Y:3.79, Z:1.51 [[ 9.54414110e-01 -2.98255570e-01 1.17184035e-02 3.18770163e+01] [ 2.98234768e-01 9.54486039e-01 3.52493509e-03 3.78836209e+00] [-1.22363840e-02 1.30587551e-04 9.99925124e-01 1.51256287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488040942 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:31.90, Y:3.80, Z:1.51 [[ 9.54770340e-01 -2.97131297e-01 1.12512731e-02 3.19031776e+01] [ 2.97112019e-01 9.54836625e-01 3.38643170e-03 3.79687000e+00] [-1.17493424e-02 1.09623904e-04 9.99930968e-01 1.51240401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.518040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:31.93, Y:3.81, Z:1.51 [[ 9.54609400e-01 -2.97685583e-01 1.02072664e-02 3.19280542e+01] [ 2.97680260e-01 9.54663380e-01 2.07209372e-03 3.80731927e+00] [-1.03613358e-02 1.06046156e-03 9.99945758e-01 1.51267502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54804094199999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:31.96, Y:3.81, Z:1.51 [[ 9.54735446e-01 -2.97291931e-01 9.88611999e-03 3.19572519e+01] [ 2.97266267e-01 9.54786219e-01 4.00528882e-03 3.81449921e+00] [-1.06298712e-02 -8.85181217e-04 9.99943110e-01 1.51397589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.578040941999994 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:31.98, Y:3.82, Z:1.52 [[ 9.54765386e-01 -2.97306240e-01 5.66193336e-03 3.19842126e+01] [ 2.97242080e-01 9.54749782e-01 9.99994151e-03 3.81750793e+00] [-8.37877466e-03 -7.86463316e-03 9.99933970e-01 1.51951746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.01, Y:3.83, Z:1.51 [[ 9.53584591e-01 -3.00931419e-01 1.08031969e-02 3.20089523e+01] [ 3.00991971e-01 9.53616228e-01 -4.46352168e-03 3.83423285e+00] [-8.95888999e-03 7.50802103e-03 9.99931682e-01 1.51142722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.638040941999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:32.05, Y:3.82, Z:1.54 [[ 9.54127198e-01 -2.99284119e-01 -8.38486008e-03 3.20484013e+01] [ 2.99397449e-01 9.53593261e-01 3.19540405e-02 3.81959924e+00] [-1.56759080e-03 -3.29986248e-02 9.99454168e-01 1.53634779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:32.06, Y:3.86, Z:1.50 [[ 9.52260093e-01 -3.04592969e-01 2.05873233e-02 3.20605038e+01] [ 3.05094899e-01 9.51889323e-01 -2.87022567e-02 3.86478324e+00] [-1.08543476e-02 3.36131010e-02 9.99375977e-01 1.50119117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.698040942 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:32.09, Y:3.86, Z:1.51 [[ 9.50778660e-01 -3.09702821e-01 1.02031013e-02 3.20926935e+01] [ 3.09687539e-01 9.50833377e-01 3.08490905e-03 3.85572980e+00] [-1.06568543e-02 2.26707642e-04 9.99943188e-01 1.51248385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72804094199999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:32.13, Y:3.84, Z:1.54 [[ 9.51556569e-01 -3.07102572e-01 -1.51032137e-02 3.21328828e+01] [ 3.07467475e-01 9.50701968e-01 4.03673111e-02 3.83889339e+00] [ 1.96174994e-03 -4.30555270e-02 9.99070755e-01 1.54281418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.758040941999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:32.14, Y:3.90, Z:1.50 [[ 9.49040756e-01 -3.14455009e-01 2.09687959e-02 3.21402909e+01] [ 3.15059153e-01 9.48281444e-01 -3.87302459e-02 3.89505800e+00] [-7.70540020e-03 4.33629929e-02 9.99029668e-01 1.49648441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.17, Y:3.88, Z:1.51 [[ 9.48774054e-01 -3.15856143e-01 7.91777194e-03 3.21740853e+01] [ 3.15847107e-01 9.48807065e-01 2.39968708e-03 3.88172036e+00] [-8.27039386e-03 2.24044521e-04 9.99965775e-01 1.51072274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.818040941999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:32.19, Y:3.91, Z:1.49 [[ 9.47456054e-01 -3.19284411e-01 1.96084175e-02 3.21912293e+01] [ 3.19666551e-01 9.47295676e-01 -2.10760080e-02 3.90686956e+00] [-1.18457283e-02 2.62367466e-02 9.99585570e-01 1.49493379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848040942 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:32.24, Y:3.88, Z:1.53 [[ 9.49141043e-01 -3.14715940e-01 -9.22805350e-03 3.22369000e+01] [ 3.14834583e-01 9.48382056e-01 3.80875572e-02 3.87756513e+00] [-3.23504102e-03 -3.90557742e-02 9.99231795e-01 1.53147804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.878040942 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:32.25, Y:3.91, Z:1.51 [[ 9.48685162e-01 -3.16064468e-01 9.98576699e-03 3.22527597e+01] [ 3.16161792e-01 9.48648056e-01 -1.04205301e-02 3.91331606e+00] [-6.17941915e-03 1.30429202e-02 9.99895843e-01 1.50708867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90804094199999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:32.29, Y:3.90, Z:1.53 [[ 9.49477298e-01 -3.13793974e-01 -5.11876598e-03 3.22886083e+01] [ 3.13835708e-01 9.49346214e-01 1.57770476e-02 3.90451036e+00] [-9.12613726e-05 -1.65864001e-02 9.99862432e-01 1.52620456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93804094199999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:32.31, Y:3.93, Z:1.51 [[ 9.50075752e-01 -3.11980234e-01 4.93963931e-03 3.23109818e+01] [ 3.12015493e-01 9.50023558e-01 -1.00782101e-02 3.92860323e+00] [-1.54857137e-03 1.11163070e-02 9.99937013e-01 1.51257664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.34, Y:3.94, Z:1.51 [[ 9.50558141e-01 -3.10502203e-01 5.25386844e-03 3.23358915e+01] [ 3.10523701e-01 9.50557532e-01 -3.92552689e-03 3.93514071e+00] [-3.77521947e-03 5.36289222e-03 9.99978493e-01 1.51053560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.998040941999996 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:32.36, Y:3.94, Z:1.51 [[ 9.52524833e-01 -3.04452239e-01 2.29724432e-03 3.23618983e+01] [ 3.04451440e-01 9.52527602e-01 6.98429443e-04 3.94115507e+00] [-2.40082703e-03 3.41279535e-05 9.99997117e-01 1.51275107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.39, Y:3.95, Z:1.51 [[ 9.53347858e-01 -3.01871566e-01 1.19117157e-03 3.23880994e+01] [ 3.01871349e-01 9.53348602e-01 3.61614373e-04 3.95013260e+00] [-1.24476285e-03 1.48362818e-05 9.99999225e-01 1.51282951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.058040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.42, Y:3.95, Z:1.52 [[ 9.54373250e-01 -2.98502018e-01 -8.26104109e-03 3.24197640e+01] [ 2.98592852e-01 9.54279781e-01 1.38711339e-02 3.94967892e+00] [ 3.74278301e-03 -1.57049270e-02 9.99869665e-01 1.52354629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.44, Y:3.97, Z:1.51 [[ 9.55630327e-01 -2.94556257e-01 -2.70007446e-03 3.24412613e+01] [ 2.94522322e-01 9.55602478e-01 -8.97251991e-03 3.97134641e+00] [ 5.22310972e-03 7.77917993e-03 9.99956101e-01 1.51264977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.11804094199999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.47, Y:3.98, Z:1.51 [[ 9.56398961e-01 -2.92056603e-01 -1.99209678e-03 3.24672766e+01] [ 2.92028734e-01 9.56368290e-01 -8.88326992e-03 3.97966110e+00] [ 4.49959583e-03 7.91420062e-03 9.99958559e-01 1.51006457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148040941999994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.50, Y:3.98, Z:1.51 [[ 9.57500245e-01 -2.88390488e-01 -4.92012491e-03 3.24957248e+01] [ 2.88386565e-01 9.57512885e-01 -1.50453817e-03 3.98189431e+00] [ 5.14497750e-03 2.16977456e-05 9.99986764e-01 1.51463113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.178040941999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:32.52, Y:3.99, Z:1.52 [[ 9.58023267e-01 -2.86636050e-01 -5.58527146e-03 3.25223627e+01] [ 2.86630955e-01 9.58039547e-01 -1.70949771e-03 3.98948552e+00] [ 5.84091461e-03 3.68268901e-05 9.99982941e-01 1.51553312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:32.55, Y:4.00, Z:1.52 [[ 9.58466383e-01 -2.85146665e-01 -5.79413803e-03 3.25496100e+01] [ 2.85141144e-01 9.58483895e-01 -1.77516045e-03 3.99799051e+00] [ 6.05976907e-03 4.92844723e-05 9.99981638e-01 1.51580750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.238040942 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:32.58, Y:4.01, Z:1.52 [[ 9.59269098e-01 -2.82391575e-01 -7.60238956e-03 3.25761775e+01] [ 2.82381967e-01 9.59299218e-01 -2.33110669e-03 4.00600569e+00] [ 7.95125125e-03 8.93808930e-05 9.99968384e-01 1.51682746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.60, Y:4.01, Z:1.52 [[ 9.59604881e-01 -2.81223790e-01 -8.46479308e-03 3.26019365e+01] [ 2.81211831e-01 9.59642208e-01 -2.59586211e-03 4.01339528e+00] [ 8.85319090e-03 1.10601987e-04 9.99960804e-01 1.51737929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29804094199999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:32.63, Y:4.02, Z:1.52 [[ 9.59891547e-01 -2.80205403e-01 -9.65137796e-03 3.26294205e+01] [ 2.80189770e-01 9.59940057e-01 -2.96323651e-03 4.01878950e+00] [ 1.00950592e-02 1.40168310e-04 9.99949034e-01 1.51817118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328040941999994 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:32.66, Y:4.03, Z:1.52 [[ 9.59816366e-01 -2.80448151e-01 -1.00686815e-02 3.26564440e+01] [ 2.80431118e-01 9.59869165e-01 -3.09433240e-03 4.02580056e+00] [ 1.05324167e-02 1.46419261e-04 9.99944522e-01 1.51863228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.358040941999995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:32.68, Y:4.03, Z:1.52 [[ 9.59838537e-01 -2.80353445e-01 -1.05796258e-02 3.26823894e+01] [ 2.80334626e-01 9.59896829e-01 -3.25201896e-03 4.03255120e+00] [ 1.10670640e-02 1.55577680e-04 9.99938746e-01 1.51919255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388040941999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:32.71, Y:4.04, Z:1.52 [[ 9.59674386e-01 -2.80882386e-01 -1.14086421e-02 3.27083938e+01] [ 2.80860523e-01 9.59742183e-01 -3.50827427e-03 4.03887671e+00] [ 1.19347675e-02 1.62563780e-04 9.99928765e-01 1.52038458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.418040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:32.74, Y:4.05, Z:1.52 [[ 9.59556612e-01 -2.81265428e-01 -1.18687427e-02 3.27358587e+01] [ 2.81241742e-01 9.59629997e-01 -3.65402148e-03 4.04642157e+00] [ 1.24173515e-02 1.68254592e-04 9.99922888e-01 1.52109880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.76, Y:4.05, Z:1.52 [[ 9.59296022e-01 -2.82121678e-01 -1.25896829e-02 3.27633972e+01] [ 2.82095052e-01 9.59378616e-01 -3.87969680e-03 4.05358189e+00] [ 1.31728191e-02 1.70290466e-04 9.99913220e-01 1.52222502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.80, Y:4.04, Z:1.54 [[ 9.60001415e-01 -2.78492499e-01 -2.89691408e-02 3.28010227e+01] [ 2.79145899e-01 9.60005407e-01 2.16144876e-02 4.04372525e+00] [ 2.17910591e-02 -2.88365555e-02 9.99346588e-01 1.54280798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.81, Y:4.08, Z:1.51 [[ 9.59166670e-01 -2.82792884e-01 -5.24242650e-03 3.28128897e+01] [ 2.82492825e-01 9.58739785e-01 -3.18720719e-02 4.08463297e+00] [ 1.40393180e-02 2.90896813e-02 9.99478208e-01 1.51213401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.85, Y:4.07, Z:1.54 [[ 9.59471031e-01 -2.80618515e-01 -2.58571102e-02 3.28543400e+01] [ 2.80989542e-01 9.59636103e-01 1.19760865e-02 4.06550765e+00] [ 2.14527048e-02 -1.87562856e-02 9.99593909e-01 1.53597966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568040941999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.87, Y:4.10, Z:1.52 [[ 9.58714784e-01 -2.84170734e-01 -1.06281080e-02 3.28694324e+01] [ 2.83877736e-01 9.58585340e-01 -2.29690406e-02 4.09506945e+00] [ 1.67150776e-02 1.90036756e-02 9.99679682e-01 1.51626456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.598040942 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:32.91, Y:4.08, Z:1.54 [[ 9.59246503e-01 -2.80900145e-01 -3.06798794e-02 3.29124331e+01] [ 2.81523676e-01 9.59380331e-01 1.82702021e-02 4.07708843e+00] [ 2.43015704e-02 -2.61627399e-02 9.99362269e-01 1.54219415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.92, Y:4.12, Z:1.52 [[ 9.57820852e-01 -2.87229177e-01 -8.86656303e-03 3.29229666e+01] [ 2.86856817e-01 9.57504424e-01 -2.99740686e-02 4.11568694e+00] [ 1.70992004e-02 2.61663539e-02 9.99511350e-01 1.51546562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65804094199999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:32.96, Y:4.12, Z:1.51 [[ 9.57470765e-01 -2.88340576e-01 -1.04616905e-02 3.29551205e+01] [ 2.88133929e-01 9.57426605e-01 -1.76956007e-02 4.11897076e+00] [ 1.51186605e-02 1.39286523e-02 9.99788687e-01 1.51367382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68804094199999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:32.98, Y:4.12, Z:1.53 [[ 9.55976491e-01 -2.92618452e-01 -2.19861372e-02 3.29842501e+01] [ 2.92827601e-01 9.56140255e-01 6.91443551e-03 4.11714996e+00] [ 1.89985394e-02 -1.30481856e-02 9.99734365e-01 1.52973049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.718040941999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:33.01, Y:4.13, Z:1.52 [[ 9.56012414e-01 -2.92785763e-01 -1.77977716e-02 3.30146272e+01] [ 2.92709799e-01 9.56177207e-01 -6.79138731e-03 4.13182786e+00] [ 1.90062450e-02 1.28306845e-03 9.99818542e-01 1.52237200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748040941999996 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:33.04, Y:4.14, Z:1.53 [[ 9.54596040e-01 -2.97293363e-01 -1.90540303e-02 3.30371056e+01] [ 2.97264203e-01 9.54785076e-01 -4.41036498e-03 4.14093862e+00] [ 1.95036760e-02 -1.45396419e-03 9.99808728e-01 1.52583745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.07, Y:4.15, Z:1.53 [[ 9.54030497e-01 -2.99158714e-01 -1.81624805e-02 3.30697788e+01] [ 2.99128293e-01 9.54202607e-01 -4.43279300e-03 4.14568165e+00] [ 1.86567949e-02 -1.20389209e-03 9.99825222e-01 1.52628505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:33.10, Y:4.15, Z:1.53 [[ 9.53165786e-01 -3.01888962e-01 -1.83858494e-02 3.30969771e+01] [ 3.01833511e-01 9.53343093e-01 -5.78600491e-03 4.15468438e+00] [ 1.92747536e-02 -3.44435765e-05 9.99814224e-01 1.52936522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83804094199999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:33.12, Y:4.17, Z:1.52 [[ 9.52169885e-01 -3.05276680e-01 -1.33663446e-02 3.31225050e+01] [ 3.05169791e-01 9.52250917e-01 -9.46514777e-03 4.16767248e+00] [ 1.56176028e-02 4.93342408e-03 9.99865867e-01 1.52377372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86804094199999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:33.14, Y:4.18, Z:1.53 [[ 9.50808364e-01 -3.09316436e-01 -1.69351008e-02 3.31440556e+01] [ 3.09360506e-01 9.50944834e-01 -1.83251537e-05 4.17531156e+00] [ 1.61100149e-02 -5.22162763e-03 9.99856591e-01 1.53017552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.898040941999994 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:33.17, Y:4.19, Z:1.52 [[ 9.51400469e-01 -3.07837640e-01 -8.55189254e-03 3.31723749e+01] [ 3.07626400e-01 9.51299681e-01 -1.98724534e-02 4.19450324e+00] [ 1.42529018e-02 1.62758736e-02 9.99765948e-01 1.51607766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928040941999996 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:33.20, Y:4.19, Z:1.53 [[ 9.50768157e-01 -3.09258196e-01 -1.99819860e-02 3.31989760e+01] [ 3.09511400e-01 9.50831284e-01 1.10707799e-02 4.18992715e+00] [ 1.55757680e-02 -1.67103974e-02 9.99739045e-01 1.53428155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.958040942 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:33.22, Y:4.21, Z:1.53 [[ 9.51008183e-01 -3.08825832e-01 -1.44928299e-02 3.32235666e+01] [ 3.08792809e-01 9.51118591e-01 -4.51960527e-03 4.20624555e+00] [ 1.51801708e-02 -1.77100063e-04 9.99884759e-01 1.52903421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988040942 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:33.25, Y:4.21, Z:1.53 [[ 9.51249675e-01 -3.08117642e-01 -1.36957898e-02 3.32495037e+01] [ 3.08088060e-01 9.51348251e-01 -4.27235763e-03 4.21437341e+00] [ 1.43458545e-02 -1.55430508e-04 9.99897081e-01 1.53008006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.018040942 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:33.28, Y:4.23, Z:1.53 [[ 9.52012932e-01 -3.05794264e-01 -1.26982405e-02 3.32756574e+01] [ 3.05768570e-01 9.52097609e-01 -3.96552500e-03 4.22553514e+00] [ 1.33025992e-02 -1.07491755e-04 9.99911511e-01 1.53049269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04804094199999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:33.30, Y:4.24, Z:1.53 [[ 9.52505222e-01 -3.04268201e-01 -1.24363766e-02 3.33021213e+01] [ 3.04243376e-01 9.52586403e-01 -3.88753351e-03 4.23580283e+00] [ 1.30295761e-02 -8.07892307e-05 9.99915108e-01 1.52987487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.078040941999994 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:33.33, Y:4.25, Z:1.53 [[ 9.53275117e-01 -3.01871506e-01 -1.18383023e-02 3.33280671e+01] [ 3.01848781e-01 9.53348621e-01 -3.70416826e-03 4.24580137e+00] [ 1.24042120e-02 -4.22857045e-05 9.99923064e-01 1.52959227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108040941999995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:33.35, Y:4.25, Z:1.53 [[ 9.53527830e-01 -3.01079665e-01 -1.16495715e-02 3.33543896e+01] [ 3.01057588e-01 9.53598990e-01 -3.64610408e-03 4.25375545e+00] [ 1.22067874e-02 -3.05301758e-05 9.99925494e-01 1.53018019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.138040941999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:33.38, Y:4.26, Z:1.53 [[ 9.53606341e-01 -3.00843856e-01 -1.13102113e-02 3.33814563e+01] [ 3.00822983e-01 9.53673410e-01 -3.54393783e-03 4.26199447e+00] [ 1.18524197e-02 -2.28499007e-05 9.99929757e-01 1.53089792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168040942 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:33.41, Y:4.27, Z:1.53 [[ 9.53638206e-01 -3.00775848e-01 -1.03952474e-02 3.34069227e+01] [ 3.00758190e-01 9.53694862e-01 -3.25917979e-03 4.27064284e+00] [ 1.08941766e-02 -1.83774289e-05 9.99940657e-01 1.53160903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.198040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:33.43, Y:4.28, Z:1.53 [[ 9.53810817e-01 -3.00261798e-01 -9.36902686e-03 3.34322089e+01] [ 3.00192132e-01 9.53843913e-01 -8.15310809e-03 4.28211438e+00] [ 1.13846561e-02 4.96401455e-03 9.99922871e-01 1.53022733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22804094199999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.46, Y:4.29, Z:1.53 [[ 9.53549207e-01 -3.01057167e-01 -1.04159529e-02 3.34613650e+01] [ 3.01090947e-01 9.53593718e-01 1.80597794e-03 4.28921512e+00] [ 9.38888470e-03 -4.85823797e-03 9.99944122e-01 1.53318075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.258040941999994 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:33.49, Y:4.30, Z:1.53 [[ 9.53596963e-01 -3.00965128e-01 -8.53367296e-03 3.34856615e+01] [ 3.00953201e-01 9.53635146e-01 -2.67942093e-03 4.30101605e+00] [ 8.94442272e-03 -1.31485323e-05 9.99959998e-01 1.53046076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288040941999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.51, Y:4.31, Z:1.53 [[ 9.53543076e-01 -3.01142491e-01 -8.29473515e-03 3.35125143e+01] [ 3.01131203e-01 9.53579152e-01 -2.60749379e-03 4.31040141e+00] [ 8.69491369e-03 -1.14459202e-05 9.99962198e-01 1.53034612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.54, Y:4.32, Z:1.53 [[ 9.53356019e-01 -3.01742042e-01 -8.00257068e-03 3.35392176e+01] [ 3.01731534e-01 9.53389606e-01 -2.51818078e-03 4.31944737e+00] [ 8.38940872e-03 -1.39051267e-05 9.99964808e-01 1.52985066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.56, Y:4.35, Z:1.51 [[ 9.53238846e-01 -3.02045739e-01 1.02016597e-02 3.35598825e+01] [ 3.02217572e-01 9.52639477e-01 -3.38018736e-02 4.34704002e+00] [ 4.91208114e-04 3.53043798e-02 9.99376485e-01 1.50551822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.378040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.59, Y:4.34, Z:1.52 [[ 9.53181224e-01 -3.02398544e-01 -8.21187648e-04 3.35938135e+01] [ 3.02397924e-01 9.53181440e-01 -7.99177733e-04 4.33837571e+00] [ 1.02441101e-03 5.13435770e-04 9.99999343e-01 1.51723150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.62, Y:4.35, Z:1.51 [[ 9.52969461e-01 -3.03065064e-01 8.79821008e-04 3.36181664e+01] [ 3.03066083e-01 9.52960854e-01 -4.06933918e-03 4.34933380e+00] [ 3.94839556e-04 4.14459987e-03 9.99991333e-01 1.51454979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.43804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.64, Y:4.36, Z:1.52 [[ 9.52602197e-01 -3.04209240e-01 -2.40659646e-03 3.36444528e+01] [ 3.04217765e-01 9.52589503e-01 4.97904409e-03 4.35714049e+00] [ 7.77827303e-04 -5.47517774e-03 9.99984709e-01 1.51873982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.68, Y:4.35, Z:1.55 [[ 9.53198949e-01 -3.01477109e-01 -2.28760958e-02 3.36822034e+01] [ 3.02115702e-01 9.52687957e-01 3.33430389e-02 4.34833017e+00] [ 1.17416180e-02 -3.86937774e-02 9.99182129e-01 1.54746626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:4.41, Z:1.50 [[ 9.52502902e-01 -3.04257203e-01 1.28753947e-02 3.36916807e+01] [ 3.04521680e-01 9.51323562e-01 -4.74344450e-02 4.40537306e+00] [ 2.18360526e-03 4.91022833e-02 9.98791368e-01 1.50092662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:4.36, Z:1.55 [[ 9.53338346e-01 -3.00884467e-01 -2.47898149e-02 3.37368936e+01] [ 3.01719294e-01 9.52409395e-01 4.33798635e-02 4.36452662e+00] [ 1.05577254e-02 -4.88352528e-02 9.98751046e-01 1.55085493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:4.40, Z:1.53 [[ 9.53436465e-01 -3.01438028e-01 -9.69652750e-03 3.37559601e+01] [ 3.01422560e-01 9.53485771e-01 -3.05372582e-03 4.39767348e+00] [ 1.01660101e-02 -1.12185882e-05 9.99948325e-01 1.53413237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:4.41, Z:1.53 [[ 9.53152804e-01 -3.02349307e-01 -9.19944413e-03 3.37819727e+01] [ 3.02335398e-01 9.53197197e-01 -2.90006356e-03 4.40817149e+00] [ 9.64571657e-03 -1.71138954e-05 9.99953479e-01 1.53385794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.81, Y:4.42, Z:1.53 [[ 9.52991985e-01 -3.02873774e-01 -8.58792508e-03 3.38074456e+01] [ 3.02861659e-01 9.53030680e-01 -2.70908611e-03 4.41716219e+00] [ 9.00506721e-03 -1.92158828e-05 9.99959453e-01 1.53346183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.83, Y:4.43, Z:1.53 [[ 9.52872819e-01 -3.03269391e-01 -7.81460467e-03 3.38338562e+01] [ 3.03259352e-01 9.52904862e-01 -2.46761157e-03 4.42696822e+00] [ 8.19492584e-03 -1.85319601e-05 9.99966421e-01 1.53311237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.86, Y:4.44, Z:1.53 [[ 9.52867379e-01 -3.03326829e-01 -6.04923607e-03 3.38585317e+01] [ 3.03320810e-01 9.52886580e-01 -1.91094834e-03 4.43861167e+00] [ 6.34387777e-03 -1.39788473e-05 9.99979877e-01 1.53190750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.88, Y:4.45, Z:1.53 [[ 9.52680313e-01 -3.03927343e-01 -5.32837237e-03 3.38846239e+01] [ 3.03922672e-01 9.52695214e-01 -1.68492140e-03 4.44862586e+00] [ 5.58840853e-03 -1.42217264e-05 9.99984385e-01 1.53182104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:4.47, Z:1.52 [[ 9.52818513e-01 -3.03530941e-01 2.41867138e-03 3.39028311e+01] [ 3.03505419e-01 9.52556635e-01 -2.28104740e-02 4.47019469e+00] [ 4.61976314e-03 2.24683217e-02 9.99736882e-01 1.52188100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.94, Y:4.46, Z:1.54 [[ 9.51524636e-01 -3.07411759e-01 -9.94371378e-03 3.39410465e+01] [ 3.07555363e-01 9.51315797e-01 2.01978751e-02 4.45901461e+00] [ 3.25054768e-03 -2.22770182e-02 9.99746552e-01 1.53791809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.96, Y:4.48, Z:1.53 [[ 9.51204356e-01 -3.08536470e-01 -3.93964243e-03 3.39624279e+01] [ 3.08533946e-01 9.51212514e-01 -1.24830753e-03 4.47992877e+00] [ 4.13258558e-03 -2.81178608e-05 9.99991460e-01 1.53024429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.99, Y:4.49, Z:1.53 [[ 9.50272398e-01 -3.11410704e-01 -2.39660991e-03 3.39882528e+01] [ 3.11409777e-01 9.50275419e-01 -7.60185129e-04 4.49151882e+00] [ 2.51416927e-03 -2.39448116e-05 9.99996839e-01 1.52915537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.858040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.01, Y:4.50, Z:1.53 [[ 9.49910591e-01 -3.12510315e-01 -2.67798974e-03 3.40134798e+01] [ 3.12509162e-01 9.49914366e-01 -8.49738060e-04 4.50176018e+00] [ 2.80941283e-03 -2.97211452e-05 9.99996053e-01 1.52878179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:4.51, Z:1.53 [[ 9.48853408e-01 -3.15710142e-01 -2.07745555e-03 3.40391132e+01] [ 3.15709454e-01 9.48855682e-01 -6.59880196e-04 4.51456004e+00] [ 2.17953637e-03 -2.97427834e-05 9.99997624e-01 1.52723159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:4.52, Z:1.53 [[ 9.48077264e-01 -3.18037790e-01 -1.21057468e-03 3.40640027e+01] [ 3.18037558e-01 9.48078037e-01 -3.84673298e-04 4.52406294e+00] [ 1.27005991e-03 -2.03082060e-05 9.99999193e-01 1.52648592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:4.53, Z:1.53 [[ 9.47194345e-01 -3.20658054e-01 -1.13396870e-03 3.40905994e+01] [ 3.20657852e-01 9.47195023e-01 -3.60726877e-04 4.53351054e+00] [ 1.18975949e-03 -2.19375096e-05 9.99999292e-01 1.52679673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:4.54, Z:1.53 [[ 9.46417038e-01 -3.22946935e-01 -2.60984761e-04 3.41157693e+01] [ 3.22946924e-01 9.46417074e-01 -8.30736297e-05 4.54280481e+00] [ 2.73828808e-04 -5.66192731e-06 9.99999962e-01 1.52666120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.14, Y:4.56, Z:1.53 [[ 9.44701429e-01 -3.27928094e-01 1.54130105e-03 3.41415191e+01] [ 3.27927729e-01 9.44702685e-01 4.90765934e-04 4.55536454e+00] [-1.61700717e-03 4.18080734e-05 9.99998692e-01 1.52575987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.17, Y:4.57, Z:1.52 [[ 9.43818277e-01 -3.30452897e-01 2.81842971e-03 3.41670883e+01] [ 3.30451686e-01 9.43822481e-01 8.98320810e-04 4.56667503e+00] [-2.95695003e-03 8.35032498e-05 9.99995625e-01 1.52477727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:4.58, Z:1.52 [[ 9.42715051e-01 -3.33567386e-01 4.59691770e-03 3.41921712e+01] [ 3.33564196e-01 9.42726247e-01 1.46667506e-03 4.57922879e+00] [-4.82286993e-03 1.50710498e-04 9.99988359e-01 1.52325776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.22, Y:4.59, Z:1.52 [[ 9.42347983e-01 -3.34598441e-01 4.91548584e-03 3.42172971e+01] [ 3.34594804e-01 9.42360788e-01 1.56904242e-03 4.58833470e+00] [-5.15716026e-03 1.66112056e-04 9.99986688e-01 1.52315873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.24, Y:4.60, Z:1.52 [[ 9.42001638e-01 -3.35567674e-01 5.22015407e-03 3.42434361e+01] [ 3.35563578e-01 9.42016084e-01 1.66786973e-03 4.59743643e+00] [-5.47715226e-03 1.80557562e-04 9.99984984e-01 1.52298195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:4.58, Z:1.55 [[ 9.44956558e-01 -3.26652238e-01 -1.88525428e-02 3.42868194e+01] [ 3.27137912e-01 9.44303680e-01 3.56559386e-02 4.58264485e+00] [ 6.15543343e-03 -3.98606945e-02 9.99186287e-01 1.54716313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:4.64, Z:1.51 [[ 9.41687617e-01 -3.35968600e-01 1.86957936e-02 3.42891499e+01] [ 3.36440357e-01 9.41037473e-01 -3.54451790e-02 4.64042761e+00] [-5.68497523e-03 3.96683056e-02 9.99196731e-01 1.51093420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.218040941999995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:34.32, Y:4.63, Z:1.52 [[ 9.42578834e-01 -3.33950908e-01 4.68323164e-03 3.43211049e+01] [ 3.33947575e-01 9.42590456e-01 1.49957206e-03 4.63351021e+00] [-4.91515290e-03 1.50488962e-04 9.99987909e-01 1.51909024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.35, Y:4.64, Z:1.52 [[ 9.43058470e-01 -3.32582112e-01 5.46457358e-03 3.43464001e+01] [ 3.32577547e-01 9.43074287e-01 1.75052722e-03 4.64366537e+00] [-5.73569287e-03 1.66544953e-04 9.99983537e-01 1.51982835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.278040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.40, Y:4.62, Z:1.56 [[ 9.46812764e-01 -3.20536334e-01 -2.83204654e-02 3.43977391e+01] [ 3.21667685e-01 9.45171210e-01 5.64028744e-02 4.61616225e+00] [ 8.68851801e-03 -6.25127400e-02 9.98006346e-01 1.55978956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.41, Y:4.66, Z:1.54 [[ 9.47332897e-01 -3.20205981e-01 -5.33971109e-03 3.44144391e+01] [ 3.20149855e-01 9.47321513e-01 -9.27483512e-03 4.65997642e+00] [ 8.02828086e-03 7.07684869e-03 9.99942731e-01 1.53772430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33804094199999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:34.44, Y:4.66, Z:1.54 [[ 9.47342895e-01 -3.20093768e-01 -9.02324701e-03 3.44434383e+01] [ 3.20151818e-01 9.47347736e-01 5.92284033e-03 4.66367318e+00] [ 6.65228834e-03 -8.49976964e-03 9.99941749e-01 1.54139443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36804094199999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:34.44, Y:4.72, Z:1.50 [[ 9.45049600e-01 -3.25819630e-01 2.68853517e-02 3.44440073e+01] [ 3.26834825e-01 9.43535573e-01 -5.40335037e-02 4.71629210e+00] [-7.76210960e-03 5.98514103e-02 9.98177118e-01 1.50380972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.51, Y:4.66, Z:1.56 [[ 9.49370340e-01 -3.12713319e-01 -3.01054451e-02 3.45052937e+01] [ 3.13928428e-01 9.47979043e-01 5.27700299e-02 4.66380990e+00] [ 1.20374398e-02 -5.95492563e-02 9.98152787e-01 1.55734851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428040941999996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:34.51, Y:4.72, Z:1.52 [[ 9.49348363e-01 -3.14181791e-01 5.24297234e-03 3.45104118e+01] [ 3.14146825e-01 9.48605002e-01 -3.82141518e-02 4.72255715e+00] [ 7.03268086e-03 3.79256056e-02 9.99255818e-01 1.51822225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.56, Y:4.69, Z:1.56 [[ 9.50809579e-01 -3.08569805e-01 -2.73097146e-02 3.45585760e+01] [ 3.09402611e-01 9.50292998e-01 3.48316210e-02 4.68983876e+00] [ 1.52042441e-02 -4.15679359e-02 9.99019989e-01 1.55751220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:34.58, Y:4.72, Z:1.54 [[ 9.50923250e-01 -3.09357106e-01 -6.56914496e-03 3.45760453e+01] [ 3.09250750e-01 9.50884019e-01 -1.35482693e-02 4.72474810e+00] [ 1.04377484e-02 1.08518513e-02 9.99886639e-01 1.53801888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:4.72, Z:1.55 [[ 9.50680501e-01 -3.10027517e-01 -9.46168899e-03 3.46079307e+01] [ 3.10145845e-01 9.50553470e-01 1.60516184e-02 4.72136266e+00] [ 4.01739790e-03 -1.81944642e-02 9.99826396e-01 1.54794378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:4.79, Z:1.51 [[ 9.49194220e-01 -3.13576965e-01 2.64541171e-02 3.46101338e+01] [ 3.14687006e-01 9.46238528e-01 -7.48647860e-02 4.78695624e+00] [-1.55603251e-03 7.93859890e-02 9.96842738e-01 1.51009719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.578040941999994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:34.67, Y:4.72, Z:1.56 [[ 9.50477394e-01 -3.09676287e-01 -2.63309857e-02 3.46671336e+01] [ 3.10712584e-01 9.48748430e-01 5.77417220e-02 4.72190483e+00] [ 7.10023932e-03 -6.30635700e-02 9.97984255e-01 1.55987213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.69, Y:4.75, Z:1.55 [[ 9.50151426e-01 -3.11573758e-01 -1.15784593e-02 3.46920110e+01] [ 3.11786072e-01 9.49643538e-01 3.10901245e-02 4.74613130e+00] [ 1.30854215e-03 -3.31503285e-02 9.99449520e-01 1.55315915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.638040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.71, Y:4.79, Z:1.53 [[ 9.49564651e-01 -3.13378197e-01 1.10036300e-02 3.47074647e+01] [ 3.13566517e-01 9.48771002e-01 -3.88538833e-02 4.78969839e+00] [ 1.73603488e-03 4.03446441e-02 9.99184315e-01 1.52880471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:4.79, Z:1.53 [[ 9.48382109e-01 -3.17035350e-01 7.74349141e-03 3.47341949e+01] [ 3.17106088e-01 9.48327384e-01 -1.09042304e-02 4.78580697e+00] [-3.88633845e-03 1.27968853e-02 9.99910564e-01 1.52850442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:4.79, Z:1.53 [[ 9.47058185e-01 -3.20973260e-01 7.54714657e-03 3.47613351e+01] [ 3.20997727e-01 9.47077271e-01 -2.25856631e-03 4.79302096e+00] [-6.42279159e-03 4.56161061e-03 9.99968969e-01 1.52748640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:4.80, Z:1.53 [[ 9.47377487e-01 -3.20118420e-01 3.07673167e-04 3.47910505e+01] [ 3.20109575e-01 9.47357638e-01 6.58530297e-03 4.79520516e+00] [-2.39955331e-03 -6.14027865e-03 9.99978269e-01 1.53207652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.758040941999994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:34.81, Y:4.81, Z:1.52 [[ 9.45924682e-01 -3.24266330e-01 8.82287157e-03 3.48136574e+01] [ 3.24279619e-01 9.45961269e-01 -8.00690533e-05 4.81008806e+00] [-8.32013109e-03 2.93681673e-03 9.99961075e-01 1.52258661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788040941999995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:34.83, Y:4.83, Z:1.51 [[ 9.44631539e-01 -3.27473625e-01 2.07913382e-02 3.48311457e+01] [ 3.27832674e-01 9.44580818e-01 -1.71118578e-02 4.83054024e+00] [-1.40354171e-02 2.29804806e-02 9.99637387e-01 1.50939360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:4.82, Z:1.53 [[ 9.45196719e-01 -3.26495329e-01 1.99058119e-03 3.48726521e+01] [ 3.26420610e-01 9.45080902e-01 1.64825102e-02 4.81538231e+00] [-7.26272285e-03 -1.49294478e-02 9.99862173e-01 1.52994811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:34.90, Y:4.83, Z:1.53 [[ 9.45046831e-01 -3.26886135e-01 5.65173747e-03 3.48986219e+01] [ 3.26806495e-01 9.45018860e-01 1.16990807e-02 4.82555814e+00] [-9.16526578e-03 -9.20915461e-03 9.99915591e-01 1.52881187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.878040942 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:34.92, Y:4.86, Z:1.51 [[ 9.44390635e-01 -3.28173653e-01 2.06973703e-02 3.49169997e+01] [ 3.28678174e-01 9.43980323e-01 -2.95263794e-02 4.85632456e+00] [-9.84813053e-03 3.46872100e-02 9.99349694e-01 1.51439178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90804094199999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:34.96, Y:4.83, Z:1.53 [[ 9.44478648e-01 -3.28572602e-01 3.57287163e-04 3.49561063e+01] [ 3.28443663e-01 9.44137380e-01 2.70068105e-02 4.83437584e+00] [-9.21102617e-03 -2.53900072e-02 9.99635186e-01 1.53147054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.93804094199999 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:34.97, Y:4.86, Z:1.51 [[ 9.44098469e-01 -3.29289902e-01 1.56920597e-02 3.49748267e+01] [ 3.29497100e-01 9.44064652e-01 -1.31754840e-02 4.86479117e+00] [-1.04757651e-02 1.76094425e-02 9.99790061e-01 1.51480250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.00, Y:4.86, Z:1.52 [[ 9.44904189e-01 -3.27201852e-01 9.74793553e-03 3.50044737e+01] [ 3.27091618e-01 9.44924330e-01 1.13614912e-02 4.85638251e+00] [-1.29285624e-02 -7.54705263e-03 9.99887941e-01 1.52257651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.998040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.04, Y:4.86, Z:1.53 [[ 9.45678860e-01 -3.25036524e-01 6.53848913e-03 3.50359028e+01] [ 3.24944162e-01 9.45654918e-01 1.21683044e-02 4.86063457e+00] [-1.01382978e-02 -9.38266439e-03 9.99904586e-01 1.52635603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.06, Y:4.88, Z:1.52 [[ 9.45881680e-01 -3.24173326e-01 1.48156046e-02 3.50570297e+01] [ 3.24277506e-01 9.45947663e-01 -5.20750907e-03 4.87692490e+00] [-1.23266510e-02 9.73005473e-03 9.99876682e-01 1.51897439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.09, Y:4.88, Z:1.52 [[ 9.46306762e-01 -3.23063008e-01 1.15674611e-02 3.50854152e+01] [ 3.23040147e-01 9.46377453e-01 3.84446133e-03 4.87986912e+00] [-1.21891876e-02 9.87145853e-05 9.99925704e-01 1.52142252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08804094199999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.12, Y:4.89, Z:1.52 [[ 9.46983409e-01 -3.21151997e-01 9.15516517e-03 3.51158220e+01] [ 3.21100009e-01 9.47021496e-01 6.71349883e-03 4.88577470e+00] [-1.08261918e-02 -3.41784839e-03 9.99935554e-01 1.52206814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11804094199999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.14, Y:4.90, Z:1.51 [[ 9.47293446e-01 -3.19898318e-01 1.73260737e-02 3.51391749e+01] [ 3.20041543e-01 9.47383422e-01 -6.16945645e-03 4.90076553e+00] [-1.44408362e-02 1.13893490e-02 9.99830858e-01 1.51322672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.17, Y:4.90, Z:1.52 [[ 9.47794247e-01 -3.18760068e-01 8.83651336e-03 3.51690889e+01] [ 3.18654444e-01 9.47800517e-01 1.15552971e-02 4.89661823e+00] [-1.20586192e-02 -8.13624984e-03 9.99894190e-01 1.52346536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.178040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.20, Y:4.91, Z:1.52 [[ 9.48079495e-01 -3.17794110e-01 1.23359191e-02 3.51974998e+01] [ 3.17795477e-01 9.48157381e-01 1.90146316e-03 4.90559417e+00] [-1.23006665e-02 2.11756106e-03 9.99922102e-01 1.51790331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.22, Y:4.91, Z:1.52 [[ 9.48070062e-01 -3.17928820e-01 9.18825595e-03 3.52235637e+01] [ 3.17892163e-01 9.48112363e-01 5.24598720e-03 4.91059643e+00] [-1.03793496e-02 -2.05268884e-03 9.99944026e-01 1.52148746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.238040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.25, Y:4.92, Z:1.52 [[ 9.47949225e-01 -3.18268528e-01 9.86973735e-03 3.52501601e+01] [ 3.18251437e-01 9.48000603e-01 3.29835658e-03 4.91931251e+00] [-1.04062801e-02 1.43835323e-05 9.99945853e-01 1.52025525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.28, Y:4.93, Z:1.52 [[ 9.47864000e-01 -3.18522282e-01 9.86878424e-03 3.52772208e+01] [ 3.18505174e-01 9.47915374e-01 3.30120562e-03 4.92844885e+00] [-1.04062799e-02 1.41648775e-05 9.99945853e-01 1.51990791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.30, Y:4.93, Z:1.52 [[ 9.47611529e-01 -3.19284183e-01 9.48686260e-03 3.53037723e+01] [ 3.19268382e-01 9.47659016e-01 3.17647290e-03 4.93435411e+00] [-1.00045084e-02 1.87929295e-05 9.99949953e-01 1.52024499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.33, Y:4.95, Z:1.50 [[ 9.46509057e-01 -3.21975354e-01 2.12714792e-02 3.53265694e+01] [ 3.22286467e-01 9.46549774e-01 -1.32271935e-02 4.95318851e+00] [-1.58756835e-02 1.93751683e-02 9.99686234e-01 1.50459944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.36, Y:4.95, Z:1.51 [[ 9.45547018e-01 -3.25004376e-01 1.76915856e-02 3.53568385e+01] [ 3.24983166e-01 9.45710734e-01 4.14118881e-03 4.94888571e+00] [-1.80770269e-02 1.83377875e-03 9.99834916e-01 1.50901233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.38, Y:4.96, Z:1.51 [[ 9.45054315e-01 -3.26443544e-01 1.75201019e-02 3.53843488e+01] [ 3.26403699e-01 9.45216333e-01 5.16804121e-03 4.95511508e+00] [-1.82473601e-02 8.34546425e-04 9.99833155e-01 1.50930852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.42, Y:4.95, Z:1.53 [[ 9.45262911e-01 -3.26282544e-01 4.21076462e-03 3.54179224e+01] [ 3.26090361e-01 9.45021907e-01 2.44677778e-02 4.94999185e+00] [-1.19626736e-02 -2.17553931e-02 9.99691751e-01 1.52726186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448040942 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:35.44, Y:4.98, Z:1.52 [[ 9.43713113e-01 -3.30498396e-01 1.32804221e-02 3.54415619e+01] [ 3.30690289e-01 9.43592798e-01 -1.66302063e-02 4.98101720e+00] [-7.03505413e-03 2.00858503e-02 9.99773508e-01 1.51512356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.47, Y:4.99, Z:1.51 [[ 9.43158278e-01 -3.31862454e-01 1.78822387e-02 3.54671040e+01] [ 3.32081957e-01 9.43185565e-01 -1.10708029e-02 4.98727222e+00] [-1.31922856e-02 1.63798882e-02 9.99778807e-01 1.50591051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.50, Y:4.97, Z:1.54 [[ 9.44477500e-01 -3.28526204e-01 -5.72583258e-03 3.55044168e+01] [ 3.28475958e-01 9.43616083e-01 4.11367553e-02 4.96543121e+00] [-8.11151435e-03 -4.07335382e-02 9.99137119e-01 1.53557438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:5.02, Z:1.49 [[ 9.43735624e-01 -3.29076779e-01 3.27344712e-02 3.55155295e+01] [ 3.30214892e-01 9.43085174e-01 -3.93507345e-02 5.01955474e+00] [-1.79219815e-02 4.79460998e-02 9.98689128e-01 1.49082734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.56, Y:4.98, Z:1.54 [[ 9.44770001e-01 -3.27640607e-01 -7.82798007e-03 3.55600111e+01] [ 3.27631533e-01 9.43607319e-01 4.75689546e-02 4.97797949e+00] [-8.19898186e-03 -4.75064144e-02 9.98837283e-01 1.53737731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.598040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.57, Y:5.03, Z:1.49 [[ 9.44172042e-01 -3.28040834e-01 3.04691031e-02 3.55686967e+01] [ 3.29069064e-01 9.43492955e-01 -3.91739107e-02 5.03477183e+00] [-1.58967417e-02 4.70133505e-02 9.98767760e-01 1.49259008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.61, Y:5.02, Z:1.51 [[ 9.45298555e-01 -3.26001722e-01 1.15550507e-02 3.56067200e+01] [ 3.25926929e-01 9.45361906e-01 7.90593330e-03 5.01508320e+00] [-1.35010526e-02 -3.70736514e-03 9.99901984e-01 1.51085111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.64, Y:5.01, Z:1.53 [[ 9.46215335e-01 -3.23534418e-01 -1.42140953e-03 3.56418626e+01] [ 3.23389764e-01 9.45641251e-01 3.43756428e-02 5.00788723e+00] [-9.77756012e-03 -3.29864296e-02 9.99407972e-01 1.52835822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.66, Y:5.05, Z:1.50 [[ 9.46269607e-01 -3.22806214e-01 1.92348354e-02 3.56569551e+01] [ 3.23190977e-01 9.46072457e-01 -2.22373147e-02 5.04778935e+00] [-1.10192047e-02 2.72590203e-02 9.99567668e-01 1.50371660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.70, Y:5.02, Z:1.54 [[ 9.47697309e-01 -3.19054485e-01 -8.60502152e-03 3.56957688e+01] [ 3.19150042e-01 9.46986798e-01 3.68680783e-02 5.02290386e+00] [-3.61408399e-03 -3.76860716e-02 9.99283092e-01 1.53563601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.71, Y:5.07, Z:1.50 [[ 9.46925984e-01 -3.20925213e-01 1.83898799e-02 3.57134293e+01] [ 3.21406249e-01 9.46203287e-01 -3.73813018e-02 5.07302558e+00] [-5.40396260e-03 4.13079484e-02 9.99131848e-01 1.50170325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:5.05, Z:1.53 [[ 9.48253768e-01 -3.17465662e-01 -5.50863109e-03 3.57578362e+01] [ 3.17511619e-01 9.48046630e-01 1.98483852e-02 5.04627897e+00] [-1.07874160e-03 -2.05703604e-02 9.99787826e-01 1.52916951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.77, Y:5.07, Z:1.51 [[ 9.47998267e-01 -3.18054610e-01 1.18554445e-02 3.57732862e+01] [ 3.18150525e-01 9.48012121e-01 -7.29800562e-03 5.07005499e+00] [-8.91794079e-03 1.06903126e-02 9.99903089e-01 1.51230018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.80, Y:5.08, Z:1.51 [[ 9.47103427e-01 -3.20756531e-01 1.05045828e-02 3.58032433e+01] [ 3.20867420e-01 9.47054341e-01 -1.14967227e-02 5.08042829e+00] [-6.26076183e-03 1.42591638e-02 9.99878732e-01 1.51215325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86804094199999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.84, Y:5.06, Z:1.53 [[ 9.49164903e-01 -3.14751556e-01 -4.17674917e-03 3.58391365e+01] [ 3.14680057e-01 9.48449107e-01 3.76928876e-02 5.05800395e+00] [-7.90246099e-03 -3.70911057e-02 9.99280642e-01 1.53363321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.898040941999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.86, Y:5.08, Z:1.53 [[ 9.47656009e-01 -3.19256872e-01 4.81021336e-03 3.58571989e+01] [ 3.19216923e-01 9.47651455e-01 7.56805411e-03 5.08480646e+00] [-6.97455898e-03 -5.63641044e-03 9.99959792e-01 1.52658968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928040941999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.88, Y:5.10, Z:1.51 [[ 9.47414763e-01 -3.19566146e-01 1.68150602e-02 3.58800531e+01] [ 3.19754300e-01 9.47448055e-01 -9.96848442e-03 5.10365359e+00] [-1.27458059e-02 1.48209771e-02 9.99808923e-01 1.51160178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.958040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.91, Y:5.11, Z:1.51 [[ 9.47194347e-01 -3.20464135e-01 1.12074814e-02 3.59101993e+01] [ 3.20553098e-01 9.47202538e-01 -7.28440835e-03 5.10819114e+00] [-8.28136324e-03 1.04923433e-02 9.99910661e-01 1.51354838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.94, Y:5.11, Z:1.52 [[ 9.47162124e-01 -3.20688589e-01 6.53762954e-03 3.59381466e+01] [ 3.20677264e-01 9.47184554e-01 2.74094431e-03 5.10884295e+00] [-7.07133128e-03 -4.99649479e-04 9.99974873e-01 1.51742231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.97, Y:5.11, Z:1.52 [[ 9.46846273e-01 -3.21639093e-01 5.51632829e-03 3.59669597e+01] [ 3.21613731e-01 9.46857663e-01 5.01739846e-03 5.11396938e+00] [-6.83696920e-03 -2.97657811e-03 9.99972198e-01 1.51947328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04804094199999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:35.99, Y:5.11, Z:1.53 [[ 9.46426625e-01 -3.22902201e-01 -3.28811138e-03 3.59949279e+01] [ 3.22894961e-01 9.46183182e-01 2.18227127e-02 5.11421816e+00] [-3.93544628e-03 -2.17153109e-02 9.99756449e-01 1.52965515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.078040941999994 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:36.02, Y:5.14, Z:1.51 [[ 9.46797152e-01 -3.21463268e-01 1.53792185e-02 3.60187409e+01] [ 3.21693814e-01 9.46707374e-01 -1.60697631e-02 5.14351243e+00] [-9.39378098e-03 2.01622054e-02 9.99752591e-01 1.50954619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.05, Y:5.13, Z:1.53 [[ 9.47103112e-01 -3.20927030e-01 -1.23957843e-03 3.60515539e+01] [ 3.20909179e-01 9.46992920e-01 1.48898615e-02 5.13440058e+00] [-3.60468703e-03 -1.45000262e-02 9.99888372e-01 1.52621982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.07, Y:5.16, Z:1.51 [[ 9.45862311e-01 -3.24477864e-01 7.65533699e-03 3.60696862e+01] [ 3.24546289e-01 9.45809258e-01 -1.07029678e-02 5.15528238e+00] [-3.76761248e-03 1.26080450e-02 9.99913417e-01 1.51411482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.10, Y:5.15, Z:1.52 [[ 9.45648247e-01 -3.25186734e-01 -1.72648786e-03 3.61035634e+01] [ 3.25184822e-01 9.45582479e-01 1.13404755e-02 5.15054169e+00] [-2.05523551e-03 -1.12855284e-02 9.99934204e-01 1.52390078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.198040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.13, Y:5.16, Z:1.52 [[ 9.44804278e-01 -3.27635090e-01 3.53113206e-04 3.61266554e+01] [ 3.27634216e-01 9.44803408e-01 1.52954232e-03 5.16178229e+00] [-8.34754297e-04 -1.32942616e-03 9.99998768e-01 1.52161544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.15, Y:5.18, Z:1.52 [[ 9.44276963e-01 -3.29118767e-01 4.67478037e-03 3.61519878e+01] [ 3.29146554e-01 9.44247641e-01 -7.67716418e-03 5.17636518e+00] [-1.88745153e-03 8.78805712e-03 9.99959603e-01 1.51738619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.258040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.18, Y:5.18, Z:1.52 [[ 9.43961406e-01 -3.30054625e-01 8.99176214e-04 3.61796207e+01] [ 3.30045069e-01 9.43949090e-01 5.51069085e-03 5.18008196e+00] [-2.66760557e-03 -4.90511080e-03 9.99984412e-01 1.51996386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.20, Y:5.20, Z:1.51 [[ 9.43395232e-01 -3.31571089e-01 8.12704415e-03 3.62012156e+01] [ 3.31630131e-01 9.43379809e-01 -7.48278437e-03 5.19634528e+00] [-5.18581439e-03 9.75439581e-03 9.99938978e-01 1.51031135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:5.19, Z:1.52 [[ 9.43711734e-01 -3.30763954e-01 -1.83555323e-03 3.62356608e+01] [ 3.30761500e-01 9.43638187e-01 1.19917849e-02 5.19217185e+00] [-2.23435207e-03 -1.19239185e-02 9.99926411e-01 1.52240207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.26, Y:5.22, Z:1.51 [[ 9.43334739e-01 -3.31778148e-01 6.54457013e-03 3.62560250e+01] [ 3.31842690e-01 9.43151942e-01 -1.85699584e-02 5.21529440e+00] [-1.14176116e-05 1.96894546e-02 9.99806144e-01 1.51048002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.29, Y:5.21, Z:1.52 [[ 9.42714504e-01 -3.33590495e-01 2.59725349e-03 3.62869846e+01] [ 3.33550978e-01 9.42679982e-01 9.90939889e-03 5.20978476e+00] [-5.75406015e-03 -8.47541762e-03 9.99947528e-01 1.51857191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:5.22, Z:1.52 [[ 9.43090854e-01 -3.32529878e-01 -1.87675416e-03 3.63168593e+01] [ 3.32527675e-01 9.43016661e-01 1.20383607e-02 5.21559181e+00] [-2.23330419e-03 -1.19773406e-02 9.99925775e-01 1.52366359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.43804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.34, Y:5.22, Z:1.53 [[ 9.43435990e-01 -3.31527052e-01 -4.28325097e-03 3.63437321e+01] [ 3.31546165e-01 9.43425723e-01 5.00463549e-03 5.22358802e+00] [ 2.38175709e-03 -6.14164867e-03 9.99978303e-01 1.52844506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.37, Y:5.23, Z:1.52 [[ 9.43316715e-01 -3.31880330e-01 -3.00368826e-03 3.63695004e+01] [ 3.31878704e-01 9.43321497e-01 -1.03922727e-03 5.23472361e+00] [ 3.17834280e-03 -1.65397174e-05 9.99994949e-01 1.52320261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:5.25, Z:1.52 [[ 9.43782159e-01 -3.30567848e-01 3.66217912e-04 3.63951245e+01] [ 3.30557514e-01 9.43742652e-01 -9.02982170e-03 5.24523943e+00] [ 2.63935326e-03 8.64324070e-03 9.99959163e-01 1.52221553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:36.42, Y:5.25, Z:1.53 [[ 9.43886471e-01 -3.30227439e-01 -5.30730553e-03 3.64245668e+01] [ 3.30260112e-01 9.43860977e-01 7.39691388e-03 5.24520962e+00] [ 2.56669466e-03 -8.73463826e-03 9.99958558e-01 1.53035134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.45, Y:5.26, Z:1.53 [[ 9.43947927e-01 -3.30084962e-01 -2.49559175e-03 3.64496242e+01] [ 3.30083829e-01 9.43951226e-01 -8.65051102e-04 5.25829739e+00] [ 2.64125725e-03 -7.19128525e-06 9.99996512e-01 1.52729763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.47, Y:5.27, Z:1.52 [[ 9.44240670e-01 -3.29255898e-01 3.32390416e-04 3.64747446e+01] [ 3.29246838e-01 9.44206169e-01 -8.43982341e-03 5.27036831e+00] [ 2.46501655e-03 8.07866300e-03 9.99964329e-01 1.52274268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:5.27, Z:1.53 [[ 9.44353428e-01 -3.28919382e-01 -2.93981151e-03 3.65024939e+01] [ 3.28926276e-01 9.44352853e-01 2.27896440e-03 5.27100839e+00] [ 2.02662382e-03 -3.11912910e-03 9.99993082e-01 1.52827571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.53, Y:5.28, Z:1.52 [[ 9.44307065e-01 -3.29065537e-01 -1.99910280e-04 3.65288508e+01] [ 3.29056564e-01 9.44285468e-01 -6.83614995e-03 5.28388985e+00] [ 2.43831373e-03 6.38964290e-03 9.99976613e-01 1.52447231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.56, Y:5.28, Z:1.53 [[ 9.44728625e-01 -3.27842272e-01 -2.69635563e-03 3.65574215e+01] [ 3.27851742e-01 9.44717848e-01 4.62845095e-03 5.28327598e+00] [ 1.02989342e-03 -5.25663499e-03 9.99985653e-01 1.53052935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.60, Y:5.26, Z:1.56 [[ 9.44995963e-01 -3.26067287e-01 -2.57440189e-02 3.65977783e+01] [ 3.27012296e-01 9.43488320e-01 5.37842644e-02 5.26426815e+00] [ 6.75189200e-03 -5.92445234e-02 9.98220666e-01 1.56180170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.738040942 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:36.60, Y:5.33, Z:1.51 [[ 9.45170589e-01 -3.26275473e-01 1.40311492e-02 3.66045955e+01] [ 3.26546601e-01 9.43623334e-01 -5.42431574e-02 5.32924354e+00] [ 4.45809203e-03 5.58508612e-02 9.98429170e-01 1.51296008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:5.30, Z:1.54 [[ 9.45301576e-01 -3.25922758e-01 -1.33897924e-02 3.66423340e+01] [ 3.26102323e-01 9.45221216e-01 1.46331051e-02 5.29936137e+00] [ 7.88705386e-03 -1.81991397e-02 9.99803273e-01 1.54338603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.68, Y:5.30, Z:1.56 [[ 9.45712051e-01 -3.24161892e-01 -2.34047777e-02 3.66799700e+01] [ 3.24766374e-01 9.45325230e-01 2.97827384e-02 5.29759235e+00] [ 1.24706981e-02 -3.57669794e-02 9.99282345e-01 1.55922201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828040941999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.70, Y:5.33, Z:1.54 [[ 9.46028517e-01 -3.23983360e-01 -8.05150330e-03 3.66984684e+01] [ 3.23792595e-01 9.45940134e-01 -1.88578345e-02 5.32889468e+00] [ 1.37258647e-02 1.52330321e-02 9.99789756e-01 1.53673065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.858040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.73, Y:5.33, Z:1.53 [[ 9.44760666e-01 -3.27728336e-01 -4.62828086e-03 3.67261392e+01] [ 3.27647437e-01 9.44710830e-01 -1.29848056e-02 5.33395424e+00] [ 8.62787578e-03 1.07510892e-02 9.99904982e-01 1.53138349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888040941999996 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:36.75, Y:5.35, Z:1.53 [[ 9.44489519e-01 -3.28493560e-01 -5.61512295e-03 3.67503249e+01] [ 3.28243544e-01 9.44222772e-01 -2.64486628e-02 5.34643504e+00] [ 1.39901424e-02 2.31373570e-02 9.99634402e-01 1.52928901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.918040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.79, Y:5.33, Z:1.55 [[ 9.43978298e-01 -3.29294396e-01 -2.16834772e-02 3.67892193e+01] [ 3.29855246e-01 9.43499622e-01 3.16856592e-02 5.32817232e+00] [ 1.00244425e-02 -3.70629834e-02 9.99262651e-01 1.55414576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948040942 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:36.81, Y:5.36, Z:1.54 [[ 9.44200689e-01 -3.29298345e-01 -6.90360402e-03 3.68086982e+01] [ 3.29264093e-01 9.44220958e-01 -5.65149676e-03 5.35709363e+00] [ 8.37955613e-03 3.06303822e-03 9.99960200e-01 1.53696760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.83, Y:5.37, Z:1.53 [[ 9.43619630e-01 -3.31017226e-01 -3.09680776e-03 3.68338454e+01] [ 3.30987042e-01 9.43604690e-01 -7.60041622e-03 5.36962331e+00] [ 5.43803102e-03 6.14689870e-03 9.99966321e-01 1.53265076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008040941999994 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:36.86, Y:5.37, Z:1.54 [[ 9.43584477e-01 -3.31079870e-01 -5.86974488e-03 3.68632924e+01] [ 3.31095404e-01 9.43595410e-01 1.88050722e-03 5.37483264e+00] [ 4.91606624e-03 -3.71786297e-03 9.99981005e-01 1.53577147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.038040941999995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:36.88, Y:5.39, Z:1.52 [[ 9.42720807e-01 -3.33565371e-01 3.40925977e-03 3.68834748e+01] [ 3.33577671e-01 9.42600462e-01 -1.51758716e-02 5.39453290e+00] [ 1.84857541e-03 1.54438629e-02 9.99879028e-01 1.52489504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068040941999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.91, Y:5.40, Z:1.53 [[ 9.41724722e-01 -3.36383626e-01 7.77201605e-04 3.69114349e+01] [ 3.36383788e-01 9.41715319e-01 -4.26685356e-03 5.39924884e+00] [ 7.03397014e-04 4.27963950e-03 9.99990595e-01 1.52768817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.93, Y:5.42, Z:1.52 [[ 9.39856495e-01 -3.41458809e-01 8.69768699e-03 3.69334547e+01] [ 3.41554240e-01 9.39750801e-01 -1.44614420e-02 5.41656053e+00] [-3.23567156e-03 1.65624120e-02 9.99857598e-01 1.51646844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.98, Y:5.40, Z:1.55 [[ 9.40846126e-01 -3.38258124e-01 -1.97486567e-02 3.69752329e+01] [ 3.38750719e-01 9.40308682e-01 3.26731390e-02 5.39655216e+00] [ 7.51787867e-03 -3.74302679e-02 9.99270963e-01 1.55156394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15804094199999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.99, Y:5.44, Z:1.52 [[ 9.39035476e-01 -3.43764936e-01 6.16799171e-03 3.69857652e+01] [ 3.43805453e-01 9.38677388e-01 -2.61260860e-02 5.44226473e+00] [ 3.19147792e-03 2.66539108e-02 9.99639627e-01 1.51759416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18804094199999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:37.02, Y:5.44, Z:1.53 [[ 9.38956418e-01 -3.44026898e-01 -2.51759825e-03 3.70162832e+01] [ 3.44025090e-01 9.38959772e-01 -1.13270339e-03 5.43837537e+00] [ 2.75360392e-03 1.97442152e-04 9.99996189e-01 1.52732250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.218040941999995 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:37.04, Y:5.47, Z:1.50 [[ 9.37354580e-01 -3.48165711e-01 1.21255619e-02 3.70355320e+01] [ 3.48376300e-01 9.36726626e-01 -3.43100888e-02 5.47274851e+00] [ 5.87259757e-04 3.63849772e-02 9.99337675e-01 1.50315963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248040941999996 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:37.07, Y:5.46, Z:1.52 [[ 9.37366726e-01 -3.48344086e-01 1.32851779e-04 3.70682186e+01] [ 3.48335572e-01 9.37346348e-01 6.64476172e-03 5.46163941e+00] [-2.43919158e-03 -6.18230154e-03 9.99977915e-01 1.51785227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.278040942 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:37.09, Y:5.47, Z:1.52 [[ 9.37178905e-01 -3.48845408e-01 1.60657281e-03 3.70924591e+01] [ 3.48841468e-01 9.37178921e-01 2.30203386e-03 5.47302920e+00] [-2.30870011e-03 -1.59697836e-03 9.99996060e-01 1.51708967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308040942 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:37.12, Y:5.48, Z:1.52 [[ 9.37170064e-01 -3.48872414e-01 5.56868365e-04 3.71210621e+01] [ 3.48872595e-01 9.37170124e-01 -2.67854999e-04 5.48342423e+00] [-4.28433175e-04 4.45301798e-04 9.99999809e-01 1.51812465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33804094199999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:37.16, Y:5.47, Z:1.55 [[ 9.39055819e-01 -3.43205268e-01 -1.96038831e-02 3.71602305e+01] [ 3.43631008e-01 9.38753305e-01 2.56897454e-02 5.47246238e+00] [ 9.58635412e-03 -3.08606070e-02 9.99477726e-01 1.54631988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36804094199999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:37.18, Y:5.50, Z:1.53 [[ 9.38706360e-01 -3.44628198e-01 -7.85969055e-03 3.71835009e+01] [ 3.44622237e-01 9.38739005e-01 -2.14329163e-03 5.49913532e+00] [ 8.11683682e-03 -6.96702655e-04 9.99966815e-01 1.53165802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:5.51, Z:1.53 [[ 9.37698259e-01 -3.47411552e-01 -5.21426801e-03 3.72021905e+01] [ 3.47404404e-01 9.37712709e-01 -2.24836140e-03 5.51401440e+00] [ 5.67059210e-03 2.96824905e-04 9.99983878e-01 1.53216619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428040941999996 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:37.23, Y:5.53, Z:1.53 [[ 9.38050428e-01 -3.46473992e-01 -4.14343700e-03 3.72275853e+01] [ 3.46445634e-01 9.38048931e-01 -6.29484141e-03 5.52654296e+00] [ 6.06774548e-03 4.46940302e-03 9.99971603e-01 1.53042825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.458040942 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:37.26, Y:5.54, Z:1.53 [[ 9.38661823e-01 -3.44794313e-01 -5.55552793e-03 3.72556236e+01] [ 3.44788038e-01 9.38678262e-01 -2.08046340e-03 5.53584872e+00] [ 5.93218526e-03 3.73719867e-05 9.99982404e-01 1.53102445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:37.29, Y:5.53, Z:1.54 [[ 9.41032203e-01 -3.38110829e-01 -1.18092989e-02 3.72946122e+01] [ 3.38216158e-01 9.41030616e-01 8.43864739e-03 5.53472681e+00] [ 8.25971371e-03 -1.19351346e-02 9.99894659e-01 1.53759800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.518040942 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:37.32, Y:5.55, Z:1.53 [[ 9.41445795e-01 -3.37115559e-01 -5.73709711e-03 3.73186353e+01] [ 3.37084004e-01 9.41456621e-01 -5.81427794e-03 5.55175938e+00] [ 7.36131161e-03 3.53994385e-03 9.99966639e-01 1.53058236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:5.55, Z:1.54 [[ 9.42704616e-01 -3.33398627e-01 -1.23839379e-02 3.73483744e+01] [ 3.33476633e-01 9.42746027e-01 4.82324570e-03 5.55242169e+00] [ 1.00668448e-02 -8.67664991e-03 9.99911683e-01 1.54008159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:5.58, Z:1.52 [[ 9.42719581e-01 -3.33583501e-01 1.35613287e-03 3.73657983e+01] [ 3.33558338e-01 9.42580294e-01 -1.67697706e-02 5.57549296e+00] [ 4.31585468e-03 1.62615406e-02 9.99858458e-01 1.52450244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608040941999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:37.40, Y:5.57, Z:1.55 [[ 9.43302268e-01 -3.31513779e-01 -1.67166197e-02 3.74037662e+01] [ 3.31773028e-01 9.43218615e-01 1.62881158e-02 5.56516202e+00] [ 1.03676920e-02 -2.09107401e-02 9.99727589e-01 1.54603306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.638040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.42, Y:5.59, Z:1.53 [[ 9.43645993e-01 -3.30945672e-01 -2.68383293e-03 3.74215978e+01] [ 3.30917707e-01 9.43628451e-01 -7.66926361e-03 5.58987789e+00] [ 5.07065070e-03 6.34894203e-03 9.99966989e-01 1.52867256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.45, Y:5.61, Z:1.52 [[ 9.42803928e-01 -3.33340621e-01 2.18721994e-03 3.74468509e+01] [ 3.33318273e-01 9.42612808e-01 -1.94941663e-02 5.60858024e+00] [ 4.43649598e-03 1.91082169e-02 9.99807578e-01 1.51970344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.48, Y:5.60, Z:1.54 [[ 9.43927543e-01 -3.29866160e-01 -1.37517478e-02 3.74786428e+01] [ 3.30022946e-01 9.43905340e-01 1.12944081e-02 5.59641199e+00] [ 9.25470518e-03 -1.51994952e-02 9.99841650e-01 1.54114457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.51, Y:5.60, Z:1.55 [[ 9.43711346e-01 -3.30352451e-01 -1.66178354e-02 3.75103561e+01] [ 3.30682011e-01 9.43428201e-01 2.43441513e-02 5.59812065e+00] [ 7.63558449e-03 -2.84690710e-02 9.99565511e-01 1.54928569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.758040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:37.53, Y:5.64, Z:1.52 [[ 9.41900097e-01 -3.35879103e-01 3.07159206e-03 3.75326651e+01] [ 3.35819391e-01 9.41462271e-01 -2.95656731e-02 5.63887223e+00] [ 7.03870371e-03 2.88794105e-02 9.99558121e-01 1.52261040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.57, Y:5.63, Z:1.54 [[ 9.39887897e-01 -3.41407874e-01 -7.16968304e-03 3.75716881e+01] [ 3.41467887e-01 9.39837216e-01 1.02805237e-02 5.63202565e+00] [ 3.22848322e-03 -1.21107563e-02 9.99921450e-01 1.53654813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.818040941999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:37.59, Y:5.65, Z:1.53 [[ 9.40048516e-01 -3.41040282e-01 -5.60740707e-04 3.75900739e+01] [ 3.41006273e-01 9.39975609e-01 -1.26718350e-02 5.65214715e+00] [ 4.84868877e-03 1.17209236e-02 9.99919552e-01 1.52610913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.61, Y:5.65, Z:1.53 [[ 9.40474326e-01 -3.39815854e-01 5.76438199e-03 3.76059562e+01] [ 3.39814124e-01 9.40491708e-01 1.30701788e-03 5.65352949e+00] [-5.86549886e-03 7.29601650e-04 9.99982532e-01 1.52613194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:5.67, Z:1.53 [[ 9.35887608e-01 -3.52279989e-01 3.63238579e-03 3.76283858e+01] [ 3.52277634e-01 9.35894654e-01 1.29019325e-03 5.67147027e+00] [-3.85403971e-03 7.21323956e-05 9.99992571e-01 1.52760236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.66, Y:5.68, Z:1.53 [[ 9.35641604e-01 -3.52934304e-01 3.48791618e-03 3.76553218e+01] [ 3.52932135e-01 9.35648103e-01 1.23926881e-03 5.68104208e+00] [-3.70084263e-03 7.14862481e-05 9.99993149e-01 1.52755966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.93804094199999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:37.68, Y:5.69, Z:1.53 [[ 9.35547111e-01 -3.53186894e-01 3.25907355e-03 3.76820116e+01] [ 3.53184999e-01 9.35552785e-01 1.15893652e-03 5.69093241e+00] [-3.45835653e-03 6.68161797e-05 9.99994018e-01 1.52699696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968040941999995 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:37.71, Y:5.70, Z:1.53 [[ 9.35406063e-01 -3.53561949e-01 3.07354586e-03 3.77068043e+01] [ 3.53560262e-01 9.35411110e-01 1.09401343e-03 5.70042583e+00] [-3.26183047e-03 6.33368866e-05 9.99994678e-01 1.52592381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.998040941999996 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:37.73, Y:5.71, Z:1.53 [[ 9.35254830e-01 -3.53968367e-01 2.19029427e-03 3.77330424e+01] [ 3.53967512e-01 9.35257394e-01 7.79502862e-04 5.71051052e+00] [-2.32440827e-03 4.62591964e-05 9.99997297e-01 1.52599833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028040942 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:37.76, Y:5.72, Z:1.53 [[ 9.35159941e-01 -3.54223387e-01 1.29501054e-03 3.77594938e+01] [ 3.54223088e-01 9.35160837e-01 4.60802913e-04 5.72076251e+00] [-1.37427031e-03 2.77982083e-05 9.99999055e-01 1.52554692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.058040942 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:37.78, Y:5.74, Z:1.52 [[ 9.34073404e-01 -3.57050202e-01 4.69360664e-03 3.77841131e+01] [ 3.57074820e-01 9.33898766e-01 -1.81842701e-02 5.74242347e+00] [ 2.10934386e-03 1.86614118e-02 9.99823636e-01 1.51626805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08804094199999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:37.82, Y:5.73, Z:1.53 [[ 9.34882860e-01 -3.54906084e-01 -5.97573854e-03 3.78154610e+01] [ 3.54955747e-01 9.34716658e-01 1.76405080e-02 5.73097256e+00] [-6.75101256e-04 -1.86129313e-02 9.99826536e-01 1.53210449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:37.84, Y:5.75, Z:1.53 [[ 9.34582006e-01 -3.55746143e-01 1.07546849e-03 3.78384485e+01] [ 3.55745937e-01 9.34582624e-01 3.83183462e-04 5.74967332e+00] [-1.14143020e-03 2.44771766e-05 9.99999348e-01 1.52523247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.87, Y:5.76, Z:1.53 [[ 9.34259016e-01 -3.56592704e-01 1.31675729e-03 3.78650370e+01] [ 3.56592395e-01 9.34259944e-01 4.69819583e-04 5.75963672e+00] [-1.39772783e-03 3.06124553e-05 9.99999023e-01 1.52523356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.178040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.89, Y:5.77, Z:1.52 [[ 9.33893377e-01 -3.57548736e-01 1.43620662e-03 3.78904842e+01] [ 3.57548369e-01 9.33894480e-01 5.13450279e-04 5.76916794e+00] [-1.52484893e-03 3.40055197e-05 9.99998837e-01 1.52494099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.92, Y:5.78, Z:1.52 [[ 9.33175756e-01 -3.59416093e-01 1.75526518e-03 3.79164607e+01] [ 3.59415548e-01 9.33177405e-01 6.27507885e-04 5.77902591e+00] [-1.86351024e-03 4.52944503e-05 9.99998263e-01 1.52453128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.238040942 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:37.94, Y:5.79, Z:1.52 [[ 9.32944716e-01 -3.60012285e-01 2.30478488e-03 3.79415397e+01] [ 3.60011344e-01 9.32947561e-01 8.25353032e-04 5.78782818e+00] [-2.44738066e-03 5.97399522e-05 9.99997003e-01 1.52430505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26804094199999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:37.97, Y:5.80, Z:1.52 [[ 9.32773989e-01 -3.60453220e-01 2.48210814e-03 3.79684611e+01] [ 3.60452130e-01 9.32777290e-01 8.88999775e-04 5.79703353e+00] [-2.63569693e-03 6.54452974e-05 9.99996524e-01 1.52463202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.99, Y:5.81, Z:1.53 [[ 9.32585215e-01 -3.60929125e-01 3.87076378e-03 3.79949937e+01] [ 3.60926469e-01 9.32593243e-01 1.38825561e-03 5.80616492e+00] [-4.11091003e-03 1.02394445e-04 9.99991545e-01 1.52542076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328040941999994 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:38.02, Y:5.83, Z:1.52 [[ 9.31587686e-01 -3.63440205e-01 7.45655824e-03 3.80229074e+01] [ 3.63510577e-01 9.31494964e-01 -1.33113383e-02 5.82591199e+00] [-2.10787094e-03 1.51112166e-02 9.99883597e-01 1.51892744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:5.83, Z:1.53 [[ 9.31909399e-01 -3.62686683e-01 -1.80052657e-03 3.80609032e+01] [ 3.62682774e-01 9.31842649e-01 1.14229377e-02 5.82609113e+00] [-2.46513994e-03 -1.12981630e-02 9.99933135e-01 1.52829439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:5.84, Z:1.53 [[ 9.31853726e-01 -3.62834116e-01 -1.92191002e-04 3.80861067e+01] [ 3.62831655e-01 9.31845173e-01 4.21465734e-03 5.83977905e+00] [-1.35012922e-03 -3.99717713e-03 9.99991100e-01 1.52695540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.418040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.11, Y:5.86, Z:1.52 [[ 9.31128621e-01 -3.64639896e-01 6.10229868e-03 3.81090333e+01] [ 3.64681382e-01 9.31095059e-01 -8.33558749e-03 5.85821840e+00] [-2.64233239e-03 9.98689880e-03 9.99946639e-01 1.51842786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:5.85, Z:1.53 [[ 9.31335945e-01 -3.64125378e-01 -5.10561679e-03 3.81416620e+01] [ 3.64160494e-01 9.31269709e-01 1.11293873e-02 5.85479045e+00] [ 7.02213911e-04 -1.22244623e-02 9.99925032e-01 1.53279274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:5.88, Z:1.51 [[ 9.30279690e-01 -3.66679448e-01 1.12196584e-02 3.81670825e+01] [ 3.66779539e-01 9.30267115e-01 -8.71006146e-03 5.88121755e+00] [-7.24347868e-03 1.22179344e-02 9.99899122e-01 1.51006075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.19, Y:5.89, Z:1.52 [[ 9.29886734e-01 -3.67824701e-01 3.95616734e-03 3.81933487e+01] [ 3.67816303e-01 9.29894550e-01 2.70053540e-03 5.88501067e+00] [-4.67214208e-03 -1.05604920e-03 9.99988528e-01 1.51500025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:5.89, Z:1.53 [[ 9.30144061e-01 -3.67187344e-01 -2.34110331e-03 3.82199321e+01] [ 3.67194807e-01 9.30125139e-01 5.93296100e-03 5.89102688e+00] [-9.89149193e-07 -6.37814942e-03 9.99979659e-01 1.52745713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.24, Y:5.92, Z:1.51 [[ 9.28590354e-01 -3.70919733e-01 1.17688496e-02 3.82366359e+01] [ 3.71090876e-01 9.28374478e-01 -2.03073922e-02 5.92047153e+00] [-3.39348710e-03 2.32245612e-02 9.99724514e-01 1.50926037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:5.92, Z:1.52 [[ 9.28979857e-01 -3.70126266e-01 1.72426939e-03 3.82649617e+01] [ 3.70118536e-01 9.28977409e-01 3.63913285e-03 5.91786727e+00] [-2.94874597e-03 -2.74249705e-03 9.99991892e-01 1.51962288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.29, Y:5.93, Z:1.52 [[ 9.29110818e-01 -3.69801112e-01 4.74662318e-04 3.82932570e+01] [ 3.69794146e-01 9.29099836e-01 5.07782976e-03 5.92799810e+00] [-2.31879577e-03 -4.54233922e-03 9.99986995e-01 1.52034179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:38.32, Y:5.95, Z:1.51 [[ 9.28625016e-01 -3.70964758e-01 6.38187264e-03 3.83161556e+01] [ 3.70997076e-01 9.28620877e-01 -4.94320288e-03 5.94531331e+00] [-4.09258611e-03 6.95803795e-03 9.99967418e-01 1.51471151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68804094199999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.34, Y:5.95, Z:1.52 [[ 9.28600053e-01 -3.71072603e-01 2.65803516e-03 3.83445910e+01] [ 3.71066789e-01 9.28602977e-01 2.43916704e-03 5.95163218e+00] [-3.37336743e-03 -1.27870207e-03 9.99993493e-01 1.51775699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.37, Y:5.96, Z:1.52 [[ 9.27946083e-01 -3.72703078e-01 2.91253911e-03 3.83712382e+01] [ 3.72688047e-01 9.27945024e-01 4.65322393e-03 5.96148006e+00] [-4.43694706e-03 -3.23247241e-03 9.99984932e-01 1.51984485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748040941999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.40, Y:5.97, Z:1.52 [[ 9.27898502e-01 -3.72821341e-01 2.93551497e-03 3.83961094e+01] [ 3.72827908e-01 9.27898057e-01 -2.13223964e-03 5.97489069e+00] [-1.92891419e-03 3.07294387e-03 9.99993418e-01 1.51714647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.43, Y:5.99, Z:1.52 [[ 9.26864995e-01 -3.75383634e-01 2.89967941e-03 3.84258669e+01] [ 3.75383123e-01 9.26869443e-01 7.39321332e-04 5.98506227e+00] [-2.96515337e-03 4.03239651e-04 9.99995523e-01 1.51981561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.45, Y:6.00, Z:1.52 [[ 9.27312363e-01 -3.74285590e-01 1.44196205e-03 3.84510681e+01] [ 3.74285171e-01 9.27313484e-01 5.60498615e-04 5.99637441e+00] [-1.54693740e-03 1.99477155e-05 9.99998803e-01 1.51985215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.48, Y:6.01, Z:1.52 [[ 9.27356236e-01 -3.74179032e-01 6.81204866e-04 3.84763918e+01] [ 3.74174096e-01 9.27350851e-01 3.76089835e-03 6.00610846e+00] [-2.03896521e-03 -3.23280332e-03 9.99992696e-01 1.52188848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:6.02, Z:1.53 [[ 9.27227518e-01 -3.74494263e-01 -1.78218504e-03 3.85063532e+01] [ 3.74498457e-01 9.27214549e-01 4.90775626e-03 6.01744415e+00] [-1.85458667e-04 -5.21803220e-03 9.99986369e-01 1.52601806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.898040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:6.03, Z:1.52 [[ 9.27192183e-01 -3.74577277e-01 2.55320115e-03 3.85264248e+01] [ 3.74565959e-01 9.27191561e-01 4.01903072e-03 6.03071287e+00] [-3.87274414e-03 -2.77007163e-03 9.99988664e-01 1.52203627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.56, Y:6.04, Z:1.53 [[ 9.27913877e-01 -3.72740204e-01 -6.37004360e-03 3.85620420e+01] [ 3.72784502e-01 9.27879158e-01 8.48428397e-03 6.03766437e+00] [ 2.74819695e-03 -1.02473384e-02 9.99943718e-01 1.53277558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:6.06, Z:1.53 [[ 9.27148228e-01 -3.74694742e-01 -1.19122232e-04 3.85824820e+01] [ 3.74685506e-01 9.27127516e-01 -6.73363135e-03 6.05749486e+00] [ 2.63349776e-03 6.19844100e-03 9.99977322e-01 1.52544214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.62, Y:6.06, Z:1.53 [[ 9.26546602e-01 -3.76101412e-01 -7.68904141e-03 3.86160025e+01] [ 3.76165619e-01 9.26496349e-01 1.01951541e-02 6.06061544e+00] [ 3.28945694e-03 -1.23386384e-02 9.99918465e-01 1.53429972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:6.08, Z:1.52 [[ 9.26448500e-01 -3.76415597e-01 2.11547728e-03 3.86323171e+01] [ 3.76407496e-01 9.26350753e-01 -1.38448621e-02 6.08427677e+00] [ 3.25174807e-03 1.36228333e-02 9.99901917e-01 1.52202702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:6.09, Z:1.53 [[ 9.26399057e-01 -3.76512217e-01 -4.83087265e-03 3.86635759e+01] [ 3.76532761e-01 9.26392679e-01 4.43670710e-03 6.08664032e+00] [ 2.80481063e-03 -5.92914309e-03 9.99978489e-01 1.53205503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.078040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.69, Y:6.10, Z:1.53 [[ 9.26110258e-01 -3.77242890e-01 -2.75555613e-03 3.86892587e+01] [ 3.77241109e-01 9.26114356e-01 -1.15962286e-03 6.10007031e+00] [ 2.98941957e-03 3.44295799e-05 9.99995531e-01 1.53007987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108040941999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.71, Y:6.11, Z:1.53 [[ 9.26185012e-01 -3.77051801e-01 -3.64186981e-03 3.87135234e+01] [ 3.77055804e-01 9.26190429e-01 4.57096459e-04 6.11032171e+00] [ 3.20071592e-03 -1.79654404e-03 9.99993264e-01 1.52885694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.138040941999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:38.74, Y:6.13, Z:1.52 [[ 9.25608523e-01 -3.78481637e-01 7.15941237e-04 3.87364782e+01] [ 3.78478649e-01 9.25589579e-01 -6.15175253e-03 6.12608132e+00] [ 1.66565762e-03 5.96508305e-03 9.99980822e-01 1.52411593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:38.76, Y:6.13, Z:1.53 [[ 9.25433103e-01 -3.78907505e-01 -1.63519146e-03 3.87628165e+01] [ 3.78908406e-01 9.25434140e-01 2.69838772e-04 6.13416753e+00] [ 1.41101806e-03 -8.69305520e-04 9.99998627e-01 1.52602655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.198040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:38.78, Y:6.15, Z:1.52 [[ 9.25402078e-01 -3.78977385e-01 2.67124620e-03 3.87849086e+01] [ 3.78985332e-01 9.25355896e-01 -9.30507097e-03 6.15128857e+00] [ 1.05455805e-03 9.62329514e-03 9.99953139e-01 1.52005945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22804094199999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:38.81, Y:6.16, Z:1.52 [[ 9.25487890e-01 -3.78775322e-01 -1.19200421e-03 3.88137377e+01] [ 3.78774459e-01 9.25488582e-01 -8.90744153e-04 6.15916939e+00] [ 1.44057819e-03 3.72872177e-04 9.99998893e-01 1.52313920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.258040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:6.18, Z:1.52 [[ 9.25642020e-01 -3.78396646e-01 1.68223561e-03 3.88372386e+01] [ 3.78370691e-01 9.25504545e-01 -1.66420284e-02 6.18099915e+00] [ 4.74037103e-03 1.60410695e-02 9.99860097e-01 1.51867562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:6.17, Z:1.54 [[ 9.27282865e-01 -3.74092374e-01 -1.41909596e-02 3.88723632e+01] [ 3.74356390e-01 9.26800792e-01 2.99597244e-02 6.16716553e+00] [ 1.94448816e-03 -3.30936155e-02 9.99450365e-01 1.54086022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:6.20, Z:1.53 [[ 9.27220124e-01 -3.74501688e-01 -3.36564429e-03 3.88932445e+01] [ 3.74492494e-01 9.27224887e-01 -3.06296354e-03 6.19502239e+00] [ 4.26779416e-03 1.57963291e-03 9.99989645e-01 1.53030598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:6.21, Z:1.53 [[ 9.27185601e-01 -3.74598334e-01 -1.71738757e-03 3.89181792e+01] [ 3.74598454e-01 9.27187106e-01 -2.63853008e-04 6.20683739e+00] [ 1.69117850e-03 -3.98690016e-04 9.99998490e-01 1.52999906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.94, Y:6.23, Z:1.52 [[ 9.26731978e-01 -3.75680412e-01 5.66298826e-03 3.89391881e+01] [ 3.75722161e-01 9.26657957e-01 -1.17426168e-02 6.22561922e+00] [-8.36182011e-04 1.30099687e-02 9.99915017e-01 1.52189545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:6.23, Z:1.53 [[ 9.26789654e-01 -3.75580196e-01 6.73660206e-04 3.89655000e+01] [ 3.75579669e-01 9.26789774e-01 7.91367555e-04 6.23195924e+00] [-9.21563372e-04 -4.80418185e-04 9.99999460e-01 1.52651151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.43804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.99, Y:6.25, Z:1.52 [[ 9.26640371e-01 -3.75943499e-01 2.02688585e-03 3.89920407e+01] [ 3.75944215e-01 9.26642297e-01 3.01400866e-05 6.24531230e+00] [-1.88952913e-03 7.34066988e-04 9.99997945e-01 1.52488754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:6.26, Z:1.52 [[ 9.25554096e-01 -3.78608794e-01 2.23535985e-03 3.90213790e+01] [ 3.78615329e-01 9.25541238e-01 -4.88349824e-03 6.26188099e+00] [-2.19982344e-04 5.36628331e-03 9.99985577e-01 1.52353954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.04, Y:6.27, Z:1.53 [[ 9.26890117e-01 -3.75331387e-01 -1.03034287e-03 3.90433922e+01] [ 3.75323276e-01 9.26843544e-01 9.66872319e-03 6.26657267e+00] [-2.67400865e-03 -9.34855562e-03 9.99952726e-01 1.52715281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.07, Y:6.28, Z:1.53 [[ 9.27100701e-01 -3.74805045e-01 -2.33869950e-03 3.90709189e+01] [ 3.74803059e-01 9.27103606e-01 -1.25296222e-03 6.28341241e+00] [ 2.63783330e-03 2.85070421e-04 9.99996480e-01 1.52639524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.10, Y:6.30, Z:1.52 [[ 9.25722450e-01 -3.78194736e-01 2.58612686e-03 3.90951788e+01] [ 3.78201305e-01 9.25671540e-01 -9.79661034e-03 6.30166437e+00] [ 1.31112242e-03 1.00470187e-02 9.99948668e-01 1.51934775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:6.30, Z:1.53 [[ 9.26625433e-01 -3.75862201e-01 -9.63915334e-03 3.91246324e+01] [ 3.75941604e-01 9.26605018e-01 8.42914490e-03 6.30124364e+00] [ 5.76349090e-03 -1.14344188e-02 9.99918015e-01 1.53092692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:6.32, Z:1.52 [[ 9.26246269e-01 -3.76918331e-01 -6.48328097e-04 3.91439227e+01] [ 3.76918612e-01 9.26242132e-01 2.80572399e-03 6.31754257e+00] [-4.57020007e-04 -2.84315831e-03 9.99995854e-01 1.52401619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:6.33, Z:1.52 [[ 9.24799264e-01 -3.80454381e-01 -8.86058376e-04 3.91708860e+01] [ 3.80446652e-01 9.24759655e-01 8.94010110e-03 6.32774935e+00] [-2.58190960e-03 -8.60489686e-03 9.99959644e-01 1.52380308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:6.35, Z:1.52 [[ 9.25301607e-01 -3.79196066e-01 5.22302869e-03 3.91930724e+01] [ 3.79231552e-01 9.25190676e-01 -1.43402630e-02 6.35078089e+00] [ 6.05473860e-04 1.52498057e-02 9.99883532e-01 1.51837723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.22, Y:6.36, Z:1.52 [[ 9.24759687e-01 -3.80551465e-01 -3.21473251e-04 3.92195242e+01] [ 3.80545689e-01 9.24749700e-01 -4.79285965e-03 6.35924958e+00] [ 2.12121205e-03 4.30990813e-03 9.99988463e-01 1.52210207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.738040942 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:39.25, Y:6.36, Z:1.54 [[ 9.24427952e-01 -3.81196683e-01 -1.10476472e-02 3.92479804e+01] [ 3.81350772e-01 9.24187556e-01 2.11884348e-02 6.35775082e+00] [ 2.13313702e-03 -2.38002102e-02 9.99714459e-01 1.53680046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76804094199999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:39.27, Y:6.38, Z:1.53 [[ 9.23687749e-01 -3.83142420e-01 -1.68184883e-03 3.92684027e+01] [ 3.83142480e-01 9.23689207e-01 -2.99138886e-04 6.38209440e+00] [ 1.66811841e-03 -3.68076809e-04 9.99998541e-01 1.52942596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79804094199999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:39.29, Y:6.40, Z:1.53 [[ 9.23625455e-01 -3.83296041e-01 -4.04199285e-04 3.92928583e+01] [ 3.83289285e-01 9.23614507e-01 -5.05634412e-03 6.39595964e+00] [ 2.31140100e-03 4.51524288e-03 9.99987135e-01 1.52822668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828040941999994 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:39.32, Y:6.41, Z:1.52 [[ 9.23415733e-01 -3.83796265e-01 1.95196697e-03 3.93199203e+01] [ 3.83795585e-01 9.23362632e-01 -1.01192542e-02 6.41216179e+00] [ 2.08135862e-03 1.00934349e-02 9.99946894e-01 1.52490356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.858040941999995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:39.35, Y:6.42, Z:1.52 [[ 9.24131143e-01 -3.82075272e-01 3.42583751e-04 3.93464608e+01] [ 3.82072559e-01 9.24120364e-01 -4.70237607e-03 6.42277684e+00] [ 1.48007300e-03 4.47650402e-03 9.99988885e-01 1.52380677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888040941999996 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:39.37, Y:6.43, Z:1.53 [[ 9.24012919e-01 -3.82346262e-01 -3.38557088e-03 3.93694261e+01] [ 3.82358235e-01 9.24004575e-01 4.21023778e-03 6.43069032e+00] [ 1.51851430e-03 -5.18481501e-03 9.99985406e-01 1.52857454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.918040942 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:39.39, Y:6.45, Z:1.52 [[ 9.24240637e-01 -3.81796949e-01 3.21485677e-03 3.93888920e+01] [ 3.81805158e-01 9.24150509e-01 -1.30636278e-02 6.45478399e+00] [ 2.01664170e-03 1.33013845e-02 9.99909499e-01 1.51929502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948040942 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:39.42, Y:6.45, Z:1.53 [[ 9.26018479e-01 -3.77372276e-01 -8.94099608e-03 3.94237403e+01] [ 3.77477282e-01 9.25704828e-01 2.41137450e-02 6.44599556e+00] [-8.23135588e-04 -2.57047964e-02 9.99669238e-01 1.53463110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97804094199999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:39.44, Y:6.47, Z:1.53 [[ 9.26210076e-01 -3.77007632e-01 -3.74899343e-04 3.94439859e+01] [ 3.77004531e-01 9.26205695e-01 -3.25470239e-03 6.47215551e+00] [ 1.57428155e-03 2.87319940e-03 9.99994633e-01 1.52734900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008040941999994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:39.46, Y:6.49, Z:1.52 [[ 9.25770317e-01 -3.77977861e-01 9.05846343e-03 3.94591314e+01] [ 3.78034147e-01 9.25774966e-01 -5.55846936e-03 6.49292221e+00] [-6.28512031e-03 8.57027444e-03 9.99943522e-01 1.51703622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:6.50, Z:1.52 [[ 9.26794109e-01 -3.75528637e-01 5.56073748e-03 3.94871734e+01] [ 3.75538907e-01 9.26806197e-01 -8.95314441e-04 6.50260755e+00] [-4.81750975e-03 2.91804543e-03 9.99984138e-01 1.51917189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068040941999996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:39.51, Y:6.53, Z:1.51 [[ 9.26370035e-01 -3.76368935e-01 1.36008428e-02 3.95075520e+01] [ 3.76565430e-01 9.26228441e-01 -1.73017874e-02 6.52679425e+00] [-6.08563216e-03 2.11494646e-02 9.99757803e-01 1.50707047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.098040942 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:39.54, Y:6.53, Z:1.52 [[ 9.28482309e-01 -3.71376566e-01 2.21226170e-04 3.95405698e+01] [ 3.71374919e-01 9.28479671e-01 2.48372457e-03 6.52784114e+00] [-1.12780110e-03 -2.22393647e-03 9.99996891e-01 1.52165151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128040942 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:39.56, Y:6.54, Z:1.51 [[ 9.28618430e-01 -3.70878806e-01 1.08038016e-02 3.95620425e+01] [ 3.70768552e-01 9.28660919e-01 1.09352070e-02 6.53932418e+00] [-1.40887048e-02 -6.14892489e-03 9.99881843e-01 1.51229794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15804094199999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:39.58, Y:6.55, Z:1.51 [[ 9.29607560e-01 -3.68340729e-01 1.24455883e-02 3.95848961e+01] [ 3.68341208e-01 9.29687739e-01 2.33719142e-03 6.55451302e+00] [-1.24313936e-02 2.41155220e-03 9.99919819e-01 1.51021082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18804094199999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:39.62, Y:6.55, Z:1.53 [[ 9.32386090e-01 -3.61431461e-01 -4.84545294e-03 3.96246154e+01] [ 3.61437301e-01 9.32070864e-01 2.46370212e-02 6.55149091e+00] [-4.38828906e-03 -2.47225433e-02 9.99684720e-01 1.52890387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.218040941999995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:39.65, Y:6.58, Z:1.52 [[ 9.32930922e-01 -3.60031197e-01 4.17518639e-03 3.96450358e+01] [ 3.60022049e-01 9.32939613e-01 2.79351717e-03 6.57506682e+00] [-4.90095010e-03 -1.10299939e-03 9.99987382e-01 1.52222620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248040941999996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:39.67, Y:6.58, Z:1.53 [[ 9.33487370e-01 -3.58609290e-01 -8.41655191e-04 3.96712197e+01] [ 3.58599685e-01 9.33439187e-01 9.87678509e-03 6.58483628e+00] [-2.75627295e-03 -9.52167142e-03 9.99950869e-01 1.52557903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.278040942 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:39.70, Y:6.60, Z:1.52 [[ 9.33896675e-01 -3.57542175e-01 -7.70659709e-04 3.96966307e+01] [ 3.57542995e-01 9.33893967e-01 2.25062910e-03 6.59832092e+00] [-8.49803702e-05 -2.37739901e-03 9.99997170e-01 1.52479210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308040942 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:39.72, Y:6.62, Z:1.52 [[ 9.34437249e-01 -3.56125086e-01 1.39668779e-03 3.97207549e+01] [ 3.56114706e-01 9.34361977e-01 -1.22479682e-02 6.61533266e+00] [ 3.05679676e-03 1.19423388e-02 9.99924015e-01 1.52116664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33804094199999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:39.76, Y:6.61, Z:1.54 [[ 9.34865779e-01 -3.54808933e-01 -1.16874505e-02 3.97556307e+01] [ 3.54998923e-01 9.34474895e-01 2.70635542e-02 6.60509667e+00] [ 1.31923824e-03 -2.94498230e-02 9.99565389e-01 1.53520327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36804094199999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:39.77, Y:6.65, Z:1.51 [[ 9.34750655e-01 -3.54909466e-01 1.67476418e-02 3.97696042e+01] [ 3.55247031e-01 9.34407882e-01 -2.61047493e-02 6.64553762e+00] [-6.38430584e-03 3.03509815e-02 9.99518914e-01 1.51234693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.398040941999994 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:39.80, Y:6.64, Z:1.52 [[ 9.34776095e-01 -3.55191200e-01 5.73274221e-03 3.98001687e+01] [ 3.55184141e-01 9.34793672e-01 2.23995323e-03 6.64102558e+00] [-6.15454281e-03 -5.76756130e-05 9.99981059e-01 1.51782630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428040941999996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:39.83, Y:6.65, Z:1.52 [[ 9.35302043e-01 -3.53810606e-01 5.30504055e-03 3.98259071e+01] [ 3.53804532e-01 9.35317086e-01 2.07415526e-03 6.65175527e+00] [-5.69575319e-03 -6.30142659e-05 9.99983777e-01 1.51733123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.458040942 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:39.85, Y:6.66, Z:1.52 [[ 9.35461281e-01 -3.53392908e-01 5.06391839e-03 3.98522513e+01] [ 3.53387359e-01 9.35474985e-01 1.98145025e-03 6.66218612e+00] [-5.43739945e-03 -6.40452402e-05 9.99985215e-01 1.51675483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488040942 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:39.88, Y:6.67, Z:1.52 [[ 9.35984578e-01 -3.52009072e-01 4.74170187e-03 3.98795154e+01] [ 3.52004181e-01 9.35996586e-01 1.85685746e-03 6.67083524e+00] [-5.09184743e-03 -6.88910664e-05 9.99987034e-01 1.51658326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51804094199999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:39.90, Y:6.69, Z:1.51 [[ 9.35969050e-01 -3.51810404e-01 1.38339143e-02 3.99036089e+01] [ 3.51946227e-01 9.35977098e-01 -8.98475549e-03 6.68728845e+00] [-9.78729648e-03 1.32782470e-02 9.99863939e-01 1.50835661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54804094199999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:39.93, Y:6.68, Z:1.52 [[ 9.36548288e-01 -3.50538358e-01 4.05172568e-04 3.99348801e+01] [ 3.50496032e-01 9.36451965e-01 1.44999893e-02 6.68273050e+00] [-5.46222710e-03 -1.34379288e-02 9.99894788e-01 1.51948473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.578040941999994 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:39.96, Y:6.70, Z:1.52 [[ 9.36710474e-01 -3.50056977e-01 5.79655738e-03 3.99574098e+01] [ 3.50049607e-01 9.36728404e-01 2.27377162e-03 6.69901927e+00] [-6.22574956e-03 -1.00783059e-04 9.99980615e-01 1.51585335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608040941999995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:39.98, Y:6.71, Z:1.52 [[ 9.36690315e-01 -3.50103051e-01 6.25365261e-03 3.99829696e+01] [ 3.50094461e-01 9.36711184e-01 2.45486441e-03 6.70946084e+00] [-6.71732186e-03 -1.10078571e-04 9.99977432e-01 1.51516535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.638040941999996 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:40.01, Y:6.72, Z:1.51 [[ 9.36633414e-01 -3.50243685e-01 6.87085756e-03 4.00084596e+01] [ 3.50233310e-01 9.36658607e-01 2.69847610e-03 6.71924859e+00] [-7.38077208e-03 -1.21079699e-04 9.99972754e-01 1.51431311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668040942 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:40.04, Y:6.73, Z:1.51 [[ 9.36403376e-01 -3.50862792e-01 6.63465221e-03 4.00353111e+01] [ 3.50853121e-01 9.36426873e-01 2.60750604e-03 6.72897138e+00] [-7.12774347e-03 -1.13889023e-04 9.99974591e-01 1.51409813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.698040942 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:40.06, Y:6.74, Z:1.51 [[ 9.36201817e-01 -3.51408412e-01 6.18760540e-03 4.00617670e+01] [ 3.51400005e-01 9.36222258e-01 2.43300125e-03 6.73565755e+00] [-6.64795101e-03 -1.03455616e-04 9.99977897e-01 1.51303462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72804094199999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:40.09, Y:6.74, Z:1.51 [[ 9.35770209e-01 -3.52559250e-01 6.00761108e-03 4.00886269e+01] [ 3.52551338e-01 9.35789488e-01 2.36387861e-03 6.74490655e+00] [-6.45526657e-03 -9.40558552e-05 9.99979160e-01 1.51433787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.758040941999994 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:40.11, Y:6.75, Z:1.51 [[ 9.34863923e-01 -3.54941529e-01 6.77910828e-03 4.01138364e+01] [ 3.54931503e-01 9.34888498e-01 2.66929617e-03 6.75355376e+00] [-7.28515442e-03 -8.93096015e-05 9.99973459e-01 1.51296526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788040941999995 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:40.14, Y:6.76, Z:1.51 [[ 9.34154015e-01 -3.56807723e-01 6.67275191e-03 4.01403828e+01] [ 3.56798042e-01 9.34177843e-01 2.62943686e-03 6.76396232e+00] [-7.17174037e-03 -7.54741842e-05 9.99974280e-01 1.51211405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.818040941999996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:40.17, Y:6.77, Z:1.51 [[ 9.33336023e-01 -3.58952095e-01 6.10423932e-03 4.01666014e+01] [ 3.58944026e-01 9.33355983e-01 2.40738849e-03 6.77360058e+00] [-6.56156543e-03 -5.58221649e-05 9.99978471e-01 1.51189025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848040942 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:40.19, Y:6.78, Z:1.51 [[ 9.31588400e-01 -3.63469500e-01 5.74235066e-03 4.01931244e+01] [ 3.63462437e-01 9.31606098e-01 2.26612907e-03 6.77918190e+00] [-6.17327769e-03 -2.39707917e-05 9.99980945e-01 1.51128163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.878040942 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:40.22, Y:6.79, Z:1.51 [[ 9.30552969e-01 -3.66121655e-01 5.10931516e-03 4.02206241e+01] [ 3.66116095e-01 9.30566996e-01 2.01774081e-03 6.78715335e+00] [-5.49329867e-03 -7.01218679e-06 9.99984912e-01 1.51172473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90804094199999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:40.25, Y:6.80, Z:1.51 [[ 9.29685587e-01 -3.68320540e-01 4.96883833e-03 4.02478512e+01] [ 3.68315305e-01 9.29698865e-01 1.96386733e-03 6.79534100e+00] [-5.34285603e-03 4.32005694e-06 9.99985727e-01 1.51041177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93804094199999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:40.27, Y:6.80, Z:1.51 [[ 9.27957629e-01 -3.72653116e-01 4.92877515e-03 4.02738956e+01] [ 3.72648020e-01 9.27970718e-01 1.94907423e-03 6.80335185e+00] [-5.30008760e-03 2.80399972e-05 9.99985954e-01 1.51226904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968040941999995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:40.30, Y:6.81, Z:1.51 [[ 9.27378724e-01 -3.74086990e-01 5.25606761e-03 4.03001890e+01] [ 3.74081210e-01 9.27393618e-01 2.07985910e-03 6.81333125e+00] [-5.65249179e-03 3.73790460e-05 9.99984024e-01 1.51233043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.998040941999996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:40.33, Y:6.82, Z:1.51 [[ 9.27281738e-01 -3.74327341e-01 5.25551526e-03 4.03267061e+01] [ 3.74321557e-01 9.27296630e-01 2.08125422e-03 6.82392415e+00] [-5.65249195e-03 3.73436212e-05 9.99984024e-01 1.51227208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:40.35, Y:6.83, Z:1.51 [[ 9.26918002e-01 -3.75205278e-01 6.63459646e-03 4.03519490e+01] [ 3.75196072e-01 9.26941744e-01 2.62876526e-03 6.83223835e+00] [-7.13621101e-03 5.26246900e-05 9.99974536e-01 1.51252610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.058040942 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:40.38, Y:6.84, Z:1.51 [[ 9.26990087e-01 -3.75022858e-01 6.87277536e-03 4.03782027e+01] [ 3.75012961e-01 9.27015563e-01 2.72506507e-03 6.84096227e+00] [-7.39313141e-03 5.12715308e-05 9.99972669e-01 1.51294075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08804094199999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:40.40, Y:6.85, Z:1.51 [[ 9.27353698e-01 -3.74121644e-01 6.93651837e-03 4.04045267e+01] [ 3.74111524e-01 9.27379638e-01 2.75211815e-03 6.84927879e+00] [-7.46241286e-03 4.28445100e-05 9.99972155e-01 1.51341239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11804094199999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:40.43, Y:6.86, Z:1.51 [[ 9.27877877e-01 -3.72818220e-01 7.01572734e-03 4.04310736e+01] [ 3.72807814e-01 9.27904399e-01 2.78563448e-03 6.85790450e+00] [-7.54845955e-03 3.07893608e-05 9.99971510e-01 1.51409981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148040941999994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:40.46, Y:6.87, Z:1.51 [[ 9.29262497e-01 -3.69351283e-01 7.13024562e-03 4.04576997e+01] [ 3.69340415e-01 9.29289852e-01 2.83340900e-03 6.86639540e+00] [-7.67258815e-03 5.07155518e-07 9.99970565e-01 1.51467707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.178040941999996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.48, Y:6.88, Z:1.51 [[ 9.30136310e-01 -3.67144156e-01 7.18429902e-03 4.04840028e+01] [ 3.67133038e-01 9.30164055e-01 2.85719323e-03 6.87660058e+00] [-7.73157850e-03 -1.99856397e-05 9.99970111e-01 1.51446505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208040942 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:40.51, Y:6.89, Z:1.51 [[ 9.32209799e-01 -3.61847946e-01 7.13819127e-03 4.05091445e+01] [ 3.61836805e-01 9.32237126e-01 2.84018633e-03 6.88684345e+00] [-7.68220251e-03 -6.47892091e-05 9.99970489e-01 1.51339751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.238040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.53, Y:6.90, Z:1.51 [[ 9.33271970e-01 -3.59110438e-01 6.56687381e-03 4.05345209e+01] [ 3.59100932e-01 9.33295070e-01 2.61411259e-03 6.89582930e+00] [-7.06758607e-03 -8.15074955e-05 9.99975021e-01 1.51247329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26804094199999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.56, Y:6.90, Z:1.52 [[ 9.34777742e-01 -3.55179392e-01 6.17841023e-03 4.05612476e+01] [ 3.55170885e-01 9.34798154e-01 2.46044085e-03 6.90151991e+00] [-6.64946436e-03 -1.05573910e-04 9.99977886e-01 1.51514715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.59, Y:6.91, Z:1.52 [[ 9.35244210e-01 -3.53952916e-01 5.96663824e-03 4.05882113e+01] [ 3.53944948e-01 9.35263236e-01 2.37757220e-03 6.91063255e+00] [-6.42192601e-03 -1.11749171e-04 9.99979373e-01 1.51552222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328040941999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:40.61, Y:6.92, Z:1.51 [[ 9.35597971e-01 -3.53017907e-01 5.89860320e-03 4.06147503e+01] [ 3.53010090e-01 9.35616558e-01 2.35233224e-03 6.92056308e+00] [-6.34924623e-03 -1.18570825e-04 9.99979836e-01 1.51459719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.358040941999995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:40.64, Y:6.93, Z:1.51 [[ 9.35718676e-01 -3.52700636e-01 5.72894458e-03 4.06410012e+01] [ 3.52693244e-01 9.35736206e-01 2.28653081e-03 6.92951862e+00] [-6.16724174e-03 -1.18989537e-04 9.99980975e-01 1.51323739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388040941999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:40.67, Y:6.94, Z:1.51 [[ 9.35496893e-01 -3.53291984e-01 5.50790935e-03 4.06675316e+01] [ 3.53285151e-01 9.35513101e-01 2.20009171e-03 6.93786570e+00] [-5.92999612e-03 -1.12316374e-04 9.99982411e-01 1.51315088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.69, Y:6.95, Z:1.51 [[ 9.35070879e-01 -3.54422383e-01 5.21770801e-03 4.06945938e+01] [ 3.54416260e-01 9.35085431e-01 2.08584664e-03 6.94602239e+00] [-5.61827348e-03 -1.01173893e-04 9.99984212e-01 1.51382516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.72, Y:6.95, Z:1.51 [[ 9.33822841e-01 -3.57703311e-01 4.82107956e-03 4.07223658e+01] [ 3.57698119e-01 9.33835283e-01 1.92883630e-03 6.95092820e+00] [-5.19204532e-03 -7.67003052e-05 9.99986518e-01 1.51477706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47804094199999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:40.75, Y:6.96, Z:1.51 [[ 9.32945839e-01 -3.59979537e-01 5.17628345e-03 4.07485643e+01] [ 3.59973578e-01 9.32960196e-01 2.07236920e-03 6.95861523e+00] [-5.57527693e-03 -7.00829483e-05 9.99984456e-01 1.51467315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.78, Y:6.97, Z:1.52 [[ 9.31250159e-01 -3.64344813e-01 5.09878371e-03 4.07756648e+01] [ 3.64339089e-01 9.31264117e-01 2.04281545e-03 6.96530608e+00] [-5.49260352e-03 -4.46860005e-05 9.99984915e-01 1.51566033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.80, Y:6.97, Z:1.52 [[ 9.30465610e-01 -3.66348481e-01 4.74757400e-03 4.08014389e+01] [ 3.66343540e-01 9.30477721e-01 1.90309092e-03 6.97360179e+00] [-5.11470630e-03 -3.15175863e-05 9.99986919e-01 1.51553090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:6.97, Z:1.52 [[ 9.31416235e-01 -3.63943745e-01 -2.95757697e-03 4.08390239e+01] [ 3.63955494e-01 9.31374922e-01 8.78370071e-03 6.97395541e+00] [-4.42159913e-04 -9.25770783e-03 9.99957049e-01 1.52413710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:7.00, Z:1.51 [[ 9.29370075e-01 -3.69016035e-01 9.92114165e-03 4.08512135e+01] [ 3.69149072e-01 9.29068191e-01 -2.36908848e-02 7.00107428e+00] [-4.75100734e-04 2.56799797e-02 9.99670102e-01 1.50981125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.89, Y:6.99, Z:1.52 [[ 9.28035452e-01 -3.72472250e-01 -3.82398504e-03 4.08881489e+01] [ 3.72475778e-01 9.27850989e-01 1.88238267e-02 6.98541328e+00] [-3.46326477e-03 -1.88935203e-02 9.99815503e-01 1.52271847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.91, Y:7.00, Z:1.52 [[ 9.27530425e-01 -3.73736668e-01 2.86599814e-03 4.09103014e+01] [ 3.73734911e-01 9.27534853e-01 1.14601035e-03 7.00303543e+00] [-3.08661925e-03 8.16408934e-06 9.99995236e-01 1.51588131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.94, Y:7.01, Z:1.52 [[ 9.26950480e-01 -3.75176557e-01 2.31505263e-03 4.09368278e+01] [ 3.75175414e-01 9.26953371e-01 9.26000920e-04 7.01179299e+00] [-2.49335967e-03 1.01938313e-05 9.99996892e-01 1.51580306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.718040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.97, Y:7.01, Z:1.52 [[ 9.28163835e-01 -3.72148995e-01 -4.12554813e-03 4.09747369e+01] [ 3.72163235e-01 9.28160770e-01 3.48030301e-03 7.01321609e+00] [ 2.53398065e-03 -4.76566873e-03 9.99985434e-01 1.51903589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748040941999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.99, Y:7.03, Z:1.51 [[ 9.26330913e-01 -3.76709784e-01 8.81933459e-04 4.09910034e+01] [ 3.76709587e-01 9.26319369e-01 -4.72363781e-03 7.02941421e+00] [ 9.62488536e-04 4.70788452e-03 9.99988455e-01 1.51439887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:7.02, Z:1.53 [[ 9.28575105e-01 -3.70914333e-01 -1.30702573e-02 4.10350898e+01] [ 3.71055746e-01 9.28547406e-01 1.08327329e-02 7.02250084e+00] [ 8.11833759e-03 -1.49088001e-02 9.99855900e-01 1.52605659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.05, Y:7.04, Z:1.52 [[ 9.29502738e-01 -3.68771656e-01 -5.66802847e-03 4.10525443e+01] [ 3.68675394e-01 9.29463762e-01 -1.32502396e-02 7.04157684e+00] [ 1.01545399e-02 1.02264714e-02 9.99896147e-01 1.51652120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.08, Y:7.03, Z:1.53 [[ 9.31573265e-01 -3.63079321e-01 -1.85649794e-02 4.10837853e+01] [ 3.63415625e-01 9.31411625e-01 2.00366728e-02 7.02927311e+00] [ 1.00167361e-02 -2.54124323e-02 9.99626867e-01 1.53453095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86804094199999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:41.11, Y:7.06, Z:1.51 [[ 9.29941780e-01 -3.67699427e-01 -2.32736941e-03 4.11076573e+01] [ 3.67612589e-01 9.29828178e-01 -1.67494250e-02 7.06125564e+00] [ 8.32280761e-03 1.47204198e-02 9.99857010e-01 1.51417711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.898040941999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:41.14, Y:7.06, Z:1.52 [[ 9.31105665e-01 -3.64669641e-01 -7.63503263e-03 4.11423916e+01] [ 3.64689271e-01 9.31128358e-01 1.31002386e-03 7.06162155e+00] [ 6.63146946e-03 -4.00418512e-03 9.99969995e-01 1.52439579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928040941999996 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:41.17, Y:7.07, Z:1.52 [[ 9.32191352e-01 -3.61906777e-01 -6.53974791e-03 4.11669237e+01] [ 3.61878816e-01 9.32211264e-01 -5.08748411e-03 7.07344422e+00] [ 7.93762164e-03 2.37591246e-03 9.99965674e-01 1.52234859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.958040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:41.20, Y:7.09, Z:1.52 [[ 9.31597029e-01 -3.63492465e-01 -4.49880793e-04 4.11962541e+01] [ 3.63473221e-01 9.31559109e-01 -9.21107300e-03 7.08577563e+00] [ 3.76724618e-03 8.41748863e-03 9.99957476e-01 1.51834950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:41.22, Y:7.09, Z:1.52 [[ 9.32280771e-01 -3.61726054e-01 -2.61257778e-03 4.12189037e+01] [ 3.61706178e-01 9.32272856e-01 -5.99691958e-03 7.09205335e+00] [ 4.60487740e-03 4.64582729e-03 9.99978605e-01 1.51929898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01804094199999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:41.25, Y:7.10, Z:1.52 [[ 9.31870454e-01 -3.62774973e-01 -3.43145684e-03 4.12485246e+01] [ 3.62780781e-01 9.31873693e-01 1.23489383e-03 7.10241303e+00] [ 2.74969578e-03 -2.39562767e-03 9.99993350e-01 1.52002400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:7.11, Z:1.52 [[ 9.32822315e-01 -3.60309892e-01 -4.39436975e-03 4.12710078e+01] [ 3.60316457e-01 9.32829804e-01 7.79479613e-04 7.11152282e+00] [ 3.81834486e-03 -2.31047972e-03 9.99990041e-01 1.51916925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.078040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:41.30, Y:7.13, Z:1.52 [[ 9.31873948e-01 -3.62772828e-01 -2.61150286e-03 4.13015725e+01] [ 3.62763438e-01 9.31874804e-01 -3.46942710e-03 7.12642837e+00] [ 3.69220760e-03 2.28571097e-03 9.99990572e-01 1.51880398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.33, Y:7.13, Z:1.53 [[ 9.32600023e-01 -3.60805172e-01 -8.76495703e-03 4.13265195e+01] [ 3.60894436e-01 9.32517552e-01 1.28926540e-02 7.12724795e+00] [ 3.52174003e-03 -1.51869137e-02 9.99878470e-01 1.52684960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:7.16, Z:1.51 [[ 9.31143226e-01 -3.64648886e-01 1.86611034e-03 4.13473404e+01] [ 3.64629021e-01 9.31008626e-01 -1.63894836e-02 7.15507645e+00] [ 4.23904212e-03 1.59413946e-02 9.99863942e-01 1.51354373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.36, Y:7.16, Z:1.52 [[ 9.27972916e-01 -3.72644212e-01 -1.59978509e-03 4.13637742e+01] [ 3.72644231e-01 9.27974239e-01 -2.97035560e-04 7.16304103e+00] [ 1.59524794e-03 -3.20509731e-04 9.99998676e-01 1.51945761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.198040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:41.41, Y:7.16, Z:1.53 [[ 9.30169989e-01 -3.66884838e-01 -1.33905906e-02 4.14107313e+01] [ 3.67063092e-01 9.30075610e-01 1.49681884e-02 7.15944499e+00] [ 6.96266037e-03 -1.88381512e-02 9.99798302e-01 1.53049773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22804094199999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:41.43, Y:7.19, Z:1.52 [[ 9.28493682e-01 -3.71308192e-01 -5.45062374e-03 4.14322277e+01] [ 3.71261251e-01 9.28493894e-01 -8.01081371e-03 7.18517793e+00] [ 8.03535162e-03 5.41438453e-03 9.99953058e-01 1.52178566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.258040941999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:41.46, Y:7.20, Z:1.52 [[ 9.27374957e-01 -3.74094493e-01 -5.38515269e-03 4.14575062e+01] [ 3.74088220e-01 9.27390592e-01 -2.16642598e-03 7.19530128e+00] [ 5.80458797e-03 -5.43297999e-06 9.99983153e-01 1.52195708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288040941999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:41.48, Y:7.21, Z:1.51 [[ 9.24451474e-01 -3.81297418e-01 1.32333934e-03 4.14789073e+01] [ 3.81289592e-01 9.24396075e-01 -1.04949058e-02 7.21394531e+00] [ 2.77839077e-03 1.02066066e-02 9.99944051e-01 1.51377839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.318040941999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:41.51, Y:7.22, Z:1.52 [[ 9.21598114e-01 -3.88087616e-01 -6.70216889e-03 4.15093349e+01] [ 3.88137514e-01 9.21552449e-01 9.50551450e-03 7.21611059e+00] [ 2.48742769e-03 -1.13616274e-02 9.99932361e-01 1.51714309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:41.53, Y:7.24, Z:1.51 [[ 9.20808250e-01 -3.90004852e-01 2.89513861e-03 4.15305611e+01] [ 3.90008110e-01 9.20719202e-01 -1.30317048e-02 7.23860058e+00] [ 2.41681839e-03 1.31288288e-02 9.99910892e-01 1.51075427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.55, Y:7.25, Z:1.50 [[ 9.17136880e-01 -3.98512250e-01 6.92320032e-03 4.15519306e+01] [ 3.98570345e-01 9.16938287e-01 -1.91274126e-02 7.25407312e+00] [ 1.27436080e-03 2.03018379e-02 9.99793084e-01 1.50310140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:7.25, Z:1.51 [[ 9.16278282e-01 -4.00526170e-01 -3.59120867e-03 4.15800044e+01] [ 4.00539534e-01 9.16202063e-01 1.19105826e-02 7.24747625e+00] [-1.48022724e-03 -1.23518292e-02 9.99922618e-01 1.51416899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.60, Y:7.27, Z:1.50 [[ 9.15372196e-01 -4.02608623e-01 1.98018257e-04 4.16016089e+01] [ 4.02606631e-01 9.15365881e-01 -3.63392525e-03 7.26655596e+00] [ 1.28179048e-03 3.40611760e-03 9.99993378e-01 1.50274328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.63, Y:7.28, Z:1.51 [[ 9.13249729e-01 -4.07384841e-01 3.53887326e-03 4.16279905e+01] [ 4.07400211e-01 9.13214832e-01 -7.98360208e-03 7.28264196e+00] [ 2.06469109e-05 8.73276015e-03 9.99961869e-01 1.50523582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.66, Y:7.30, Z:1.51 [[ 9.12113277e-01 -4.09931568e-01 2.34078074e-03 4.16619464e+01] [ 4.09938222e-01 9.12100508e-01 -4.82879097e-03 7.29604047e+00] [-1.55553443e-04 5.36397985e-03 9.99985602e-01 1.50684529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:7.31, Z:1.50 [[ 9.10443686e-01 -4.13551680e-01 8.20381448e-03 4.16767098e+01] [ 4.13621834e-01 9.10385944e-01 -1.06962980e-02 7.31140471e+00] [-3.04516537e-03 1.31316538e-02 9.99909139e-01 1.49680640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.558040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:41.72, Y:7.29, Z:1.53 [[ 9.14389655e-01 -4.04576120e-01 -1.44817979e-02 4.17165408e+01] [ 4.04821897e-01 9.13484080e-01 4.08174872e-02 7.28886072e+00] [-3.28488879e-03 -4.31856369e-02 9.99061665e-01 1.53069107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:7.33, Z:1.51 [[ 9.13742237e-01 -4.06279667e-01 3.45778104e-03 4.17395602e+01] [ 4.06288022e-01 9.13742460e-01 -2.18167763e-03 7.32563111e+00] [-2.27315009e-03 3.39834602e-03 9.99991642e-01 1.51390209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.77, Y:7.34, Z:1.50 [[ 9.16215907e-01 -4.00658232e-01 4.62522990e-03 4.17665496e+01] [ 4.00684366e-01 9.16134247e-01 -1.22507211e-02 7.34351688e+00] [ 6.71020726e-04 1.30775628e-02 9.99914260e-01 1.50365437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:7.34, Z:1.52 [[ 9.18255891e-01 -3.95879744e-01 -9.23832178e-03 4.18019166e+01] [ 3.95987468e-01 9.17993584e-01 2.19477631e-02 7.33599494e+00] [-2.07954725e-04 -2.38119225e-02 9.99716434e-01 1.51829413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:7.37, Z:1.51 [[ 9.17569184e-01 -3.97533749e-01 5.80611516e-03 4.18150098e+01] [ 3.97574433e-01 9.17510257e-01 -1.04641120e-02 7.36518840e+00] [-1.16733254e-03 1.19099097e-02 9.99928393e-01 1.51165176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.84, Y:7.37, Z:1.51 [[ 9.18023288e-01 -3.96485729e-01 5.68416466e-03 4.18409489e+01] [ 3.96509994e-01 9.18021498e-01 -4.04386575e-03 7.37398612e+00] [-3.61485030e-03 5.96619103e-03 9.99975668e-01 1.51077749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:7.38, Z:1.52 [[ 9.20018834e-01 -3.91852035e-01 -4.16255116e-03 4.18756162e+01] [ 3.91874062e-01 9.19959861e-01 1.04198953e-02 7.37576923e+00] [-2.53677203e-04 -1.12176958e-02 9.99937047e-01 1.52248879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.90, Y:7.40, Z:1.51 [[ 9.20765469e-01 -3.90085953e-01 4.88884887e-03 4.18954168e+01] [ 3.90113088e-01 9.20737981e-01 -7.30400511e-03 7.39682810e+00] [-1.65215904e-03 8.63247962e-03 9.99961375e-01 1.51373296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.79804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:7.39, Z:1.53 [[ 9.22870199e-01 -3.84935169e-01 -1.16409213e-02 4.19299861e+01] [ 3.85073551e-01 9.22780797e-01 1.39269707e-02 7.39367949e+00] [ 5.38103782e-03 -1.73353971e-02 9.99835251e-01 1.53126865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:7.41, Z:1.53 [[ 9.22936713e-01 -3.84895747e-01 -6.56410330e-03 4.19571606e+01] [ 3.84943474e-01 9.22894351e-01 9.19453733e-03 7.40915838e+00] [ 2.51903553e-03 -1.10127848e-02 9.99936184e-01 1.52933228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.858040941999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:41.97, Y:7.44, Z:1.50 [[ 9.21835706e-01 -3.87343966e-01 1.35492572e-02 4.19701211e+01] [ 3.87579243e-01 9.21369659e-01 -2.93305748e-02 7.44458690e+00] [-1.12285335e-03 3.22893820e-02 9.99477931e-01 1.50344635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888040941999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.00, Y:7.44, Z:1.51 [[ 9.21538187e-01 -3.88287308e-01 5.79696115e-04 4.20041711e+01] [ 3.88286644e-01 9.21538106e-01 1.00021986e-03 7.44030700e+00] [-9.22584738e-04 -6.96652542e-04 9.99999332e-01 1.51427696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:7.45, Z:1.52 [[ 9.22066770e-01 -3.87030551e-01 4.73114801e-04 4.20313991e+01] [ 3.87004847e-01 9.22018321e-01 1.04625167e-02 7.44684782e+00] [-4.48553412e-03 -9.46404126e-03 9.99945154e-01 1.51822751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:42.06, Y:7.46, Z:1.52 [[ 9.22560582e-01 -3.85848701e-01 -1.65917544e-03 4.20559954e+01] [ 3.85849093e-01 9.22527012e-01 8.02437714e-03 7.45702788e+00] [-1.56556134e-03 -8.04316538e-03 9.99966428e-01 1.52078455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.07, Y:7.49, Z:1.50 [[ 9.20948210e-01 -3.89341684e-01 1.63538307e-02 4.20731992e+01] [ 3.89606492e-01 9.20793830e-01 -1.85877612e-02 7.48701148e+00] [-7.82151614e-03 2.34899240e-02 9.99693477e-01 1.50163701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:7.48, Z:1.52 [[ 9.20898692e-01 -3.89746046e-01 -6.60444739e-03 4.21100664e+01] [ 3.89801216e-01 9.20798629e-01 1.35976772e-02 7.47783921e+00] [ 7.81725176e-04 -1.50965048e-02 9.99885736e-01 1.52229752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.12, Y:7.51, Z:1.50 [[ 9.18478496e-01 -3.95086716e-01 1.74280988e-02 4.21222990e+01] [ 3.95354348e-01 9.18385647e-01 -1.62093142e-02 7.50979173e+00] [-9.60163113e-03 2.17781811e-02 9.99716720e-01 1.49730784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:7.50, Z:1.51 [[ 9.16397528e-01 -4.00256731e-01 3.18117118e-03 4.21561229e+01] [ 4.00150951e-01 9.16290785e-01 1.70415392e-02 7.50238550e+00] [-9.73586862e-03 -1.43438758e-02 9.99849722e-01 1.50751946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:7.50, Z:1.52 [[ 9.15978047e-01 -4.01166126e-01 -7.06797985e-03 4.21879052e+01] [ 4.01191050e-01 9.15510381e-01 2.97738928e-02 7.50427274e+00] [-5.47346833e-03 -3.01078425e-02 9.99531670e-01 1.52021880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:7.55, Z:1.49 [[ 9.15378524e-01 -4.01826108e-01 2.48583139e-02 4.21968485e+01] [ 4.02501111e-01 9.14748809e-01 -3.50352899e-02 7.55262309e+00] [-8.66101887e-03 4.20760509e-02 9.99076870e-01 1.49043206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:7.54, Z:1.50 [[ 9.14337309e-01 -4.04910440e-01 5.90092395e-03 4.22326684e+01] [ 4.04892392e-01 9.14355421e-01 4.03924719e-03 7.54266003e+00] [-7.03107515e-03 -1.30399519e-03 9.99974431e-01 1.50463053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:7.55, Z:1.51 [[ 9.14248932e-01 -4.05152825e-01 -2.81776058e-04 4.22619917e+01] [ 4.05124072e-01 9.14175305e-01 1.25697199e-02 7.54882806e+00] [-4.83506483e-03 -1.16060073e-02 9.99920958e-01 1.51141394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.218040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:7.57, Z:1.51 [[ 9.13978758e-01 -4.05748810e-01 3.27599213e-03 4.22861349e+01] [ 4.05739343e-01 9.13983242e-01 3.19658932e-03 7.56567792e+00] [-4.29121422e-03 -1.59241584e-03 9.99989525e-01 1.50824420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:7.57, Z:1.51 [[ 9.13517999e-01 -4.06793512e-01 1.97599338e-03 4.23122812e+01] [ 4.06767550e-01 9.13497879e-01 7.86031317e-03 7.57468030e+00] [-5.00259016e-03 -6.37676757e-03 9.99967155e-01 1.50821250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.33, Y:7.59, Z:1.51 [[ 9.13079699e-01 -4.07748454e-01 5.16353823e-03 4.23315910e+01] [ 4.07771219e-01 9.13072624e-01 -4.58424460e-03 7.59387281e+00] [-2.84546676e-03 6.29132296e-03 9.99976161e-01 1.50775281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:7.60, Z:1.51 [[ 9.13019160e-01 -4.07902472e-01 3.40394264e-03 4.23601561e+01] [ 4.07887099e-01 9.13021660e-01 4.42299814e-03 7.60078768e+00] [-4.91202523e-03 -2.64985776e-03 9.99984425e-01 1.51008698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:7.65, Z:1.47 [[ 9.12790789e-01 -4.06516312e-01 3.94647210e-02 4.23558164e+01] [ 4.08292517e-01 9.10702977e-01 -6.25884015e-02 7.64940136e+00] [-1.04974328e-02 7.32432667e-02 9.97258857e-01 1.46593135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:7.58, Z:1.55 [[ 9.15543592e-01 -4.00877945e-01 -3.28146969e-02 4.24360541e+01] [ 4.02218266e-01 9.12618280e-01 7.31323595e-02 7.58408907e+00] [ 6.30142255e-04 -8.01545336e-02 9.96782250e-01 1.54586392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.46, Y:7.62, Z:1.53 [[ 9.17535709e-01 -3.97297213e-01 -1.68270041e-02 4.24566656e+01] [ 3.97585300e-01 9.17339959e-01 2.03304914e-02 7.61925062e+00] [ 7.35883572e-03 -2.53441213e-02 9.99651701e-01 1.53421491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.47, Y:7.66, Z:1.51 [[ 9.16429376e-01 -4.00157572e-01 5.57826766e-03 4.24666460e+01] [ 4.00181571e-01 9.16186072e-01 -2.13960656e-02 7.65603071e+00] [ 3.45106651e-03 2.18403029e-02 9.99755516e-01 1.51178898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:7.65, Z:1.53 [[ 9.17028594e-01 -3.98617142e-01 -1.27644751e-02 4.25056233e+01] [ 3.98769201e-01 9.16956799e-01 1.31663271e-02 7.64762700e+00] [ 6.45614861e-03 -1.71639780e-02 9.99831844e-01 1.52880274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:7.67, Z:1.52 [[ 9.15923030e-01 -4.01258156e-01 -8.76896143e-03 4.25271864e+01] [ 4.01291551e-01 9.15947289e-01 2.37801482e-03 7.66531377e+00] [ 7.07770861e-03 -5.69698867e-03 9.99958724e-01 1.51989366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:7.69, Z:1.51 [[ 9.15515031e-01 -4.02234808e-01 6.27594471e-03 4.25432145e+01] [ 4.02271227e-01 9.15251902e-01 -2.21769194e-02 7.69247651e+00] [ 3.17625859e-03 2.28279350e-02 9.99734363e-01 1.51098676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:7.68, Z:1.53 [[ 9.16160394e-01 -4.00662083e-01 -1.09557377e-02 4.25810167e+01] [ 4.00781263e-01 9.16085846e-01 1.26925980e-02 7.68322377e+00] [ 4.95095348e-03 -1.60193099e-02 9.99859425e-01 1.52875712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:7.70, Z:1.53 [[ 9.16933122e-01 -3.98945942e-01 -8.70552012e-03 4.26064469e+01] [ 3.99011629e-01 9.16911913e-01 7.89067313e-03 7.69612717e+00] [ 4.83424309e-03 -1.07088233e-02 9.99930973e-01 1.52583872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:7.72, Z:1.52 [[ 9.15920744e-01 -4.01359163e-01 -1.11656176e-04 4.26289878e+01] [ 4.01338462e-01 9.15876258e-01 -9.90551427e-03 7.71948241e+00] [ 4.07793216e-03 9.02785408e-03 9.99950933e-01 1.52151967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.638040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:7.73, Z:1.53 [[ 9.16428505e-01 -4.00162517e-01 -5.36239200e-03 4.26543889e+01] [ 4.00125115e-01 9.16434823e-01 -6.86341791e-03 7.72747903e+00] [ 7.66076535e-03 4.14420410e-03 9.99962068e-01 1.52596320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.68, Y:7.73, Z:1.53 [[ 9.16467274e-01 -3.99895509e-01 -1.30888586e-02 4.26847186e+01] [ 4.00024757e-01 9.16456272e-01 9.38592585e-03 7.73111499e+00] [ 8.24197699e-03 -1.38377614e-02 9.99870285e-01 1.53357347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:7.75, Z:1.53 [[ 9.16512063e-01 -3.99917967e-01 -8.44145310e-03 4.27094862e+01] [ 3.99944158e-01 9.16538093e-01 1.61046150e-03 7.74746698e+00] [ 7.09286084e-03 -4.85211724e-03 9.99963073e-01 1.53219022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:7.75, Z:1.54 [[ 9.14798357e-01 -4.03635221e-01 -1.49189344e-02 4.27408866e+01] [ 4.03841751e-01 9.14700892e-01 1.53009330e-02 7.75406588e+00] [ 7.47036713e-03 -2.00221570e-02 9.99771627e-01 1.53526494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.758040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.76, Y:7.78, Z:1.53 [[ 9.16010682e-01 -4.01148125e-01 -2.14743335e-03 4.27581120e+01] [ 4.01064847e-01 9.15907048e-01 -1.61637849e-02 7.77958507e+00] [ 8.45092134e-03 1.39449396e-02 9.99867051e-01 1.52774086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:7.80, Z:1.51 [[ 9.13591356e-01 -4.06530306e-01 9.16210598e-03 4.27725713e+01] [ 4.06618931e-01 9.13135642e-01 -2.90575927e-02 7.80272952e+00] [ 3.44654653e-03 3.02722513e-02 9.99535748e-01 1.51469233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:7.80, Z:1.52 [[ 9.13120690e-01 -4.07680763e-01 -2.64596751e-03 4.28039000e+01] [ 4.07678955e-01 9.13124523e-01 -1.21435802e-03 7.79992001e+00] [ 2.91116822e-03 3.01501651e-05 9.99995762e-01 1.52424259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:7.80, Z:1.54 [[ 9.13572888e-01 -4.06078082e-01 -2.20265916e-02 4.28437086e+01] [ 4.06545505e-01 9.13308221e-01 2.42661464e-02 7.79642074e+00] [ 1.02631171e-02 -3.11237052e-02 9.99462847e-01 1.54417559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.878040942 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:42.86, Y:7.83, Z:1.52 [[ 9.13095209e-01 -4.07743889e-01 1.43529686e-03 4.28581631e+01] [ 4.07713755e-01 9.12971859e-01 -1.58707004e-02 7.83178056e+00] [ 5.16079548e-03 1.50766508e-02 9.99873022e-01 1.52443198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90804094199999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:42.88, Y:7.84, Z:1.52 [[ 9.12256145e-01 -4.09619306e-01 8.65814181e-04 4.28820766e+01] [ 4.09582277e-01 9.12140835e-01 -1.55388552e-02 7.84483731e+00] [ 5.57527062e-03 1.45300383e-02 9.99878890e-01 1.52027309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:42.93, Y:7.83, Z:1.55 [[ 9.13732241e-01 -4.05445458e-01 -2.65964820e-02 4.29251384e+01] [ 4.05980723e-01 9.13680340e-01 1.91804196e-02 7.83425881e+00] [ 1.65240687e-02 -2.83234268e-02 9.99462225e-01 1.54812447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:7.85, Z:1.54 [[ 9.13598074e-01 -4.06403946e-01 -1.32057396e-02 4.29445012e+01] [ 4.06566660e-01 9.13518147e-01 1.37165976e-02 7.85069130e+00] [ 6.48920339e-03 -1.79004706e-02 9.99818715e-01 1.54100677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.998040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:7.89, Z:1.52 [[ 9.13065058e-01 -4.07805259e-01 2.65920311e-03 4.29616301e+01] [ 4.07643845e-01 9.12476545e-01 -3.48288831e-02 7.89041662e+00] [ 1.17769412e-02 3.28850440e-02 9.99389753e-01 1.52315315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.99, Y:7.88, Z:1.53 [[ 9.13130815e-01 -4.07561430e-01 -9.26256364e-03 4.29923077e+01] [ 4.07603398e-01 9.13153694e-01 3.13058435e-03 7.88326936e+00] [ 7.18223876e-03 -6.63408546e-03 9.99952201e-01 1.53382827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.058040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:43.01, Y:7.90, Z:1.53 [[ 9.11091744e-01 -4.12200171e-01 1.68903565e-03 4.30068408e+01] [ 4.12202683e-01 9.11090790e-01 -1.58739808e-03 7.90328697e+00] [-8.84539062e-04 2.14249032e-03 9.99997314e-01 1.52551567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:7.92, Z:1.52 [[ 9.12488581e-01 -4.09038704e-01 7.20608985e-03 4.30339944e+01] [ 4.09077124e-01 9.12486073e-01 -5.00729051e-03 7.91861410e+00] [-4.52728101e-03 7.51694192e-03 9.99961499e-01 1.51877504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.06, Y:7.93, Z:1.52 [[ 9.13564736e-01 -4.06686086e-01 -2.42918625e-03 4.30637269e+01] [ 4.06680735e-01 9.13567151e-01 -2.41675036e-03 7.92637475e+00] [ 3.20208351e-03 1.21995465e-03 9.99994129e-01 1.52411269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.09, Y:7.93, Z:1.53 [[ 9.13621465e-01 -4.06506344e-01 -6.95775843e-03 4.30934406e+01] [ 4.06565633e-01 9.13468065e-01 1.67475332e-02 7.92945994e+00] [-4.52288353e-04 -1.81296912e-02 9.99835541e-01 1.52994244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.178040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.12, Y:7.96, Z:1.52 [[ 9.14197998e-01 -4.05267056e-01 -7.96207032e-04 4.31152576e+01] [ 4.05246035e-01 9.14167430e-01 -8.57673970e-03 7.95530992e+00] [ 4.20373658e-03 7.51817852e-03 9.99962902e-01 1.52187632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.13, Y:7.97, Z:1.51 [[ 9.13492457e-01 -4.06642262e-01 1.31758031e-02 4.31315400e+01] [ 4.06784800e-01 9.13458693e-01 -1.09244073e-02 7.97350790e+00] [-7.59322615e-03 1.53390801e-02 9.99853517e-01 1.50963663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.238040942 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:43.16, Y:7.99, Z:1.51 [[ 9.14016108e-01 -4.05665381e-01 3.18630700e-03 4.31612995e+01] [ 4.05668480e-01 9.13913201e-01 -1.39909145e-02 7.98503167e+00] [ 2.76362161e-03 1.40805055e-02 9.99897046e-01 1.51144266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.21, Y:7.96, Z:1.54 [[ 9.16496018e-01 -3.99470515e-01 -2.14092559e-02 4.32050374e+01] [ 4.00043717e-01 9.15146274e-01 4.97224421e-02 7.96490006e+00] [-2.70048728e-04 -5.41350585e-02 9.98533586e-01 1.54462506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:8.00, Z:1.53 [[ 9.16535746e-01 -3.99945222e-01 2.45874093e-03 4.32208296e+01] [ 3.99944245e-01 9.16539030e-01 8.98344472e-04 8.00394202e+00] [-2.61282060e-03 1.59994463e-04 9.99996574e-01 1.52662345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.23, Y:8.03, Z:1.51 [[ 9.15471962e-01 -4.01859550e-01 2.04936135e-02 4.32349449e+01] [ 4.02241711e-01 9.15309277e-01 -2.02616491e-02 8.03188626e+00] [-1.06156574e-02 2.67923578e-02 9.99584652e-01 1.50890410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:8.04, Z:1.51 [[ 9.14931554e-01 -4.03439626e-01 1.16927278e-02 4.32575692e+01] [ 4.03532112e-01 9.14938809e-01 -6.98645269e-03 8.04041401e+00] [-7.87951861e-03 1.11105172e-02 9.99907230e-01 1.51435458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.28, Y:8.05, Z:1.52 [[ 9.15237696e-01 -4.02839153e-01 7.78311402e-03 4.32846516e+01] [ 4.02824858e-01 9.15270788e-01 3.39385573e-03 8.04765921e+00] [-8.49083487e-03 2.90470999e-05 9.99963952e-01 1.51664345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:8.06, Z:1.52 [[ 9.17331313e-01 -3.98092976e-01 5.02434815e-03 4.33174192e+01] [ 3.98063894e-01 9.17338735e-01 5.89766126e-03 8.05776763e+00] [-6.95684670e-03 -3.41009775e-03 9.99969986e-01 1.51889800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:8.07, Z:1.52 [[ 9.17591841e-01 -3.97523346e-01 -6.33894543e-04 4.33467043e+01] [ 3.97499518e-01 9.17516863e-01 1.25275068e-02 8.06612825e+00] [-4.39836750e-03 -1.17471108e-02 9.99921327e-01 1.52428097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:8.09, Z:1.52 [[ 9.17563203e-01 -3.97558539e-01 4.99773351e-03 4.33700726e+01] [ 3.97563414e-01 9.17574701e-01 1.95539683e-05 8.08519787e+00] [-4.59356768e-03 1.96897400e-03 9.99987511e-01 1.51956291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.39, Y:8.09, Z:1.52 [[ 9.17858565e-01 -3.96857699e-01 6.29452052e-03 4.33921965e+01] [ 3.96837414e-01 9.17879075e-01 4.25100233e-03 8.09436305e+00] [-7.46465167e-03 -1.40391765e-03 9.99971154e-01 1.51813277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:8.12, Z:1.51 [[ 9.15518657e-01 -4.02071522e-01 1.28093543e-02 4.34094652e+01] [ 4.02220270e-01 9.15456434e-01 -1.25845629e-02 8.11839020e+00] [-6.66651146e-03 1.66735841e-02 9.99838762e-01 1.50990823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.45, Y:8.11, Z:1.52 [[ 9.16863639e-01 -3.99160368e-01 -5.66282633e-03 4.34503804e+01] [ 3.99196443e-01 9.16697756e-01 1.75335401e-02 8.11073768e+00] [-1.80759414e-03 -1.83364455e-02 9.99830239e-01 1.52397197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.47, Y:8.13, Z:1.52 [[ 9.16563706e-01 -3.99871028e-01 3.75952775e-03 4.34697648e+01] [ 3.99869208e-01 9.16571349e-01 1.25661389e-03 8.13128259e+00] [-3.94835891e-03 3.51552695e-04 9.99992143e-01 1.51710718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:8.15, Z:1.51 [[ 9.15021986e-01 -4.03260239e-01 1.07677984e-02 4.34915996e+01] [ 4.03369114e-01 9.14967818e-01 -1.12805034e-02 8.15065812e+00] [-5.30321048e-03 1.46653059e-02 9.99878395e-01 1.50874402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:8.15, Z:1.51 [[ 9.14785544e-01 -4.03869327e-01 7.54812380e-03 4.35166399e+01] [ 4.03858948e-01 9.14816607e-01 2.91992858e-03 8.15442161e+00] [-8.08441859e-03 3.77268878e-04 9.99967249e-01 1.51108666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68804094199999 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:43.54, Y:8.17, Z:1.51 [[ 9.13463994e-01 -4.06864138e-01 6.71601928e-03 4.35399308e+01] [ 4.06848915e-01 9.13488536e-01 3.55734027e-03 8.16543395e+00] [-7.58236080e-03 -5.17097095e-04 9.99971120e-01 1.51282436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:8.17, Z:1.51 [[ 9.13797040e-01 -4.06119911e-01 6.44878967e-03 4.35682790e+01] [ 4.06068025e-01 9.13807654e-01 8.02069160e-03 8.17280364e+00] [-9.15031591e-03 -4.71063696e-03 9.99947039e-01 1.51155137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:8.19, Z:1.51 [[ 9.11744475e-01 -4.10616104e-01 1.07901918e-02 4.35887055e+01] [ 4.10688472e-01 9.11758691e-01 -5.57394549e-03 8.19315767e+00] [-7.54929934e-03 9.51342137e-03 9.99926249e-01 1.50733814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:8.18, Z:1.52 [[ 9.12982420e-01 -4.07971875e-01 -4.69579731e-03 4.36274524e+01] [ 4.07953844e-01 9.12650098e-01 2.53664904e-02 8.18265552e+00] [-6.06319478e-03 -2.50748284e-02 9.99667190e-01 1.51717706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:8.21, Z:1.51 [[ 9.12896340e-01 -4.08149719e-01 5.83770007e-03 4.36486947e+01] [ 4.08143263e-01 9.12914965e-01 2.31171786e-03 8.20685459e+00] [-6.27285075e-03 2.72259178e-04 9.99980288e-01 1.50929102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:8.23, Z:1.50 [[ 9.11062109e-01 -4.12097845e-01 1.18827601e-02 4.36668878e+01] [ 4.12255284e-01 9.10889217e-01 -1.80669640e-02 8.22992555e+00] [-3.37852112e-03 2.13588569e-02 9.99766165e-01 1.50151278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86804094199999 meters Centerline goodness : 0.996529 Centerline is valid? [True, True] Translation: X:43.70, Y:8.25, Z:1.50 [[ 9.08395414e-01 -4.17922987e-01 1.25756894e-02 4.36998813e+01] [ 4.18100798e-01 9.08181425e-01 -1.99555112e-02 8.24905453e+00] [-3.08114070e-03 2.33854007e-02 9.99721776e-01 1.49985193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.898040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:8.22, Z:1.52 [[ 9.09423073e-01 -4.15746600e-01 -1.02195329e-02 4.37345719e+01] [ 4.15832089e-01 9.08719564e-01 3.62274364e-02 8.22390244e+00] [-5.77474395e-03 -3.71956762e-02 9.99291316e-01 1.51943444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:8.25, Z:1.51 [[ 9.08868794e-01 -4.17055249e-01 4.73640954e-03 4.37541211e+01] [ 4.17053061e-01 9.08880922e-01 1.48783134e-03 8.25380219e+00] [-4.92534015e-03 6.23090621e-04 9.99987676e-01 1.50853045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.77, Y:8.27, Z:1.50 [[ 9.08805155e-01 -4.17108604e-01 9.67489006e-03 4.37746015e+01] [ 4.17130521e-01 9.08846551e-01 -2.74093556e-04 8.26574586e+00] [-8.67866368e-03 4.28478957e-03 9.99953160e-01 1.50385113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.80, Y:8.28, Z:1.50 [[ 9.08365997e-01 -4.18033286e-01 1.09264380e-02 4.37995265e+01] [ 4.18069476e-01 9.08414315e-01 -1.16004007e-03 8.27689400e+00] [-9.44079731e-03 5.62175116e-03 9.99939632e-01 1.50132856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:8.29, Z:1.50 [[ 9.08045706e-01 -4.18719160e-01 1.12810078e-02 4.38261231e+01] [ 4.18777225e-01 9.08083050e-01 -3.28778612e-03 8.28977961e+00] [-8.86743291e-03 7.70968920e-03 9.99930962e-01 1.49951016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.85, Y:8.31, Z:1.49 [[ 9.07927940e-01 -4.18832873e-01 1.56805498e-02 4.38477557e+01] [ 4.19001071e-01 9.07935712e-01 -9.53132221e-03 8.30577818e+00] [-1.02449001e-02 1.52239209e-02 9.99831623e-01 1.49154641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.078040941999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.87, Y:8.31, Z:1.49 [[ 9.07274161e-01 -4.20297497e-01 1.42692336e-02 4.38747529e+01] [ 4.20375866e-01 9.07345482e-01 -2.88217321e-03 8.31495128e+00] [-1.17357544e-02 8.61336269e-03 9.99894035e-01 1.48991759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.91, Y:8.31, Z:1.51 [[ 9.07321142e-01 -4.20438210e-01 -2.36330790e-04 4.39050787e+01] [ 4.20366936e-01 9.07156688e-01 1.89309974e-02 8.31310660e+00] [-7.74492562e-03 -1.72758399e-02 9.99820765e-01 1.50509592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:8.35, Z:1.48 [[ 9.07211585e-01 -4.20020380e-01 2.34525107e-02 4.39227425e+01] [ 4.20457572e-01 9.07123957e-01 -1.84812583e-02 8.34549520e+00] [-1.35118291e-02 2.66271974e-02 9.99554112e-01 1.48230709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168040942 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:43.95, Y:8.34, Z:1.50 [[ 9.07881916e-01 -4.19198344e-01 4.81400634e-03 4.39543472e+01] [ 4.19077571e-01 9.07806197e-01 1.61832892e-02 8.33509143e+00] [-1.11541928e-02 -1.26750736e-02 9.99857453e-01 1.49799865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.198040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.98, Y:8.35, Z:1.49 [[ 9.08461931e-01 -4.17869951e-01 9.03460940e-03 4.39771750e+01] [ 4.17821999e-01 9.08503779e-01 6.75728357e-03 8.35033311e+00] [-1.10316425e-02 -2.36387633e-03 9.99936355e-01 1.49492961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.00, Y:8.36, Z:1.50 [[ 9.08443607e-01 -4.17901261e-01 9.42066157e-03 4.40040500e+01] [ 4.17783579e-01 9.08463969e-01 1.22514415e-02 8.35899520e+00] [-1.36782245e-02 -7.19394602e-03 9.99880570e-01 1.49567155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.258040941999994 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:44.03, Y:8.38, Z:1.49 [[ 9.08000640e-01 -4.18741229e-01 1.38065702e-02 4.40284033e+01] [ 4.18826989e-01 9.08057626e-01 -3.91170984e-03 8.37920902e+00] [-1.08991671e-02 9.33439925e-03 9.99897033e-01 1.49189741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.06, Y:8.38, Z:1.50 [[ 9.08257221e-01 -4.18316135e-01 8.96838070e-03 4.40570946e+01] [ 4.18178130e-01 9.08257393e-01 1.39842626e-02 8.37937633e+00] [-1.39954408e-02 -8.95092679e-03 9.99861995e-01 1.49613039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.08, Y:8.40, Z:1.49 [[ 9.08009135e-01 -4.18641934e-01 1.60730388e-02 4.40772302e+01] [ 4.18845834e-01 9.07971239e-01 -1.25058679e-02 8.40336112e+00] [-9.35837625e-03 1.80875676e-02 9.99792609e-01 1.48803728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.348040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.11, Y:8.40, Z:1.50 [[ 9.07634084e-01 -4.19731165e-01 5.11065379e-03 4.41107639e+01] [ 4.19546468e-01 9.07490570e-01 2.10149203e-02 8.39743560e+00] [-1.34584871e-02 -1.69297012e-02 9.99766100e-01 1.49669758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.13, Y:8.42, Z:1.49 [[ 9.07711744e-01 -4.19399972e-01 1.27692621e-02 4.41317376e+01] [ 4.19360819e-01 9.07801542e-01 5.73261680e-03 8.41593625e+00] [-1.39962152e-02 1.51364634e-04 9.99902037e-01 1.49240865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.16, Y:8.43, Z:1.49 [[ 9.07749059e-01 -4.19342926e-01 1.19647716e-02 4.41566414e+01] [ 4.19308525e-01 9.07827897e-01 5.37308098e-03 8.42581930e+00] [-1.31151170e-02 1.39521537e-04 9.99913983e-01 1.49242543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43804094199999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:44.18, Y:8.44, Z:1.49 [[ 9.07448773e-01 -4.20003058e-01 1.15825346e-02 4.41815112e+01] [ 4.19970855e-01 9.07522678e-01 5.20283696e-03 8.43650005e+00] [-1.26966203e-02 1.43018968e-04 9.99919384e-01 1.49018562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.21, Y:8.45, Z:1.49 [[ 9.07896248e-01 -4.19025085e-01 1.19323570e-02 4.42080376e+01] [ 4.18990790e-01 9.07974648e-01 5.36252656e-03 8.44560018e+00] [-1.30813108e-02 1.30929931e-04 9.99914427e-01 1.49109077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:8.44, Z:1.50 [[ 9.08900800e-01 -4.17007516e-01 -2.01705415e-03 4.42422750e+01] [ 4.16932055e-01 9.08620125e-01 2.40235221e-02 8.44369988e+00] [-8.18525327e-03 -2.26759730e-02 9.99709359e-01 1.50456826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:8.47, Z:1.49 [[ 9.08566203e-01 -4.17513553e-01 1.37799732e-02 4.42590275e+01] [ 4.17598421e-01 9.08623499e-01 -3.85965203e-03 8.47117055e+00] [-1.09093504e-02 9.26124443e-03 9.99897602e-01 1.49014625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.28, Y:8.49, Z:1.48 [[ 9.08253694e-01 -4.18006829e-01 1.85881174e-02 4.42816197e+01] [ 4.18183824e-01 9.08337188e-01 -6.77069940e-03 8.48538966e+00] [-1.40540797e-02 1.39227628e-02 9.99804301e-01 1.48310225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.31, Y:8.49, Z:1.49 [[ 9.08473390e-01 -4.17758380e-01 1.24111068e-02 4.43104563e+01] [ 4.17720938e-01 9.08558158e-01 5.59394701e-03 8.48860574e+00] [-1.36131306e-02 1.02427183e-04 9.99907332e-01 1.48542254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.34, Y:8.50, Z:1.48 [[ 9.08420940e-01 -4.17869589e-01 1.25060499e-02 4.43363143e+01] [ 4.17831524e-01 9.08507015e-01 5.64106146e-03 8.49897296e+00] [-1.37190621e-02 1.00963536e-04 9.99905884e-01 1.48439964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.36, Y:8.51, Z:1.48 [[ 9.08799437e-01 -4.17037571e-01 1.27768415e-02 4.43616760e+01] [ 4.16997690e-01 9.08889243e-01 5.76803977e-03 8.50738158e+00] [-1.40182231e-02 8.59221066e-05 9.99901736e-01 1.48352087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.678040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.39, Y:8.52, Z:1.48 [[ 9.09070162e-01 -4.16421471e-01 1.35867384e-02 4.43865309e+01] [ 4.16376272e-01 9.09171684e-01 6.13582999e-03 8.51716227e+00] [-1.49077692e-02 7.92955109e-05 9.99888870e-01 1.48249000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.41, Y:8.53, Z:1.48 [[ 9.09134344e-01 -4.16261129e-01 1.41921642e-02 4.44128243e+01] [ 4.16211758e-01 9.09245108e-01 6.41138306e-03 8.52803036e+00] [-1.55729654e-02 7.81370803e-05 9.99878731e-01 1.48181686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.738040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:44.45, Y:8.53, Z:1.49 [[ 9.09855831e-01 -4.14905925e-01 3.92930727e-03 4.44453956e+01] [ 4.14744961e-01 9.09699864e-01 2.08032531e-02 8.52804618e+00] [-1.22058833e-02 -1.72983008e-02 9.99775867e-01 1.49129167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.46, Y:8.56, Z:1.47 [[ 9.09488707e-01 -4.15148684e-01 2.19513584e-02 4.44610784e+01] [ 4.15415562e-01 9.09584817e-01 -9.23966704e-03 8.55552984e+00] [-1.61307867e-02 1.75223087e-02 9.99716343e-01 1.47420003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.49, Y:8.55, Z:1.49 [[ 9.09811291e-01 -4.14965085e-01 6.88426651e-03 4.44944969e+01] [ 4.14821202e-01 9.09761749e-01 1.60290401e-02 8.55098753e+00] [-1.29145343e-02 -1.17276620e-02 9.99847827e-01 1.48655283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828040941999994 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:44.52, Y:8.56, Z:1.49 [[ 9.10772895e-01 -4.12887471e-01 4.08299454e-03 4.45247017e+01] [ 4.12800978e-01 9.10717831e-01 1.37253579e-02 8.55919747e+00] [-9.38548423e-03 -1.08152198e-02 9.99897467e-01 1.48740156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.858040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.54, Y:8.59, Z:1.47 [[ 9.10456861e-01 -4.12914569e-01 2.38717910e-02 4.45400296e+01] [ 4.13296317e-01 9.10488873e-01 -1.40059293e-02 8.58706922e+00] [-1.59517478e-02 2.26179177e-02 9.99616912e-01 1.46955139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.57, Y:8.59, Z:1.48 [[ 9.10694411e-01 -4.12807380e-01 1.50251994e-02 4.45713613e+01] [ 4.12751191e-01 9.10818350e-01 6.81081440e-03 8.58621673e+00] [-1.64967817e-02 -9.01678118e-07 9.99863919e-01 1.47605780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:8.58, Z:1.50 [[ 9.12574250e-01 -4.08860375e-01 -6.43675019e-03 4.46126525e+01] [ 4.08826214e-01 9.11951288e-01 3.47271449e-02 8.57740983e+00] [-8.32855087e-03 -3.43226105e-02 9.99376102e-01 1.49704224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:44.62, Y:8.62, Z:1.46 [[ 9.11120013e-01 -4.11077518e-01 2.95904625e-02 4.46167642e+01] [ 4.11794372e-01 9.10948642e-01 -2.44533529e-02 8.62373969e+00] [-1.69031680e-02 3.44651252e-02 9.99262947e-01 1.46260669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.66, Y:8.60, Z:1.49 [[ 9.12576238e-01 -4.08897695e-01 -2.69898448e-03 4.46644529e+01] [ 4.08793746e-01 9.12149433e-01 2.95141639e-02 8.60131372e+00] [-9.60639643e-03 -2.80372527e-02 9.99560718e-01 1.49169909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:8.63, Z:1.48 [[ 9.12914352e-01 -4.08008933e-01 1.07748218e-02 4.46864378e+01] [ 4.07990065e-01 9.12977628e-01 3.99472534e-03 8.62516094e+00] [-1.14670549e-02 7.49178141e-04 9.99933971e-01 1.47886877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:8.64, Z:1.47 [[ 9.12162226e-01 -4.09384449e-01 1.90905009e-02 4.47078588e+01] [ 4.09626284e-01 9.12186747e-01 -1.10292781e-02 8.64178327e+00] [-1.28988870e-02 1.78804618e-02 9.99756924e-01 1.47121167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.75, Y:8.63, Z:1.49 [[ 9.12417304e-01 -4.09259302e-01 -1.21966988e-03 4.47496285e+01] [ 4.09159629e-01 9.12120624e-01 2.49873154e-02 8.63176417e+00] [-9.11380518e-03 -2.32978986e-02 9.99687024e-01 1.49036262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.76, Y:8.66, Z:1.47 [[ 9.12417331e-01 -4.09027791e-01 1.38158991e-02 4.47634859e+01] [ 4.09224815e-01 9.12265784e-01 -1.74983139e-02 8.66261722e+00] [-5.44647531e-03 2.16195737e-02 9.99751434e-01 1.47371265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:8.67, Z:1.47 [[ 9.09295669e-01 -4.15612386e-01 2.11596487e-02 4.47836431e+01] [ 4.15736608e-01 9.09483567e-01 -1.64757160e-03 8.67033798e+00] [-1.85596016e-02 1.02949703e-02 9.99774752e-01 1.46550456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:8.66, Z:1.49 [[ 9.11470766e-01 -4.11326786e-01 -5.59626624e-03 4.48318868e+01] [ 4.11260023e-01 9.10847054e-01 3.49690992e-02 8.65560306e+00] [-9.28638457e-03 -3.41748322e-02 9.99372725e-01 1.49226592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:8.68, Z:1.48 [[ 9.13220278e-01 -4.07429301e-01 5.48534362e-03 4.48495123e+01] [ 4.07434680e-01 9.13234340e-01 1.48950863e-04 8.67848264e+00] [-5.07009111e-03 2.09889428e-03 9.99984944e-01 1.48260606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.218040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:8.71, Z:1.46 [[ 9.08483216e-01 -4.16849466e-01 2.99126744e-02 4.48604505e+01] [ 4.17558769e-01 9.08347808e-01 -2.34293360e-02 8.71168675e+00] [-1.74046060e-02 3.37754580e-02 9.99277888e-01 1.45538945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.92, Y:8.68, Z:1.50 [[ 9.11419914e-01 -4.11216312e-01 -1.46589685e-02 4.49212117e+01] [ 4.11426324e-01 9.10166158e-01 4.82280626e-02 8.67868852e+00] [-6.49006901e-03 -4.99871022e-02 9.98728776e-01 1.49733995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.278040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.93, Y:8.72, Z:1.47 [[ 9.11776712e-01 -4.10487443e-01 1.27783748e-02 4.49314236e+01] [ 4.10604475e-01 9.11774735e-01 -8.41409708e-03 8.72223064e+00] [-8.19711813e-03 1.29186357e-02 9.99882951e-01 1.47327173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.94, Y:8.75, Z:1.45 [[ 9.09020425e-01 -4.15570088e-01 3.13587054e-02 4.49366695e+01] [ 4.16371389e-01 9.08829787e-01 -2.57543392e-02 8.74966270e+00] [-1.77969925e-02 3.64680881e-02 9.99176334e-01 1.45222614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:8.73, Z:1.48 [[ 9.11504901e-01 -4.11289056e-01 -3.57361809e-04 4.49865357e+01] [ 4.11175158e-01 9.11231330e-01 2.43403634e-02 8.72913899e+00] [-9.68528582e-03 -2.23332989e-02 9.99703666e-01 1.48069594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:8.77, Z:1.46 [[ 9.09449837e-01 -4.15115416e-01 2.40870162e-02 4.49904684e+01] [ 4.15498265e-01 9.09489785e-01 -1.37667076e-02 8.76598152e+00] [-1.61921227e-02 2.25282434e-02 9.99615073e-01 1.45669098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.02, Y:8.77, Z:1.46 [[ 9.08969879e-01 -4.16606870e-01 1.45765339e-02 4.50207130e+01] [ 4.16553501e-01 9.09086748e-01 6.66826769e-03 8.76747290e+00] [-1.60293799e-02 1.06517311e-05 9.99871521e-01 1.46420127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.06, Y:8.77, Z:1.48 [[ 9.10393494e-01 -4.13743274e-01 -4.35443950e-04 4.50615209e+01] [ 4.13640314e-01 9.10142430e-01 2.32904906e-02 8.76636801e+00] [-9.23996784e-03 -2.13836283e-02 9.99728645e-01 1.47910631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:8.80, Z:1.46 [[ 9.07833824e-01 -4.18730060e-01 2.24251048e-02 4.50674399e+01] [ 4.19080355e-01 9.07840270e-01 -1.40605988e-02 8.80143736e+00] [-1.44708178e-02 2.21626081e-02 9.99649646e-01 1.45845251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:8.80, Z:1.47 [[ 9.06169867e-01 -4.22716870e-01 1.29081726e-02 4.50991531e+01] [ 4.22632617e-01 9.06258274e-01 8.80976636e-03 8.80274781e+00] [-1.54221751e-02 -2.52773003e-03 9.99877876e-01 1.46588743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.12, Y:8.82, Z:1.46 [[ 9.03943540e-01 -4.27399924e-01 1.46758916e-02 4.51235587e+01] [ 4.27347462e-01 9.04062641e-01 6.69987612e-03 8.81639773e+00] [-1.61314519e-02 2.15395287e-04 9.99869856e-01 1.46426486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.15, Y:8.83, Z:1.46 [[ 9.02720435e-01 -4.29970913e-01 1.48603870e-02 4.51493560e+01] [ 4.29917389e-01 9.02842703e-01 6.78910043e-03 8.82786878e+00] [-1.63357077e-02 2.60079095e-04 9.99866530e-01 1.46430371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.578040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:45.20, Y:8.81, Z:1.50 [[ 9.05151492e-01 -4.24613206e-01 -2.01097522e-02 4.52022215e+01] [ 4.25075540e-01 9.03730744e-01 5.08087444e-02 8.80930712e+00] [-3.40026253e-03 -5.45377745e-02 9.98505919e-01 1.50215948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.22, Y:8.85, Z:1.48 [[ 9.04166209e-01 -4.27160585e-01 4.15949722e-03 4.52162638e+01] [ 4.27144863e-01 9.04173571e-01 4.17355203e-03 8.84791910e+00] [-5.54368438e-03 -1.99687685e-03 9.99982640e-01 1.48023286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.638040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.23, Y:8.87, Z:1.47 [[ 9.04197512e-01 -4.26801056e-01 1.63620775e-02 4.52292583e+01] [ 4.27082913e-01 9.03933253e-01 -2.24690677e-02 8.87360999e+00] [-5.20040410e-03 2.73044388e-02 9.99613637e-01 1.46555735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:8.86, Z:1.49 [[ 9.03680685e-01 -4.28123212e-01 -8.46961775e-03 4.52750993e+01] [ 4.28188924e-01 9.03284150e-01 2.70553131e-02 8.86062943e+00] [-3.93253608e-03 -2.80759604e-02 9.99598057e-01 1.49092204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:8.89, Z:1.48 [[ 9.03502535e-01 -4.28561871e-01 4.22995549e-03 4.52951496e+01] [ 4.28559995e-01 9.03512263e-01 1.38635673e-03 8.88663091e+00] [-4.41595629e-03 5.60212880e-04 9.99990093e-01 1.47971389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.29, Y:8.93, Z:1.44 [[ 8.99582657e-01 -4.34990918e-01 3.91656056e-02 4.52906437e+01] [ 4.36417274e-01 8.98777212e-01 -4.17071446e-02 8.93079844e+00] [-1.70589247e-02 5.46115708e-02 9.98361943e-01 1.44384575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.758040941999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.33, Y:8.92, Z:1.46 [[ 8.99902087e-01 -4.35782224e-01 1.64343214e-02 4.53280093e+01] [ 4.35716420e-01 9.00052075e-01 7.58043743e-03 8.91541924e+00] [-1.80951650e-02 3.39052221e-04 9.99836212e-01 1.46127536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:8.89, Z:1.51 [[ 9.04389739e-01 -4.26039171e-01 -2.38709933e-02 4.53852617e+01] [ 4.26705573e-01 9.02806254e-01 5.35090830e-02 8.89441644e+00] [-1.24608330e-03 -5.85789515e-02 9.98282001e-01 1.50679393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:8.95, Z:1.46 [[ 9.02764664e-01 -4.29514874e-01 2.30853701e-02 4.53896703e+01] [ 4.29896456e-01 9.02750478e-01 -1.51858810e-02 8.94931837e+00] [-1.43177671e-02 2.36335955e-02 9.99618154e-01 1.46302407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.42, Y:8.95, Z:1.47 [[ 9.03703736e-01 -4.28036848e-01 1.01987646e-02 4.54197555e+01] [ 4.27904084e-01 9.03731605e-01 1.29337468e-02 8.94588400e+00] [-1.47530661e-02 -7.32418230e-03 9.99864342e-01 1.47483989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.45, Y:8.96, Z:1.47 [[ 9.04367469e-01 -4.26642257e-01 9.79103456e-03 4.54471063e+01] [ 4.26603597e-01 9.04419783e-01 5.85045742e-03 8.96150127e+00] [-1.13512577e-02 -1.11407281e-03 9.99934952e-01 1.47426155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:8.98, Z:1.47 [[ 9.04140224e-01 -4.26959529e-01 1.53628083e-02 4.54702495e+01] [ 4.27004617e-01 9.04249364e-01 3.79704068e-04 8.97862785e+00] [-1.40539279e-02 6.21668435e-03 9.99881913e-01 1.46830046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:8.99, Z:1.47 [[ 9.04537709e-01 -4.26004152e-01 1.82207150e-02 4.54923991e+01] [ 4.26095242e-01 9.04677440e-01 -1.25506796e-03 8.99231333e+00] [-1.59492057e-02 8.89901627e-03 9.99833201e-01 1.46558521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:9.00, Z:1.47 [[ 9.04597159e-01 -4.26015236e-01 1.46628469e-02 4.55202862e+01] [ 4.25957048e-01 9.04715979e-01 7.04200694e-03 9.00018833e+00] [-1.62657141e-02 -1.24436504e-04 9.99867697e-01 1.46862449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.998040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:9.00, Z:1.48 [[ 9.05467445e-01 -4.24400468e-01 3.59848070e-03 4.55530358e+01] [ 4.24199191e-01 9.05243758e-01 2.42648832e-02 9.00086465e+00] [-1.35555300e-02 -2.04445892e-02 9.99699088e-01 1.48185916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.58, Y:9.02, Z:1.47 [[ 9.05299121e-01 -4.24634030e-01 1.09289857e-02 4.55750413e+01] [ 4.24635532e-01 9.05361466e-01 2.29797987e-03 9.02385149e+00] [-1.08704829e-02 2.56047648e-03 9.99937636e-01 1.47492992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:9.04, Z:1.46 [[ 9.04100902e-01 -4.26901264e-01 1.88910050e-02 4.55940513e+01] [ 4.27093944e-01 9.04175938e-01 -7.52575190e-03 9.04255741e+00] [-1.38680392e-02 1.48722729e-02 9.99793225e-01 1.46332839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:9.04, Z:1.48 [[ 9.02813664e-01 -4.30004695e-01 4.84260673e-03 4.56321278e+01] [ 4.29703069e-01 9.02506320e-01 2.89415686e-02 9.03717662e+00] [-1.68154935e-02 -2.40479606e-02 9.99569375e-01 1.47863903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:9.08, Z:1.45 [[ 9.01085369e-01 -4.32129797e-01 3.61800558e-02 4.56384589e+01] [ 4.33110849e-01 9.00971528e-01 -2.57933735e-02 9.08220218e+00] [-2.14511149e-02 3.89120062e-02 9.99012365e-01 1.44840371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:9.08, Z:1.45 [[ 9.00785063e-01 -4.33630906e-01 2.34628804e-02 4.56663054e+01] [ 4.33813090e-01 9.00997674e-01 -3.06499826e-03 9.08151840e+00] [-1.98109227e-02 1.29394093e-02 9.99720010e-01 1.45485699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.178040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:9.08, Z:1.46 [[ 9.00666563e-01 -4.34327318e-01 1.26302378e-02 4.56967999e+01] [ 4.34183378e-01 9.00735766e-01 1.26441287e-02 9.08421719e+00] [-1.68681974e-02 -5.90430467e-03 9.99840289e-01 1.46295542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.72, Y:9.10, Z:1.45 [[ 8.98921609e-01 -4.37590233e-01 2.13243805e-02 4.57206355e+01] [ 4.37521344e-01 8.99172052e-01 8.04324028e-03 9.10291981e+00] [-2.26939304e-02 2.09962914e-03 9.99740255e-01 1.45481980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.75, Y:9.11, Z:1.45 [[ 8.97032627e-01 -4.41658750e-01 1.64321202e-02 4.57472063e+01] [ 4.41385136e-01 8.97140486e-01 1.78356485e-02 9.11080033e+00] [-2.26191905e-02 -8.74626502e-03 9.99705894e-01 1.45324325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.77, Y:9.13, Z:1.45 [[ 8.98220564e-01 -4.38942939e-01 2.29981526e-02 4.57692855e+01] [ 4.39066713e-01 8.98454386e-01 -3.71413418e-04 9.13058907e+00] [-2.04997618e-02 1.04313345e-02 9.99735439e-01 1.45051033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:9.14, Z:1.46 [[ 8.97229596e-01 -4.41272693e-01 1.60456245e-02 4.57989119e+01] [ 4.41148670e-01 8.97369319e-01 1.07775583e-02 9.13674059e+00] [-1.91546933e-02 -2.59143836e-03 9.99813174e-01 1.45547080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:9.14, Z:1.47 [[ 8.96725857e-01 -4.42581891e-01 2.00181266e-03 4.58343593e+01] [ 4.42337736e-01 8.96364435e-01 2.94640053e-02 9.13780978e+00] [-1.48345889e-02 -2.55356581e-02 9.99563837e-01 1.46721142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:9.18, Z:1.43 [[ 8.94508647e-01 -4.45632505e-01 3.55802158e-02 4.58382077e+01] [ 4.46542720e-01 8.94450828e-01 -2.36075354e-02 9.18287036e+00] [-2.13044684e-02 3.70052308e-02 9.99087950e-01 1.43410366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:9.18, Z:1.44 [[ 8.93831521e-01 -4.47835004e-01 2.25615010e-02 4.58709744e+01] [ 4.47858322e-01 8.94094240e-01 4.29105192e-03 9.18044359e+00] [-2.20937913e-02 6.26887849e-03 9.99736248e-01 1.44438901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.90, Y:9.19, Z:1.44 [[ 8.94025058e-01 -4.47579367e-01 1.97966083e-02 4.58960370e+01] [ 4.47485270e-01 8.94243987e-01 9.19919735e-03 9.18929828e+00] [-2.18203689e-02 6.34377669e-04 9.99761706e-01 1.44499534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:9.20, Z:1.44 [[ 8.94021535e-01 -4.47559603e-01 2.03935398e-02 4.59209493e+01] [ 4.47471808e-01 8.94253382e-01 8.93697090e-03 9.20247801e+00] [-2.22368191e-02 1.13568966e-03 9.99752086e-01 1.44493109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:9.22, Z:1.44 [[ 8.93812145e-01 -4.47926239e-01 2.14926404e-02 4.59473929e+01] [ 4.47914432e-01 8.94058706e-01 5.62954002e-03 9.21856697e+00] [-2.17373009e-02 4.59511257e-03 9.99753157e-01 1.44212181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:9.22, Z:1.45 [[ 8.94866110e-01 -4.46197502e-01 1.10650673e-02 4.59781840e+01] [ 4.45940025e-01 8.94842365e-01 1.98654522e-02 9.22121069e+00] [-1.87654061e-02 -1.28425635e-02 9.99741431e-01 1.45160597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:9.24, Z:1.45 [[ 8.95109809e-01 -4.45454493e-01 1.86741862e-02 4.59980501e+01] [ 4.45413797e-01 8.95301129e-01 6.51443315e-03 9.24076606e+00] [-1.96209035e-02 2.48660717e-03 9.99804399e-01 1.44506473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:9.25, Z:1.45 [[ 8.95292588e-01 -4.45251853e-01 1.42116007e-02 4.60259849e+01] [ 4.45064211e-01 8.95380194e-01 1.45655978e-02 9.24874218e+00] [-1.92101451e-02 -6.71539689e-03 9.99792915e-01 1.44767361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.598040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.05, Y:9.27, Z:1.45 [[ 8.95679967e-01 -4.44324819e-01 1.82442450e-02 4.60480191e+01] [ 4.44279659e-01 8.95863245e-01 6.68068905e-03 9.26506697e+00] [-1.93127445e-02 2.12178760e-03 9.99811240e-01 1.44549651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:9.28, Z:1.45 [[ 8.96543539e-01 -4.42762054e-01 1.30937431e-02 4.60757276e+01] [ 4.42662376e-01 8.96633918e-01 9.88121672e-03 9.27514849e+00] [-1.61153220e-02 -3.06283359e-03 9.99865449e-01 1.44788946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.10, Y:9.29, Z:1.44 [[ 8.96385191e-01 -4.42970568e-01 1.64519144e-02 4.60986802e+01] [ 4.42975307e-01 8.96526769e-01 3.55383559e-03 9.29135509e+00] [-1.63238262e-02 4.10218624e-03 9.99858342e-01 1.44276216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.12, Y:9.31, Z:1.44 [[ 8.96078293e-01 -4.43535366e-01 1.78905757e-02 4.61224507e+01] [ 4.43554508e-01 8.96242035e-01 3.10064665e-03 9.30510457e+00] [-1.74095324e-02 5.15702336e-03 9.99835143e-01 1.43943671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.15, Y:9.31, Z:1.44 [[ 8.95874358e-01 -4.44062613e-01 1.47489313e-02 4.61501739e+01] [ 4.43940186e-01 8.95989928e-01 1.09160318e-02 9.31351373e+00] [-1.80622955e-02 -3.23174963e-03 9.99831640e-01 1.44275446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:9.33, Z:1.44 [[ 8.94942490e-01 -4.45662846e-01 2.15073633e-02 4.61721686e+01] [ 4.45732406e-01 8.95164624e-01 1.70844110e-03 9.33242376e+00] [-2.00140195e-02 8.05757226e-03 9.99767230e-01 1.43602268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:9.34, Z:1.43 [[ 8.94310564e-01 -4.46917301e-01 2.17610144e-02 4.61969348e+01] [ 4.46895953e-01 8.94565110e-01 6.10507041e-03 9.34303937e+00] [-2.21951059e-02 4.26508032e-03 9.99744561e-01 1.43492271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:9.35, Z:1.43 [[ 8.94764076e-01 -4.45952237e-01 2.28877871e-02 4.62171850e+01] [ 4.45828640e-01 8.95056416e-01 1.05278829e-02 9.35214507e+00] [-2.51807936e-02 7.84059571e-04 9.99682606e-01 1.43465383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:9.37, Z:1.43 [[ 8.93675228e-01 -4.48055853e-01 2.43010104e-02 4.62469775e+01] [ 4.48057540e-01 8.93986675e-01 5.68034024e-03 9.37033013e+00] [-2.42698891e-02 5.81187156e-03 9.99688549e-01 1.43210244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:9.38, Z:1.44 [[ 8.94214349e-01 -4.47293909e-01 1.75743289e-02 4.62749730e+01] [ 4.47039324e-01 8.94359412e-01 1.66458513e-02 9.37569602e+00] [-2.31633543e-02 -7.02854294e-03 9.99706986e-01 1.43733758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.898040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:9.39, Z:1.43 [[ 8.93840388e-01 -4.47863914e-01 2.16165404e-02 4.62993660e+01] [ 4.47777329e-01 8.94100180e-01 8.96280551e-03 9.39349883e+00] [-2.33414698e-02 1.66807916e-03 9.99726159e-01 1.43418505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:9.41, Z:1.43 [[ 8.94725935e-01 -4.46088078e-01 2.17008691e-02 4.63208145e+01] [ 4.46206437e-01 8.94929796e-01 -6.89309441e-04 9.40842300e+00] [-1.91132616e-02 1.02998105e-02 9.99764271e-01 1.43266005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.35, Y:9.41, Z:1.44 [[ 8.93095698e-01 -4.49598421e-01 1.55349347e-02 4.63500543e+01] [ 4.49321408e-01 8.93180870e-01 1.83903560e-02 9.41382779e+00] [-2.21437815e-02 -9.44416907e-03 9.99710188e-01 1.43642261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:9.44, Z:1.43 [[ 8.92264124e-01 -4.50769025e-01 2.59233416e-02 4.63677151e+01] [ 4.50812728e-01 8.92607389e-01 4.46467139e-03 9.43520441e+00] [-2.51519018e-02 7.70290623e-03 9.99653964e-01 1.42628052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:9.44, Z:1.44 [[ 8.92438806e-01 -4.50923598e-01 1.48622231e-02 4.64012060e+01] [ 4.50659980e-01 8.92512728e-01 1.80724151e-02 9.43948768e+00] [-2.14140017e-02 -9.43071543e-03 9.99726214e-01 1.43596414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:9.46, Z:1.42 [[ 8.91161385e-01 -4.53003432e-01 2.48852599e-02 4.64168037e+01] [ 4.53170254e-01 8.91423165e-01 -1.20866859e-03 9.46393544e+00] [-2.16357661e-02 1.23543783e-02 9.99689583e-01 1.42367553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.078040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:9.47, Z:1.43 [[ 8.91071149e-01 -4.53448060e-01 1.94181253e-02 4.64458267e+01] [ 4.53349517e-01 8.91282625e-01 9.46031340e-03 9.47090430e+00] [-2.15967984e-02 3.73385379e-04 9.99766692e-01 1.42758944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:9.48, Z:1.43 [[ 8.91005732e-01 -4.53578149e-01 1.93816294e-02 4.64702558e+01] [ 4.53425361e-01 8.91214636e-01 1.19127870e-02 9.48285961e+00] [-2.26765717e-02 -1.82623923e-03 9.99741185e-01 1.42887379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:9.49, Z:1.43 [[ 8.91124311e-01 -4.53461432e-01 1.64375043e-02 4.64960594e+01] [ 4.53245491e-01 8.91254463e-01 1.52972885e-02 9.49342851e+00] [-2.15867294e-02 -6.18156095e-03 9.99747869e-01 1.43254093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.52, Y:9.51, Z:1.43 [[ 8.90999636e-01 -4.53454275e-01 2.23353699e-02 4.65179368e+01] [ 4.53454065e-01 8.91263499e-01 5.36532765e-03 9.51284875e+00] [-2.23396307e-02 5.34755929e-03 9.99736137e-01 1.42713189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:9.52, Z:1.44 [[ 8.91716939e-01 -4.52430763e-01 1.21369315e-02 4.65489590e+01] [ 4.52173953e-01 8.91724316e-01 1.91431501e-02 9.51743590e+00] [-1.94837470e-02 -1.15822669e-02 9.99743084e-01 1.43599832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:9.54, Z:1.43 [[ 8.91259030e-01 -4.52868732e-01 2.38170518e-02 4.65651973e+01] [ 4.52964288e-01 8.91527355e-01 1.52623481e-03 9.54212740e+00] [-2.19247372e-02 9.42800335e-03 9.99715169e-01 1.42510554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.258040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.59, Y:9.55, Z:1.43 [[ 8.91552454e-01 -4.52482473e-01 1.98452288e-02 4.65920184e+01] [ 4.52403666e-01 8.91772270e-01 8.55234021e-03 9.55047599e+00] [-2.15672088e-02 1.35319434e-03 9.99766485e-01 1.42792042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:9.56, Z:1.43 [[ 8.92405239e-01 -4.50976875e-01 1.52560838e-02 4.66207761e+01] [ 4.50785336e-01 8.92515300e-01 1.44575237e-02 9.55851657e+00] [-2.01362971e-02 -6.02475101e-03 9.99779092e-01 1.43227100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.318040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:9.57, Z:1.43 [[ 8.93658469e-01 -4.48356934e-01 1.87243095e-02 4.66443090e+01] [ 4.48232411e-01 8.93853930e-01 1.06234598e-02 9.57484290e+00] [-2.14998994e-02 -1.10090244e-03 9.99768244e-01 1.42661736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:9.59, Z:1.43 [[ 8.93567291e-01 -4.48350278e-01 2.27930746e-02 4.66668596e+01] [ 4.48353028e-01 8.93840996e-01 5.27608493e-03 9.59309646e+00] [-2.27389186e-02 5.50480709e-03 9.99726282e-01 1.42576437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:9.60, Z:1.43 [[ 8.96165542e-01 -4.43366779e-01 1.76980327e-02 4.66951191e+01] [ 4.43071841e-01 8.96299503e-01 1.82905666e-02 9.60029530e+00] [-2.39721675e-02 -8.54987562e-03 9.99676065e-01 1.42781947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:9.62, Z:1.42 [[ 8.96610749e-01 -4.42007334e-01 2.68082564e-02 4.67140550e+01] [ 4.42174775e-01 8.96928839e-01 -3.55538724e-04 9.62492949e+00] [-2.38879476e-02 1.21727146e-02 9.99640531e-01 1.42232631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:9.63, Z:1.43 [[ 8.98022520e-01 -4.39616583e-01 1.71117723e-02 4.67437307e+01] [ 4.39359723e-01 8.98153339e-01 1.68408250e-02 9.62821409e+00] [-2.27725014e-02 -7.60521652e-03 9.99711745e-01 1.42516365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:9.65, Z:1.42 [[ 8.98442293e-01 -4.38454134e-01 2.36520542e-02 4.67626154e+01] [ 4.38402291e-01 8.98746630e-01 7.61100001e-03 9.64643537e+00] [-2.45942784e-02 3.53107045e-03 9.99691279e-01 1.42297805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:9.66, Z:1.42 [[ 8.98721411e-01 -4.37910490e-01 2.31133843e-02 4.67901006e+01] [ 4.37887332e-01 8.99007622e-01 6.32306591e-03 9.66059644e+00] [-2.35480456e-02 4.43838347e-03 9.99712854e-01 1.42195975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.82, Y:9.67, Z:1.43 [[ 8.98997264e-01 -4.37677356e-01 1.55708589e-02 4.68212527e+01] [ 4.37458068e-01 8.99102943e-01 1.56312418e-02 9.66841951e+00] [-2.08412457e-02 -7.24084573e-03 9.99756577e-01 1.42888177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:9.68, Z:1.42 [[ 8.99240753e-01 -4.37118020e-01 1.71436662e-02 4.68453414e+01] [ 4.36984560e-01 8.99400759e-01 1.10801242e-02 9.68358245e+00] [-2.02623483e-02 -2.47218177e-03 9.99791641e-01 1.42436012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:9.69, Z:1.43 [[ 8.99666810e-01 -4.36396657e-01 1.25534537e-02 4.68732071e+01] [ 4.36207056e-01 8.99716171e-01 1.53041279e-02 9.69469665e+00] [-1.79732156e-02 -8.29271088e-03 9.99804078e-01 1.43202341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:9.71, Z:1.43 [[ 8.99529883e-01 -4.36548615e-01 1.64710785e-02 4.68964425e+01] [ 4.36481636e-01 8.99680618e-01 7.65295963e-03 9.71156572e+00] [-1.81595990e-02 3.05257402e-04 9.99835054e-01 1.42849180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:9.73, Z:1.42 [[ 8.98598187e-01 -4.38232842e-01 2.17548894e-02 4.69155014e+01] [ 4.38295191e-01 8.98828709e-01 2.06828345e-03 9.72914400e+00] [-2.04603089e-02 7.67650764e-03 9.99761195e-01 1.42175398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.678040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:9.76, Z:1.41 [[ 8.96058054e-01 -4.42469306e-01 3.60676634e-02 4.69262634e+01] [ 4.43243195e-01 8.96240383e-01 -1.69895682e-02 9.75655299e+00] [-2.48079340e-02 3.12103858e-02 9.99204923e-01 1.40547112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:9.73, Z:1.44 [[ 8.98377949e-01 -4.39199595e-01 -4.55804463e-03 4.69826973e+01] [ 4.38972443e-01 8.97465966e-01 4.31049177e-02 9.73347519e+00] [-1.48409725e-02 -4.07253635e-02 9.99060153e-01 1.44165395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:9.76, Z:1.43 [[ 8.98324883e-01 -4.39203906e-01 1.05987550e-02 4.70007464e+01] [ 4.39018793e-01 8.98334114e-01 1.60722743e-02 9.76069266e+00] [-1.65802289e-02 -9.78507129e-03 9.99814657e-01 1.43327028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.01, Y:9.79, Z:1.42 [[ 8.94637587e-01 -4.46029070e-01 2.61085477e-02 4.70073024e+01] [ 4.46413502e-01 8.94757676e-01 -1.11214510e-02 9.79497362e+00] [-1.84003330e-02 2.16048763e-02 9.99597247e-01 1.41792486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:9.80, Z:1.42 [[ 8.93876189e-01 -4.48011257e-01 1.64703330e-02 4.70376455e+01] [ 4.47958914e-01 8.94027152e-01 6.94709892e-03 9.79960302e+00] [-1.78373034e-02 1.16818616e-03 9.99840220e-01 1.42344030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:9.81, Z:1.42 [[ 8.93894631e-01 -4.47988811e-01 1.60752671e-02 4.70598177e+01] [ 4.47959042e-01 8.94036487e-01 5.60864574e-03 9.81250613e+00] [-1.68844859e-02 2.18752294e-03 9.99855054e-01 1.42309982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.858040941999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.10, Y:9.81, Z:1.44 [[ 8.94761783e-01 -4.46532686e-01 3.14832091e-03 4.70981192e+01] [ 4.46227589e-01 8.94371259e-01 3.13207428e-02 9.81142552e+00] [-1.68015032e-02 -2.66197361e-02 9.99504427e-01 1.43625608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:9.85, Z:1.42 [[ 8.93385536e-01 -4.48626800e-01 2.44188298e-02 4.71062158e+01] [ 4.48957537e-01 8.93496428e-01 -1.00629844e-02 9.84949538e+00] [-1.73036127e-02 1.99531424e-02 9.99651168e-01 1.41670883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.13, Y:9.86, Z:1.42 [[ 8.93858657e-01 -4.48043368e-01 1.65481574e-02 4.71340795e+01] [ 4.48122337e-01 8.93971421e-01 -1.21247034e-03 9.85711422e+00] [-1.42503405e-02 8.49937609e-03 9.99862335e-01 1.41995308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:9.87, Z:1.42 [[ 8.93907344e-01 -4.48089983e-01 1.20427098e-02 4.71611700e+01] [ 4.48064720e-01 8.93987853e-01 4.87084066e-03 9.86714329e+00] [-1.29486112e-02 1.04183315e-03 9.99915620e-01 1.42159368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:9.87, Z:1.43 [[ 8.94075843e-01 -4.47912268e-01 1.72812899e-03 4.71950915e+01] [ 4.47837606e-01 8.93985501e-01 1.52119469e-02 9.87386175e+00] [-8.35853988e-03 -1.28267131e-02 9.99882798e-01 1.43260481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008040941999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.21, Y:9.90, Z:1.41 [[ 8.93461847e-01 -4.48765254e-01 1.83214411e-02 4.72073816e+01] [ 4.48923996e-01 8.93552959e-01 -5.50950182e-03 9.90141325e+00] [-1.38987050e-02 1.31474642e-02 9.99816968e-01 1.41473988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.038040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.24, Y:9.91, Z:1.42 [[ 8.93500113e-01 -4.48881443e-01 1.27670793e-02 4.72370794e+01] [ 4.48809313e-01 8.93589888e-01 8.20444255e-03 9.90746384e+00] [-1.50913550e-02 -1.60068624e-03 9.99884838e-01 1.42021981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:9.92, Z:1.42 [[ 8.94276033e-01 -4.47322411e-01 1.31543495e-02 4.72594031e+01] [ 4.47288652e-01 8.94372319e-01 5.56930306e-03 9.92049520e+00] [-1.42561602e-02 9.03297018e-04 9.99897968e-01 1.42062118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:9.93, Z:1.42 [[ 8.94144191e-01 -4.47676032e-01 9.60920699e-03 4.72856629e+01] [ 4.47600624e-01 8.94187794e-01 9.04818049e-03 9.93114120e+00] [-1.26430891e-02 -3.78929097e-03 9.99912893e-01 1.42213188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:9.94, Z:1.42 [[ 8.94279546e-01 -4.47436258e-01 8.05533110e-03 4.73118755e+01] [ 4.47372930e-01 8.94306728e-01 8.54034580e-03 9.94386524e+00] [-1.10251972e-02 -4.03371949e-03 9.99931085e-01 1.42423893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.33, Y:9.96, Z:1.42 [[ 8.93001083e-01 -4.49868531e-01 1.29372127e-02 4.73342018e+01] [ 4.49849323e-01 8.93093015e-01 4.52263863e-03 9.96057016e+00] [-1.35887271e-02 1.78107518e-03 9.99906083e-01 1.42007568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:9.97, Z:1.42 [[ 8.92478911e-01 -4.50886349e-01 1.35237942e-02 4.73589198e+01] [ 4.50826733e-01 8.92581251e-01 7.34625523e-03 9.97293230e+00] [-1.53834114e-02 -4.59489898e-04 9.99881563e-01 1.42007690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.218040941999995 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:47.38, Y:9.99, Z:1.42 [[ 8.91874144e-01 -4.51973046e-01 1.67594027e-02 4.73820184e+01] [ 4.52133672e-01 8.91920290e-01 -7.30341386e-03 9.99383616e+00] [-1.16471051e-02 1.40912163e-02 9.99832877e-01 1.41636771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:9.99, Z:1.42 [[ 8.91667896e-01 -4.52640613e-01 6.69614754e-03 4.74130474e+01] [ 4.52506992e-01 8.91630355e-01 1.52555477e-02 9.99351001e+00] [-1.28757689e-02 -1.05728286e-02 9.99861205e-01 1.42401815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.44, Y:10.01, Z:1.42 [[ 8.91207707e-01 -4.53409040e-01 1.30025023e-02 4.74350419e+01] [ 4.53394530e-01 8.91299982e-01 4.21224520e-03 1.00117749e+01] [-1.34990001e-02 2.14127803e-03 9.99906592e-01 1.41911603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.46, Y:10.02, Z:1.42 [[ 8.90305903e-01 -4.55195994e-01 1.23290955e-02 4.74582877e+01] [ 4.55168963e-01 8.90390599e-01 5.07902765e-03 1.00243690e+01] [-1.32896638e-02 1.08993332e-03 9.99911094e-01 1.41778393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:10.04, Z:1.41 [[ 8.89694508e-01 -4.56199660e-01 1.80431045e-02 4.74794417e+01] [ 4.56287837e-01 8.89831805e-01 -8.76529446e-04 1.00424324e+01] [-1.56554558e-02 9.01269254e-03 9.99836826e-01 1.41099169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:10.05, Z:1.42 [[ 8.90466045e-01 -4.55004222e-01 6.43281477e-03 4.75103422e+01] [ 4.54878141e-01 8.90429533e-01 1.48702519e-02 1.00451767e+01] [-1.24939956e-02 -1.03153075e-02 9.99868739e-01 1.41942544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:10.07, Z:1.41 [[ 8.90120689e-01 -4.55253959e-01 2.07121262e-02 4.75257707e+01] [ 4.55474286e-01 8.90218934e-01 -7.30928059e-03 1.00711275e+01] [-1.51107480e-02 1.59399828e-02 9.99758762e-01 1.40537237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:10.07, Z:1.42 [[ 8.91173789e-01 -4.53655670e-01 2.41048321e-03 4.75629369e+01] [ 4.53531347e-01 8.91031961e-01 1.92707651e-02 1.00670075e+01] [-1.08901094e-02 -1.60803711e-02 9.99811396e-01 1.42032551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.58, Y:10.08, Z:1.42 [[ 8.91572917e-01 -4.52791339e-01 8.81678842e-03 4.75848252e+01] [ 4.52732545e-01 8.91611246e-01 7.91379396e-03 1.00849078e+01] [-1.14444451e-02 -3.06407731e-03 9.99929816e-01 1.41608538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:10.10, Z:1.41 [[ 8.92155662e-01 -4.51580836e-01 1.15335552e-02 4.76084724e+01] [ 4.51584226e-01 8.92225112e-01 2.45690401e-03 1.01009242e+01] [-1.14000184e-02 3.01643078e-03 9.99930468e-01 1.41368721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.63, Y:10.11, Z:1.41 [[ 8.92370933e-01 -4.51181799e-01 1.04451626e-02 4.76340792e+01] [ 4.51150380e-01 8.92432061e-01 5.32464490e-03 1.01127703e+01] [-1.17239809e-02 -3.92192447e-05 9.99931271e-01 1.41351670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.66, Y:10.13, Z:1.41 [[ 8.92395801e-01 -4.51135254e-01 1.03303484e-02 4.76597432e+01] [ 4.51112638e-01 8.92455393e-01 4.55619303e-03 1.01261323e+01] [-1.12748344e-02 5.94223182e-04 9.99936260e-01 1.41229985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:10.14, Z:1.41 [[ 8.92442533e-01 -4.51065904e-01 9.26689455e-03 4.76845837e+01] [ 4.51033710e-01 8.92490396e-01 5.43013320e-03 1.01358398e+01] [-1.07199623e-02 -6.66400004e-04 9.99942317e-01 1.41234349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:10.16, Z:1.40 [[ 8.91584682e-01 -4.52209677e-01 2.41487495e-02 4.77034185e+01] [ 4.52563772e-01 8.91654386e-01 -1.17680930e-02 1.01591196e+01] [-1.62106929e-02 2.14211007e-02 9.99639110e-01 1.39795331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.638040941999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.74, Y:10.15, Z:1.42 [[ 8.92090148e-01 -4.51856877e-01 -7.28399990e-04 4.77418939e+01] [ 4.51743148e-01 8.91827038e-01 2.39303698e-02 1.01491284e+01] [-1.01634953e-02 -2.16770968e-02 9.99713362e-01 1.41844680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:10.17, Z:1.41 [[ 8.91992429e-01 -4.51938921e-01 1.00358390e-02 4.77618640e+01] [ 4.51909846e-01 8.92048884e-01 5.12646086e-03 1.01712917e+01] [-1.12693062e-02 -3.74698019e-05 9.99936499e-01 1.41173357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.79, Y:10.19, Z:1.41 [[ 8.90677753e-01 -4.54528746e-01 9.83664959e-03 4.77889411e+01] [ 4.54512446e-01 8.90731572e-01 3.96276410e-03 1.01857171e+01] [-1.05630045e-02 9.41333841e-04 9.99943767e-01 1.40996051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:10.20, Z:1.41 [[ 8.91468995e-01 -4.52969377e-01 1.00882749e-02 4.78119279e+01] [ 4.52928993e-01 8.91525642e-01 6.11205414e-03 1.01970229e+01] [-1.17625291e-02 -8.79434574e-04 9.99930432e-01 1.41008620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.758040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.84, Y:10.21, Z:1.41 [[ 8.91245939e-01 -4.53399027e-01 1.04880030e-02 4.78368265e+01] [ 4.53367244e-01 8.91307647e-01 5.36847895e-03 1.02093948e+01] [-1.17821004e-02 -2.97180646e-05 9.99930588e-01 1.40904752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.87, Y:10.22, Z:1.41 [[ 8.90169707e-01 -4.55538815e-01 9.07087978e-03 4.78679226e+01] [ 4.55441317e-01 8.90197991e-01 1.09883799e-02 1.02193577e+01] [-1.30805125e-02 -5.65026952e-03 9.99898482e-01 1.40955910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:10.23, Z:1.41 [[ 8.90865724e-01 -4.54067829e-01 1.34412956e-02 4.78875096e+01] [ 4.54102869e-01 8.90949123e-01 4.94976582e-04 1.02346789e+01] [-1.22002635e-02 5.66277325e-03 9.99909539e-01 1.40562842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:10.24, Z:1.41 [[ 8.90314238e-01 -4.55205644e-01 1.13304835e-02 4.79149211e+01] [ 4.55168527e-01 8.90386333e-01 5.81293204e-03 1.02433962e+01] [-1.27345871e-02 -1.80566595e-05 9.99918912e-01 1.40677022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.878040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.94, Y:10.26, Z:1.41 [[ 8.89918223e-01 -4.55984699e-01 1.11135139e-02 4.79405475e+01] [ 4.55949002e-01 8.89987615e-01 5.70553201e-03 1.02559646e+01] [-1.24925250e-02 -1.02613211e-05 9.99921965e-01 1.40549704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:47.96, Y:10.27, Z:1.40 [[ 8.89588089e-01 -4.56641967e-01 1.05425724e-02 4.79647974e+01] [ 4.56609821e-01 8.89650557e-01 5.41826556e-03 1.02679844e+01] [-1.18534128e-02 -6.18241377e-06 9.99929746e-01 1.40424147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:10.28, Z:1.40 [[ 8.88955461e-01 -4.57869100e-01 1.06805844e-02 4.79899663e+01] [ 4.57836202e-01 8.89019621e-01 5.48861156e-03 1.02796666e+01] [-1.20083148e-02 1.08269971e-05 9.99927898e-01 1.40320650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:10.29, Z:1.40 [[ 8.88615277e-01 -4.58526698e-01 1.07775748e-02 4.80158759e+01] [ 4.58493201e-01 8.88680633e-01 5.54235112e-03 1.02915188e+01] [-1.21191380e-02 1.64268882e-05 9.99926560e-01 1.40290739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.998040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.04, Y:10.30, Z:1.40 [[ 8.88222219e-01 -4.59275456e-01 1.12847226e-02 4.80416676e+01] [ 4.59238737e-01 8.88293901e-01 5.80754696e-03 1.03027698e+01] [-1.26914141e-02 2.39895203e-05 9.99919460e-01 1.40254419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:10.31, Z:1.40 [[ 8.87963514e-01 -4.59778309e-01 1.11671004e-02 4.80663219e+01] [ 4.59742312e-01 8.88033730e-01 5.75325757e-03 1.03134359e+01] [-1.25619849e-02 2.53057625e-05 9.99921095e-01 1.40230785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.058040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.09, Y:10.32, Z:1.40 [[ 8.87824875e-01 -4.60047460e-01 1.11052207e-02 4.80916934e+01] [ 4.60011860e-01 8.87894326e-01 5.72313514e-03 1.03233213e+01] [-1.24931762e-02 2.73914803e-05 9.99921957e-01 1.40103039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.12, Y:10.34, Z:1.40 [[ 8.87720143e-01 -4.60239125e-01 1.15279921e-02 4.81169067e+01] [ 4.60200784e-01 8.87794991e-01 5.94071433e-03 1.03359619e+01] [-1.29686428e-02 3.14992397e-05 9.99915903e-01 1.40060908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.14, Y:10.35, Z:1.40 [[ 8.87849806e-01 -4.59975934e-01 1.20358711e-02 4.81422587e+01] [ 4.59934052e-01 8.87931382e-01 6.20712500e-03 1.03480956e+01] [-1.35421557e-02 2.47122102e-05 9.99908301e-01 1.39915377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:10.36, Z:1.39 [[ 8.89406099e-01 -4.56771494e-01 1.77931009e-02 4.81740005e+01] [ 4.56871516e-01 8.89530883e-01 -1.79633319e-03 1.03626751e+01] [-1.50069990e-02 9.72683069e-03 9.99840077e-01 1.39214258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.178040941999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:48.20, Y:10.37, Z:1.40 [[ 8.88293124e-01 -4.59202756e-01 8.25556928e-03 4.81971372e+01] [ 4.59057871e-01 8.88281080e-01 1.49196171e-02 1.03653331e+01] [-1.41843953e-02 -9.46320927e-03 9.99854615e-01 1.39988875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.23, Y:10.38, Z:1.40 [[ 8.90706673e-01 -4.54497359e-01 8.58912634e-03 4.82330244e+01] [ 4.54416649e-01 8.90734744e-01 9.85518918e-03 1.03774838e+01] [-1.21297907e-02 -4.87504076e-03 9.99914547e-01 1.40076274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.238040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.26, Y:10.39, Z:1.40 [[ 8.91574896e-01 -4.52758053e-01 1.02151754e-02 4.82577856e+01] [ 4.52701431e-01 8.91631160e-01 7.43566396e-03 1.03881792e+01] [-1.24747254e-02 -2.00502681e-03 9.99920177e-01 1.39964501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:10.41, Z:1.39 [[ 8.90342547e-01 -4.54938987e-01 1.79071605e-02 4.82706910e+01] [ 4.55000418e-01 8.90490936e-01 7.15508925e-04 1.04069510e+01] [-1.62716770e-02 7.51071748e-03 9.99839398e-01 1.39361702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:10.42, Z:1.40 [[ 8.90727875e-01 -4.54302406e-01 1.46005869e-02 4.82976636e+01] [ 4.54239673e-01 8.90847527e-01 7.55010013e-03 1.04154336e+01] [-1.64369254e-02 -9.29188056e-05 9.99864900e-01 1.39533145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.34, Y:10.42, Z:1.41 [[ 8.94744281e-01 -4.46571470e-01 2.56779190e-03 4.83402184e+01] [ 4.46448676e-01 8.94607503e-01 1.89999014e-02 1.04155156e+01] [-1.07819798e-02 -1.58536659e-02 9.99816188e-01 1.40517784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.36, Y:10.44, Z:1.40 [[ 8.95493571e-01 -4.44935134e-01 1.11350981e-02 4.83624220e+01] [ 4.44924898e-01 8.95560979e-01 3.51664035e-03 1.04357599e+01] [-1.15368362e-02 1.80515357e-03 9.99931819e-01 1.39857200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:10.45, Z:1.40 [[ 8.95356236e-01 -4.45210983e-01 1.11530668e-02 4.83907139e+01] [ 4.45162315e-01 8.95425144e-01 6.65773090e-03 1.04477619e+01] [-1.29508314e-02 -9.96115856e-04 9.99915638e-01 1.39817165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.418040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:48.42, Y:10.46, Z:1.40 [[ 8.96190300e-01 -4.43526302e-01 1.12856314e-02 4.84179758e+01] [ 4.43492897e-01 8.96261348e-01 5.44486600e-03 1.04600342e+01] [-1.25298165e-02 1.25461255e-04 9.99921491e-01 1.39621713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44804094199999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:48.43, Y:10.48, Z:1.38 [[ 8.95319662e-01 -4.44541586e-01 2.80264407e-02 4.84309986e+01] [ 4.45023510e-01 8.95410043e-01 -1.39617503e-02 1.04841743e+01] [-1.88885778e-02 2.49726546e-02 9.99509674e-01 1.37942719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.48, Y:10.47, Z:1.41 [[ 8.96969654e-01 -4.42021755e-01 -7.88718270e-03 4.84804020e+01] [ 4.41992160e-01 8.96244768e-01 3.72591796e-02 1.04667155e+01] [-9.40052174e-03 -3.69064264e-02 9.99274510e-01 1.41224033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508040941999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.50, Y:10.50, Z:1.40 [[ 8.96920736e-01 -4.42076391e-01 1.00825596e-02 4.84971002e+01] [ 4.42061851e-01 8.96976737e-01 3.74883535e-03 1.04974935e+01] [-1.07010930e-02 1.09470682e-03 9.99942142e-01 1.39757047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.538040941999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:48.51, Y:10.53, Z:1.37 [[ 8.95236848e-01 -4.44387035e-01 3.27284220e-02 4.85082359e+01] [ 4.45215634e-01 8.95080047e-01 -2.47941312e-02 1.05257577e+01] [-1.82763670e-02 3.67678250e-02 9.99156695e-01 1.37378660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.56, Y:10.51, Z:1.41 [[ 8.96066219e-01 -4.43907605e-01 -3.37191864e-03 4.85575978e+01] [ 4.43795974e-01 8.95609360e-01 3.04796233e-02 1.05063480e+01] [-1.05102147e-02 -2.88082047e-02 9.99529701e-01 1.40607280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.598040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:48.57, Y:10.54, Z:1.38 [[ 8.95103772e-01 -4.45207667e-01 2.40701085e-02 4.85664382e+01] [ 4.45587290e-01 8.95136534e-01 -1.35112293e-02 1.05412731e+01] [-1.55307306e-02 2.28192867e-02 9.99618966e-01 1.38062366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628040942 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:48.60, Y:10.54, Z:1.39 [[ 8.94232342e-01 -4.47541678e-01 7.41386391e-03 4.86035207e+01] [ 4.47430211e-01 8.94224648e-01 1.29802308e-02 1.05370046e+01] [-1.24388541e-02 -8.29015551e-03 9.99888268e-01 1.39460655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65804094199999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:48.64, Y:10.54, Z:1.40 [[ 8.94436988e-01 -4.47192260e-01 -1.24805422e-03 4.86353245e+01] [ 4.47108082e-01 8.94206951e-01 2.20973370e-02 1.05424142e+01] [-8.76573930e-03 -2.03226907e-02 9.99755045e-01 1.40483633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.65, Y:10.57, Z:1.38 [[ 8.92176745e-01 -4.51212646e-01 2.06833921e-02 4.86485651e+01] [ 4.51531677e-01 8.92134141e-01 -1.46907725e-02 1.05721621e+01] [-1.18236979e-02 2.24459723e-02 9.99678137e-01 1.38285391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.718040941999995 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:48.69, Y:10.57, Z:1.40 [[ 8.91406988e-01 -4.53203639e-01 -2.08269216e-04 4.86880349e+01] [ 4.53130945e-01 8.91255585e-01 1.83256275e-02 1.05655786e+01] [-8.11961995e-03 -1.64299656e-02 9.99832050e-01 1.39985076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.71, Y:10.59, Z:1.39 [[ 8.90520373e-01 -4.54751952e-01 1.31957234e-02 4.87064616e+01] [ 4.54838503e-01 8.90563247e-01 -4.36343891e-03 1.05889499e+01] [-9.76734392e-03 9.88765433e-03 9.99903412e-01 1.38823923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.778040942 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:48.72, Y:10.60, Z:1.39 [[ 8.87158464e-01 -4.61215147e-01 1.51804833e-02 4.87190228e+01] [ 4.61248860e-01 8.87269691e-01 1.40907458e-03 1.06008173e+01] [-1.41190692e-02 5.75190816e-03 9.99883777e-01 1.38615544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:48.76, Y:10.61, Z:1.39 [[ 8.88876911e-01 -4.58048675e-01 9.44719339e-03 4.87585336e+01] [ 4.58008825e-01 8.88926384e-01 6.14812535e-03 1.06080449e+01] [-1.12140001e-02 -1.13802872e-03 9.99936474e-01 1.38966954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83804094199999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:48.77, Y:10.62, Z:1.39 [[ 8.86361490e-01 -4.62792915e-01 1.36391415e-02 4.87700621e+01] [ 4.62759489e-01 8.86465531e-01 5.70249204e-03 1.06243880e+01] [-1.47297017e-02 1.25717282e-03 9.99890722e-01 1.38674902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.81, Y:10.63, Z:1.39 [[ 8.88705448e-01 -4.58407639e-01 8.06617689e-03 4.88090872e+01] [ 4.58351194e-01 8.88735709e-01 7.93866017e-03 1.06333942e+01] [-1.08078419e-02 -3.35798873e-03 9.99935955e-01 1.39046171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.898040941999994 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:48.83, Y:10.65, Z:1.39 [[ 8.88970822e-01 -4.57886136e-01 8.43593405e-03 4.88349071e+01] [ 4.57872075e-01 8.89010628e-01 3.64227314e-03 1.06471913e+01] [-9.16738140e-03 6.24704085e-04 9.99957784e-01 1.38770345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.85, Y:10.66, Z:1.39 [[ 8.87429112e-01 -4.60790603e-01 1.18991918e-02 4.88478922e+01] [ 4.60787048e-01 8.87504954e-01 3.20205641e-03 1.06629787e+01] [-1.20360692e-02 2.64139541e-03 9.99924075e-01 1.38861215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.958040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:48.87, Y:10.68, Z:1.39 [[ 8.86873856e-01 -4.61901596e-01 1.00836478e-02 4.88722754e+01] [ 4.61870966e-01 8.86931177e-01 5.31966289e-03 1.06752803e+01] [-1.14006623e-02 -6.05258099e-05 9.99935009e-01 1.38714295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:48.91, Y:10.69, Z:1.39 [[ 8.87980050e-01 -4.59868711e-01 3.49290864e-03 4.89091361e+01] [ 4.59831224e-01 8.87969279e-01 8.11201217e-03 1.06855469e+01] [-6.83205615e-03 -5.59715652e-03 9.99960997e-01 1.39036847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01804094199999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:48.93, Y:10.70, Z:1.39 [[ 8.87866588e-01 -4.60030332e-01 8.06321922e-03 4.89322951e+01] [ 4.60041385e-01 8.87897312e-01 5.35754990e-04 1.07033836e+01] [-7.40577422e-03 3.23373559e-03 9.99967348e-01 1.38521655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.95, Y:10.72, Z:1.39 [[ 8.86312556e-01 -4.62967508e-01 1.05422504e-02 4.89468240e+01] [ 4.62961910e-01 8.86372711e-01 3.11239844e-03 1.07183575e+01] [-1.07853024e-02 2.12210256e-03 9.99939585e-01 1.38699409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.078040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.98, Y:10.73, Z:1.38 [[ 8.85460016e-01 -4.64526096e-01 1.32689881e-02 4.89772602e+01] [ 4.64611649e-01 8.85504878e-01 -4.13852180e-03 1.07344764e+01] [-9.82730227e-03 9.82942200e-03 9.99903399e-01 1.38066926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:10.74, Z:1.38 [[ 8.85045011e-01 -4.65420800e-01 8.87732211e-03 4.90013988e+01] [ 4.65423106e-01 8.85086214e-01 1.93028791e-03 1.07429999e+01] [-8.75559156e-03 2.42331915e-03 9.99958733e-01 1.38417163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.03, Y:10.76, Z:1.38 [[ 8.83519472e-01 -4.68328202e-01 7.87641609e-03 4.90256991e+01] [ 4.68355000e-01 8.83538370e-01 -1.88236069e-03 1.07576846e+01] [-6.07755323e-03 5.35206118e-03 9.99967209e-01 1.38487973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.05, Y:10.77, Z:1.39 [[ 8.81707613e-01 -4.71729448e-01 7.93803232e-03 4.90517394e+01] [ 4.71676731e-01 8.81738174e-01 7.67157759e-03 1.07685582e+01] [-1.06181752e-02 -3.01990323e-03 9.99939065e-01 1.38549917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19804094199999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:49.08, Y:10.78, Z:1.39 [[ 8.82791566e-01 -4.69764887e-01 -3.26559082e-05 4.90773347e+01] [ 4.69721930e-01 8.82709896e-01 1.35848027e-02 1.07758132e+01] [-6.35283763e-03 -1.20078885e-02 9.99907722e-01 1.39270023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22804094199999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:49.11, Y:10.79, Z:1.40 [[ 8.81906117e-01 -4.71425069e-01 6.84961866e-05 4.91074272e+01] [ 4.71381549e-01 8.81826659e-01 1.34602638e-02 1.07918391e+01] [-6.40590755e-03 -1.18384011e-02 9.99909404e-01 1.39556126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.258040941999994 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:49.13, Y:10.81, Z:1.39 [[ 8.81605042e-01 -4.71926158e-01 7.63221937e-03 4.91260932e+01] [ 4.71936680e-01 8.81632320e-01 4.71324907e-04 1.08133036e+01] [-6.95124183e-03 3.18640186e-03 9.99970763e-01 1.38662937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.16, Y:10.81, Z:1.41 [[ 8.82582075e-01 -4.69858361e-01 -1.67928680e-02 4.91632483e+01] [ 4.70157677e-01 8.82078383e-01 2.98242499e-02 1.08092761e+01] [ 7.99452631e-04 -3.42176442e-02 9.99414085e-01 1.41395627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.318040941999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:49.17, Y:10.85, Z:1.38 [[ 8.82108125e-01 -4.70835858e-01 1.41014349e-02 4.91734050e+01] [ 4.71029061e-01 8.81940337e-01 -1.76880351e-02 1.08485878e+01] [-4.10846308e-03 2.22449451e-02 9.99744109e-01 1.38333346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.348040942 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:49.19, Y:10.86, Z:1.38 [[ 8.80310268e-01 -4.74030395e-01 1.86820030e-02 4.91891905e+01] [ 4.74283657e-01 8.80280713e-01 -1.26838113e-02 1.08627826e+01] [-1.04328948e-02 2.00262580e-02 9.99745019e-01 1.37791005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.378040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:49.24, Y:10.85, Z:1.41 [[ 8.82350332e-01 -4.70266524e-01 -1.75296314e-02 4.92390058e+01] [ 4.70593121e-01 8.81744136e-01 3.27015709e-02 1.08489913e+01] [ 7.81956125e-05 -3.71035659e-02 9.99311423e-01 1.41386127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40804094199999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:49.26, Y:10.87, Z:1.41 [[ 8.83256980e-01 -4.68817583e-01 -8.19640124e-03 4.92597902e+01] [ 4.68879776e-01 8.83215208e-01 9.09131283e-03 1.08720877e+01] [ 2.97701891e-03 -1.18730923e-02 9.99925081e-01 1.40799489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43804094199999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:49.25, Y:10.92, Z:1.36 [[ 8.80384028e-01 -4.72222568e-01 4.39295951e-02 4.92475036e+01] [ 4.74091730e-01 8.78763490e-01 -5.48795027e-02 1.09228634e+01] [-1.26883846e-02 6.91416954e-02 9.97526155e-01 1.36029316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468040941999995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:49.31, Y:10.88, Z:1.41 [[ 8.82175855e-01 -4.70436629e-01 -2.13339797e-02 4.93135573e+01] [ 4.70917933e-01 8.81127911e-01 4.30105256e-02 1.08843180e+01] [-1.43576177e-03 -4.79894008e-02 9.98846813e-01 1.41462584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.498040941999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:49.34, Y:10.91, Z:1.41 [[ 8.83508366e-01 -4.68331925e-01 -8.84171818e-03 4.93351190e+01] [ 4.68408913e-01 8.83437946e-01 1.14230151e-02 1.09114815e+01] [ 2.46134672e-03 -1.42338690e-02 9.99895664e-01 1.40803998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528040942 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:49.36, Y:10.93, Z:1.41 [[ 8.83605916e-01 -4.68187627e-01 -6.39777039e-03 4.93568725e+01] [ 4.68210226e-01 8.83613342e-01 2.57783065e-03 1.09286149e+01] [ 4.44624686e-03 -5.27328794e-03 9.99976211e-01 1.40524829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.558040942 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:49.38, Y:10.95, Z:1.40 [[ 8.83849216e-01 -4.67767696e-01 1.98645745e-03 4.93775901e+01] [ 4.67760192e-01 8.83789035e-01 -1.08325464e-02 1.09479305e+01] [ 3.31150596e-03 1.05035234e-02 9.99939353e-01 1.39903736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58804094199999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:49.40, Y:10.97, Z:1.39 [[ 8.82805127e-01 -4.69646783e-01 9.32773703e-03 4.93977930e+01] [ 4.69739347e-01 8.82640733e-01 -1.70376535e-02 1.09653048e+01] [-2.31361491e-04 1.94225330e-02 9.99811338e-01 1.39042772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61804094199999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:49.42, Y:10.97, Z:1.40 [[ 8.82534409e-01 -4.70245272e-01 1.54971125e-03 4.94242850e+01] [ 4.70239019e-01 8.82533258e-01 3.21156873e-03 1.09681643e+01] [-2.87789673e-03 -2.10558522e-03 9.99993642e-01 1.39647880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648040941999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:49.44, Y:10.99, Z:1.38 [[ 8.81155416e-01 -4.72571470e-01 1.55350997e-02 4.94416715e+01] [ 4.72776804e-01 8.81064192e-01 -1.44216229e-02 1.09926674e+01] [-6.87217257e-03 2.00523259e-02 9.99775313e-01 1.38098395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.678040941999996 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:49.47, Y:11.00, Z:1.38 [[ 8.80844556e-01 -4.73344118e-01 7.62981422e-03 4.94698584e+01] [ 4.73393477e-01 8.80822951e-01 -7.03877080e-03 1.10022855e+01] [-3.38875472e-03 9.81196722e-03 9.99946119e-01 1.38250602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708040942 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:49.50, Y:11.01, Z:1.38 [[ 8.80379905e-01 -4.74230514e-01 6.05331450e-03 4.94954188e+01] [ 4.74255353e-01 8.80379933e-01 -3.61024603e-03 1.10145287e+01] [-3.61712778e-03 6.04920486e-03 9.99975161e-01 1.38399909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.738040942 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:49.52, Y:11.02, Z:1.39 [[ 8.80763969e-01 -4.73554592e-01 9.37247000e-04 4.95214863e+01] [ 4.73526071e-01 8.80729545e-01 9.40892636e-03 1.10203452e+01] [-5.28110141e-03 -7.84323244e-03 9.99955296e-01 1.38919350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76804094199999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:49.55, Y:11.03, Z:1.40 [[ 8.80754986e-01 -4.73516553e-01 -7.26151753e-03 4.95548775e+01] [ 4.73564522e-01 8.80549631e-01 1.92091664e-02 1.10263868e+01] [-2.70173168e-03 -2.03573662e-02 9.99789117e-01 1.39909590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79804094199999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:49.58, Y:11.04, Z:1.41 [[ 8.81493107e-01 -4.72063829e-01 -1.12091119e-02 4.95834438e+01] [ 4.72194889e-01 8.81310086e-01 1.80144018e-02 1.10368634e+01] [ 1.37475586e-03 -2.11724563e-02 9.99774893e-01 1.40517350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828040941999994 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:49.60, Y:11.07, Z:1.39 [[ 8.81075926e-01 -4.72880686e-01 9.43769972e-03 4.95972734e+01] [ 4.72974825e-01 8.80893412e-01 -1.79335141e-02 1.10674996e+01] [ 1.66804948e-04 2.02645819e-02 9.99794638e-01 1.38526312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.858040941999995 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:49.63, Y:11.06, Z:1.40 [[ 8.79958213e-01 -4.74972514e-01 -8.64028890e-03 4.96334387e+01] [ 4.75050660e-01 8.79836475e-01 1.46508357e-02 1.10647787e+01] [ 6.43297051e-04 -1.69966982e-02 9.99855339e-01 1.40268759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888040941999996 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:49.66, Y:11.08, Z:1.40 [[ 8.80138434e-01 -4.74713207e-01 -1.92584929e-03 4.96552364e+01] [ 4.74716808e-01 8.80126028e-01 4.70390869e-03 1.10822376e+01] [-5.38017495e-04 -5.05432386e-03 9.99987082e-01 1.39796364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.918040942 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:49.68, Y:11.09, Z:1.40 [[ 8.79559479e-01 -4.75749458e-01 -6.12997343e-03 4.96831383e+01] [ 4.75779912e-01 8.79549176e-01 5.16940618e-03 1.10941367e+01] [ 2.93227089e-03 -7.46331842e-03 9.99967850e-01 1.40223674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94804094199999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:49.70, Y:11.11, Z:1.39 [[ 8.79153540e-01 -4.76534644e-01 1.94589866e-03 4.97045835e+01] [ 4.76535807e-01 8.79127003e-01 -7.02405464e-03 1.11130243e+01] [ 1.63651333e-03 7.10251289e-03 9.99973438e-01 1.39425662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.73, Y:11.12, Z:1.39 [[ 8.78463154e-01 -4.77789076e-01 4.48174763e-03 4.97276582e+01] [ 4.77772550e-01 8.78473069e-01 4.29631574e-03 1.11202705e+01] [-5.98982732e-03 -1.63289908e-03 9.99980728e-01 1.39386356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008040941999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:49.75, Y:11.14, Z:1.39 [[ 8.77164187e-01 -4.80157742e-01 5.61537014e-03 4.97543009e+01] [ 4.80179235e-01 8.77163863e-01 -3.38508202e-03 1.11373289e+01] [-3.30022643e-03 5.66565686e-03 9.99978504e-01 1.39180206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.038040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.78, Y:11.16, Z:1.38 [[ 8.74992239e-01 -4.83936633e-01 1.39254202e-02 4.97759810e+01] [ 4.84102265e-01 8.74911833e-01 -1.32015580e-02 1.11572681e+01] [-5.79479735e-03 1.82925883e-02 9.99815884e-01 1.38215781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:11.16, Z:1.39 [[ 8.74817878e-01 -4.84418618e-01 5.68180106e-03 4.98032879e+01] [ 4.84417527e-01 8.74835361e-01 1.65850947e-03 1.11623119e+01] [-5.77405335e-03 1.30147029e-03 9.99982483e-01 1.38816461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.098040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:49.83, Y:11.17, Z:1.39 [[ 8.74497758e-01 -4.85014409e-01 3.83332366e-03 4.98295517e+01] [ 4.84967528e-01 8.74485005e-01 9.08144628e-03 1.11722214e+01] [-7.75681636e-03 -6.08266692e-03 9.99951415e-01 1.39025153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:49.84, Y:11.20, Z:1.37 [[ 8.72760666e-01 -4.87604622e-01 2.30337197e-02 4.98432096e+01] [ 4.88070784e-01 8.72491167e-01 -2.33682291e-02 1.12046167e+01] [-8.70226051e-03 3.16369568e-02 9.99461542e-01 1.36864876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:11.21, Z:1.37 [[ 8.71731619e-01 -4.89785020e-01 1.39505552e-02 4.98715001e+01] [ 4.89864955e-01 8.71793794e-01 -2.81201104e-03 1.12098790e+01] [-1.07847266e-02 9.28520704e-03 9.99898732e-01 1.37231015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18804094199999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:49.90, Y:11.22, Z:1.37 [[ 8.71284050e-01 -4.90584740e-01 1.38100115e-02 4.98968729e+01] [ 4.90638008e-01 8.71363327e-01 -5.44515361e-04 1.12240580e+01] [-1.17664066e-02 7.25014406e-03 9.99904489e-01 1.36984100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.218040941999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:49.91, Y:11.26, Z:1.34 [[ 8.67639127e-01 -4.95646178e-01 3.92072991e-02 4.99075496e+01] [ 4.96653079e-01 8.67674425e-01 -2.18360193e-02 1.12566999e+01] [-2.31962312e-02 3.84182105e-02 9.98992480e-01 1.34196626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.94, Y:11.26, Z:1.35 [[ 8.67477435e-01 -4.96928486e-01 2.33448032e-02 4.99419123e+01] [ 4.96895901e-01 8.67776986e-01 7.58725445e-03 1.12563054e+01] [-2.40284058e-02 5.01816498e-03 9.99698681e-01 1.35215111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.278040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:49.97, Y:11.27, Z:1.35 [[ 8.67969544e-01 -4.96192214e-01 2.05464695e-02 4.99653668e+01] [ 4.96075616e-01 8.68212301e-01 1.07880934e-02 1.12672053e+01] [-2.31916655e-02 8.28866047e-04 9.99730694e-01 1.35354149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.99, Y:11.28, Z:1.35 [[ 8.67377307e-01 -4.97281490e-01 1.91762166e-02 4.99936950e+01] [ 4.97187910e-01 8.67588546e-01 9.71069867e-03 1.12844806e+01] [-2.14660165e-02 1.11134338e-03 9.99768961e-01 1.35379008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.04, Y:11.27, Z:1.41 [[ 8.69668140e-01 -4.92479429e-01 -3.37837052e-02 5.00375059e+01] [ 4.93634992e-01 8.67438682e-01 6.22465129e-02 1.12653396e+01] [-1.34983446e-03 -7.08106281e-02 9.97488864e-01 1.40950084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.03, Y:11.34, Z:1.34 [[ 8.69033138e-01 -4.93156205e-01 3.97286169e-02 5.00332260e+01] [ 4.94513203e-01 8.68309826e-01 -3.86618511e-02 1.13363938e+01] [-1.54304166e-02 5.32447554e-02 9.98462267e-01 1.33972681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.05, Y:11.35, Z:1.33 [[ 8.66749714e-01 -4.97155657e-01 3.97641322e-02 5.00511462e+01] [ 4.98182926e-01 8.66798239e-01 -2.17849755e-02 1.13465209e+01] [-2.36369560e-02 3.86919330e-02 9.98971585e-01 1.33221073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:11.34, Z:1.34 [[ 8.67024729e-01 -4.97815090e-01 2.11720379e-02 5.00878166e+01] [ 4.97728953e-01 8.67280219e-01 9.53470388e-03 1.13444655e+01] [-2.31086092e-02 2.27111224e-03 9.99730381e-01 1.34492419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:11.31, Z:1.42 [[ 8.68841054e-01 -4.92759888e-01 -4.79886977e-02 5.01474168e+01] [ 4.95085249e-01 8.64267386e-01 8.90644859e-02 1.13133116e+01] [-2.41233980e-03 -1.01141378e-01 9.94869138e-01 1.42125334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:11.37, Z:1.38 [[ 8.69939635e-01 -4.93156890e-01 1.14593450e-03 5.01482155e+01] [ 4.93156507e-01 8.69940389e-01 6.15157811e-04 1.13677733e+01] [-1.30026402e-03 2.99748921e-05 9.99999154e-01 1.38277641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51804094199999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.17, Y:11.38, Z:1.38 [[ 8.71211425e-01 -4.90895829e-01 3.45516688e-03 5.01670488e+01] [ 4.90907309e-01 8.71176934e-01 -7.79510977e-03 1.13842432e+01] [ 8.16525188e-04 8.48735537e-03 9.99963648e-01 1.37924293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54804094199999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.21, Y:11.40, Z:1.37 [[ 8.72118737e-01 -4.89239093e-01 7.34975404e-03 5.02063871e+01] [ 4.89266640e-01 8.72130760e-01 -2.46837700e-03 1.13980538e+01] [-5.20232005e-03 5.74870729e-03 9.99969944e-01 1.37169617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.578040941999994 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:50.22, Y:11.41, Z:1.37 [[ 8.72272842e-01 -4.88916943e-01 1.00156261e-02 5.02243754e+01] [ 4.88974481e-01 8.72287517e-01 -4.29472873e-03 1.14147286e+01] [-6.63673994e-03 8.64356079e-03 9.99940620e-01 1.36813835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.26, Y:11.43, Z:1.38 [[ 8.72401641e-01 -4.88789175e-01 7.20133388e-04 5.02596501e+01] [ 4.88769814e-01 8.72378482e-01 7.73649383e-03 1.14255323e+01] [-4.40974331e-03 -6.39735045e-03 9.99969814e-01 1.37602361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.638040941999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:50.27, Y:11.44, Z:1.38 [[ 8.70445401e-01 -4.92243016e-01 -4.64937541e-03 5.02738376e+01] [ 4.92260443e-01 8.70358051e-01 1.25107722e-02 1.14390408e+01] [-2.11171893e-03 -1.31786478e-02 9.99910928e-01 1.38417657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.29, Y:11.46, Z:1.38 [[ 8.70592015e-01 -4.91998019e-01 2.73743305e-03 5.02944763e+01] [ 4.91995790e-01 8.70596317e-01 1.48193752e-03 1.14592831e+01] [-3.11230946e-03 5.66425607e-05 9.99995155e-01 1.37906456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.33, Y:11.47, Z:1.37 [[ 8.74257853e-01 -4.85428710e-01 5.67224374e-03 5.03294362e+01] [ 4.85444474e-01 8.74265740e-01 -1.75467810e-03 1.14709595e+01] [-4.10727725e-03 4.28760049e-03 9.99982373e-01 1.37367244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.36, Y:11.48, Z:1.38 [[ 8.73586062e-01 -4.86667022e-01 -1.61312280e-03 5.03628294e+01] [ 4.86662814e-01 8.73551285e-01 8.21322656e-03 1.14829088e+01] [-2.58796101e-03 -7.96000713e-03 9.99964970e-01 1.37987997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.758040941999994 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:50.37, Y:11.51, Z:1.36 [[ 8.74170514e-01 -4.85315939e-01 1.71567079e-02 5.03655271e+01] [ 4.85610725e-01 8.73817243e-01 -2.50130068e-02 1.15114571e+01] [-2.85261630e-03 3.01971144e-02 9.99539893e-01 1.36318522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.41, Y:11.51, Z:1.38 [[ 8.74064331e-01 -4.85705049e-01 -1.01069095e-02 5.04135818e+01] [ 4.85808446e-01 8.73816197e-01 2.08664271e-02 1.15068428e+01] [-1.30334777e-03 -2.31486217e-02 9.99731185e-01 1.38454152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.818040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.44, Y:11.53, Z:1.38 [[ 8.73206311e-01 -4.87331380e-01 -4.34335392e-03 5.04411417e+01] [ 4.87338000e-01 8.73084386e-01 1.50109846e-02 1.15265060e+01] [-3.52320933e-03 -1.52243679e-02 9.99877895e-01 1.38343934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.848040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.45, Y:11.54, Z:1.38 [[ 8.74793559e-01 -4.84471279e-01 4.87949103e-03 5.04540910e+01] [ 4.84482598e-01 8.74799756e-01 -1.41409288e-03 1.15446397e+01] [-3.58349017e-03 3.60106783e-03 9.99987095e-01 1.37675250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.46, Y:11.57, Z:1.37 [[ 8.69266238e-01 -4.94178225e-01 1.28097472e-02 5.04633391e+01] [ 4.94269959e-01 8.69292943e-01 -5.19487760e-03 1.15708051e+01] [-8.56822742e-03 1.08472049e-02 9.99904457e-01 1.37017824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.51, Y:11.57, Z:1.38 [[ 8.72568392e-01 -4.88491966e-01 -2.20025935e-05 5.05116675e+01] [ 4.88455378e-01 8.72502482e-01 1.22785633e-02 1.15727107e+01] [-5.97878223e-03 -1.07246335e-02 9.99924615e-01 1.37902086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.53, Y:11.59, Z:1.37 [[ 8.73131882e-01 -4.87425613e-01 7.54900501e-03 5.05278378e+01] [ 4.87446837e-01 8.73151894e-01 -1.16268159e-03 1.15923117e+01] [-6.02470723e-03 4.69491298e-03 9.99970830e-01 1.37217946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968040941999995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:50.53, Y:11.61, Z:1.37 [[ 8.68812589e-01 -4.94952501e-01 1.36641035e-02 5.05348622e+01] [ 4.95001387e-01 8.68892154e-01 -2.26224883e-04 1.16123628e+01] [-1.17606618e-02 6.96029722e-03 9.99906616e-01 1.36710864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.998040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.58, Y:11.61, Z:1.37 [[ 8.72935353e-01 -4.87831821e-01 1.99605866e-03 5.05796143e+01] [ 4.87778464e-01 8.72888051e-01 1.17737111e-02 1.16147825e+01] [-7.48592666e-03 -9.30405420e-03 9.99928695e-01 1.37486572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.58, Y:11.65, Z:1.36 [[ 8.67847011e-01 -4.96536247e-01 1.71266101e-02 5.05819894e+01] [ 4.96741487e-01 8.67830294e-01 -1.08846376e-02 1.16478087e+01] [-9.45837400e-03 1.79536980e-02 9.99794081e-01 1.36060328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:11.65, Z:1.37 [[ 8.68329314e-01 -4.95928319e-01 7.70096481e-03 5.06094646e+01] [ 4.95851887e-01 8.68350058e-01 9.95403613e-03 1.16516064e+01] [-1.16236216e-02 -4.82484344e-03 9.99920803e-01 1.36695131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.64, Y:11.67, Z:1.37 [[ 8.68222971e-01 -4.96114023e-01 7.72978121e-03 5.06359315e+01] [ 4.96047376e-01 8.68247911e-01 9.08657432e-03 1.16669440e+01] [-1.12193433e-02 -4.05483486e-03 9.99928840e-01 1.36598295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11804094199999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:50.66, Y:11.68, Z:1.36 [[ 8.66974594e-01 -4.98230141e-01 1.10353886e-02 5.06588574e+01] [ 4.98193625e-01 8.67044784e-01 6.03779451e-03 1.16839403e+01] [-1.25763873e-02 2.63145789e-04 9.99920879e-01 1.36456669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.68, Y:11.70, Z:1.36 [[ 8.66590965e-01 -4.98881730e-01 1.17097518e-02 5.06829528e+01] [ 4.98840612e-01 8.66670028e-01 6.41137193e-03 1.16990125e+01] [-1.33470072e-02 2.85262751e-04 9.99910884e-01 1.36349224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.178040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.70, Y:11.72, Z:1.36 [[ 8.66348570e-01 -4.99297257e-01 1.19333336e-02 5.07048698e+01] [ 4.99254526e-01 8.66430703e-01 6.53869763e-03 1.17155157e+01] [-1.36041604e-02 2.92979454e-04 9.99907416e-01 1.36171554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208040942 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:50.74, Y:11.73, Z:1.36 [[ 8.69450531e-01 -4.93777745e-01 1.54697146e-02 5.07360472e+01] [ 4.93839104e-01 8.69553282e-01 -1.68898128e-04 1.17290430e+01] [-1.33683430e-02 7.78639858e-03 9.99880323e-01 1.35678328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.76, Y:11.74, Z:1.35 [[ 8.68431382e-01 -4.95560063e-01 1.57212975e-02 5.07605105e+01] [ 4.95599499e-01 8.68549781e-01 1.55376206e-03 1.17446742e+01] [-1.44247120e-02 6.44213144e-03 9.99875206e-01 1.35466454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.79, Y:11.75, Z:1.36 [[ 8.68279930e-01 -4.96035245e-01 6.24488959e-03 5.07889037e+01] [ 4.95872804e-01 8.68217023e-01 1.75887479e-02 1.17518157e+01] [-1.41465583e-02 -1.21752859e-02 9.99825803e-01 1.36361589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.81, Y:11.78, Z:1.35 [[ 8.67497737e-01 -4.97114195e-01 1.80320357e-02 5.08065346e+01] [ 4.97138333e-01 8.67664493e-01 3.43596917e-03 1.17757687e+01] [-1.73538261e-02 5.98372067e-03 9.99831506e-01 1.35384964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.83, Y:11.78, Z:1.37 [[ 8.69109347e-01 -4.94601707e-01 4.25375397e-03 5.08342006e+01] [ 4.94486615e-01 8.69042553e-01 1.57489233e-02 1.17801676e+01] [-1.14861376e-02 -1.15841121e-02 9.99866930e-01 1.36534641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.86, Y:11.80, Z:1.37 [[ 8.69537333e-01 -4.93866279e-01 9.61437177e-04 5.08626402e+01] [ 4.93738984e-01 8.69354274e-01 2.10941294e-02 1.17959260e+01] [-1.12535087e-02 -1.78674340e-02 9.99777032e-01 1.37167335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:11.83, Z:1.35 [[ 8.67674321e-01 -4.96648196e-01 2.19509079e-02 5.08782474e+01] [ 4.96892710e-01 8.67781844e-01 -7.23236252e-03 1.18296695e+01] [-1.54566595e-02 1.71825813e-02 9.99732890e-01 1.35284766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.90, Y:11.84, Z:1.36 [[ 8.68055461e-01 -4.96239887e-01 1.50230432e-02 5.09043955e+01] [ 4.96237802e-01 8.68176821e-01 4.12922341e-03 1.18391778e+01] [-1.50917432e-02 3.87060700e-03 9.99878621e-01 1.35600331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.94, Y:11.84, Z:1.37 [[ 8.70105507e-01 -4.92841649e-01 -4.84938512e-03 5.09409368e+01] [ 4.92783517e-01 8.69739190e-01 2.67982768e-02 1.18434351e+01] [-8.98960665e-03 -2.57070253e-02 9.99629099e-01 1.37428110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.95, Y:11.88, Z:1.36 [[ 8.69964726e-01 -4.92710684e-01 1.99388484e-02 5.09526178e+01] [ 4.92864582e-01 8.70099442e-01 -3.38586542e-03 1.18758389e+01] [-1.56805288e-02 1.27727357e-02 9.99795468e-01 1.35560658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:11.90, Z:1.35 [[ 8.66881137e-01 -4.97804971e-01 2.65951873e-02 5.09619939e+01] [ 4.98140632e-01 8.67063592e-01 -7.52582107e-03 1.18970727e+01] [-1.93133275e-02 1.97721357e-02 9.99617956e-01 1.34741862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:11.90, Z:1.35 [[ 8.68260912e-01 -4.95845700e-01 1.61254740e-02 5.09906344e+01] [ 4.95699356e-01 8.68406346e-01 1.23517838e-02 1.19035179e+01] [-2.01280428e-02 -2.73118399e-03 9.99793680e-01 1.35318810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.01, Y:11.92, Z:1.35 [[ 8.68961157e-01 -4.94581166e-01 1.72039961e-02 5.10124127e+01] [ 4.94488371e-01 8.69131427e-01 9.58192630e-03 1.19189788e+01] [-1.96915740e-02 1.80854258e-04 9.99806086e-01 1.35151238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.04, Y:11.93, Z:1.35 [[ 8.70181250e-01 -4.92413312e-01 1.77121939e-02 5.10352943e+01] [ 4.92314438e-01 8.70361484e-01 9.86821889e-03 1.19346381e+01] [-2.02752537e-02 1.32829736e-04 9.99794427e-01 1.34970952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.09, Y:11.93, Z:1.38 [[ 8.74780276e-01 -4.84345486e-01 -1.29969310e-02 5.10857929e+01] [ 4.84452822e-01 8.73898436e-01 4.00872401e-02 1.19281605e+01] [-8.05807610e-03 -4.13639268e-02 9.99111652e-01 1.37862686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:11.98, Z:1.34 [[ 8.71136508e-01 -4.89556381e-01 3.81540825e-02 5.10746293e+01] [ 4.90619852e-01 8.70975189e-01 -2.63511289e-02 1.19812034e+01] [-2.03308959e-02 4.16745807e-02 9.98924364e-01 1.33756382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.11, Y:11.98, Z:1.35 [[ 8.71679686e-01 -4.89721445e-01 1.86395147e-02 5.11091374e+01] [ 4.89611029e-01 8.71878950e-01 1.03989385e-02 1.19770464e+01] [-2.13439837e-02 6.15685039e-05 9.99772189e-01 1.34920189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:11.99, Z:1.35 [[ 8.72238062e-01 -4.88721459e-01 1.87642864e-02 5.11320653e+01] [ 4.88609189e-01 8.72439874e-01 1.04750216e-02 1.19920700e+01] [-2.14900795e-02 3.16902181e-05 9.99769061e-01 1.34838295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.11, Y:12.06, Z:1.29 [[ 8.64632591e-01 -4.94629912e-01 8.80439274e-02 5.11078070e+01] [ 5.00700580e-01 8.62786549e-01 -6.99878518e-02 1.20582823e+01] [-4.13450313e-02 1.04597423e-01 9.93654853e-01 1.29246163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:11.98, Z:1.38 [[ 8.73112589e-01 -4.86258780e-01 -3.50257790e-02 5.12085803e+01] [ 4.87140398e-01 8.67351198e-01 1.01961427e-01 1.19768442e+01] [-1.91999880e-02 -1.06086278e-01 9.94171546e-01 1.38244617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:12.04, Z:1.35 [[ 8.73265243e-01 -4.86939378e-01 1.72585222e-02 5.12065662e+01] [ 4.86844236e-01 8.73435769e-01 9.62537440e-03 1.20352065e+01] [-1.97611844e-02 -3.29288155e-06 9.99804729e-01 1.34787942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.23, Y:12.05, Z:1.35 [[ 8.73345313e-01 -4.86781327e-01 1.76607925e-02 5.12309295e+01] [ 4.86681594e-01 8.73523863e-01 9.85321760e-03 1.20487871e+01] [-2.02234860e-02 -1.00787807e-05 9.99795484e-01 1.34733940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.25, Y:12.06, Z:1.35 [[ 8.73249683e-01 -4.86957196e-01 1.75407848e-02 5.12549345e+01] [ 4.86858738e-01 8.73425835e-01 9.79188102e-03 1.20615760e+01] [-2.00888015e-02 -1.08726761e-05 9.99798200e-01 1.34672858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.898040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:12.07, Z:1.35 [[ 8.73011402e-01 -4.87405809e-01 1.69313015e-02 5.12799881e+01] [ 4.87314098e-01 8.73175571e-01 9.45477499e-03 1.20749070e+01] [-1.93923111e-02 -3.26447203e-06 9.99811951e-01 1.34676234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.30, Y:12.09, Z:1.35 [[ 8.72735236e-01 -4.87910370e-01 1.66336449e-02 5.13035749e+01] [ 4.87821834e-01 8.72893734e-01 9.29449485e-03 1.20874622e+01] [-1.90542848e-02 2.62196751e-06 9.99818451e-01 1.34628863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.33, Y:12.10, Z:1.35 [[ 8.72562682e-01 -4.88221551e-01 1.65554565e-02 5.13288385e+01] [ 4.88133816e-01 8.72719724e-01 9.25531150e-03 1.21006134e+01] [-1.89669160e-02 5.43873479e-06 9.99820112e-01 1.34566940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:12.11, Z:1.34 [[ 8.72083036e-01 -4.89092051e-01 1.61289977e-02 5.13526102e+01] [ 4.89008821e-01 8.72232174e-01 9.02262386e-03 1.21131082e+01] [-1.84811243e-02 1.87449380e-05 9.99829209e-01 1.34429286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.42, Y:12.08, Z:1.41 [[ 8.75946437e-01 -4.79246749e-01 -5.51397622e-02 5.14187346e+01] [ 4.82359039e-01 8.71751286e-01 8.59037422e-02 1.20818239e+01] [ 6.89906953e-03 -1.01844240e-01 9.94776434e-01 1.41116302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.42, Y:12.14, Z:1.37 [[ 8.76500068e-01 -4.81400368e-01 -1.14712779e-03 5.14216837e+01] [ 4.81371216e-01 8.76468845e-01 -9.17145620e-03 1.21380207e+01] [ 5.42056416e-03 7.48658769e-03 9.99957283e-01 1.37270154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.078040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.41, Y:12.19, Z:1.32 [[ 8.70971850e-01 -4.87689369e-01 5.97253316e-02 5.14067464e+01] [ 4.91036152e-01 8.68215135e-01 -7.13160380e-02 1.21927071e+01] [-1.70743632e-02 9.14415586e-02 9.95664054e-01 1.31634525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108040941999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.46, Y:12.16, Z:1.34 [[ 8.70196846e-01 -4.92483488e-01 1.47466224e-02 5.14554972e+01] [ 4.92414193e-01 8.70321784e-01 8.26159611e-03 1.21635877e+01] [-1.69030064e-02 7.22312932e-05 9.99857131e-01 1.34097897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.138040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:12.18, Z:1.34 [[ 8.70011350e-01 -4.92810306e-01 1.47733880e-02 5.14791526e+01] [ 4.92740717e-01 8.70136769e-01 8.28186385e-03 1.21758904e+01] [-1.69362560e-02 7.41342644e-05 9.99856569e-01 1.34059090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:12.18, Z:1.35 [[ 8.71373291e-01 -4.90576487e-01 6.58011365e-03 5.15104913e+01] [ 4.90477071e-01 8.71364405e-01 1.25026715e-02 1.21829351e+01] [-1.18671935e-02 -7.66709915e-03 9.99900188e-01 1.35118411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.57, Y:12.16, Z:1.40 [[ 8.73935322e-01 -4.83974673e-01 -4.47835714e-02 5.15662064e+01] [ 4.86010294e-01 8.71216798e-01 6.91034387e-02 1.21633963e+01] [ 5.57188555e-03 -8.21572127e-02 9.96603806e-01 1.40120477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:12.20, Z:1.38 [[ 8.74935706e-01 -4.84131498e-01 -1.02079673e-02 5.15801172e+01] [ 4.84230390e-01 8.74852007e-01 1.24456693e-02 1.22039030e+01] [ 2.90512016e-03 -1.58321685e-02 9.99870443e-01 1.37896497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.258040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.60, Y:12.22, Z:1.37 [[ 8.74956685e-01 -4.84192987e-01 2.81983230e-03 5.16003941e+01] [ 4.84196505e-01 8.74959007e-01 -6.92805535e-04 1.22249324e+01] [-2.13178609e-03 1.97152778e-03 9.99995784e-01 1.36952774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288040941999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.62, Y:12.24, Z:1.36 [[ 8.75538045e-01 -4.83007633e-01 1.16943734e-02 5.16206231e+01] [ 4.83124211e-01 8.75482384e-01 -1.10269183e-02 1.22437067e+01] [-4.91213217e-03 1.53043214e-02 9.99870816e-01 1.36030571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.318040941999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.65, Y:12.25, Z:1.36 [[ 8.74994764e-01 -4.84106291e-01 5.02602854e-03 5.16486423e+01] [ 4.84094967e-01 8.75009058e-01 3.34819735e-03 1.22514188e+01] [-6.01870390e-03 -4.96580028e-04 9.99981764e-01 1.36384569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.348040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.67, Y:12.27, Z:1.36 [[ 8.75531073e-01 -4.83091406e-01 8.24821885e-03 5.16722204e+01] [ 4.83097172e-01 8.75565607e-01 1.41064853e-03 1.22658662e+01] [-7.90332893e-03 2.74962457e-03 9.99964988e-01 1.36048988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.69, Y:12.28, Z:1.35 [[ 8.76886923e-01 -4.80470564e-01 1.47431976e-02 5.16935092e+01] [ 4.80546661e-01 8.76967070e-01 -1.91410969e-03 1.22807855e+01] [-1.20096255e-02 8.76325215e-03 9.99889481e-01 1.35373561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.72, Y:12.29, Z:1.35 [[ 8.76521023e-01 -4.81058741e-01 1.71284768e-02 5.17174530e+01] [ 4.81130949e-01 8.76648731e-01 -1.08421779e-04 1.22939991e+01] [-1.49635002e-02 8.33607428e-03 9.99853291e-01 1.34906894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43804094199999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.74, Y:12.30, Z:1.35 [[ 8.76466478e-01 -4.81277664e-01 1.33537568e-02 5.17438849e+01] [ 4.81221700e-01 8.76568201e-01 7.33928762e-03 1.23031636e+01] [-1.52377138e-02 -6.52200807e-06 9.99883899e-01 1.35060415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468040941999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.76, Y:12.33, Z:1.33 [[ 8.75116542e-01 -4.82504791e-01 3.68803969e-02 5.17572052e+01] [ 4.83271892e-01 8.75336093e-01 -1.53297746e-02 1.23290242e+01] [-2.48860529e-02 3.12385985e-02 9.99202099e-01 1.32923957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.79, Y:12.33, Z:1.34 [[ 8.74882473e-01 -4.83744637e-01 2.39120145e-02 5.17884962e+01] [ 4.83637662e-01 8.75205853e-01 1.04559703e-02 1.23293008e+01] [-2.59859546e-02 2.41700561e-03 9.99659386e-01 1.33584925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:51.82, Y:12.34, Z:1.33 [[ 8.74665456e-01 -4.84059935e-01 2.54228032e-02 5.18155074e+01] [ 4.83897849e-01 8.75033896e-01 1.25917517e-02 1.23400834e+01] [-2.83409770e-02 1.28846952e-03 9.99597483e-01 1.33338264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.558040942 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:51.84, Y:12.35, Z:1.33 [[ 8.74312088e-01 -4.84674518e-01 2.58647461e-02 5.18397066e+01] [ 4.84514512e-01 8.74693192e-01 1.25501752e-02 1.23516843e+01] [-2.87064675e-02 1.55907494e-03 9.99586669e-01 1.33196434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58804094199999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:51.86, Y:12.37, Z:1.33 [[ 8.74124949e-01 -4.84936394e-01 2.72445857e-02 5.18642322e+01] [ 4.84896206e-01 8.74530348e-01 8.50525169e-03 1.23650603e+01] [-2.79507231e-02 5.77614354e-03 9.99592614e-01 1.32847289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61804094199999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:51.89, Y:12.38, Z:1.32 [[ 8.73300687e-01 -4.86237637e-01 3.03128667e-02 5.18887145e+01] [ 4.86204462e-01 8.73799218e-01 8.95250457e-03 1.23763309e+01] [-3.08404039e-02 6.92002267e-03 9.99500367e-01 1.32409000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648040941999994 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:51.91, Y:12.39, Z:1.32 [[ 8.72512915e-01 -4.87686876e-01 2.97106735e-02 5.19141940e+01] [ 4.87532022e-01 8.73012125e-01 1.27419253e-02 1.23874098e+01] [-3.21518479e-02 3.36741036e-03 9.99477323e-01 1.32132091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.678040941999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:51.94, Y:12.40, Z:1.32 [[ 8.72063333e-01 -4.88569619e-01 2.83772860e-02 5.19412592e+01] [ 4.88341423e-01 8.72524532e-01 1.49531225e-02 1.23961900e+01] [-3.20655196e-02 8.17734402e-04 9.99485434e-01 1.31947018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:51.97, Y:12.41, Z:1.32 [[ 8.71893681e-01 -4.88757806e-01 3.02855810e-02 5.19656526e+01] [ 4.88562418e-01 8.72415801e-01 1.40511456e-02 1.24089216e+01] [-3.32892265e-02 2.54529166e-03 9.99442519e-01 1.31602912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.738040942 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:51.99, Y:12.42, Z:1.31 [[ 8.71305565e-01 -4.89845806e-01 2.96259979e-02 5.19899802e+01] [ 4.89932352e-01 8.71747454e-01 4.76099331e-03 1.24243595e+01] [-2.81585408e-02 1.03664549e-02 9.99549715e-01 1.31260833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.02, Y:12.43, Z:1.31 [[ 8.70014110e-01 -4.92131945e-01 2.96917049e-02 5.20174727e+01] [ 4.92160374e-01 8.70477601e-01 6.84926124e-03 1.24338287e+01] [-2.92167043e-02 8.65412664e-03 9.99535637e-01 1.30869630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79804094199999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:52.05, Y:12.43, Z:1.32 [[ 8.69692949e-01 -4.93388641e-01 1.42064784e-02 5.20485183e+01] [ 4.92879664e-01 8.69623028e-01 2.87302193e-02 1.24330727e+01] [-2.65294446e-02 -1.79843849e-02 9.99486243e-01 1.32198520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828040941999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:52.06, Y:12.46, Z:1.30 [[ 8.69119179e-01 -4.93311596e-01 3.57144489e-02 5.20639832e+01] [ 4.93291206e-01 8.69806817e-01 9.99429471e-03 1.24560279e+01] [-3.59949726e-02 8.93139037e-03 9.99312059e-01 1.30369945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.858040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.09, Y:12.47, Z:1.30 [[ 8.68488679e-01 -4.94441339e-01 3.54284759e-02 5.20905098e+01] [ 4.94554278e-01 8.69125233e-01 6.11521295e-03 1.24708671e+01] [-3.38153965e-02 1.22103111e-02 9.99353505e-01 1.30070036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888040941999996 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:52.12, Y:12.47, Z:1.31 [[ 8.68512186e-01 -4.95268365e-01 1.98954732e-02 5.21244356e+01] [ 4.94967978e-01 8.68719197e-01 1.82662905e-02 1.24731912e+01] [-2.63302953e-02 -6.01687373e-03 9.99635190e-01 1.30810686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.918040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.15, Y:12.49, Z:1.30 [[ 8.68415972e-01 -4.95248160e-01 2.41445474e-02 5.21473667e+01] [ 4.95145012e-01 8.68746916e-01 1.04982339e-02 1.24892740e+01] [-2.61747322e-02 2.83821818e-03 9.99653354e-01 1.30307659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94804094199999 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:52.17, Y:12.50, Z:1.30 [[ 8.67577956e-01 -4.96637735e-01 2.56797799e-02 5.21715119e+01] [ 4.96557934e-01 8.67947723e-01 9.84722593e-03 1.24999915e+01] [-2.71792105e-02 4.20826230e-03 9.99621719e-01 1.30048450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.20, Y:12.51, Z:1.30 [[ 8.67768730e-01 -4.96462433e-01 2.24161716e-02 5.22005499e+01] [ 4.96220038e-01 8.68054571e-01 1.57141927e-02 1.25090563e+01] [-2.72599666e-02 -2.51293156e-03 9.99625219e-01 1.30233458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008040941999994 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:52.23, Y:12.52, Z:1.31 [[ 8.67600429e-01 -4.96925493e-01 1.82906925e-02 5.22290935e+01] [ 4.96612955e-01 8.67760376e-01 1.91703877e-02 1.25192787e+01] [-2.53981926e-02 -7.54884171e-03 9.99648912e-01 1.30639449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.25, Y:12.53, Z:1.31 [[ 8.66654141e-01 -4.98569809e-01 1.84050466e-02 5.22523514e+01] [ 4.98198195e-01 8.66798698e-01 2.14143602e-02 1.25278309e+01] [-2.66300239e-02 -9.38948299e-03 9.99601260e-01 1.31108211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:12.54, Z:1.31 [[ 8.66590946e-01 -4.98459089e-01 2.36361877e-02 5.22745452e+01] [ 4.98271770e-01 8.66913221e-01 1.36641816e-02 1.25434357e+01] [-2.73015591e-02 -6.40109335e-05 9.99627241e-01 1.30651688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:12.56, Z:1.30 [[ 8.67111840e-01 -4.97463941e-01 2.54299797e-02 5.22986579e+01] [ 4.97246573e-01 8.67484649e-01 1.47047535e-02 1.25572742e+01] [-2.93752016e-02 -1.05695627e-04 9.99568450e-01 1.30497155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.32, Y:12.57, Z:1.30 [[ 8.67520562e-01 -4.96699768e-01 2.64086109e-02 5.23226146e+01] [ 4.96464685e-01 8.67922416e-01 1.52806043e-02 1.25719703e+01] [-3.05104980e-02 -1.45295735e-04 9.99534436e-01 1.30335050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.35, Y:12.59, Z:1.30 [[ 8.68145397e-01 -4.95597966e-01 2.65748875e-02 5.23462898e+01] [ 4.95359096e-01 8.68552024e-01 1.53865997e-02 1.25862578e+01] [-3.07072398e-02 -1.93693439e-04 9.99528403e-01 1.30210432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.37, Y:12.60, Z:1.30 [[ 8.68899034e-01 -4.94281683e-01 2.64591670e-02 5.23695357e+01] [ 4.94043986e-01 8.69301764e-01 1.53291612e-02 1.26013195e+01] [-3.05779242e-02 -2.47501046e-04 9.99532355e-01 1.30084360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.218040941999995 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:52.39, Y:12.62, Z:1.30 [[ 8.71025670e-01 -4.90538087e-01 2.62043406e-02 5.23913621e+01] [ 4.90322747e-01 8.71419732e-01 1.45345685e-02 1.26160302e+01] [-2.99647389e-02 1.88602062e-04 9.99550939e-01 1.29834010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:12.63, Z:1.30 [[ 8.70405784e-01 -4.91679905e-01 2.53898095e-02 5.24169689e+01] [ 4.91431267e-01 8.70775232e-01 1.56781896e-02 1.26312715e+01] [-2.98174680e-02 -1.16904066e-03 9.99554677e-01 1.29785736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.278040942 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:52.44, Y:12.65, Z:1.30 [[ 8.71822363e-01 -4.89122922e-01 2.61636090e-02 5.24392024e+01] [ 4.88951115e-01 8.72213701e-01 1.30409470e-02 1.26454588e+01] [-2.91988844e-02 1.42333656e-03 9.99572608e-01 1.29620743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:12.66, Z:1.30 [[ 8.70519581e-01 -4.91551779e-01 2.39271182e-02 5.24659837e+01] [ 4.91287871e-01 8.70844980e-01 1.62864308e-02 1.26614390e+01] [-2.88424348e-02 -2.42255398e-03 9.99581035e-01 1.29625848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33804094199999 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:52.49, Y:12.68, Z:1.29 [[ 8.70264818e-01 -4.91947747e-01 2.50311815e-02 5.24879326e+01] [ 4.91756177e-01 8.70624652e-01 1.37323219e-02 1.26771618e+01] [-2.85483485e-02 3.58481481e-04 9.99592349e-01 1.29391344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.51, Y:12.69, Z:1.29 [[ 8.68121059e-01 -4.95747856e-01 2.44926359e-02 5.25119675e+01] [ 4.95516017e-01 8.68465859e-01 1.51963288e-02 1.26920822e+01] [-2.88045654e-02 -1.05575966e-03 9.99584505e-01 1.29328915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.54, Y:12.71, Z:1.29 [[ 8.66933724e-01 -4.97792237e-01 2.50760253e-02 5.25356066e+01] [ 4.97578580e-01 8.67296294e-01 1.45841013e-02 1.27067254e+01] [-2.90081962e-02 -1.66156147e-04 9.99579160e-01 1.29212925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.58, Y:12.70, Z:1.32 [[ 8.69068755e-01 -4.94680482e-01 -3.27396262e-03 5.25837091e+01] [ 4.94365693e-01 8.68237592e-01 4.20243454e-02 1.27034378e+01] [-1.79460461e-02 -3.81405804e-02 9.99111223e-01 1.31803653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:12.75, Z:1.28 [[ 8.64287858e-01 -5.00979123e-01 4.50157378e-02 5.25745141e+01] [ 5.02120219e-01 8.64601729e-01 -1.84156321e-02 1.27520848e+01] [-2.96948376e-02 3.85197194e-02 9.98816524e-01 1.27749819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.61, Y:12.75, Z:1.29 [[ 8.61542845e-01 -5.06961529e-01 2.70912193e-02 5.26076953e+01] [ 5.06715922e-01 8.61968671e-01 1.57792491e-02 1.27493006e+01] [-3.13512546e-02 1.33052960e-04 9.99508420e-01 1.29114588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.63, Y:12.76, Z:1.29 [[ 8.60113600e-01 -5.09354514e-01 2.76147533e-02 5.26315429e+01] [ 5.09100412e-01 8.60556756e-01 1.60885156e-02 1.27641974e+01] [-3.19588206e-02 2.20731223e-04 9.99489162e-01 1.29033714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:12.77, Z:1.30 [[ 8.60681968e-01 -5.08949953e-01 1.40176791e-02 5.26713706e+01] [ 5.08500674e-01 8.60652844e-01 2.65282076e-02 1.27708253e+01] [-2.55658854e-02 -1.57043507e-02 9.99549778e-01 1.30046460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:12.80, Z:1.29 [[ 8.59086104e-01 -5.11009375e-01 2.89911123e-02 5.26885711e+01] [ 5.11063461e-01 8.59521533e-01 6.07234896e-03 1.27962352e+01] [-2.80215125e-02 9.59962757e-03 9.99561225e-01 1.28708537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:12.80, Z:1.30 [[ 8.58767276e-01 -5.12000125e-01 1.93555800e-02 5.27171617e+01] [ 5.11705650e-01 8.58965644e-01 1.83125599e-02 1.28025966e+01] [-2.60018112e-02 -5.82186757e-03 9.99644943e-01 1.29502096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.638040941999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.74, Y:12.82, Z:1.29 [[ 8.57148150e-01 -5.14365093e-01 2.69369514e-02 5.27376538e+01] [ 5.14339942e-01 8.57545394e-01 8.38574667e-03 1.28220966e+01] [-2.74129940e-02 6.66692276e-03 9.99601961e-01 1.28753184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.76, Y:12.83, Z:1.29 [[ 8.57026648e-01 -5.14719904e-01 2.38483559e-02 5.27622976e+01] [ 5.14550657e-01 8.57357890e-01 1.32313854e-02 1.28327920e+01] [-2.72570335e-02 9.31537310e-04 9.99628024e-01 1.28881799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:12.85, Z:1.29 [[ 8.57118783e-01 -5.14629895e-01 2.24380070e-02 5.27854746e+01] [ 5.14459117e-01 8.57412409e-01 1.32581105e-02 1.28458132e+01] [-2.60616456e-02 1.79661687e-04 9.99660321e-01 1.28886418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:12.86, Z:1.29 [[ 8.56994429e-01 -5.14936441e-01 2.00252325e-02 5.28102086e+01] [ 5.14711522e-01 8.57223172e-01 1.55075252e-02 1.28587929e+01] [-2.51514832e-02 -2.98264477e-03 9.99679202e-01 1.29041501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.758040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:12.87, Z:1.29 [[ 8.57536398e-01 -5.14103950e-01 1.81233283e-02 5.28364122e+01] [ 5.13931381e-01 8.57724876e-01 1.35119655e-02 1.28735574e+01] [-2.24913843e-02 -2.27285509e-03 9.99744453e-01 1.29135455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.86, Y:12.89, Z:1.29 [[ 8.58299213e-01 -5.12704192e-01 2.13745800e-02 5.28592109e+01] [ 5.12641226e-01 8.58558383e-01 8.74505486e-03 1.28881194e+01] [-2.28349512e-02 3.45161720e-03 9.99733290e-01 1.28852025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.818040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:12.90, Z:1.29 [[ 8.57836860e-01 -5.13352323e-01 2.41932709e-02 5.28824344e+01] [ 5.13318194e-01 8.58160376e-01 8.07474586e-03 1.29025689e+01] [-2.49068960e-02 5.49203148e-03 9.99674689e-01 1.28519075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.91, Y:12.91, Z:1.29 [[ 8.58818955e-01 -5.11766313e-01 2.29181927e-02 5.29095695e+01] [ 5.11646223e-01 8.59122262e-01 1.12730409e-02 1.29141914e+01] [-2.54586921e-02 2.04450551e-03 9.99673784e-01 1.28668612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.93, Y:12.92, Z:1.29 [[ 8.59894216e-01 -5.10169349e-01 1.75833154e-02 5.29349294e+01] [ 5.09914682e-01 8.60054759e-01 1.71122418e-02 1.29243722e+01] [-2.38527553e-02 -5.74872702e-03 9.99698954e-01 1.29182209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90804094199999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:52.95, Y:12.94, Z:1.29 [[ 8.60714630e-01 -5.08473453e-01 2.50014696e-02 5.29546775e+01] [ 5.08373360e-01 8.61070493e-01 1.06832844e-02 1.29416896e+01] [-2.69601942e-02 3.51482192e-03 9.99630329e-01 1.28569134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.98, Y:12.96, Z:1.28 [[ 8.61584436e-01 -5.07060924e-01 2.36955565e-02 5.29818117e+01] [ 5.06842029e-01 8.61909800e-01 1.49216315e-02 1.29553316e+01] [-2.79896086e-02 -8.46341542e-04 9.99607856e-01 1.28006053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:12.97, Z:1.28 [[ 8.61196952e-01 -5.07376138e-01 3.01540301e-02 5.30016163e+01] [ 5.07430921e-01 8.61668852e-01 6.37565887e-03 1.29740663e+01] [-2.92176457e-02 9.81038928e-03 9.99524930e-01 1.28053981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.998040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.03, Y:12.99, Z:1.28 [[ 8.60493590e-01 -5.08872045e-01 2.44953507e-02 5.30332138e+01] [ 5.08613016e-01 8.60840726e-01 1.63108724e-02 1.29850448e+01] [-2.93867425e-02 -1.57674699e-03 9.99566873e-01 1.28464156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.06, Y:13.00, Z:1.29 [[ 8.61685338e-01 -5.06897743e-01 2.35171260e-02 5.30563324e+01] [ 5.06518802e-01 8.61987573e-01 2.03992016e-02 1.29950657e+01] [-3.06117797e-02 -5.66582643e-03 9.99515291e-01 1.28657501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.09, Y:13.00, Z:1.30 [[ 8.62949457e-01 -5.05245864e-01 6.69706076e-03 5.30919917e+01] [ 5.04848183e-01 8.62673043e-01 3.03897017e-02 1.30010671e+01] [-2.11316449e-02 -2.28437776e-02 9.99515690e-01 1.30233522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:13.03, Z:1.28 [[ 8.61089478e-01 -5.07561766e-01 3.00992398e-02 5.31069912e+01] [ 5.07753933e-01 8.61500939e-01 1.44083742e-03 1.30319567e+01] [-2.66618374e-02 1.40423175e-02 9.99545877e-01 1.28152960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.14, Y:13.04, Z:1.29 [[ 8.61054927e-01 -5.08140770e-01 1.94260230e-02 5.31382639e+01] [ 5.07922570e-01 8.61267873e-01 1.52418753e-02 1.30384699e+01] [-2.44760278e-02 -3.25717626e-03 9.99695111e-01 1.28785594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148040941999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.17, Y:13.04, Z:1.31 [[ 8.62190050e-01 -5.06583561e-01 -1.18929229e-03 5.31747852e+01] [ 5.06269705e-01 8.61568316e-01 3.72964129e-02 1.30403670e+01] [-1.78690931e-02 -3.27586988e-02 9.99303539e-01 1.30894445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.178040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.18, Y:13.08, Z:1.27 [[ 8.61546222e-01 -5.06419401e-01 3.57420956e-02 5.31802824e+01] [ 5.07163800e-01 8.61707408e-01 -1.56595836e-02 1.30826482e+01] [-2.28689116e-02 3.16185521e-02 9.99238350e-01 1.27256984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.22, Y:13.08, Z:1.29 [[ 8.61569169e-01 -5.07569898e-01 8.44781209e-03 5.32197151e+01] [ 5.07254509e-01 8.61443940e-01 2.46414475e-02 1.30770572e+01] [-1.97845735e-02 -1.69451207e-02 9.99660659e-01 1.29461656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.238040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.24, Y:13.10, Z:1.29 [[ 8.61366398e-01 -5.07660300e-01 1.81369087e-02 5.32400879e+01] [ 5.07568343e-01 8.61556902e-01 9.69957325e-03 1.30995563e+01] [-2.05500671e-02 8.50834213e-04 9.99788463e-01 1.28594554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.26, Y:13.12, Z:1.28 [[ 8.62055924e-01 -5.06432006e-01 1.96521336e-02 5.32646810e+01] [ 5.06414844e-01 8.62267628e-01 6.20839366e-03 1.31153500e+01] [-2.00895279e-02 4.60014966e-03 9.99787602e-01 1.28275645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29804094199999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:53.29, Y:13.13, Z:1.29 [[ 8.62347478e-01 -5.06103480e-01 1.47001797e-02 5.32922280e+01] [ 5.05935847e-01 8.62461410e-01 1.37562367e-02 1.31262460e+01] [-1.96404170e-02 -4.42530821e-03 9.99797315e-01 1.28661508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328040941999994 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:53.31, Y:13.14, Z:1.28 [[ 8.63202337e-01 -5.04555422e-01 1.74800202e-02 5.33142025e+01] [ 5.04525513e-01 8.63373033e-01 6.40406679e-03 1.31428402e+01] [-1.83229847e-02 3.29111076e-03 9.99826703e-01 1.28407644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.358040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:13.16, Z:1.28 [[ 8.62460114e-01 -5.05796882e-01 1.82226886e-02 5.33377634e+01] [ 5.05728596e-01 8.62650579e-01 8.51856365e-03 1.31580508e+01] [-2.00284758e-02 1.86881336e-03 9.99797663e-01 1.28240936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.36, Y:13.17, Z:1.29 [[ 8.65149176e-01 -5.01279588e-01 1.53517907e-02 5.33580941e+01] [ 5.01030794e-01 8.65253784e-01 1.74365168e-02 1.31664409e+01] [-2.20237650e-02 -7.39346820e-03 9.99730109e-01 1.28660090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:13.19, Z:1.28 [[ 8.64738703e-01 -5.01770050e-01 2.13024155e-02 5.33796108e+01] [ 5.01748164e-01 8.64987431e-01 6.74713366e-03 1.31869098e+01] [-2.18118312e-02 4.85394024e-03 9.99750310e-01 1.28013331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.41, Y:13.21, Z:1.28 [[ 8.62596370e-01 -5.05488165e-01 2.02291423e-02 5.34080539e+01] [ 5.05489121e-01 8.62815812e-01 5.44267559e-03 1.32054987e+01] [-2.02052319e-02 5.53077915e-03 9.99780555e-01 1.27773006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:13.22, Z:1.27 [[ 8.63289567e-01 -5.04219993e-01 2.22108382e-02 5.34270208e+01] [ 5.04213034e-01 8.63556160e-01 6.32256261e-03 1.32192476e+01] [-2.23682686e-02 5.74079178e-03 9.99733316e-01 1.27459537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.46, Y:13.23, Z:1.27 [[ 8.60566694e-01 -5.08921991e-01 2.05760198e-02 5.34553824e+01] [ 5.08725747e-01 8.60810780e-01 1.42448273e-02 1.32343504e+01] [-2.49615655e-02 -1.79107289e-03 9.99686807e-01 1.27467309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.47, Y:13.25, Z:1.27 [[ 8.60903142e-01 -5.08204331e-01 2.39611833e-02 5.34742756e+01] [ 5.08115821e-01 8.61229505e-01 1.01020882e-02 1.32502959e+01] [-2.57700030e-02 3.47813688e-03 9.99661848e-01 1.27091615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568040941999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.50, Y:13.26, Z:1.27 [[ 8.60810955e-01 -5.08370135e-01 2.37551172e-02 5.34972788e+01] [ 5.08282400e-01 8.61131853e-01 1.00465843e-02 1.32640901e+01] [-2.55636715e-02 3.42609811e-03 9.99667325e-01 1.26945308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.598040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:53.52, Y:13.27, Z:1.27 [[ 8.57458071e-01 -5.14212447e-01 1.87407782e-02 5.35221924e+01] [ 5.13835652e-01 8.57616802e-01 2.15950093e-02 1.32740504e+01] [-2.71768288e-02 -8.88713503e-03 9.99591136e-01 1.27033297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62804094199999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:53.54, Y:13.30, Z:1.26 [[ 8.56220654e-01 -5.15970825e-01 2.56962928e-02 5.35435434e+01] [ 5.15896601e-01 8.56593062e-01 9.95101036e-03 1.32950934e+01] [-2.71456972e-02 4.73636952e-03 9.99620267e-01 1.26355128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.56, Y:13.32, Z:1.26 [[ 8.54382319e-01 -5.18689479e-01 3.14972542e-02 5.35632950e+01] [ 5.19058138e-01 8.54728089e-01 -4.30604396e-03 1.33170765e+01] [-2.46880882e-02 2.00279140e-02 9.99494563e-01 1.25781470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.59, Y:13.33, Z:1.26 [[ 8.52313334e-01 -5.22455743e-01 2.45352276e-02 5.35901549e+01] [ 5.22437836e-01 8.52643109e-01 7.64434756e-03 1.33276764e+01] [-2.49136261e-02 6.30275188e-03 9.99669739e-01 1.25988056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.718040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.61, Y:13.34, Z:1.26 [[ 8.50787818e-01 -5.24941041e-01 2.44334364e-02 5.36131317e+01] [ 5.24881806e-01 8.51124385e-01 9.29357699e-03 1.33424905e+01] [-2.56744735e-02 4.91780416e-03 9.99658260e-01 1.25741004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748040941999996 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:53.63, Y:13.37, Z:1.25 [[ 8.46572953e-01 -5.31132374e-01 3.48229377e-02 5.36305144e+01] [ 5.31532930e-01 8.47033271e-01 -2.71688716e-03 1.33652926e+01] [-2.80531601e-02 2.08095813e-02 9.99389805e-01 1.24603917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.778040942 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:53.66, Y:13.37, Z:1.25 [[ 8.45011585e-01 -5.34243137e-01 2.32312683e-02 5.36625529e+01] [ 5.33968775e-01 8.45328059e-01 1.72574715e-02 1.33716355e+01] [-2.88577287e-02 -2.17799141e-03 9.99581156e-01 1.25328723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.808040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:53.68, Y:13.39, Z:1.25 [[ 8.43656217e-01 -5.36240580e-01 2.62721826e-02 5.36843883e+01] [ 5.36069795e-01 8.44061553e-01 1.37575563e-02 1.33873045e+01] [-2.95526991e-02 2.47707564e-03 9.99560154e-01 1.25011207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83804094199999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:53.71, Y:13.40, Z:1.25 [[ 8.41930516e-01 -5.39025569e-01 2.45854067e-02 5.37080869e+01] [ 5.38844606e-01 8.42288191e-01 1.40390116e-02 1.34011525e+01] [-2.82753839e-02 1.42784150e-03 9.99599152e-01 1.25166042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86804094199999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:53.73, Y:13.42, Z:1.25 [[ 8.40115523e-01 -5.41713372e-01 2.74322734e-02 5.37309672e+01] [ 5.41485863e-01 8.40561758e-01 1.57794393e-02 1.34169088e+01] [-3.16064533e-02 1.59763632e-03 9.99499114e-01 1.24839804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.898040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:53.75, Y:13.43, Z:1.24 [[ 8.39447721e-01 -5.42598863e-01 3.02323907e-02 5.37529887e+01] [ 5.42539784e-01 8.39960190e-01 1.08380049e-02 1.34349139e+01] [-3.12746938e-02 7.30433626e-03 9.99484137e-01 1.24437845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928040941999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:53.78, Y:13.45, Z:1.25 [[ 8.39500718e-01 -5.42990611e-01 1.99934951e-02 5.37845826e+01] [ 5.42604641e-01 8.39705861e-01 2.17777291e-02 1.34451258e+01] [-2.86137574e-02 -7.43385597e-03 9.99562900e-01 1.25149614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.958040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:53.81, Y:13.46, Z:1.26 [[ 8.38456040e-01 -5.44866341e-01 1.05895578e-02 5.38080289e+01] [ 5.44411684e-01 8.38318832e-01 2.89388034e-02 1.34561331e+01] [-2.46452057e-02 -1.84988355e-02 9.99525091e-01 1.26188222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.988040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:53.83, Y:13.48, Z:1.25 [[ 8.39983091e-01 -5.41950305e-01 2.68006321e-02 5.38283880e+01] [ 5.41923095e-01 8.40380970e-01 8.89853748e-03 1.34794547e+01] [-2.73453063e-02 7.04926046e-03 9.99601192e-01 1.24601602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.85, Y:13.49, Z:1.25 [[ 8.40723906e-01 -5.41166957e-01 1.79342923e-02 5.38494188e+01] [ 5.40994600e-01 8.40913050e-01 1.37871438e-02 1.34914098e+01] [-2.25423270e-02 -1.88882608e-03 9.99744105e-01 1.25480639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:13.51, Z:1.25 [[ 8.41534334e-01 -5.39871845e-01 1.89303045e-02 5.38726935e+01] [ 5.39747313e-01 8.41747104e-01 1.16039813e-02 1.35077921e+01] [-2.21991918e-02 4.52432271e-04 9.99753465e-01 1.25372672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.078040941999994 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:53.89, Y:13.52, Z:1.25 [[ 8.43733316e-01 -5.36424784e-01 1.90405404e-02 5.38946947e+01] [ 5.36297682e-01 8.43948058e-01 1.16820912e-02 1.35245442e+01] [-2.23357904e-02 3.54828137e-04 9.99750462e-01 1.25291012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108040941999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.92, Y:13.54, Z:1.25 [[ 8.44260374e-01 -5.35598851e-01 1.89285644e-02 5.39193270e+01] [ 5.35456736e-01 8.44472492e-01 1.23407497e-02 1.35409793e+01] [-2.25943433e-02 -2.83378676e-04 9.99744675e-01 1.25180117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.138040941999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.95, Y:13.56, Z:1.25 [[ 8.45061634e-01 -5.34368265e-01 1.79274083e-02 5.39450679e+01] [ 5.34138021e-01 8.45241677e-01 1.62198373e-02 1.35556331e+01] [-2.38203590e-02 -4.13105184e-03 9.99707720e-01 1.25231102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.168040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:53.96, Y:13.57, Z:1.25 [[ 8.48305360e-01 -5.29009820e-01 2.29483594e-02 5.39638999e+01] [ 5.28968607e-01 8.48600531e-01 8.32779456e-03 1.35745543e+01] [-2.38794750e-02 5.07444893e-03 9.99701966e-01 1.24788093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.99, Y:13.59, Z:1.25 [[ 8.49343662e-01 -5.27440652e-01 2.05353948e-02 5.39874818e+01] [ 5.27289270e-01 8.49591872e-01 1.26362965e-02 1.35878948e+01] [-2.41116010e-02 9.55350183e-05 9.99709269e-01 1.24890360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.01, Y:13.61, Z:1.25 [[ 8.51139219e-01 -5.24516014e-01 2.10945611e-02 5.40100022e+01] [ 5.24355357e-01 8.51400582e-01 1.29810794e-02 1.36052709e+01] [-2.47687056e-02 1.23402937e-05 9.99693208e-01 1.24787428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.258040941999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:54.03, Y:13.62, Z:1.25 [[ 8.51596900e-01 -5.23764014e-01 2.13067558e-02 5.40326551e+01] [ 5.23599667e-01 8.51863403e-01 1.31198687e-02 1.36213343e+01] [-2.50221606e-02 -1.66292717e-05 9.99686897e-01 1.24676487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288040941999995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:54.06, Y:13.64, Z:1.25 [[ 8.52089815e-01 -5.22941254e-01 2.18034862e-02 5.40557015e+01] [ 5.22768657e-01 8.52368724e-01 1.34346172e-02 1.36381296e+01] [-2.56101252e-02 -4.93212683e-05 9.99672006e-01 1.24562121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.318040941999996 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:54.08, Y:13.66, Z:1.24 [[ 8.52054586e-01 -5.22954671e-01 2.28340774e-02 5.40783471e+01] [ 5.22887087e-01 8.52351085e-01 9.31243146e-03 1.36550642e+01] [-2.43326302e-02 4.00494431e-03 9.99695896e-01 1.24324163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.348040942 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:54.10, Y:13.67, Z:1.25 [[ 8.51995065e-01 -5.23184505e-01 1.95546086e-02 5.41049039e+01] [ 5.22930773e-01 8.52209651e-01 1.67963409e-02 1.36676601e+01] [-2.54522115e-02 -4.08469292e-03 9.99667695e-01 1.24514213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.13, Y:13.69, Z:1.24 [[ 8.51333987e-01 -5.24142719e-01 2.24689263e-02 5.41256839e+01] [ 5.24091547e-01 8.51618707e-01 8.58070516e-03 1.36878247e+01] [-2.36324721e-02 4.47072838e-03 9.99710718e-01 1.24119392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40804094199999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:54.15, Y:13.70, Z:1.24 [[ 8.50582521e-01 -5.25497019e-01 1.90330782e-02 5.41515643e+01] [ 5.25238315e-01 8.50783267e-01 1.71039472e-02 1.37006826e+01] [-2.51810977e-02 -4.55141661e-03 9.99672545e-01 1.24295383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43804094199999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:54.17, Y:13.72, Z:1.24 [[ 8.49547908e-01 -5.27017357e-01 2.28266692e-02 5.41720831e+01] [ 5.26828838e-01 8.49854518e-01 1.40951525e-02 1.37201381e+01] [-2.68277380e-02 5.12402572e-05 9.99640070e-01 1.23963543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468040941999995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:54.20, Y:13.74, Z:1.24 [[ 8.48977787e-01 -5.27906256e-01 2.34883562e-02 5.41950977e+01] [ 5.27706724e-01 8.49302643e-01 1.45132327e-02 1.37361691e+01] [-2.76103494e-02 7.35512942e-05 9.99618759e-01 1.23846800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.498040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:13.76, Z:1.23 [[ 8.48378666e-01 -5.28726089e-01 2.65020980e-02 5.42161231e+01] [ 5.28750396e-01 8.48751273e-01 6.65553803e-03 1.37554882e+01] [-2.60126460e-02 8.36657830e-03 9.99626602e-01 1.23406142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.24, Y:13.77, Z:1.24 [[ 8.47364130e-01 -5.30518130e-01 2.29029522e-02 5.42408759e+01] [ 5.30376399e-01 8.47671960e-01 1.23742814e-02 1.37686090e+01] [-2.59789711e-02 1.66166310e-03 9.99661109e-01 1.23517063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.558040942 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:54.26, Y:13.78, Z:1.24 [[ 8.45860083e-01 -5.32919080e-01 2.27590662e-02 5.42638184e+01] [ 5.32732926e-01 8.46166184e-01 1.40861354e-02 1.37844352e+01] [-2.67647225e-02 2.09604282e-04 9.99641739e-01 1.23507926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58804094199999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:54.29, Y:13.80, Z:1.23 [[ 8.44888295e-01 -5.34368280e-01 2.47852929e-02 5.42856958e+01] [ 5.34279519e-01 8.45241024e-01 1.06305274e-02 1.38017027e+01] [-2.66301630e-02 4.26066615e-03 9.99636274e-01 1.23242219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.31, Y:13.81, Z:1.24 [[ 8.42972947e-01 -5.37596837e-01 1.96532825e-02 5.43130022e+01] [ 5.37022185e-01 8.43099576e-01 2.81118813e-02 1.38123422e+01] [-3.16825326e-02 -1.31433067e-02 9.99411562e-01 1.23726804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648040941999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.32, Y:13.85, Z:1.20 [[ 8.40650694e-01 -5.38964299e-01 5.31403396e-02 5.43205311e+01] [ 5.40074873e-01 8.41577312e-01 -8.17065039e-03 1.38503581e+01] [-4.03180153e-02 3.55684251e-02 9.98553626e-01 1.20339893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.678040941999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.36, Y:13.84, Z:1.24 [[ 8.41170471e-01 -5.40687513e-01 9.44733233e-03 5.43647823e+01] [ 5.39741372e-01 8.40519291e-01 4.69741832e-02 1.38370997e+01] [-3.33390193e-02 -3.44141797e-02 9.98851427e-01 1.24188718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.38, Y:13.87, Z:1.23 [[ 8.40057612e-01 -5.41755164e-01 2.83646123e-02 5.43776319e+01] [ 5.41469667e-01 8.40536144e-01 1.75951987e-02 1.38686654e+01] [-3.33737716e-02 5.77596544e-04 9.99442774e-01 1.22730573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.40, Y:13.89, Z:1.23 [[ 8.39605447e-01 -5.42471977e-01 2.80508179e-02 5.44009885e+01] [ 5.42192816e-01 8.40073691e-01 1.74110409e-02 1.38850781e+01] [-3.30097559e-02 5.90547136e-04 9.99454855e-01 1.22592627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76804094199999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.42, Y:13.90, Z:1.22 [[ 8.39169864e-01 -5.43132333e-01 2.83056296e-02 5.44228467e+01] [ 5.42848092e-01 8.39646886e-01 1.75799749e-02 1.39023934e+01] [-3.33149865e-02 6.13071931e-04 9.99444714e-01 1.22365979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.45, Y:13.92, Z:1.22 [[ 8.38930614e-01 -5.43481690e-01 2.86893427e-02 5.44455253e+01] [ 5.43189514e-01 8.39420789e-01 1.78294763e-02 1.39190039e+01] [-3.37724247e-02 6.26056624e-04 9.99429353e-01 1.22188222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828040941999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.47, Y:13.94, Z:1.22 [[ 8.38655618e-01 -5.43845463e-01 2.98138803e-02 5.44682290e+01] [ 5.43529729e-01 8.39185130e-01 1.85405393e-02 1.39359732e+01] [-3.51025532e-02 6.55602838e-04 9.99383500e-01 1.21992352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.858040941999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.49, Y:13.95, Z:1.22 [[ 8.38712349e-01 -5.43710441e-01 3.06684292e-02 5.44890447e+01] [ 5.43375769e-01 8.39272616e-01 1.90853224e-02 1.39529695e+01] [-3.61160619e-02 6.57385770e-04 9.99347386e-01 1.21797220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.51, Y:13.97, Z:1.22 [[ 8.38628926e-01 -5.43808588e-01 3.12048732e-02 5.45121637e+01] [ 5.43462002e-01 8.39209016e-01 1.94237222e-02 1.39689607e+01] [-3.67501979e-02 6.69367570e-04 9.99324259e-01 1.21660045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:13.99, Z:1.21 [[ 8.38867287e-01 -5.43330289e-01 3.30737280e-02 5.45332756e+01] [ 5.42940015e-01 8.39518755e-01 2.06009501e-02 1.39853453e+01] [-3.89591351e-02 6.75587293e-04 9.99240576e-01 1.21482339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.56, Y:14.00, Z:1.21 [[ 8.38907738e-01 -5.43226341e-01 3.37483410e-02 5.45564217e+01] [ 5.42819677e-01 8.39586017e-01 2.10266008e-02 1.40020350e+01] [-3.97568386e-02 6.79885471e-04 9.99209153e-01 1.21346813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.58, Y:14.02, Z:1.21 [[ 8.39773380e-01 -5.41827813e-01 3.46884945e-02 5.45781924e+01] [ 5.41396404e-01 8.40489285e-01 2.16262673e-02 1.40198099e+01] [-4.08730210e-02 6.19062577e-04 9.99164157e-01 1.21161802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.60, Y:14.04, Z:1.21 [[ 8.40127019e-01 -5.41251747e-01 3.51160724e-02 5.46001391e+01] [ 5.40808538e-01 8.40860394e-01 2.19071280e-02 1.40360447e+01] [-4.13849858e-02 5.86301664e-04 9.99143102e-01 1.21002588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.038040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.62, Y:14.05, Z:1.21 [[ 8.40675744e-01 -5.40370436e-01 3.55539886e-02 5.46223332e+01] [ 5.39915048e-01 8.41427059e-01 2.21866012e-02 1.40516759e+01] [-4.19050714e-02 5.44396023e-04 9.99121448e-01 1.20836036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.65, Y:14.07, Z:1.21 [[ 8.40945269e-01 -5.39921767e-01 3.59936214e-02 5.46453529e+01] [ 5.39454358e-01 8.41715042e-01 2.24674007e-02 1.40675419e+01] [-4.24270112e-02 5.23061577e-04 9.99099432e-01 1.20685532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.67, Y:14.08, Z:1.20 [[ 8.42159460e-01 -5.37997539e-01 3.64155535e-02 5.46684448e+01] [ 5.37516679e-01 8.42946305e-01 2.27452759e-02 1.40837826e+01] [-4.29332587e-02 4.18818080e-04 9.99077855e-01 1.20452041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.69, Y:14.10, Z:1.20 [[ 8.42015366e-01 -5.38223470e-01 3.64090632e-02 5.46926119e+01] [ 5.37742372e-01 8.42802065e-01 2.27556605e-02 1.40989729e+01] [-4.29332642e-02 4.18080237e-04 9.99077855e-01 1.20334459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.72, Y:14.11, Z:1.20 [[ 8.43625716e-01 -5.35693745e-01 3.64398460e-02 5.47150689e+01] [ 5.35208897e-01 8.44412301e-01 2.27882091e-02 1.41143963e+01] [-4.29777553e-02 2.78210519e-04 9.99075991e-01 1.20230191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.74, Y:14.13, Z:1.20 [[ 8.44149173e-01 -5.34829606e-01 3.70062934e-02 5.47381521e+01] [ 5.34328428e-01 8.44959903e-01 2.31493541e-02 1.41301838e+01] [-4.36497941e-02 2.32006464e-04 9.99046867e-01 1.20084857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.218040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:14.15, Z:1.20 [[ 8.44814051e-01 -5.33740113e-01 3.75594447e-02 5.47612163e+01] [ 5.33222096e-01 8.45648547e-01 2.35102557e-02 1.41461499e+01] [-4.43104564e-02 1.65731453e-04 9.99017796e-01 1.19935991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.78, Y:14.16, Z:1.20 [[ 8.45375874e-01 -5.32820394e-01 3.79744473e-02 5.47837969e+01] [ 5.32289293e-01 8.46228347e-01 2.37842797e-02 1.41618758e+01] [-4.48078030e-02 1.06735482e-04 9.98995620e-01 1.19790357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.81, Y:14.18, Z:1.20 [[ 8.46605689e-01 -5.30805196e-01 3.87898446e-02 5.48060939e+01] [ 5.30248608e-01 8.47493861e-01 2.43016366e-02 1.41770470e+01] [-4.57735901e-02 -5.64272088e-06 9.98951840e-01 1.19637372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.83, Y:14.19, Z:1.20 [[ 8.47108387e-01 -5.30012158e-01 3.86586775e-02 5.48300575e+01] [ 5.29458174e-01 8.47990041e-01 2.42266764e-02 1.41917819e+01] [-4.56226066e-02 -5.44679532e-05 9.98958745e-01 1.19520485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.33804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:14.21, Z:1.19 [[ 8.47568505e-01 -5.29328270e-01 3.79369413e-02 5.48534757e+01] [ 5.28793494e-01 8.48417098e-01 2.37879741e-02 1.42054971e+01] [-4.47779969e-02 -1.01129921e-04 9.98996957e-01 1.19383046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:14.22, Z:1.19 [[ 8.47462173e-01 -5.29505167e-01 3.78436828e-02 5.48776301e+01] [ 5.28972888e-01 8.48306707e-01 2.37363522e-02 1.42207000e+01] [-4.46715711e-02 -9.73784062e-05 9.99001722e-01 1.19267748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.398040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.90, Y:14.24, Z:1.19 [[ 8.47124912e-01 -5.30041025e-01 3.78932175e-02 5.49012519e+01] [ 5.29507244e-01 8.47971996e-01 2.37817855e-02 1.42361344e+01] [-4.47377092e-02 -8.14097459e-05 9.98998764e-01 1.19099319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.92, Y:14.25, Z:1.19 [[ 8.46334800e-01 -5.31181948e-01 3.95366101e-02 5.49239793e+01] [ 5.30601344e-01 8.47257774e-01 2.48289728e-02 1.42501625e+01] [-4.66864024e-02 -3.54452758e-05 9.98909595e-01 1.18880797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.95, Y:14.26, Z:1.19 [[ 8.45981821e-01 -5.31712938e-01 3.99513443e-02 5.49472229e+01] [ 5.31120181e-01 8.46924643e-01 2.50998463e-02 1.42632954e+01] [-4.71816910e-02 -1.50484374e-05 9.98886324e-01 1.18815578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.97, Y:14.28, Z:1.19 [[ 8.45454835e-01 -5.32492332e-01 4.07190277e-02 5.49721406e+01] [ 5.31877128e-01 8.46434827e-01 2.55891556e-02 1.42750713e+01] [-4.80920323e-02 2.30442256e-05 9.98842909e-01 1.18770543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.51804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:14.29, Z:1.19 [[ 8.45312045e-01 -5.32742809e-01 4.04060261e-02 5.49953963e+01] [ 5.32137010e-01 8.46277200e-01 2.53988910e-02 1.42881640e+01] [-4.77257752e-02 3.15534592e-05 9.98860475e-01 1.18634576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.02, Y:14.30, Z:1.18 [[ 8.45290454e-01 -5.32461672e-01 4.43690795e-02 5.50188152e+01] [ 5.32128598e-01 8.46427503e-01 1.99909303e-02 1.43031526e+01] [-4.81996134e-02 6.71191348e-03 9.98815172e-01 1.18084502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.578040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:14.31, Z:1.18 [[ 8.44841999e-01 -5.33779725e-01 3.63483337e-02 5.50458803e+01] [ 5.32961804e-01 8.45601475e-01 3.01638852e-02 1.43123869e+01] [-4.68370750e-02 -6.11144352e-03 9.98883846e-01 1.18398459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:14.33, Z:1.18 [[ 8.44775474e-01 -5.33682418e-01 3.92106650e-02 5.50679630e+01] [ 5.33111317e-01 8.45684973e-01 2.46829749e-02 1.43280004e+01] [-4.63327399e-02 5.20774808e-05 9.98926061e-01 1.18059895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.638040941999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:55.09, Y:14.34, Z:1.18 [[ 8.44900458e-01 -5.33474944e-01 3.93408278e-02 5.50937120e+01] [ 5.32899462e-01 8.45815868e-01 2.47725823e-02 1.43391517e+01] [-4.64906483e-02 3.43398627e-05 9.98918725e-01 1.17944216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.668040942 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:55.12, Y:14.35, Z:1.18 [[ 8.45018833e-01 -5.33280469e-01 3.94349272e-02 5.51175432e+01] [ 5.32701357e-01 8.45938497e-01 2.48459882e-02 1.43522530e+01] [-4.66094034e-02 1.17112652e-05 9.98913191e-01 1.17863028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.69804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:14.37, Z:1.17 [[ 8.46542660e-01 -5.30686694e-01 4.16792219e-02 5.51418731e+01] [ 5.30594229e-01 8.47507603e-01 1.41642955e-02 1.43684331e+01] [-4.28402606e-02 1.01240743e-02 9.99030638e-01 1.17474086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72804094199999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:55.17, Y:14.37, Z:1.18 [[ 8.45341641e-01 -5.33104769e-01 3.45950096e-02 5.51710071e+01] [ 5.32127213e-01 8.45987743e-01 3.38432917e-02 1.43734328e+01] [-4.73089743e-02 -1.02001977e-02 9.98828222e-01 1.17962691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.758040941999994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:55.19, Y:14.39, Z:1.18 [[ 8.45723267e-01 -5.32133835e-01 3.98213248e-02 5.51940297e+01] [ 5.31540885e-01 8.46660249e-01 2.51139496e-02 1.43889162e+01] [-4.70791151e-02 -7.27892773e-05 9.98891161e-01 1.17513767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788040941999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:55.22, Y:14.40, Z:1.17 [[ 8.45827246e-01 -5.31989125e-01 3.95454283e-02 5.52180610e+01] [ 5.31403520e-01 8.46751181e-01 2.49546904e-02 1.44013775e+01] [-4.67607620e-02 -9.27772596e-05 9.98906113e-01 1.17433982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.818040941999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:55.24, Y:14.41, Z:1.17 [[ 8.45815046e-01 -5.31998672e-01 3.96777067e-02 5.52433486e+01] [ 5.31408624e-01 8.46745181e-01 2.50493890e-02 1.44145432e+01] [-4.69231486e-02 -1.02074628e-04 9.98898497e-01 1.17306221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.848040942 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:55.27, Y:14.43, Z:1.17 [[ 8.46200310e-01 -5.31405079e-01 3.94167217e-02 5.52699758e+01] [ 5.30821417e-01 8.47117831e-01 2.48998486e-02 1.44251784e+01] [-4.66225139e-02 -1.47019495e-04 9.98912569e-01 1.17278943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.87804094199999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:55.29, Y:14.44, Z:1.17 [[ 8.46354557e-01 -5.31180336e-01 3.91332919e-02 5.52940252e+01] [ 5.30604140e-01 8.47258769e-01 2.47350890e-02 1.44377315e+01] [-4.62948176e-02 -1.70368596e-04 9.98927806e-01 1.17191001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90804094199999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:55.32, Y:14.45, Z:1.17 [[ 8.46987203e-01 -5.30191699e-01 3.88515197e-02 5.53201565e+01] [ 5.29622387e-01 8.47877768e-01 2.45645636e-02 1.44497024e+01] [-4.59652675e-02 -2.29236390e-04 9.98943012e-01 1.17060302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93804094199999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:55.36, Y:14.45, Z:1.18 [[ 8.49505724e-01 -5.27170710e-01 2.07621577e-02 5.53609421e+01] [ 5.26081250e-01 8.49400841e-01 4.19133556e-02 1.44536042e+01] [-3.97308877e-02 -2.46830536e-02 9.98905503e-01 1.18427818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968040941999995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:55.36, Y:14.49, Z:1.16 [[ 8.47223708e-01 -5.28679246e-01 5.20599996e-02 5.53633964e+01] [ 5.29255106e-01 8.48456893e-01 3.15168212e-03 1.44873223e+01] [-4.58368945e-02 2.48828408e-02 9.98638985e-01 1.15855985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.998040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.40, Y:14.49, Z:1.17 [[ 8.47274671e-01 -5.29828192e-01 3.75195684e-02 5.53977334e+01] [ 5.29295253e-01 8.48104954e-01 2.37596810e-02 1.44871967e+01] [-4.44090806e-02 -2.72046428e-04 9.99013393e-01 1.16696249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:55.42, Y:14.50, Z:1.17 [[ 8.46790544e-01 -5.30636774e-01 3.70187582e-02 5.54227052e+01] [ 5.30118129e-01 8.47599290e-01 2.34566019e-02 1.44997312e+01] [-4.38240088e-02 -2.38513808e-04 9.99039238e-01 1.16616568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.058040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:55.45, Y:14.51, Z:1.17 [[ 8.46264839e-01 -5.31496850e-01 3.67004162e-02 5.54477907e+01] [ 5.30987276e-01 8.47060244e-01 2.32692169e-02 1.45125468e+01] [-4.34549790e-02 -2.04466062e-04 9.99055365e-01 1.16526919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08804094199999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:55.47, Y:14.52, Z:1.16 [[ 8.45027310e-01 -5.33456100e-01 3.67890561e-02 5.54731218e+01] [ 5.33070398e-01 8.45824470e-01 2.04185303e-02 1.45246042e+01] [-4.20094734e-02 2.35694100e-03 9.99114432e-01 1.16390997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11804094199999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:55.49, Y:14.54, Z:1.16 [[ 8.44976362e-01 -5.33384556e-01 3.89340893e-02 5.54945057e+01] [ 5.33554101e-01 8.45738870e-01 6.76650958e-03 1.45428762e+01] [-3.65372244e-02 1.50559024e-02 9.99218870e-01 1.15951032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148040941999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.54, Y:14.54, Z:1.18 [[ 8.44770067e-01 -5.34928510e-01 1.46636595e-02 5.55404870e+01] [ 5.33958351e-01 8.44416685e-01 4.29993278e-02 1.45376801e+01] [-3.53838051e-02 -2.84947616e-02 9.98967484e-01 1.17709926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.178040941999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.56, Y:14.56, Z:1.16 [[ 8.43784758e-01 -5.35748737e-01 3.16318195e-02 5.55565796e+01] [ 5.35487144e-01 8.44373333e-01 1.69467675e-02 1.45629135e+01] [-3.57882742e-02 2.63900854e-03 9.99355910e-01 1.16304935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.58, Y:14.58, Z:1.16 [[ 8.42471016e-01 -5.37779681e-01 3.21807581e-02 5.55805526e+01] [ 5.37527600e-01 8.43079445e-01 1.67668981e-02 1.45765157e+01] [-3.61478327e-02 3.17241999e-03 9.99341418e-01 1.16088801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:14.59, Z:1.16 [[ 8.40145259e-01 -5.41278587e-01 3.42554370e-02 5.56046945e+01] [ 5.41088962e-01 8.40824611e-01 1.53853328e-02 1.45879417e+01] [-3.71305657e-02 5.60932441e-03 9.99294680e-01 1.15798574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:14.60, Z:1.16 [[ 8.38962611e-01 -5.43258771e-01 3.18063564e-02 5.56312466e+01] [ 5.42917669e-01 8.39564597e-01 1.92793335e-02 1.45995512e+01] [-3.71771578e-02 1.09359288e-03 9.99308092e-01 1.15830051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:14.61, Z:1.15 [[ 8.37556671e-01 -5.45306822e-01 3.37534052e-02 5.56542731e+01] [ 5.45042295e-01 8.38227830e-01 1.74069428e-02 1.46137269e+01] [-3.77851683e-02 3.81773234e-03 9.99278593e-01 1.15457695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.68, Y:14.63, Z:1.15 [[ 8.35383129e-01 -5.48562079e-01 3.48521698e-02 5.56780090e+01] [ 5.48383718e-01 8.36086111e-01 1.53399112e-02 1.46263506e+01] [-3.75543087e-02 6.29765945e-03 9.99274744e-01 1.15097358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.358040941999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:55.70, Y:14.64, Z:1.14 [[ 8.34045696e-01 -5.50379800e-01 3.80769333e-02 5.57011147e+01] [ 5.50416497e-01 8.34824734e-01 1.04567142e-02 1.46428829e+01] [-3.75427300e-02 1.22367948e-02 9.99220098e-01 1.14470670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388040941999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.73, Y:14.65, Z:1.15 [[ 8.34385347e-01 -5.50619808e-01 2.48780937e-02 5.57323653e+01] [ 5.49965653e-01 8.34692619e-01 2.87404409e-02 1.46472431e+01] [-3.65906173e-02 -1.02985057e-02 9.99277273e-01 1.15495534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:14.67, Z:1.14 [[ 8.33771907e-01 -5.50878155e-01 3.68465224e-02 5.57512610e+01] [ 5.50794406e-01 8.34534935e-01 1.33028091e-02 1.46661550e+01] [-3.80779371e-02 9.20334997e-03 9.99232390e-01 1.14386050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.78, Y:14.68, Z:1.15 [[ 8.33871222e-01 -5.51002389e-01 3.24830955e-02 5.57782326e+01] [ 5.50628447e-01 8.34503132e-01 2.03183777e-02 1.46769309e+01] [-3.83027196e-02 9.43205976e-04 9.99265736e-01 1.14695227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.80, Y:14.69, Z:1.14 [[ 8.34727451e-01 -5.49544697e-01 3.50814575e-02 5.58018515e+01] [ 5.49239025e-01 8.35456270e-01 1.86899647e-02 1.46931290e+01] [-3.95799946e-02 3.66707891e-03 9.99209676e-01 1.14377508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508040941999994 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:55.83, Y:14.71, Z:1.14 [[ 8.35290850e-01 -5.48812074e-01 3.30832614e-02 5.58273931e+01] [ 5.48427937e-01 8.35945187e-01 2.05534222e-02 1.47063580e+01] [-3.89357594e-02 9.75699233e-04 9.99241239e-01 1.14449493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.538040941999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.85, Y:14.71, Z:1.16 [[ 8.36029583e-01 -5.48328513e-01 1.97579886e-02 5.58545068e+01] [ 5.47588810e-01 8.36093589e-01 3.30757424e-02 1.47121394e+01] [-3.46559003e-02 -1.68330456e-02 9.99257533e-01 1.15936353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568040941999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:55.87, Y:14.74, Z:1.13 [[ 8.36763211e-01 -5.45627217e-01 4.60246610e-02 5.58690986e+01] [ 5.46176058e-01 8.37670053e-01 7.72370376e-04 1.47435502e+01] [-3.89749065e-02 2.44912768e-02 9.98940005e-01 1.13232740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.598040942 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:55.90, Y:14.74, Z:1.14 [[ 8.38379619e-01 -5.44266549e-01 2.98921064e-02 5.59036468e+01] [ 5.43692439e-01 8.38896604e-01 2.55150821e-02 1.47438817e+01] [-3.89633923e-02 -5.13921259e-03 9.99227423e-01 1.14384144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.92, Y:14.76, Z:1.14 [[ 8.37408527e-01 -5.45846141e-01 2.82656909e-02 5.59247555e+01] [ 5.45219723e-01 8.37853413e-01 2.71497985e-02 1.47599605e+01] [-3.85021184e-02 -7.32446063e-03 9.99231674e-01 1.14433023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.95, Y:14.78, Z:1.14 [[ 8.37926556e-01 -5.45009868e-01 2.90401647e-02 5.59495112e+01] [ 5.44504906e-01 8.38419378e-01 2.38192156e-02 1.47767178e+01] [-3.73295444e-02 -4.14624109e-03 9.99294408e-01 1.14315799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:14.80, Z:1.14 [[ 8.37665797e-01 -5.45076743e-01 3.47470437e-02 5.59712750e+01] [ 5.44857316e-01 8.38369708e-01 1.63321074e-02 1.47963239e+01] [-3.80331208e-02 5.25133317e-03 9.99262681e-01 1.13635348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.718040941999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:55.99, Y:14.81, Z:1.15 [[ 8.36046520e-01 -5.47936152e-01 2.81458593e-02 5.59941506e+01] [ 5.47335522e-01 8.36492735e-01 2.65279258e-02 1.48052212e+01] [-3.80794164e-02 -6.77335145e-03 9.99251760e-01 1.14590843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748040941999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.02, Y:14.82, Z:1.14 [[ 8.35570701e-01 -5.48449498e-01 3.20117455e-02 5.60160125e+01] [ 5.48059811e-01 8.36183637e-01 2.06729221e-02 1.48224706e+01] [-3.81057515e-02 2.70663223e-04 9.99273675e-01 1.14245164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.04, Y:14.84, Z:1.14 [[ 8.34982489e-01 -5.49397784e-01 3.10856558e-02 5.60387594e+01] [ 5.49030520e-01 8.35560882e-01 2.00873216e-02 1.48379602e+01] [-3.70098880e-02 2.94411927e-04 9.99314856e-01 1.14165305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.808040942 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:56.06, Y:14.85, Z:1.14 [[ 8.34748685e-01 -5.49772876e-01 3.07313795e-02 5.60621524e+01] [ 5.49414036e-01 8.35314128e-01 1.98626313e-02 1.48538799e+01] [-3.65902914e-02 3.03945926e-04 9.99330305e-01 1.14020070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.83804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.08, Y:14.87, Z:1.14 [[ 8.34549404e-01 -5.50099628e-01 3.02934236e-02 5.60842718e+01] [ 5.49750740e-01 8.35098980e-01 1.95912582e-02 1.48716629e+01] [-3.60751510e-02 3.03959214e-04 9.99349034e-01 1.13774974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.11, Y:14.89, Z:1.14 [[ 8.34601139e-01 -5.50053012e-01 2.97089590e-02 5.61057331e+01] [ 5.49716990e-01 8.35129692e-01 1.92257333e-02 1.48877702e+01] [-3.53860063e-02 2.85700577e-04 9.99373678e-01 1.13636116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.898040941999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:14.90, Z:1.13 [[ 8.34405435e-01 -5.50374361e-01 2.92512147e-02 5.61281048e+01] [ 5.50048684e-01 8.34917947e-01 1.89332325e-02 1.49043490e+01] [-3.48427298e-02 2.91600059e-04 9.99392765e-01 1.13498284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928040941999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:56.15, Y:14.92, Z:1.13 [[ 8.34278353e-01 -5.50564974e-01 2.92889095e-02 5.61498083e+01] [ 5.50238139e-01 8.34792265e-01 1.89700897e-02 1.49196673e+01] [-3.48944220e-02 2.89539872e-04 9.99390962e-01 1.13390572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.958040942 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:56.17, Y:14.94, Z:1.13 [[ 8.33096838e-01 -5.52349922e-01 2.93124940e-02 5.61713832e+01] [ 5.52023509e-01 8.33612280e-01 1.89897785e-02 1.49358978e+01] [-3.49242576e-02 3.60861366e-04 9.99389897e-01 1.13246598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.988040942 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:56.20, Y:14.95, Z:1.13 [[ 8.32183568e-01 -5.53711585e-01 2.95633228e-02 5.61950172e+01] [ 5.53380168e-01 8.32708417e-01 1.91593862e-02 1.49516339e+01] [-3.52264018e-02 4.15630187e-04 9.99379271e-01 1.13160718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.018040942 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:56.22, Y:14.97, Z:1.13 [[ 8.30322203e-01 -5.56488365e-01 2.97613731e-02 5.62191180e+01] [ 5.56153853e-01 8.30855235e-01 1.92994828e-02 1.49670593e+01] [-3.54673303e-02 5.27113281e-04 9.99370697e-01 1.13174040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.048040942 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:56.24, Y:14.98, Z:1.13 [[ 8.30179039e-01 -5.56702204e-01 2.97559981e-02 5.62430330e+01] [ 5.56367532e-01 8.30711971e-01 1.93077660e-02 1.49826817e+01] [-3.54673397e-02 5.26368663e-04 9.99370697e-01 1.13056707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.078040942 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:56.27, Y:15.00, Z:1.13 [[ 8.29280489e-01 -5.58019963e-01 3.01262593e-02 5.62661575e+01] [ 5.57677378e-01 8.29827322e-01 1.95590865e-02 1.49980016e+01] [-3.59139537e-02 5.80764490e-04 9.99354717e-01 1.12986013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108040942 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:56.29, Y:15.01, Z:1.13 [[ 8.28336271e-01 -5.59398770e-01 3.05293041e-02 5.62891762e+01] [ 5.59047448e-01 8.28898430e-01 1.98328799e-02 1.50142698e+01] [-3.64001809e-02 6.39035818e-04 9.99337090e-01 1.12856271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.138040942 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:56.31, Y:15.03, Z:1.13 [[ 8.27523114e-01 -5.60602850e-01 3.04949218e-02 5.63117205e+01] [ 5.60252705e-01 8.28084525e-01 1.98223722e-02 1.50317078e+01] [-3.63648512e-02 6.81391251e-04 9.99338348e-01 1.12643449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168040942 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:56.33, Y:15.05, Z:1.13 [[ 8.27445837e-01 -5.60738075e-01 3.01031339e-02 5.63338130e+01] [ 5.60396514e-01 8.27992974e-01 1.95801452e-02 1.50470474e+01] [-3.59045164e-02 6.68181648e-04 9.99355002e-01 1.12548600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.198040942 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:56.36, Y:15.06, Z:1.13 [[ 8.27817589e-01 -5.60203612e-01 2.98320618e-02 5.63567737e+01] [ 5.59867689e-01 8.28354700e-01 1.94077813e-02 1.50624730e+01] [-3.55838378e-02 6.35904771e-04 9.99366492e-01 1.12521199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:56.38, Y:15.08, Z:1.12 [[ 8.28424094e-01 -5.59173642e-01 3.22235751e-02 5.63778077e+01] [ 5.59033389e-01 8.29026067e-01 1.40517287e-02 1.50804184e+01] [-3.45715400e-02 6.37326380e-03 9.99381904e-01 1.12201674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25804094200001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:56.40, Y:15.09, Z:1.13 [[ 8.28087131e-01 -5.59926368e-01 2.74620893e-02 5.64043682e+01] [ 5.59396203e-01 8.28525559e-01 2.49256198e-02 1.50919902e+01] [-3.67095546e-02 -5.27839652e-03 9.99312037e-01 1.12589743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.288040942 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:56.43, Y:15.11, Z:1.12 [[ 8.28472709e-01 -5.59147098e-01 3.14243979e-02 5.64253084e+01] [ 5.58772510e-01 8.29068251e-01 2.04723696e-02 1.51108630e+01] [-3.75000367e-02 5.98290170e-04 9.99296447e-01 1.12292753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.318040942 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:56.45, Y:15.13, Z:1.12 [[ 8.28575402e-01 -5.58994131e-01 3.14382808e-02 5.64480648e+01] [ 5.58618660e-01 8.29171408e-01 2.04931485e-02 1.51266739e+01] [-3.75232732e-02 5.81891546e-04 9.99295585e-01 1.12157816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.348040942 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:56.47, Y:15.14, Z:1.12 [[ 8.29666322e-01 -5.57345618e-01 3.19320524e-02 5.64666953e+01] [ 5.57063715e-01 8.30275567e-01 1.79583075e-02 1.51420532e+01] [-3.65213869e-02 2.88878480e-03 9.99328696e-01 1.11922386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.378040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:56.49, Y:15.16, Z:1.11 [[ 8.28602623e-01 -5.58744957e-01 3.49537642e-02 5.64907417e+01] [ 5.58803215e-01 8.29251537e-01 8.99200876e-03 1.51639704e+01] [-3.40097022e-02 1.20814737e-02 9.99348477e-01 1.11480723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.408040942 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:56.52, Y:15.17, Z:1.12 [[ 8.28671615e-01 -5.59043228e-01 2.78212918e-02 5.65170115e+01] [ 5.58665802e-01 8.29137110e-01 2.05955097e-02 1.51731507e+01] [-3.45814457e-02 -1.52410998e-03 9.99400721e-01 1.11958305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.438040942 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:56.54, Y:15.19, Z:1.12 [[ 8.27731718e-01 -5.60534609e-01 2.57129390e-02 5.65423331e+01] [ 5.59796295e-01 8.28056160e-01 3.08399833e-02 1.51853993e+01] [-3.85786355e-02 -1.11332244e-02 9.99193545e-01 1.12210993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.468040942 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:56.58, Y:15.20, Z:1.12 [[ 8.30911053e-01 -5.55758593e-01 2.68180792e-02 5.65754440e+01] [ 5.55249893e-01 8.31326455e-01 2.43696775e-02 1.52023972e+01] [-3.58382364e-02 -5.35829874e-03 9.99343239e-01 1.11970249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.498040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.59, Y:15.22, Z:1.11 [[ 8.29779441e-01 -5.57098479e-01 3.32770910e-02 5.65946065e+01] [ 5.56881726e-01 8.30431450e-01 1.63202519e-02 1.52217219e+01] [-3.67263305e-02 4.98919436e-03 9.99312906e-01 1.11355010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:15.24, Z:1.11 [[ 8.25784655e-01 -5.62974987e-01 3.37471069e-02 5.66076300e+01] [ 5.62671222e-01 8.26466715e-01 1.88113040e-02 1.52374794e+01] [-3.84811542e-02 3.45443974e-03 9.99253355e-01 1.11381454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:15.25, Z:1.11 [[ 8.25282832e-01 -5.63786944e-01 3.24427028e-02 5.66316936e+01] [ 5.63388621e-01 8.25919896e-01 2.12034523e-02 1.52526308e+01] [-3.87493033e-02 7.79004483e-04 9.99248660e-01 1.11298198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.66, Y:15.27, Z:1.11 [[ 8.24999597e-01 -5.64234310e-01 3.18639149e-02 5.66550489e+01] [ 5.63849954e-01 8.25614342e-01 2.08371865e-02 1.52683011e+01] [-3.80643607e-02 7.75796460e-04 9.99274988e-01 1.11166973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.68, Y:15.28, Z:1.11 [[ 8.24650038e-01 -5.64786224e-01 3.11261420e-02 5.66781131e+01] [ 5.64419389e-01 8.25236890e-01 2.03673366e-02 1.52833019e+01] [-3.71896318e-02 7.72273147e-04 9.99307928e-01 1.11070924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64804094200001 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:56.70, Y:15.30, Z:1.11 [[ 8.24578089e-01 -5.64758718e-01 3.34449521e-02 5.66985384e+01] [ 5.64673750e-01 8.25214348e-01 1.28388695e-02 1.53018974e+01] [-3.48501178e-02 8.29883604e-03 9.99358093e-01 1.10654237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.73, Y:15.31, Z:1.11 [[ 8.24262207e-01 -5.65577173e-01 2.67259399e-02 5.67278545e+01] [ 5.65011842e-01 8.24670585e-01 2.60776469e-02 1.53124891e+01] [-3.67890183e-02 -6.39434624e-03 9.99302597e-01 1.11090418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:15.33, Z:1.11 [[ 8.24763086e-01 -5.64625714e-01 3.10428039e-02 5.67495504e+01] [ 5.64259903e-01 8.25346745e-01 2.03350121e-02 1.53307056e+01] [-3.71027479e-02 7.44642190e-04 9.99311179e-01 1.10687444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:15.35, Z:1.11 [[ 8.25801380e-01 -5.63119736e-01 3.07935540e-02 5.67733139e+01] [ 5.62758288e-01 8.26375051e-01 2.01837534e-02 1.53461468e+01] [-3.68128947e-02 6.61556373e-04 9.99321957e-01 1.10607547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:15.36, Z:1.11 [[ 8.26218093e-01 -5.62502453e-01 3.08974669e-02 5.67971591e+01] [ 5.62137678e-01 8.26795379e-01 2.02640821e-02 1.53617678e+01] [-3.69444787e-02 6.26079027e-04 9.99317124e-01 1.10537617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:15.38, Z:1.10 [[ 8.27062163e-01 -5.61122061e-01 3.33198254e-02 5.68180158e+01] [ 5.60824482e-01 8.27726386e-01 1.85723055e-02 1.53775623e+01] [-3.80010290e-02 3.32612269e-03 9.99272164e-01 1.10221647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:15.39, Z:1.10 [[ 8.26946088e-01 -5.61457933e-01 3.04164004e-02 5.68446307e+01] [ 5.60970636e-01 8.27501867e-01 2.35075637e-02 1.53915043e+01] [-3.83681363e-02 -2.37678038e-03 9.99260845e-01 1.10437246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.87, Y:15.41, Z:1.10 [[ 8.27174476e-01 -5.61012716e-01 3.23592183e-02 5.68675428e+01] [ 5.60610438e-01 8.27806991e-01 2.12490738e-02 1.54081495e+01] [-3.87081878e-02 5.64224075e-04 9.99250398e-01 1.10289469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:56.89, Y:15.42, Z:1.10 [[ 8.27039820e-01 -5.61192010e-01 3.26904328e-02 5.68911998e+01] [ 5.60781090e-01 8.27685451e-01 2.14793755e-02 1.54229711e+01] [-3.91114495e-02 5.67877675e-04 9.99234693e-01 1.10224597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.918040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:56.91, Y:15.44, Z:1.10 [[ 8.26793308e-01 -5.61557787e-01 3.26447231e-02 5.69142147e+01] [ 5.61147797e-01 8.27437322e-01 2.14622401e-02 1.54368911e+01] [-3.90637503e-02 5.73677936e-04 9.99236556e-01 1.10188841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.94, Y:15.45, Z:1.10 [[ 8.26521894e-01 -5.61961563e-01 3.25693122e-02 5.69379727e+01] [ 5.61553578e-01 8.27163138e-01 2.14177983e-02 1.54523858e+01] [-3.89761139e-02 5.87134550e-04 9.99239970e-01 1.10091469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.96, Y:15.47, Z:1.10 [[ 8.26179214e-01 -5.62455753e-01 3.27327501e-02 5.69609776e+01] [ 5.62043559e-01 8.26827166e-01 2.15377654e-02 1.54679029e+01] [-3.91783671e-02 6.03177286e-04 9.99232051e-01 1.09949498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00804094200001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:56.98, Y:15.48, Z:1.10 [[ 8.26037813e-01 -5.62639720e-01 3.31372247e-02 5.69838347e+01] [ 5.62216910e-01 8.26701986e-01 2.18167897e-02 1.54837107e+01] [-3.96696020e-02 6.08814803e-04 9.99212666e-01 1.09783768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.01, Y:15.50, Z:1.10 [[ 8.25892909e-01 -5.62868822e-01 3.28571499e-02 5.70068331e+01] [ 5.62452814e-01 8.26546020e-01 2.16450340e-02 1.54994379e+01] [-3.93412613e-02 6.04116307e-04 9.99225650e-01 1.09659501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:15.51, Z:1.10 [[ 8.25539531e-01 -5.63443632e-01 3.18709131e-02 5.70303883e+01] [ 5.63052208e-01 8.26154289e-01 2.10071651e-02 1.55142955e+01] [-3.81666449e-02 6.02742738e-04 9.99271206e-01 1.09548099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.098040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.05, Y:15.53, Z:1.09 [[ 8.26535664e-01 -5.61788740e-01 3.51028225e-02 5.70480675e+01] [ 5.61770605e-01 8.27215724e-01 1.13107646e-02 1.55308361e+01] [-3.53918669e-02 1.03709835e-02 9.99319698e-01 1.08956091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:15.52, Z:1.13 [[ 8.29545905e-01 -5.58384877e-01 -7.74081557e-03 5.71112284e+01] [ 5.57765361e-01 8.27785919e-01 6.05662912e-02 1.55215467e+01] [-2.74115629e-02 -5.45600776e-02 9.98134161e-01 1.13130322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.158040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:57.09, Y:15.58, Z:1.07 [[ 8.24942096e-01 -5.62041593e-01 5.98313227e-02 5.70854674e+01] [ 5.64184082e-01 8.25205188e-01 -2.70687780e-02 1.55819239e+01] [-3.41593388e-02 5.60860543e-02 9.97841417e-01 1.07006212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.188040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:57.13, Y:15.57, Z:1.10 [[ 8.23571349e-01 -5.66644675e-01 2.53780385e-02 5.71288126e+01] [ 5.65947248e-01 8.23898068e-01 2.99280159e-02 1.55721908e+01] [-3.78674677e-02 -1.02852254e-02 9.99229838e-01 1.09602108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:15.59, Z:1.09 [[ 8.23179905e-01 -5.66905339e-01 3.15147758e-02 5.71491344e+01] [ 5.66523680e-01 8.23782626e-01 2.08111689e-02 1.55926802e+01] [-3.77592875e-02 7.22530694e-04 9.99286603e-01 1.09054527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.17, Y:15.61, Z:1.09 [[ 8.23302497e-01 -5.66758783e-01 3.09431963e-02 5.71713271e+01] [ 5.66390279e-01 8.23883489e-01 2.04462408e-02 1.56077999e+01] [-3.70816750e-02 6.92484524e-04 9.99311998e-01 1.08892232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.278040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.21, Y:15.62, Z:1.08 [[ 8.25340978e-01 -5.63759072e-01 3.14321153e-02 5.72053194e+01] [ 5.63525839e-01 8.25929888e-01 1.66867813e-02 1.56224905e+01] [-3.53680478e-02 3.94052469e-03 9.99366586e-01 1.08416697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:57.22, Y:15.64, Z:1.08 [[ 8.23978336e-01 -5.65329153e-01 3.82446190e-02 5.72247014e+01] [ 5.65386983e-01 8.24761144e-01 1.03254686e-02 1.56419373e+01] [-3.73799641e-02 1.31150473e-02 9.99215059e-01 1.07520262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.338040942 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:57.25, Y:15.66, Z:1.07 [[ 8.22341927e-01 -5.67689477e-01 3.85021164e-02 5.72495324e+01] [ 5.67650966e-01 8.23166897e-01 1.29861791e-02 1.56594225e+01] [-3.90657849e-02 1.11766840e-02 9.99174132e-01 1.07181336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36804094200001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:57.28, Y:15.67, Z:1.08 [[ 8.23921684e-01 -5.66284421e-01 2.17947983e-02 5.72794232e+01] [ 5.65912181e-01 8.24194159e-01 2.11516303e-02 1.56667945e+01] [-2.99409842e-02 -5.09334498e-03 9.99538691e-01 1.08435448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39804094200001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:57.30, Y:15.69, Z:1.08 [[ 8.21231725e-01 -5.69951058e-01 2.70969617e-02 5.73032080e+01] [ 5.69471720e-01 8.21668676e-01 2.37180835e-02 1.56850135e+01] [-3.57828714e-02 -4.04708930e-03 9.99351393e-01 1.07943280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.428040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:57.32, Y:15.70, Z:1.07 [[ 8.20155038e-01 -5.71196687e-01 3.28642460e-02 5.73236491e+01] [ 5.71010851e-01 8.20792159e-01 1.57111426e-02 1.57045218e+01] [-3.59488680e-02 5.88026834e-03 9.99336330e-01 1.07299837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.458040942 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:57.35, Y:15.72, Z:1.07 [[ 8.19060567e-01 -5.72898665e-01 3.04451427e-02 5.73487028e+01] [ 5.72600818e-01 8.19623262e-01 1.86013982e-02 1.57190383e+01] [-3.56102634e-02 2.19724184e-03 9.99363338e-01 1.07431364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.488040942 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:57.37, Y:15.73, Z:1.08 [[ 8.17917629e-01 -5.74617982e-01 2.87215484e-02 5.73733183e+01] [ 5.74257413e-01 8.18421744e-01 2.03537012e-02 1.57332272e+01] [-3.52019424e-02 -1.54088900e-04 9.99380208e-01 1.07501349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.518040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.39, Y:15.75, Z:1.07 [[ 8.18121609e-01 -5.74335113e-01 2.85694118e-02 5.73933365e+01] [ 5.74091842e-01 8.18616266e-01 1.69105442e-02 1.57489989e+01] [-3.30997046e-02 2.56658459e-03 9.99448759e-01 1.07305052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:15.76, Z:1.07 [[ 8.16756944e-01 -5.76408429e-01 2.57180170e-02 5.74204790e+01] [ 5.75960443e-01 8.17151784e-01 2.30766128e-02 1.57646035e+01] [-3.43170776e-02 -4.03542335e-03 9.99402848e-01 1.07476585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:15.78, Z:1.08 [[ 8.17378698e-01 -5.75578144e-01 2.45329179e-02 5.74453016e+01] [ 5.75172819e-01 8.17737881e-01 2.19314075e-02 1.57803242e+01] [-3.26847351e-02 -3.81559777e-03 9.99458428e-01 1.07593861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.47, Y:15.80, Z:1.07 [[ 8.17232781e-01 -5.75652155e-01 2.74804939e-02 5.74672448e+01] [ 5.75373291e-01 8.17693888e-01 1.79521728e-02 1.57982309e+01] [-3.28048389e-02 1.14043809e-03 9.99461126e-01 1.07308552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.638040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:57.49, Y:15.81, Z:1.08 [[ 8.17991641e-01 -5.74778453e-01 2.27904764e-02 5.74933032e+01] [ 5.74339376e-01 8.18287728e-01 2.32266205e-02 1.58110673e+01] [-3.19993281e-02 -5.90971338e-03 9.99470419e-01 1.07736096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.51, Y:15.83, Z:1.07 [[ 8.18828726e-01 -5.73100240e-01 3.27968266e-02 5.75074900e+01] [ 5.73014279e-01 8.19443913e-01 1.28960934e-02 1.58302013e+01] [-3.42659141e-02 8.23335822e-03 9.99378837e-01 1.06741724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.698040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.54, Y:15.85, Z:1.07 [[ 8.17569633e-01 -5.75105268e-01 2.88760285e-02 5.75360066e+01] [ 5.74834932e-01 8.18076762e-01 1.77542157e-02 1.58465144e+01] [-3.38333509e-02 2.08364221e-03 9.99425316e-01 1.06910007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.56, Y:15.87, Z:1.06 [[ 8.17619188e-01 -5.74706493e-01 3.48038848e-02 5.75552752e+01] [ 5.74638565e-01 8.18305247e-01 1.29244599e-02 1.58654036e+01] [-3.59079726e-02 9.43236798e-03 9.99310586e-01 1.06224297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.58, Y:15.88, Z:1.06 [[ 8.16866391e-01 -5.75621388e-01 3.72735335e-02 5.75758534e+01] [ 5.75565809e-01 8.17647590e-01 1.32822262e-02 1.58834687e+01] [-3.81221484e-02 1.06035673e-02 9.99216826e-01 1.05772514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.788040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.60, Y:15.89, Z:1.06 [[ 8.18624815e-01 -5.73606437e-01 2.87935282e-02 5.76004186e+01] [ 5.73211764e-01 8.19130511e-01 2.12950603e-02 1.58937643e+01] [-3.58006411e-02 -9.27875687e-04 9.99358521e-01 1.06279428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.818040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:57.62, Y:15.91, Z:1.07 [[ 8.17535730e-01 -5.75495518e-01 2.09818985e-02 5.76202467e+01] [ 5.75077474e-01 8.17777685e-01 2.29250207e-02 1.59086325e+01] [-3.03517750e-02 -6.67580636e-03 9.99516985e-01 1.07157996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:15.92, Z:1.07 [[ 8.18104675e-01 -5.74668623e-01 2.14642619e-02 5.76447129e+01] [ 5.74031730e-01 8.18300673e-01 2.95225611e-02 1.59227612e+01] [-3.45299095e-02 -1.18313778e-02 9.99333630e-01 1.07145571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.878040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:57.66, Y:15.94, Z:1.07 [[ 8.18807228e-01 -5.73414338e-01 2.73992805e-02 5.76645528e+01] [ 5.73029387e-01 8.19264062e-01 2.10646331e-02 1.59427101e+01] [-3.45260085e-02 -1.54728092e-03 9.99402602e-01 1.06569308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.908040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.68, Y:15.96, Z:1.06 [[ 8.20050359e-01 -5.71434092e-01 3.13127334e-02 5.76834380e+01] [ 5.71354629e-01 8.20610943e-01 1.23112974e-02 1.59626980e+01] [-3.27306667e-02 7.79479136e-03 9.99433812e-01 1.05969067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.938040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.71, Y:15.98, Z:1.06 [[ 8.19977972e-01 -5.71750018e-01 2.71669470e-02 5.77083099e+01] [ 5.71457360e-01 8.20427722e-01 1.82986208e-02 1.59753006e+01] [-3.27507532e-02 5.20285843e-04 9.99463415e-01 1.06160688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.73, Y:16.00, Z:1.04 [[ 8.19596936e-01 -5.70871145e-01 4.86518034e-02 5.77276891e+01] [ 5.71467557e-01 8.20622261e-01 1.98370252e-03 1.60034918e+01] [-4.10571915e-02 2.61770907e-02 9.98813830e-01 1.03650850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:16.00, Z:1.07 [[ 8.21013436e-01 -5.70751044e-01 1.34232560e-02 5.77626961e+01] [ 5.70015653e-01 8.20817019e-01 3.66275418e-02 1.59996315e+01] [-3.19232447e-02 -2.24202379e-02 9.99238830e-01 1.06891714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.78, Y:16.02, Z:1.06 [[ 8.21663556e-01 -5.69417709e-01 2.51490390e-02 5.77799978e+01] [ 5.69058779e-01 8.22044788e-01 2.03586046e-02 1.60228396e+01] [-3.22661864e-02 -2.41664201e-03 9.99476389e-01 1.06008587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.058040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:57.80, Y:16.04, Z:1.06 [[ 8.21863138e-01 -5.69058546e-01 2.67086924e-02 5.78024418e+01] [ 5.68783273e-01 8.22296763e-01 1.77093742e-02 1.60396964e+01] [-3.20401420e-02 6.36775598e-04 9.99486380e-01 1.05809705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.83, Y:16.05, Z:1.06 [[ 8.23213074e-01 -5.67237754e-01 2.36973546e-02 5.78269796e+01] [ 5.66784672e-01 8.23533395e-01 2.34068933e-02 1.60527338e+01] [-3.27928365e-02 -5.83756327e-03 9.99445122e-01 1.05928806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:16.07, Z:1.05 [[ 8.23563784e-01 -5.66447234e-01 2.96685885e-02 5.78452779e+01] [ 5.66363837e-01 8.24068632e-01 1.19538101e-02 1.60727848e+01] [-3.12201558e-02 6.95849054e-03 9.99488310e-01 1.05265856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:16.09, Z:1.05 [[ 8.22383955e-01 -5.68259199e-01 2.76787506e-02 5.78721552e+01] [ 5.67976735e-01 8.22849044e-01 1.79410121e-02 1.60882969e+01] [-3.29705787e-02 9.66485871e-04 9.99455855e-01 1.05336576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:16.10, Z:1.06 [[ 8.21917832e-01 -5.69072063e-01 2.46589597e-02 5.78961416e+01] [ 5.68556578e-01 8.22261066e-01 2.51029054e-02 1.61002109e+01] [-3.45614647e-02 -6.61251178e-03 9.99380698e-01 1.05598379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:16.12, Z:1.05 [[ 8.21210077e-01 -5.69876378e-01 2.92390605e-02 5.79163604e+01] [ 5.69535121e-01 8.21730312e-01 1.97240840e-02 1.61175065e+01] [-3.52669119e-02 4.55055320e-04 9.99377825e-01 1.05193562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.238040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.94, Y:16.14, Z:1.05 [[ 8.18935080e-01 -5.72886169e-01 3.38640275e-02 5.79382788e+01] [ 5.73007717e-01 8.19520396e-01 6.96252757e-03 1.61384901e+01] [-3.17409970e-02 1.37024910e-02 9.99402197e-01 1.04613679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:16.14, Z:1.05 [[ 8.18191578e-01 -5.74514106e-01 2.22729362e-02 5.79690897e+01] [ 5.73868443e-01 8.18415871e-01 2.95037618e-02 1.61446327e+01] [-3.51788519e-02 -1.13579942e-02 9.99316489e-01 1.05462167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.298040942 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:57.99, Y:16.17, Z:1.05 [[ 8.16220873e-01 -5.77023044e-01 2.87731399e-02 5.79871936e+01] [ 5.76696044e-01 8.16727541e-01 1.94370170e-02 1.61652476e+01] [-3.47154225e-02 7.28456936e-04 9.99396973e-01 1.04794427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.01, Y:16.19, Z:1.03 [[ 8.16251366e-01 -5.76062547e-01 4.34240673e-02 5.80107570e+01] [ 5.76311744e-01 8.17192684e-01 7.80329886e-03 1.61896920e+01] [-3.99810183e-02 1.86563466e-02 9.99026255e-01 1.02973482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:16.20, Z:1.04 [[ 8.15771335e-01 -5.77511629e-01 3.15823900e-02 5.80396653e+01] [ 5.77045227e-01 8.16382146e-01 2.32163311e-02 1.61980908e+01] [-3.91910005e-02 -7.14750009e-04 9.99231482e-01 1.03744177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.06, Y:16.21, Z:1.05 [[ 8.14221847e-01 -5.80188484e-01 2.05938571e-02 5.80603544e+01] [ 5.79467592e-01 8.14355861e-01 3.22775802e-02 1.62086225e+01] [-3.54978085e-02 -1.43476382e-02 9.99266757e-01 1.05024602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.418040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:58.08, Y:16.23, Z:1.04 [[ 8.13576568e-01 -5.80721946e-01 2.92436294e-02 5.80787638e+01] [ 5.80385532e-01 8.14101500e-01 1.97833640e-02 1.62312603e+01] [-3.52959162e-02 8.77298022e-04 9.99376520e-01 1.04344023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:58.10, Y:16.25, Z:1.04 [[ 8.13237961e-01 -5.81189937e-01 2.93645341e-02 5.81002196e+01] [ 5.80850621e-01 8.13767450e-01 1.98769809e-02 1.62472923e+01] [-3.54482033e-02 8.91692416e-04 9.99371117e-01 1.04216654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.12, Y:16.26, Z:1.04 [[ 8.13455647e-01 -5.80855168e-01 2.99530500e-02 5.81206635e+01] [ 5.80501688e-01 8.14006438e-01 2.02807374e-02 1.62647687e+01] [-3.61621467e-02 8.90315727e-04 9.99345539e-01 1.04109962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.14, Y:16.28, Z:1.04 [[ 8.13893436e-01 -5.80237118e-01 3.00393357e-02 5.81432384e+01] [ 5.79880975e-01 8.14447141e-01 2.03447481e-02 1.62814984e+01] [-3.62702291e-02 8.60782329e-04 9.99341648e-01 1.03981678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.538040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:58.17, Y:16.30, Z:1.04 [[ 8.14313700e-01 -5.79642051e-01 3.01378685e-02 5.81660869e+01] [ 5.79282715e-01 8.14870792e-01 2.04236944e-02 1.62984943e+01] [-3.63969009e-02 8.27052181e-04 9.99337071e-01 1.03847054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.19, Y:16.32, Z:1.04 [[ 8.15526348e-01 -5.77905543e-01 3.06913567e-02 5.81878718e+01] [ 5.77531175e-01 8.16103313e-01 2.08116549e-02 1.63161578e+01] [-3.70744886e-02 7.52762368e-04 9.99312221e-01 1.03730780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.598040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.21, Y:16.33, Z:1.04 [[ 8.16139246e-01 -5.77009287e-01 3.12572042e-02 5.82104352e+01] [ 5.76619824e-01 8.16737272e-01 2.12086280e-02 1.63331638e+01] [-3.77664990e-02 7.14329958e-04 9.99286336e-01 1.03614330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:16.35, Z:1.03 [[ 8.17118454e-01 -5.75537224e-01 3.27770667e-02 5.82315967e+01] [ 5.75107240e-01 8.17775311e-01 2.22531634e-02 1.63509037e+01] [-3.96117998e-02 6.66857907e-04 9.99214922e-01 1.03467881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.25, Y:16.37, Z:1.03 [[ 8.17306177e-01 -5.75259643e-01 3.29690157e-02 5.82539511e+01] [ 5.74824099e-01 8.17970610e-01 2.23905562e-02 1.63679950e+01] [-3.98480693e-02 6.51444859e-04 9.99205538e-01 1.03338268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.28, Y:16.39, Z:1.02 [[ 8.18631034e-01 -5.72630576e-01 4.40165092e-02 5.82758580e+01] [ 5.72791974e-01 8.19638487e-01 1.01046861e-02 1.63906790e+01] [-4.18638772e-02 1.69402935e-02 9.98979701e-01 1.01895054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.718040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.30, Y:16.40, Z:1.04 [[ 8.17291140e-01 -5.75697778e-01 2.46426795e-02 5.83027433e+01] [ 5.74784524e-01 8.17524217e-01 3.57338109e-02 1.63957915e+01] [-4.07178629e-02 -1.50406963e-02 9.99057472e-01 1.03681789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:16.42, Z:1.03 [[ 8.16768169e-01 -5.75958471e-01 3.40822296e-02 5.83195121e+01] [ 5.75491968e-01 8.17478674e-01 2.31864560e-02 1.64181058e+01] [-4.12159316e-02 6.76090164e-04 9.99150034e-01 1.02923178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:16.43, Z:1.03 [[ 8.16176727e-01 -5.76779033e-01 3.43729162e-02 5.83422873e+01] [ 5.76304943e-01 8.16899891e-01 2.33918806e-02 1.64347727e+01] [-4.15711778e-02 7.17372969e-04 9.99135287e-01 1.02781407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:16.45, Z:1.03 [[ 8.16977853e-01 -5.75830246e-01 3.10920530e-02 5.83720821e+01] [ 5.75297179e-01 8.17565611e-01 2.48923143e-02 1.64493327e+01] [-3.97535408e-02 -2.44929910e-03 9.99206514e-01 1.02672031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.838040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:58.40, Y:16.46, Z:1.03 [[ 8.17504560e-01 -5.75403234e-01 2.44420128e-02 5.83990539e+01] [ 5.74744702e-01 8.17810578e-01 2.92298802e-02 1.64614577e+01] [-3.68079043e-02 -9.84764297e-03 9.99273837e-01 1.03262766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.41, Y:16.49, Z:1.02 [[ 8.13232970e-01 -5.80404966e-01 4.22162562e-02 5.84053715e+01] [ 5.80520386e-01 8.14175032e-01 1.07284105e-02 1.64900561e+01] [-4.05982444e-02 1.57827002e-02 9.99050894e-01 1.01851078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.43, Y:16.50, Z:1.02 [[ 8.12198291e-01 -5.82405194e-01 3.37361336e-02 5.84321134e+01] [ 5.81953179e-01 8.12898041e-01 2.29624294e-02 1.65009975e+01] [-4.07974751e-02 9.82804287e-04 9.99166953e-01 1.02265134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.928040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.45, Y:16.52, Z:1.02 [[ 8.11215494e-01 -5.83785868e-01 3.35183844e-02 5.84539697e+01] [ 5.83340299e-01 8.11907008e-01 2.28277253e-02 1.65178865e+01] [-4.05403147e-02 1.03441993e-03 9.99177368e-01 1.02133793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.958040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.48, Y:16.54, Z:1.02 [[ 8.09138313e-01 -5.86642651e-01 3.38465654e-02 5.84753247e+01] [ 5.86190236e-01 8.09845055e-01 2.30649861e-02 1.65368073e+01] [-4.09413782e-02 1.17776223e-03 9.99160856e-01 1.01834381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.988040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.50, Y:16.55, Z:1.02 [[ 8.08079569e-01 -5.88112506e-01 3.36316873e-02 5.84980815e+01] [ 5.87666545e-01 8.08778189e-01 2.29319258e-02 1.65540154e+01] [-4.06871275e-02 1.23339677e-03 9.99171175e-01 1.01694853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.52, Y:16.57, Z:1.02 [[ 8.07098506e-01 -5.89463321e-01 3.35409492e-02 5.85201704e+01] [ 5.89020382e-01 8.07794118e-01 2.28834605e-02 1.65708706e+01] [-4.05831421e-02 1.28709597e-03 9.99175336e-01 1.01593673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.54, Y:16.59, Z:1.01 [[ 8.05423852e-01 -5.91730603e-01 3.38719842e-02 5.85416813e+01] [ 5.91280302e-01 8.06134556e-01 2.31232059e-02 1.65890885e+01] [-4.09880855e-02 1.40385546e-03 9.99158649e-01 1.01418295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.56, Y:16.61, Z:1.01 [[ 8.04791877e-01 -5.92607069e-01 3.35692756e-02 5.85634807e+01] [ 5.92165014e-01 8.05490429e-01 2.29295618e-02 1.66059718e+01] [-4.06279506e-02 1.42502551e-03 9.99173328e-01 1.01320523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.58, Y:16.63, Z:1.01 [[ 8.03923519e-01 -5.93744788e-01 3.42651829e-02 5.85836659e+01] [ 5.93284804e-01 8.04652013e-01 2.34153661e-02 1.66253780e+01] [-4.14743000e-02 1.50484880e-03 9.99138438e-01 1.01157122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:16.64, Z:1.01 [[ 8.03593122e-01 -5.94185217e-01 3.43805585e-02 5.86051492e+01] [ 5.93721951e-01 8.04326808e-01 2.35081211e-02 1.66433396e+01] [-4.16213829e-02 1.52152782e-03 9.99132296e-01 1.01006426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.63, Y:16.66, Z:1.01 [[ 8.03395204e-01 -5.94454000e-01 3.43596846e-02 5.86268981e+01] [ 5.93990965e-01 8.04128175e-01 2.35077184e-02 1.66612914e+01] [-4.16038477e-02 1.52335403e-03 9.99133024e-01 1.00879530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.65, Y:16.68, Z:1.01 [[ 8.03595281e-01 -5.94220980e-01 3.37053685e-02 5.86478392e+01] [ 5.93774664e-01 8.04300479e-01 2.30735214e-02 1.66804852e+01] [-4.08200146e-02 1.47162090e-03 9.99165432e-01 1.00751832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.67, Y:16.70, Z:1.01 [[ 8.03607990e-01 -5.94204298e-01 3.36964546e-02 5.86698724e+01] [ 5.93757644e-01 8.04312826e-01 2.30811056e-02 1.66979856e+01] [-4.08173827e-02 1.45936662e-03 9.99165558e-01 1.00620281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:16.72, Z:1.01 [[ 8.03950846e-01 -5.93764157e-01 3.32740618e-02 5.86913093e+01] [ 5.93327762e-01 8.04637894e-01 2.28040936e-02 1.67153390e+01] [-4.03138245e-02 1.40905426e-03 9.99186074e-01 1.00557607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:16.74, Z:1.00 [[ 8.04607202e-01 -5.92873610e-01 3.32886220e-02 5.87114577e+01] [ 5.92435786e-01 8.05294378e-01 2.28211611e-02 1.67360018e+01] [-4.03372043e-02 1.35930030e-03 9.99185199e-01 1.00412950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.73, Y:16.75, Z:1.00 [[ 8.04961560e-01 -5.92411606e-01 3.29450571e-02 5.87322589e+01] [ 5.91981847e-01 8.05634390e-01 2.25991778e-02 1.67544236e+01] [-3.99296862e-02 1.31140636e-03 9.99201631e-01 1.00263963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.75, Y:16.77, Z:1.00 [[ 8.05804814e-01 -5.91299786e-01 3.22980630e-02 5.87516269e+01] [ 5.90885370e-01 8.06450911e-01 2.21677224e-02 1.67742688e+01] [-3.91545718e-02 1.22159555e-03 9.99232419e-01 1.00157758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.77, Y:16.79, Z:1.00 [[ 8.05947833e-01 -5.91101303e-01 3.23626227e-02 5.87728462e+01] [ 5.90684839e-01 8.06596421e-01 2.22178958e-02 1.67912133e+01] [-3.92366028e-02 1.20964563e-03 9.99229216e-01 1.00068579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:16.81, Z:1.00 [[ 8.05936261e-01 -5.91134878e-01 3.20359134e-02 5.87948635e+01] [ 5.90726555e-01 8.06571839e-01 2.20001574e-02 1.68088651e+01] [-3.88443260e-02 1.19374015e-03 9.99244561e-01 9.99827915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.82, Y:16.83, Z:1.00 [[ 8.06070431e-01 -5.90955975e-01 3.19608530e-02 5.88162469e+01] [ 5.90548950e-01 8.06702957e-01 2.19607981e-02 1.68259599e+01] [-3.87607795e-02 1.17249819e-03 9.99247831e-01 9.99122839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:16.85, Z:1.00 [[ 8.06368419e-01 -5.90526834e-01 3.23733098e-02 5.88365665e+01] [ 5.90108623e-01 8.07017168e-01 2.22509377e-02 1.68459064e+01] [-3.92655926e-02 1.16131579e-03 9.99228134e-01 9.97304221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:16.87, Z:1.00 [[ 8.06411422e-01 -5.90431877e-01 3.30275287e-02 5.88569038e+01] [ 5.89995960e-01 8.07086632e-01 2.27141949e-02 1.68652766e+01] [-4.00672617e-02 1.16912229e-03 9.99196301e-01 9.95763964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:16.89, Z:0.99 [[ 8.07714433e-01 -5.88193998e-01 4.03139583e-02 5.88812137e+01] [ 5.88137591e-01 8.08630872e-01 1.45012801e-02 1.68871884e+01] [-4.11286772e-02 1.19972611e-02 9.99081827e-01 9.86766173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.90, Y:16.90, Z:0.98 [[ 8.07138445e-01 -5.89081629e-01 3.88634008e-02 5.89022133e+01] [ 5.88803601e-01 8.08041710e-01 1.94657258e-02 1.69028345e+01] [-4.28701503e-02 7.17137464e-03 9.99054914e-01 9.84845206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:16.91, Z:1.00 [[ 8.06943736e-01 -5.90122943e-01 2.44278273e-02 5.89274018e+01] [ 5.89173428e-01 8.07168425e-01 3.67940866e-02 1.69110910e+01] [-4.14304056e-02 -1.52985309e-02 9.99024262e-01 9.97216351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61804094200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.94, Y:16.94, Z:0.99 [[ 8.07146463e-01 -5.89390050e-01 3.36742663e-02 5.89434107e+01] [ 5.88933994e-01 8.07847856e-01 2.32075895e-02 1.69364983e+01] [-4.08820061e-02 1.09999636e-03 9.99163376e-01 9.90907521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:16.95, Z:0.99 [[ 8.07007780e-01 -5.89582804e-01 3.36238028e-02 5.89656210e+01] [ 5.89127711e-01 8.07707196e-01 2.31867696e-02 1.69545168e+01] [-4.08287081e-02 1.09681046e-03 9.99165559e-01 9.89845078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:16.97, Z:0.99 [[ 8.07523356e-01 -5.88872580e-01 3.36914561e-02 5.89857476e+01] [ 5.88414510e-01 8.08225202e-01 2.32462406e-02 1.69734839e+01] [-4.09193575e-02 1.05265939e-03 9.99161898e-01 9.87788874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.708040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.01, Y:16.99, Z:0.99 [[ 8.07698387e-01 -5.88646461e-01 3.34463723e-02 5.90075650e+01] [ 5.88194547e-01 8.08389935e-01 2.30843485e-02 1.69907333e+01] [-4.06262308e-02 1.02778273e-03 9.99173885e-01 9.86658061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:17.01, Z:0.99 [[ 8.08289208e-01 -5.87811691e-01 3.38522129e-02 5.90287735e+01] [ 5.87347432e-01 8.08997183e-01 2.33784469e-02 1.70088840e+01] [-4.11284693e-02 9.86463962e-04 9.99153380e-01 9.85291218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.05, Y:17.03, Z:0.98 [[ 8.09156995e-01 -5.86549356e-01 3.49972830e-02 5.90497033e+01] [ 5.86155074e-01 8.09908107e-01 2.17045534e-02 1.70268161e+01] [-4.10753751e-02 2.95144381e-03 9.99151691e-01 9.83816491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:17.04, Z:0.99 [[ 8.10259487e-01 -5.85401974e-01 2.80016508e-02 5.90799575e+01] [ 5.84769047e-01 8.10719101e-01 2.79231276e-02 1.70407191e+01] [-3.90477272e-02 -6.25048037e-03 9.99217797e-01 9.85841414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.10, Y:17.06, Z:0.98 [[ 8.10894256e-01 -5.84448327e-01 2.95069220e-02 5.91015925e+01] [ 5.83950310e-01 8.11427294e-01 2.42442121e-02 1.70596727e+01] [-3.81122110e-02 -2.42891608e-03 9.99270514e-01 9.84138329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:17.08, Z:0.98 [[ 8.10630782e-01 -5.84702539e-01 3.16334476e-02 5.91238967e+01] [ 5.84312623e-01 8.11246950e-01 2.13809502e-02 1.70775172e+01] [-3.81640337e-02 1.15176636e-03 9.99270824e-01 9.82052780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:17.10, Z:0.97 [[ 8.10044082e-01 -5.84804751e-01 4.28017264e-02 5.91367995e+01] [ 5.84936420e-01 8.11008723e-01 1.06881111e-02 1.71021241e+01] [-4.09630316e-02 1.63784474e-02 9.99026414e-01 9.70657897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.18, Y:17.10, Z:0.99 [[ 8.12475088e-01 -5.82880864e-01 1.15814763e-02 5.91801699e+01] [ 5.82054507e-01 8.12131533e-01 4.06807644e-02 1.71005837e+01] [-3.31177212e-02 -2.63110571e-02 9.99105072e-01 9.94904013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.18, Y:17.14, Z:0.97 [[ 8.10344730e-01 -5.84226923e-01 4.49479863e-02 5.91834238e+01] [ 5.84655033e-01 8.11270529e-01 4.31521387e-03 1.71393347e+01] [-3.89860407e-02 2.27822556e-02 9.98980009e-01 9.72088942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:17.15, Z:0.96 [[ 8.07420763e-01 -5.88070005e-01 4.73854400e-02 5.92008508e+01] [ 5.88097867e-01 8.08653836e-01 1.48281265e-02 1.71548953e+01] [-4.70383943e-02 1.58947390e-02 9.98766613e-01 9.63114097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.23, Y:17.17, Z:0.97 [[ 8.07377574e-01 -5.88584708e-01 4.13460229e-02 5.92274344e+01] [ 5.88247024e-01 8.08403425e-01 2.11976645e-02 1.71686049e+01] [-4.59008877e-02 7.20715594e-03 9.98920000e-01 9.65124958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:17.17, Z:0.98 [[ 8.08745595e-01 -5.87949000e-01 1.57014711e-02 5.92662236e+01] [ 5.86919029e-01 8.08485771e-01 4.33221747e-02 1.71713823e+01] [-3.81656453e-02 -2.58211258e-02 9.98937762e-01 9.82205286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.28, Y:17.20, Z:0.97 [[ 8.07356010e-01 -5.88871814e-01 3.75001166e-02 5.92771376e+01] [ 5.88688331e-01 8.08182738e-01 1.69325473e-02 1.72020514e+01] [-4.02780467e-02 8.40528725e-03 9.99153156e-01 9.68779256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.29, Y:17.22, Z:0.96 [[ 8.05005175e-01 -5.91803024e-01 4.16635196e-02 5.92940667e+01] [ 5.91791036e-01 8.05970751e-01 1.39469948e-02 1.72208986e+01] [-4.18334519e-02 1.34286944e-02 9.99034350e-01 9.61291338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.33, Y:17.23, Z:0.97 [[ 8.04642565e-01 -5.93223454e-01 2.52245181e-02 5.93254290e+01] [ 5.92261730e-01 8.04903819e-01 3.68223453e-02 1.72253643e+01] [-4.21471898e-02 -1.46893096e-02 9.99003423e-01 9.72086602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:17.25, Z:0.97 [[ 8.04594941e-01 -5.92985167e-01 3.15526942e-02 5.93469623e+01] [ 5.92393358e-01 8.05208748e-01 2.66267013e-02 1.72465719e+01] [-4.11957442e-02 -2.73210267e-03 9.99147360e-01 9.69867255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:17.27, Z:0.96 [[ 8.03774195e-01 -5.93704904e-01 3.82299726e-02 5.93652207e+01] [ 5.93447378e-01 8.04648635e-01 1.89943320e-02 1.72663217e+01] [-4.20387233e-02 7.42032308e-03 9.99088427e-01 9.63324427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.40, Y:17.27, Z:0.97 [[ 8.04129480e-01 -5.93903432e-01 2.55830568e-02 5.93954337e+01] [ 5.92962572e-01 8.04415410e-01 3.62110098e-02 1.72724008e+01] [-4.20852482e-02 -1.39485453e-02 9.99016652e-01 9.73437555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:17.29, Z:0.97 [[ 8.04613718e-01 -5.93047921e-01 2.98484254e-02 5.94162185e+01] [ 5.92147395e-01 8.05108014e-01 3.40961546e-02 1.72893981e+01] [-4.42518601e-02 -9.75956635e-03 9.98972734e-01 9.71048064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:17.33, Z:0.95 [[ 7.99974386e-01 -5.96890818e-01 6.13378598e-02 5.94234961e+01] [ 5.98524481e-01 8.01028296e-01 -1.10505885e-02 1.73340739e+01] [-4.25373665e-02 4.55523984e-02 9.98055886e-01 9.45703871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:17.33, Z:0.96 [[ 8.02144777e-01 -5.96204355e-01 3.32283638e-02 5.94585487e+01] [ 5.95306510e-01 8.02801677e-01 3.34608086e-02 1.73273617e+01] [-4.66252659e-02 -7.05935155e-03 9.98887506e-01 9.56179702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:17.35, Z:0.95 [[ 8.02804599e-01 -5.95209058e-01 3.50849535e-02 5.94821528e+01] [ 5.94524071e-01 8.03568089e-01 2.86261403e-02 1.73462881e+01] [-4.52316871e-02 -2.12234770e-03 9.98974269e-01 9.54668044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:17.36, Z:0.96 [[ 8.04795776e-01 -5.92950055e-01 2.67206171e-02 5.95121707e+01] [ 5.92273269e-01 8.05201261e-01 2.93820521e-02 1.73598639e+01] [-3.89375640e-02 -7.82064422e-03 9.99211041e-01 9.61853864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:17.38, Z:0.96 [[ 8.06757170e-01 -5.89913156e-01 3.38428220e-02 5.95321307e+01] [ 5.89442742e-01 8.07466161e-01 2.35722957e-02 1.73788493e+01] [-4.12325409e-02 9.31287207e-04 9.99149143e-01 9.57374024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.55, Y:17.40, Z:0.95 [[ 8.07318651e-01 -5.88734211e-01 4.03562255e-02 5.95499928e+01] [ 5.88665098e-01 8.08240861e-01 1.48361932e-02 1.74000007e+01] [-4.13521249e-02 1.17787660e-02 9.99075204e-01 9.49993517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.58, Y:17.41, Z:0.96 [[ 8.08852623e-01 -5.87242076e-01 3.00695642e-02 5.95798774e+01] [ 5.86413842e-01 8.09366650e-01 3.23176737e-02 1.74083402e+01] [-4.33156003e-02 -8.50702650e-03 9.99025220e-01 9.55088369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:17.43, Z:0.95 [[ 8.10438896e-01 -5.84565930e-01 3.83597493e-02 5.95933542e+01] [ 5.84065710e-01 8.11341755e-01 2.43270149e-02 1.74265317e+01] [-4.53436104e-02 2.68905515e-03 9.98967830e-01 9.47753164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.62, Y:17.45, Z:0.94 [[ 8.10788243e-01 -5.83585287e-01 4.52839685e-02 5.96162158e+01] [ 5.83386637e-01 8.11975607e-01 1.88585695e-02 1.74501402e+01] [-4.77750615e-02 1.11277556e-02 9.98796134e-01 9.41583552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:17.46, Z:0.95 [[ 8.12133626e-01 -5.82475266e-01 3.40813257e-02 5.96462429e+01] [ 5.81565541e-01 8.12816033e-01 3.33409377e-02 1.74580712e+01] [-4.71221195e-02 -7.25677203e-03 9.98862776e-01 9.47392466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.578040942 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:59.67, Y:17.48, Z:0.95 [[ 8.13153005e-01 -5.80954811e-01 3.56889151e-02 5.96686734e+01] [ 5.80321039e-01 8.13934648e-01 2.71639746e-02 1.74758374e+01] [-4.48294862e-02 -1.37743930e-03 9.98993704e-01 9.48411619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:17.49, Z:0.95 [[ 8.13565771e-01 -5.80414578e-01 3.50664156e-02 5.96921622e+01] [ 5.79691189e-01 8.14314030e-01 2.91682375e-02 1.74887880e+01] [-4.54847445e-02 -3.40258752e-03 9.98959239e-01 9.47797539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.638040942 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:59.71, Y:17.51, Z:0.94 [[ 8.13450413e-01 -5.80352733e-01 3.85892623e-02 5.97136938e+01] [ 5.79913835e-01 8.14356500e-01 2.28786955e-02 1.75074774e+01] [-4.47031301e-02 3.76776283e-03 9.98993210e-01 9.44574480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668040942 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:59.74, Y:17.52, Z:0.94 [[ 8.11598279e-01 -5.83030702e-01 3.71945400e-02 5.97387375e+01] [ 5.82530354e-01 8.12447659e-01 2.42319406e-02 1.75222284e+01] [-4.43465822e-02 2.00034726e-03 9.99014204e-01 9.43673709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:17.54, Z:0.94 [[ 8.11420804e-01 -5.83315686e-01 3.65935724e-02 5.97616529e+01] [ 5.82983629e-01 8.12230868e-01 2.02757243e-02 1.75382379e+01] [-4.15495771e-02 4.88130912e-03 9.99124520e-01 9.43155689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.79, Y:17.55, Z:0.94 [[ 8.10187205e-01 -5.85228310e-01 3.32342782e-02 5.97883710e+01] [ 5.84405974e-01 8.10844844e-01 3.16274630e-02 1.75485818e+01] [-4.54571298e-02 -6.20185518e-03 9.98947039e-01 9.41811171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.81, Y:17.57, Z:0.94 [[ 8.08130006e-01 -5.87921308e-01 3.56991519e-02 5.98145883e+01] [ 5.87598674e-01 8.08904045e-01 2.00510229e-02 1.75686186e+01] [-4.06656120e-02 4.77294106e-03 9.99161412e-01 9.39268208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:17.58, Z:0.94 [[ 8.09088769e-01 -5.86799211e-01 3.22808010e-02 5.98376286e+01] [ 5.86083513e-01 8.09717963e-01 2.93757714e-02 1.75769134e+01] [-4.33760240e-02 -4.84836146e-03 9.99047053e-01 9.41859940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:17.60, Z:0.94 [[ 8.07998907e-01 -5.87953682e-01 3.80556567e-02 5.98572225e+01] [ 5.87636327e-01 8.08872220e-01 2.02306472e-02 1.75979527e+01] [-4.26768470e-02 6.01654548e-03 9.99070812e-01 9.38137988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.88, Y:17.62, Z:0.93 [[ 8.08004920e-01 -5.87421854e-01 4.54270313e-02 5.98752476e+01] [ 5.87424266e-01 8.09145512e-01 1.47062165e-02 1.76171096e+01] [-4.53958314e-02 1.48022452e-02 9.98859406e-01 9.27242296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.91, Y:17.63, Z:0.93 [[ 8.08123932e-01 -5.87972992e-01 3.49781651e-02 5.99065544e+01] [ 5.87188389e-01 8.08869460e-01 3.06593180e-02 1.76256958e+01] [-4.63196204e-02 -4.23775620e-03 9.98917681e-01 9.31306351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.93, Y:17.64, Z:0.94 [[ 8.09791316e-01 -5.85932545e-01 3.03492477e-02 5.99349968e+01] [ 5.85179818e-01 8.10330201e-01 3.04884619e-02 1.76390586e+01] [-4.24570941e-02 -6.92952439e-03 9.99074260e-01 9.36118555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.96, Y:17.65, Z:0.94 [[ 8.10394257e-01 -5.85214767e-01 2.80147217e-02 5.99576467e+01] [ 5.84564799e-01 8.10851471e-01 2.83529063e-02 1.76520666e+01] [-3.93083178e-02 -6.60061222e-03 9.99205328e-01 9.38318995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.97, Y:17.68, Z:0.93 [[ 8.10851835e-01 -5.84062578e-01 3.72854752e-02 5.99740224e+01] [ 5.84223557e-01 8.11557613e-01 7.55490191e-03 1.76751225e+01] [-3.46718467e-02 1.56571469e-02 9.99276096e-01 9.31715027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:17.68, Z:0.94 [[ 8.12759605e-01 -5.82058246e-01 2.51002591e-02 6.00094492e+01] [ 5.81343687e-01 8.13081989e-01 3.06136626e-02 1.76793595e+01] [-3.82275034e-02 -1.02896711e-02 9.99216083e-01 9.35526997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.02, Y:17.71, Z:0.92 [[ 8.10848650e-01 -5.82911840e-01 5.23283324e-02 6.00154944e+01] [ 5.83620722e-01 8.12023659e-01 2.10460909e-03 1.77124639e+01] [-4.37186455e-02 2.88333797e-02 9.98627717e-01 9.15405590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:17.70, Z:0.94 [[ 8.13454079e-01 -5.81532164e-01 1.06209340e-02 6.00601875e+01] [ 5.80492693e-01 8.12870254e-01 4.76464401e-02 1.77011333e+01] [-3.63413787e-02 -3.25928164e-02 9.98807796e-01 9.42979742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.07, Y:17.73, Z:0.93 [[ 8.14089214e-01 -5.79973398e-01 2.98263100e-02 6.00731334e+01] [ 5.79595711e-01 8.14635376e-01 2.09288345e-02 1.77286697e+01] [-3.64357345e-02 2.49262928e-04 9.99335967e-01 9.32006452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.10, Y:17.75, Z:0.92 [[ 8.14970787e-01 -5.78320636e-01 3.69845646e-02 6.00969765e+01] [ 5.78251481e-01 8.15744777e-01 1.36265771e-02 1.77466607e+01] [-3.80504961e-02 1.02811170e-02 9.99222927e-01 9.24190219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:17.76, Z:0.93 [[ 8.15040568e-01 -5.78604152e-01 3.04320185e-02 6.01241459e+01] [ 5.78184919e-01 8.15608429e-01 2.20247662e-02 1.77572648e+01] [-3.75642319e-02 -3.55743827e-04 9.99294152e-01 9.27077047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:17.77, Z:0.93 [[ 8.14870194e-01 -5.79187869e-01 2.29778024e-02 6.01505305e+01] [ 5.78611808e-01 8.15144554e-01 2.73446655e-02 1.77671622e+01] [-3.45679290e-02 -8.98712505e-03 9.99361941e-01 9.32143282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.16, Y:17.80, Z:0.91 [[ 8.12885578e-01 -5.80760628e-01 4.39787488e-02 6.01634752e+01] [ 5.81153008e-01 8.13781436e-01 4.57766115e-03 1.77958597e+01] [-3.84476147e-02 2.18372674e-02 9.99021979e-01 9.14217047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.20, Y:17.80, Z:0.92 [[ 8.11157323e-01 -5.83960517e-01 3.18419945e-02 6.01951587e+01] [ 5.83613046e-01 8.11779208e-01 2.02565736e-02 1.77997458e+01] [-3.76777083e-02 2.15213545e-03 9.99287626e-01 9.19130282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:17.81, Z:0.92 [[ 8.11012303e-01 -5.84336486e-01 2.84590087e-02 6.02196383e+01] [ 5.83918638e-01 8.11510378e-01 2.21343965e-02 1.78110133e+01] [-3.60287164e-02 -1.33352232e-03 9.99349865e-01 9.21146253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:17.83, Z:0.92 [[ 8.09379197e-01 -5.86467659e-01 3.10000052e-02 6.02438122e+01] [ 5.86173097e-01 8.09967303e-01 1.88167073e-02 1.78292855e+01] [-3.61443809e-02 2.94151757e-03 9.99342249e-01 9.18408193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.328040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.27, Y:17.84, Z:0.92 [[ 8.08904298e-01 -5.87181806e-01 2.98557038e-02 6.02664318e+01] [ 5.86855430e-01 8.09453435e-01 1.96428079e-02 1.78423919e+01] [-3.57007014e-02 1.63183017e-03 9.99361194e-01 9.17623308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.30, Y:17.86, Z:0.92 [[ 8.08976052e-01 -5.87334465e-01 2.44125768e-02 6.02956715e+01] [ 5.86903266e-01 8.09333482e-01 2.28882260e-02 1.78558415e+01] [-3.32009598e-02 -4.18820563e-03 9.99439921e-01 9.20587598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.32, Y:17.87, Z:0.92 [[ 8.08480208e-01 -5.88066146e-01 2.31939972e-02 6.03219224e+01] [ 5.87717696e-01 8.08807639e-01 2.04477788e-02 1.78695178e+01] [-3.07841286e-02 -2.90010182e-03 9.99521849e-01 9.21033535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.35, Y:17.88, Z:0.93 [[ 8.09174479e-01 -5.87285395e-01 1.82353053e-02 6.03484622e+01] [ 5.86939478e-01 8.09354542e-01 2.11488499e-02 1.78810457e+01] [-2.71792378e-02 -6.41008902e-03 9.99610024e-01 9.25093989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:17.90, Z:0.92 [[ 8.08737575e-01 -5.87819259e-01 2.02991332e-02 6.03737277e+01] [ 5.87581816e-01 8.08990606e-01 1.67871869e-02 1.78965510e+01] [-2.62896398e-02 -1.64902730e-03 9.99653008e-01 9.23910488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:17.90, Z:0.93 [[ 8.09604034e-01 -5.86931112e-01 7.29230581e-03 6.04057647e+01] [ 5.86597049e-01 8.09464935e-01 2.58925009e-02 1.79049430e+01] [-2.10999802e-02 -1.66850281e-02 9.99638135e-01 9.34747520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50804094200001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.42, Y:17.93, Z:0.92 [[ 8.07872453e-01 -5.88901272e-01 2.31816995e-02 6.04169199e+01] [ 5.89016134e-01 8.08118172e-01 2.23927113e-03 1.79309100e+01] [-2.00522622e-02 1.18453495e-02 9.99728760e-01 9.22899260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.538040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.45, Y:17.94, Z:0.93 [[ 8.07871114e-01 -5.89177501e-01 1.46333784e-02 6.04450660e+01] [ 5.89021150e-01 8.07999657e-01 1.38071750e-02 1.79393627e+01] [-1.99586416e-02 -2.53504853e-03 9.99797593e-01 9.27096419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:17.95, Z:0.93 [[ 8.07541125e-01 -5.89605240e-01 1.55882240e-02 6.04681759e+01] [ 5.89502896e-01 8.07691502e-01 1.09896784e-02 1.79549618e+01] [-1.90700480e-02 3.14685873e-04 9.99818101e-01 9.26155372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.598040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.51, Y:17.96, Z:0.94 [[ 8.09101184e-01 -5.87662642e-01 2.80944268e-03 6.05074058e+01] [ 5.87495615e-01 8.08968973e-01 2.04475884e-02 1.79617011e+01] [-1.42890358e-02 -1.48936327e-02 9.99786979e-01 9.35988079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.628040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:60.54, Y:17.98, Z:0.94 [[ 8.09509704e-01 -5.87105618e-01 -1.01583393e-03 6.05355267e+01] [ 5.87011782e-01 8.09346821e-01 1.93621384e-02 1.79764966e+01] [-1.05454583e-02 -1.62701455e-02 9.99812020e-01 9.39446210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.55, Y:18.00, Z:0.93 [[ 8.07623664e-01 -5.89449465e-01 1.71273327e-02 6.05483458e+01] [ 5.89563807e-01 8.07719054e-01 -2.10880221e-03 1.80048182e+01] [-1.25910406e-02 1.18007740e-02 9.99851093e-01 9.26083608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.59, Y:18.01, Z:0.94 [[ 8.08292860e-01 -5.88780255e-01 -6.80380337e-04 6.05862257e+01] [ 5.88709323e-01 8.08176416e-01 1.64989007e-02 1.80090339e+01] [-9.16435960e-03 -1.37364899e-02 9.99863652e-01 9.39730593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:18.04, Z:0.92 [[ 8.04767941e-01 -5.93166818e-01 2.23983970e-02 6.05967686e+01] [ 5.93462753e-01 8.04802923e-01 -9.70645614e-03 1.80392475e+01] [-1.22687477e-02 2.11040591e-02 9.99702004e-01 9.20570899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.63, Y:18.05, Z:0.93 [[ 8.04287977e-01 -5.94149460e-01 1.03570403e-02 6.06263406e+01] [ 5.94100452e-01 8.04354660e-01 7.63111134e-03 1.80472325e+01] [-1.28647543e-02 1.55112018e-05 9.99917246e-01 9.27186478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.65, Y:18.06, Z:0.93 [[ 8.04355438e-01 -5.94140185e-01 3.12574150e-03 6.06539796e+01] [ 5.94070082e-01 8.04323693e-01 1.20056202e-02 1.80584750e+01] [-9.64712933e-03 -7.79987635e-03 9.99923044e-01 9.33316780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808040942 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:60.67, Y:18.08, Z:0.93 [[ 8.03592374e-01 -5.95060321e-01 1.19377932e-02 6.06722904e+01] [ 5.95084882e-01 8.03660919e-01 1.76344173e-03 1.80796668e+01] [-1.06432920e-02 5.68691192e-03 9.99927187e-01 9.25018822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.838040942 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:60.70, Y:18.09, Z:0.93 [[ 8.03784825e-01 -5.94886736e-01 6.30290961e-03 6.06997094e+01] [ 5.94841511e-01 8.03805733e-01 7.74079348e-03 1.80905530e+01] [-9.67121025e-03 -2.47270005e-03 9.99950175e-01 9.27123160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.72, Y:18.11, Z:0.92 [[ 8.03705802e-01 -5.94897284e-01 1.24179523e-02 6.07208449e+01] [ 5.94918743e-01 8.03782587e-01 2.28965747e-03 1.81099325e+01] [-1.13434449e-02 5.54746159e-03 9.99920273e-01 9.23958667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.74, Y:18.13, Z:0.91 [[ 8.03502759e-01 -5.94831624e-01 2.36358914e-02 6.07380354e+01] [ 5.95088000e-01 8.03643968e-01 -5.16178027e-03 1.81324538e+01] [-1.59244514e-02 1.82129401e-02 9.99707307e-01 9.12135330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.928040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:60.78, Y:18.13, Z:0.93 [[ 8.05691637e-01 -5.92328665e-01 -2.78172327e-03 6.07778193e+01] [ 5.92231857e-01 8.05454473e-01 2.24615068e-02 1.81320596e+01] [-1.10640429e-02 -1.97444733e-02 9.99743839e-01 9.33939833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.958040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:60.79, Y:18.16, Z:0.92 [[ 8.06539309e-01 -5.91041511e-01 1.28169851e-02 6.07917999e+01] [ 5.91066324e-01 8.06620062e-01 2.16238902e-03 1.81589267e+01] [-1.16164990e-02 5.83163650e-03 9.99915521e-01 9.21843121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.988040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:60.80, Y:18.18, Z:0.91 [[ 8.04251191e-01 -5.93941634e-01 2.03311918e-02 6.07993580e+01] [ 5.94062432e-01 8.04418929e-01 1.21701688e-04 1.81798714e+01] [-1.64270793e-02 1.19801185e-02 9.99793293e-01 9.14752856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.018040942 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:60.82, Y:18.19, Z:0.92 [[ 8.05463546e-01 -5.92492801e-01 1.34445637e-02 6.08248102e+01] [ 5.92415373e-01 8.05575707e-01 9.58159564e-03 1.81921285e+01] [-1.65076404e-02 2.47140220e-04 9.99863709e-01 9.17780900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.048040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.85, Y:18.21, Z:0.92 [[ 8.05686937e-01 -5.92194702e-01 1.31907304e-02 6.08464840e+01] [ 5.92120014e-01 8.05794876e-01 9.40779774e-03 1.82078349e+01] [-1.62002709e-02 2.30755738e-04 9.99868740e-01 9.17182087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.078040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:60.87, Y:18.22, Z:0.92 [[ 8.05145073e-01 -5.92944165e-01 1.25948053e-02 6.08689232e+01] [ 5.92876160e-01 8.05243542e-01 8.98313753e-03 1.82241784e+01] [-1.54683846e-02 2.34430853e-04 9.99880330e-01 9.16968297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.108040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:60.90, Y:18.25, Z:0.91 [[ 8.06927031e-01 -5.90217743e-01 2.26226100e-02 6.08965827e+01] [ 5.90410445e-01 8.07099680e-01 -2.36912470e-03 1.82471409e+01] [-1.68604019e-02 1.52683360e-02 9.99741269e-01 9.06041487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.138040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:60.92, Y:18.26, Z:0.90 [[ 8.05134333e-01 -5.92694506e-01 2.17238967e-02 6.09177547e+01] [ 5.92786265e-01 8.05355516e-01 2.63372647e-03 1.82623558e+01] [-1.90564552e-02 1.07571240e-02 9.99760539e-01 9.03646582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:60.94, Y:18.27, Z:0.91 [[ 8.04301077e-01 -5.94000764e-01 1.62132514e-02 6.09393901e+01] [ 5.93837119e-01 8.04462752e-01 1.40412746e-02 1.82736731e+01] [-2.13834847e-02 -1.66538175e-03 9.99769960e-01 9.05631825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.198040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:60.97, Y:18.29, Z:0.91 [[ 8.04592204e-01 -5.93717187e-01 1.14580672e-02 6.09678750e+01] [ 5.93584526e-01 8.04665123e-01 1.30939153e-02 1.82918680e+01] [-1.69939896e-02 -3.73393074e-03 9.99848620e-01 9.08633892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:18.32, Z:0.90 [[ 8.02427713e-01 -5.96287103e-01 2.34831131e-02 6.09826397e+01] [ 5.96418317e-01 8.02671938e-01 1.71775713e-03 1.83179844e+01] [-1.98735123e-02 1.26273829e-02 9.99722758e-01 8.98221509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.01, Y:18.33, Z:0.90 [[ 8.01287077e-01 -5.97943340e-01 2.00694409e-02 6.10072397e+01] [ 5.97937127e-01 8.01512700e-01 6.97021290e-03 1.83331870e+01] [-2.02537041e-02 6.41512231e-03 9.99774291e-01 8.98782899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.288040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:61.03, Y:18.34, Z:0.90 [[ 8.01333735e-01 -5.98090439e-01 1.23317292e-02 6.10321218e+01] [ 5.97841384e-01 8.01390597e-01 1.89417658e-02 1.83421243e+01] [-2.12114208e-02 -7.80625793e-03 9.99744536e-01 9.04686873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.318040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.05, Y:18.36, Z:0.90 [[ 8.00992813e-01 -5.98459048e-01 1.60399955e-02 6.10543274e+01] [ 5.98405832e-01 8.01148439e-01 8.46396340e-03 1.83646685e+01] [-1.79157528e-02 2.81885299e-03 9.99835526e-01 9.01972499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.08, Y:18.38, Z:0.90 [[ 8.01384963e-01 -5.98023793e-01 1.22345528e-02 6.10779968e+01] [ 5.97884436e-01 8.01471225e-01 1.33445796e-02 1.83788014e+01] [-1.77860181e-02 -3.37929672e-03 9.99836106e-01 9.04782877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.12, Y:18.38, Z:0.93 [[ 8.04252101e-01 -5.94148370e-01 -1.28946398e-02 6.11184906e+01] [ 5.94232511e-01 8.03690070e-01 3.11447238e-02 1.83842599e+01] [-8.14129296e-03 -3.27106238e-02 9.99431706e-01 9.27403077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.408040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.12, Y:18.42, Z:0.91 [[ 8.04890064e-01 -5.93318271e-01 1.11988667e-02 6.11249343e+01] [ 5.93367988e-01 8.04930001e-01 -1.45738074e-03 1.84176209e+01] [-8.14961319e-03 7.81808029e-03 9.99936229e-01 9.10253926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:18.44, Z:0.91 [[ 8.01617635e-01 -5.97667649e-01 1.42319386e-02 6.11337026e+01] [ 5.97792103e-01 8.01622164e-01 -6.81969576e-03 1.84426799e+01] [-7.33272591e-03 1.39745289e-02 9.99875464e-01 9.05978236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:18.45, Z:0.91 [[ 8.02353198e-01 -5.96842010e-01 2.99353078e-03 6.11621962e+01] [ 5.96764872e-01 8.02313785e-01 1.28170535e-02 1.84495485e+01] [-1.00515070e-02 -8.49736989e-03 9.99913377e-01 9.12797098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.18, Y:18.47, Z:0.91 [[ 8.03586795e-01 -5.95145511e-01 7.07690723e-03 6.11806378e+01] [ 5.95105493e-01 8.03616636e-01 7.05367867e-03 1.84668274e+01] [-9.88508559e-03 -1.45673668e-03 9.99950080e-01 9.10034235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:18.48, Z:0.91 [[ 8.03468390e-01 -5.95296123e-01 7.81488670e-03 6.12049010e+01] [ 5.95243845e-01 8.03504240e-01 8.10570115e-03 1.84833999e+01] [-1.11045871e-02 -1.86091145e-03 9.99936611e-01 9.09992403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.558040942 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:61.23, Y:18.50, Z:0.91 [[ 8.03343025e-01 -5.95441118e-01 9.47939333e-03 6.12273653e+01] [ 5.95402317e-01 8.03398931e-01 6.79993155e-03 1.85003588e+01] [-1.16646933e-02 1.81375172e-04 9.99931949e-01 9.08407181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:61.25, Y:18.53, Z:0.90 [[ 8.02379272e-01 -5.96597986e-01 1.60731858e-02 6.12452136e+01] [ 5.96777634e-01 8.02337926e-01 -1.05027474e-02 1.85251839e+01] [-6.63020861e-03 1.80193046e-02 9.99815656e-01 9.01783943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61804094200001 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:61.28, Y:18.52, Z:0.91 [[ 8.02913627e-01 -5.96095201e-01 4.68370385e-04 6.12772210e+01] [ 5.95938035e-01 8.02719489e-01 2.23445735e-02 1.85247770e+01] [-1.36954631e-02 -1.76616428e-02 9.99750219e-01 9.12398675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.648040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:61.30, Y:18.55, Z:0.91 [[ 8.02778262e-01 -5.96169360e-01 1.13647404e-02 6.12954473e+01] [ 5.96113489e-01 8.02858671e-01 8.16468737e-03 1.85476175e+01] [-1.39918168e-02 2.20241535e-04 9.99902085e-01 9.05870458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.678040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.34, Y:18.55, Z:0.92 [[ 8.07140796e-01 -5.90287487e-01 -9.18792845e-03 6.13421651e+01] [ 5.90324473e-01 8.06827568e-01 2.33728929e-02 1.85508695e+01] [-6.38365222e-03 -2.42890744e-02 9.99684595e-01 9.22829772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.708040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:61.36, Y:18.58, Z:0.91 [[ 8.06381342e-01 -5.91360142e-01 6.50487768e-03 6.13595979e+01] [ 5.91348120e-01 8.06407232e-01 3.84396695e-03 1.85784038e+01] [-7.51874925e-03 7.46943964e-04 9.99971455e-01 9.12012128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.738040942 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:61.36, Y:18.61, Z:0.90 [[ 8.03775811e-01 -5.94398738e-01 2.51909834e-02 6.13622465e+01] [ 5.94833634e-01 8.03692895e-01 -1.58328219e-02 1.86068357e+01] [-1.08348050e-02 2.77104835e-02 9.99557270e-01 8.96861210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.768040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.39, Y:18.61, Z:0.90 [[ 8.04162071e-01 -5.94310677e-01 1.08712423e-02 6.13921481e+01] [ 5.94339321e-01 8.04214057e-01 7.23147236e-04 1.86120349e+01] [-9.17257998e-03 5.87967917e-03 9.99940645e-01 9.03728147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.798040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.44, Y:18.61, Z:0.92 [[ 8.05412746e-01 -5.92615456e-01 -1.08272710e-02 6.14382337e+01] [ 5.92653532e-01 8.04934021e-01 2.90346894e-02 1.86127594e+01] [-8.49116695e-03 -2.98017293e-02 9.99519763e-01 9.20981713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.828040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.45, Y:18.65, Z:0.90 [[ 8.04902478e-01 -5.93245445e-01 1.38507301e-02 6.14478360e+01] [ 5.93339069e-01 8.04944381e-01 -3.64591493e-03 1.86455200e+01] [-8.98614494e-03 1.11527852e-02 9.99897427e-01 9.02802367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.858040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:61.47, Y:18.66, Z:0.90 [[ 8.02761474e-01 -5.96145659e-01 1.35782813e-02 6.14746275e+01] [ 5.96115458e-01 8.02871474e-01 6.61498509e-03 1.86595204e+01] [-1.48451093e-02 2.78396817e-03 9.99885930e-01 9.02823732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:61.49, Y:18.68, Z:0.90 [[ 8.02699682e-01 -5.96048153e-01 1.99954854e-02 6.14905088e+01] [ 5.96198283e-01 8.02834729e-01 -2.00115991e-03 1.86798068e+01] [-1.48602824e-02 1.35276045e-02 9.99798068e-01 8.96744357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.918040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:61.52, Y:18.69, Z:0.90 [[ 8.02428180e-01 -5.96611144e-01 1.28124970e-02 6.15157496e+01] [ 5.96573025e-01 8.02527973e-01 7.03417263e-03 1.86921295e+01] [-1.44790530e-02 1.99917177e-03 9.99893174e-01 9.00093481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.54, Y:18.70, Z:0.91 [[ 8.03041275e-01 -5.95910154e-01 3.97474433e-03 6.15412848e+01] [ 5.95652460e-01 8.02859410e-01 2.47974708e-02 1.86987567e+01] [-1.79682255e-02 -1.75458263e-02 9.99684594e-01 9.07040443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.55, Y:18.73, Z:0.89 [[ 8.02077641e-01 -5.96855872e-01 2.08452944e-02 6.15541392e+01] [ 5.96941279e-01 8.02280927e-01 2.53436670e-03 1.87268296e+01] [-1.82364337e-02 1.04106578e-02 9.99779501e-01 8.92969600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:18.74, Z:0.90 [[ 8.01565595e-01 -5.97869922e-01 6.64472793e-03 6.15854539e+01] [ 5.97695353e-01 8.01528145e-01 1.76889109e-02 1.87352588e+01] [-1.59016042e-02 -1.02072994e-02 9.99821459e-01 9.04309856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.038040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.61, Y:18.76, Z:0.89 [[ 7.99117568e-01 -6.00893098e-01 1.84010368e-02 6.16050031e+01] [ 6.00830039e-01 7.99321537e-01 9.39920857e-03 1.87613032e+01] [-2.03562646e-02 3.54482296e-03 9.99786506e-01 8.94997003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.068040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.63, Y:18.78, Z:0.89 [[ 7.98117433e-01 -6.02096110e-01 2.21096632e-02 6.16254316e+01] [ 6.02090529e-01 7.98391131e-01 7.65486735e-03 1.87810967e+01] [-2.22611248e-02 7.20253572e-03 9.99726245e-01 8.90611872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.098040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.65, Y:18.80, Z:0.89 [[ 7.96728403e-01 -6.03895185e-01 2.31183373e-02 6.16452798e+01] [ 6.03823438e-01 7.97045518e-01 1.07562812e-02 1.87984781e+01] [-2.49220336e-02 5.38955914e-03 9.99674870e-01 8.87881684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.128040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:61.67, Y:18.82, Z:0.89 [[ 7.95839610e-01 -6.05069426e-01 2.30283380e-02 6.16679091e+01] [ 6.04958685e-01 7.96161920e-01 1.22958078e-02 1.88160343e+01] [-2.57741032e-02 4.14570214e-03 9.99659196e-01 8.86229428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.158040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.69, Y:18.83, Z:0.88 [[ 7.94933823e-01 -6.06191739e-01 2.47344414e-02 6.16892965e+01] [ 6.06099676e-01 7.95299400e-01 1.19183330e-02 1.88336586e+01] [-2.68960814e-02 5.51725092e-03 9.99623009e-01 8.83088539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.188040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:61.71, Y:18.85, Z:0.89 [[ 7.94652623e-01 -6.06760282e-01 1.92137675e-02 6.17137833e+01] [ 6.06484463e-01 7.94878868e-01 1.85521609e-02 1.88463340e+01] [-2.65293321e-02 -3.08967186e-03 9.99643261e-01 8.86348350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.218040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.73, Y:18.87, Z:0.88 [[ 7.94069654e-01 -6.07291197e-01 2.55105143e-02 6.17306134e+01] [ 6.07174856e-01 7.94462375e-01 1.29702958e-02 1.88672827e+01] [-2.81438902e-02 5.19002457e-03 9.99590409e-01 8.80244903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.76, Y:18.88, Z:0.89 [[ 7.94896388e-01 -6.06490605e-01 1.75749464e-02 6.17564558e+01] [ 6.06126187e-01 7.95060315e-01 2.21391375e-02 1.88787774e+01] [-2.74003213e-02 -6.94568515e-03 9.99600410e-01 8.86509348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.77, Y:18.90, Z:0.88 [[ 7.94543202e-01 -6.06508421e-01 2.91313591e-02 6.17713509e+01] [ 6.06492173e-01 7.95021437e-01 1.03999061e-02 1.89039758e+01] [-2.94676857e-02 9.40476659e-03 9.99521488e-01 8.76540052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:61.79, Y:18.92, Z:0.88 [[ 7.95815117e-01 -6.05072184e-01 2.37897343e-02 6.17941150e+01] [ 6.04800354e-01 7.96170616e-01 1.81350876e-02 1.89179910e+01] [-2.99137245e-02 -4.41371725e-05 9.99552483e-01 8.78689517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.83, Y:18.92, Z:0.90 [[ 7.98911612e-01 -6.01437763e-01 -3.58502807e-03 6.18343574e+01] [ 6.01021935e-01 7.98106448e-01 4.24114494e-02 1.89203849e+01] [-2.26466132e-02 -3.60376799e-02 9.99093798e-01 9.02800447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.83, Y:18.96, Z:0.88 [[ 7.98754927e-01 -6.00674090e-01 3.43686411e-02 6.18327105e+01] [ 6.00994694e-01 7.99252054e-01 1.23739980e-03 1.89612831e+01] [-2.82124810e-02 1.96669917e-02 9.99408458e-01 8.78282697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.398040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.86, Y:18.97, Z:0.88 [[ 7.99113740e-01 -6.00713859e-01 2.36662280e-02 6.18610458e+01] [ 6.00464680e-01 7.99464017e-01 1.73047473e-02 1.89702601e+01] [-2.93154992e-02 3.82272712e-04 9.99570135e-01 8.84192452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.88, Y:18.99, Z:0.88 [[ 7.99448407e-01 -6.00233339e-01 2.45394381e-02 6.18834591e+01] [ 5.99964881e-01 7.99824857e-01 1.79538144e-02 1.89872664e+01] [-3.04037306e-02 3.69652782e-04 9.99537631e-01 8.83099978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.91, Y:19.00, Z:0.88 [[ 8.00050897e-01 -5.99414485e-01 2.49166026e-02 6.19062908e+01] [ 5.99136984e-01 8.00438732e-01 1.82403600e-02 1.90043698e+01] [-3.08777498e-02 3.35241749e-04 9.99523112e-01 8.82388027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:19.02, Z:0.88 [[ 8.00932602e-01 -5.98213887e-01 2.54383978e-02 6.19278860e+01] [ 5.97923717e-01 8.01336423e-01 1.86323729e-02 1.90205213e+01] [-3.15308589e-02 2.86946481e-04 9.99502738e-01 8.81402650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.518040942 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:61.95, Y:19.04, Z:0.88 [[ 8.01402576e-01 -5.97376959e-01 2.99111919e-02 6.19456541e+01] [ 5.97474749e-01 8.01861080e-01 6.53701891e-03 1.90421079e+01] [-2.78896851e-02 1.26323981e-02 9.99531184e-01 8.75152336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:19.05, Z:0.88 [[ 8.01344137e-01 -5.97869848e-01 1.99804778e-02 6.19744846e+01] [ 5.97515009e-01 8.01577251e-01 2.12066978e-02 1.90543330e+01] [-2.86947417e-02 -5.05522758e-03 9.99575438e-01 8.80964676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.99, Y:19.08, Z:0.87 [[ 8.01372557e-01 -5.97525787e-01 2.76578707e-02 6.19899639e+01] [ 5.97653753e-01 8.01742834e-01 4.29177621e-03 1.90781545e+01] [-2.47389466e-02 1.30905185e-02 9.99608235e-01 8.74063264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.608040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.02, Y:19.08, Z:0.88 [[ 8.00839153e-01 -5.98766618e-01 1.16270553e-02 6.20239635e+01] [ 5.98140722e-01 8.00664529e-01 3.41172620e-02 1.90817425e+01] [-2.97376484e-02 -2.03678240e-02 9.99350201e-01 8.84994809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.638040942 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:62.04, Y:19.11, Z:0.87 [[ 7.99338257e-01 -6.00403086e-01 2.39684245e-02 6.20385043e+01] [ 6.00145337e-01 7.99697462e-01 1.75938215e-02 1.91068291e+01] [-2.97308730e-02 3.21123645e-04 9.99557888e-01 8.74981029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.07, Y:19.12, Z:0.89 [[ 8.00033125e-01 -5.99850172e-01 1.12591969e-02 6.20702762e+01] [ 5.99378438e-01 7.99945564e-01 2.88545231e-02 1.91165339e+01] [-2.63151352e-02 -1.63360544e-02 9.99520208e-01 8.85681671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.698040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.09, Y:19.14, Z:0.88 [[ 7.99842212e-01 -5.99826412e-01 2.14641993e-02 6.20885094e+01] [ 5.99628519e-01 8.00129979e-01 1.54160752e-02 1.91409555e+01] [-2.64211184e-02 5.40118343e-04 9.99650755e-01 8.79232409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.11, Y:19.16, Z:0.88 [[ 7.99301455e-01 -6.00598316e-01 1.99711478e-02 6.21113072e+01] [ 6.00391703e-01 7.99550681e-01 1.57642848e-02 1.91565121e+01] [-2.54359477e-02 -6.09904342e-04 9.99676268e-01 8.79219550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75804094200001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.13, Y:19.17, Z:0.88 [[ 7.97731445e-01 -6.02694485e-01 1.95933371e-02 6.21343905e+01] [ 6.02530825e-01 7.97971809e-01 1.40569244e-02 1.91733779e+01] [-2.41069615e-02 5.91938964e-04 9.99709210e-01 8.79063788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.788040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.16, Y:19.19, Z:0.88 [[ 7.96141595e-01 -6.04827975e-01 1.84846315e-02 6.21583631e+01] [ 6.04535638e-01 7.96345305e-01 1.92566331e-02 1.91885647e+01] [-2.63670999e-02 -4.15638809e-03 9.99643687e-01 8.79823875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.818040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.17, Y:19.22, Z:0.87 [[ 7.94378504e-01 -6.06551303e-01 3.25316725e-02 6.21718653e+01] [ 6.06908944e-01 7.94770082e-01 -1.43213188e-03 1.92163328e+01] [-2.49865386e-02 2.08814178e-02 9.99469679e-01 8.68537500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:19.22, Z:0.88 [[ 7.93048878e-01 -6.09036653e-01 1.21586327e-02 6.22058028e+01] [ 6.08495567e-01 7.92959241e-01 3.08023868e-02 1.92175550e+01] [-2.84010827e-02 -1.70293242e-02 9.99451540e-01 8.81830856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:19.25, Z:0.86 [[ 7.90003327e-01 -6.11855937e-01 3.90775557e-02 6.22092522e+01] [ 6.12205542e-01 7.90690075e-01 3.68501260e-03 1.92515127e+01] [-3.31529323e-02 2.10123240e-02 9.99229386e-01 8.61819916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.25, Y:19.25, Z:0.88 [[ 7.91313320e-01 -6.11220312e-01 1.52630305e-02 6.22479876e+01] [ 6.10650576e-01 7.91327575e-01 3.01088709e-02 1.92535553e+01] [-3.04812103e-02 -1.45051722e-02 9.99430085e-01 8.77047810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.26, Y:19.28, Z:0.87 [[ 7.90488596e-01 -6.11808355e-01 2.86062386e-02 6.22616048e+01] [ 6.11650016e-01 7.90986000e-01 1.50135428e-02 1.92804757e+01] [-3.18125452e-02 5.62897192e-03 9.99478002e-01 8.67216430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.28, Y:19.30, Z:0.86 [[ 7.90215047e-01 -6.12091789e-01 3.00636217e-02 6.22825478e+01] [ 6.11930048e-01 7.90762140e-01 1.53900876e-02 1.92992362e+01] [-3.31933200e-02 6.23535469e-03 9.99429499e-01 8.64190090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.31, Y:19.31, Z:0.87 [[ 7.90978870e-01 -6.11332193e-01 2.50075373e-02 6.23074427e+01] [ 6.10973660e-01 7.91373002e-01 2.09751918e-02 1.93142824e+01] [-3.26130999e-02 -1.31198690e-03 9.99467190e-01 8.66249738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:19.33, Z:0.86 [[ 7.92469308e-01 -6.09331155e-01 2.66071275e-02 6.23256565e+01] [ 6.08964325e-01 7.92915654e-01 2.11475051e-02 1.93333988e+01] [-3.39830417e-02 -5.55957297e-04 9.99422255e-01 8.64044027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.34, Y:19.36, Z:0.86 [[ 7.93891163e-01 -6.07099393e-01 3.41635560e-02 6.23427610e+01] [ 6.07030161e-01 7.94563234e-01 1.35517668e-02 1.93559362e+01] [-3.53723749e-02 9.97968101e-03 9.99324372e-01 8.58669661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.37, Y:19.37, Z:0.86 [[ 7.96159425e-01 -6.04559389e-01 2.52609352e-02 6.23673513e+01] [ 6.04216857e-01 7.96559498e-01 2.03704785e-02 1.93719031e+01] [-3.24370018e-02 -9.55065566e-04 9.99473326e-01 8.61305006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.39, Y:19.39, Z:0.86 [[ 7.97726968e-01 -6.02397046e-01 2.73766977e-02 6.23858957e+01] [ 6.02212217e-01 7.98185882e-01 1.54836710e-02 1.93920993e+01] [-3.11790113e-02 4.13483992e-03 9.99505264e-01 8.58637781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.41, Y:19.41, Z:0.86 [[ 7.98994840e-01 -6.00837306e-01 2.45311478e-02 6.24102202e+01] [ 6.00466529e-01 7.99368236e-01 2.12219258e-02 1.94087713e+01] [-3.23603450e-02 -2.22607601e-03 9.99473788e-01 8.59502013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.43, Y:19.42, Z:0.86 [[ 8.01029446e-01 -5.98281102e-01 2.02867007e-02 6.24341006e+01] [ 5.97833193e-01 8.01252883e-01 2.42753350e-02 1.94245271e+01] [-3.07782516e-02 -7.31719512e-03 9.99499454e-01 8.62738432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.45, Y:19.45, Z:0.86 [[ 8.04062220e-01 -5.94037439e-01 2.45655615e-02 6.24527898e+01] [ 5.93771419e-01 8.04437341e-01 1.77782446e-02 1.94470630e+01] [-3.03223979e-02 2.91513534e-04 9.99540128e-01 8.61001474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.48, Y:19.46, Z:0.86 [[ 8.06429616e-01 -5.90963650e-01 2.08143702e-02 6.24760426e+01] [ 5.90708295e-01 8.06696207e-01 1.74625265e-02 1.94631774e+01] [-2.71105919e-02 -1.78707744e-03 9.99630843e-01 8.64266222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.50, Y:19.48, Z:0.87 [[ 8.08865080e-01 -5.87651217e-01 2.00830531e-02 6.24965226e+01] [ 5.87421836e-01 8.09112892e-01 1.64898174e-02 1.94819321e+01] [-2.59397185e-02 -1.54081353e-03 9.99662321e-01 8.66144614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.51, Y:19.51, Z:0.85 [[ 8.07264918e-01 -5.89268105e-01 3.29613979e-02 6.25096514e+01] [ 5.89268871e-01 8.07865827e-01 1.07240003e-02 1.95067321e+01] [-3.29476983e-02 1.07660165e-02 9.99399090e-01 8.54837885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.55, Y:19.51, Z:0.87 [[ 8.09964367e-01 -5.86414048e-01 8.73436462e-03 6.25483106e+01] [ 5.85870038e-01 8.09712041e-01 3.35068526e-02 1.95104158e+01] [-2.67212093e-02 -2.20221542e-02 9.99400321e-01 8.71897950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.358040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.55, Y:19.55, Z:0.85 [[ 8.07336431e-01 -5.88826453e-01 3.86172864e-02 6.25486302e+01] [ 5.89227889e-01 8.07965988e-01 1.20685955e-03 1.95478409e+01] [-3.19120848e-02 2.17800404e-02 9.99253346e-01 8.51158022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:19.56, Z:0.86 [[ 8.06748903e-01 -5.90359346e-01 2.51406328e-02 6.25776054e+01] [ 5.90063598e-01 8.07140499e-01 1.86859460e-02 1.95563944e+01] [-3.13234457e-02 -2.40294137e-04 9.99509272e-01 8.56722321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.60, Y:19.57, Z:0.86 [[ 8.05940529e-01 -5.91487669e-01 2.45397765e-02 6.25985210e+01] [ 5.91206120e-01 8.06314019e-01 1.82490185e-02 1.95736156e+01] [-3.05808352e-02 -1.99557639e-04 9.99532277e-01 8.56132837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:19.58, Z:0.88 [[ 8.06508272e-01 -5.91218221e-01 -2.32880569e-03 6.26376695e+01] [ 5.90873583e-01 8.05890263e-01 3.75405569e-02 1.95787878e+01] [-2.03178994e-02 -3.16527994e-02 9.99292391e-01 8.76901442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.65, Y:19.61, Z:0.87 [[ 8.05049776e-01 -5.93076564e-01 1.24517968e-02 6.26524329e+01] [ 5.92882266e-01 8.05126173e-01 1.62007438e-02 1.96078579e+01] [-1.96335490e-02 -5.65995569e-03 9.99791223e-01 8.68921678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.67, Y:19.63, Z:0.87 [[ 8.03296103e-01 -5.95353532e-01 1.64177586e-02 6.26714854e+01] [ 5.95270598e-01 8.03462107e-01 1.00775674e-02 1.96285860e+01] [-1.91907622e-02 1.67773839e-03 9.99814433e-01 8.65591041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:19.65, Z:0.86 [[ 7.98843891e-01 -6.01338263e-01 1.55154952e-02 6.26941913e+01] [ 6.01250063e-01 7.98993851e-01 1.03531959e-02 1.96463257e+01] [-1.86225581e-02 1.05810520e-03 9.99826025e-01 8.64538772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.71, Y:19.67, Z:0.86 [[ 7.95310671e-01 -6.05684846e-01 2.50360526e-02 6.27097902e+01] [ 6.05838692e-01 7.95585553e-01 1.76293372e-03 1.96689739e+01] [-2.09861040e-02 1.37657294e-02 9.99684994e-01 8.55516929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.74, Y:19.68, Z:0.86 [[ 7.92224515e-01 -6.10042742e-01 1.51053547e-02 6.27371555e+01] [ 6.09865014e-01 7.92364115e-01 1.49590861e-02 1.96796015e+01] [-2.10946229e-02 -2.63872739e-03 9.99774001e-01 8.59688299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.74, Y:19.71, Z:0.84 [[ 7.84561529e-01 -6.18978181e-01 3.64584538e-02 6.27409476e+01] [ 6.19450929e-01 7.85032353e-01 -2.17974594e-03 1.97115386e+01] [-2.72718505e-02 2.42943679e-02 9.99332792e-01 8.43169277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.77, Y:19.72, Z:0.85 [[ 7.82551587e-01 -6.22187790e-01 2.22568334e-02 6.27694079e+01] [ 6.21964610e-01 7.82867634e-01 1.66820714e-02 1.97198962e+01] [-2.78035356e-02 7.88381213e-04 9.99613096e-01 8.48346613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.79, Y:19.74, Z:0.85 [[ 7.79592721e-01 -6.25918995e-01 2.14616269e-02 6.27895508e+01] [ 6.25712646e-01 7.79887578e-01 1.60950140e-02 1.97401121e+01] [-2.68118312e-02 8.81255571e-04 9.99640110e-01 8.46688331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:19.76, Z:0.85 [[ 7.78365761e-01 -6.27452997e-01 2.12009202e-02 6.28110857e+01] [ 6.27251958e-01 7.78653902e-01 1.59085801e-02 1.97586047e+01] [-2.64900655e-02 9.15624663e-04 9.99648657e-01 8.46164772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.83, Y:19.78, Z:0.85 [[ 7.77568061e-01 -6.28422359e-01 2.17542964e-02 6.28323340e+01] [ 6.28210803e-01 7.77871715e-01 1.63334561e-02 1.97762614e+01] [-2.71863608e-02 9.65910221e-04 9.99629916e-01 8.45254837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:19.79, Z:0.84 [[ 7.77286962e-01 -6.28756614e-01 2.21382046e-02 6.28529680e+01] [ 6.28537395e-01 7.77601534e-01 1.66312098e-02 1.97930996e+01] [-2.76716850e-02 9.87466956e-04 9.99616578e-01 8.44701544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.87, Y:19.81, Z:0.84 [[ 7.76962317e-01 -6.29145193e-01 2.24918536e-02 6.28742423e+01] [ 6.28918942e-01 7.77287141e-01 1.69016497e-02 1.98111632e+01] [-2.81162202e-02 1.01360785e-03 9.99604147e-01 8.44266787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:19.83, Z:0.84 [[ 7.77452930e-01 -6.28541171e-01 2.24263000e-02 6.28940437e+01] [ 6.28315717e-01 7.77775696e-01 1.68619810e-02 1.98312754e+01] [-2.80410804e-02 9.81400218e-04 9.99606290e-01 8.43156631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.91, Y:19.85, Z:0.84 [[ 7.77971484e-01 -6.27888833e-01 2.27152669e-02 6.29145839e+01] [ 6.27656974e-01 7.78302439e-01 1.70890852e-02 1.98501077e+01] [-2.84093934e-02 9.62574686e-04 9.99595908e-01 8.41653866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:19.87, Z:0.84 [[ 7.79019760e-01 -6.26603005e-01 2.22910014e-02 6.29358829e+01] [ 6.26378940e-01 7.79338104e-01 1.67792370e-02 1.98691673e+01] [-2.78861470e-02 8.91256645e-04 9.99610708e-01 8.41016263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.96, Y:19.89, Z:0.84 [[ 7.81927006e-01 -6.22974940e-01 2.21896740e-02 6.29551807e+01] [ 6.22751194e-01 7.82241434e-01 1.67119833e-02 1.98884196e+01] [-2.77688292e-02 7.51094858e-04 9.99614090e-01 8.40184907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.98, Y:19.91, Z:0.84 [[ 7.83672965e-01 -6.20787916e-01 2.18871546e-02 6.29764901e+01] [ 6.20569267e-01 7.83978269e-01 1.64881198e-02 1.99056784e+01] [-2.73946791e-02 6.61201806e-04 9.99624477e-01 8.39627487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.00, Y:19.92, Z:0.84 [[ 7.85239340e-01 -6.18808394e-01 2.18025368e-02 6.29976373e+01] [ 6.18590561e-01 7.85541741e-01 1.64283275e-02 1.99230418e+01] [-2.72927897e-02 5.86674449e-04 9.99627310e-01 8.38870010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:19.94, Z:0.84 [[ 7.88431538e-01 -6.14733848e-01 2.18633279e-02 6.30183361e+01] [ 6.14513111e-01 7.88734492e-01 1.64783601e-02 1.99422518e+01] [-2.73741665e-02 4.43242822e-04 9.99625159e-01 8.37545412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.04, Y:19.96, Z:0.84 [[ 7.90103427e-01 -6.12598364e-01 2.14433893e-02 6.30391226e+01] [ 6.12385011e-01 7.90394280e-01 1.61703306e-02 1.99593402e+01] [-2.68546503e-02 3.55376532e-04 9.99639286e-01 8.36577408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:19.98, Z:0.84 [[ 7.95059106e-01 -6.06155328e-01 2.13714187e-02 6.30688366e+01] [ 6.05986690e-01 7.95344837e-01 1.43778236e-02 1.99773157e+01] [-2.57128419e-02 1.51957573e-03 9.99668215e-01 8.36734945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:20.01, Z:0.82 [[ 7.92819988e-01 -6.07647815e-01 4.69105453e-02 6.30741130e+01] [ 6.08541318e-01 7.93496923e-01 -6.33224785e-03 2.00099035e+01] [-3.33755968e-02 3.35673377e-02 9.98879023e-01 8.16690446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:20.00, Z:0.84 [[ 7.94334927e-01 -6.07479762e-01 -6.02164468e-04 6.31186736e+01] [ 6.06889311e-01 7.93518374e-01 4.48770979e-02 1.99965295e+01] [-2.67841002e-02 -3.60128935e-02 9.98992334e-01 8.43427652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:20.04, Z:0.81 [[ 7.95626471e-01 -6.03733100e-01 4.98483852e-02 6.31192351e+01] [ 6.04854438e-01 7.96272310e-01 -1.00755774e-02 2.00448901e+01] [-3.36099292e-02 3.81674131e-02 9.98705973e-01 8.13786700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.16, Y:20.04, Z:0.83 [[ 7.96902479e-01 -6.03765153e-01 2.03489525e-02 6.31574929e+01] [ 6.03164904e-01 7.97088350e-01 2.90217521e-02 2.00395237e+01] [-3.37422356e-02 -1.08537321e-02 9.99371632e-01 8.26476592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.18, Y:20.06, Z:0.83 [[ 7.98734766e-01 -6.01397175e-01 1.85529393e-02 6.31798816e+01] [ 6.01128162e-01 7.98942632e-01 1.83194573e-02 2.00576280e+01] [-2.58400040e-02 -3.47969316e-03 9.99660035e-01 8.29516075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25804094200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.20, Y:20.08, Z:0.82 [[ 7.97748814e-01 -6.02343679e-01 2.79091729e-02 6.31990395e+01] [ 6.02075316e-01 7.98233434e-01 1.81300354e-02 2.00789690e+01] [-3.31985471e-02 2.34020985e-03 9.99446037e-01 8.21464324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:20.08, Z:0.84 [[ 7.98372631e-01 -6.02134902e-01 5.89080513e-03 6.32274619e+01] [ 6.01536401e-01 7.97949172e-01 3.78295942e-02 2.00821558e+01] [-2.74790821e-02 -2.66585790e-02 9.99266841e-01 8.36580169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.24, Y:20.11, Z:0.83 [[ 7.98862769e-01 -6.01119125e-01 2.17732473e-02 6.32406959e+01] [ 6.00893427e-01 7.99159428e-01 1.64711344e-02 2.01084848e+01] [-2.73014097e-02 -7.47748465e-05 9.99627244e-01 8.28915558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.26, Y:20.12, Z:0.83 [[ 7.99758883e-01 -5.99927149e-01 2.17519047e-02 6.32649392e+01] [ 5.99701339e-01 8.00054624e-01 1.64590976e-02 2.01235634e+01] [-2.72769715e-02 -1.18663157e-04 9.99627907e-01 8.28169105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:20.14, Z:0.83 [[ 8.00128245e-01 -5.99444513e-01 2.14724751e-02 6.32868823e+01] [ 5.99224048e-01 8.00416302e-01 1.62568222e-02 2.01391755e+01] [-2.69319820e-02 -1.40719165e-04 9.99637258e-01 8.27491100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:20.16, Z:0.82 [[ 8.01518867e-01 -5.97184537e-01 3.06289921e-02 6.33117581e+01] [ 5.97291404e-01 8.01997648e-01 6.53841983e-03 2.01598708e+01] [-2.84690229e-02 1.30537669e-02 9.99509437e-01 8.17804869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:20.17, Z:0.83 [[ 8.02298767e-01 -5.96769815e-01 1.35083842e-02 6.33474239e+01] [ 5.96445533e-01 8.02356805e-01 2.18239365e-02 2.01674198e+01] [-2.38624105e-02 -9.45230193e-03 9.99670565e-01 8.26779053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.36, Y:20.19, Z:0.83 [[ 7.99841422e-01 -5.99950201e-01 1.77047030e-02 6.33589526e+01] [ 5.99762749e-01 8.00036068e-01 1.50643632e-02 2.01857435e+01] [-2.32022687e-02 -1.43048038e-03 9.99729768e-01 8.25441871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:20.21, Z:0.81 [[ 8.01018947e-01 -5.97901686e-01 2.97021969e-02 6.33807049e+01] [ 5.98086686e-01 8.01425083e-01 3.18629732e-03 2.02077894e+01] [-2.57091782e-02 1.52122040e-02 9.99553714e-01 8.14450858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:20.21, Z:0.83 [[ 8.00864418e-01 -5.98804372e-01 7.03619409e-03 6.34200237e+01] [ 5.98562362e-01 8.00791628e-01 2.13510646e-02 2.02106236e+01] [-1.84196361e-02 -1.28877070e-02 9.99747280e-01 8.28635879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:20.23, Z:0.83 [[ 7.99278059e-01 -6.00890202e-01 9.24924820e-03 6.34446556e+01] [ 6.00622864e-01 7.99249726e-01 2.12614573e-02 2.02278468e+01] [-2.01682605e-02 -1.14385064e-02 9.99731165e-01 8.28750640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.46, Y:20.25, Z:0.82 [[ 7.98935595e-01 -6.01188944e-01 1.65459568e-02 6.34633633e+01] [ 6.01069832e-01 7.99106820e-01 1.19727856e-02 2.02502781e+01] [-2.04198932e-02 3.79790851e-04 9.99791420e-01 8.24631034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.49, Y:20.26, Z:0.83 [[ 7.98908369e-01 -6.01425063e-01 5.77156511e-03 6.34927271e+01] [ 6.01226839e-01 7.98834504e-01 1.97414408e-02 2.02599387e+01] [-1.64835226e-02 -1.23015824e-02 9.99788460e-01 8.32029470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:20.28, Z:0.82 [[ 7.96894324e-01 -6.03823214e-01 1.88934651e-02 6.35094524e+01] [ 6.03898651e-01 7.97058443e-01 2.06331614e-03 2.02823577e+01] [-1.63050741e-02 9.76549318e-03 9.99819374e-01 8.23679686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:20.29, Z:0.82 [[ 7.94635283e-01 -6.06968458e-01 1.20024348e-02 6.35366536e+01] [ 6.06792508e-01 7.94710273e-01 1.54413008e-02 2.02925520e+01] [-1.89108408e-02 -4.98721494e-03 9.99808736e-01 8.23371620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:20.32, Z:0.82 [[ 7.89796507e-01 -6.12736811e-01 2.78402288e-02 6.35445046e+01] [ 6.13064045e-01 7.90021317e-01 -4.33542541e-03 2.03166065e+01] [-1.93378995e-02 2.04919471e-02 9.99602984e-01 8.15711548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.59, Y:20.32, Z:0.83 [[ 7.91960428e-01 -6.10543903e-01 5.90120605e-03 6.35872274e+01] [ 6.10407419e-01 7.91934107e-01 1.55933452e-02 2.03180285e+01] [-1.41937882e-02 -8.74717237e-03 9.99861002e-01 8.28678060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.59, Y:20.34, Z:0.82 [[ 7.87662389e-01 -6.15733147e-01 2.14628155e-02 6.35948784e+01] [ 6.15781266e-01 7.87900811e-01 5.07399918e-03 2.03427109e+01] [-2.00347992e-02 9.21980139e-03 9.99756771e-01 8.17572939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:20.35, Z:0.82 [[ 7.89682940e-01 -6.13414441e-01 1.11165781e-02 6.36324955e+01] [ 6.13295841e-01 7.89755495e-01 1.24285791e-02 2.03525347e+01] [-1.64032485e-02 -2.99688577e-03 9.99860966e-01 8.23605522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.65, Y:20.37, Z:0.82 [[ 7.89356206e-01 -6.13782149e-01 1.37205417e-02 6.36532256e+01] [ 6.13759155e-01 7.89467993e-01 6.32357948e-03 2.03674041e+01] [-1.47132287e-02 3.42955134e-03 9.99885873e-01 8.20650939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.67, Y:20.39, Z:0.81 [[ 7.87751879e-01 -6.15655408e-01 2.03812413e-02 6.36718883e+01] [ 6.15731634e-01 7.87950069e-01 3.04052593e-03 2.03864843e+01] [-1.79313167e-02 1.01541950e-02 9.99787658e-01 8.11555839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.70, Y:20.40, Z:0.81 [[ 7.86312206e-01 -6.17490327e-01 2.04648950e-02 6.36997832e+01] [ 6.17468151e-01 7.86553759e-01 8.14046070e-03 2.04005697e+01] [-2.11233959e-02 6.23547729e-03 9.99757431e-01 8.10178634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.918040942 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:63.73, Y:20.41, Z:0.82 [[ 7.88903659e-01 -6.14448498e-01 9.16840138e-03 6.37288999e+01] [ 6.14301199e-01 7.88934242e-01 1.47240882e-02 2.04092116e+01] [-1.62804597e-02 -5.98372711e-03 9.99849560e-01 8.17892135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:20.44, Z:0.81 [[ 7.87443763e-01 -6.15953958e-01 2.30877214e-02 6.37445122e+01] [ 6.16065217e-01 7.87690240e-01 2.78107481e-03 2.04351232e+01] [-1.98989868e-02 1.20336021e-02 9.99729575e-01 8.06167524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:20.44, Z:0.82 [[ 7.89508369e-01 -6.13669717e-01 9.27436735e-03 6.37766319e+01] [ 6.13546621e-01 7.89548862e-01 1.31582038e-02 2.04428811e+01] [-1.53973574e-02 -4.69825527e-03 9.99870415e-01 8.16618708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.80, Y:20.46, Z:0.82 [[ 7.89827733e-01 -6.13253349e-01 9.61675848e-03 6.37987660e+01] [ 6.13074254e-01 7.89854593e-01 1.64219653e-02 2.04567969e+01] [-1.76666661e-02 -7.07473659e-03 9.99818902e-01 8.15158288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:20.48, Z:0.81 [[ 7.89430752e-01 -6.13596226e-01 1.72846512e-02 6.38189245e+01] [ 6.13587119e-01 7.89600697e-01 6.44886194e-03 2.04778283e+01] [-1.76049700e-02 5.51470938e-03 9.99829812e-01 8.07622318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:20.49, Z:0.81 [[ 7.89828034e-01 -6.13066570e-01 1.79180560e-02 6.38443134e+01] [ 6.12993814e-01 7.90025069e-01 9.94864435e-03 2.04927673e+01] [-2.02548947e-02 3.12593929e-03 9.99789962e-01 8.09272786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.098040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:63.87, Y:20.50, Z:0.81 [[ 7.90332203e-01 -6.12460546e-01 1.63428395e-02 6.38666475e+01] [ 6.12422461e-01 7.90491914e-01 7.82709896e-03 2.05041753e+01] [-1.77126718e-02 3.82271362e-03 9.99835811e-01 8.09259742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:20.52, Z:0.81 [[ 7.89700573e-01 -6.13322432e-01 1.44429867e-02 6.38937453e+01] [ 6.13154232e-01 7.89828081e-01 1.46113264e-02 2.05187888e+01] [-2.03689307e-02 -2.68279446e-03 9.99788932e-01 8.11976696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:20.54, Z:0.81 [[ 7.90267777e-01 -6.12497248e-01 1.79989536e-02 6.39113988e+01] [ 6.12453203e-01 7.90461035e-01 8.51035772e-03 2.05359231e+01] [-1.94400421e-02 4.29805528e-03 9.99801786e-01 8.09495969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:20.54, Z:0.81 [[ 7.89692411e-01 -6.13417079e-01 1.02656216e-02 6.39396800e+01] [ 6.13135105e-01 7.89687775e-01 2.14140586e-02 2.05432255e+01] [-2.12423852e-02 -1.06163066e-02 9.99717988e-01 8.13346573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.96, Y:20.56, Z:0.81 [[ 7.89370394e-01 -6.13779610e-01 1.29989431e-02 6.39631169e+01] [ 6.13685212e-01 7.89477238e-01 1.07773069e-02 2.05634579e+01] [-1.68772609e-02 -5.30027805e-04 9.99857428e-01 8.13070521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:20.58, Z:0.81 [[ 7.88151617e-01 -6.15382053e-01 1.10433983e-02 6.39882058e+01] [ 6.15339316e-01 7.88228319e-01 7.32418025e-03 2.05799758e+01] [-1.32118883e-02 1.02287264e-03 9.99912196e-01 8.13159798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.278040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.03, Y:20.58, Z:0.83 [[ 7.87157671e-01 -6.16692008e-01 -8.58885980e-03 6.40265335e+01] [ 6.16689010e-01 7.86802456e-01 2.52301681e-02 2.05836277e+01] [-8.80150703e-03 -2.51567758e-02 9.99644772e-01 8.28426284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:20.62, Z:0.81 [[ 7.85184578e-01 -6.18976513e-01 1.87950752e-02 6.40340575e+01] [ 6.19151262e-01 7.85256196e-01 -4.94174424e-03 2.06167448e+01] [-1.17001257e-02 1.55171759e-02 9.99811144e-01 8.09005138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:20.62, Z:0.82 [[ 7.84412082e-01 -6.20218963e-01 5.11114192e-03 6.40650049e+01] [ 6.20158773e-01 7.84416075e-01 9.72203777e-03 2.06246866e+01] [-1.00390541e-02 -4.45636439e-03 9.99939677e-01 8.17170527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36804094200001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.08, Y:20.65, Z:0.81 [[ 7.84777260e-01 -6.19674655e-01 1.13125767e-02 6.40809910e+01] [ 6.19672913e-01 7.84849556e-01 4.08105001e-03 2.06470179e+01] [-1.14075941e-02 3.80738214e-03 9.99927683e-01 8.11391490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.398040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.10, Y:20.67, Z:0.81 [[ 7.84360510e-01 -6.20151116e-01 1.38269072e-02 6.41008719e+01] [ 6.20180091e-01 7.84455154e-01 2.60116343e-03 2.06664249e+01] [-1.24597030e-02 6.53492268e-03 9.99901020e-01 8.07963637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.428040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.13, Y:20.68, Z:0.81 [[ 7.84978875e-01 -6.19494304e-01 5.91379515e-03 6.41285571e+01] [ 6.19460349e-01 7.84999569e-01 6.67474846e-03 2.06814332e+01] [-8.77729529e-03 -1.57617493e-03 9.99960237e-01 8.11622663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.14, Y:20.71, Z:0.80 [[ 7.83828582e-01 -6.20658781e-01 1.98854832e-02 6.41392416e+01] [ 6.20867997e-01 7.83889431e-01 -6.34747298e-03 2.07051708e+01] [-1.16484053e-02 1.73215909e-02 9.99782115e-01 8.00141998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.488040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.17, Y:20.71, Z:0.81 [[ 7.83093788e-01 -6.21879895e-01 5.43272672e-03 6.41695993e+01] [ 6.21835532e-01 7.83107437e-01 7.95699936e-03 2.07146733e+01] [-9.20270663e-03 -2.85281427e-03 9.99953585e-01 8.07486875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.19, Y:20.74, Z:0.80 [[ 7.82457179e-01 -6.22589315e-01 1.19710843e-02 6.41880013e+01] [ 6.22572773e-01 7.82542464e-01 5.51675281e-03 2.07355253e+01] [-1.28025531e-02 3.13624829e-03 9.99913126e-01 8.03508572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:20.75, Z:0.81 [[ 7.82576389e-01 -6.22546400e-01 -3.18984292e-03 6.42193485e+01] [ 6.22499770e-01 7.82429243e-01 1.72776023e-02 2.07472591e+01] [-8.26028277e-03 -1.55067201e-02 9.99845643e-01 8.14409383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.23, Y:20.78, Z:0.80 [[ 7.80575087e-01 -6.24741408e-01 2.00176625e-02 6.42257910e+01] [ 6.24948954e-01 7.80642688e-01 -5.98329087e-03 2.07795170e+01] [-1.18886323e-02 1.71804250e-02 9.99781723e-01 7.96239369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.608040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:64.26, Y:20.79, Z:0.81 [[ 7.79440605e-01 -6.26475134e-01 1.11777467e-03 6.42564258e+01] [ 6.26398694e-01 7.79371073e-01 1.43320400e-02 2.07852328e+01] [-9.84982791e-03 -1.04708013e-02 9.99896666e-01 8.06005286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.638040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.27, Y:20.81, Z:0.80 [[ 7.77425337e-01 -6.28777416e-01 1.57736120e-02 6.42716762e+01] [ 6.28860936e-01 7.77517674e-01 -4.35583441e-04 2.08119728e+01] [-1.19903771e-02 1.02580420e-02 9.99875494e-01 7.96665462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:64.30, Y:20.83, Z:0.80 [[ 7.76607085e-01 -6.29921599e-01 8.95624054e-03 6.42987870e+01] [ 6.29878275e-01 7.76658721e-01 7.38842857e-03 2.08260350e+01] [-1.16100731e-02 -9.65646287e-05 9.99932596e-01 8.00647736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:20.84, Z:0.80 [[ 7.77009803e-01 -6.29440168e-01 7.80005842e-03 6.43210361e+01] [ 6.29353908e-01 7.77040253e-01 1.10500198e-02 2.08414565e+01] [-1.30162857e-02 -3.67697642e-03 9.99908524e-01 8.03040493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:64.35, Y:20.86, Z:0.81 [[ 7.77327160e-01 -6.29096561e-01 -5.61545251e-05 6.43486589e+01] [ 6.29043931e-01 7.77260967e-01 1.30047097e-02 2.08574899e+01] [-8.13757146e-03 -1.01442377e-02 9.99915434e-01 8.08581265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75804094200001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.36, Y:20.88, Z:0.81 [[ 7.76118559e-01 -6.30582891e-01 2.28038191e-03 6.43611821e+01] [ 6.30535837e-01 7.76096568e-01 9.93353756e-03 2.08761427e+01] [-8.03371541e-03 -6.27174034e-03 9.99948061e-01 8.10299887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:20.90, Z:0.80 [[ 7.80440634e-01 -6.25166500e-01 8.90302542e-03 6.43848472e+01] [ 6.25122161e-01 7.80491374e-01 7.44970947e-03 2.08953680e+01] [-1.16060433e-02 -2.48577486e-04 9.99932617e-01 8.04912281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.40, Y:20.92, Z:0.80 [[ 7.80203535e-01 -6.25228500e-01 1.92812461e-02 6.43996978e+01] [ 6.25443773e-01 7.80229590e-01 -7.86599383e-03 2.09214614e+01] [-1.01257552e-02 1.81964115e-02 9.99783156e-01 7.95020678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:20.92, Z:0.81 [[ 7.79900146e-01 -6.25900057e-01 -2.20925715e-03 6.44317967e+01] [ 6.25800667e-01 7.79702464e-01 2.09187141e-02 2.09220319e+01] [-1.13704611e-02 -1.76970628e-02 9.99778739e-01 8.05156421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.45, Y:20.94, Z:0.81 [[ 7.83277693e-01 -6.21650947e-01 5.11430449e-03 6.44546198e+01] [ 6.21537285e-01 7.83252723e-01 1.43727231e-02 2.09428635e+01] [-1.29406098e-02 -8.07910248e-03 9.99883628e-01 8.08734875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.47, Y:20.96, Z:0.81 [[ 7.84040748e-01 -6.20657343e-01 8.03541880e-03 6.44749936e+01] [ 6.20614769e-01 7.84081572e-01 7.30738832e-03 2.09618467e+01] [-1.08358080e-02 -7.42390622e-04 9.99941015e-01 8.08237988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.938040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:64.51, Y:20.97, Z:0.82 [[ 7.85042705e-01 -6.19375035e-01 -9.08391637e-03 6.45100857e+01] [ 6.19422084e-01 7.84816957e-01 1.94583058e-02 2.09709265e+01] [-4.92277726e-03 -2.09023795e-02 9.99769402e-01 8.22067527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.968040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.52, Y:21.00, Z:0.81 [[ 7.85232724e-01 -6.19000988e-01 1.57272137e-02 6.45169261e+01] [ 6.19148429e-01 7.85243249e-01 -6.94719054e-03 2.10022876e+01] [-8.04937055e-03 1.51926410e-02 9.99852185e-01 8.06931755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.998040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:64.55, Y:21.01, Z:0.82 [[ 7.86395345e-01 -6.17712637e-01 3.66875977e-03 6.45479772e+01] [ 6.17666850e-01 7.86389773e-01 8.87615243e-03 2.10119746e+01] [-8.36798668e-03 -4.71409366e-03 9.99953876e-01 8.16091941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:64.58, Y:21.03, Z:0.82 [[ 7.86220558e-01 -6.17940768e-01 -2.53801524e-03 6.45781256e+01] [ 6.17926984e-01 7.86157555e-01 1.10698103e-02 2.10288731e+01] [-4.84520722e-03 -1.02716205e-02 9.99935507e-01 8.20410731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.058040942 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:64.58, Y:21.06, Z:0.80 [[ 7.84549955e-01 -6.19323017e-01 3.03375722e-02 6.45783004e+01] [ 6.19838303e-01 7.84647781e-01 -1.13285997e-02 2.10593097e+01] [-1.67882461e-02 2.76922416e-02 9.99475510e-01 7.96406346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088040942 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:64.60, Y:21.08, Z:0.79 [[ 7.81875390e-01 -6.22652100e-01 3.12287963e-02 6.45979183e+01] [ 6.23086498e-01 7.82131683e-01 -5.76593011e-03 2.10758790e+01] [-2.08348626e-02 2.39664802e-02 9.99495631e-01 7.89857955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11804094200001 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:64.64, Y:21.07, Z:0.81 [[ 7.83192560e-01 -6.21779228e-01 -7.70699671e-05 6.46391354e+01] [ 6.21625292e-01 7.82995892e-01 2.23478945e-02 2.10749400e+01] [-1.38351111e-02 -1.75506133e-02 9.99750252e-01 8.12455980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:21.11, Z:0.78 [[ 7.78817601e-01 -6.26195336e-01 3.63668155e-02 6.46387997e+01] [ 6.26982778e-01 7.78869362e-01 -1.59722636e-02 2.11148098e+01] [-1.83232414e-02 3.52408470e-02 9.99210859e-01 7.83450192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.178040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.68, Y:21.11, Z:0.80 [[ 7.77719452e-01 -6.28536614e-01 9.70454349e-03 6.46775635e+01] [ 6.28270009e-01 7.77713111e-01 2.09550162e-02 2.11139468e+01] [-2.07183457e-02 -1.02000501e-02 9.99733319e-01 7.98898826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.208040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.71, Y:21.12, Z:0.81 [[ 7.78732639e-01 -6.27346163e-01 -3.50253549e-03 6.47079700e+01] [ 6.27238015e-01 7.78465879e-01 2.37349287e-02 2.11244056e+01] [-1.21634121e-02 -2.06800871e-02 9.99712151e-01 8.10901424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.72, Y:21.16, Z:0.79 [[ 7.74582658e-01 -6.32107610e-01 2.14866128e-02 6.47185507e+01] [ 6.32299415e-01 7.74718631e-01 -2.91433765e-03 2.11575630e+01] [-1.48039042e-02 1.58433681e-02 9.99764888e-01 7.94712013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.268040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:64.75, Y:21.17, Z:0.80 [[ 7.73695159e-01 -6.33543407e-01 4.30719574e-03 6.47528490e+01] [ 6.33485345e-01 7.73691486e-01 9.88948960e-03 2.11676783e+01] [-9.59786161e-03 -4.92290485e-03 9.99941821e-01 8.03300732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.298040942 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:64.79, Y:21.18, Z:0.82 [[ 7.74204780e-01 -6.32773639e-01 -1.42996758e-02 6.47886713e+01] [ 6.32929731e-01 7.73906633e-01 2.16443667e-02 2.11775313e+01] [-2.62937069e-03 -2.58078621e-02 9.99663464e-01 8.19658047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.328040942 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:64.79, Y:21.20, Z:0.81 [[ 7.70865728e-01 -6.36946493e-01 8.07425419e-03 6.47886288e+01] [ 6.36973524e-01 7.70884944e-01 -1.06482371e-03 2.12042771e+01] [-5.54608526e-03 5.96392224e-03 9.99966836e-01 8.06058859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.358040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:64.81, Y:21.22, Z:0.81 [[ 7.68756494e-01 -6.39505235e-01 6.81964113e-03 6.48110125e+01] [ 6.39512802e-01 7.68779362e-01 1.29146964e-03 2.12223561e+01] [-6.06870095e-03 3.36842213e-03 9.99975912e-01 8.06871844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388040942 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:64.84, Y:21.24, Z:0.81 [[ 7.70387803e-01 -6.37551538e-01 5.53793228e-03 6.48423223e+01] [ 6.37548719e-01 7.70406019e-01 2.48919066e-03 2.12414336e+01] [-5.85344370e-03 1.61305951e-03 9.99981567e-01 8.06029574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.418040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.84, Y:21.27, Z:0.78 [[ 7.65903991e-01 -6.41952743e-01 3.58852639e-02 6.48397098e+01] [ 6.42735451e-01 7.65907354e-01 -1.66452602e-02 2.12741220e+01] [-1.67993171e-02 3.58134025e-02 9.99217285e-01 7.81062898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.88, Y:21.27, Z:0.80 [[ 7.68483753e-01 -6.39864202e-01 2.55442835e-03 6.48790216e+01] [ 6.39663477e-01 7.68331684e-01 2.22948270e-02 2.12689651e+01] [-1.62283099e-02 -1.54992378e-02 9.99748176e-01 8.01905343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.478040942 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:64.89, Y:21.31, Z:0.78 [[ 7.66361384e-01 -6.41957953e-01 2.40876563e-02 6.48909747e+01] [ 6.42167057e-01 7.66563683e-01 -1.26130198e-03 2.13052933e+01] [-1.76550197e-02 1.64349125e-02 9.99709055e-01 7.83997774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50804094200001 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:64.92, Y:21.32, Z:0.79 [[ 7.66354161e-01 -6.42269698e-01 1.38179444e-02 6.49187787e+01] [ 6.42181922e-01 7.66478389e-01 1.06423329e-02 2.13166102e+01] [-1.74264037e-02 7.17838026e-04 9.99847891e-01 7.89201495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.538040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:64.94, Y:21.33, Z:0.80 [[ 7.67072985e-01 -6.41559592e-01 5.70309500e-04 6.49446148e+01] [ 6.41426517e-01 7.66931391e-01 1.97044279e-02 2.13299840e+01] [-1.30789530e-02 -1.47489227e-02 9.99805686e-01 7.97285223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.568040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.97, Y:21.35, Z:0.81 [[ 7.66996677e-01 -6.41620675e-01 -6.24563744e-03 6.49673919e+01] [ 6.41568827e-01 7.66706192e-01 2.34745700e-02 2.13452637e+01] [-1.02732006e-02 -2.20119235e-02 9.99704925e-01 8.05934338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.98, Y:21.37, Z:0.80 [[ 7.67547334e-01 -6.40934579e-01 8.59970504e-03 6.49804631e+01] [ 6.40898026e-01 7.67595467e-01 6.84982370e-03 2.13727238e+01] [-1.09913835e-02 2.53970066e-04 9.99939561e-01 7.98091255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.628040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.00, Y:21.39, Z:0.80 [[ 7.68040857e-01 -6.40338253e-01 8.95342451e-03 6.49997000e+01] [ 6.40298573e-01 7.68093000e-01 7.13300312e-03 2.13938924e+01] [-1.14445975e-02 2.54427108e-04 9.99934476e-01 7.96242613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:21.40, Z:0.82 [[ 7.71657072e-01 -6.35592624e-01 -2.38197331e-02 6.50490814e+01] [ 6.36018432e-01 7.70791299e-01 3.68961626e-02 2.13957169e+01] [-5.09088575e-03 -4.36209741e-02 9.99035181e-01 8.21523262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.02, Y:21.45, Z:0.78 [[ 7.65865688e-01 -6.41658635e-01 4.15203985e-02 6.50227574e+01] [ 6.42831313e-01 7.65547688e-01 -2.65450641e-02 2.14513597e+01] [-1.47529755e-02 4.70205661e-02 9.98784970e-01 7.76049132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.718040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.09, Y:21.43, Z:0.82 [[ 7.71389795e-01 -6.35735179e-01 -2.82589242e-02 6.50934405e+01] [ 6.36351860e-01 7.70353439e-01 4.01483458e-02 2.14329746e+01] [-3.75435636e-03 -4.89526432e-02 9.98794045e-01 8.23099059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.10, Y:21.47, Z:0.80 [[ 7.71216484e-01 -6.36547290e-01 5.71681372e-03 6.50982405e+01] [ 6.36551273e-01 7.71233241e-01 1.32865045e-03 2.14723651e+01] [-5.25474562e-03 2.61436792e-03 9.99982776e-01 8.02883122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.10, Y:21.51, Z:0.78 [[ 7.67925763e-01 -6.39450349e-01 3.73265703e-02 6.50983034e+01] [ 6.40379602e-01 7.67729545e-01 -2.24791214e-02 2.15064881e+01] [-1.42824288e-02 4.11654707e-02 9.99050257e-01 7.77319141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.12, Y:21.51, Z:0.78 [[ 7.63289109e-01 -6.45836591e-01 1.68770326e-02 6.51215940e+01] [ 6.45753651e-01 7.63470794e-01 1.07036897e-02 2.15098296e+01] [-1.97979559e-02 2.72839558e-03 9.99800278e-01 7.84114485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.12, Y:21.56, Z:0.75 [[ 7.59607779e-01 -6.47068730e-01 6.55597497e-02 6.51169632e+01] [ 6.49693469e-01 7.59574531e-01 -3.07396920e-02 2.15561689e+01] [-2.99068226e-02 6.59438503e-02 9.97375050e-01 7.47448103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:21.55, Z:0.76 [[ 7.58591484e-01 -6.50702784e-01 3.35387431e-02 6.51574613e+01] [ 6.50751422e-01 7.59212035e-01 1.09395119e-02 2.15533906e+01] [-3.25813882e-02 1.35267642e-02 9.99377546e-01 7.59567708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.23, Y:21.53, Z:0.82 [[ 7.64337206e-01 -6.43569792e-01 -4.00818925e-02 6.52272438e+01] [ 6.44545370e-01 7.60734852e-01 7.64444238e-02 2.15291963e+01] [-1.87056293e-02 -8.42639156e-02 9.96267882e-01 8.15138252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.928040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.21, Y:21.59, Z:0.78 [[ 7.60244952e-01 -6.49197832e-01 2.38702185e-02 6.52056212e+01] [ 6.49335402e-01 7.60498045e-01 2.50187592e-03 2.15869649e+01] [-1.97774669e-02 1.35977394e-02 9.99711935e-01 7.76834427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.958040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:65.23, Y:21.60, Z:0.78 [[ 7.60115279e-01 -6.49611856e-01 1.51392991e-02 6.52310422e+01] [ 6.49497855e-01 7.60265814e-01 1.21830792e-02 2.15984856e+01] [-1.94241643e-02 5.72397606e-04 9.99811169e-01 7.80034225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.25, Y:21.62, Z:0.78 [[ 7.60153548e-01 -6.49533508e-01 1.65168200e-02 6.52526730e+01] [ 6.49397710e-01 7.60332716e-01 1.32957056e-02 2.16163287e+01] [-2.11942849e-02 6.19207318e-04 9.99775184e-01 7.78928702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.018040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:65.28, Y:21.64, Z:0.77 [[ 7.61838205e-01 -6.47331817e-01 2.37501338e-02 6.52788306e+01] [ 6.47441486e-01 7.62105809e-01 3.77591259e-03 2.16385004e+01] [-2.05443833e-02 1.25001875e-02 9.99710795e-01 7.69518526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.31, Y:21.65, Z:0.77 [[ 7.61827088e-01 -6.47561917e-01 1.68241540e-02 6.53061874e+01] [ 6.47417431e-01 7.62012695e-01 1.36865887e-02 2.16525970e+01] [-2.16831325e-02 4.65436517e-04 9.99764785e-01 7.73030325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.33, Y:21.67, Z:0.77 [[ 7.61875204e-01 -6.47513121e-01 1.65206513e-02 6.53294625e+01] [ 6.47404295e-01 7.62052680e-01 1.19746642e-02 2.16717333e+01] [-2.03433588e-02 1.57234090e-03 9.99791816e-01 7.72161803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.35, Y:21.69, Z:0.77 [[ 7.61725536e-01 -6.47707290e-01 1.57947808e-02 6.53513965e+01] [ 6.47612481e-01 7.61887400e-01 1.12099762e-02 2.16890148e+01] [-1.92946278e-02 1.68997206e-03 9.99812413e-01 7.70265737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:21.71, Z:0.77 [[ 7.61128640e-01 -6.48416827e-01 1.54535641e-02 6.53732105e+01] [ 6.48323644e-01 7.61283890e-01 1.11036742e-02 2.17073791e+01] [-1.89643586e-02 1.56758651e-03 9.99818931e-01 7.69068448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.39, Y:21.72, Z:0.77 [[ 7.61680752e-01 -6.47761312e-01 1.57389840e-02 6.53912373e+01] [ 6.47670146e-01 7.61841212e-01 1.10158919e-02 2.17229227e+01] [-1.91262752e-02 1.80307728e-03 9.99815450e-01 7.68179415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:21.74, Z:0.77 [[ 7.59827731e-01 -6.49951535e-01 1.49940273e-02 6.54170765e+01] [ 6.49846954e-01 7.59975171e-01 1.16908340e-02 2.17438408e+01] [-1.89935640e-02 8.60803081e-04 9.99819235e-01 7.67986433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:21.76, Z:0.77 [[ 7.59938621e-01 -6.49776868e-01 1.68319417e-02 6.54362035e+01] [ 6.49663678e-01 7.60123245e-01 1.22375643e-02 2.17619166e+01] [-2.07460363e-02 1.63530341e-03 9.99783440e-01 7.67745881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:21.78, Z:0.77 [[ 7.59265243e-01 -6.50616293e-01 1.46536683e-02 6.54585197e+01] [ 6.50483563e-01 7.59406502e-01 1.31491483e-02 2.17792977e+01] [-1.96831411e-02 -4.51720866e-04 9.99806166e-01 7.67206267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:21.80, Z:0.76 [[ 7.61965215e-01 -6.47292789e-01 2.05196890e-02 6.54715580e+01] [ 6.47351091e-01 7.62178322e-01 4.55748478e-03 2.17965601e+01] [-1.85896892e-02 9.81079822e-03 9.99779061e-01 7.64194839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:21.81, Z:0.77 [[ 7.60272210e-01 -6.49510906e-01 1.10340047e-02 6.55034401e+01] [ 6.49283135e-01 7.60320646e-01 1.85452179e-02 2.18107488e+01] [-2.04347029e-02 -6.93522069e-03 9.99767136e-01 7.70217967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:21.83, Z:0.77 [[ 7.60471058e-01 -6.49186285e-01 1.55221455e-02 6.55221084e+01] [ 6.49079276e-01 7.60628696e-01 1.18355696e-02 2.18318048e+01] [-1.94900787e-02 1.07449483e-03 9.99809473e-01 7.66723267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.54, Y:21.85, Z:0.76 [[ 7.59864279e-01 -6.49930437e-01 1.40251322e-02 6.55446797e+01] [ 6.49860067e-01 7.59991735e-01 9.71884461e-03 2.18520546e+01] [-1.69755575e-02 1.72937051e-03 9.99854409e-01 7.64999291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:21.86, Z:0.76 [[ 7.61962815e-01 -6.47417061e-01 1.62424491e-02 6.55566992e+01] [ 6.47415018e-01 7.62113287e-01 6.09358748e-03 2.18641435e+01] [-1.63236788e-02 5.87251842e-03 9.99849514e-01 7.62766680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.59, Y:21.88, Z:0.77 [[ 7.61815305e-01 -6.47743957e-01 8.07513198e-03 6.55918062e+01] [ 6.47496217e-01 7.61783714e-01 2.08379878e-02 2.18819827e+01] [-1.96491847e-02 -1.06460806e-02 9.99750254e-01 7.69033287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.62, Y:21.90, Z:0.78 [[ 7.64669802e-01 -6.44421890e-01 7.21771716e-04 6.56168555e+01] [ 6.44271452e-01 7.64514566e-01 2.07792042e-02 2.18951873e+01] [-1.39423791e-02 -1.54242131e-02 9.99783828e-01 7.77267600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:21.93, Z:0.76 [[ 7.63888979e-01 -6.45043622e-01 1.98079091e-02 6.56264817e+01] [ 6.45217994e-01 7.63990936e-01 -3.40443920e-03 2.19260133e+01] [-1.29370512e-02 1.53810330e-02 9.99798008e-01 7.62466083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:21.93, Z:0.77 [[ 7.65520883e-01 -6.43394395e-01 4.62931750e-03 6.56559813e+01] [ 6.43315997e-01 7.65511649e-01 1.16808545e-02 2.19336977e+01] [-1.10591928e-02 -5.96382404e-03 9.99921060e-01 7.72207581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:21.95, Z:0.78 [[ 7.67553896e-01 -6.40983502e-01 1.08075548e-03 6.56811647e+01] [ 6.40878068e-01 7.67456173e-01 1.69211000e-02 2.19478057e+01] [-1.16755784e-02 -1.22952237e-02 9.99856244e-01 7.78005312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:21.97, Z:0.77 [[ 7.68698932e-01 -6.39521591e-01 1.06811371e-02 6.56988197e+01] [ 6.39454977e-01 7.68773089e-01 9.23414568e-03 2.19724469e+01] [-1.41168063e-02 -2.68171663e-04 9.99900317e-01 7.72137211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:22.00, Z:0.76 [[ 7.66364906e-01 -6.42061192e-01 2.10299000e-02 6.57028040e+01] [ 6.42234316e-01 7.66505738e-01 -2.00920835e-03 2.19961020e+01] [-1.48295043e-02 1.50459102e-02 9.99776828e-01 7.64777870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.648040942 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:65.75, Y:22.00, Z:0.78 [[ 7.70870372e-01 -6.36991907e-01 -4.24252204e-04 6.57503493e+01] [ 6.36802052e-01 7.70624007e-01 2.49356458e-02 2.20000539e+01] [-1.55568657e-02 -1.94923152e-02 9.99688968e-01 7.78765249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.76, Y:22.02, Z:0.77 [[ 7.69296502e-01 -6.38765056e-01 1.27317058e-02 6.57642833e+01] [ 6.38660813e-01 7.69401467e-01 1.15649766e-02 2.20249599e+01] [-1.71830961e-02 -7.65654489e-04 9.99852067e-01 7.71258374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:22.04, Z:0.77 [[ 7.70220079e-01 -6.37541913e-01 1.73591349e-02 6.57838938e+01] [ 6.37550963e-01 7.70386908e-01 5.72554183e-03 2.20445764e+01] [-1.70235232e-02 6.65740590e-03 9.99832925e-01 7.71187677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:22.06, Z:0.77 [[ 7.69090182e-01 -6.38974060e-01 1.45754343e-02 6.58081895e+01] [ 6.38889167e-01 7.69227276e-01 1.04895700e-02 2.20608084e+01] [-1.79143848e-02 1.24466180e-03 9.99838750e-01 7.72090955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:22.08, Z:0.77 [[ 7.67683118e-01 -6.40594320e-01 1.73651131e-02 6.58294125e+01] [ 6.40525675e-01 7.67871737e-01 9.99279296e-03 2.20804511e+01] [-1.97355060e-02 3.45150234e-03 9.99799278e-01 7.69335532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.85, Y:22.10, Z:0.77 [[ 7.65756204e-01 -6.42887883e-01 1.76806705e-02 6.58501851e+01] [ 6.42816241e-01 7.65952141e-01 1.02272977e-02 2.20987158e+01] [-2.01175531e-02 3.53380547e-03 9.99791376e-01 7.68885243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.87, Y:22.12, Z:0.76 [[ 7.64973064e-01 -6.43724321e-01 2.08616656e-02 6.58671619e+01] [ 6.43831998e-01 7.65164385e-01 1.95516633e-03 2.21196506e+01] [-1.72211916e-02 1.19357582e-02 9.99780460e-01 7.64053838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:22.13, Z:0.77 [[ 7.62452892e-01 -6.46932344e-01 1.20054064e-02 6.58918933e+01] [ 6.46713390e-01 7.62525258e-01 1.78051098e-02 2.21297472e+01] [-2.06731270e-02 -5.81150036e-03 9.99769398e-01 7.67757701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:22.16, Z:0.76 [[ 7.61782312e-01 -6.47490475e-01 2.10664010e-02 6.59065746e+01] [ 6.47627782e-01 7.61956756e-01 3.96476177e-04 2.21564888e+01] [-1.63084011e-02 1.33411580e-02 9.99778000e-01 7.59822140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:22.16, Z:0.77 [[ 7.60590148e-01 -6.49224586e-01 3.17242116e-03 6.59431876e+01] [ 6.48889638e-01 7.60338339e-01 2.87723648e-02 2.21628926e+01] [-2.10918400e-02 -1.98254259e-02 9.99580956e-01 7.68485149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.96, Y:22.20, Z:0.76 [[ 7.57651729e-01 -6.52421999e-01 1.75895834e-02 6.59555114e+01] [ 6.52468194e-01 7.57806776e-01 3.76110964e-03 2.21978805e+01] [-1.57833362e-02 8.62703252e-03 9.99838217e-01 7.58735851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.978040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:65.97, Y:22.21, Z:0.76 [[ 7.58646863e-01 -6.51265687e-01 1.75482836e-02 6.59696143e+01] [ 6.51384112e-01 7.58746830e-01 -1.40971180e-03 2.22127962e+01] [-1.23966076e-02 1.25001466e-02 9.99845023e-01 7.58950191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:22.23, Z:0.76 [[ 7.57011619e-01 -6.53326540e-01 9.89148555e-03 6.59970291e+01] [ 6.53158806e-01 7.57056319e-01 1.57893480e-02 2.22252428e+01] [-1.78040117e-02 -5.49200902e-03 9.99826412e-01 7.63612545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:22.24, Z:0.77 [[ 7.57464368e-01 -6.52861742e-01 4.39059983e-03 6.60223808e+01] [ 6.52700004e-01 7.57398832e-01 1.81580533e-02 2.22414183e+01] [-1.51801335e-02 -1.08883339e-02 9.99825489e-01 7.71089480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:22.26, Z:0.77 [[ 7.57249164e-01 -6.53106421e-01 5.07014768e-03 6.60457988e+01] [ 6.52987741e-01 7.57225714e-01 1.47046915e-02 2.22616554e+01] [-1.34429746e-02 -7.82437107e-03 9.99879026e-01 7.70694903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.06, Y:22.29, Z:0.77 [[ 7.58052722e-01 -6.52055804e-01 1.33902616e-02 6.60596844e+01] [ 6.52119594e-01 7.58115922e-01 -5.33743472e-04 2.22856845e+01] [-9.80333999e-03 9.13665765e-03 9.99910204e-01 7.65899748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.09, Y:22.29, Z:0.78 [[ 7.59077496e-01 -6.50974995e-01 -5.73675593e-03 6.60905264e+01] [ 6.50980312e-01 7.58955742e-01 1.45195007e-02 2.22948735e+01] [-5.09788802e-03 -1.47559414e-02 9.99878129e-01 7.79348801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:22.31, Z:0.80 [[ 7.60493158e-01 -6.48961602e-01 -2.23382169e-02 6.61235822e+01] [ 6.49343826e-01 7.60128450e-01 2.36079550e-02 2.23070073e+01] [ 1.65925789e-03 -3.24588714e-02 9.99471695e-01 7.96869251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.188040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.13, Y:22.34, Z:0.78 [[ 7.59495874e-01 -6.50489119e-01 5.47022490e-03 6.61309933e+01] [ 6.50511877e-01 7.59461482e-01 -7.24944322e-03 2.23426867e+01] [ 5.61258825e-04 9.06436848e-03 9.99958760e-01 7.78977186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.15, Y:22.36, Z:0.78 [[ 7.59410722e-01 -6.50610727e-01 -1.01884305e-03 6.61544337e+01] [ 6.50607323e-01 7.59410515e-01 -2.40454805e-03 2.23572461e+01] [ 2.33814488e-03 1.16317282e-03 9.99996590e-01 7.83274908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:22.36, Z:0.80 [[ 7.58797903e-01 -6.50873432e-01 -2.42799720e-02 6.61894637e+01] [ 6.51297229e-01 7.58588072e-01 1.88694542e-02 2.23643212e+01] [ 6.13687073e-03 -3.01315808e-02 9.99527102e-01 8.02201798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.278040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:66.20, Y:22.39, Z:0.79 [[ 7.58695358e-01 -6.51410140e-01 -6.79584345e-03 6.62025706e+01] [ 6.51410492e-01 7.58721486e-01 -2.46515812e-03 2.23937479e+01] [ 6.76198144e-03 -2.55657970e-03 9.99973869e-01 7.92942553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.21, Y:22.42, Z:0.78 [[ 7.56524768e-01 -6.53859489e-01 1.17491903e-02 6.62115707e+01] [ 6.53961157e-01 7.56336250e-01 -1.70376660e-02 2.24228880e+01] [ 2.25390108e-03 2.05729304e-02 9.99785814e-01 7.79010560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.338040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.24, Y:22.43, Z:0.78 [[ 7.55574386e-01 -6.55062502e-01 -6.83160330e-04 6.62385507e+01] [ 6.55062231e-01 7.55574695e-01 -5.95830935e-04 2.24332669e+01] [ 9.06485160e-04 2.68206342e-06 9.99999589e-01 7.84400792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36804094200001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.26, Y:22.45, Z:0.78 [[ 7.54819678e-01 -6.55926488e-01 2.77433852e-03 6.62565346e+01] [ 6.55931965e-01 7.54807863e-01 -4.28335398e-03 2.24539281e+01] [ 7.15472800e-04 5.05293719e-03 9.99986978e-01 7.80724159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.398040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.28, Y:22.47, Z:0.78 [[ 7.54293367e-01 -6.56537499e-01 -1.67916670e-04 6.62798222e+01] [ 6.56537496e-01 7.54293243e-01 4.68905966e-04 2.24702166e+01] [-1.81195941e-04 -4.63936249e-04 9.99999876e-01 7.81440124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.428040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.30, Y:22.49, Z:0.78 [[ 7.52351783e-01 -6.58724108e-01 7.02445772e-03 6.62954782e+01] [ 6.58750819e-01 7.52357637e-01 -2.31189560e-03 2.24932940e+01] [-3.76200304e-03 6.36672605e-03 9.99972656e-01 7.75417147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:22.51, Z:0.77 [[ 7.51282389e-01 -6.59891430e-01 1.08661149e-02 6.63130907e+01] [ 6.59955112e-01 7.51296729e-01 -3.53207066e-03 2.25138362e+01] [-5.83289343e-03 9.82473055e-03 9.99934724e-01 7.71911039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.488040942 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:66.31, Y:22.55, Z:0.75 [[ 7.47298704e-01 -6.63575713e-01 3.48126447e-02 6.63136940e+01] [ 6.64336906e-01 7.47220582e-01 -1.78291152e-02 2.25456032e+01] [-1.41817568e-02 3.64509994e-02 9.99234808e-01 7.48012043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.518040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.36, Y:22.54, Z:0.78 [[ 7.49073492e-01 -6.62382811e-01 -1.17436996e-02 6.63634631e+01] [ 6.62442703e-01 7.48701038e-01 2.48278286e-02 2.25391371e+01] [-7.65300685e-03 -2.63773964e-02 9.99622761e-01 7.78518409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.37, Y:22.57, Z:0.77 [[ 7.48991293e-01 -6.62563170e-01 4.69990940e-03 6.63748532e+01] [ 6.62540418e-01 7.49005265e-01 5.59534207e-03 2.25680153e+01] [-7.22752446e-03 -1.07698256e-03 9.99973301e-01 7.71024042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.578040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.39, Y:22.59, Z:0.77 [[ 7.48895712e-01 -6.62605050e-01 1.04766427e-02 6.63922486e+01] [ 6.62657645e-01 7.48918956e-01 -2.28949179e-03 2.25903835e+01] [-6.32912747e-03 8.65701794e-03 9.99942497e-01 7.65777196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.42, Y:22.60, Z:0.77 [[ 7.48439900e-01 -6.63202488e-01 4.19606586e-04 6.64174343e+01] [ 6.63167324e-01 7.48406444e-01 9.84353968e-03 2.26035165e+01] [-6.84229628e-03 -7.08902848e-03 9.99951463e-01 7.71558887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.638040942 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:66.43, Y:22.63, Z:0.76 [[ 7.48400418e-01 -6.63177925e-01 9.58405850e-03 6.64322846e+01] [ 6.63233218e-01 7.48400273e-01 -4.32782850e-03 2.26293961e+01] [-4.30259167e-03 9.59541462e-03 9.99944706e-01 7.63367876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.46, Y:22.64, Z:0.77 [[ 7.48034615e-01 -6.63655218e-01 2.44242407e-03 6.64565628e+01] [ 6.63642079e-01 7.48036502e-01 4.53669966e-03 2.26447138e+01] [-4.83782677e-03 -1.77271300e-03 9.99986726e-01 7.66042140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.698040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.46, Y:22.67, Z:0.75 [[ 7.47083622e-01 -6.64459218e-01 1.89739081e-02 6.64616405e+01] [ 6.64678350e-01 7.47077168e-01 -8.85417415e-03 2.26744557e+01] [-8.29173590e-03 1.92263544e-02 9.99780773e-01 7.50474483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.49, Y:22.69, Z:0.76 [[ 7.47673410e-01 -6.64029111e-01 7.05766119e-03 6.64883711e+01] [ 6.64002231e-01 7.47706689e-01 5.97869099e-03 2.26859442e+01] [-9.24708535e-03 2.16194495e-04 9.99957221e-01 7.56385268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75804094200001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.52, Y:22.70, Z:0.77 [[ 7.51182178e-01 -6.59951742e-01 -1.37489105e-02 6.65236753e+01] [ 6.60092871e-01 7.50964655e-01 1.81518472e-02 2.26970522e+01] [-1.65439739e-03 -2.27109019e-02 9.99740705e-01 7.72495564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:22.73, Z:0.76 [[ 7.50391728e-01 -6.60824231e-01 1.49529212e-02 6.65293439e+01] [ 6.60918101e-01 7.50455669e-01 -1.88490130e-03 2.27301845e+01] [-9.97591606e-03 1.12970706e-02 9.99886422e-01 7.56508544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:22.75, Z:0.76 [[ 7.49552347e-01 -6.61879966e-01 9.28380539e-03 6.65528636e+01] [ 6.61831130e-01 7.49609830e-01 8.04105316e-03 2.27454287e+01] [-1.22814438e-02 1.17121143e-04 9.99924573e-01 7.57374542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:22.77, Z:0.75 [[ 7.50144895e-01 -6.61080136e-01 1.59903546e-02 6.65687003e+01] [ 6.61119748e-01 7.50272600e-01 3.42133648e-03 2.27686725e+01] [-1.42589025e-02 8.00504108e-03 9.99866293e-01 7.51872411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:22.78, Z:0.76 [[ 7.51509696e-01 -6.59711344e-01 3.75758219e-03 6.65950857e+01] [ 6.59537678e-01 7.51422138e-01 1.93603110e-02 2.27780846e+01] [-1.55957472e-02 -1.20711944e-02 9.99805511e-01 7.58659068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.61, Y:22.81, Z:0.75 [[ 7.51894195e-01 -6.59042494e-01 1.78356596e-02 6.66073243e+01] [ 6.59136108e-01 7.52023216e-01 8.20905973e-04 2.28064560e+01] [-1.39538420e-02 1.11388928e-02 9.99840595e-01 7.51430658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:22.83, Z:0.75 [[ 7.53587745e-01 -6.57138473e-01 1.65691923e-02 6.66275392e+01] [ 6.57225057e-01 7.53694329e-01 2.89206806e-04 2.28260491e+01] [-1.26781552e-02 1.06717456e-02 9.99862680e-01 7.49901799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.65, Y:22.84, Z:0.75 [[ 7.54634246e-01 -6.56068837e-01 1.00417580e-02 6.66529102e+01] [ 6.56014088e-01 7.54701031e-01 8.47767130e-03 2.28413811e+01] [-1.31404611e-02 1.89993647e-04 9.99913642e-01 7.52214146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:22.86, Z:0.75 [[ 7.55100288e-01 -6.55567035e-01 7.44426366e-03 6.66752237e+01] [ 6.55440003e-01 7.55114661e-01 1.41510490e-02 2.28587623e+01] [-1.48982339e-02 -5.80619302e-03 9.99872157e-01 7.52802591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:66.69, Y:22.88, Z:0.75 [[ 7.56053915e-01 -6.54348787e-01 1.44963057e-02 6.66909416e+01] [ 6.54383671e-01 7.56157323e-01 2.84838040e-03 2.28823541e+01] [-1.28253220e-02 7.33261659e-03 9.99890866e-01 7.46697889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.71, Y:22.90, Z:0.75 [[ 7.57922929e-01 -6.52316375e-01 6.01508472e-03 6.67133516e+01] [ 6.52211859e-01 7.57922722e-01 1.31468102e-02 2.28958001e+01] [-1.31348489e-02 -6.04115928e-03 9.99895485e-01 7.51838441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.73, Y:22.92, Z:0.74 [[ 7.58819445e-01 -6.50965448e-01 2.09053836e-02 6.67292767e+01] [ 6.51026957e-01 7.59040384e-01 4.64711304e-03 2.29211698e+01] [-1.88931404e-02 1.00836485e-02 9.99770658e-01 7.40037888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.75, Y:22.94, Z:0.73 [[ 7.59048237e-01 -6.50555059e-01 2.49777565e-02 6.67465542e+01] [ 6.50642350e-01 7.59363893e-01 5.56868721e-03 2.29408857e+01] [-2.25899440e-02 1.20246840e-02 9.99672497e-01 7.33447136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:22.96, Z:0.73 [[ 7.60025907e-01 -6.49584793e-01 2.00054316e-02 6.67715075e+01] [ 6.49493491e-01 7.60277889e-01 1.16506276e-02 2.29564413e+01] [-2.27777578e-02 4.13861877e-03 9.99731987e-01 7.34197302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:22.96, Z:0.75 [[ 7.61481568e-01 -6.48161966e-01 -5.64689678e-03 6.68059107e+01] [ 6.48008025e-01 7.61038472e-01 3.01005767e-02 2.29616106e+01] [-1.52125433e-02 -2.65802688e-02 9.99530924e-01 7.52948827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.79, Y:23.01, Z:0.71 [[ 7.57891526e-01 -6.50516292e-01 4.92847603e-02 6.67947769e+01] [ 6.51788359e-01 7.58257939e-01 -1.47252699e-02 2.30095986e+01] [-2.77915328e-02 4.32833903e-02 9.98676213e-01 7.13883489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.83, Y:23.01, Z:0.73 [[ 7.58368834e-01 -6.51533121e-01 1.95270078e-02 6.68343234e+01] [ 6.51275880e-01 7.58619248e-01 1.83457166e-02 2.30098259e+01] [-2.67664059e-02 -1.19535054e-03 9.99641001e-01 7.26256619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:23.01, Z:0.75 [[ 7.59816740e-01 -6.49972099e-01 -1.46558035e-02 6.68762595e+01] [ 6.49917272e-01 7.58780116e-01 4.31309201e-02 2.30113717e+01] [-1.69133624e-02 -4.22966549e-02 9.98961927e-01 7.53338339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:23.05, Z:0.74 [[ 7.59071912e-01 -6.50866308e-01 1.35233656e-02 6.68833979e+01] [ 6.50763869e-01 7.59192365e-01 1.15472678e-02 2.30460294e+01] [-1.77825635e-02 3.53111019e-05 9.99841877e-01 7.40315856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.328040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:66.91, Y:23.06, Z:0.74 [[ 7.57538891e-01 -6.52623495e-01 1.47445597e-02 6.69053774e+01] [ 6.52501895e-01 7.57682366e-01 1.25979705e-02 2.30639348e+01] [-1.93934244e-02 7.74005099e-05 9.99811927e-01 7.38055797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:23.09, Z:0.73 [[ 7.57226523e-01 -6.52392031e-01 3.15060470e-02 6.69168183e+01] [ 6.52764106e-01 7.57558404e-01 -2.07037537e-03 2.30907240e+01] [-2.25169743e-02 2.21337597e-02 9.99501417e-01 7.25139998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:23.09, Z:0.74 [[ 7.55980355e-01 -6.54582654e-01 3.90544594e-03 6.69555981e+01] [ 6.54148276e-01 7.55672007e-01 3.24014038e-02 2.30922084e+01] [-2.41606331e-02 -2.19400841e-02 9.99467306e-01 7.39861317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:23.12, Z:0.73 [[ 7.55517004e-01 -6.54858275e-01 1.88333961e-02 6.69691741e+01] [ 6.54659982e-01 7.55751689e-01 1.61149880e-02 2.31190009e+01] [-2.47864041e-02 1.54323306e-04 9.99692758e-01 7.32177743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:23.16, Z:0.69 [[ 7.52631135e-01 -6.55253823e-01 6.47209587e-02 6.69577320e+01] [ 6.57742964e-01 7.52720221e-01 -2.80439343e-02 2.31646841e+01] [-3.03408792e-02 6.36764933e-02 9.97509266e-01 6.93256225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:23.13, Z:0.75 [[ 7.55251887e-01 -6.55055532e-01 -2.22898271e-02 6.70357909e+01] [ 6.54925363e-01 7.52888138e-01 6.50555159e-02 2.31295327e+01] [-2.58332292e-02 -6.37314743e-02 9.97632670e-01 7.47695489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:23.17, Z:0.73 [[ 7.55261594e-01 -6.55124426e-01 1.97967366e-02 6.70353668e+01] [ 6.54904914e-01 7.55520987e-01 1.69585455e-02 2.31718596e+01] [-2.60668073e-02 1.56842010e-04 9.99660191e-01 7.27395261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:23.19, Z:0.73 [[ 7.56128110e-01 -6.54101212e-01 2.05398567e-02 6.70579900e+01] [ 6.53864263e-01 7.56407027e-01 1.76049594e-02 2.31892127e+01] [-2.70519172e-02 1.18673604e-04 9.99634023e-01 7.25404463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:23.21, Z:0.72 [[ 7.56581522e-01 -6.53565954e-01 2.08792667e-02 6.70796069e+01] [ 6.53320635e-01 7.56869563e-01 1.79056933e-02 2.32071491e+01] [-2.75054330e-02 9.37391156e-05 9.99621650e-01 7.23945810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:23.22, Z:0.72 [[ 7.57342531e-01 -6.52660372e-01 2.16039095e-02 6.71002977e+01] [ 6.52397089e-01 7.57650603e-01 1.85365223e-02 2.32241427e+01] [-2.84662686e-02 5.58309965e-05 9.99594752e-01 7.22425452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:23.24, Z:0.72 [[ 7.58079666e-01 -6.51788684e-01 2.20619990e-02 6.71224521e+01] [ 6.51513585e-01 7.58400627e-01 1.89350943e-02 2.32417023e+01] [-2.90735141e-02 1.93821100e-05 9.99577276e-01 7.21337906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:23.26, Z:0.72 [[ 7.59804076e-01 -6.49767788e-01 2.23514562e-02 6.71454262e+01] [ 6.49484272e-01 7.60132763e-01 1.91927968e-02 2.32571648e+01] [-2.94609353e-02 -6.58459981e-05 9.99565930e-01 7.20219799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.14, Y:23.30, Z:0.69 [[ 7.60565225e-01 -6.46862515e-01 5.57622264e-02 6.71384200e+01] [ 6.48837162e-01 7.60364413e-01 -2.92625581e-02 2.32968787e+01] [-2.34707606e-02 5.84366888e-02 9.98015169e-01 6.94577025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:23.27, Z:0.74 [[ 7.60966283e-01 -6.48636999e-01 -1.41548636e-02 6.72113016e+01] [ 6.48028220e-01 7.58832273e-01 6.50615669e-02 2.32671716e+01] [-3.14601722e-02 -5.86824098e-02 9.97780854e-01 7.36484952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:23.31, Z:0.72 [[ 7.60611696e-01 -6.48775907e-01 2.36573359e-02 6.72126980e+01] [ 6.48457122e-01 7.60979504e-01 2.03360327e-02 2.33073443e+01] [-3.11962758e-02 -1.27056384e-04 9.99513270e-01 7.18264275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:23.32, Z:0.72 [[ 7.60157460e-01 -6.49286626e-01 2.42386826e-02 6.72343682e+01] [ 6.48951916e-01 7.60543795e-01 2.08457799e-02 2.33236417e+01] [-3.19694658e-02 -1.16335566e-04 9.99488839e-01 7.17217055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:23.36, Z:0.70 [[ 7.61077610e-01 -6.46811206e-01 4.89503333e-02 6.72328808e+01] [ 6.48306517e-01 7.60986798e-01 -2.44489826e-02 2.33568126e+01] [-2.14366814e-02 5.03423933e-02 9.98501934e-01 6.98390980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.28, Y:23.35, Z:0.71 [[ 7.60684124e-01 -6.48939623e-01 1.53957491e-02 6.72753434e+01] [ 6.48826872e-01 7.60839520e-01 1.21208810e-02 2.33545913e+01] [-1.95794143e-02 7.69013942e-04 9.99808009e-01 7.12415053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.30, Y:23.37, Z:0.71 [[ 7.60315801e-01 -6.49469584e-01 1.04471099e-02 6.73013450e+01] [ 6.49274894e-01 7.60362368e-01 1.70640173e-02 2.33689523e+01] [-1.90261494e-02 -6.19099578e-03 9.99799819e-01 7.14613302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:23.39, Z:0.71 [[ 7.59480954e-01 -6.50389867e-01 1.34796932e-02 6.73201759e+01] [ 6.50281523e-01 7.59600525e-01 1.18736450e-02 2.33878092e+01] [-1.79616804e-02 -2.52211858e-04 9.99838644e-01 7.12755993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.35, Y:23.40, Z:0.71 [[ 7.58785161e-01 -6.51244162e-01 1.12303655e-02 6.73496113e+01] [ 6.51108450e-01 7.58862194e-01 1.36366029e-02 2.34040615e+01] [-1.74030578e-02 -3.03506602e-03 9.99843949e-01 7.14786849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:23.42, Z:0.72 [[ 7.56533820e-01 -6.53873277e-01 1.03109957e-02 6.73725557e+01] [ 6.53691974e-01 7.56582808e-01 1.64090952e-02 2.34171802e+01] [-1.85305909e-02 -5.67382030e-03 9.99812195e-01 7.16468954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.988040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.39, Y:23.44, Z:0.71 [[ 7.56165438e-01 -6.54159270e-01 1.70141038e-02 6.73921825e+01] [ 6.54184054e-01 7.56319917e-01 4.83797983e-03 2.34394148e+01] [-1.60329149e-02 7.47204225e-03 9.99843545e-01 7.12904951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.018040942 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:67.42, Y:23.45, Z:0.72 [[ 7.55164305e-01 -6.55471033e-01 9.19767735e-03 6.74204412e+01] [ 6.55360941e-01 7.55212660e-01 1.24849909e-02 2.34523594e+01] [-1.51297523e-02 -3.40042102e-03 9.99879757e-01 7.16590808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.44, Y:23.47, Z:0.72 [[ 7.54512418e-01 -6.56232222e-01 8.38337030e-03 6.74417584e+01] [ 6.56114549e-01 7.54545798e-01 1.32036728e-02 2.34664296e+01] [-1.49903124e-02 -4.46188388e-03 9.99877684e-01 7.16784380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:23.48, Z:0.73 [[ 7.48285992e-01 -6.63369933e-01 -2.89929558e-03 6.74833721e+01] [ 6.62817904e-01 7.47469736e-01 4.42879208e-02 2.34754218e+01] [-2.72121394e-02 -3.50617358e-02 9.99014602e-01 7.25560042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.49, Y:23.51, Z:0.71 [[ 7.46537882e-01 -6.65042463e-01 1.99928202e-02 6.74926615e+01] [ 6.64819926e-01 7.46805413e-01 1.72087684e-02 2.35056565e+01] [-2.63753081e-02 4.44627761e-04 9.99652012e-01 7.12793891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.52, Y:23.52, Z:0.71 [[ 7.45101949e-01 -6.66675692e-01 1.91470102e-02 6.75155980e+01] [ 6.66471984e-01 7.45347767e-01 1.64863439e-02 2.35222983e+01] [-2.52622261e-02 4.76938901e-04 9.99680745e-01 7.12103354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.53, Y:23.54, Z:0.71 [[ 7.46291949e-01 -6.65150384e-01 2.49658494e-02 6.75254022e+01] [ 6.65498807e-01 7.46344453e-01 -9.01642720e-03 2.35398118e+01] [-1.26358432e-02 2.33436300e-02 9.99647643e-01 7.05100433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:23.55, Z:0.72 [[ 7.46983955e-01 -6.64841346e-01 -9.77180045e-04 6.75725079e+01] [ 6.64801994e-01 7.46921991e-01 1.20767404e-02 2.35467017e+01] [-7.29923906e-03 -9.67076254e-03 9.99926596e-01 7.21738250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:23.56, Z:0.72 [[ 7.48203118e-01 -6.63463371e-01 2.90697335e-03 6.75896247e+01] [ 6.63393295e-01 7.48176239e-01 1.19016959e-02 2.35605931e+01] [-1.00712677e-02 -6.97641936e-03 9.99924947e-01 7.20261050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:23.58, Z:0.71 [[ 7.41593550e-01 -6.70717994e-01 1.32807756e-02 6.76098412e+01] [ 6.70531415e-01 7.41706225e-01 1.61089183e-02 2.35824742e+01] [-2.06549753e-02 -3.04109268e-03 9.99782038e-01 7.13779239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:23.60, Z:0.71 [[ 7.41428208e-01 -6.70850838e-01 1.56001953e-02 6.76301473e+01] [ 6.70716986e-01 7.41592127e-01 1.34105047e-02 2.36026355e+01] [-2.05654303e-02 5.20389566e-04 9.99788374e-01 7.12174059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:23.62, Z:0.71 [[ 7.41163298e-01 -6.71139849e-01 1.57565496e-02 6.76526044e+01] [ 6.71003234e-01 7.41330577e-01 1.35512281e-02 2.36194619e+01] [-2.07755812e-02 5.29022866e-04 9.99784024e-01 7.11852730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:23.63, Z:0.71 [[ 7.41588452e-01 -6.70677973e-01 1.54150885e-02 6.76756923e+01] [ 6.70546981e-01 7.41748480e-01 1.32641972e-02 2.36349450e+01] [-2.03301233e-02 4.99965608e-04 9.99793197e-01 7.11494956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.69, Y:23.66, Z:0.70 [[ 7.44248630e-01 -6.67415752e-01 2.54988410e-02 6.76905435e+01] [ 6.67736560e-01 7.44372497e-01 -6.12145508e-03 2.36594461e+01] [-1.48950804e-02 2.15823930e-02 9.99656109e-01 7.00459086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.72, Y:23.67, Z:0.71 [[ 7.46497806e-01 -6.65343181e-01 7.71220416e-03 6.77216892e+01] [ 6.65222826e-01 7.46520648e-01 1.36203468e-02 2.36660987e+01] [-1.48195245e-02 -5.03722474e-03 9.99877497e-01 7.10618850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.75, Y:23.68, Z:0.72 [[ 7.50818651e-01 -6.60508361e-01 -2.41003190e-04 6.77493354e+01] [ 6.60412179e-01 7.50702990e-01 1.73428456e-02 2.36816121e+01] [-1.12741727e-02 -1.31804934e-02 9.99849573e-01 7.16742431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.468040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:67.76, Y:23.71, Z:0.71 [[ 7.49368014e-01 -6.62017376e-01 1.34377561e-02 6.77582481e+01] [ 6.62049867e-01 7.49455607e-01 2.50337789e-03 2.37079068e+01] [-1.17282814e-02 7.02051335e-03 9.99906576e-01 7.10113941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.79, Y:23.72, Z:0.71 [[ 7.54184555e-01 -6.56627375e-01 6.79322327e-03 6.77875175e+01] [ 6.56594028e-01 7.54214950e-01 6.64012073e-03 2.37201922e+01] [-9.48363559e-03 -5.47486672e-04 9.99954879e-01 7.10805643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528040942 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:67.81, Y:23.74, Z:0.71 [[ 7.53738078e-01 -6.57054962e-01 1.25573340e-02 6.78104678e+01] [ 6.57045308e-01 7.53831325e-01 5.45858260e-03 2.37446189e+01] [-1.30527006e-02 4.13639586e-03 9.99906254e-01 7.08085400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.558040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.84, Y:23.76, Z:0.72 [[ 7.54423878e-01 -6.56386413e-01 -1.22018944e-03 6.78391907e+01] [ 6.56290129e-01 7.54278579e-01 1.86304165e-02 2.37556674e+01] [-1.13083895e-02 -1.48560293e-02 9.99825694e-01 7.17800105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.85, Y:23.78, Z:0.71 [[ 7.52029431e-01 -6.58904002e-01 1.72409989e-02 6.78454222e+01] [ 6.58867186e-01 7.52210827e-01 8.53831339e-03 2.37829107e+01] [-1.85947949e-02 4.93846547e-03 9.99814905e-01 7.07614038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61804094200001 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:67.87, Y:23.80, Z:0.71 [[ 7.54833402e-01 -6.55881393e-01 6.79220067e-03 6.78748633e+01] [ 6.55827576e-01 7.54861098e-01 8.65524678e-03 2.37977691e+01] [-1.08039834e-02 -2.07875687e-03 9.99939475e-01 7.11703343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.648040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:67.90, Y:23.81, Z:0.71 [[ 7.54161418e-01 -6.56673657e-01 4.50154322e-03 6.78971593e+01] [ 6.56600464e-01 7.54154539e-01 1.12588579e-02 2.38147630e+01] [-1.07882547e-02 -5.53528090e-03 9.99926484e-01 7.13052633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:23.84, Z:0.70 [[ 7.51288013e-01 -6.59804137e-01 1.49940435e-02 6.79123493e+01] [ 6.59839756e-01 7.51399807e-01 3.13468109e-03 2.38390308e+01] [-1.33347969e-02 7.53861765e-03 9.99882669e-01 7.04303459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.708040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:67.94, Y:23.85, Z:0.71 [[ 7.50019584e-01 -6.61367286e-01 7.99605559e-03 6.79363403e+01] [ 6.61267924e-01 7.50052774e-01 1.20652330e-02 2.38520750e+01] [-1.39770141e-02 -3.76162595e-03 9.99895241e-01 7.08207848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.95, Y:23.87, Z:0.70 [[ 7.47867495e-01 -6.63675663e-01 1.51269374e-02 6.79536295e+01] [ 6.63614745e-01 7.48014612e-01 9.46630151e-03 2.38737577e+01] [-1.75977242e-02 2.95891953e-03 9.99840770e-01 7.01890785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:23.89, Z:0.70 [[ 7.46863778e-01 -6.64875801e-01 1.16045949e-02 6.79742015e+01] [ 6.64776732e-01 7.46953405e-01 1.15111807e-02 2.38893513e+01] [-1.63215972e-02 -8.82819201e-04 9.99866404e-01 7.03611026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.01, Y:23.90, Z:0.72 [[ 7.46767307e-01 -6.65027339e-01 -8.78791632e-03 6.80090239e+01] [ 6.64984228e-01 7.46358065e-01 2.73059615e-02 2.38990266e+01] [-1.16002787e-02 -2.62350251e-02 9.99588494e-01 7.22613382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.01, Y:23.93, Z:0.71 [[ 7.43679719e-01 -6.68341686e-01 1.61203653e-02 6.80093447e+01] [ 6.68421079e-01 7.43782823e-01 6.12030164e-04 2.39317896e+01] [-1.23990961e-02 1.03200376e-02 9.99869871e-01 7.07683064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:23.95, Z:0.70 [[ 7.42582501e-01 -6.69488915e-01 1.88632372e-02 6.80331148e+01] [ 6.69540042e-01 7.42762975e-01 4.39264290e-03 2.39494545e+01] [-1.69517399e-02 9.36779284e-03 9.99812424e-01 7.01045046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:23.97, Z:0.69 [[ 7.40923819e-01 -6.71163200e-01 2.39134592e-02 6.80493687e+01] [ 6.71291441e-01 7.41185794e-01 3.37934551e-03 2.39694164e+01] [-1.99924086e-02 1.35490629e-02 9.99708321e-01 6.94276909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.08, Y:23.99, Z:0.70 [[ 7.39997903e-01 -6.72393053e-01 1.70495210e-02 6.80762558e+01] [ 6.72456550e-01 7.40132237e-01 2.54189702e-03 2.39888842e+01] [-1.43280540e-02 9.58406364e-03 9.99851415e-01 6.99235240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.12, Y:23.98, Z:0.73 [[ 7.43954182e-01 -6.67920804e-01 -2.03463674e-02 6.81185955e+01] [ 6.68166773e-01 7.43117259e-01 3.64678267e-02 2.39840193e+01] [-9.23788337e-03 -4.07251589e-02 9.99127681e-01 7.29375167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:24.05, Z:0.68 [[ 7.39212636e-01 -6.72085910e-01 4.31880486e-02 6.81010474e+01] [ 6.73332437e-01 7.38844092e-01 -2.70709537e-02 2.40452598e+01] [-1.37152280e-02 4.90911051e-02 9.98700133e-01 6.83317565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.14, Y:24.04, Z:0.70 [[ 7.39612870e-01 -6.72983163e-01 8.15257882e-03 6.81382837e+01] [ 6.72764044e-01 7.39605693e-01 1.92862733e-02 2.40388164e+01] [-1.90090309e-02 -8.77961406e-03 9.99780764e-01 6.99628238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:24.05, Z:0.71 [[ 7.42714433e-01 -6.69606526e-01 1.54000276e-03 6.81625678e+01] [ 6.69381733e-01 7.42520992e-01 2.43037313e-02 2.40527970e+01] [-1.74174214e-02 -1.70198823e-02 9.99703435e-01 7.06592872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.18, Y:24.08, Z:0.70 [[ 7.43839420e-01 -6.68277291e-01 1.04105616e-02 6.81805273e+01] [ 6.68273766e-01 7.43902865e-01 4.32456068e-03 2.40796910e+01] [-1.06344523e-02 3.74032647e-03 9.99936457e-01 7.04780478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:24.09, Z:0.70 [[ 7.44374784e-01 -6.67704976e-01 8.73189032e-03 6.82007844e+01] [ 6.67579741e-01 7.44413465e-01 1.36338611e-02 2.40941729e+01] [-1.56035336e-02 -4.31946934e-03 9.99868927e-01 7.03126612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:24.11, Z:0.70 [[ 7.45157335e-01 -6.66814677e-01 9.93643661e-03 6.82217431e+01] [ 6.66713227e-01 7.45220348e-01 1.18366319e-02 2.41133770e+01] [-1.52976746e-02 -2.19539940e-03 9.99880574e-01 7.02749379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.25, Y:24.14, Z:0.71 [[ 7.46209073e-01 -6.65632784e-01 1.02477330e-02 6.82466717e+01] [ 6.65691643e-01 7.46217602e-01 -3.73191272e-03 2.41401387e+01] [-5.16295528e-03 9.60661734e-03 9.99940527e-01 7.05128407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.28, Y:24.15, Z:0.71 [[ 7.46726306e-01 -6.65129954e-01 -1.40323035e-03 6.82751536e+01] [ 6.65123399e-01 7.46705254e-01 6.49053363e-03 2.41530615e+01] [-3.26924886e-03 -5.77997354e-03 9.99977952e-01 7.12516527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.28, Y:24.18, Z:0.71 [[ 7.42703517e-01 -6.69600209e-01 5.20057976e-03 6.82828504e+01] [ 6.69606604e-01 7.42715673e-01 6.51828105e-04 2.41754910e+01] [-4.29901633e-03 2.99822752e-03 9.99986264e-01 7.08733850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:24.19, Z:0.71 [[ 7.45976022e-01 -6.65972237e-01 -8.68166364e-04 6.83200540e+01] [ 6.65969198e-01 7.45967061e-01 4.26275784e-03 2.41923922e+01] [-2.19125487e-03 -3.75808720e-03 9.99990538e-01 7.13031044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.33, Y:24.21, Z:0.71 [[ 7.43384882e-01 -6.68862433e-01 1.40077660e-03 6.83259628e+01] [ 6.68843344e-01 7.43376825e-01 6.28310096e-03 2.42066562e+01] [-5.24383506e-03 -3.73386216e-03 9.99979280e-01 7.12397634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.36, Y:24.23, Z:0.72 [[ 7.45861128e-01 -6.66097836e-01 -2.20231524e-03 6.83648063e+01] [ 6.66101128e-01 7.45853278e-01 3.48940792e-03 2.42266510e+01] [-6.81683018e-04 -4.06957839e-03 9.99991487e-01 7.16023901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.38, Y:24.25, Z:0.71 [[ 7.46152525e-01 -6.65755876e-01 5.05202257e-03 6.83808416e+01] [ 6.65758473e-01 7.46166010e-01 1.39352207e-03 2.42459581e+01] [-4.69739302e-03 2.32364682e-03 9.99986267e-01 7.10774653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:24.26, Z:0.71 [[ 7.45504850e-01 -6.66483172e-01 4.76460043e-03 6.84024834e+01] [ 6.66480925e-01 7.45518609e-01 2.27622145e-03 2.42639985e+01] [-5.06916158e-03 1.47858117e-03 9.99986059e-01 7.10742225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.398040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.42, Y:24.28, Z:0.71 [[ 7.44361924e-01 -6.67701704e-01 9.98798277e-03 6.84209983e+01] [ 6.67726986e-01 7.44405540e-01 1.03157840e-03 2.42842605e+01] [-8.12389636e-03 5.90137795e-03 9.99949587e-01 7.07007925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:24.30, Z:0.70 [[ 7.43287857e-01 -6.68841457e-01 1.32010363e-02 6.84399707e+01] [ 6.68887936e-01 7.43362354e-01 1.15739814e-03 2.43043006e+01] [-1.05872692e-02 7.96973392e-03 9.99912193e-01 7.03725875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.458040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:68.45, Y:24.32, Z:0.71 [[ 7.38801608e-01 -6.73904385e-01 5.00639661e-03 6.84542829e+01] [ 6.73852913e-01 7.38811531e-01 8.93152525e-03 2.43165206e+01] [-9.71777758e-03 -3.22505027e-03 9.99947581e-01 7.09725082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.488040942 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:68.47, Y:24.33, Z:0.71 [[ 7.38375281e-01 -6.74364636e-01 5.85512549e-03 6.84745632e+01] [ 6.74312342e-01 7.38394169e-01 8.77021117e-03 2.43346845e+01] [-1.02377108e-02 -2.52752375e-03 9.99944399e-01 7.10164820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.518040942 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:68.50, Y:24.35, Z:0.72 [[ 7.37400483e-01 -6.75428778e-01 -6.04091518e-03 6.85014358e+01] [ 6.75393222e-01 7.37180958e-01 2.02047079e-02 2.43470127e+01] [-9.19359353e-03 -1.89789545e-02 9.99777614e-01 7.18558530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.548040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:68.50, Y:24.41, Z:0.69 [[ 7.38880736e-01 -6.71255757e-01 5.89149042e-02 6.84965683e+01] [ 6.73833726e-01 7.36286538e-01 -6.18889602e-02 2.44107122e+01] [-1.83493005e-03 8.54274099e-02 9.96342707e-01 6.88874491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.578040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.61, Y:24.35, Z:0.79 [[ 7.46483696e-01 -6.59606530e-01 -8.76431177e-02 6.86116528e+01] [ 6.65231437e-01 7.42785505e-01 7.57418598e-02 2.43504899e+01] [ 1.51402121e-02 -1.14843021e-01 9.93268269e-01 7.93676149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:24.45, Z:0.70 [[ 7.41000984e-01 -6.69404886e-01 5.30531733e-02 6.85439969e+01] [ 6.71466551e-01 7.37809849e-01 -6.90600926e-02 2.44459350e+01] [ 7.08600966e-03 8.67970279e-02 9.96200815e-01 7.02483787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:24.45, Z:0.70 [[ 7.37394839e-01 -6.74583893e-01 3.44299673e-02 6.85712283e+01] [ 6.75461703e-01 7.36479923e-01 -3.67261445e-02 2.44543392e+01] [-5.82114197e-04 5.03377938e-02 9.98732080e-01 7.00470117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668040942 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:68.63, Y:24.42, Z:0.75 [[ 7.35217105e-01 -6.75652917e-01 -5.43041912e-02 6.86304651e+01] [ 6.77812098e-01 7.32223459e-01 6.64798188e-02 2.44202720e+01] [-5.15448077e-03 -8.56851377e-02 9.96308932e-01 7.49773860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.698040942 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:68.62, Y:24.47, Z:0.72 [[ 7.35748271e-01 -6.77253510e-01 1.47140942e-03 6.86234204e+01] [ 6.77254556e-01 7.35748710e-01 -3.20977318e-04 2.44721959e+01] [-8.65204565e-04 1.23267724e-03 9.99998866e-01 7.19867932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728040942 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:68.59, Y:24.54, Z:0.67 [[ 7.36251018e-01 -6.69921250e-01 9.56031285e-02 6.85944204e+01] [ 6.76704977e-01 7.29320729e-01 -1.00805002e-01 2.45446954e+01] [-2.19393060e-03 1.38912898e-01 9.90302173e-01 6.71201175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:24.46, Z:0.79 [[ 7.51406936e-01 -6.54775530e-01 -8.15881252e-02 6.87343786e+01] [ 6.59549350e-01 7.48977131e-01 6.34658364e-02 2.44553003e+01] [ 1.95517633e-02 -1.01500065e-01 9.94643386e-01 7.91001161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.788040942 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:68.73, Y:24.50, Z:0.77 [[ 7.47669287e-01 -6.62689458e-01 -4.28172699e-02 6.87279668e+01] [ 6.63818983e-01 7.47607180e-01 2.06848469e-02 2.45018081e+01] [ 1.83028684e-02 -4.38883412e-02 9.98868769e-01 7.68500711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.818040942 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:68.73, Y:24.54, Z:0.75 [[ 7.48899943e-01 -6.62547688e-01 -1.33954007e-02 6.87327847e+01] [ 6.62328710e-01 7.49007503e-01 -1.75624469e-02 2.45403225e+01] [ 2.16692142e-02 4.28035701e-03 9.99756032e-01 7.53270416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.848040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:68.75, Y:24.57, Z:0.74 [[ 7.51370697e-01 -6.59873368e-01 3.03538267e-03 6.87524606e+01] [ 6.59428940e-01 7.50678643e-01 -4.04357271e-02 2.45714267e+01] [ 2.44038625e-02 3.23838396e-02 9.99177531e-01 7.42435175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.878040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:68.78, Y:24.58, Z:0.75 [[ 7.51551036e-01 -6.59570351e-01 -1.17470332e-02 6.87810532e+01] [ 6.59298670e-01 7.51604620e-01 -2.03901604e-02 2.45813756e+01] [ 2.22778697e-02 7.57944277e-03 9.99723086e-01 7.48692520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:24.57, Z:0.78 [[ 7.58291310e-01 -6.50130997e-01 -4.82076273e-02 6.88173607e+01] [ 6.51286181e-01 7.58734146e-01 1.21985868e-02 2.45732813e+01] [ 2.86460935e-02 -4.06470439e-02 9.98762844e-01 7.77011112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.938040942 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:68.82, Y:24.62, Z:0.77 [[ 7.51633709e-01 -6.58943136e-01 -2.89950140e-02 6.88182098e+01] [ 6.58835229e-01 7.52147865e-01 -1.44820266e-02 2.46173145e+01] [ 3.13513699e-02 -8.21775732e-03 9.99474642e-01 7.67241840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.968040942 meters Centerline goodness : 0.996240 Centerline is valid? [True, True] Translation: X:68.84, Y:24.63, Z:0.77 [[ 7.55541651e-01 -6.54615212e-01 -2.52138304e-02 6.88370361e+01] [ 6.54508228e-01 7.55935547e-01 -1.34323808e-02 2.46321464e+01] [ 2.78530715e-02 -6.35393628e-03 9.99591834e-01 7.66292342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:24.66, Z:0.76 [[ 7.60304998e-01 -6.49235765e-01 -2.07179209e-02 6.88655552e+01] [ 6.48982303e-01 7.60587142e-01 -1.81430630e-02 2.46550212e+01] [ 2.75369097e-02 3.48697440e-04 9.99620727e-01 7.64812640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028040942 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:68.88, Y:24.68, Z:0.77 [[ 7.58114846e-01 -6.51853356e-01 -1.86837525e-02 6.88824118e+01] [ 6.51661493e-01 7.58345019e-01 -1.58155041e-02 2.46790387e+01] [ 2.44781201e-02 -1.85513641e-04 9.99700349e-01 7.65453216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.058040942 meters Centerline goodness : 0.997335 Centerline is valid? [True, True] Translation: X:68.90, Y:24.69, Z:0.76 [[ 7.55429693e-01 -6.54966434e-01 -1.85727926e-02 6.88960440e+01] [ 6.54845393e-01 7.55653937e-01 -1.28311427e-02 2.46944995e+01] [ 2.24385716e-02 -2.46928147e-03 9.99745174e-01 7.62899803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.93, Y:24.71, Z:0.77 [[ 7.61290616e-01 -6.48132007e-01 -1.90131547e-02 6.89307102e+01] [ 6.47969643e-01 7.61527001e-01 -1.45591381e-02 2.47133213e+01] [ 2.39152741e-02 -1.23621187e-03 9.99713225e-01 7.71610502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:24.73, Z:0.77 [[ 7.61182942e-01 -6.48273439e-01 -1.84953184e-02 6.89460419e+01] [ 6.47948965e-01 7.61397584e-01 -2.08772178e-02 2.47288795e+01] [ 2.76164366e-02 3.90735966e-03 9.99610957e-01 7.68334585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.97, Y:24.75, Z:0.77 [[ 7.58794311e-01 -6.51137554e-01 -1.58454475e-02 6.89707421e+01] [ 6.50924070e-01 7.58955702e-01 -1.68551959e-02 2.47527149e+01] [ 2.30010437e-02 2.47544362e-03 9.99732376e-01 7.69906821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:24.77, Z:0.77 [[ 7.58563086e-01 -6.51357781e-01 -1.77506366e-02 6.89925880e+01] [ 6.51192596e-01 7.58770623e-01 -1.46746340e-02 2.47696393e+01] [ 2.30270986e-02 -4.27447448e-04 9.99734750e-01 7.71346630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:24.79, Z:0.77 [[ 7.56408028e-01 -6.53875086e-01 -1.71542160e-02 6.90136847e+01] [ 6.53696027e-01 7.56602431e-01 -1.53057175e-02 2.47889593e+01] [ 2.29869489e-02 3.63724781e-04 9.99735699e-01 7.72052682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.03, Y:24.81, Z:0.77 [[ 7.55495804e-01 -6.54976573e-01 -1.52242657e-02 6.90348570e+01] [ 6.54780153e-01 7.55645774e-01 -1.61992327e-02 2.48084523e+01] [ 2.21142699e-02 2.26990530e-03 9.99752873e-01 7.71451195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.268040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.06, Y:24.82, Z:0.78 [[ 7.53967914e-01 -6.56385790e-01 -2.62693422e-02 6.90631254e+01] [ 6.56469284e-01 7.54324610e-01 -6.51626237e-03 2.48214121e+01] [ 2.40927933e-02 -1.23319635e-02 9.99633663e-01 7.79288876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.08, Y:24.85, Z:0.77 [[ 7.51538143e-01 -6.59600972e-01 -1.08156448e-02 6.90761674e+01] [ 6.59283391e-01 7.51549673e-01 -2.27705859e-02 2.48477282e+01] [ 2.31479949e-02 9.98238885e-03 9.99682211e-01 7.70485500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.11, Y:24.86, Z:0.78 [[ 7.50165699e-01 -6.60832594e-01 -2.34884371e-02 6.91061214e+01] [ 6.60804342e-01 7.50490897e-01 -1.00515801e-02 2.48609723e+01] [ 2.42702700e-02 -7.98091063e-03 9.99673576e-01 7.77420326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.358040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:69.12, Y:24.88, Z:0.78 [[ 7.47896130e-01 -6.63328332e-01 -2.54342746e-02 6.91248594e+01] [ 6.63264987e-01 7.48287358e-01 -1.20659255e-02 2.48767978e+01] [ 2.70358164e-02 -7.84560480e-03 9.99603677e-01 7.79820157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:24.90, Z:0.78 [[ 7.45616354e-01 -6.65969163e-01 -2.32664142e-02 6.91462598e+01] [ 6.65826453e-01 7.45964813e-01 -1.45475650e-02 2.48974713e+01] [ 2.70441560e-02 -4.64449166e-03 9.99623450e-01 7.81092998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:24.91, Z:0.79 [[ 7.44620972e-01 -6.66966077e-01 -2.63791770e-02 6.91682039e+01] [ 6.66920931e-01 7.45035687e-01 -1.17599534e-02 2.49130751e+01] [ 2.74969183e-02 -8.83611739e-03 9.99582834e-01 7.85111535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.18, Y:24.94, Z:0.78 [[ 7.41986367e-01 -6.70218267e-01 -1.62390401e-02 6.91820647e+01] [ 6.69888260e-01 7.42145871e-01 -2.16616055e-02 2.49370469e+01] [ 2.65697402e-02 5.19427364e-03 9.99633467e-01 7.76600456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.478040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:69.20, Y:24.96, Z:0.78 [[ 7.39317115e-01 -6.73158517e-01 -1.63650314e-02 6.92042875e+01] [ 6.72892481e-01 7.39491404e-01 -1.91878036e-02 2.49578047e+01] [ 2.50182334e-02 3.17396499e-03 9.99681956e-01 7.78100654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:24.98, Z:0.77 [[ 7.37925184e-01 -6.74792955e-01 -1.09950481e-02 6.92192825e+01] [ 6.74465895e-01 7.37944130e-01 -2.31131359e-02 2.49787303e+01] [ 2.37103125e-02 9.63998011e-03 9.99672392e-01 7.73249881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.538040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:69.24, Y:25.00, Z:0.77 [[ 7.34136704e-01 -6.78947721e-01 -8.56107724e-03 6.92364648e+01] [ 6.78657698e-01 7.34107741e-01 -2.25732776e-02 2.50016792e+01] [ 2.16108284e-02 1.07618306e-02 9.99708535e-01 7.66073396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.26, Y:25.02, Z:0.77 [[ 7.34133471e-01 -6.78875378e-01 -1.32765821e-02 6.92604718e+01] [ 6.78767968e-01 7.34253498e-01 -1.20766291e-02 2.50183347e+01] [ 1.79469029e-02 -1.45861021e-04 9.99838931e-01 7.67815074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.27, Y:25.04, Z:0.76 [[ 7.31958366e-01 -6.81334317e-01 -4.52757769e-03 6.92739142e+01] [ 6.81123555e-01 7.31870696e-01 -2.08803111e-02 2.50436437e+01] [ 1.75400739e-02 1.21996786e-02 9.99771731e-01 7.62163893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.29, Y:25.05, Z:0.76 [[ 7.32793623e-01 -6.80348817e-01 -1.17895441e-02 6.92918568e+01] [ 6.80340797e-01 7.32876763e-01 -5.29630991e-03 2.50549346e+01] [ 1.22436211e-02 -4.13980569e-03 9.99916474e-01 7.63242760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.658040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:69.30, Y:25.09, Z:0.75 [[ 7.31753015e-01 -6.81565994e-01 2.30656693e-03 6.93049653e+01] [ 6.81345186e-01 7.31420675e-01 -2.81519563e-02 2.50888558e+01] [ 1.75003453e-02 2.21718472e-02 9.99600994e-01 7.52770424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:25.11, Z:0.75 [[ 7.33284807e-01 -6.79905964e-01 -4.61216182e-03 6.93282700e+01] [ 6.79664275e-01 7.33177025e-01 -2.25371721e-02 2.51098856e+01] [ 1.87046888e-02 1.33914443e-02 9.99735367e-01 7.54428684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:25.12, Z:0.76 [[ 7.34314876e-01 -6.78598914e-01 -1.68871620e-02 6.93522003e+01] [ 6.78621037e-01 7.34469745e-01 -5.26132240e-03 2.51188294e+01] [ 1.59734373e-02 -7.59651611e-03 9.99843559e-01 7.60293160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.748040942 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:69.38, Y:25.13, Z:0.77 [[ 7.36396440e-01 -6.76070017e-01 -2.54875473e-02 6.93786047e+01] [ 6.76339923e-01 7.36584264e-01 2.81607735e-03 2.51329923e+01] [ 1.68698608e-02 -1.93119951e-02 9.99671173e-01 7.67724867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.778040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:69.39, Y:25.17, Z:0.76 [[ 7.37059612e-01 -6.75780166e-01 -8.01851327e-03 6.93902939e+01] [ 6.75560538e-01 7.37049946e-01 -1.93735973e-02 2.51651969e+01] [ 1.90023376e-02 8.86250500e-03 9.99780159e-01 7.58820255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:25.18, Z:0.78 [[ 7.41134220e-01 -6.70773992e-01 -2.79699759e-02 6.94246243e+01] [ 6.70914735e-01 7.41514848e-01 -5.39886736e-03 2.51761890e+01] [ 2.43615722e-02 -1.47641836e-02 9.99594184e-01 7.76753043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:25.19, Z:0.79 [[ 7.43254035e-01 -6.68025385e-01 -3.62701607e-02 6.94527219e+01] [ 6.68577855e-01 7.43629052e-01 4.41423818e-03 2.51903771e+01] [ 2.40227221e-02 -2.75303266e-02 9.99332272e-01 7.88478179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.46, Y:25.23, Z:0.78 [[ 7.43019685e-01 -6.69201327e-01 -9.55673389e-03 6.94595636e+01] [ 6.68783364e-01 7.42948401e-01 -2.75042650e-02 2.52283868e+01] [ 2.55060508e-02 1.40448257e-02 9.99576002e-01 7.75596822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.49, Y:25.24, Z:0.78 [[ 7.45065473e-01 -6.66589524e-01 -2.31483578e-02 6.94862995e+01] [ 6.66705139e-01 7.45313702e-01 -3.42684056e-03 2.52366035e+01] [ 1.95370843e-02 -1.28799085e-02 9.99726168e-01 7.83249205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:25.26, Z:0.78 [[ 7.43707425e-01 -6.68258003e-01 -1.81798838e-02 6.94972675e+01] [ 6.68045179e-01 7.43929487e-01 -1.68688304e-02 2.52614488e+01] [ 2.47972825e-02 4.00490635e-04 9.99692420e-01 7.83927096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.52, Y:25.28, Z:0.79 [[ 7.44494858e-01 -6.67301844e-01 -2.08723422e-02 6.95203573e+01] [ 6.67239412e-01 7.44764380e-01 -1.08436888e-02 2.52783783e+01] [ 2.27809905e-02 -5.85377872e-03 9.99723342e-01 7.86063459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.54, Y:25.30, Z:0.79 [[ 7.44563735e-01 -6.67338445e-01 -1.68595718e-02 6.95383190e+01] [ 6.67177461e-01 7.44754517e-01 -1.46610235e-02 2.52990212e+01] [ 2.23401068e-02 -3.32259859e-04 9.99750373e-01 7.85033535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.018040942 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:69.56, Y:25.32, Z:0.78 [[ 7.43928665e-01 -6.68106553e-01 -1.42749812e-02 6.95586009e+01] [ 6.67868490e-01 7.44054451e-01 -1.82935441e-02 2.53211426e+01] [ 2.28434000e-02 4.07528173e-03 9.99730749e-01 7.82471772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:25.34, Z:0.78 [[ 7.45152638e-01 -6.66605857e-01 -1.96004421e-02 6.95798724e+01] [ 6.66531848e-01 7.45394709e-01 -1.10464174e-02 2.53356737e+01] [ 2.19736724e-02 -4.83305179e-03 9.99746868e-01 7.84797627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.078040942 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:69.60, Y:25.36, Z:0.78 [[ 7.46646235e-01 -6.65173701e-01 -7.95910338e-03 6.96003850e+01] [ 6.64918182e-01 7.46613735e-01 -2.12542204e-02 2.53610339e+01] [ 2.00801243e-02 1.05772311e-02 9.99742422e-01 7.76059820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:25.37, Z:0.79 [[ 7.45126575e-01 -6.66481943e-01 -2.42529714e-02 6.96238923e+01] [ 6.66545284e-01 7.45435762e-01 -6.55055185e-03 2.53701803e+01] [ 2.24448567e-02 -1.12847135e-02 9.99684392e-01 7.86747474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:25.39, Z:0.78 [[ 7.44464154e-01 -6.67445124e-01 -1.70331858e-02 6.96413843e+01] [ 6.67280190e-01 7.44658919e-01 -1.48405587e-02 2.53936616e+01] [ 2.25891723e-02 -3.17643477e-04 9.99744782e-01 7.83305830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:25.41, Z:0.78 [[ 7.43828240e-01 -6.68165798e-01 -1.65534208e-02 6.96622817e+01] [ 6.68010025e-01 7.44012340e-01 -1.44306803e-02 2.54124617e+01] [ 2.19580364e-02 -3.23903467e-04 9.99758841e-01 7.82921383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.68, Y:25.43, Z:0.78 [[ 7.42888077e-01 -6.69194515e-01 -1.72048429e-02 6.96827254e+01] [ 6.69026319e-01 7.43087189e-01 -1.50071557e-02 2.54305861e+01] [ 2.28274046e-02 -3.61855657e-04 9.99739355e-01 7.83662107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:25.44, Z:0.81 [[ 7.45416448e-01 -6.64997572e-01 -4.61795194e-02 6.97269219e+01] [ 6.65870890e-01 7.46050459e-01 4.96691105e-03 2.54365021e+01] [ 3.11492679e-02 -3.44520149e-02 9.98920809e-01 8.05065357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:25.48, Z:0.78 [[ 7.43519729e-01 -6.68649327e-01 -9.30001288e-03 6.97269631e+01] [ 6.68156895e-01 7.43396022e-01 -3.04748774e-02 2.54755525e+01] [ 2.72905988e-02 1.64448048e-02 9.99492267e-01 7.82124177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.288040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:69.76, Y:25.48, Z:0.80 [[ 7.42588817e-01 -6.68824948e-01 -3.51431161e-02 6.97634077e+01] [ 6.69043434e-01 7.43191678e-01 -6.85663313e-03 2.54793824e+01] [ 3.07039587e-02 -1.84206120e-02 9.99358768e-01 7.98242380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:25.51, Z:0.79 [[ 7.41020376e-01 -6.71289687e-01 -1.60922115e-02 6.97749555e+01] [ 6.70899308e-01 7.41162734e-01 -2.39148398e-02 2.55082296e+01] [ 2.79807328e-02 6.92513005e-03 9.99584474e-01 7.88665287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.348040942 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:69.80, Y:25.52, Z:0.79 [[ 7.40330424e-01 -6.71889607e-01 -2.17995381e-02 6.97983014e+01] [ 6.71621767e-01 7.40651070e-01 -1.89788000e-02 2.55227657e+01] [ 2.88975096e-02 -5.90461239e-04 9.99582205e-01 7.90759794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:25.54, Z:0.79 [[ 7.39865033e-01 -6.72501529e-01 -1.84777138e-02 6.98189415e+01] [ 6.72200771e-01 7.40091235e-01 -2.02753019e-02 2.55429795e+01] [ 2.73103656e-02 2.58025343e-03 9.99623672e-01 7.89319245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.408040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:69.82, Y:25.57, Z:0.78 [[ 7.37083212e-01 -6.75796720e-01 2.67052852e-03 6.98219584e+01] [ 6.75184397e-01 7.36234957e-01 -4.56521451e-02 2.55746740e+01] [ 2.88854335e-02 3.54525290e-02 9.98953828e-01 7.75721458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.438040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.88, Y:25.56, Z:0.81 [[ 7.40901618e-01 -6.69602606e-01 -5.19340087e-02 6.98769632e+01] [ 6.70904954e-01 7.41455039e-01 1.14441260e-02 2.55586348e+01] [ 3.08437158e-02 -4.33217552e-02 9.98584944e-01 8.08719801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:25.59, Z:0.79 [[ 7.41252073e-01 -6.71058380e-01 -1.50337921e-02 6.98768370e+01] [ 6.70693413e-01 7.41369970e-01 -2.32575277e-02 2.55948202e+01] [ 2.67527609e-02 7.15662529e-03 9.99616463e-01 7.89090511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:25.62, Z:0.79 [[ 7.38725170e-01 -6.73894379e-01 -1.23081116e-02 6.98987738e+01] [ 6.73583466e-01 7.38785212e-01 -2.19482139e-02 2.56160448e+01] [ 2.38838288e-02 7.92315760e-03 9.99683343e-01 7.86227877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.93, Y:25.63, Z:0.79 [[ 7.38658705e-01 -6.73664957e-01 -2.36398644e-02 6.99261856e+01] [ 6.73357332e-01 7.39036381e-01 -2.03747650e-02 2.56302394e+01] [ 3.11964850e-02 -8.68078467e-04 9.99512894e-01 7.94223660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:25.65, Z:0.78 [[ 7.37435345e-01 -6.75306080e-01 -1.22805236e-02 6.99416003e+01] [ 6.75063580e-01 7.37515557e-01 -1.89727538e-02 2.56513685e+01] [ 2.18694932e-02 5.70104499e-03 9.99744579e-01 7.84419250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588040942 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:69.96, Y:25.67, Z:0.78 [[ 7.35543857e-01 -6.77409940e-01 -9.53980831e-03 6.99579819e+01] [ 6.77126409e-01 7.35543235e-01 -2.18168606e-02 2.56720938e+01] [ 2.17958997e-02 9.58760166e-03 9.99716468e-01 7.81438356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61804094200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.98, Y:25.69, Z:0.78 [[ 7.36395423e-01 -6.76480009e-01 -9.82748503e-03 6.99813107e+01] [ 6.76289666e-01 7.36436889e-01 -1.71171632e-02 2.56893443e+01] [ 1.88167412e-02 5.95877406e-03 9.99805193e-01 7.79318752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.00, Y:25.71, Z:0.77 [[ 7.35600171e-01 -6.77398583e-01 -4.85272708e-03 7.00012287e+01] [ 6.77222902e-01 7.35542672e-01 -1.86042711e-02 2.57121177e+01] [ 1.61718947e-02 1.03989271e-02 9.99815149e-01 7.74757417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:25.72, Z:0.78 [[ 7.35752451e-01 -6.77191987e-01 -8.90748865e-03 7.00220487e+01] [ 6.77128453e-01 7.35805912e-01 -9.31224704e-03 2.57244000e+01] [ 1.28603619e-02 8.19994567e-04 9.99916966e-01 7.76056713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.708040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:70.04, Y:25.75, Z:0.77 [[ 7.34841806e-01 -6.78237864e-01 -9.59141096e-04 7.00398847e+01] [ 6.78126947e-01 7.34745815e-01 -1.71006047e-02 2.57485998e+01] [ 1.23030025e-02 1.19158198e-02 9.99853314e-01 7.69420031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:25.76, Z:0.77 [[ 7.35537138e-01 -6.77457732e-01 -6.01161873e-03 7.00632472e+01] [ 6.77380351e-01 7.35550729e-01 -1.09993449e-02 2.57623167e+01] [ 1.18734418e-02 4.01827427e-03 9.99921434e-01 7.73007984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:25.78, Z:0.77 [[ 7.35526440e-01 -6.77459740e-01 -7.01114734e-03 7.00877077e+01] [ 6.77412194e-01 7.35558840e-01 -8.11867949e-03 2.57805722e+01] [ 1.06571899e-02 1.22206673e-03 9.99942464e-01 7.73812222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:25.79, Z:0.80 [[ 7.38280772e-01 -6.73716746e-01 -3.23611925e-02 7.01310260e+01] [ 6.74228479e-01 7.38485655e-01 7.40917138e-03 2.57870803e+01] [ 1.89065936e-02 -2.72888864e-02 9.99448777e-01 7.96090820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.15, Y:25.81, Z:0.80 [[ 7.38953989e-01 -6.73396202e-01 -2.20126408e-02 7.01483402e+01] [ 6.73453718e-01 7.39206648e-01 -5.79837872e-03 2.58117373e+01] [ 2.01764966e-02 -1.05397597e-02 9.99740878e-01 7.95534869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.16, Y:25.83, Z:0.79 [[ 7.36560662e-01 -6.76165163e-01 -1.67051901e-02 7.01599039e+01] [ 6.76094845e-01 7.36741131e-01 -1.04051036e-02 2.58312430e+01] [ 1.93429693e-02 -3.63030291e-03 9.99806316e-01 7.92760115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.18, Y:25.86, Z:0.78 [[ 7.37896455e-01 -6.74913932e-01 7.62173133e-05 7.01783449e+01] [ 6.74706665e-01 7.37667037e-01 -2.48648019e-02 2.58590795e+01] [ 1.67253782e-02 1.83990735e-02 9.99690820e-01 7.81931535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:25.86, Z:0.80 [[ 7.37514491e-01 -6.74802812e-01 -2.67121558e-02 7.02101659e+01] [ 6.75069894e-01 7.37752523e-01 1.36088694e-03 2.58600111e+01] [ 1.87886300e-02 -1.90362460e-02 9.99642240e-01 7.98665614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.22, Y:25.89, Z:0.78 [[ 7.38770692e-01 -6.73955847e-01 -1.17499333e-03 7.02231145e+01] [ 6.73767697e-01 7.38603509e-01 -2.24041762e-02 2.58928199e+01] [ 1.59672797e-02 1.57598762e-02 9.99748304e-01 7.81725957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.978040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.26, Y:25.90, Z:0.79 [[ 7.41019465e-01 -6.71289909e-01 -1.61248392e-02 7.02565623e+01] [ 6.71244861e-01 7.41182673e-01 -8.86466300e-03 2.59032441e+01] [ 1.79022103e-02 -4.25482763e-03 9.99830689e-01 7.91415602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00804094200001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.28, Y:25.92, Z:0.79 [[ 7.41178382e-01 -6.71198571e-01 -1.21278775e-02 7.02755200e+01] [ 6.71066796e-01 7.41275390e-01 -1.34220208e-02 2.59239176e+01] [ 1.79989384e-02 1.80949575e-03 9.99836369e-01 7.88471179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.038040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.29, Y:25.94, Z:0.79 [[ 7.41603348e-01 -6.70776092e-01 -9.16021642e-03 7.02948703e+01] [ 6.70625610e-01 7.41642824e-01 -1.50735802e-02 2.59427288e+01] [ 1.69046060e-02 5.03554183e-03 9.99844427e-01 7.86245944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:25.96, Z:0.79 [[ 7.43028514e-01 -6.69031907e-01 -1.74623911e-02 7.03232864e+01] [ 6.68995091e-01 7.43215531e-01 -8.73165731e-03 2.59562916e+01] [ 1.88200776e-02 -5.19438355e-03 9.99809393e-01 7.91667022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.34, Y:25.98, Z:0.79 [[ 7.42717046e-01 -6.69452446e-01 -1.43112260e-02 7.03428448e+01] [ 6.69334207e-01 7.42854877e-01 -1.25837694e-02 2.59775841e+01] [ 1.90553992e-02 -2.32813096e-04 9.99818402e-01 7.90767989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:25.99, Z:0.79 [[ 7.42848412e-01 -6.69350091e-01 -1.21116475e-02 7.03620311e+01] [ 6.69245205e-01 7.42946801e-01 -1.18704408e-02 2.59948171e+01] [ 1.69437904e-02 7.12276134e-04 9.99856190e-01 7.89143108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.158040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.39, Y:26.01, Z:0.79 [[ 7.43730972e-01 -6.68322479e-01 -1.44673991e-02 7.03867902e+01] [ 6.68216125e-01 7.43871261e-01 -1.19481016e-02 2.60122487e+01] [ 1.87470674e-02 -7.81176154e-04 9.99823953e-01 7.92497097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.41, Y:26.03, Z:0.79 [[ 7.44657329e-01 -6.67261244e-01 -1.57446304e-02 7.04103646e+01] [ 6.67158560e-01 7.44821827e-01 -1.18280090e-02 2.60293023e+01] [ 1.96193164e-02 -1.69635132e-03 9.99806084e-01 7.94075955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:26.04, Z:0.80 [[ 7.43166339e-01 -6.68655653e-01 -2.45643973e-02 7.04282136e+01] [ 6.68769772e-01 7.43456303e-01 -4.44042819e-03 2.60417088e+01] [ 2.12316734e-02 -1.31279496e-02 9.99688388e-01 8.01746105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.46, Y:26.06, Z:0.80 [[ 7.46776069e-01 -6.64739366e-01 -2.11442228e-02 7.04590523e+01] [ 6.64665057e-01 7.47054717e-01 -1.13847131e-02 2.60625305e+01] [ 2.33637583e-02 -5.55199472e-03 9.99711613e-01 8.01440148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.278040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.47, Y:26.09, Z:0.79 [[ 7.44253223e-01 -6.67897527e-01 1.82152448e-04 7.04662506e+01] [ 6.67643651e-01 7.43962749e-01 -2.77737963e-02 2.60904574e+01] [ 1.84145352e-02 2.07923503e-02 9.99614217e-01 7.85486414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:26.09, Z:0.80 [[ 7.43050849e-01 -6.68700638e-01 -2.67374971e-02 7.04958424e+01] [ 6.68873471e-01 7.43369525e-01 -3.16691187e-03 2.60912683e+01] [ 2.19935565e-02 -1.55308259e-02 9.99637473e-01 8.03886249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:26.12, Z:0.79 [[ 7.42266958e-01 -6.70094133e-01 -3.68996087e-03 7.05114906e+01] [ 6.69823565e-01 7.42104125e-01 -2.48567903e-02 2.61215979e+01] [ 1.93947245e-02 1.59787514e-02 9.99684212e-01 7.86303735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.54, Y:26.13, Z:0.79 [[ 7.41860113e-01 -6.70426657e-01 -1.31022597e-02 7.05363389e+01] [ 6.70288979e-01 7.41974585e-01 -1.36528281e-02 2.61304266e+01] [ 1.88747636e-02 1.34618836e-03 9.99820950e-01 7.91161843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:26.15, Z:0.79 [[ 7.41239597e-01 -6.71006413e-01 -1.77272010e-02 7.05618981e+01] [ 6.70963506e-01 7.41433921e-01 -9.14956357e-03 2.61462414e+01] [ 1.92829640e-02 -5.11228612e-03 9.99800996e-01 7.94917433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.428040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:70.59, Y:26.16, Z:0.81 [[ 7.42405523e-01 -6.69241604e-01 -3.08174609e-02 7.05920085e+01] [ 6.69525663e-01 7.42787505e-01 -1.45212896e-03 2.61559849e+01] [ 2.38626500e-02 -1.95550124e-02 9.99523974e-01 8.07712065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.60, Y:26.18, Z:0.80 [[ 7.39051938e-01 -6.73461765e-01 -1.58582758e-02 7.06029584e+01] [ 6.73263979e-01 7.39220673e-01 -1.63832890e-02 2.61817403e+01] [ 2.27562840e-02 1.43129558e-03 9.99740018e-01 8.00404291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.488040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:70.62, Y:26.20, Z:0.80 [[ 7.39381417e-01 -6.73151692e-01 -1.34877953e-02 7.06219322e+01] [ 6.72823140e-01 7.39467294e-01 -2.22967142e-02 2.62032081e+01] [ 2.49828543e-02 7.41087536e-03 9.99660410e-01 7.97840342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:26.23, Z:0.80 [[ 7.41432102e-01 -6.70884129e-01 -1.38897153e-02 7.06491266e+01] [ 6.70642687e-01 7.41548982e-01 -1.85335516e-02 2.62251175e+01] [ 2.27337699e-02 4.42633407e-03 9.99731756e-01 7.98076486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.67, Y:26.24, Z:0.81 [[ 7.40372819e-01 -6.71787249e-01 -2.34516702e-02 7.06686185e+01] [ 6.71805950e-01 7.40681288e-01 -8.24589859e-03 2.62376054e+01] [ 2.29097028e-02 -9.64993237e-03 9.99690964e-01 8.06122890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.69, Y:26.26, Z:0.81 [[ 7.42264086e-01 -6.69800432e-01 -2.02831729e-02 7.06856475e+01] [ 6.69745152e-01 7.42518059e-01 -1.04097798e-02 2.62567605e+01] [ 2.20330972e-02 -5.85775102e-03 9.99740081e-01 8.05267774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:26.28, Z:0.81 [[ 7.44093196e-01 -6.67787427e-01 -1.96282563e-02 7.07049539e+01] [ 6.67760063e-01 7.44323644e-01 -8.87760438e-03 2.62753479e+01] [ 2.05381279e-02 -6.50120068e-03 9.99767933e-01 8.05247234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:26.31, Z:0.80 [[ 7.44280628e-01 -6.67852522e-01 -4.39958260e-03 7.07217188e+01] [ 6.67456791e-01 7.44038183e-01 -3.01432213e-02 2.63067562e+01] [ 2.34046838e-02 1.94984844e-02 9.99535907e-01 7.95447223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:26.32, Z:0.81 [[ 7.42975274e-01 -6.68996690e-01 -2.07646566e-02 7.07512128e+01] [ 6.68951347e-01 7.43237824e-01 -1.00812509e-02 2.63151644e+01] [ 2.21774017e-02 -6.40042488e-03 9.99733563e-01 8.05785876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:26.34, Z:0.80 [[ 7.41548183e-01 -6.70770389e-01 -1.31672978e-02 7.07704279e+01] [ 6.70334876e-01 7.41586376e-01 -2.64726534e-02 2.63441556e+01] [ 2.75217607e-02 1.08042491e-02 9.99562815e-01 8.02990811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:26.35, Z:0.81 [[ 7.39332247e-01 -6.72672591e-01 -2.99902378e-02 7.08020039e+01] [ 6.72777440e-01 7.39802157e-01 -7.95517051e-03 2.63542847e+01] [ 2.75380677e-02 -1.42952413e-02 9.99518535e-01 8.14086328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:26.37, Z:0.82 [[ 7.39899402e-01 -6.72216804e-01 -2.59507639e-02 7.08196015e+01] [ 6.71995463e-01 7.40341936e-01 -1.77740033e-02 2.63747403e+01] [ 3.11604225e-02 -4.28782117e-03 9.99505199e-01 8.16341124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.788040942 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:70.83, Y:26.40, Z:0.81 [[ 7.34688843e-01 -6.78285589e-01 -1.26871562e-02 7.08279308e+01] [ 6.77949046e-01 7.34752454e-01 -2.28893686e-02 2.63967894e+01] [ 2.48474480e-02 8.21531828e-03 9.99657498e-01 8.07686417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.818040942 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:70.85, Y:26.41, Z:0.81 [[ 7.32381549e-01 -6.80652838e-01 -1.81377948e-02 7.08519004e+01] [ 6.80456547e-01 7.32606018e-01 -1.63496192e-02 2.64128748e+01] [ 2.44162724e-02 -3.67821797e-04 9.99701811e-01 8.11012702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:26.43, Z:0.81 [[ 7.31416970e-01 -6.81761032e-01 -1.52023385e-02 7.08738601e+01] [ 6.81475574e-01 7.31561545e-01 -2.02175385e-02 2.64315587e+01] [ 2.49049762e-02 4.42742841e-03 9.99680019e-01 8.08402736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:26.44, Z:0.82 [[ 7.31295017e-01 -6.81141488e-01 -3.54100417e-02 7.09083980e+01] [ 6.81576477e-01 7.31746828e-01 2.92527898e-04 2.64376197e+01] [ 2.57119328e-02 -2.43485757e-02 9.99372825e-01 8.24787963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.908040942 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:70.91, Y:26.47, Z:0.81 [[ 7.25825025e-01 -6.87792155e-01 -1.09537803e-02 7.09135931e+01] [ 6.87375011e-01 7.25810557e-01 -2.67325386e-02 2.64744203e+01] [ 2.63367998e-02 1.18737906e-02 9.99582606e-01 8.13233103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.938040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.94, Y:26.49, Z:0.82 [[ 7.25682187e-01 -6.87754879e-01 -1.94573949e-02 7.09381239e+01] [ 6.87502778e-01 7.25942979e-01 -1.86204778e-02 2.64870962e+01] [ 2.69312837e-02 1.35536050e-04 9.99637278e-01 8.18142732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.968040942 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:70.95, Y:26.52, Z:0.81 [[ 7.24109922e-01 -6.89647659e-01 -7.13625191e-03 7.09504647e+01] [ 6.88917811e-01 7.23753936e-01 -3.96546291e-02 2.65182993e+01] [ 3.25126126e-02 2.37980194e-02 9.99187962e-01 8.13511627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:26.52, Z:0.83 [[ 7.24462115e-01 -6.88429022e-01 -3.49302949e-02 7.09879285e+01] [ 6.88720668e-01 7.25011090e-01 -4.77076237e-03 2.65207327e+01] [ 2.86091825e-02 -2.06009794e-02 9.99378364e-01 8.27988995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:26.54, Z:0.83 [[ 7.27705990e-01 -6.85199472e-01 -3.07518497e-02 7.10097962e+01] [ 6.85070332e-01 7.28296487e-01 -1.62131551e-02 2.65441299e+01] [ 3.35057095e-02 -9.26876983e-03 9.99395546e-01 8.27665131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.058040942 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:71.02, Y:26.57, Z:0.82 [[ 7.27580408e-01 -6.85790634e-01 -1.78313114e-02 7.10198458e+01] [ 6.85362353e-01 7.27774711e-01 -2.49482390e-02 2.65667586e+01] [ 3.00864462e-02 5.93094038e-03 9.99529704e-01 8.22435234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088040942 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:71.04, Y:26.59, Z:0.83 [[ 7.28028908e-01 -6.85248513e-01 -2.02085228e-02 7.10425661e+01] [ 6.84870890e-01 7.28303755e-01 -2.29238941e-02 2.65850460e+01] [ 3.04265074e-02 2.84902862e-03 9.99532946e-01 8.25459731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:26.60, Z:0.83 [[ 7.29475965e-01 -6.83539867e-01 -2.52599729e-02 7.10704497e+01] [ 6.83330715e-01 7.29899321e-01 -1.74961586e-02 2.66026842e+01] [ 3.03965590e-02 -4.49788815e-03 9.99527798e-01 8.27678466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:26.61, Z:0.84 [[ 7.30899751e-01 -6.81367929e-01 -3.90294771e-02 7.11007814e+01] [ 6.81769725e-01 7.31556249e-01 -3.93659677e-03 2.66125623e+01] [ 3.12345286e-02 -2.37318583e-02 9.99230305e-01 8.42113750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:26.65, Z:0.82 [[ 7.28759385e-01 -6.84693418e-01 -1.02314174e-02 7.11061984e+01] [ 6.83995225e-01 7.28564222e-01 -3.66702471e-02 2.66517638e+01] [ 3.25621215e-02 1.97255461e-02 9.99275043e-01 8.23395808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.14, Y:26.66, Z:0.83 [[ 7.28871736e-01 -6.84070120e-01 -2.81791451e-02 7.11355145e+01] [ 6.83917375e-01 7.29378442e-01 -1.62515173e-02 2.66607815e+01] [ 3.16704383e-02 -7.42693537e-03 9.99470772e-01 8.33483979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.238040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.15, Y:26.68, Z:0.83 [[ 7.28688476e-01 -6.84439641e-01 -2.35686730e-02 7.11516293e+01] [ 6.83906611e-01 7.29059887e-01 -2.72658777e-02 2.66840846e+01] [ 3.58448217e-02 3.74955958e-03 9.99350334e-01 8.33034672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.17, Y:26.71, Z:0.83 [[ 7.26986216e-01 -6.86419780e-01 -1.78585206e-02 7.11717166e+01] [ 6.85897698e-01 7.27160680e-01 -2.79587698e-02 2.67088840e+01] [ 3.21774666e-02 8.07652212e-03 9.99449539e-01 8.26740722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:26.73, Z:0.83 [[ 7.26679862e-01 -6.86693056e-01 -1.97237082e-02 7.11931105e+01] [ 6.86261314e-01 7.26933867e-01 -2.47499819e-02 2.67267240e+01] [ 3.13334721e-02 4.44969549e-03 9.99499081e-01 8.27264308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:26.74, Z:0.84 [[ 7.27415497e-01 -6.85390260e-01 -3.32698866e-02 7.12212345e+01] [ 6.85364643e-01 7.28066145e-01 -1.39640294e-02 2.67380701e+01] [ 3.37934878e-02 -1.26443526e-02 9.99348848e-01 8.38330331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.23, Y:26.76, Z:0.84 [[ 7.26108409e-01 -6.87083827e-01 -2.61226554e-02 7.12299018e+01] [ 6.86797576e-01 7.26570484e-01 -2.01102568e-02 2.67587836e+01] [ 3.27973825e-02 -3.33874985e-03 9.99456445e-01 8.38078383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:26.79, Z:0.83 [[ 7.28409636e-01 -6.84976501e-01 -1.50530765e-02 7.12496509e+01] [ 6.84275639e-01 7.28417547e-01 -3.42743007e-02 2.67857879e+01] [ 3.44420156e-02 1.46652774e-02 9.99299093e-01 8.27931781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.418040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.27, Y:26.80, Z:0.83 [[ 7.29763326e-01 -6.83412245e-01 -1.98290697e-02 7.12709673e+01] [ 6.82954138e-01 7.30014932e-01 -2.55312308e-02 2.68007982e+01] [ 3.19238728e-02 5.08941072e-03 9.99477346e-01 8.27326774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:26.82, Z:0.83 [[ 7.28937842e-01 -6.84273501e-01 -2.04791930e-02 7.12931810e+01] [ 6.83778748e-01 7.29205769e-01 -2.65625514e-02 2.68207929e+01] [ 3.31095958e-02 5.35921196e-03 9.99437358e-01 8.27835462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.32, Y:26.84, Z:0.83 [[ 7.29702836e-01 -6.83159425e-01 -2.87570983e-02 7.13210461e+01] [ 6.82728569e-01 7.30266849e-01 -2.43316564e-02 2.68351771e+01] [ 3.76227560e-02 -1.87841394e-03 9.99290248e-01 8.34685047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:26.83, Z:0.89 [[ 7.32978484e-01 -6.73856621e-01 -9.30580207e-02 7.13820127e+01] [ 6.78053304e-01 7.34730437e-01 2.03691520e-02 2.68251897e+01] [ 5.46466723e-02 -7.80284485e-02 9.95452310e-01 8.88005689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:26.87, Z:0.86 [[ 7.35333481e-01 -6.76529696e-01 -3.99029177e-02 7.13773016e+01] [ 6.75208531e-01 7.36402845e-01 -4.24769323e-02 2.68745623e+01] [ 5.81215282e-02 4.29192005e-03 9.98300289e-01 8.60128749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.568040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.36, Y:26.91, Z:0.83 [[ 7.30758842e-01 -6.82628509e-01 3.13597662e-03 7.13625470e+01] [ 6.81213601e-01 7.28932405e-01 -6.78644202e-02 2.69133875e+01] [ 4.40402730e-02 5.17287950e-02 9.97689624e-01 8.28047550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.598040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.43, Y:26.90, Z:0.87 [[ 7.35326507e-01 -6.74743629e-01 -6.33716288e-02 7.14293498e+01] [ 6.75654745e-01 7.37163422e-01 -8.98635646e-03 2.68982273e+01] [ 5.27787336e-02 -3.62094356e-02 9.97949539e-01 8.72641266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.628040942 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:71.41, Y:26.95, Z:0.84 [[ 7.31141360e-01 -6.82171437e-01 -8.62793230e-03 7.14101625e+01] [ 6.80845370e-01 7.30407559e-01 -5.43542119e-02 2.69464176e+01] [ 4.33807979e-02 3.38663247e-02 9.98484441e-01 8.35359042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.658040942 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:71.47, Y:26.94, Z:0.87 [[ 7.34908711e-01 -6.75467830e-01 -6.04350604e-02 7.14662426e+01] [ 6.76066619e-01 7.36725404e-01 -1.30232841e-02 2.69400074e+01] [ 5.33208537e-02 -3.12872020e-02 9.98087169e-01 8.68908040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.688040942 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:71.48, Y:26.97, Z:0.86 [[ 7.35970773e-01 -6.75733954e-01 -4.16010143e-02 7.14776760e+01] [ 6.74733562e-01 7.37144902e-01 -3.67697406e-02 2.69698220e+01] [ 5.55125378e-02 -1.00814614e-03 9.98457481e-01 8.61965814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.718040942 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:71.50, Y:26.98, Z:0.86 [[ 7.37073337e-01 -6.74605214e-01 -4.03819422e-02 7.14950243e+01] [ 6.73722887e-01 7.38176632e-01 -3.45359450e-02 2.69845474e+01] [ 5.31071346e-02 -1.75071443e-03 9.98587286e-01 8.63248386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.748040942 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:71.52, Y:27.01, Z:0.87 [[ 7.33997414e-01 -6.77830460e-01 -4.23516731e-02 7.15190454e+01] [ 6.77196369e-01 7.35188414e-01 -3.00511654e-02 2.70066230e+01] [ 5.15060546e-02 -6.62292157e-03 9.98650721e-01 8.65001227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.778040942 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:71.54, Y:27.03, Z:0.86 [[ 7.32351762e-01 -6.79969615e-01 -3.60862763e-02 7.15368006e+01] [ 6.78900208e-01 7.33231750e-01 -3.82845709e-02 2.70315545e+01] [ 5.24919485e-02 3.53879253e-03 9.98615077e-01 8.61718660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808040942 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:71.56, Y:27.05, Z:0.86 [[ 7.31449460e-01 -6.80701666e-01 -4.03352131e-02 7.15576415e+01] [ 6.79936918e-01 7.32551511e-01 -3.24664595e-02 2.70475543e+01] [ 5.16475943e-02 -3.67782623e-03 9.98658600e-01 8.62837681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.838040942 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:71.58, Y:27.07, Z:0.86 [[ 7.26812812e-01 -6.85976837e-01 -3.43353395e-02 7.15752142e+01] [ 6.84929338e-01 7.27611294e-01 -3.81262042e-02 2.70735848e+01] [ 5.11364738e-02 4.19333236e-03 9.98682871e-01 8.58193346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86804094200001 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:71.59, Y:27.09, Z:0.86 [[ 7.25824333e-01 -6.87060639e-01 -3.35665884e-02 7.15917380e+01] [ 6.86098186e-01 7.26591763e-01 -3.65197241e-02 2.70897275e+01] [ 4.94804716e-02 3.47692894e-03 9.98769039e-01 8.56324658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.898040942 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:71.61, Y:27.11, Z:0.85 [[ 7.21116232e-01 -6.92183578e-01 -2.95511979e-02 7.16105197e+01] [ 6.91156044e-01 7.21684936e-01 -3.83950008e-02 2.71137799e+01] [ 4.79030433e-02 7.26276928e-03 9.98825586e-01 8.53430342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.928040942 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:71.62, Y:27.13, Z:0.85 [[ 7.15892715e-01 -6.97556822e-01 -3.02010144e-02 7.16204397e+01] [ 6.96711515e-01 7.16520039e-01 -3.45267629e-02 2.71308775e+01] [ 4.57240110e-02 3.67606350e-03 9.98947347e-01 8.51785968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.958040942 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:71.64, Y:27.15, Z:0.85 [[ 7.14826063e-01 -6.98511331e-01 -3.32508646e-02 7.16415257e+01] [ 6.97834858e-01 7.15597959e-01 -3.07582831e-02 2.71475576e+01] [ 4.52792601e-02 -1.21678995e-03 9.98973627e-01 8.54676503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.988040942 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:71.66, Y:27.17, Z:0.86 [[ 7.14641352e-01 -6.98700616e-01 -3.32443565e-02 7.16624281e+01] [ 6.98024020e-01 7.15413141e-01 -3.07653160e-02 2.71670128e+01] [ 4.52791947e-02 -1.21919233e-03 9.98973627e-01 8.55639583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.018040942 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:71.70, Y:27.18, Z:0.87 [[ 7.18444001e-01 -6.94078249e-01 -4.57558852e-02 7.16999018e+01] [ 6.93743179e-01 7.19773454e-01 -2.54278548e-02 2.71827117e+01] [ 5.05827925e-02 -1.34743435e-02 9.98628972e-01 8.65596556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.048040942 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:71.71, Y:27.22, Z:0.85 [[ 7.17228333e-01 -6.96470385e-01 -2.26389362e-02 7.17093813e+01] [ 6.95305422e-01 7.17426562e-01 -4.30057954e-02 2.72160357e+01] [ 4.61940370e-02 1.51039999e-02 9.98818292e-01 8.50827416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.078040942 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:71.73, Y:27.22, Z:0.86 [[ 7.14892433e-01 -6.98121212e-01 -3.94408815e-02 7.17297310e+01] [ 6.97816849e-01 7.15897147e-01 -2.33006655e-02 2.72228520e+01] [ 4.45023034e-02 -1.08650422e-02 9.98950197e-01 8.60750965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.108040942 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:71.75, Y:27.25, Z:0.85 [[ 7.18451401e-01 -6.95178447e-01 -2.35480782e-02 7.17496980e+01] [ 6.94147811e-01 7.18733263e-01 -3.97657154e-02 2.72530884e+01] [ 4.45690553e-02 1.22238870e-02 9.98931517e-01 8.52385943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.138040942 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:71.77, Y:27.27, Z:0.86 [[ 7.21310895e-01 -6.91942912e-01 -3.04236493e-02 7.17721499e+01] [ 6.91267578e-01 7.21951488e-01 -3.05807894e-02 2.72674574e+01] [ 4.31245594e-02 1.02737417e-03 9.99069175e-01 8.55475577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168040942 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:71.79, Y:27.28, Z:0.87 [[ 7.20611549e-01 -6.91967339e-01 -4.35912513e-02 7.17920475e+01] [ 6.91894674e-01 7.21743791e-01 -1.91744448e-02 2.72786709e+01] [ 4.47298045e-02 -1.63432283e-02 9.98865428e-01 8.68287541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.198040942 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:71.81, Y:27.30, Z:0.86 [[ 7.24633335e-01 -6.88362036e-01 -3.26226349e-02 7.18055611e+01] [ 6.87688727e-01 7.25367194e-01 -3.04409035e-02 2.73036439e+01] [ 4.46177514e-02 -3.75724817e-04 9.99004062e-01 8.64234711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228040942 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:71.82, Y:27.32, Z:0.86 [[ 7.26184482e-01 -6.86778458e-01 -3.14872765e-02 7.18247887e+01] [ 6.86006429e-01 7.26863801e-01 -3.26219818e-02 2.73247801e+01] [ 4.52910358e-02 2.08910288e-03 9.98971650e-01 8.64282017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.258040942 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:71.85, Y:27.34, Z:0.87 [[ 7.29250972e-01 -6.83419754e-01 -3.36223137e-02 7.18455413e+01] [ 6.82842284e-01 7.30021697e-01 -2.81910700e-02 2.73413614e+01] [ 4.38113527e-02 -2.40037226e-03 9.99036938e-01 8.66747368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.288040942 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:71.88, Y:27.36, Z:0.87 [[ 7.33713574e-01 -6.78273305e-01 -4.01212463e-02 7.18809462e+01] [ 6.77826649e-01 7.34764310e-01 -2.59314810e-02 2.73591969e+01] [ 4.70682912e-02 -8.16897039e-03 9.98858270e-01 8.73959036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.318040942 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:71.88, Y:27.38, Z:0.87 [[ 7.30799292e-01 -6.82075000e-01 -2.65723451e-02 7.18843859e+01] [ 6.81236039e-01 7.31247160e-01 -3.45694819e-02 2.73826689e+01] [ 4.30099313e-02 7.16131370e-03 9.99048978e-01 8.65380197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.348040942 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:71.92, Y:27.40, Z:0.87 [[ 7.32933378e-01 -6.79697355e-01 -2.86386149e-02 7.19153228e+01] [ 6.78941177e-01 7.33480337e-01 -3.23337798e-02 2.74015975e+01] [ 4.29830455e-02 4.25457155e-03 9.99066743e-01 8.66284332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.378040942 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:71.93, Y:27.42, Z:0.87 [[ 7.30031931e-01 -6.82707954e-01 -3.10359262e-02 7.19306169e+01] [ 6.82219342e-01 7.30687889e-01 -2.59225560e-02 2.74163782e+01] [ 4.03751106e-02 -2.24901552e-03 9.99182062e-01 8.70354642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.408040942 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:71.96, Y:27.44, Z:0.87 [[ 7.31446703e-01 -6.81428408e-01 -2.53188683e-02 7.19566139e+01] [ 6.80750211e-01 7.31865323e-01 -3.08593626e-02 2.74399074e+01] [ 3.95584481e-02 5.33615411e-03 9.99203010e-01 8.66363595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.438040942 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:71.97, Y:27.45, Z:0.87 [[ 7.28184223e-01 -6.84570659e-01 -3.33279185e-02 7.19738518e+01] [ 6.84344101e-01 7.28896343e-01 -1.95773639e-02 2.74523376e+01] [ 3.76946868e-02 -8.55183695e-03 9.99252709e-01 8.74049192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.468040942 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:71.99, Y:27.47, Z:0.87 [[ 7.27554452e-01 -6.85514318e-01 -2.71042356e-02 7.19918328e+01] [ 6.85044369e-01 7.28059139e-01 -2.53791809e-02 2.74749423e+01] [ 3.71312784e-02 -1.02867915e-04 9.99310391e-01 8.72325473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.498040942 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:72.04, Y:27.49, Z:0.89 [[ 7.31352200e-01 -6.80281374e-01 -4.83860710e-02 7.20364804e+01] [ 6.80599682e-01 7.32555469e-01 -1.21061041e-02 2.74856713e+01] [ 4.36810381e-02 -2.40777187e-02 9.98755341e-01 8.90688955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528040942 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:72.02, Y:27.52, Z:0.87 [[ 7.25867969e-01 -6.87749666e-01 -1.07743875e-02 7.20247917e+01] [ 6.86884231e-01 7.25599601e-01 -4.11736945e-02 2.75227029e+01] [ 3.61350859e-02 2.24859091e-02 9.99093909e-01 8.66963207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.558040942 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:72.05, Y:27.53, Z:0.87 [[ 7.25191941e-01 -6.88050218e-01 -2.61447278e-02 7.20519795e+01] [ 6.87613472e-01 7.25663047e-01 -2.45123466e-02 2.75323522e+01] [ 3.58379883e-02 -2.01310849e-04 9.99357593e-01 8.74688694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588040942 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:72.08, Y:27.56, Z:0.87 [[ 7.27517159e-01 -6.85730842e-01 -2.21809810e-02 7.20772076e+01] [ 6.85011859e-01 7.27806050e-01 -3.25131770e-02 2.75559315e+01] [ 3.84387404e-02 8.45965910e-03 9.99225149e-01 8.70943302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61804094200001 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:72.12, Y:27.56, Z:0.90 [[ 7.27041721e-01 -6.83636176e-01 -6.36546573e-02 7.21236642e+01] [ 6.84998326e-01 7.28544410e-01 -5.80519040e-04 2.75566947e+01] [ 4.67721085e-02 -4.31812721e-02 9.97971817e-01 9.04913148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.648040942 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:72.10, Y:27.61, Z:0.86 [[ 7.20778694e-01 -6.93160062e-01 -2.68371424e-03 7.20983972e+01] [ 6.92166404e-01 7.19942429e-01 -5.08779783e-02 2.76066384e+01] [ 3.71987023e-02 3.48141859e-02 9.98701271e-01 8.64845155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.678040942 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:72.15, Y:27.61, Z:0.88 [[ 7.20358564e-01 -6.92760650e-01 -3.41499738e-02 7.21452390e+01] [ 6.92457397e-01 7.21124967e-01 -2.19439205e-02 2.76111384e+01] [ 3.98282833e-02 -7.83991091e-03 9.99175782e-01 8.82657768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.708040942 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:72.18, Y:27.62, Z:0.90 [[ 7.20075111e-01 -6.92227121e-01 -4.80983162e-02 7.21762667e+01] [ 6.92503811e-01 7.21290652e-01 -1.33516665e-02 2.76247622e+01] [ 4.39352515e-02 -2.36940645e-02 9.98753365e-01 8.99548469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.738040942 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:72.16, Y:27.67, Z:0.87 [[ 7.11848867e-01 -7.02332484e-01 -5.21492316e-04 7.21551983e+01] [ 7.01459256e-01 7.11000434e-01 -4.93284365e-02 2.76667389e+01] [ 3.50157446e-02 3.47485861e-02 9.98782476e-01 8.67337686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.768040942 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:72.19, Y:27.67, Z:0.88 [[ 7.09844247e-01 -7.03806583e-01 -2.78825822e-02 7.21915239e+01] [ 7.03647835e-01 7.10350047e-01 -1.68087868e-02 2.76702073e+01] [ 3.16365284e-02 -7.68789801e-03 9.99469873e-01 8.81840873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.798040942 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:72.23, Y:27.68, Z:0.90 [[ 7.13143561e-01 -6.99644582e-01 -4.38602311e-02 7.22339085e+01] [ 6.99975902e-01 7.14098574e-01 -9.84698890e-03 2.76841687e+01] [ 3.82099209e-02 -2.36787881e-02 9.98989148e-01 8.99706676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.828040942 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:72.22, Y:27.72, Z:0.88 [[ 7.07480265e-01 -7.06692262e-01 -7.59741974e-03 7.22220037e+01] [ 7.06059480e-01 7.07234338e-01 -3.60499911e-02 2.77236968e+01] [ 3.08494059e-02 2.01404270e-02 9.99321108e-01 8.75172999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.858040942 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:72.25, Y:27.74, Z:0.88 [[ 7.07824578e-01 -7.06059752e-01 -2.15405325e-02 7.22484048e+01] [ 7.05767241e-01 7.08151803e-01 -2.03377839e-02 2.77353038e+01] [ 2.96136576e-02 -8.07018862e-04 9.99561094e-01 8.82044725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.888040942 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:72.27, Y:27.76, Z:0.88 [[ 7.09440456e-01 -7.04451450e-01 -2.10331764e-02 7.22665427e+01] [ 7.04171704e-01 7.09751815e-01 -1.98638638e-02 2.77569312e+01] [ 2.89214628e-02 -7.18739086e-04 9.99581429e-01 8.83143113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.918040942 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:72.29, Y:27.78, Z:0.88 [[ 7.10883715e-01 -7.03004446e-01 -2.07145510e-02 7.22850740e+01] [ 7.02732158e-01 7.11185165e-01 -1.95748952e-02 2.77762815e+01] [ 2.84931197e-02 -6.41306901e-04 9.99593783e-01 8.84069542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948040942 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:72.30, Y:27.80, Z:0.88 [[ 7.11754280e-01 -7.02124821e-01 -2.06538262e-02 7.23044708e+01] [ 7.01853646e-01 7.12053631e-01 -1.95214008e-02 2.77970290e+01] [ 2.84130919e-02 -6.01522662e-04 9.99596086e-01 8.84888578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.978040942 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:72.35, Y:27.81, Z:0.90 [[ 7.17243793e-01 -6.95469199e-01 -4.34043196e-02 7.23474539e+01] [ 6.95901928e-01 7.18105918e-01 -6.66314441e-03 2.78084229e+01] [ 3.58029105e-02 -2.54260507e-02 9.99035369e-01 9.03787343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.008040942 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:72.35, Y:27.84, Z:0.89 [[ 7.18673351e-01 -6.94920867e-01 -2.43639889e-02 7.23549156e+01] [ 6.94401236e-01 7.19081965e-01 -2.69824138e-02 2.78422975e+01] [ 3.62703474e-02 2.47315772e-03 9.99338954e-01 8.93464195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.038040942 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:72.37, Y:27.86, Z:0.89 [[ 7.18624787e-01 -6.95026126e-01 -2.27398312e-02 7.23728958e+01] [ 6.94525704e-01 7.18976886e-01 -2.65760182e-02 2.78647511e+01] [ 3.48204399e-02 3.30478814e-03 9.99388120e-01 8.91505004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.068040942 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:72.39, Y:27.89, Z:0.89 [[ 7.18669413e-01 -6.95043349e-01 -2.07127508e-02 7.23888644e+01] [ 6.94529122e-01 7.18949149e-01 -2.72290370e-02 2.78859835e+01] [ 3.38167756e-02 5.18306746e-03 9.99414609e-01 8.89247331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.098040942 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:72.40, Y:27.91, Z:0.89 [[ 7.19558315e-01 -6.94156072e-01 -1.95749660e-02 7.24041658e+01] [ 6.93611693e-01 7.19792446e-01 -2.83134833e-02 2.79059773e+01] [ 3.37438890e-02 6.79577702e-03 9.99407408e-01 8.88092264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.128040942 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:72.42, Y:27.93, Z:0.88 [[ 7.16228786e-01 -6.97668934e-01 -1.65645773e-02 7.24200017e+01] [ 6.97257856e-01 7.16393830e-01 -2.47257686e-02 2.79296996e+01] [ 2.91171616e-02 6.15952561e-03 9.99557027e-01 8.84572438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.158040942 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:72.44, Y:27.95, Z:0.89 [[ 7.15744949e-01 -6.98049314e-01 -2.08883348e-02 7.24413587e+01] [ 6.97765243e-01 7.16049616e-01 -1.99151718e-02 2.79474899e+01] [ 2.88588561e-02 -3.20970345e-04 9.99583445e-01 8.87500693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.188040942 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:72.46, Y:27.97, Z:0.89 [[ 7.13360412e-01 -7.00318327e-01 -2.59068127e-02 7.24561475e+01] [ 7.00208270e-01 7.13789004e-01 -1.46162794e-02 2.79660817e+01] [ 2.87280464e-02 -7.71348939e-03 9.99557503e-01 8.93152206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.218040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.51, Y:27.97, Z:0.92 [[ 7.18361770e-01 -6.93099693e-01 -5.97426436e-02 7.25057419e+01] [ 6.94490530e-01 7.19492828e-01 3.60192079e-03 2.79738909e+01] [ 4.04879134e-02 -4.40781824e-02 9.98207314e-01 9.22824475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.248040942 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:72.48, Y:28.03, Z:0.88 [[ 7.13698311e-01 -7.00375372e-01 1.04431393e-02 7.24753595e+01] [ 6.99635831e-01 7.12066170e-01 -5.89192106e-02 2.80300940e+01] [ 3.38293578e-02 4.93569356e-02 9.98208128e-01 8.82645950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.278040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:72.54, Y:28.02, Z:0.92 [[ 7.15627188e-01 -6.96284672e-01 -5.53658965e-02 7.25392842e+01] [ 6.97369744e-01 7.16711440e-01 3.89378984e-04 2.80201736e+01] [ 3.94102528e-02 -3.88891512e-02 9.98466056e-01 9.20734485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:72.55, Y:28.05, Z:0.91 [[ 7.14814560e-01 -6.98482891e-01 -3.40851192e-02 7.25464244e+01] [ 6.98081776e-01 7.15599121e-01 -2.44894213e-02 2.80529675e+01] [ 4.14967232e-02 -6.28880562e-03 9.99118848e-01 9.11986898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.338040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.57, Y:28.07, Z:0.91 [[ 7.12432107e-01 -7.00842874e-01 -3.54930785e-02 7.25686974e+01] [ 7.00586196e-01 7.13249839e-01 -2.12990270e-02 2.80738848e+01] [ 4.02427039e-02 -9.69185019e-03 9.99142929e-01 9.13624495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36804094200001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.58, Y:28.10, Z:0.91 [[ 7.09556451e-01 -7.04343357e-01 -2.07383272e-02 7.25776507e+01] [ 7.03597941e-01 7.09798136e-01 -3.37126618e-02 2.81040572e+01] [ 3.84653154e-02 9.32959232e-03 9.99216382e-01 9.05288391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.398040942 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:72.59, Y:28.13, Z:0.89 [[ 7.06193326e-01 -7.07955795e-01 -9.46455070e-03 7.25860348e+01] [ 7.07278367e-01 7.06002810e-01 -3.62952234e-02 2.81296057e+01] [ 3.23774132e-02 1.89373726e-02 9.99296292e-01 8.92928276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.428040942 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:72.62, Y:28.14, Z:0.91 [[ 7.07455331e-01 -7.05911428e-01 -3.45833845e-02 7.26222622e+01] [ 7.05828833e-01 7.08187221e-01 -1.66288664e-02 2.81396033e+01] [ 3.62300178e-02 -1.26457697e-02 9.99263464e-01 9.10920537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.458040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.64, Y:28.15, Z:0.91 [[ 7.06059769e-01 -7.06730723e-01 -4.48473768e-02 7.26421950e+01] [ 7.07290072e-01 7.06908663e-01 -4.57118537e-03 2.81539655e+01] [ 3.49335963e-02 -2.84925743e-02 9.98983392e-01 9.10559350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.488040942 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:72.62, Y:28.21, Z:0.89 [[ 7.03212207e-01 -7.10860057e-01 1.30603019e-02 7.26223143e+01] [ 7.10347303e-01 7.01693048e-01 -5.50779145e-02 2.82051309e+01] [ 2.99883664e-02 4.80088120e-02 9.98396641e-01 8.85453587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.518040942 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:72.68, Y:28.20, Z:0.92 [[ 7.09617326e-01 -7.03143939e-01 -4.50760547e-02 7.26821655e+01] [ 7.03606416e-01 7.10552355e-01 -7.30495500e-03 2.81991609e+01] [ 3.71653317e-02 -2.65320787e-02 9.98956849e-01 9.17604590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.548040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.69, Y:28.23, Z:0.91 [[ 7.09500146e-01 -7.04336813e-01 -2.27858818e-02 7.26889120e+01] [ 7.03766004e-01 7.09852856e-01 -2.86763697e-02 2.82325282e+01] [ 3.63724461e-02 4.30995954e-03 9.99329010e-01 9.07762136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.578040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:72.71, Y:28.25, Z:0.91 [[ 7.10412021e-01 -7.03522024e-01 -1.92749072e-02 7.27052266e+01] [ 7.02938927e-01 7.10634119e-01 -2.95975412e-02 2.82548684e+01] [ 3.45199288e-02 7.47736645e-03 9.99376037e-01 9.05595990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.608040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.73, Y:28.27, Z:0.91 [[ 7.13533379e-01 -6.99775805e-01 -3.44084275e-02 7.27319090e+01] [ 6.99708726e-01 7.14249879e-01 -1.59627317e-02 2.82698433e+01] [ 3.57465486e-02 -1.26859351e-02 9.99280367e-01 9.13914480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.638040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:72.73, Y:28.30, Z:0.90 [[ 7.10653494e-01 -7.03519305e-01 -5.67439458e-03 7.27253665e+01] [ 7.02954018e-01 7.10366014e-01 -3.51535887e-02 2.83028531e+01] [ 2.87621254e-02 2.09931822e-02 9.99365812e-01 8.96740648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:72.77, Y:28.31, Z:0.91 [[ 7.16487287e-01 -6.96716224e-01 -3.51065730e-02 7.27701551e+01] [ 6.96773567e-01 7.17180652e-01 -1.25900437e-02 2.83102335e+01] [ 3.39494426e-02 -1.54407258e-02 9.99304268e-01 9.14340876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.698040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.79, Y:28.33, Z:0.92 [[ 7.21160183e-01 -6.92003702e-01 -3.25402446e-02 7.27878675e+01] [ 6.91838727e-01 7.21830089e-01 -1.79024696e-02 2.83334223e+01] [ 3.58771029e-02 -9.60205320e-03 9.99310079e-01 9.18492434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.78, Y:28.37, Z:0.90 [[ 7.18979747e-01 -6.95024633e-01 -2.98042722e-03 7.27812254e+01] [ 6.94490122e-01 7.18582749e-01 -3.63634787e-02 2.83665331e+01] [ 2.74151970e-02 2.40747275e-02 9.99334186e-01 8.99681255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.758040942 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:72.81, Y:28.38, Z:0.90 [[ 7.21409983e-01 -6.92449950e-01 -8.98342481e-03 7.28080073e+01] [ 6.92067833e-01 7.21353113e-01 -2.63021198e-02 2.83837204e+01] [ 2.46931230e-02 1.27574725e-02 9.99613674e-01 8.96948091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.788040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.83, Y:28.40, Z:0.90 [[ 7.24045401e-01 -6.89632721e-01 -1.28439342e-02 7.28279972e+01] [ 6.89358283e-01 7.24135638e-01 -2.03159149e-02 2.84017183e+01] [ 2.33112702e-02 5.85557231e-03 9.99711107e-01 8.97219501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.818040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:72.88, Y:28.40, Z:0.93 [[ 7.29325137e-01 -6.81584396e-01 -5.93932358e-02 7.28789467e+01] [ 6.83051577e-01 7.30342624e-01 6.33993385e-03 2.84024270e+01] [ 3.90562117e-02 -4.51925165e-02 9.98214530e-01 9.32272290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.848040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:72.88, Y:28.44, Z:0.92 [[ 7.30806101e-01 -6.82129256e-01 -2.49423507e-02 7.28801447e+01] [ 6.81484793e-01 7.31214736e-01 -3.00580666e-02 2.84405704e+01] [ 3.87417010e-02 4.96878578e-03 9.99236905e-01 9.19091315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.878040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:72.89, Y:28.47, Z:0.90 [[ 7.28612274e-01 -6.84925997e-01 -7.29535156e-04 7.28851932e+01] [ 6.84347942e-01 7.28040290e-01 -4.03141479e-02 2.84712282e+01] [ 2.81433389e-02 2.88741271e-02 9.99186788e-01 9.00105854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.908040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:72.92, Y:28.48, Z:0.91 [[ 7.28252443e-01 -6.84988266e-01 -2.09631698e-02 7.29163468e+01] [ 6.84704129e-01 7.28554099e-01 -1.97276531e-02 2.84800523e+01] [ 2.87860141e-02 1.31426768e-05 9.99585597e-01 9.07853440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.938040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.95, Y:28.49, Z:0.92 [[ 7.30889383e-01 -6.81073848e-01 -4.40354838e-02 7.29493828e+01] [ 6.81514196e-01 7.31776767e-01 -6.41592063e-03 2.84886478e+01] [ 3.65938597e-02 -2.53214791e-02 9.99009365e-01 9.24350308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.968040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:72.96, Y:28.52, Z:0.92 [[ 7.30312111e-01 -6.82560567e-01 -2.74826055e-02 7.29621458e+01] [ 6.82230980e-01 7.30822472e-01 -2.14337211e-02 2.85179841e+01] [ 3.47147185e-02 -3.09617875e-03 9.99392466e-01 9.17995926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.998040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:72.98, Y:28.54, Z:0.92 [[ 7.30968410e-01 -6.82102756e-01 -2.05185964e-02 7.29791503e+01] [ 6.81464252e-01 7.31207473e-01 -3.06937120e-02 2.85407079e+01] [ 3.59396166e-02 8.45344394e-03 9.99318209e-01 9.16743230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:73.00, Y:28.56, Z:0.92 [[ 7.30718497e-01 -6.82320630e-01 -2.21141391e-02 7.30013488e+01] [ 6.81779281e-01 7.31035042e-01 -2.76546592e-02 2.85584767e+01] [ 3.50355551e-02 5.13080910e-03 9.99372896e-01 9.16801898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.058040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:73.02, Y:28.57, Z:0.91 [[ 7.29529497e-01 -6.83611779e-01 -2.14859939e-02 7.30234867e+01] [ 6.83273979e-01 7.29845127e-01 -2.15118483e-02 2.85747404e+01] [ 3.03872008e-02 1.01270730e-03 9.99537689e-01 9.14746100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.04, Y:28.60, Z:0.92 [[ 7.28565732e-01 -6.84804422e-01 -1.53256845e-02 7.30353340e+01] [ 6.84087629e-01 7.28577871e-01 -3.46179355e-02 2.85970377e+01] [ 3.48724699e-02 1.47373304e-02 9.99283104e-01 9.15205251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11804094200001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:73.07, Y:28.60, Z:0.93 [[ 7.30199003e-01 -6.82156025e-01 -3.83741198e-02 7.30744995e+01] [ 6.82246216e-01 7.31011661e-01 -1.27299886e-02 2.86042050e+01] [ 3.67357675e-02 -1.68851731e-02 9.99182353e-01 9.26791945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.148040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.09, Y:28.63, Z:0.92 [[ 7.30263224e-01 -6.82593945e-01 -2.79486997e-02 7.30900438e+01] [ 6.82203577e-01 7.30794727e-01 -2.31807489e-02 2.86283683e+01] [ 3.62478012e-02 -2.13865451e-03 9.99340544e-01 9.23944569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.178040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.12, Y:28.64, Z:0.93 [[ 7.29707709e-01 -6.83032140e-01 -3.15238800e-02 7.31150822e+01] [ 6.82769258e-01 7.30356414e-01 -2.01407027e-02 2.86433672e+01] [ 3.67804152e-02 -6.82671017e-03 9.99300054e-01 9.27379853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.208040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.13, Y:28.67, Z:0.92 [[ 7.29569063e-01 -6.83494026e-01 -2.37675727e-02 7.31315895e+01] [ 6.82801720e-01 7.29924964e-01 -3.14858370e-02 2.86652856e+01] [ 3.88689262e-02 6.74255314e-03 9.99221569e-01 9.24697723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.238040942 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:73.14, Y:28.69, Z:0.92 [[ 7.26240854e-01 -6.87417659e-01 -5.58423025e-03 7.31413451e+01] [ 6.86142895e-01 7.25345107e-01 -5.55194024e-02 2.86921682e+01] [ 4.22155117e-02 3.64888783e-02 9.98441992e-01 9.20506970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.268040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:73.18, Y:28.68, Z:0.94 [[ 7.26618907e-01 -6.85659252e-01 -4.35471424e-02 7.31843522e+01] [ 6.86062487e-01 7.27506522e-01 -7.24739152e-03 2.86841801e+01] [ 3.66500711e-02 -2.46099691e-02 9.99025086e-01 9.35403185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:28.71, Z:0.93 [[ 7.25707278e-01 -6.87522969e-01 -2.57121447e-02 7.31973297e+01] [ 6.87063590e-01 7.26162404e-01 -2.51353580e-02 2.87113055e+01] [ 3.59523287e-02 5.75033753e-04 9.99353341e-01 9.29597488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.328040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.22, Y:28.73, Z:0.93 [[ 7.23656203e-01 -6.89664157e-01 -2.61734786e-02 7.32204793e+01] [ 6.89189063e-01 7.24129211e-01 -2.55992326e-02 2.87264708e+01] [ 3.66078535e-02 4.86568288e-04 9.99329589e-01 9.31346700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.358040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.24, Y:28.74, Z:0.93 [[ 7.22603492e-01 -6.90767544e-01 -2.61609078e-02 7.32425199e+01] [ 6.90293292e-01 7.23076765e-01 -2.55961354e-02 2.87441301e+01] [ 3.65973242e-02 4.37157623e-04 9.99329998e-01 9.32140597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.388040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.27, Y:28.76, Z:0.93 [[ 7.22146767e-01 -6.91419373e-01 -2.10546464e-02 7.32710583e+01] [ 6.90736698e-01 7.22404021e-01 -3.18628933e-02 2.87644556e+01] [ 3.72405829e-02 8.46646849e-03 9.99270463e-01 9.28765785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.418040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.29, Y:28.77, Z:0.94 [[ 7.19620836e-01 -6.93607790e-01 -3.24666882e-02 7.32918758e+01] [ 6.93374691e-01 7.20305386e-01 -1.97911190e-02 2.87744017e+01] [ 3.71132047e-02 -8.26947837e-03 9.99276851e-01 9.37380360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.32, Y:28.80, Z:0.93 [[ 7.20522086e-01 -6.93142346e-01 -2.00402710e-02 7.33151860e+01] [ 6.92540972e-01 7.20760278e-01 -2.98600746e-02 2.87999273e+01] [ 3.51415135e-02 7.63613449e-03 9.99353173e-01 9.29946575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:28.81, Z:0.94 [[ 7.17485373e-01 -6.95862827e-01 -3.14589458e-02 7.33360132e+01] [ 6.95620030e-01 7.18134398e-01 -1.98937335e-02 2.88109743e+01] [ 3.64350607e-02 -7.61001003e-03 9.99307047e-01 9.39620156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:28.83, Z:0.94 [[ 7.15476749e-01 -6.98163756e-01 -2.56980859e-02 7.33568216e+01] [ 6.97709021e-01 7.15938098e-01 -2.51944730e-02 2.88291128e+01] [ 3.59881066e-02 9.62732789e-05 9.99352214e-01 9.38430303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:28.85, Z:0.94 [[ 7.14268366e-01 -6.99397822e-01 -2.57563214e-02 7.33790708e+01] [ 6.98941435e-01 7.14732597e-01 -2.52623344e-02 2.88467328e+01] [ 3.60773041e-02 4.19260731e-05 9.99349001e-01 9.39614653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:28.88, Z:0.92 [[ 7.13451875e-01 -7.00701045e-01 -2.11375533e-03 7.33944545e+01] [ 7.00072210e-01 7.12933206e-01 -4.03130819e-02 2.88775449e+01] [ 2.97543849e-02 2.72816625e-02 9.99184862e-01 9.20559868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.42, Y:28.88, Z:0.93 [[ 7.09625721e-01 -7.04270779e-01 -2.08328157e-02 7.34249183e+01] [ 7.04041786e-01 7.09929029e-01 -1.80537506e-02 2.88815232e+01] [ 2.75045496e-02 -1.85576695e-03 9.99619956e-01 9.26820155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:28.90, Z:0.93 [[ 7.09501234e-01 -7.04530551e-01 -1.56429643e-02 7.34472848e+01] [ 7.04104636e-01 7.09638396e-01 -2.54952640e-02 2.89043011e+01] [ 2.90630405e-02 7.07463758e-03 9.99552544e-01 9.26956013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:28.91, Z:0.93 [[ 7.08027176e-01 -7.05645095e-01 -2.76137263e-02 7.34764264e+01] [ 7.05445041e-01 7.08533977e-01 -1.80803133e-02 2.89134769e+01] [ 3.23235477e-02 -6.67861308e-03 9.99455144e-01 9.34016816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:28.92, Z:0.95 [[ 7.07159612e-01 -7.05524946e-01 -4.64740138e-02 7.35019381e+01] [ 7.05992656e-01 7.08171212e-01 -8.24037678e-03 2.89211108e+01] [ 3.87253501e-02 -2.69830508e-02 9.98885510e-01 9.53665546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.49, Y:28.97, Z:0.90 [[ 7.03363934e-01 -7.10488898e-01 2.20159436e-02 7.34863288e+01] [ 7.10276918e-01 7.01258091e-01 -6.11865071e-02 2.89739706e+01] [ 2.80334754e-02 5.86737989e-02 9.97883515e-01 9.04834615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.56, Y:28.94, Z:0.97 [[ 7.06213173e-01 -7.04530822e-01 -6.99948191e-02 7.35579934e+01] [ 7.06880040e-01 7.07199269e-01 1.37769214e-02 2.89449301e+01] [ 3.97940191e-02 -5.92073839e-02 9.97452215e-01 9.67895483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:28.98, Z:0.95 [[ 7.07389622e-01 -7.06275303e-01 -2.78409579e-02 7.35666330e+01] [ 7.05713419e-01 7.07937228e-01 -2.81682633e-02 2.89845016e+01] [ 3.96041993e-02 2.78199584e-04 9.99215407e-01 9.46590952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:29.00, Z:0.94 [[ 7.07998392e-01 -7.05793736e-01 -2.43614432e-02 7.35857666e+01] [ 7.05184609e-01 7.08407491e-01 -2.95549363e-02 2.90034954e+01] [ 3.81175178e-02 3.74553258e-03 9.99266244e-01 9.44311753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.838040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:73.62, Y:29.02, Z:0.95 [[ 7.08144837e-01 -7.05232443e-01 -3.43233317e-02 7.36152914e+01] [ 7.05216640e-01 7.08840947e-01 -1.46288244e-02 2.90159919e+01] [ 3.46465045e-02 -1.38460581e-02 9.99303711e-01 9.52897161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86804094200001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.63, Y:29.04, Z:0.94 [[ 7.09753329e-01 -7.04254485e-01 -1.66082316e-02 7.36266154e+01] [ 7.03733610e-01 7.09897374e-01 -2.83676806e-02 2.90387987e+01] [ 3.17682063e-02 8.44628500e-03 9.99459575e-01 9.42809067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:29.06, Z:0.94 [[ 7.10002736e-01 -7.03988505e-01 -1.72133519e-02 7.36499243e+01] [ 7.03434634e-01 7.10158774e-01 -2.92272486e-02 2.90600576e+01] [ 3.27998599e-02 8.64295858e-03 9.99424569e-01 9.43370109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:29.07, Z:0.95 [[ 7.13955309e-01 -6.99519066e-01 -3.06740017e-02 7.36771975e+01] [ 6.99351750e-01 7.14559284e-01 -1.76679976e-02 2.90667221e+01] [ 3.42774939e-02 -8.83775609e-03 9.99373277e-01 9.53972502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:29.09, Z:0.95 [[ 7.14217651e-01 -6.99698919e-01 -1.77361184e-02 7.36921281e+01] [ 6.99303535e-01 7.14422171e-01 -2.39901388e-02 2.90922966e+01] [ 2.94569504e-02 4.73125028e-03 9.99554853e-01 9.45128662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.988040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:73.71, Y:29.11, Z:0.96 [[ 7.13857435e-01 -6.99856580e-01 -2.46643330e-02 7.37138460e+01] [ 6.99224314e-01 7.14271070e-01 -3.00366099e-02 2.91117855e+01] [ 3.86383386e-02 4.19595603e-03 9.99244451e-01 9.56378542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:29.13, Z:0.96 [[ 7.13011749e-01 -7.00740084e-01 -2.40329175e-02 7.37377081e+01] [ 7.00135665e-01 7.13404714e-01 -2.93898668e-02 2.91312752e+01] [ 3.77398544e-02 4.12901766e-03 9.99279067e-01 9.58510237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.76, Y:29.14, Z:0.97 [[ 7.14484996e-01 -6.98869575e-01 -3.30531187e-02 7.37625481e+01] [ 6.98827294e-01 7.15138656e-01 -1.47348241e-02 2.91404296e+01] [ 3.39352831e-02 -1.25706108e-02 9.99344974e-01 9.65035099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:29.16, Z:0.96 [[ 7.14391523e-01 -6.99322204e-01 -2.43558500e-02 7.37790699e+01] [ 6.98908655e-01 7.14806569e-01 -2.40470606e-02 2.91631932e+01] [ 3.42263650e-02 1.56501891e-04 9.99414094e-01 9.61748518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:29.17, Z:0.98 [[ 7.18453829e-01 -6.93812519e-01 -4.94801360e-02 7.38252210e+01] [ 6.94363122e-01 7.19582228e-01 -7.82767286e-03 2.91725208e+01] [ 4.10359639e-02 -2.87333602e-02 9.98744434e-01 9.82069376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.138040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.83, Y:29.20, Z:0.97 [[ 7.18810483e-01 -6.94731726e-01 -2.56771891e-02 7.38347076e+01] [ 6.93726601e-01 7.19199686e-01 -3.86680118e-02 2.92030451e+01] [ 4.53309209e-02 9.98202310e-03 9.98922153e-01 9.67940272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:29.21, Z:0.97 [[ 7.18023540e-01 -6.95275362e-01 -3.21615775e-02 7.38573636e+01] [ 6.94644752e-01 7.18742671e-01 -2.96250270e-02 2.92135566e+01] [ 4.37134495e-02 -1.06940428e-03 9.99043538e-01 9.71413846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:29.24, Z:0.96 [[ 7.14342162e-01 -6.99603443e-01 -1.64407637e-02 7.38599951e+01] [ 6.98773600e-01 7.14370887e-01 -3.72785764e-02 2.92359020e+01] [ 3.78250234e-02 1.51412872e-02 9.99169660e-01 9.59172349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:29.25, Z:0.96 [[ 7.13199163e-01 -7.00563986e-01 -2.36020222e-02 7.38859696e+01] [ 6.99851129e-01 7.13560111e-01 -3.22547015e-02 2.92526315e+01] [ 3.94379438e-02 6.48612420e-03 9.99200970e-01 9.63327731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:29.27, Z:0.96 [[ 7.13115427e-01 -7.00763105e-01 -1.99363655e-02 7.39122454e+01] [ 6.99897729e-01 7.13286240e-01 -3.69582142e-02 2.92733988e+01] [ 4.01192882e-02 1.24020558e-02 9.99117927e-01 9.57544386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:29.29, Z:0.96 [[ 7.12490325e-01 -7.01008732e-01 -3.07293568e-02 7.39395899e+01] [ 7.00578839e-01 7.13142416e-01 -2.48432072e-02 2.92862893e+01] [ 3.93297129e-02 -3.82779227e-03 9.99218956e-01 9.64710948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.318040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.96, Y:29.30, Z:0.97 [[ 7.10585560e-01 -7.02769354e-01 -3.44005388e-02 7.39568324e+01] [ 7.02405135e-01 7.11380550e-01 -2.37642636e-02 2.93016471e+01] [ 4.11726704e-02 -7.27657256e-03 9.99125549e-01 9.72410232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.348040942 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:73.98, Y:29.33, Z:0.97 [[ 7.10512852e-01 -7.03213569e-01 -2.57325379e-02 7.39815535e+01] [ 7.02359933e-01 7.10943809e-01 -3.53472079e-02 2.93282290e+01] [ 4.31510247e-02 7.04114190e-03 9.99043748e-01 9.67207050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.378040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.00, Y:29.34, Z:0.97 [[ 7.09375704e-01 -7.04085296e-01 -3.24037982e-02 7.39963849e+01] [ 7.03576497e-01 7.10106084e-01 -2.70085390e-02 2.93388163e+01] [ 4.20264494e-02 -3.63934941e-03 9.99109870e-01 9.74497672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.408040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.03, Y:29.36, Z:0.98 [[ 7.11436420e-01 -7.01924340e-01 -3.40652410e-02 7.40261124e+01] [ 7.01542115e-01 7.12219648e-01 -2.41212449e-02 2.93588664e+01] [ 4.11932228e-02 -6.73746907e-03 9.99128483e-01 9.75614190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.438040942 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:74.04, Y:29.38, Z:0.97 [[ 7.12764579e-01 -7.00749996e-01 -3.02671112e-02 7.40423253e+01] [ 7.00262601e-01 7.13402598e-01 -2.62492552e-02 2.93751152e+01] [ 3.99868012e-02 -2.48538663e-03 9.99197117e-01 9.74939135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.468040942 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:74.05, Y:29.40, Z:0.97 [[ 7.09374205e-01 -7.04418254e-01 -2.41487427e-02 7.40541379e+01] [ 7.03581559e-01 7.09739908e-01 -3.52456236e-02 2.94027045e+01] [ 4.19669870e-02 8.01172618e-03 9.99086875e-01 9.74304205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.498040942 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:74.08, Y:29.42, Z:0.97 [[ 7.12569532e-01 -7.01072386e-01 -2.72428307e-02 7.40839305e+01] [ 7.00527711e-01 7.13089854e-01 -2.76366846e-02 2.94200177e+01] [ 3.88019026e-02 6.08701588e-04 9.99246737e-01 9.74081690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528040942 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:74.10, Y:29.43, Z:0.98 [[ 7.13448145e-01 -6.99951043e-01 -3.25619621e-02 7.41034260e+01] [ 6.99669934e-01 7.14150152e-01 -2.12495519e-02 2.94345694e+01] [ 3.81277762e-02 -7.62217245e-03 9.99243802e-01 9.78088008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.558040942 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:74.11, Y:29.46, Z:0.98 [[ 7.11567512e-01 -7.02128563e-01 -2.62136766e-02 7.41136460e+01] [ 7.01475227e-01 7.12042612e-01 -3.04602132e-02 2.94604567e+01] [ 4.00522405e-02 3.28625340e-03 9.99192183e-01 9.79072872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588040942 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:74.13, Y:29.48, Z:0.98 [[ 7.12227131e-01 -7.01315468e-01 -2.98182731e-02 7.41340602e+01] [ 7.00782071e-01 7.12849685e-01 -2.73827687e-02 2.94788708e+01] [ 4.04599058e-02 -1.39336039e-03 9.99180191e-01 9.81610827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61804094200001 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:74.16, Y:29.51, Z:0.97 [[ 7.13624714e-01 -7.00303749e-01 -1.77320853e-02 7.41553892e+01] [ 6.99504229e-01 7.13721389e-01 -3.59946036e-02 2.95062586e+01] [ 3.78629244e-02 1.32829700e-02 9.99194657e-01 9.70083983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.648040942 meters Centerline goodness : 0.997290 Centerline is valid? [True, True] Translation: X:74.18, Y:29.51, Z:0.99 [[ 7.12145505e-01 -7.00928117e-01 -3.93516918e-02 7.41761406e+01] [ 7.00783572e-01 7.13102795e-01 -1.96669638e-02 2.95117106e+01] [ 4.18469293e-02 -1.35712793e-02 9.99031859e-01 9.88614347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:29.53, Z:0.98 [[ 7.12051179e-01 -7.01486046e-01 -3.00074311e-02 7.41918745e+01] [ 7.00971792e-01 7.12680746e-01 -2.69202582e-02 2.95349016e+01] [ 4.02699039e-02 -1.86576112e-03 9.99187096e-01 9.84564048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.708040942 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:74.21, Y:29.56, Z:0.98 [[ 7.09086538e-01 -7.04774610e-01 -2.21140413e-02 7.42076151e+01] [ 7.03794394e-01 7.09327078e-01 -3.90966410e-02 2.95632050e+01] [ 4.32404082e-02 1.21591635e-02 9.98990702e-01 9.81563902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.738040942 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:74.24, Y:29.57, Z:0.99 [[ 7.09112813e-01 -7.04148690e-01 -3.65190498e-02 7.42355249e+01] [ 7.03965097e-01 7.09957222e-01 -1.98465480e-02 2.95725609e+01] [ 3.99018839e-02 -1.16346950e-02 9.99135863e-01 9.90680758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.768040942 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:74.25, Y:29.60, Z:0.99 [[ 7.07359164e-01 -7.06392437e-01 -2.55487642e-02 7.42487009e+01] [ 7.05659882e-01 7.07802786e-01 -3.25475973e-02 2.95994305e+01] [ 4.10748631e-02 4.99410323e-03 9.99143591e-01 9.85292971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.798040942 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:74.27, Y:29.62, Z:0.99 [[ 7.07252514e-01 -7.06372995e-01 -2.88283570e-02 7.42705778e+01] [ 7.05764940e-01 7.07839705e-01 -2.93053162e-02 2.96178126e+01] [ 4.11063397e-02 3.80214857e-04 9.99154705e-01 9.88059302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.828040942 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:74.29, Y:29.64, Z:0.99 [[ 7.05397340e-01 -7.08236672e-01 -2.85553741e-02 7.42936660e+01] [ 7.07803541e-01 7.05970135e-01 -2.49061216e-02 2.96387958e+01] [ 3.77986700e-02 -2.64288296e-03 9.99281880e-01 9.89257283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.858040942 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:74.31, Y:29.66, Z:0.99 [[ 7.03328218e-01 -7.10461085e-01 -2.39679960e-02 7.43074910e+01] [ 7.09634836e-01 7.03694562e-01 -3.51050367e-02 2.96598036e+01] [ 4.18069109e-02 7.68183799e-03 9.99096177e-01 9.87964736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.888040942 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:74.33, Y:29.68, Z:0.99 [[ 7.00365444e-01 -7.13299276e-01 -2.63132517e-02 7.43299847e+01] [ 7.12484348e-01 7.00838570e-01 -3.45159678e-02 2.96795832e+01] [ 4.30615565e-02 5.42601114e-03 9.99057686e-01 9.90736904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.918040942 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:74.35, Y:29.70, Z:0.99 [[ 6.99340026e-01 -7.14112330e-01 -3.10983661e-02 7.43527325e+01] [ 7.13570963e-01 7.00026076e-01 -2.79280133e-02 2.96963474e+01] [ 4.17134059e-02 -2.65971348e-03 9.99126077e-01 9.94560725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.38, Y:29.71, Z:1.00 [[ 6.97460418e-01 -7.15784005e-01 -3.46730925e-02 7.43765677e+01] [ 7.15574187e-01 6.98240816e-01 -2.03309325e-02 2.97147255e+01] [ 3.87627247e-02 -1.06311493e-02 9.99191888e-01 9.98417364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:29.74, Z:1.00 [[ 6.96709301e-01 -7.16834936e-01 -2.72731594e-02 7.43934725e+01] [ 7.16325037e-01 6.97242562e-01 -2.70416559e-02 2.97374018e+01] [ 3.84004112e-02 -6.96273744e-04 9.99262190e-01 9.95699931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:29.76, Z:1.00 [[ 6.96547885e-01 -7.17002384e-01 -2.69930645e-02 7.44138554e+01] [ 7.16502478e-01 6.97070375e-01 -2.67785571e-02 2.97572196e+01] [ 3.80163549e-02 -6.88050241e-04 9.99276880e-01 9.96922219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.038040942 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:74.43, Y:29.78, Z:0.99 [[ 6.97345093e-01 -7.16432996e-01 -2.08226632e-02 7.44288621e+01] [ 7.15467541e-01 6.97544922e-01 -3.92081555e-02 2.97806427e+01] [ 4.26147593e-02 1.24436752e-02 9.99014083e-01 9.94020706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.068040942 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:74.45, Y:29.79, Z:1.00 [[ 6.98937921e-01 -7.14360408e-01 -3.42781339e-02 7.44531355e+01] [ 7.13962979e-01 6.99741976e-01 -2.48602477e-02 2.97890074e+01] [ 4.17450258e-02 -7.09754878e-03 9.99103087e-01 1.00182697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.098040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.47, Y:29.81, Z:1.00 [[ 6.97714327e-01 -7.15668758e-01 -3.18268302e-02 7.44749124e+01] [ 7.15348889e-01 6.98404269e-01 -2.25265071e-02 2.98126962e+01] [ 3.83495114e-02 -7.05022089e-03 9.99239516e-01 1.00129098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.128040942 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:74.49, Y:29.84, Z:1.00 [[ 6.97841358e-01 -7.15947647e-01 -2.08903087e-02 7.44883322e+01] [ 7.14986672e-01 6.98044987e-01 -3.90801129e-02 2.98407993e+01] [ 4.25616901e-02 1.23354268e-02 9.99017687e-01 9.95922063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.158040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.51, Y:29.86, Z:1.00 [[ 6.99404733e-01 -7.14148271e-01 -2.87274658e-02 7.45125865e+01] [ 7.13475639e-01 6.99993446e-01 -3.10111056e-02 2.98570136e+01] [ 4.22555652e-02 1.19296707e-03 9.99106123e-01 9.97031900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.188040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.54, Y:29.87, Z:1.01 [[ 7.00014163e-01 -7.13033027e-01 -3.95483795e-02 7.45414845e+01] [ 7.12914056e-01 7.00979804e-01 -1.95157201e-02 2.98728620e+01] [ 4.16379683e-02 -1.45333151e-02 9.99027058e-01 1.00652300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.218040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:74.57, Y:29.89, Z:1.01 [[ 7.01660244e-01 -7.11162996e-01 -4.38188918e-02 7.45654519e+01] [ 7.11049921e-01 7.02832669e-01 -2.08386409e-02 2.98921967e+01] [ 4.56170190e-02 -1.65357737e-02 9.98822134e-01 1.01356413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:29.92, Z:1.00 [[ 7.01046864e-01 -7.12826902e-01 -2.02756704e-02 7.45691339e+01] [ 7.11877725e-01 7.01221687e-01 -3.89647441e-02 2.99219449e+01] [ 4.19928576e-02 1.28823135e-02 9.99034857e-01 1.00355501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.278040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.59, Y:29.94, Z:1.00 [[ 7.01388464e-01 -7.12503745e-01 -1.98150345e-02 7.45916437e+01] [ 7.11695083e-01 7.01583676e-01 -3.56434260e-02 2.99428155e+01] [ 3.92979793e-02 1.08976251e-02 9.99168109e-01 9.97355198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.61, Y:29.96, Z:0.99 [[ 7.00112624e-01 -7.13765762e-01 -1.95128318e-02 7.46071948e+01] [ 7.13051189e-01 7.00321578e-01 -3.32819739e-02 2.99612574e+01] [ 3.74207906e-02 9.38748212e-03 9.99255503e-01 9.94505865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.65, Y:29.97, Z:1.03 [[ 7.04710071e-01 -7.07340051e-01 -5.52609011e-02 7.46502606e+01] [ 7.07944797e-01 7.06180408e-01 -1.11083482e-02 2.99657814e+01] [ 4.68815452e-02 -3.12935026e-02 9.98410155e-01 1.02691541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36804094200001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.66, Y:29.99, Z:1.02 [[ 7.05237205e-01 -7.07992077e-01 -3.72518938e-02 7.46615490e+01] [ 7.07503981e-01 7.06184221e-01 -2.72389851e-02 2.99944469e+01] [ 4.55916853e-02 -7.14591750e-03 9.98934600e-01 1.01960302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.398040942 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:74.66, Y:30.03, Z:1.00 [[ 7.02850093e-01 -7.11285855e-01 -8.61279139e-03 7.46646034e+01] [ 7.10180575e-01 7.02345465e-01 -4.85221487e-02 3.00294011e+01] [ 4.05622730e-02 2.79871595e-02 9.98784972e-01 9.95764288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.428040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.69, Y:30.04, Z:1.01 [[ 7.01613643e-01 -7.12080132e-01 -2.60803037e-02 7.46931695e+01] [ 7.11534873e-01 7.02097486e-01 -2.78791050e-02 3.00382876e+01] [ 3.81630725e-02 1.00331482e-03 9.99271021e-01 1.00554649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:30.06, Z:1.01 [[ 7.00926085e-01 -7.12623403e-01 -2.95043859e-02 7.47152976e+01] [ 7.12160499e-01 7.01540800e-01 -2.58443450e-02 3.00566567e+01] [ 3.91158156e-02 -2.89688256e-03 9.99230484e-01 1.00946914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.73, Y:30.08, Z:1.00 [[ 6.98842691e-01 -7.14896642e-01 -2.32741104e-02 7.47296294e+01] [ 7.14202243e-01 6.99206442e-01 -3.20235523e-02 3.00792164e+01] [ 3.91669380e-02 5.75700360e-03 9.99216097e-01 1.00475306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.76, Y:30.08, Z:1.03 [[ 7.00142450e-01 -7.12260223e-01 -4.98590427e-02 7.47624354e+01] [ 7.12114857e-01 7.01661454e-01 -2.37409872e-02 3.00841252e+01] [ 5.18939292e-02 -1.88832921e-02 9.98474056e-01 1.03180042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.548040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.76, Y:30.13, Z:0.99 [[ 6.97409869e-01 -7.16647822e-01 -5.94758741e-03 7.47643223e+01] [ 7.15754763e-01 6.96912662e-01 -4.48091622e-02 3.01295377e+01] [ 3.62573375e-02 2.69933379e-02 9.98977860e-01 9.93606104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.578040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.80, Y:30.12, Z:1.03 [[ 6.96016523e-01 -7.16182361e-01 -5.14181426e-02 7.48023995e+01] [ 7.16654777e-01 6.97327212e-01 -1.18612418e-02 3.01235690e+01] [ 4.43500821e-02 -2.85934373e-02 9.98606772e-01 1.03410555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.608040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.84, Y:30.14, Z:1.05 [[ 6.96476462e-01 -7.14256939e-01 -6.89750865e-02 7.48362833e+01] [ 7.15397588e-01 6.98633791e-01 -1.08220573e-02 3.01387307e+01] [ 5.59180557e-02 -4.18073024e-02 9.97559683e-01 1.05456824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.82, Y:30.19, Z:1.01 [[ 6.92906942e-01 -7.21019576e-01 -3.27731871e-03 7.48188713e+01] [ 7.19613322e-01 6.91825724e-01 -5.94460608e-02 3.01888101e+01] [ 4.51291069e-02 3.88321860e-02 9.98226139e-01 1.00994239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668040942 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:74.85, Y:30.20, Z:1.02 [[ 6.90311987e-01 -7.22969839e-01 -2.79995214e-02 7.48494940e+01] [ 7.21922267e-01 6.90843263e-01 -3.95452445e-02 3.01975057e+01] [ 4.79332998e-02 7.08507831e-03 9.98825410e-01 1.02468095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.88, Y:30.21, Z:1.03 [[ 6.89894333e-01 -7.22909826e-01 -3.80419916e-02 7.48750869e+01] [ 7.22355594e-01 6.90903685e-01 -2.92317077e-02 3.02135886e+01] [ 4.74152409e-02 -7.31305597e-03 9.98848494e-01 1.03031117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:30.23, Z:1.03 [[ 6.88967361e-01 -7.24026816e-01 -3.33038404e-02 7.48917479e+01] [ 7.23417950e-01 6.89762955e-01 -2.98920523e-02 3.02345900e+01] [ 4.46144028e-02 -3.49794756e-03 9.98998158e-01 1.03043552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:30.26, Z:1.02 [[ 6.89650458e-01 -7.23694784e-01 -2.54579076e-02 7.49081808e+01] [ 7.22903826e-01 6.90100599e-01 -3.42231276e-02 3.02598100e+01] [ 4.23356163e-02 5.19837684e-03 9.99089922e-01 1.02176187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:30.28, Z:1.03 [[ 6.90275816e-01 -7.22922786e-01 -3.00323874e-02 7.49306432e+01] [ 7.22291860e-01 6.90928317e-01 -3.02080978e-02 3.02779401e+01] [ 4.25883491e-02 -8.40229568e-04 9.99092351e-01 1.02597713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.94, Y:30.31, Z:1.01 [[ 6.89678013e-01 -7.23993974e-01 -1.33028150e-02 7.49375266e+01] [ 7.23002597e-01 6.89519631e-01 -4.27776028e-02 3.03069668e+01] [ 4.01432787e-02 1.98848023e-02 9.98996052e-01 1.01170200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:30.32, Z:1.02 [[ 6.90481043e-01 -7.22798654e-01 -2.82495204e-02 7.49650481e+01] [ 7.22210882e-01 6.91058629e-01 -2.91446821e-02 3.03200077e+01] [ 4.05878119e-02 -2.78260558e-04 9.99175937e-01 1.02098291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:30.35, Z:1.01 [[ 6.89461412e-01 -7.24221588e-01 -1.20852498e-02 7.49729667e+01] [ 7.23342687e-01 6.89300510e-01 -4.04989414e-02 3.03488507e+01] [ 3.76605765e-02 1.91806803e-02 9.99106492e-01 1.00761188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:30.36, Z:1.02 [[ 6.90709292e-01 -7.22626374e-01 -2.70517667e-02 7.50000822e+01] [ 7.22025995e-01 6.91238349e-01 -2.94619545e-02 3.03639095e+01] [ 3.99892040e-02 8.17566955e-04 9.99199777e-01 1.01688590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:30.38, Z:1.02 [[ 6.90723095e-01 -7.22621284e-01 -2.68344218e-02 7.50200870e+01] [ 7.21981663e-01 6.91242177e-01 -3.04422451e-02 3.03849686e+01] [ 4.05472984e-02 1.65320133e-03 9.99176252e-01 1.01864863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:30.39, Z:1.05 [[ 6.94102712e-01 -7.17239901e-01 -6.15495732e-02 7.50627363e+01] [ 7.18051613e-01 6.95891633e-01 -1.16925829e-02 3.03895224e+01] [ 5.12182199e-02 -3.60799168e-02 9.98035537e-01 1.05109097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:30.42, Z:1.04 [[ 6.92789613e-01 -7.20359037e-01 -3.35471442e-02 7.50688025e+01] [ 7.19565213e-01 6.93601003e-01 -3.38164630e-02 3.04240333e+01] [ 4.76283275e-02 -7.11663639e-04 9.98864874e-01 1.03838063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:30.45, Z:1.03 [[ 6.92012184e-01 -7.21468325e-01 -2.45477685e-02 7.50820797e+01] [ 7.20379704e-01 6.92364479e-01 -4.10427764e-02 3.04488748e+01] [ 4.66070661e-02 1.07183872e-02 9.98855794e-01 1.03254770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.13, Y:30.45, Z:1.07 [[ 6.91382714e-01 -7.19166570e-01 -6.92053997e-02 7.51300899e+01] [ 7.20674147e-01 6.93259708e-01 -4.44415706e-03 3.04496325e+01] [ 5.11734044e-02 -4.68019290e-02 9.97592533e-01 1.07320038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:30.50, Z:1.03 [[ 6.90581777e-01 -7.23193846e-01 -9.35256248e-03 7.51092294e+01] [ 7.21818369e-01 6.89967517e-01 -5.40653938e-02 3.04958231e+01] [ 4.55527244e-02 3.05857243e-02 9.98493597e-01 1.02690240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:30.51, Z:1.05 [[ 6.91361045e-01 -7.21641997e-01 -3.53939728e-02 7.51454886e+01] [ 7.20806023e-01 6.92264855e-01 -3.47569843e-02 3.05058931e+01] [ 4.95841030e-02 -1.48256373e-03 9.98768852e-01 1.04662933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.17, Y:30.52, Z:1.06 [[ 6.93252094e-01 -7.19302518e-01 -4.47819267e-02 7.51665247e+01] [ 7.18398877e-01 6.94664187e-01 -3.66704367e-02 3.05204199e+01] [ 5.74855382e-02 -6.74942882e-03 9.98323524e-01 1.05683450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:30.54, Z:1.06 [[ 6.92913855e-01 -7.19955608e-01 -3.91703018e-02 7.51823423e+01] [ 7.18872045e-01 6.94019664e-01 -3.94929120e-02 3.05439119e+01] [ 5.56181032e-02 -7.93249018e-04 9.98451800e-01 1.05544467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:30.56, Z:1.07 [[ 6.94031176e-01 -7.17571060e-01 -5.84166051e-02 7.52166234e+01] [ 7.17924883e-01 6.95875877e-01 -1.84560532e-02 3.05575658e+01] [ 5.38942360e-02 -2.91296580e-02 9.98121673e-01 1.06944531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:30.60, Z:1.05 [[ 6.91437799e-01 -7.22072473e-01 -2.29153718e-02 7.52202543e+01] [ 7.20720956e-01 6.91633596e-01 -4.69496871e-02 3.05970540e+01] [ 4.97501176e-02 1.59471996e-02 9.98634374e-01 1.04740501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:30.62, Z:1.04 [[ 6.94144321e-01 -7.19573488e-01 -1.94334043e-02 7.52308647e+01] [ 7.18180823e-01 6.94125580e-01 -4.90508419e-02 3.06171453e+01] [ 4.87849084e-02 2.00916651e-02 9.98607209e-01 1.04171654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:30.62, Z:1.06 [[ 6.93673931e-01 -7.18941236e-01 -4.40451756e-02 7.52611923e+01] [ 7.18591084e-01 6.94939927e-01 -2.61792125e-02 3.06246027e+01] [ 4.94300665e-02 -1.34906332e-02 9.98686473e-01 1.05619479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:30.65, Z:1.05 [[ 6.93015453e-01 -7.20135138e-01 -3.36892262e-02 7.52738128e+01] [ 7.19333155e-01 6.93833494e-01 -3.39837444e-02 3.06508352e+01] [ 4.78476020e-02 -6.82517340e-04 9.98854414e-01 1.04970611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:30.67, Z:1.05 [[ 6.95427066e-01 -7.17958029e-01 -3.02896910e-02 7.52929107e+01] [ 7.17014286e-01 6.96074750e-01 -3.70196657e-02 3.06744662e+01] [ 4.76624553e-02 4.02633631e-03 9.98855384e-01 1.05327630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:30.70, Z:1.05 [[ 6.94575907e-01 -7.18719406e-01 -3.17289242e-02 7.53117789e+01] [ 7.18028759e-01 6.95299659e-01 -3.15132580e-02 3.06962710e+01] [ 4.47103003e-02 -8.93930253e-04 9.98999595e-01 1.05054033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.418040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.33, Y:30.72, Z:1.05 [[ 6.93779518e-01 -7.19696499e-01 -2.65881444e-02 7.53327836e+01] [ 7.18825733e-01 6.94264865e-01 -3.58589346e-02 3.07219148e+01] [ 4.42667642e-02 5.76595196e-03 9.99003107e-01 1.05103920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:30.73, Z:1.06 [[ 6.93109074e-01 -7.19712710e-01 -4.01674846e-02 7.53525278e+01] [ 7.19411994e-01 6.94165043e-01 -2.41096481e-02 3.07315870e+01] [ 4.52348838e-02 -1.21863543e-02 9.98902046e-01 1.05680512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:30.75, Z:1.06 [[ 6.92286452e-01 -7.20886276e-01 -3.25951766e-02 7.53692506e+01] [ 7.20132736e-01 6.93053062e-01 -3.29589985e-02 3.07544568e+01] [ 4.63498767e-02 -6.55785553e-04 9.98925052e-01 1.05854187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:30.78, Z:1.06 [[ 6.88425757e-01 -7.24579927e-01 -3.24639108e-02 7.53863755e+01] [ 7.23835652e-01 6.89190208e-01 -3.28451892e-02 3.07773976e+01] [ 4.61727742e-02 -8.87061774e-04 9.98933075e-01 1.05647503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:30.80, Z:1.06 [[ 6.90064622e-01 -7.23206620e-01 -2.79821689e-02 7.54077151e+01] [ 7.22235276e-01 6.90605892e-01 -3.79434878e-02 3.08006696e+01] [ 4.67656323e-02 5.97374909e-03 9.98888027e-01 1.06095006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.568040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.43, Y:30.82, Z:1.07 [[ 6.88646572e-01 -7.24279677e-01 -3.44216338e-02 7.54305349e+01] [ 7.23630836e-01 6.89496638e-01 -3.08674316e-02 3.08181231e+01] [ 4.60902542e-02 -3.65180471e-03 9.98930605e-01 1.06538468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.598040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:75.45, Y:30.85, Z:1.07 [[ 6.85625548e-01 -7.27311507e-01 -3.05872512e-02 7.54526950e+01] [ 7.26544578e-01 6.86307158e-01 -3.33985145e-02 3.08452744e+01] [ 4.52833733e-02 6.75873312e-04 9.98973953e-01 1.06633038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:30.86, Z:1.08 [[ 6.85893816e-01 -7.26329666e-01 -4.46641888e-02 7.54782152e+01] [ 7.26061137e-01 6.87176292e-01 -2.49793593e-02 3.08593722e+01] [ 4.88354214e-02 -1.52957437e-02 9.98689713e-01 1.07977874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:30.89, Z:1.07 [[ 6.80046693e-01 -7.32664802e-01 -2.71805741e-02 7.54750357e+01] [ 7.31737379e-01 6.80567885e-01 -3.72526821e-02 3.08870291e+01] [ 4.57919547e-02 5.44452118e-03 9.98936161e-01 1.06923721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:30.90, Z:1.08 [[ 6.81822376e-01 -7.29449750e-01 -5.49664479e-02 7.55176528e+01] [ 7.29986736e-01 6.83330784e-01 -1.33568421e-02 3.08970514e+01] [ 4.73034110e-02 -3.10177841e-02 9.98398860e-01 1.07892221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:30.93, Z:1.07 [[ 6.81441962e-01 -7.31083672e-01 -3.39634610e-02 7.55271056e+01] [ 7.30318596e-01 6.82284948e-01 -3.34962380e-02 3.09282176e+01] [ 4.76613109e-02 -1.97840501e-03 9.98861595e-01 1.06922783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:30.96, Z:1.06 [[ 6.84479414e-01 -7.29017069e-01 -4.69527143e-03 7.55281778e+01] [ 7.27580272e-01 6.83508325e-01 -5.86797822e-02 3.09605989e+01] [ 4.59878199e-02 3.67489160e-02 9.98265815e-01 1.05758023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.778040942 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:75.55, Y:30.96, Z:1.07 [[ 6.78100799e-01 -7.34116555e-01 -3.53863026e-02 7.55477720e+01] [ 7.33782304e-01 6.78955662e-01 -2.41400007e-02 3.09627773e+01] [ 4.17473047e-02 -9.59648884e-03 9.99082114e-01 1.06550663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:30.99, Z:1.07 [[ 6.83944960e-01 -7.29059686e-01 -2.62919406e-02 7.55691186e+01] [ 7.27990975e-01 6.84397809e-01 -4.03581283e-02 3.09902525e+01] [ 4.74176309e-02 8.46244295e-03 9.98839304e-01 1.07145175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.838040942 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:75.59, Y:31.00, Z:1.07 [[ 6.78279037e-01 -7.33620062e-01 -4.17031572e-02 7.55856022e+01] [ 7.33589332e-01 6.79328473e-01 -1.89609344e-02 3.10017026e+01] [ 4.22402640e-02 -1.77321869e-02 9.98950114e-01 1.07270518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:31.04, Z:1.07 [[ 6.82327037e-01 -7.30964340e-01 -1.09976088e-02 7.56035201e+01] [ 7.29728886e-01 6.81922629e-01 -4.97722979e-02 3.10431961e+01] [ 4.38812932e-02 2.59357118e-02 9.98700041e-01 1.06606903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:31.06, Z:1.08 [[ 6.79183561e-01 -7.32881933e-01 -3.99219604e-02 7.56390523e+01] [ 7.32557301e-01 6.80245487e-01 -2.50175836e-02 3.10566684e+01] [ 4.54916684e-02 -1.22535920e-02 9.98889562e-01 1.07744769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:31.08, Z:1.08 [[ 6.78474229e-01 -7.33795411e-01 -3.48857549e-02 7.56547080e+01] [ 7.33106427e-01 6.79359616e-01 -3.20231125e-02 3.10804378e+01] [ 4.71983860e-02 -3.84811460e-03 9.98878123e-01 1.07541013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.958040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.68, Y:31.10, Z:1.08 [[ 6.77828456e-01 -7.33946257e-01 -4.32605474e-02 7.56825624e+01] [ 7.33509909e-01 6.79091076e-01 -2.82581639e-02 3.11048846e+01] [ 5.01178253e-02 -1.25778526e-02 9.98664108e-01 1.08498641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:31.13, Z:1.07 [[ 6.78545876e-01 -7.34122529e-01 -2.52904355e-02 7.56853725e+01] [ 7.32811842e-01 6.78904080e-01 -4.55637459e-02 3.11316187e+01] [ 5.06191522e-02 1.23839613e-02 9.98641246e-01 1.07483416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:31.14, Z:1.09 [[ 6.78547314e-01 -7.33133404e-01 -4.57050701e-02 7.57144046e+01] [ 7.32924250e-01 6.79873401e-01 -2.43762792e-02 3.11437553e+01] [ 4.89447260e-02 -1.69578955e-02 9.98657521e-01 1.08590168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.048040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.72, Y:31.17, Z:1.08 [[ 6.81158260e-01 -7.31560783e-01 -2.90214502e-02 7.57234103e+01] [ 7.30521296e-01 6.81752982e-01 -3.93891753e-02 3.11690859e+01] [ 4.86010362e-02 5.62947471e-03 9.98802407e-01 1.08491532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:31.18, Z:1.09 [[ 6.80622596e-01 -7.31267322e-01 -4.47323777e-02 7.57515037e+01] [ 7.31013993e-01 6.81908742e-01 -2.48799243e-02 3.11843691e+01] [ 4.86972750e-02 -1.57661554e-02 9.98689143e-01 1.09322389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:31.22, Z:1.08 [[ 6.77566322e-01 -7.35169022e-01 -2.07458044e-02 7.57533165e+01] [ 7.33779379e-01 6.77654266e-01 -4.85027695e-02 3.12181722e+01] [ 4.97162165e-02 1.76409997e-02 9.98607577e-01 1.08204498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:31.22, Z:1.11 [[ 6.77764299e-01 -7.32751253e-01 -6.09192603e-02 7.57924309e+01] [ 7.33106574e-01 6.79802761e-01 -2.05659390e-02 3.12204080e+01] [ 5.64827989e-02 -3.07214509e-02 9.97930802e-01 1.11020754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.80, Y:31.26, Z:1.09 [[ 6.70520652e-01 -7.40738156e-01 -4.13405336e-02 7.58022146e+01] [ 7.39812524e-01 6.71771420e-01 -3.74244436e-02 3.12601329e+01] [ 5.54931023e-02 -5.49038222e-03 9.98443975e-01 1.09366128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:31.28, Z:1.10 [[ 6.73483839e-01 -7.38405012e-01 -3.43155456e-02 7.58161760e+01] [ 7.37089859e-01 6.74342281e-01 -4.42834973e-02 3.12782197e+01] [ 5.58395796e-02 4.53057912e-03 9.98429474e-01 1.09980572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:31.28, Z:1.13 [[ 6.74505158e-01 -7.34738284e-01 -7.21279781e-02 7.58569552e+01] [ 7.35496634e-01 6.77217138e-01 -2.05341183e-02 3.12836129e+01] [ 6.39335058e-02 -3.91995164e-02 9.97183987e-01 1.13231343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:31.33, Z:1.09 [[ 6.71851618e-01 -7.40588029e-01 -1.20322266e-02 7.58370857e+01] [ 7.38554893e-01 6.71061711e-01 -6.49064755e-02 3.13301054e+01] [ 5.61433253e-02 3.47210607e-02 9.97818809e-01 1.08894027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:31.35, Z:1.10 [[ 6.66216401e-01 -7.45111348e-01 -3.10610084e-02 7.58604363e+01] [ 7.43803607e-01 6.66907195e-01 -4.46204871e-02 3.13451838e+01] [ 5.39620413e-02 6.62361022e-03 9.98521019e-01 1.10034292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:31.36, Z:1.10 [[ 6.66172521e-01 -7.44897385e-01 -3.66341153e-02 7.58801380e+01] [ 7.43867166e-01 6.67178059e-01 -3.91800603e-02 3.13626174e+01] [ 5.36266024e-02 -1.15023599e-03 9.98560396e-01 1.10401241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.348040942 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:75.90, Y:31.38, Z:1.10 [[ 6.62900345e-01 -7.47556437e-01 -4.15030881e-02 7.58962396e+01] [ 7.46801455e-01 6.64149005e-01 -3.45497660e-02 3.13835761e+01] [ 5.33921347e-02 -8.09151479e-03 9.98540839e-01 1.10433850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.378040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:75.91, Y:31.42, Z:1.10 [[ 6.64957262e-01 -7.46497833e-01 -2.39337607e-02 7.59098017e+01] [ 7.45140926e-01 6.65253386e-01 -4.69354123e-02 3.14153059e+01] [ 5.09591989e-02 1.33760186e-02 9.98611157e-01 1.09814355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.408040942 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:75.94, Y:31.42, Z:1.12 [[ 6.65625848e-01 -7.44054717e-01 -5.76611502e-02 7.59437210e+01] [ 7.44332491e-01 6.67485508e-01 -2.07903471e-02 3.14199342e+01] [ 5.39571380e-02 -2.90804752e-02 9.98119709e-01 1.11832101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.94, Y:31.45, Z:1.10 [[ 6.68071219e-01 -7.43514429e-01 -2.94472423e-02 7.59441885e+01] [ 7.42155986e-01 6.68663060e-01 -4.57624913e-02 3.14538317e+01] [ 5.37153557e-02 8.71815623e-03 9.98518229e-01 1.10128196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.468040942 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:75.98, Y:31.47, Z:1.12 [[ 6.67235021e-01 -7.43211269e-01 -4.93400093e-02 7.59788207e+01] [ 7.42878720e-01 6.68822763e-01 -2.84133704e-02 3.14697055e+01] [ 5.41168584e-02 -1.76952471e-02 9.98377806e-01 1.11754833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.498040942 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:75.98, Y:31.50, Z:1.11 [[ 6.65667990e-01 -7.45624392e-01 -3.05023420e-02 7.59776519e+01] [ 7.44022016e-01 6.66282438e-01 -4.99895346e-02 3.15001298e+01] [ 5.75965911e-02 1.05820191e-02 9.98283854e-01 1.10692134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.528040942 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:76.00, Y:31.52, Z:1.11 [[ 6.67417878e-01 -7.43987022e-01 -3.21976247e-02 7.60028660e+01] [ 7.42728686e-01 6.68174159e-01 -4.35590721e-02 3.15192891e+01] [ 5.39210052e-02 5.15800399e-03 9.98531882e-01 1.11199708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.558040942 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:76.05, Y:31.52, Z:1.14 [[ 6.70123270e-01 -7.37863662e-01 -8.05730656e-02 7.60462379e+01] [ 7.40104964e-01 6.72484745e-01 -2.98484456e-03 3.15160083e+01] [ 5.63865658e-02 -5.76323120e-02 9.96744236e-01 1.14114389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588040942 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:76.03, Y:31.57, Z:1.10 [[ 6.71270348e-01 -7.41134064e-01 -1.07897978e-02 7.60272768e+01] [ 7.39320121e-01 6.70525067e-01 -6.16594868e-02 3.15679342e+01] [ 5.29327759e-02 3.34130705e-02 9.98038921e-01 1.10307464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:31.59, Z:1.10 [[ 6.67670414e-01 -7.43972889e-01 -2.68432354e-02 7.60549645e+01] [ 7.43070955e-01 6.68193228e-01 -3.69237841e-02 3.15857302e+01] [ 4.54067624e-02 4.70648968e-03 9.98957494e-01 1.10226780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.648040942 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:76.07, Y:31.61, Z:1.11 [[ 6.67428007e-01 -7.44185903e-01 -2.69666157e-02 7.60705117e+01] [ 7.42990282e-01 6.67915893e-01 -4.30557904e-02 3.16068258e+01] [ 5.00529434e-02 8.70070693e-03 9.98708667e-01 1.11084157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.678040942 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:76.09, Y:31.62, Z:1.11 [[ 6.64787032e-01 -7.46168393e-01 -3.59295323e-02 7.60884875e+01] [ 7.45768042e-01 6.65691037e-01 -2.61814828e-02 3.16209375e+01] [ 4.34537626e-02 -9.38998672e-03 9.99011311e-01 1.10647431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.708040942 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:76.11, Y:31.66, Z:1.11 [[ 6.69145797e-01 -7.42678517e-01 -2.59330486e-02 7.61098565e+01] [ 7.41517988e-01 6.69584683e-01 -4.25138277e-02 3.16568330e+01] [ 4.89384786e-02 9.21812709e-03 9.98759256e-01 1.10943490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.738040942 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:76.13, Y:31.67, Z:1.12 [[ 6.69565338e-01 -7.42040078e-01 -3.25389190e-02 7.61279350e+01] [ 7.41146886e-01 6.70355471e-01 -3.63982859e-02 3.16700462e+01] [ 4.88216293e-02 2.54912064e-04 9.98807481e-01 1.11606639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.768040942 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:76.15, Y:31.69, Z:1.12 [[ 6.70907549e-01 -7.40567162e-01 -3.79913081e-02 7.61467364e+01] [ 7.39917843e-01 6.71947814e-01 -3.17446206e-02 3.16856449e+01] [ 4.90372001e-02 -6.81274114e-03 9.98773718e-01 1.12183837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.798040942 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:76.16, Y:31.71, Z:1.12 [[ 6.72879441e-01 -7.39137751e-01 -3.01436926e-02 7.61625131e+01] [ 7.38221292e-01 6.73549402e-01 -3.68853194e-02 3.17110888e+01] [ 4.75665981e-02 2.56665740e-03 9.98864771e-01 1.11784330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.828040942 meters Centerline goodness : 0.996741 Centerline is valid? [True, True] Translation: X:76.18, Y:31.73, Z:1.12 [[ 6.72728253e-01 -7.38970295e-01 -3.68727529e-02 7.61837517e+01] [ 7.38309570e-01 6.73712681e-01 -3.17836704e-02 3.17298925e+01] [ 4.83288295e-02 -5.84173323e-03 9.98814396e-01 1.12475789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.858040942 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:76.20, Y:31.75, Z:1.12 [[ 6.74311201e-01 -7.37725280e-01 -3.26468424e-02 7.61994985e+01] [ 7.36898129e-01 6.75100850e-01 -3.49283546e-02 3.17521175e+01] [ 4.78074412e-02 -5.04816317e-04 9.98856443e-01 1.12387688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.888040942 meters Centerline goodness : 0.997122 Centerline is valid? [True, True] Translation: X:76.22, Y:31.77, Z:1.13 [[ 6.73487293e-01 -7.38286579e-01 -3.67123184e-02 7.62212799e+01] [ 7.37810015e-01 6.74435372e-01 -2.78084863e-02 3.17723842e+01] [ 4.52907183e-02 -8.35805405e-03 9.98938884e-01 1.12660245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.918040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.24, Y:31.78, Z:1.13 [[ 6.79256405e-01 -7.32988900e-01 -3.65787892e-02 7.62365080e+01] [ 7.32509704e-01 6.80193638e-01 -2.76793917e-02 3.17847954e+01] [ 4.51693466e-02 -7.99291396e-03 9.98947368e-01 1.12758019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948040942 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:76.25, Y:31.81, Z:1.13 [[ 6.80378977e-01 -7.32200388e-01 -3.10972662e-02 7.62525765e+01] [ 7.31472705e-01 6.81089055e-01 -3.26401710e-02 3.18070666e+01] [ 4.50791535e-02 -5.39115286e-04 9.98983273e-01 1.12670246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.978040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:76.29, Y:31.82, Z:1.15 [[ 6.82251625e-01 -7.28943423e-01 -5.63400965e-02 7.62916257e+01] [ 7.29328986e-01 6.83945682e-01 -1.72491727e-02 3.18183939e+01] [ 5.11072367e-02 -2.93221894e-02 9.98262621e-01 1.14686254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.008040942 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:76.29, Y:31.86, Z:1.13 [[ 6.82391007e-01 -7.30784821e-01 -1.72063834e-02 7.62894520e+01] [ 7.29235231e-01 6.82195526e-01 -5.31530058e-02 3.18585769e+01] [ 5.05815275e-02 2.37236322e-02 9.98438129e-01 1.12967521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.038040942 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:76.32, Y:31.86, Z:1.14 [[ 6.86819542e-01 -7.25622734e-01 -4.18397534e-02 7.63208246e+01] [ 7.25375194e-01 6.87947909e-01 -2.36326392e-02 3.18583929e+01] [ 4.59319511e-02 -1.41181608e-02 9.98844799e-01 1.13787483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.068040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.34, Y:31.88, Z:1.14 [[ 6.85465065e-01 -7.27041466e-01 -3.93491012e-02 7.63401591e+01] [ 7.26249875e-01 6.86574836e-01 -3.42945081e-02 3.18841869e+01] [ 5.19496322e-02 -5.06959262e-03 9.98636838e-01 1.14144607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.098040942 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:76.35, Y:31.91, Z:1.13 [[ 6.83736023e-01 -7.29173895e-01 -2.84689514e-02 7.63533889e+01] [ 7.28310970e-01 6.84318764e-01 -3.56505294e-02 3.19071572e+01] [ 4.54772730e-02 3.64130160e-03 9.98958737e-01 1.13462022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.128040942 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:76.37, Y:31.93, Z:1.14 [[ 6.83382296e-01 -7.29442057e-01 -3.00486714e-02 7.63746411e+01] [ 7.28672247e-01 6.84041859e-01 -3.35185447e-02 3.19253946e+01] [ 4.50043852e-02 1.01034712e-03 9.98986278e-01 1.13610871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.158040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:76.40, Y:31.94, Z:1.14 [[ 6.81751658e-01 -7.30798273e-01 -3.38904172e-02 7.63977798e+01] [ 7.30127990e-01 6.82585557e-01 -3.14654718e-02 3.19445375e+01] [ 4.61280217e-02 -3.29270459e-03 9.98930110e-01 1.13995240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.188040942 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:76.42, Y:31.95, Z:1.14 [[ 6.83417392e-01 -7.29098219e-01 -3.68300920e-02 7.64155794e+01] [ 7.28712756e-01 6.84344405e-01 -2.55040083e-02 3.19533772e+01] [ 4.37993944e-02 -9.40867505e-03 9.98996041e-01 1.14162947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.218040942 meters Centerline goodness : 0.996744 Centerline is valid? [True, True] Translation: X:76.43, Y:31.98, Z:1.14 [[ 6.80600001e-01 -7.32191808e-01 -2.60536997e-02 7.64313505e+01] [ 7.31321119e-01 6.81076030e-01 -3.61228851e-02 3.19813815e+01] [ 4.41934309e-02 5.53161478e-03 9.99007679e-01 1.13831944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.248040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.46, Y:32.00, Z:1.14 [[ 6.80148796e-01 -7.32085427e-01 -3.80597382e-02 7.64604245e+01] [ 7.31755609e-01 6.81122308e-01 -2.46197031e-02 3.19961159e+01] [ 4.39470626e-02 -1.11053655e-02 9.98972135e-01 1.14437091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.278040942 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:76.47, Y:32.03, Z:1.14 [[ 6.78848083e-01 -7.34076546e-01 -1.72309171e-02 7.64674363e+01] [ 7.32783018e-01 6.78775762e-01 -4.78801976e-02 3.20280018e+01] [ 4.68436589e-02 1.98768569e-02 9.98704452e-01 1.13797079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308040942 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:76.49, Y:32.04, Z:1.14 [[ 6.78977718e-01 -7.33476503e-01 -3.16461415e-02 7.64945743e+01] [ 7.32734886e-01 6.79714346e-01 -3.29847713e-02 3.20407948e+01] [ 4.57038911e-02 -7.92307166e-04 9.98954717e-01 1.14476344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.338040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.51, Y:32.07, Z:1.14 [[ 6.76785051e-01 -7.35698791e-01 -2.66323826e-02 7.65118092e+01] [ 7.34728228e-01 6.77279002e-01 -3.83090739e-02 3.20667527e+01] [ 4.62214928e-02 6.35944527e-03 9.98910973e-01 1.14204774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36804094200001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:76.53, Y:32.08, Z:1.15 [[ 6.77569669e-01 -7.34785840e-01 -3.14501710e-02 7.65326797e+01] [ 7.33994074e-01 6.78299174e-01 -3.41017596e-02 3.20829982e+01] [ 4.63901151e-02 2.20788343e-05 9.98923399e-01 1.14516257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.398040942 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:76.56, Y:32.10, Z:1.15 [[ 6.77522476e-01 -7.34681844e-01 -3.47258155e-02 7.65561010e+01] [ 7.33947745e-01 6.78404550e-01 -3.29844682e-02 3.21043811e+01] [ 4.77912412e-02 -3.13921540e-03 9.98852413e-01 1.14879573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.428040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.57, Y:32.13, Z:1.15 [[ 6.77783850e-01 -7.34593793e-01 -3.13211094e-02 7.65745664e+01] [ 7.33394856e-01 6.78482978e-01 -4.23418681e-02 3.21305991e+01] [ 5.23549130e-02 5.72789387e-03 9.98612114e-01 1.15132807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.458040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:76.60, Y:32.14, Z:1.16 [[ 6.79048988e-01 -7.32539725e-01 -4.77286363e-02 7.66023691e+01] [ 7.32227382e-01 6.80522492e-01 -2.70591756e-02 3.21417289e+01] [ 5.23023316e-02 -1.65737085e-02 9.98493755e-01 1.15930574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.488040942 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:76.61, Y:32.17, Z:1.15 [[ 6.80260281e-01 -7.32570691e-01 -2.42101826e-02 7.66087205e+01] [ 7.30850953e-01 6.80433102e-01 -5.35507119e-02 3.21729442e+01] [ 5.57030916e-02 1.87343873e-02 9.98271600e-01 1.15214835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.518040942 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:76.64, Y:32.19, Z:1.16 [[ 6.78717547e-01 -7.32975816e-01 -4.57049814e-02 7.66396566e+01] [ 7.32340222e-01 6.80159702e-01 -3.25665377e-02 3.21855731e+01] [ 5.49571711e-02 -1.13681157e-02 9.98423996e-01 1.16055396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.548040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:76.65, Y:32.21, Z:1.16 [[ 6.79901010e-01 -7.32417375e-01 -3.60472802e-02 7.66525899e+01] [ 7.31505632e-01 6.80854253e-01 -3.65649492e-02 3.22071747e+01] [ 5.13237481e-02 -1.50824261e-03 9.98680929e-01 1.15699214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.578040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:76.67, Y:32.22, Z:1.16 [[ 6.80855774e-01 -7.31335611e-01 -3.97949691e-02 7.66744156e+01] [ 7.30556553e-01 6.81993413e-01 -3.42360444e-02 3.22247478e+01] [ 5.21779453e-02 -5.76266694e-03 9.98621176e-01 1.16175191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.608040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:76.69, Y:32.25, Z:1.16 [[ 6.80627939e-01 -7.31743154e-01 -3.60217345e-02 7.66920746e+01] [ 7.30760896e-01 6.81580283e-01 -3.79055482e-02 3.22474777e+01] [ 5.22888294e-02 -5.23699811e-04 9.98631866e-01 1.16178813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.638040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:76.71, Y:32.27, Z:1.16 [[ 6.81648719e-01 -7.31189453e-01 -2.67769909e-02 7.67081871e+01] [ 7.29985431e-01 6.82103815e-01 -4.30773285e-02 3.22716858e+01] [ 4.97623759e-02 9.81679253e-03 9.98712840e-01 1.15746905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.73, Y:32.29, Z:1.16 [[ 6.82529776e-01 -7.30137718e-01 -3.24348391e-02 7.67309243e+01] [ 7.29139155e-01 6.83295594e-01 -3.82521157e-02 3.22890482e+01] [ 5.00918951e-02 2.45869676e-03 9.98741587e-01 1.16064327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.698040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.75, Y:32.31, Z:1.16 [[ 6.84511651e-01 -7.28123264e-01 -3.57814492e-02 7.67536761e+01] [ 7.27304444e-01 6.85442221e-01 -3.46006828e-02 3.23064661e+01] [ 4.97196782e-02 -2.33943652e-03 9.98760472e-01 1.16379882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728040942 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:76.77, Y:32.33, Z:1.16 [[ 6.84932198e-01 -7.27856043e-01 -3.30675782e-02 7.67728157e+01] [ 7.26897869e-01 6.85728193e-01 -3.73675383e-02 3.23279905e+01] [ 4.98735593e-02 1.55747801e-03 9.98754325e-01 1.16420660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.758040942 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:76.80, Y:32.34, Z:1.18 [[ 6.85670914e-01 -7.26315316e-01 -4.81815306e-02 7.67995924e+01] [ 7.26028400e-01 6.87155414e-01 -2.64612778e-02 3.23386235e+01] [ 5.23274310e-02 -1.68374311e-02 9.98488027e-01 1.17954552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.788040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:76.81, Y:32.37, Z:1.17 [[ 6.86717840e-01 -7.26513080e-01 -2.44408214e-02 7.68127636e+01] [ 7.25217142e-01 6.87020736e-01 -4.54159086e-02 3.23716000e+01] [ 4.97866027e-02 1.34630120e-02 9.98669135e-01 1.16755756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.818040942 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:76.84, Y:32.38, Z:1.18 [[ 6.85891333e-01 -7.26256556e-01 -4.58747611e-02 7.68385776e+01] [ 7.25835986e-01 6.87283959e-01 -2.83351674e-02 3.23795585e+01] [ 5.21075885e-02 -1.38627068e-02 9.98545254e-01 1.18213361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.848040942 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:76.85, Y:32.40, Z:1.18 [[ 6.86050010e-01 -7.26668080e-01 -3.59010580e-02 7.68535036e+01] [ 7.25675138e-01 6.86988720e-01 -3.79748912e-02 3.24047178e+01] [ 5.22587632e-02 1.69281765e-07 9.98633577e-01 1.17932355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.878040942 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:76.87, Y:32.42, Z:1.18 [[ 6.85949641e-01 -7.26768417e-01 -3.57876777e-02 7.68731742e+01] [ 7.25780828e-01 6.86882572e-01 -3.78750937e-02 3.24241944e+01] [ 5.21083540e-02 6.39656353e-06 9.98641437e-01 1.18067898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.908040942 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:76.89, Y:32.44, Z:1.18 [[ 6.86232080e-01 -7.26516453e-01 -3.54876890e-02 7.68938344e+01] [ 7.25543876e-01 6.87149068e-01 -3.75798129e-02 3.24419627e+01] [ 5.16876848e-02 4.05977391e-05 9.98663297e-01 1.18199071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.938040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.92, Y:32.47, Z:1.17 [[ 6.88066955e-01 -7.25291405e-01 -2.27209675e-02 7.69152825e+01] [ 7.23996113e-01 6.88275785e-01 -4.58919762e-02 3.24692566e+01] [ 4.89233477e-02 1.51268602e-02 9.98687981e-01 1.17475511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.94, Y:32.47, Z:1.19 [[ 6.86077981e-01 -7.26024163e-01 -4.67538096e-02 7.69408031e+01] [ 7.25699567e-01 6.87492397e-01 -2.67271881e-02 3.24748368e+01] [ 5.15474730e-02 -1.55922842e-02 9.98548816e-01 1.19002687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.998040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.95, Y:32.51, Z:1.18 [[ 6.86815044e-01 -7.26538640e-01 -2.06566973e-02 7.69537814e+01] [ 7.25235444e-01 6.86912175e-01 -4.67462778e-02 3.25082149e+01] [ 4.81523140e-02 1.71250778e-02 9.98693189e-01 1.17525022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.028040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.98, Y:32.52, Z:1.18 [[ 6.85398383e-01 -7.27407826e-01 -3.32702611e-02 7.69812522e+01] [ 7.26533228e-01 6.86205349e-01 -3.56607243e-02 3.25222392e+01] [ 4.87701210e-02 2.69852599e-04 9.98809993e-01 1.18154099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.058040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.01, Y:32.54, Z:1.19 [[ 6.85011932e-01 -7.27161447e-01 -4.46641056e-02 7.70066524e+01] [ 7.26701672e-01 6.86348629e-01 -2.88138757e-02 3.25369369e+01] [ 5.16074872e-02 -1.27196315e-02 9.98586440e-01 1.19053930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:77.03, Y:32.56, Z:1.19 [[ 6.84272941e-01 -7.27998497e-01 -4.22933865e-02 7.70266139e+01] [ 7.27253070e-01 6.85536324e-01 -3.38071121e-02 3.25590142e+01] [ 5.36051795e-02 -7.62470319e-03 9.98533098e-01 1.19277929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11804094200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.03, Y:32.59, Z:1.19 [[ 6.78132519e-01 -7.34432430e-01 -2.73000335e-02 7.70331115e+01] [ 7.32695453e-01 6.78495882e-01 -5.29217529e-02 3.25880005e+01] [ 5.73904119e-02 1.58853512e-02 9.98225424e-01 1.18799598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.148040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.07, Y:32.60, Z:1.20 [[ 6.79027195e-01 -7.32566547e-01 -4.76269081e-02 7.70681540e+01] [ 7.32141564e-01 6.80528455e-01 -2.91504971e-02 3.25950421e+01] [ 5.37661452e-02 -1.50756587e-02 9.98439746e-01 1.19685764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.178040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.07, Y:32.62, Z:1.20 [[ 6.75103586e-01 -7.36717252e-01 -3.85076432e-02 7.70748961e+01] [ 7.35740197e-01 6.76195684e-01 -3.80231314e-02 3.26180491e+01] [ 5.40509990e-02 -2.66206869e-03 9.98534628e-01 1.19567410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:32.64, Z:1.20 [[ 6.75022543e-01 -7.36603745e-01 -4.19462616e-02 7.71049814e+01] [ 7.35754431e-01 6.76292542e-01 -3.59696544e-02 3.26381375e+01] [ 5.48633260e-02 -6.58182026e-03 9.98472180e-01 1.19918655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.238040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.12, Y:32.66, Z:1.20 [[ 6.73393477e-01 -7.38501934e-01 -3.40017459e-02 7.71183036e+01] [ 7.37272833e-01 6.74241094e-01 -4.27517959e-02 3.26616849e+01] [ 5.44976583e-02 3.72021698e-03 9.98506968e-01 1.19507206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.268040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.13, Y:32.68, Z:1.19 [[ 6.72248519e-01 -7.39906461e-01 -2.49070003e-02 7.71299308e+01] [ 7.38347590e-01 6.72530555e-01 -5.04528385e-02 3.26840466e+01] [ 5.40810999e-02 1.55268223e-02 9.98415821e-01 1.18823265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:32.69, Z:1.22 [[ 6.73684426e-01 -7.35836566e-01 -6.85116217e-02 7.71774552e+01] [ 7.36679636e-01 6.76030507e-01 -1.69076203e-02 3.26859527e+01] [ 5.87571916e-02 -3.90807161e-02 9.97507038e-01 1.22188466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:32.74, Z:1.18 [[ 6.68598286e-01 -7.43620578e-01 -2.18356926e-03 7.71600084e+01] [ 7.42116124e-01 6.67426749e-01 -6.16862588e-02 3.27374257e+01] [ 4.73285439e-02 3.96228650e-02 9.98093201e-01 1.18102063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:32.73, Z:1.21 [[ 6.70570729e-01 -7.40343279e-01 -4.71882052e-02 7.72037599e+01] [ 7.40188966e-01 6.71966940e-01 -2.40982602e-02 3.27344490e+01] [ 4.95498988e-02 -1.87686009e-02 9.98595287e-01 1.20731695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.388040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.24, Y:32.75, Z:1.24 [[ 6.74543757e-01 -7.34366990e-01 -7.54708124e-02 7.72415719e+01] [ 7.35676375e-01 6.77187960e-01 -1.40263233e-02 3.27454088e+01] [ 6.14083943e-02 -4.60607249e-02 9.97049356e-01 1.23756400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:32.78, Z:1.22 [[ 6.75372130e-01 -7.36387912e-01 -4.00665558e-02 7.72454349e+01] [ 7.35201104e-01 6.76558463e-01 -4.18088815e-02 3.27837434e+01] [ 5.78949223e-02 -1.22042275e-03 9.98321936e-01 1.22010076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:32.82, Z:1.19 [[ 6.71687818e-01 -7.40831963e-01 1.86503642e-03 7.72363983e+01] [ 7.39386856e-01 6.70216046e-01 -6.41679732e-02 3.28206069e+01] [ 4.62877082e-02 4.44798293e-02 9.97937369e-01 1.19063496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:32.80, Z:1.25 [[ 6.77475340e-01 -7.30823068e-01 -8.32154194e-02 7.73058050e+01] [ 7.33132856e-01 6.80073600e-01 -4.01420598e-03 3.28032250e+01] [ 5.95262841e-02 -5.82884325e-02 9.96523497e-01 1.24735474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:32.86, Z:1.20 [[ 6.73540054e-01 -7.39148709e-01 1.72712262e-03 7.72727503e+01] [ 7.37581295e-01 6.71955910e-01 -6.67014936e-02 3.28602030e+01] [ 4.81417726e-02 4.62000209e-02 9.97771481e-01 1.19904399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:32.86, Z:1.22 [[ 6.74592430e-01 -7.37468977e-01 -3.26276165e-02 7.73100265e+01] [ 7.36634700e-01 6.75380904e-01 -3.50706934e-02 3.28631133e+01] [ 4.78996175e-02 -3.76210212e-04 9.98852084e-01 1.21545590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.568040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.33, Y:32.88, Z:1.22 [[ 6.75654864e-01 -7.36495794e-01 -3.26259014e-02 7.73283862e+01] [ 7.35659461e-01 6.76442059e-01 -3.50898566e-02 3.28826236e+01] [ 4.79130637e-02 -2.92920796e-04 9.98851467e-01 1.21686674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:32.90, Z:1.23 [[ 6.81554505e-01 -7.30428620e-01 -4.42435058e-02 7.73633323e+01] [ 7.29849520e-01 6.82899141e-01 -3.11197866e-02 3.28996951e+01] [ 5.29446349e-02 -1.10812707e-02 9.98535964e-01 1.22753333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:32.92, Z:1.23 [[ 6.82269562e-01 -7.29821395e-01 -4.32316543e-02 7.73841470e+01] [ 7.29045881e-01 6.83591771e-01 -3.45599966e-02 3.29225738e+01] [ 5.47754281e-02 -7.93862577e-03 9.98467141e-01 1.22995190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:32.94, Z:1.23 [[ 6.82819385e-01 -7.29561423e-01 -3.87016541e-02 7.74019270e+01] [ 7.28533795e-01 6.83913087e-01 -3.87478874e-02 3.29441536e+01] [ 5.47375316e-02 -1.73765431e-03 9.98499266e-01 1.22835395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:32.97, Z:1.22 [[ 6.78021851e-01 -7.34763800e-01 -2.02120888e-02 7.74024563e+01] [ 7.33449404e-01 6.78106212e-01 -4.71586489e-02 3.29693665e+01] [ 4.83564110e-02 1.71500499e-02 9.98682899e-01 1.21604696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:32.98, Z:1.23 [[ 6.81322327e-01 -7.30581262e-01 -4.52869361e-02 7.74425014e+01] [ 7.30070199e-01 6.82710022e-01 -3.00753962e-02 3.29789266e+01] [ 5.28903661e-02 -1.25716035e-02 9.98521189e-01 1.23264015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:33.01, Z:1.22 [[ 6.76306219e-01 -7.36189925e-01 -2.51851494e-02 7.74455232e+01] [ 7.34927004e-01 6.76673923e-01 -4.46620875e-02 3.30061669e+01] [ 4.99219127e-02 1.16960011e-02 9.98684638e-01 1.22083904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:33.02, Z:1.23 [[ 6.77953892e-01 -7.34142068e-01 -3.76024604e-02 7.74782216e+01] [ 7.33246341e-01 6.78989642e-01 -3.63712829e-02 3.30208276e+01] [ 5.22333700e-02 -2.91381373e-03 9.98630655e-01 1.22950650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.49, Y:33.04, Z:1.23 [[ 6.74242737e-01 -7.37759946e-01 -3.32715045e-02 7.74900710e+01] [ 7.36715755e-01 6.75060256e-01 -3.92879997e-02 3.30411358e+01] [ 5.14453829e-02 1.97800690e-03 9.98673851e-01 1.22723322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:33.06, Z:1.23 [[ 6.73730230e-01 -7.38138685e-01 -3.51974204e-02 7.75109877e+01] [ 7.37154252e-01 6.74648952e-01 -3.81103769e-02 3.30602029e+01] [ 5.18766463e-02 -2.69815159e-04 9.98653464e-01 1.22956116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86804094200001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.53, Y:33.08, Z:1.23 [[ 6.73079524e-01 -7.38716869e-01 -3.55153630e-02 7.75309862e+01] [ 7.37714216e-01 6.74015798e-01 -3.84764864e-02 3.30799702e+01] [ 5.23611453e-02 -3.02452997e-04 9.98628169e-01 1.23127425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:33.10, Z:1.23 [[ 6.75084239e-01 -7.36767568e-01 -3.78790359e-02 7.75571349e+01] [ 7.35824899e-01 6.76140885e-01 -3.73526791e-02 3.30990230e+01] [ 5.31318074e-02 -2.65613278e-03 9.98583975e-01 1.23409146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:33.12, Z:1.23 [[ 6.72486166e-01 -7.39255599e-01 -3.55459738e-02 7.75766475e+01] [ 7.38091630e-01 6.73422869e-01 -4.15016406e-02 3.31200028e+01] [ 5.46177918e-02 1.67309342e-03 9.98505933e-01 1.23265517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.958040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:77.59, Y:33.14, Z:1.23 [[ 6.71107437e-01 -7.40514601e-01 -3.53968095e-02 7.75948500e+01] [ 7.39317182e-01 6.72036939e-01 -4.21480325e-02 3.31397432e+01] [ 5.49991970e-02 2.11638864e-03 9.98484156e-01 1.23123974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.988040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.61, Y:33.16, Z:1.23 [[ 6.69180761e-01 -7.42429181e-01 -3.15597946e-02 7.76139180e+01] [ 7.41297931e-01 6.69911630e-01 -4.11799069e-02 3.31580937e+01] [ 5.17154380e-02 4.16159094e-03 9.98653190e-01 1.23104103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:33.18, Z:1.23 [[ 6.67048572e-01 -7.44405856e-01 -3.01019005e-02 7.76335525e+01] [ 7.43290944e-01 6.67708742e-01 -4.10318055e-02 3.31786730e+01] [ 5.06436184e-02 4.99573719e-03 9.98704294e-01 1.22956401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.048040942 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:77.66, Y:33.19, Z:1.23 [[ 6.65931993e-01 -7.45224676e-01 -3.42748097e-02 7.76555240e+01] [ 7.44230978e-01 6.66813444e-01 -3.84718320e-02 3.31946413e+01] [ 5.15250625e-02 1.11248636e-04 9.98671696e-01 1.23302659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:33.21, Z:1.23 [[ 6.65200075e-01 -7.45869991e-01 -3.44502136e-02 7.76773758e+01] [ 7.44883317e-01 6.66091536e-01 -3.83524473e-02 3.32126760e+01] [ 5.15529352e-02 -1.49338567e-04 9.98670252e-01 1.23406244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.108040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.70, Y:33.23, Z:1.25 [[ 6.65512803e-01 -7.44697103e-01 -5.01889866e-02 7.77026796e+01] [ 7.44252734e-01 6.67189137e-01 -3.07656106e-02 3.32275585e+01] [ 5.63966077e-02 -1.68783828e-02 9.98265768e-01 1.24982925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:33.26, Z:1.24 [[ 6.67328598e-01 -7.44196880e-01 -2.90438686e-02 7.77151451e+01] [ 7.42783273e-01 6.67889906e-01 -4.68623786e-02 3.32599900e+01] [ 5.42729426e-02 9.69930561e-03 9.98479029e-01 1.23774375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:33.28, Z:1.24 [[ 6.67561134e-01 -7.43684597e-01 -3.59910027e-02 7.77370700e+01] [ 7.42528103e-01 6.68529954e-01 -4.14694556e-02 3.32795554e+01] [ 5.49012587e-02 9.59065843e-04 9.98491328e-01 1.24137041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.198040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.76, Y:33.30, Z:1.25 [[ 6.66633867e-01 -7.44081131e-01 -4.40744487e-02 7.77555716e+01] [ 7.43308776e-01 6.68024168e-01 -3.51535859e-02 3.32952931e+01] [ 5.55999169e-02 -9.32635356e-03 9.98409569e-01 1.24858678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.77, Y:33.32, Z:1.25 [[ 6.65161457e-01 -7.45520440e-01 -4.19465091e-02 7.77728743e+01] [ 7.44448852e-01 6.66467693e-01 -4.02084627e-02 3.33175176e+01] [ 5.79322240e-02 -4.48191095e-03 9.98310458e-01 1.25067508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:33.34, Z:1.25 [[ 6.66192123e-01 -7.45091427e-01 -3.20440339e-02 7.77937343e+01] [ 7.43709458e-01 6.66928527e-01 -4.58539265e-02 3.33431293e+01] [ 5.55364478e-02 6.71607360e-03 9.98434073e-01 1.24618756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:33.36, Z:1.25 [[ 6.64823592e-01 -7.45976418e-01 -3.90995625e-02 7.78174445e+01] [ 7.44837861e-01 6.65970167e-01 -4.12346670e-02 3.33621313e+01] [ 5.67992313e-02 -1.70905506e-03 9.98384158e-01 1.24972931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.318040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:77.83, Y:33.39, Z:1.25 [[ 6.63821473e-01 -7.47033736e-01 -3.58001385e-02 7.78316259e+01] [ 7.45752770e-01 6.64781895e-01 -4.37931257e-02 3.33855198e+01] [ 5.65142262e-02 2.37276472e-03 9.98398974e-01 1.24765760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:33.41, Z:1.25 [[ 6.64186141e-01 -7.46323991e-01 -4.30960535e-02 7.78543746e+01] [ 7.45330477e-01 6.65553760e-01 -3.89958000e-02 3.34053347e+01] [ 5.77862416e-02 -6.22033219e-03 9.98309600e-01 1.25284447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:33.43, Z:1.25 [[ 6.63795137e-01 -7.47059147e-01 -3.57581783e-02 7.78677822e+01] [ 7.45903137e-01 6.64756949e-01 -4.15536903e-02 3.34316015e+01] [ 5.48135619e-02 9.11000219e-04 9.98496191e-01 1.24805298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:33.45, Z:1.24 [[ 6.63272386e-01 -7.47793354e-01 -2.95777140e-02 7.78816278e+01] [ 7.46509212e-01 6.63890477e-01 -4.44233154e-02 3.34542525e+01] [ 5.28558227e-02 7.38472247e-03 9.98574848e-01 1.24443635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:33.47, Z:1.25 [[ 6.63753417e-01 -7.47063235e-01 -3.64406874e-02 7.79031356e+01] [ 7.46038929e-01 6.64751866e-01 -3.91263593e-02 3.34708143e+01] [ 5.34538795e-02 -1.21591671e-03 9.98569579e-01 1.24992436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:33.48, Z:1.27 [[ 6.66562036e-01 -7.42994215e-01 -6.04536938e-02 7.79384822e+01] [ 7.43099575e-01 6.68706439e-01 -2.51936564e-02 3.34818309e+01] [ 5.91445153e-02 -2.81299792e-02 9.97853011e-01 1.27334490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.93, Y:33.52, Z:1.24 [[ 6.64348035e-01 -7.47265901e-01 -1.53414574e-02 7.79295043e+01] [ 7.45576725e-01 6.64008994e-01 -5.66339380e-02 3.35234394e+01] [ 5.25074764e-02 2.61864119e-02 9.98277134e-01 1.24356478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:33.52, Z:1.28 [[ 6.67383762e-01 -7.42025649e-01 -6.32206477e-02 7.79780725e+01] [ 7.42324008e-01 6.69636265e-01 -2.32882008e-02 3.35245509e+01] [ 5.96152807e-02 -3.13880375e-02 9.97727823e-01 1.27799985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:33.56, Z:1.27 [[ 6.67192908e-01 -7.43770884e-01 -4.07246430e-02 7.79865215e+01] [ 7.42493954e-01 6.68433634e-01 -4.35798678e-02 3.35574011e+01] [ 5.96351579e-02 -1.16162245e-03 9.98219564e-01 1.26844727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:33.58, Z:1.26 [[ 6.66971862e-01 -7.44434075e-01 -3.10876615e-02 7.79987304e+01] [ 7.42895400e-01 6.67629440e-01 -4.87581427e-02 3.35838411e+01] [ 5.70522609e-02 9.42542852e-03 9.98326700e-01 1.26119721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:33.60, Z:1.28 [[ 6.68694246e-01 -7.41810157e-01 -5.06527116e-02 7.80284464e+01] [ 7.41007390e-01 6.70485806e-01 -3.68352062e-02 3.35951209e+01] [ 6.12866542e-02 -1.29025432e-02 9.98036808e-01 1.27615812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:33.62, Z:1.27 [[ 6.63961933e-01 -7.47143469e-01 -3.05153810e-02 7.80264230e+01] [ 7.45374075e-01 6.64548128e-01 -5.28514323e-02 3.36238087e+01] [ 5.97665418e-02 1.23459652e-02 9.98136032e-01 1.26511286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:33.63, Z:1.28 [[ 6.69391478e-01 -7.40778656e-01 -5.62319478e-02 7.80719673e+01] [ 7.40074834e-01 6.71530331e-01 -3.65548253e-02 3.36347593e+01] [ 6.48404928e-02 -1.71463609e-02 9.97748321e-01 1.28294053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:33.66, Z:1.27 [[ 6.63842442e-01 -7.47295991e-01 -2.93583661e-02 7.80642126e+01] [ 7.45466570e-01 6.64343082e-01 -5.41097248e-02 3.36642514e+01] [ 5.99400078e-02 1.40346514e-02 9.98103313e-01 1.26805676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:33.68, Z:1.27 [[ 6.63630519e-01 -7.46966611e-01 -4.04402850e-02 7.80890524e+01] [ 7.45644385e-01 6.64861214e-01 -4.44299098e-02 3.36782131e+01] [ 6.00748362e-02 -6.69027316e-04 9.98193652e-01 1.27479812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:33.70, Z:1.28 [[ 6.63097257e-01 -7.47445251e-01 -4.03438339e-02 7.81075668e+01] [ 7.46128959e-01 6.64323048e-01 -4.43448288e-02 3.36986422e+01] [ 5.99466704e-02 -6.96768500e-04 9.98201338e-01 1.27606055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:33.71, Z:1.29 [[ 6.68454603e-01 -7.41221077e-01 -6.13168748e-02 7.81526664e+01] [ 7.40858365e-01 6.70852831e-01 -3.29448324e-02 3.37134459e+01] [ 6.55540032e-02 -2.34049947e-02 9.97574498e-01 1.29371593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:33.75, Z:1.29 [[ 6.68028596e-01 -7.42954411e-01 -4.19110850e-02 7.81619799e+01] [ 7.41417556e-01 6.69341498e-01 -4.77699366e-02 3.37451623e+01] [ 6.35437136e-02 8.38069490e-04 9.97978704e-01 1.28531239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:33.77, Z:1.27 [[ 6.61909073e-01 -7.49109210e-01 -2.66790222e-02 7.81567921e+01] [ 7.47327945e-01 6.62258065e-01 -5.39925701e-02 3.37687952e+01] [ 5.81147292e-02 1.58001932e-02 9.98184869e-01 1.27475703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.888040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:78.21, Y:33.78, Z:1.30 [[ 6.67935155e-01 -7.41306665e-01 -6.57803753e-02 7.82113168e+01] [ 7.41414181e-01 6.70480269e-01 -2.75902445e-02 3.37775693e+01] [ 6.45572759e-02 -3.03420089e-02 9.97452616e-01 1.30270253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:33.81, Z:1.29 [[ 6.66830864e-01 -7.44010007e-01 -4.22576496e-02 7.82171717e+01] [ 7.42497785e-01 6.68168431e-01 -4.74129465e-02 3.38108657e+01] [ 6.35109341e-02 2.40204909e-04 9.97981114e-01 1.29129192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:33.83, Z:1.29 [[ 6.65523464e-01 -7.45167167e-01 -4.24783853e-02 7.82356419e+01] [ 7.43680322e-01 6.66877663e-01 -4.70506290e-02 3.38339303e+01] [ 6.33884702e-02 -2.77041703e-04 9.97988890e-01 1.29031539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.978040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.24, Y:33.85, Z:1.29 [[ 6.65599312e-01 -7.45483654e-01 -3.50952560e-02 7.82438478e+01] [ 7.43967716e-01 6.66499120e-01 -4.78639811e-02 3.38531082e+01] [ 5.90727728e-02 5.74849542e-03 9.98237127e-01 1.28541153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:33.87, Z:1.29 [[ 6.64168590e-01 -7.46467339e-01 -4.08239544e-02 7.82656765e+01] [ 7.45285092e-01 6.65417416e-01 -4.20689209e-02 3.38720524e+01] [ 5.85680457e-02 -2.48462865e-03 9.98280327e-01 1.28957187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:33.90, Z:1.28 [[ 6.53489690e-01 -7.56444199e-01 -2.72653374e-02 7.82641338e+01] [ 7.54816723e-01 6.53930840e-01 -5.12461805e-02 3.38999034e+01] [ 5.65945209e-02 1.29085180e-02 9.98313794e-01 1.28035630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:33.92, Z:1.27 [[ 6.56499712e-01 -7.53932428e-01 -2.43725548e-02 7.82903438e+01] [ 7.52473383e-01 6.56808455e-01 -4.88514130e-02 3.39209746e+01] [ 5.28387645e-02 1.37312399e-02 9.98508647e-01 1.27455299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:33.94, Z:1.28 [[ 6.55086955e-01 -7.54713808e-01 -3.56110897e-02 7.83143810e+01] [ 7.53736202e-01 6.56052061e-01 -3.84373633e-02 3.39351022e+01] [ 5.23719376e-02 -1.66155224e-03 9.98626266e-01 1.28124332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:33.95, Z:1.28 [[ 6.52999550e-01 -7.56545585e-01 -3.50765631e-02 7.83316851e+01] [ 7.55656212e-01 6.53936170e-01 -3.67583320e-02 3.39542820e+01] [ 5.07471872e-02 -2.50264857e-03 9.98708396e-01 1.28206992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:33.98, Z:1.28 [[ 6.50958066e-01 -7.58458016e-01 -3.15441553e-02 7.83501191e+01] [ 7.57320301e-01 6.51713923e-01 -4.16524337e-02 3.39803134e+01] [ 5.21493874e-02 3.22495848e-03 9.98634088e-01 1.28195944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:34.00, Z:1.28 [[ 6.49398465e-01 -7.60003600e-01 -2.60031089e-02 7.83641963e+01] [ 7.58812264e-01 6.49864196e-01 -4.33644392e-02 3.40030827e+01] [ 4.98556194e-02 8.42932235e-03 9.98720864e-01 1.27772017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:34.02, Z:1.29 [[ 6.49341367e-01 -7.59399638e-01 -4.08408940e-02 7.83922428e+01] [ 7.58801968e-01 6.50542687e-01 -3.18399898e-02 3.40171187e+01] [ 5.07480217e-02 -1.03151282e-02 9.98658218e-01 1.28962272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:34.04, Z:1.30 [[ 6.50667953e-01 -7.57807390e-01 -4.85713346e-02 7.84169261e+01] [ 7.57382641e-01 6.52258407e-01 -3.05041787e-02 3.40350992e+01] [ 5.47973534e-02 -1.69389941e-02 9.98353805e-01 1.30095498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:34.05, Z:1.31 [[ 6.52839197e-01 -7.55859690e-01 -4.97705934e-02 7.84365781e+01] [ 7.55363883e-01 6.54521348e-01 -3.20501025e-02 3.40539886e+01] [ 5.68012965e-02 -1.66713455e-02 9.98246302e-01 1.30743034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:34.09, Z:1.30 [[ 6.51653499e-01 -7.57736663e-01 -3.43928481e-02 7.84487082e+01] [ 7.56335309e-01 6.52547424e-01 -4.62467363e-02 3.40851983e+01] [ 5.74858120e-02 4.12432211e-03 9.98337804e-01 1.30083990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:34.10, Z:1.31 [[ 6.52100543e-01 -7.56798816e-01 -4.49492385e-02 7.84729276e+01] [ 7.56006579e-01 6.53565007e-01 -3.61501621e-02 3.41006849e+01] [ 5.67356492e-02 -1.04083797e-02 9.98334980e-01 1.30897420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.48, Y:34.13, Z:1.30 [[ 6.52076784e-01 -7.57479230e-01 -3.19544046e-02 7.84814767e+01] [ 7.56115323e-01 6.52834392e-01 -4.57916394e-02 3.41254372e+01] [ 5.55471500e-02 5.69844994e-03 9.98439804e-01 1.30225478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:34.15, Z:1.31 [[ 6.51597951e-01 -7.57391441e-01 -4.21700765e-02 7.85062997e+01] [ 7.56140713e-01 6.52952004e-01 -4.36451894e-02 3.41451894e+01] [ 6.05915289e-02 -3.44739567e-03 9.98156692e-01 1.31139621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.428040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.53, Y:34.17, Z:1.31 [[ 6.51438906e-01 -7.57583980e-01 -4.11566023e-02 7.85251424e+01] [ 7.56635199e-01 6.52708939e-01 -3.83955217e-02 3.41659424e+01] [ 5.59511143e-02 -6.12819734e-03 9.98414702e-01 1.30960373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.54, Y:34.19, Z:1.31 [[ 6.48078822e-01 -7.60830950e-01 -3.36170437e-02 7.85398130e+01] [ 7.59662777e-01 6.48947627e-01 -4.21834418e-02 3.41923032e+01] [ 5.39101689e-02 1.80057852e-03 9.98544166e-01 1.30910531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:34.21, Z:1.31 [[ 6.46982208e-01 -7.61828595e-01 -3.21125259e-02 7.85573110e+01] [ 7.60731361e-01 6.47775421e-01 -4.09243113e-02 3.42137854e+01] [ 5.19790156e-02 2.04829579e-03 9.98646077e-01 1.30848193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.58, Y:34.23, Z:1.31 [[ 6.46509410e-01 -7.62107953e-01 -3.48862617e-02 7.85759439e+01] [ 7.61150685e-01 6.47447366e-01 -3.82301401e-02 3.42328233e+01] [ 5.17225120e-02 -1.83755666e-03 9.98659805e-01 1.31124203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:34.26, Z:1.30 [[ 6.45083932e-01 -7.63710171e-01 -2.47688544e-02 7.85872577e+01] [ 7.62600765e-01 6.45507509e-01 -4.19539019e-02 3.42588962e+01] [ 4.80291031e-02 8.17504065e-03 9.98812482e-01 1.30253410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.61, Y:34.28, Z:1.30 [[ 6.43906893e-01 -7.64641851e-01 -2.65848249e-02 7.86070164e+01] [ 7.63547369e-01 6.44424167e-01 -4.13872969e-02 3.42824683e+01] [ 4.87783629e-02 6.35079269e-03 9.98789437e-01 1.30402042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:34.30, Z:1.31 [[ 6.42186451e-01 -7.65405916e-01 -4.18371327e-02 7.86331955e+01] [ 7.64906822e-01 6.43426050e-01 -3.03392634e-02 3.42996843e+01] [ 5.01409527e-02 -1.25180443e-02 9.98663699e-01 1.30726923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.64, Y:34.33, Z:1.30 [[ 6.44236766e-01 -7.64387957e-01 -2.58851369e-02 7.86400392e+01] [ 7.63190594e-01 6.44702993e-01 -4.35679796e-02 3.43263320e+01] [ 4.99910641e-02 8.31280125e-03 9.98715070e-01 1.30423627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:34.34, Z:1.33 [[ 6.46027069e-01 -7.61297827e-01 -5.54494756e-02 7.86786023e+01] [ 7.61347310e-01 6.47871698e-01 -2.47494725e-02 3.43355018e+01] [ 5.47658655e-02 -2.62274799e-02 9.98154707e-01 1.32685006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:34.38, Z:1.30 [[ 6.42711947e-01 -7.66077263e-01 -6.85421315e-03 7.86652870e+01] [ 7.64596295e-01 6.41979874e-01 -5.70468918e-02 3.43786568e+01] [ 4.81025936e-02 3.14240129e-02 9.98347971e-01 1.29516966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:34.39, Z:1.31 [[ 6.43071877e-01 -7.65022309e-01 -3.46327652e-02 7.87012177e+01] [ 7.64076016e-01 6.44000773e-01 -3.80899565e-02 3.43892583e+01] [ 5.14431940e-02 -1.96748543e-03 9.98673984e-01 1.31253037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:34.41, Z:1.31 [[ 6.42733002e-01 -7.65200427e-01 -3.69133464e-02 7.87200157e+01] [ 7.64659152e-01 6.43731001e-01 -3.01127967e-02 3.44072487e+01] [ 4.68045903e-02 -8.87163994e-03 9.98864668e-01 1.31427764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:34.44, Z:1.31 [[ 6.42423233e-01 -7.65866122e-01 -2.72299845e-02 7.87321669e+01] [ 7.64642468e-01 6.42957690e-01 -4.39010942e-02 3.44367301e+01] [ 5.11300887e-02 7.38188034e-03 9.98664719e-01 1.31033651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:34.46, Z:1.31 [[ 6.42307074e-01 -7.66042675e-01 -2.49046773e-02 7.87470660e+01] [ 7.64667049e-01 6.42690161e-01 -4.72616265e-02 3.44606579e+01] [ 5.22104139e-02 1.13126910e-02 9.98572028e-01 1.30736939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:34.47, Z:1.32 [[ 6.44353767e-01 -7.63548784e-01 -4.24438021e-02 7.87745472e+01] [ 7.63279954e-01 6.45556096e-01 -2.57106616e-02 3.44706748e+01] [ 4.70311996e-02 -1.58297417e-02 9.98767984e-01 1.31702481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:34.50, Z:1.31 [[ 6.45240999e-01 -7.63440504e-01 -2.86818774e-02 7.87880411e+01] [ 7.62308860e-01 6.45857609e-01 -4.18706373e-02 3.45031178e+01] [ 5.04901492e-02 5.15220258e-03 9.98711269e-01 1.31271424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:34.52, Z:1.32 [[ 6.45777816e-01 -7.62665505e-01 -3.62262222e-02 7.88113089e+01] [ 7.61906748e-01 6.46770854e-01 -3.44321031e-02 3.45223462e+01] [ 4.96902420e-02 -5.36551475e-03 9.98750265e-01 1.31839559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:34.54, Z:1.33 [[ 6.49052658e-01 -7.59588051e-01 -4.19122752e-02 7.88325512e+01] [ 7.58941339e-01 6.50321618e-01 -3.30126784e-02 3.45412916e+01] [ 5.23324947e-02 -1.03819916e-02 9.98575748e-01 1.32523728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.968040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.85, Y:34.57, Z:1.32 [[ 6.47855332e-01 -7.60870786e-01 -3.68661946e-02 7.88506472e+01] [ 7.60079722e-01 6.48881861e-01 -3.50877190e-02 3.45684730e+01] [ 5.06190253e-02 -5.28948110e-03 9.98704028e-01 1.32498142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:34.59, Z:1.32 [[ 6.47565220e-01 -7.61261833e-01 -3.37595502e-02 7.88662941e+01] [ 7.60365981e-01 6.48442297e-01 -3.69616259e-02 3.45906171e+01] [ 5.00285954e-02 -1.73455015e-03 9.98746280e-01 1.32432117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:34.61, Z:1.33 [[ 6.50033364e-01 -7.59215108e-01 -3.23889685e-02 7.88833914e+01] [ 7.58120192e-01 6.50836794e-01 -4.08073736e-02 3.46125083e+01] [ 5.20615070e-02 1.97142331e-03 9.98641934e-01 1.32541301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.058040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.90, Y:34.63, Z:1.33 [[ 6.51156411e-01 -7.58185245e-01 -3.39184735e-02 7.89020704e+01] [ 7.56990053e-01 6.52035937e-01 -4.26051208e-02 3.46320813e+01] [ 5.44186376e-02 2.06665041e-03 9.98516069e-01 1.32855884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:78.92, Y:34.65, Z:1.33 [[ 6.50663344e-01 -7.58325420e-01 -3.97463211e-02 7.89240783e+01] [ 7.57455401e-01 6.51847248e-01 -3.68304397e-02 3.46528973e+01] [ 5.38379887e-02 -6.14184856e-03 9.98530795e-01 1.33218494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.93, Y:34.68, Z:1.33 [[ 6.49687367e-01 -7.59718735e-01 -2.70881545e-02 7.89326634e+01] [ 7.58537187e-01 6.50209895e-01 -4.29933513e-02 3.46788755e+01] [ 5.02758405e-02 7.38486467e-03 9.98708067e-01 1.32554704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.96, Y:34.70, Z:1.33 [[ 6.46092139e-01 -7.62012246e-01 -4.36151885e-02 7.89629073e+01] [ 7.61683987e-01 6.47374618e-01 -2.72691768e-02 3.46982465e+01] [ 4.90148127e-02 -1.56025899e-02 9.98676177e-01 1.33188793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:34.73, Z:1.33 [[ 6.44374366e-01 -7.64172805e-01 -2.86635782e-02 7.89708908e+01] [ 7.63064327e-01 6.44993544e-01 -4.14265638e-02 3.47254022e+01] [ 5.01448763e-02 4.82206178e-03 9.98730314e-01 1.32752796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:34.74, Z:1.34 [[ 6.44916588e-01 -7.63123055e-01 -4.15427125e-02 7.89969885e+01] [ 7.62438022e-01 6.46177762e-01 -3.38018263e-02 3.47389790e+01] [ 5.26389299e-02 -9.87438503e-03 9.98564790e-01 1.33917664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:34.76, Z:1.34 [[ 6.43802038e-01 -7.64345135e-01 -3.59923721e-02 7.90107907e+01] [ 7.63335100e-01 6.44803772e-01 -3.93397984e-02 3.47604893e+01] [ 5.32772008e-02 -2.14719862e-03 9.98577453e-01 1.33864746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.02, Y:34.78, Z:1.33 [[ 6.40198815e-01 -7.67741881e-01 -2.67933013e-02 7.90218082e+01] [ 7.66419007e-01 6.40698005e-01 -4.59126530e-02 3.47835250e+01] [ 5.24154813e-02 8.85833069e-03 9.98586074e-01 1.33296960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:34.80, Z:1.34 [[ 6.38798143e-01 -7.68552421e-01 -3.55543060e-02 7.90460743e+01] [ 7.67452669e-01 6.39786003e-01 -4.11129107e-02 3.48020497e+01] [ 5.43445743e-02 -1.02339607e-03 9.98521717e-01 1.33960727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:34.82, Z:1.34 [[ 6.34679913e-01 -7.71472602e-01 -4.48489932e-02 7.90663374e+01] [ 7.70981239e-01 6.36091461e-01 -3.12343349e-02 3.48173504e+01] [ 5.26244952e-02 -1.47539273e-02 9.98505375e-01 1.34001372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:34.85, Z:1.33 [[ 6.35034951e-01 -7.72233141e-01 -1.96617875e-02 7.90725559e+01] [ 7.70648880e-01 6.35074705e-01 -5.27297230e-02 3.48533091e+01] [ 5.32063436e-02 1.83328826e-02 9.98415239e-01 1.33360191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:34.86, Z:1.35 [[ 6.36685626e-01 -7.69819248e-01 -4.48301091e-02 7.91063970e+01] [ 7.69149944e-01 6.38138713e-01 -3.44578904e-02 3.48629292e+01] [ 5.51341754e-02 -1.25422324e-02 9.98400178e-01 1.35021429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.418040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.11, Y:34.89, Z:1.34 [[ 6.35664943e-01 -7.71544380e-01 -2.54823628e-02 7.91114037e+01] [ 7.70005814e-01 6.36056403e-01 -5.02324483e-02 3.48934471e+01] [ 5.49647831e-02 1.23094389e-02 9.98412415e-01 1.33954472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.14, Y:34.91, Z:1.35 [[ 6.35647496e-01 -7.71132249e-01 -3.61568251e-02 7.91362483e+01] [ 7.70006741e-01 6.36673561e-01 -4.16700843e-02 3.49107180e+01] [ 5.51532404e-02 -1.35351439e-03 9.98476984e-01 1.34616971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:34.94, Z:1.35 [[ 6.35490511e-01 -7.71321296e-01 -3.48607190e-02 7.91550170e+01] [ 7.69965223e-01 6.36441994e-01 -4.57727358e-02 3.49361603e+01] [ 5.74923114e-02 2.24659798e-03 9.98343421e-01 1.34855377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:34.95, Z:1.36 [[ 6.36493423e-01 -7.70008897e-01 -4.42992198e-02 7.91800298e+01] [ 7.69383481e-01 6.37906042e-01 -3.35401324e-02 3.49529240e+01] [ 5.40849403e-02 -1.27350143e-02 9.98455126e-01 1.35518718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.538040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.19, Y:34.98, Z:1.35 [[ 6.36699699e-01 -7.70356990e-01 -3.41116010e-02 7.91929193e+01] [ 7.69325143e-01 6.37612241e-01 -3.98679679e-02 3.49806873e+01] [ 5.24625421e-02 -8.58989174e-04 9.98622523e-01 1.35207543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:35.00, Z:1.36 [[ 6.37099779e-01 -7.69863196e-01 -3.76102559e-02 7.92121494e+01] [ 7.68870760e-01 6.38197047e-01 -3.92719193e-02 3.49999918e+01] [ 5.42367595e-02 -3.89729497e-03 9.98520498e-01 1.35666421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:35.02, Z:1.36 [[ 6.37717815e-01 -7.69066039e-01 -4.30513137e-02 7.92337550e+01] [ 7.68160188e-01 6.39110885e-01 -3.83040766e-02 3.50206231e+01] [ 5.69729277e-02 -8.64311323e-03 9.98338310e-01 1.36301714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:35.05, Z:1.36 [[ 6.38913961e-01 -7.68403412e-01 -3.66762585e-02 7.92470611e+01] [ 7.67073993e-01 6.39965354e-01 -4.51866683e-02 3.50450706e+01] [ 5.81931248e-02 7.36989173e-04 9.98305072e-01 1.36203207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.27, Y:35.07, Z:1.37 [[ 6.39739149e-01 -7.67599511e-01 -3.90488351e-02 7.92664766e+01] [ 7.66378963e-01 6.40925981e-01 -4.33263462e-02 3.50660848e+01] [ 5.82846951e-02 -2.20864588e-03 9.98297559e-01 1.36550506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.688040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.29, Y:35.09, Z:1.37 [[ 6.41978042e-01 -7.65472916e-01 -4.37653866e-02 7.92859665e+01] [ 7.64436821e-01 6.43424958e-01 -4.05051904e-02 3.50868430e+01] [ 5.91653682e-02 -7.45243019e-03 9.98220377e-01 1.37122825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:35.10, Z:1.39 [[ 6.45184090e-01 -7.61562390e-01 -6.13206064e-02 7.93149740e+01] [ 7.61233628e-01 6.47608377e-01 -3.35671449e-02 3.51021904e+01] [ 6.52752135e-02 -2.50223199e-02 9.97553522e-01 1.38744204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:35.14, Z:1.37 [[ 6.43713102e-01 -7.64944320e-01 -2.22177668e-02 7.93105034e+01] [ 7.62940663e-01 6.43747833e-01 -5.92475494e-02 3.51420968e+01] [ 5.96237156e-02 2.11875861e-02 9.97996041e-01 1.36681221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:35.15, Z:1.38 [[ 6.45987277e-01 -7.61790260e-01 -4.87446151e-02 7.93420779e+01] [ 7.61198330e-01 6.47642393e-01 -3.37110220e-02 3.51512805e+01] [ 5.72498075e-02 -1.53274283e-02 9.98242220e-01 1.38251630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:35.17, Z:1.39 [[ 6.47643538e-01 -7.60547700e-01 -4.60981969e-02 7.93581178e+01] [ 7.59516669e-01 6.49223047e-01 -4.05445940e-02 3.51746216e+01] [ 6.07641096e-02 -8.75390466e-03 9.98113767e-01 1.38650169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:35.20, Z:1.40 [[ 6.48989601e-01 -7.59002132e-01 -5.22327555e-02 7.93795489e+01] [ 7.57905010e-01 6.50977696e-01 -4.25210081e-02 3.51969793e+01] [ 6.62758946e-02 -1.19917750e-02 9.97729273e-01 1.39518254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:35.23, Z:1.39 [[ 6.48363087e-01 -7.60356771e-01 -3.85082876e-02 7.93898341e+01] [ 7.58552248e-01 6.49487304e-01 -5.25806947e-02 3.52258478e+01] [ 6.49907312e-02 4.88083338e-03 9.97873931e-01 1.38919818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:35.25, Z:1.38 [[ 6.44759811e-01 -7.63895640e-01 -2.73539409e-02 7.93931464e+01] [ 7.62065760e-01 6.45177293e-01 -5.47908508e-02 3.52498580e+01] [ 5.95026335e-02 1.44814368e-02 9.98123101e-01 1.38307817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:35.26, Z:1.40 [[ 6.47809769e-01 -7.59823095e-01 -5.48759157e-02 7.94311718e+01] [ 7.59107989e-01 6.49894652e-01 -3.73095348e-02 3.52617540e+01] [ 6.40122104e-02 -1.74872649e-02 9.97795887e-01 1.40098265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:35.29, Z:1.39 [[ 6.46614978e-01 -7.61819253e-01 -3.89935404e-02 7.94401208e+01] [ 7.60166348e-01 6.47783410e-01 -5.02372097e-02 3.52914163e+01] [ 6.35310421e-02 2.84255506e-03 9.97975815e-01 1.39372948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.46, Y:35.31, Z:1.40 [[ 6.45383390e-01 -7.62347821e-01 -4.80216620e-02 7.94626370e+01] [ 7.61474966e-01 6.47059499e-01 -3.83390333e-02 3.53084207e+01] [ 6.03005510e-02 -1.18239182e-02 9.98110234e-01 1.40062972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.48, Y:35.34, Z:1.40 [[ 6.43466557e-01 -7.64548690e-01 -3.76309696e-02 7.94751377e+01] [ 7.62510835e-01 6.44522030e-01 -5.62901263e-02 3.53406026e+01] [ 6.72905313e-02 7.52679169e-03 9.97705032e-01 1.39852432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:35.35, Z:1.40 [[ 6.42047146e-01 -7.65138532e-01 -4.83579329e-02 7.94939473e+01] [ 7.64381853e-01 6.43724746e-01 -3.65900793e-02 3.53502221e+01] [ 5.91256776e-02 -1.34713703e-02 9.98159645e-01 1.40188452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:35.38, Z:1.40 [[ 6.38392270e-01 -7.68842455e-01 -3.65594048e-02 7.95060258e+01] [ 7.67190134e-01 6.39424286e-01 -5.05557099e-02 3.53792518e+01] [ 6.22463474e-02 4.22635966e-03 9.98051867e-01 1.39874008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:35.41, Z:1.39 [[ 6.33270941e-01 -7.73515815e-01 -2.53219014e-02 7.95148871e+01] [ 7.72057896e-01 6.33675186e-01 -4.88094557e-02 3.54052114e+01] [ 5.38007465e-02 1.13596361e-02 9.98487075e-01 1.39008530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.50, Y:35.45, Z:1.36 [[ 6.23735417e-01 -7.81482091e-01 1.54877856e-02 7.94992630e+01] [ 7.80308887e-01 6.21400542e-01 -7.05649177e-02 3.54452302e+01] [ 4.55211011e-02 5.60990951e-02 9.97386946e-01 1.36079776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:35.43, Z:1.40 [[ 6.26997315e-01 -7.77051373e-01 -5.53672384e-02 7.95607340e+01] [ 7.77452904e-01 6.28660337e-01 -1.87926021e-02 3.54349694e+01] [ 4.94100041e-02 -3.12625092e-02 9.98289190e-01 1.39590403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:35.48, Z:1.38 [[ 6.22315422e-01 -7.82668262e-01 -1.24059422e-02 7.95539269e+01] [ 7.80962233e-01 6.21878437e-01 -5.80103416e-02 3.54823933e+01] [ 5.31178411e-02 2.64121579e-02 9.98238896e-01 1.37522697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:35.49, Z:1.38 [[ 6.22031147e-01 -7.82313554e-01 -3.25999289e-02 7.95803806e+01] [ 7.81632842e-01 6.22865131e-01 -3.30019581e-02 3.54922621e+01] [ 4.61232381e-02 -4.95292921e-03 9.98923478e-01 1.38219702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:35.52, Z:1.37 [[ 6.20847623e-01 -7.83690412e-01 -1.94310779e-02 7.95860329e+01] [ 7.82773438e-01 6.21086851e-01 -3.89470002e-02 3.55208951e+01] [ 4.25907776e-02 8.97002086e-03 9.99052333e-01 1.37423776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.61, Y:35.54, Z:1.38 [[ 6.21172228e-01 -7.83148951e-01 -2.86842011e-02 7.96070691e+01] [ 7.82642404e-01 6.21816303e-01 -2.85543926e-02 3.55378355e+01] [ 4.01986465e-02 -4.71227646e-03 9.99180596e-01 1.37805704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.65, Y:35.54, Z:1.42 [[ 6.26203874e-01 -7.75789049e-01 -7.75890456e-02 7.96501792e+01] [ 7.77295598e-01 6.28949618e-01 -1.52948174e-02 3.55441522e+01] [ 6.06651524e-02 -5.07319497e-02 9.96868100e-01 1.42016863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.348040942 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:79.61, Y:35.61, Z:1.37 [[ 6.21544720e-01 -7.83189918e-01 1.71963141e-02 7.96138289e+01] [ 7.81887761e-01 6.18858643e-01 -7.52695815e-02 3.56126459e+01] [ 4.83082897e-02 6.02289985e-02 9.97014933e-01 1.36545807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.378040942 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:79.66, Y:35.61, Z:1.38 [[ 6.23573047e-01 -7.81134590e-01 -3.13912094e-02 7.96580934e+01] [ 7.80478351e-01 6.24347493e-01 -3.23071428e-02 3.56103565e+01] [ 4.48352496e-02 -4.35429590e-03 9.98984905e-01 1.38335064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.408040942 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:79.68, Y:35.63, Z:1.39 [[ 6.26997108e-01 -7.77852091e-01 -4.26702605e-02 7.96814949e+01] [ 7.77631206e-01 6.28209532e-01 -2.53474124e-02 3.56276059e+01] [ 4.65224021e-02 -1.72889719e-02 9.98767619e-01 1.38981869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.438040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:79.69, Y:35.66, Z:1.39 [[ 6.25874271e-01 -7.79594122e-01 -2.26804333e-02 7.96858650e+01] [ 7.78432670e-01 6.26210816e-01 -4.36187215e-02 3.56604675e+01] [ 4.82076315e-02 9.64464530e-03 9.98790771e-01 1.38765320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.468040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:79.71, Y:35.68, Z:1.40 [[ 6.27973917e-01 -7.77504174e-01 -3.37048789e-02 7.97118225e+01] [ 7.76337403e-01 6.28877516e-01 -4.25829381e-02 3.56805325e+01] [ 5.43046526e-02 5.74616278e-04 9.98524248e-01 1.39642741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.498040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.73, Y:35.70, Z:1.40 [[ 6.29721823e-01 -7.75609836e-01 -4.33567490e-02 7.97332740e+01] [ 7.74981253e-01 6.31090070e-01 -3.36062680e-02 3.56979643e+01] [ 5.34273658e-02 -1.24380673e-02 9.98494272e-01 1.40393877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:35.70, Z:1.43 [[ 6.32249821e-01 -7.70968171e-01 -7.66044534e-02 7.97641092e+01] [ 7.72176068e-01 6.35125361e-01 -1.89709253e-02 3.57035161e+01] [ 6.32794107e-02 -4.71577614e-02 9.96881067e-01 1.43335761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.558040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.74, Y:35.77, Z:1.39 [[ 6.29093371e-01 -7.77316815e-01 4.48322975e-03 7.97393741e+01] [ 7.75116960e-01 6.26857261e-01 -7.90169133e-02 3.57719605e+01] [ 5.86108303e-02 5.31840438e-02 9.96863194e-01 1.39331492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.79, Y:35.77, Z:1.41 [[ 6.32092241e-01 -7.73555271e-01 -4.55152839e-02 7.97860311e+01] [ 7.72552095e-01 6.33656907e-01 -4.05238760e-02 3.57701990e+01] [ 6.01885319e-02 -9.54810037e-03 9.98141360e-01 1.41085192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61804094200001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.80, Y:35.80, Z:1.41 [[ 6.30680249e-01 -7.75376618e-01 -3.21484652e-02 7.97969688e+01] [ 7.73696109e-01 6.31452550e-01 -5.15946534e-02 3.58009123e+01] [ 6.03055182e-02 7.66658644e-03 9.98150524e-01 1.41028202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:35.81, Z:1.41 [[ 6.32017229e-01 -7.73618180e-01 -4.54877419e-02 7.98194068e+01] [ 7.72658960e-01 6.33573148e-01 -3.97894129e-02 3.58147373e+01] [ 5.96016250e-02 -9.99891686e-03 9.98172163e-01 1.41369589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.678040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.84, Y:35.84, Z:1.42 [[ 6.33342364e-01 -7.72370723e-01 -4.81758855e-02 7.98397104e+01] [ 7.71298298e-01 6.35084565e-01 -4.20301083e-02 3.58363165e+01] [ 6.30585865e-02 -1.05385304e-02 9.97954184e-01 1.41954045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.85, Y:35.87, Z:1.41 [[ 6.32533938e-01 -7.73759153e-01 -3.46062098e-02 7.98473777e+01] [ 7.72000271e-01 6.33446309e-01 -5.25485963e-02 3.58658153e+01] [ 6.25811332e-02 6.52276723e-03 9.98018565e-01 1.41466395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:35.88, Z:1.42 [[ 6.35753926e-01 -7.69889107e-01 -5.55671509e-02 7.98757679e+01] [ 7.69020092e-01 6.37949251e-01 -4.03590359e-02 3.58761964e+01] [ 6.65210044e-02 -1.70738399e-02 9.97638933e-01 1.42349208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:35.91, Z:1.42 [[ 6.33400366e-01 -7.73209708e-01 -3.08338214e-02 7.98810728e+01] [ 7.71111002e-01 6.34012044e-01 -5.84512726e-02 3.59134783e+01] [ 6.47441055e-02 1.32467586e-02 9.97813973e-01 1.41978233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:35.94, Z:1.42 [[ 6.32896592e-01 -7.73616487e-01 -3.09747389e-02 7.98982343e+01] [ 7.71653193e-01 6.33545316e-01 -5.63176910e-02 3.59366914e+01] [ 6.31921951e-02 1.17415185e-02 9.97932304e-01 1.42311832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:35.95, Z:1.44 [[ 6.35763603e-01 -7.69937730e-01 -5.47771133e-02 7.99316702e+01] [ 7.68990607e-01 6.37922303e-01 -4.13349806e-02 3.59473812e+01] [ 6.67689035e-02 -1.58438094e-02 9.97642665e-01 1.43892450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:35.97, Z:1.44 [[ 6.38754989e-01 -7.67887978e-01 -4.83747705e-02 7.99473208e+01] [ 7.66403882e-01 6.40552899e-01 -4.81359849e-02 3.59734380e+01] [ 6.79496436e-02 -6.32751137e-03 9.97668687e-01 1.43915517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:36.00, Z:1.44 [[ 6.38408144e-01 -7.68454292e-01 -4.37383582e-02 7.99606380e+01] [ 7.66581842e-01 6.39904298e-01 -5.36168737e-02 3.59964314e+01] [ 6.91904801e-02 7.00417603e-04 9.97603221e-01 1.44155081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:36.00, Z:1.45 [[ 6.43984376e-01 -7.62357263e-01 -6.39962992e-02 7.99918638e+01] [ 7.61773752e-01 6.46708599e-01 -3.83241317e-02 3.60045161e+01] [ 7.06036372e-02 -2.40705589e-02 9.97213986e-01 1.45105476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:36.03, Z:1.47 [[ 6.44523032e-01 -7.61495637e-01 -6.86619021e-02 8.00177465e+01] [ 7.60530849e-01 6.47750734e-01 -4.48532546e-02 3.60286405e+01] [ 7.86313552e-02 -2.33105391e-02 9.96631190e-01 1.46876681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.03, Y:36.06, Z:1.47 [[ 6.45153745e-01 -7.62251527e-01 -5.24333412e-02 8.00303054e+01] [ 7.59701706e-01 6.47280837e-01 -6.22963495e-02 3.60579676e+01] [ 8.14245845e-02 3.57024443e-04 9.96679442e-01 1.47014608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.05, Y:36.07, Z:1.48 [[ 6.45100988e-01 -7.61555865e-01 -6.22686047e-02 8.00549415e+01] [ 7.59485716e-01 6.48014720e-01 -5.70821360e-02 3.60741350e+01] [ 8.38222079e-02 -1.04683734e-02 9.96425738e-01 1.47904480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:36.09, Z:1.48 [[ 6.44495170e-01 -7.61830017e-01 -6.51229684e-02 8.00742529e+01] [ 7.60199608e-01 6.47583763e-01 -5.22668797e-02 3.60892731e+01] [ 8.19910548e-02 -1.58207036e-02 9.96507487e-01 1.47555553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:36.12, Z:1.48 [[ 6.43452257e-01 -7.63994744e-01 -4.77621551e-02 8.00867184e+01] [ 7.60918181e-01 6.45172474e-01 -6.89637599e-02 3.61218171e+01] [ 8.35027779e-02 8.03179479e-03 9.96475176e-01 1.47837695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.13, Y:36.13, Z:1.49 [[ 6.45019928e-01 -7.60177163e-01 -7.79741821e-02 8.01288214e+01] [ 7.59889797e-01 6.48842152e-01 -3.96403507e-02 3.61294989e+01] [ 8.07266254e-02 -3.36829693e-02 9.96166989e-01 1.48970647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.128040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:80.12, Y:36.17, Z:1.47 [[ 6.43646051e-01 -7.64588990e-01 -3.35177114e-02 8.01172052e+01] [ 7.60530794e-01 6.43895325e-01 -8.36165173e-02 3.61659533e+01] [ 8.55141662e-02 2.83281894e-02 9.95934155e-01 1.47495162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:36.17, Z:1.49 [[ 6.44724673e-01 -7.60786605e-01 -7.43897673e-02 8.01668129e+01] [ 7.60286258e-01 6.48299527e-01 -4.08965764e-02 3.61727740e+01] [ 7.93404185e-02 -3.01904859e-02 9.96390301e-01 1.49054297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:36.20, Z:1.48 [[ 6.44549959e-01 -7.63052876e-01 -4.80172752e-02 8.01703602e+01] [ 7.60430294e-01 6.46321607e-01 -6.33573149e-02 3.62004456e+01] [ 7.93795838e-02 4.32316401e-03 9.96835088e-01 1.48081276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:36.23, Z:1.48 [[ 6.41382707e-01 -7.66501911e-01 -3.32120915e-02 8.01743362e+01] [ 7.63277014e-01 6.41871121e-01 -7.35504201e-02 3.62254088e+01] [ 7.76944200e-02 2.18239415e-02 9.96738327e-01 1.47762933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.248040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.20, Y:36.24, Z:1.48 [[ 6.40629021e-01 -7.66652969e-01 -4.28682037e-02 8.02005244e+01] [ 7.63591160e-01 6.41954006e-01 -6.94521057e-02 3.62428249e+01] [ 8.07650781e-02 1.17592531e-02 9.96663796e-01 1.48320987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:36.25, Z:1.49 [[ 6.40055424e-01 -7.66097961e-01 -5.85061342e-02 8.02272316e+01] [ 7.64213443e-01 6.42649498e-01 -5.45842034e-02 3.62544184e+01] [ 7.94157847e-02 -9.77425877e-03 9.96793658e-01 1.49133888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.24, Y:36.29, Z:1.49 [[ 6.37982694e-01 -7.69079176e-01 -3.86691502e-02 8.02364142e+01] [ 7.66292586e-01 6.39023273e-01 -6.66702990e-02 3.62875545e+01] [ 7.59852255e-02 1.29026138e-02 9.97025460e-01 1.48510648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.25, Y:36.31, Z:1.48 [[ 6.34887362e-01 -7.71995988e-01 -3.06632198e-02 8.02490591e+01] [ 7.69391634e-01 6.35364689e-01 -6.59410829e-02 3.63098562e+01] [ 7.03885785e-02 1.82731354e-02 9.97352265e-01 1.47679474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:36.32, Z:1.48 [[ 6.34634654e-01 -7.71458070e-01 -4.57307457e-02 8.02753584e+01] [ 7.69598274e-01 6.36279012e-01 -5.35491855e-02 3.63246376e+01] [ 7.04084650e-02 -1.21013417e-03 9.97517510e-01 1.48432489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:36.34, Z:1.50 [[ 6.36980174e-01 -7.67928869e-01 -6.73907315e-02 8.03085346e+01] [ 7.67004438e-01 6.40106415e-01 -4.43618061e-02 3.63362440e+01] [ 7.72039511e-02 -2.34313992e-02 9.96739946e-01 1.50190047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:36.37, Z:1.49 [[ 6.34846662e-01 -7.72050929e-01 -3.01177560e-02 8.03087656e+01] [ 7.68790798e-01 6.35090542e-01 -7.49714131e-02 3.63744893e+01] [ 7.70092511e-02 2.44410976e-02 9.96730760e-01 1.48531562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.33, Y:36.38, Z:1.49 [[ 6.33358437e-01 -7.72110731e-01 -5.19818223e-02 8.03342174e+01] [ 7.70775654e-01 6.35400374e-01 -4.65967410e-02 3.63801595e+01] [ 6.90071130e-02 -1.05538840e-02 9.97560341e-01 1.48599083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:36.39, Z:1.51 [[ 6.38023084e-01 -7.65819793e-01 -8.02906550e-02 8.03773161e+01] [ 7.65944782e-01 6.41899009e-01 -3.59757238e-02 3.63908189e+01] [ 7.90894132e-02 -3.85448660e-02 9.96122060e-01 1.51144445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:36.44, Z:1.47 [[ 6.27132530e-01 -7.78821675e-01 -1.18991160e-02 8.03517680e+01] [ 7.75980014e-01 6.26022883e-01 -7.71386214e-02 3.64400792e+01] [ 6.75263492e-02 3.91426626e-02 9.96949369e-01 1.47317184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.39, Y:36.44, Z:1.49 [[ 6.29644784e-01 -7.75581835e-01 -4.49473370e-02 8.03912750e+01] [ 7.73905092e-01 6.31241480e-01 -5.10402008e-02 3.64443470e+01] [ 6.79584761e-02 -2.64777676e-03 9.97684637e-01 1.49080092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:36.46, Z:1.49 [[ 6.28879746e-01 -7.75643601e-01 -5.37333242e-02 8.04175838e+01] [ 7.74167800e-01 6.31079254e-01 -4.90223713e-02 3.64616288e+01] [ 7.19338747e-02 -1.07694330e-02 9.97351261e-01 1.49383010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:36.49, Z:1.49 [[ 6.29673275e-01 -7.76307498e-01 -2.92956533e-02 8.04256358e+01] [ 7.73515320e-01 6.30011852e-01 -6.89863467e-02 3.64927598e+01] [ 7.20112270e-02 2.07782222e-02 9.97187369e-01 1.49406415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.638040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.46, Y:36.50, Z:1.50 [[ 6.31199453e-01 -7.73801319e-01 -5.30920813e-02 8.04600842e+01] [ 7.72297605e-01 6.33350552e-01 -4.92289324e-02 3.65029798e+01] [ 7.17193118e-02 -9.92961203e-03 9.97375427e-01 1.50319560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:36.53, Z:1.50 [[ 6.29203798e-01 -7.76175782e-01 -4.06661495e-02 8.04720609e+01] [ 7.73754088e-01 6.30473620e-01 -6.17059632e-02 3.65268581e+01] [ 7.35336087e-02 7.36002695e-03 9.97265581e-01 1.50252872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:36.53, Z:1.51 [[ 6.33962059e-01 -7.70654010e-01 -6.46877506e-02 8.05067216e+01] [ 7.69712636e-01 6.36876267e-01 -4.39440397e-02 3.65332482e+01] [ 7.50637435e-02 -2.19321251e-02 9.96937519e-01 1.50946153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:36.57, Z:1.51 [[ 6.31152520e-01 -7.74565401e-01 -4.11696048e-02 8.05153714e+01] [ 7.71731575e-01 6.32406105e-01 -6.70290559e-02 3.65666820e+01] [ 7.79542969e-02 1.05336736e-02 9.96901284e-01 1.51173667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:36.57, Z:1.52 [[ 6.31656584e-01 -7.71844777e-01 -7.25644571e-02 8.05541490e+01] [ 7.71252116e-01 6.35133352e-01 -4.21402303e-02 3.65733721e+01] [ 7.86138235e-02 -2.93473371e-02 9.96473081e-01 1.52316285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.788040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.57, Y:36.61, Z:1.53 [[ 6.31525312e-01 -7.73129884e-01 -5.87023319e-02 8.05681776e+01] [ 7.70131241e-01 6.34243828e-01 -6.80634798e-02 3.66055432e+01] [ 8.98535020e-02 -2.22468943e-03 9.95952508e-01 1.53280677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.57, Y:36.63, Z:1.52 [[ 6.29751667e-01 -7.76008979e-01 -3.49700238e-02 8.05707524e+01] [ 7.71953112e-01 6.30209965e-01 -8.32093338e-02 3.66313931e+01] [ 8.66096476e-02 2.54059980e-02 9.95918322e-01 1.51801103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.62, Y:36.63, Z:1.54 [[ 6.32498827e-01 -7.69704327e-01 -8.66053259e-02 8.06203419e+01] [ 7.70112666e-01 6.36889172e-01 -3.60369763e-02 3.66252560e+01] [ 8.28958109e-02 -4.39025132e-02 9.95590706e-01 1.54095884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.61, Y:36.67, Z:1.52 [[ 6.26619099e-01 -7.78309711e-01 -3.97806234e-02 8.06120224e+01] [ 7.74830518e-01 6.27667193e-01 -7.53097780e-02 3.66686363e+01] [ 8.35833238e-02 1.63673043e-02 9.96366368e-01 1.52170778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:36.67, Z:1.54 [[ 6.32995126e-01 -7.71033638e-01 -6.94571707e-02 8.06501856e+01] [ 7.69683911e-01 6.36430116e-01 -5.04319916e-02 3.66713409e+01] [ 8.30893972e-02 -2.15368619e-02 9.96309347e-01 1.53670824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:36.72, Z:1.52 [[ 6.27997693e-01 -7.77833772e-01 -2.43622846e-02 8.06384780e+01] [ 7.74144961e-01 6.27604538e-01 -8.25355931e-02 3.67154434e+01] [ 7.94888521e-02 3.29722222e-02 9.96290297e-01 1.51519450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:36.72, Z:1.54 [[ 6.29174301e-01 -7.74652170e-01 -6.36687955e-02 8.06824464e+01] [ 7.72801730e-01 6.32224800e-01 -5.54011641e-02 3.67202184e+01] [ 8.31696234e-02 -1.43463666e-02 9.96432133e-01 1.53966734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:36.75, Z:1.52 [[ 6.28416902e-01 -7.77118991e-01 -3.43259537e-02 8.06828283e+01] [ 7.73788658e-01 6.29023516e-01 -7.47029399e-02 3.67527229e+01] [ 7.96449054e-02 2.03835564e-02 9.96614870e-01 1.52443626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:36.77, Z:1.54 [[ 6.28501128e-01 -7.76140068e-01 -5.09207896e-02 8.07136677e+01] [ 7.73640674e-01 6.30560479e-01 -6.22381773e-02 3.67671458e+01] [ 8.04141807e-02 -2.77629392e-04 9.96761497e-01 1.53555121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:36.79, Z:1.54 [[ 6.27249785e-01 -7.77353229e-01 -4.77458339e-02 8.07321318e+01] [ 7.74429705e-01 6.29041100e-01 -6.75716385e-02 3.67933252e+01] [ 8.25611233e-02 5.40850364e-03 9.96571327e-01 1.53605792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:36.80, Z:1.56 [[ 6.31845396e-01 -7.70677646e-01 -8.26278543e-02 8.07754550e+01] [ 7.70639107e-01 6.36047317e-01 -3.94864089e-02 3.68011815e+01] [ 8.29865177e-02 -3.87269502e-02 9.95797902e-01 1.55765761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:36.84, Z:1.53 [[ 6.25477816e-01 -7.79133652e-01 -4.15722798e-02 8.07600852e+01] [ 7.76128745e-01 6.26760466e-01 -6.92494739e-02 3.68354529e+01] [ 8.00104569e-02 1.10485684e-02 9.96732791e-01 1.53377273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:36.86, Z:1.54 [[ 6.27276235e-01 -7.77754899e-01 -4.02721156e-02 8.07814788e+01] [ 7.74552221e-01 6.28414287e-01 -7.18633509e-02 3.68602321e+01] [ 8.11996461e-02 1.38853156e-02 9.96601132e-01 1.54143053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:36.88, Z:1.55 [[ 6.27391128e-01 -7.76997477e-01 -5.15295298e-02 8.08057507e+01] [ 7.74598357e-01 6.29501618e-01 -6.10335873e-02 3.68763648e+01] [ 7.98608657e-02 -1.62275787e-03 9.96804699e-01 1.54888162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.82, Y:36.90, Z:1.55 [[ 6.27030605e-01 -7.77562381e-01 -4.72161401e-02 8.08217301e+01] [ 7.74471796e-01 6.28765879e-01 -6.96197355e-02 3.69030392e+01] [ 8.38215851e-02 7.08613610e-03 9.96455583e-01 1.54945316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:36.92, Z:1.56 [[ 6.27922596e-01 -7.75933671e-01 -6.03336654e-02 8.08458983e+01] [ 7.73957044e-01 6.30714498e-01 -5.64775787e-02 3.69173470e+01] [ 8.18761724e-02 -1.12321175e-02 9.96579215e-01 1.55846834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:36.94, Z:1.56 [[ 6.27599293e-01 -7.76891633e-01 -5.05818033e-02 8.08586206e+01] [ 7.73905045e-01 6.29623885e-01 -6.81523637e-02 3.69447618e+01] [ 8.47945126e-02 3.62686246e-03 9.96391859e-01 1.55542706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:36.96, Z:1.56 [[ 6.27451250e-01 -7.76522781e-01 -5.75960018e-02 8.08800573e+01] [ 7.74205608e-01 6.30053107e-01 -6.03221354e-02 3.69633962e+01] [ 8.31300522e-02 -6.74194825e-03 9.96515901e-01 1.56053100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.89, Y:36.99, Z:1.55 [[ 6.25509059e-01 -7.79093169e-01 -4.18598939e-02 8.08878676e+01] [ 7.75971891e-01 6.26798823e-01 -7.06460107e-02 3.69925247e+01] [ 8.12775567e-02 1.17076186e-02 9.96622742e-01 1.55281174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.358040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:80.91, Y:37.01, Z:1.55 [[ 6.23221849e-01 -7.80486084e-01 -4.93558384e-02 8.09065050e+01] [ 7.78008447e-01 6.25173068e-01 -6.21409047e-02 3.70079069e+01] [ 7.93560523e-02 3.28310388e-04 9.96846282e-01 1.55429562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.388040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:80.92, Y:37.04, Z:1.55 [[ 6.21730809e-01 -7.82169306e-01 -4.07673525e-02 8.09199731e+01] [ 7.79159508e-01 6.22960801e-01 -6.95003662e-02 3.70350125e+01] [ 7.97575158e-02 1.14462486e-02 9.96748575e-01 1.55328375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.95, Y:37.05, Z:1.57 [[ 6.20339258e-01 -7.82566761e-01 -5.26162423e-02 8.09475849e+01] [ 7.79867132e-01 6.22566232e-01 -6.49503229e-02 3.70529841e+01] [ 8.35850596e-02 -7.42442835e-04 9.96500370e-01 1.56567144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:37.08, Z:1.56 [[ 6.18240852e-01 -7.84746634e-01 -4.41697784e-02 8.09602942e+01] [ 7.81984216e-01 6.19784466e-01 -6.60901014e-02 3.70782082e+01] [ 7.92397271e-02 6.31953106e-03 9.96835558e-01 1.56209151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.98, Y:37.10, Z:1.57 [[ 6.17423884e-01 -7.85107896e-01 -4.89217656e-02 8.09814327e+01] [ 7.82849101e-01 6.19357098e-01 -5.95321016e-02 3.70992497e+01] [ 7.70391658e-02 -1.54181885e-03 9.97026875e-01 1.56617368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.508040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.04, Y:37.10, Z:1.62 [[ 6.23058274e-01 -7.74144150e-01 -1.11799925e-01 8.10385472e+01] [ 7.76057806e-01 6.29679592e-01 -3.51837033e-02 3.71010721e+01] [ 9.76353891e-02 -6.48417070e-02 9.93107690e-01 1.61579685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:37.16, Z:1.56 [[ 6.18050726e-01 -7.86090920e-01 -8.62350640e-03 8.09933835e+01] [ 7.82121864e-01 6.15963546e-01 -9.42035011e-02 3.71642403e+01] [ 7.93642824e-02 5.14779094e-02 9.95515613e-01 1.55528884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:37.17, Z:1.57 [[ 6.18550764e-01 -7.84654571e-01 -4.13782017e-02 8.10262371e+01] [ 7.81153263e-01 6.19767672e-01 -7.54162583e-02 3.71733196e+01] [ 8.48205836e-02 1.43260669e-02 9.96293246e-01 1.56888864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:37.19, Z:1.58 [[ 6.19263929e-01 -7.82525889e-01 -6.45400590e-02 8.10582239e+01] [ 7.80467630e-01 6.22456823e-01 -5.84617988e-02 3.71857795e+01] [ 8.59212712e-02 -1.41681436e-02 9.96201184e-01 1.58473657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.07, Y:37.21, Z:1.58 [[ 6.18788322e-01 -7.83720313e-01 -5.36980829e-02 8.10699020e+01] [ 7.80634133e-01 6.21112953e-01 -6.94913634e-02 3.72146109e+01] [ 8.78143679e-02 1.08188779e-03 9.96136269e-01 1.58136868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.09, Y:37.22, Z:1.61 [[ 6.16335489e-01 -7.82933435e-01 -8.45328424e-02 8.10924647e+01] [ 7.82755452e-01 6.20840517e-01 -4.30227373e-02 3.72176339e+01] [ 8.61653531e-02 -3.96521034e-02 9.95491458e-01 1.60543789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.12, Y:37.25, Z:1.61 [[ 6.23645845e-01 -7.78348357e-01 -7.23857346e-02 8.11173105e+01] [ 7.76501987e-01 6.27499734e-01 -5.73476115e-02 3.72467891e+01] [ 9.00584484e-02 -2.04430671e-02 9.95726648e-01 1.60749363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:37.29, Z:1.58 [[ 6.18857021e-01 -7.84950082e-01 -2.94848612e-02 8.11080945e+01] [ 7.80642435e-01 6.18763264e-01 -8.79170765e-02 3.72915091e+01] [ 8.72546653e-02 3.13909662e-02 9.95691333e-01 1.58155495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:37.29, Z:1.62 [[ 6.22408371e-01 -7.78038367e-01 -8.52298000e-02 8.11598093e+01] [ 7.77421468e-01 6.27156982e-01 -4.78537445e-02 3.72875218e+01] [ 9.06845134e-02 -3.64749051e-02 9.95211485e-01 1.61731314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:37.33, Z:1.59 [[ 6.19222029e-01 -7.84381298e-01 -3.61947240e-02 8.11477889e+01] [ 7.80419960e-01 6.19872607e-01 -8.18696356e-02 3.73322606e+01] [ 8.66531290e-02 2.24483968e-02 9.95985595e-01 1.59027932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:37.34, Z:1.61 [[ 6.19730450e-01 -7.81853475e-01 -6.81125104e-02 8.11856452e+01] [ 7.79868281e-01 6.23229499e-01 -5.82276224e-02 3.73405781e+01] [ 8.79751947e-02 -1.70333558e-02 9.95977023e-01 1.60986142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:37.36, Z:1.60 [[ 6.20161377e-01 -7.82743186e-01 -5.20861862e-02 8.11889519e+01] [ 7.79313641e-01 6.22325543e-01 -7.33564425e-02 3.73647155e+01] [ 8.98338196e-02 4.90135703e-03 9.95944708e-01 1.59758095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86804094200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.21, Y:37.39, Z:1.60 [[ 6.19244951e-01 -7.83385537e-01 -5.33178348e-02 8.12133798e+01] [ 7.80485525e-01 6.21536075e-01 -6.73442811e-02 3.73902324e+01] [ 8.58954936e-02 8.88076622e-05 9.96304148e-01 1.60416885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:37.41, Z:1.62 [[ 6.20605762e-01 -7.81203032e-01 -6.76040764e-02 8.12412699e+01] [ 7.79208121e-01 6.24057382e-01 -5.81986975e-02 3.74077151e+01] [ 8.76538218e-02 -1.65591983e-02 9.96013354e-01 1.61755953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:37.43, Z:1.61 [[ 6.18958051e-01 -7.84122044e-01 -4.52056644e-02 8.12388725e+01] [ 7.80694880e-01 6.20517842e-01 -7.39804801e-02 3.74327657e+01] [ 8.60606466e-02 1.04989830e-02 9.96234579e-01 1.60560947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:37.46, Z:1.61 [[ 6.20247146e-01 -7.82420993e-01 -5.57751461e-02 8.12665944e+01] [ 7.79061161e-01 6.22748096e-01 -7.24466410e-02 3.74564038e+01] [ 9.14176389e-02 1.48257227e-03 9.95811537e-01 1.61340275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:37.47, Z:1.63 [[ 6.23547261e-01 -7.78777387e-01 -6.85171132e-02 8.12940852e+01] [ 7.76763853e-01 6.27075703e-01 -5.84292704e-02 3.74694680e+01] [ 8.84688115e-02 -1.67882053e-02 9.95937461e-01 1.62664927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:37.50, Z:1.62 [[ 6.21859919e-01 -7.81495155e-01 -5.05525830e-02 8.12993787e+01] [ 7.78218495e-01 6.23889355e-01 -7.16801721e-02 3.75005330e+01] [ 8.75569256e-02 5.23407098e-03 9.96145767e-01 1.61563249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:37.52, Z:1.63 [[ 6.22318278e-01 -7.79543285e-01 -7.09381905e-02 8.13313277e+01] [ 7.77462450e-01 6.26089651e-01 -5.96983053e-02 3.75156499e+01] [ 9.09510800e-02 -1.80004328e-02 9.95692666e-01 1.63141521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:37.54, Z:1.63 [[ 6.20368629e-01 -7.82416689e-01 -5.44691571e-02 8.13402378e+01] [ 7.79156061e-01 6.22752545e-01 -7.13799643e-02 3.75440533e+01] [ 8.97696816e-02 1.84191672e-03 9.95960848e-01 1.62702030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:37.56, Z:1.63 [[ 6.19646593e-01 -7.82308178e-01 -6.34981442e-02 8.13638935e+01] [ 7.79822570e-01 6.22805180e-01 -6.31701436e-02 3.75643413e+01] [ 8.89654931e-02 -1.03741218e-02 9.95980682e-01 1.63272097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.38, Y:37.59, Z:1.63 [[ 6.16533312e-01 -7.85193743e-01 -5.79435978e-02 8.13770851e+01] [ 7.82059128e-01 6.19246677e-01 -7.01218454e-02 3.75890175e+01] [ 9.09406147e-02 -2.08286599e-03 9.95854139e-01 1.63483451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:37.61, Z:1.63 [[ 6.14173003e-01 -7.87278471e-01 -5.46272012e-02 8.13907832e+01] [ 7.84138940e-01 6.16597532e-01 -7.02396352e-02 3.76113642e+01] [ 8.89811500e-02 3.03972033e-04 9.96033264e-01 1.63345947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.41, Y:37.63, Z:1.64 [[ 6.11756015e-01 -7.88905456e-01 -5.81615051e-02 8.14109131e+01] [ 7.86161814e-01 6.14491085e-01 -6.59568747e-02 3.76331994e+01] [ 8.77734647e-02 -5.37483955e-03 9.96125961e-01 1.63720921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:37.66, Z:1.64 [[ 6.10685173e-01 -7.90060661e-01 -5.35515781e-02 8.14247564e+01] [ 7.86990845e-01 6.13028573e-01 -6.95800153e-02 3.76579525e+01] [ 8.78010804e-02 3.46881932e-04 9.96137967e-01 1.63725019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.44, Y:37.68, Z:1.64 [[ 6.10155369e-01 -7.90240440e-01 -5.68372566e-02 8.14440567e+01] [ 7.87427649e-01 6.12783622e-01 -6.67377724e-02 3.76788922e+01] [ 8.75678266e-02 -4.03481725e-03 9.96150388e-01 1.64095819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.47, Y:37.70, Z:1.65 [[ 6.07150362e-01 -7.92101629e-01 -6.27968712e-02 8.14654327e+01] [ 7.89758903e-01 6.10272622e-01 -6.20338816e-02 3.77013019e+01] [ 8.74603499e-02 -1.19304944e-02 9.96096557e-01 1.64622777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.318040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.48, Y:37.73, Z:1.64 [[ 6.07291078e-01 -7.92435129e-01 -5.69571087e-02 8.14788284e+01] [ 7.89925124e-01 6.09921401e-01 -6.33575791e-02 3.77260281e+01] [ 8.49461310e-02 -6.51535866e-03 9.96364243e-01 1.64388646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:37.76, Z:1.64 [[ 6.04769848e-01 -7.95344760e-01 -4.09895511e-02 8.14845328e+01] [ 7.91922524e-01 6.06022654e-01 -7.48014575e-02 3.77554148e+01] [ 8.43335438e-02 1.27771173e-02 9.96355659e-01 1.63667568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.52, Y:37.77, Z:1.66 [[ 6.06657228e-01 -7.91509527e-01 -7.40248324e-02 8.15238812e+01] [ 7.90099204e-01 6.10610742e-01 -5.38309359e-02 3.77673718e+01] [ 8.78080565e-02 -2.58300348e-02 9.95802468e-01 1.65733875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.52, Y:37.81, Z:1.64 [[ 6.02292274e-01 -7.97502637e-01 -3.51220818e-02 8.15158449e+01] [ 7.93994900e-01 6.03032708e-01 -7.69652620e-02 3.78053861e+01] [ 8.25597635e-02 1.84688288e-02 9.96414968e-01 1.63670465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.54, Y:37.82, Z:1.64 [[ 6.04333484e-01 -7.94870925e-01 -5.44173907e-02 8.15433740e+01] [ 7.92419537e-01 6.06755503e-01 -6.26022057e-02 3.78190516e+01] [ 8.27787244e-02 -5.28879447e-03 9.96553918e-01 1.64351833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:37.84, Z:1.65 [[ 6.03218412e-01 -7.94871122e-01 -6.56311385e-02 8.15645673e+01] [ 7.93314140e-01 6.06455707e-01 -5.35177728e-02 3.78350537e+01] [ 8.23421106e-02 -1.97832042e-02 9.96407749e-01 1.65182947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.57, Y:37.87, Z:1.64 [[ 6.02529329e-01 -7.97212929e-01 -3.75493373e-02 8.15663380e+01] [ 7.93850756e-01 6.03506785e-01 -7.47029949e-02 3.78715973e+01] [ 8.22154732e-02 1.52021756e-02 9.96498625e-01 1.64290662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.60, Y:37.88, Z:1.65 [[ 6.04535509e-01 -7.93803349e-01 -6.64308740e-02 8.15985178e+01] [ 7.92426115e-01 6.07793247e-01 -5.14608672e-02 3.78819144e+01] [ 8.12260454e-02 -2.15316379e-02 9.96463104e-01 1.65440545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.61, Y:37.91, Z:1.66 [[ 6.05596678e-01 -7.94248854e-01 -4.92079386e-02 8.16077746e+01] [ 7.91262555e-01 6.07586285e-01 -6.88656309e-02 3.79120639e+01] [ 8.45945170e-02 2.76839804e-03 9.96411614e-01 1.65594130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:37.94, Z:1.65 [[ 6.05173826e-01 -7.94906432e-01 -4.34557929e-02 8.16209368e+01] [ 7.91418135e-01 6.06630003e-01 -7.52155301e-02 3.79397832e+01] [ 8.61508964e-02 1.11267675e-02 9.96219965e-01 1.65427418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:37.95, Z:1.66 [[ 6.07516995e-01 -7.92055233e-01 -5.97629400e-02 8.16422074e+01] [ 7.89947912e-01 6.10342055e-01 -5.88631730e-02 3.79480543e+01] [ 8.30987198e-02 -1.14492316e-02 9.96475548e-01 1.66104323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.66, Y:37.97, Z:1.66 [[ 6.10580888e-01 -7.89674534e-01 -6.00425565e-02 8.16602944e+01] [ 7.87619059e-01 6.13412737e-01 -5.81466359e-02 3.79692881e+01] [ 8.27477866e-02 -1.17874372e-02 9.96500808e-01 1.65988569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:37.99, Z:1.66 [[ 6.08651500e-01 -7.91298602e-01 -5.82226338e-02 8.16832925e+01] [ 7.89882558e-01 6.11229487e-01 -4.98403267e-02 3.79948599e+01] [ 7.50259714e-02 -1.56536533e-02 9.97058708e-01 1.65594333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:38.03, Z:1.65 [[ 6.06150995e-01 -7.94681237e-01 -3.25991324e-02 8.16815129e+01] [ 7.91569668e-01 6.06754548e-01 -7.25698220e-02 3.80273863e+01] [ 7.74495478e-02 1.81837853e-02 9.96830436e-01 1.65124838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:38.05, Z:1.65 [[ 5.99901722e-01 -7.99381410e-01 -3.32758898e-02 8.16990542e+01] [ 7.96529320e-01 6.00637887e-01 -6.91026087e-02 3.80543938e+01] [ 7.52261010e-02 1.49495521e-02 9.97054434e-01 1.64984096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:38.07, Z:1.66 [[ 6.02654615e-01 -7.96370435e-01 -5.10053563e-02 8.17269912e+01] [ 7.94561019e-01 6.04758243e-01 -5.42241095e-02 3.80659118e+01] [ 7.40283873e-02 -7.84845807e-03 9.97225250e-01 1.65934921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.798040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.72, Y:38.10, Z:1.65 [[ 5.98308857e-01 -8.01029102e-01 -1.94650688e-02 8.17228944e+01] [ 7.97979461e-01 5.97877125e-01 -7.59718594e-02 3.81032194e+01] [ 7.24933897e-02 2.99219113e-02 9.96919950e-01 1.64797767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.76, Y:38.10, Z:1.67 [[ 6.00426375e-01 -7.97349769e-01 -6.10042210e-02 8.17635135e+01] [ 7.96436767e-01 6.03112260e-01 -4.40917056e-02 3.81047575e+01] [ 7.19489049e-02 -2.21121816e-02 9.97163179e-01 1.66896147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.76, Y:38.13, Z:1.66 [[ 5.99994324e-01 -7.99034984e-01 -3.93688415e-02 8.17641234e+01] [ 7.96676064e-01 6.01258458e-01 -6.16077619e-02 3.81321161e+01] [ 7.28976059e-02 5.60009376e-03 9.97323708e-01 1.65830902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.80, Y:38.15, Z:1.67 [[ 5.98783043e-01 -7.98875660e-01 -5.70661703e-02 8.17954292e+01] [ 7.97693697e-01 6.01242085e-01 -4.68264958e-02 3.81543580e+01] [ 7.17191310e-02 -1.74824127e-02 9.97271644e-01 1.66515362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.80, Y:38.19, Z:1.66 [[ 5.99502777e-01 -7.99607236e-01 -3.49955503e-02 8.18036982e+01] [ 7.96946694e-01 6.00406992e-01 -6.62375322e-02 3.81878955e+01] [ 7.39755831e-02 1.18199964e-02 9.97190002e-01 1.66432245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.82, Y:38.19, Z:1.67 [[ 6.01300373e-01 -7.97374664e-01 -5.12982123e-02 8.18243262e+01] [ 7.95368378e-01 6.03448705e-01 -5.69104863e-02 3.81932398e+01] [ 7.63348197e-02 -6.58067925e-03 9.97060525e-01 1.67187702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.86, Y:38.22, Z:1.68 [[ 5.98503356e-01 -7.98686622e-01 -6.23972223e-02 8.18560539e+01] [ 7.97377082e-01 6.01417725e-01 -4.98649075e-02 3.82247534e+01] [ 7.73532300e-02 -1.99098006e-02 9.96804935e-01 1.67837520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.85, Y:38.25, Z:1.67 [[ 6.03814189e-01 -7.96373044e-01 -3.46179279e-02 8.18534180e+01] [ 7.93240847e-01 6.04587044e-01 -7.24117773e-02 3.82490917e+01] [ 7.85963382e-02 1.62629041e-02 9.96773863e-01 1.67285804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:38.27, Z:1.68 [[ 6.03599392e-01 -7.96093420e-01 -4.36238409e-02 8.18809818e+01] [ 7.93193194e-01 6.05138099e-01 -6.82087837e-02 3.82740329e+01] [ 8.06990120e-02 6.56864670e-03 9.96716872e-01 1.68109171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:38.29, Z:1.69 [[ 6.04760921e-01 -7.94274342e-01 -5.82451551e-02 8.19057481e+01] [ 7.91878777e-01 6.07499918e-01 -6.22242129e-02 3.82886208e+01] [ 8.48070227e-02 -8.49232992e-03 9.96361204e-01 1.69305432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:38.30, Z:1.71 [[ 6.09064910e-01 -7.89622240e-01 -7.44086883e-02 8.19301174e+01] [ 7.88925494e-01 6.12807780e-01 -4.54223395e-02 3.82958704e+01] [ 8.14647126e-02 -3.10377580e-02 9.96192832e-01 1.70618179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.94, Y:38.34, Z:1.70 [[ 6.07316474e-01 -7.93172064e-01 -4.52192018e-02 8.19360767e+01] [ 7.90368937e-01 6.08978457e-01 -6.67995774e-02 3.83356238e+01] [ 8.05210785e-02 4.82863138e-03 9.96741210e-01 1.69852445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:38.36, Z:1.70 [[ 6.06279039e-01 -7.94118181e-01 -4.24504620e-02 8.19516779e+01] [ 7.91394618e-01 6.07729290e-01 -6.60277919e-02 3.83589271e+01] [ 7.82322591e-02 6.43619905e-03 9.96914384e-01 1.69767012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.98, Y:38.38, Z:1.71 [[ 6.05941459e-01 -7.93538335e-01 -5.59630134e-02 8.19778870e+01] [ 7.91541298e-01 6.08442914e-01 -5.70928569e-02 3.83755847e+01] [ 7.93556696e-02 -9.70210731e-03 9.96799151e-01 1.70863682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.99, Y:38.40, Z:1.71 [[ 6.04432699e-01 -7.95133303e-01 -4.92355970e-02 8.19905211e+01] [ 7.92907475e-01 6.06426987e-01 -5.95318865e-02 3.83995585e+01] [ 7.71935802e-02 -3.05625411e-03 9.97011440e-01 1.70692986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.01, Y:38.42, Z:1.71 [[ 6.04684712e-01 -7.94922229e-01 -4.95484559e-02 8.20083645e+01] [ 7.92570342e-01 6.06706994e-01 -6.11463526e-02 3.84216952e+01] [ 7.86679897e-02 -2.29637203e-03 9.96898227e-01 1.71124181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:38.45, Z:1.71 [[ 6.03275385e-01 -7.96051931e-01 -4.85812049e-02 8.20256882e+01] [ 7.93586353e-01 6.05227818e-01 -6.26098121e-02 3.84465120e+01] [ 7.92433584e-02 -7.82422743e-04 9.96854993e-01 1.71264854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.04, Y:38.47, Z:1.71 [[ 6.01706229e-01 -7.97499079e-01 -4.41002688e-02 8.20377766e+01] [ 7.94909471e-01 6.03309148e-01 -6.43195584e-02 3.84696980e+01] [ 7.79008841e-02 3.64575758e-03 9.96954443e-01 1.71068233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:38.49, Z:1.71 [[ 6.01170511e-01 -7.97856227e-01 -4.49383829e-02 8.20523054e+01] [ 7.95586058e-01 6.02847640e-01 -6.01460507e-02 3.84877995e+01] [ 7.50788991e-02 4.05681131e-04 9.97177514e-01 1.71054587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:38.51, Z:1.72 [[ 6.00892926e-01 -7.97808190e-01 -4.92928424e-02 8.20737509e+01] [ 7.95429084e-01 6.02907368e-01 -6.16058250e-02 3.85124469e+01] [ 7.88686496e-02 -2.19045607e-03 9.96882610e-01 1.71743594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.398040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.09, Y:38.53, Z:1.72 [[ 6.01341044e-01 -7.97342469e-01 -5.13218802e-02 8.20920986e+01] [ 7.94955459e-01 6.03516023e-01 -6.17594400e-02 3.85348134e+01] [ 8.02170014e-02 -3.66012271e-03 9.96770704e-01 1.72066573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:38.56, Z:1.73 [[ 6.03261460e-01 -7.95444798e-01 -5.78202798e-02 8.21110656e+01] [ 7.93211415e-01 6.05951931e-01 -6.03150828e-02 3.85552219e+01] [ 8.30136290e-02 -9.47794104e-03 9.96503340e-01 1.72728502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:38.58, Z:1.73 [[ 6.03267379e-01 -7.95639830e-01 -5.50066342e-02 8.21277415e+01] [ 7.93521948e-01 6.05713179e-01 -5.86042962e-02 3.85806948e+01] [ 7.99461556e-02 -8.29491129e-03 9.96764670e-01 1.72815275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:38.61, Z:1.73 [[ 6.04382803e-01 -7.95316278e-01 -4.68342343e-02 8.21374378e+01] [ 7.92169814e-01 6.06167379e-01 -7.09090555e-02 3.86059011e+01] [ 8.47845112e-02 5.75554702e-03 9.96382688e-01 1.72694136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:38.63, Z:1.73 [[ 6.05401368e-01 -7.94445369e-01 -4.84328307e-02 8.21543802e+01] [ 7.91641965e-01 6.07332172e-01 -6.67130569e-02 3.86274366e+01] [ 8.24146954e-02 2.04671469e-03 9.96596021e-01 1.72830517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:38.64, Z:1.74 [[ 6.07371168e-01 -7.91808325e-01 -6.43415948e-02 8.21807945e+01] [ 7.89784641e-01 6.10579720e-01 -5.85886248e-02 3.86421989e+01] [ 8.56766339e-02 -1.52309619e-02 9.96206571e-01 1.74217733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.19, Y:38.67, Z:1.74 [[ 6.07260832e-01 -7.92806363e-01 -5.18878851e-02 8.21912780e+01] [ 7.89948175e-01 6.09473584e-01 -6.72594276e-02 3.86699109e+01] [ 8.49479975e-02 -1.44724175e-04 9.96385376e-01 1.73918371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:38.69, Z:1.74 [[ 6.06414582e-01 -7.93681475e-01 -4.82811666e-02 8.22042900e+01] [ 7.90759243e-01 6.08325513e-01 -6.81167374e-02 3.86926456e+01] [ 8.34336581e-02 3.12820410e-03 9.96508424e-01 1.73817156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:38.72, Z:1.73 [[ 6.04008470e-01 -7.95845684e-01 -4.24666435e-02 8.22163384e+01] [ 7.92837036e-01 6.05441283e-01 -6.96440088e-02 3.87177549e+01] [ 8.11369429e-02 8.39644338e-03 9.96667596e-01 1.73460232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:38.74, Z:1.74 [[ 6.02309540e-01 -7.97058903e-01 -4.38215000e-02 8.22338712e+01] [ 7.94305294e-01 6.03879307e-01 -6.63994197e-02 3.87398110e+01] [ 7.93871457e-02 5.18535449e-03 9.96830373e-01 1.73546697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:38.76, Z:1.73 [[ 5.98752682e-01 -7.99948657e-01 -3.97161588e-02 8.22472052e+01] [ 7.97269581e-01 6.00018033e-01 -6.58754578e-02 3.87643687e+01] [ 7.65273955e-02 7.77862175e-03 9.97037136e-01 1.73386773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.27, Y:38.78, Z:1.74 [[ 5.98373504e-01 -7.99447284e-01 -5.32277184e-02 8.22722693e+01] [ 7.97440413e-01 6.00680052e-01 -5.72036971e-02 3.87811971e+01] [ 7.77041690e-02 -8.21675710e-03 9.96942600e-01 1.74410869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:38.81, Z:1.74 [[ 5.97028492e-01 -8.00823326e-01 -4.73178687e-02 8.22852909e+01] [ 7.98459835e-01 5.98899704e-01 -6.14901371e-02 3.88054486e+01] [ 7.75813937e-02 -1.07005386e-03 9.96985447e-01 1.74406496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:38.83, Z:1.75 [[ 5.95027592e-01 -8.02337015e-01 -4.68772756e-02 8.23013114e+01] [ 7.99910816e-01 5.96871139e-01 -6.23500640e-02 3.88292261e+01] [ 7.80054571e-02 -3.97631342e-04 9.96952853e-01 1.74639018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.32, Y:38.85, Z:1.75 [[ 5.93992489e-01 -8.03030726e-01 -4.81100386e-02 8.23176621e+01] [ 8.00658807e-01 5.95934696e-01 -6.17034219e-02 3.88517758e+01] [ 7.82201850e-02 -1.86835698e-03 9.96934357e-01 1.74870411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:38.87, Z:1.76 [[ 5.93356697e-01 -8.02874225e-01 -5.76264620e-02 8.23381639e+01] [ 8.00735720e-01 5.96050448e-01 -5.95497185e-02 3.88723677e+01] [ 8.21592125e-02 -1.08093423e-02 9.96560596e-01 1.75686922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:38.89, Z:1.75 [[ 5.94058769e-01 -8.02892895e-01 -4.95699292e-02 8.23443270e+01] [ 8.01204341e-01 5.96064146e-01 -5.27175245e-02 3.88900394e+01] [ 7.18733835e-02 -8.39833478e-03 9.97378406e-01 1.75024913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:38.93, Z:1.75 [[ 5.90638266e-01 -8.06223131e-01 -3.39220018e-02 8.23555831e+01] [ 8.02816654e-01 5.91345808e-01 -7.61285420e-02 3.89277614e+01] [ 8.14362250e-02 1.77312820e-02 9.96520819e-01 1.74780583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.938040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.38, Y:38.94, Z:1.76 [[ 5.89050239e-01 -8.06529117e-01 -5.03050694e-02 8.23813787e+01] [ 8.03873929e-01 5.91191304e-01 -6.54182582e-02 3.89441211e+01] [ 8.25016496e-02 -1.90429320e-03 9.96589109e-01 1.75650029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:38.97, Z:1.75 [[ 5.86354947e-01 -8.09111422e-01 -3.90715035e-02 8.23900411e+01] [ 8.06129600e-01 5.87577130e-01 -7.00584359e-02 3.89713114e+01] [ 7.96426026e-02 9.58241500e-03 9.96777424e-01 1.75093096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:38.98, Z:1.78 [[ 5.90397234e-01 -8.03254050e-01 -7.88291654e-02 8.24293768e+01] [ 8.02820726e-01 5.94508997e-01 -4.51434945e-02 3.89751345e+01] [ 8.31263428e-02 -3.66330935e-02 9.95865467e-01 1.77984302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:39.02, Z:1.76 [[ 5.87833450e-01 -8.07988739e-01 -4.00753490e-02 8.24217248e+01] [ 8.05068516e-01 5.89138317e-01 -6.91428096e-02 3.90152377e+01] [ 7.94765352e-02 8.38105455e-03 9.96801504e-01 1.76045927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:39.04, Z:1.76 [[ 5.87901265e-01 -8.07916089e-01 -4.05425194e-02 8.24355516e+01] [ 8.05250449e-01 5.89266283e-01 -6.58556174e-02 3.90369451e+01] [ 7.70961525e-02 6.06971890e-03 9.97005186e-01 1.75955746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.46, Y:39.05, Z:1.77 [[ 5.90249854e-01 -8.05321782e-01 -5.53347814e-02 8.24597127e+01] [ 8.03441792e-01 5.92729911e-01 -5.61474719e-02 3.90518190e+01] [ 7.80153622e-02 -1.13172389e-02 9.96887919e-01 1.76995028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:39.08, Z:1.77 [[ 5.92113621e-01 -8.04531103e-01 -4.61645375e-02 8.24694441e+01] [ 8.02020776e-01 5.93910237e-01 -6.35083114e-02 3.90784319e+01] [ 7.85120032e-02 5.79217994e-04 9.96913000e-01 1.76914542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.49, Y:39.10, Z:1.77 [[ 5.92087770e-01 -8.04539534e-01 -4.63487898e-02 8.24866765e+01] [ 8.02040851e-01 5.93899000e-01 -6.33596935e-02 3.91009892e+01] [ 7.85018781e-02 3.40876835e-04 9.96913907e-01 1.77159700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.49, Y:39.13, Z:1.76 [[ 5.89704270e-01 -8.06960063e-01 -3.26240665e-02 8.24943893e+01] [ 8.03787787e-01 5.90357732e-01 -7.35047015e-02 3.91321834e+01] [ 7.85752284e-02 1.71232101e-02 9.96761119e-01 1.76484690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.208040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.52, Y:39.15, Z:1.78 [[ 5.90258931e-01 -8.05594627e-01 -5.11047071e-02 8.25176845e+01] [ 8.03052416e-01 5.92458243e-01 -6.40316091e-02 3.91481675e+01] [ 8.18609252e-02 -3.24452937e-03 9.96638481e-01 1.77677297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:39.17, Z:1.79 [[ 5.89100158e-01 -8.05740432e-01 -6.11829955e-02 8.25366640e+01] [ 8.03732140e-01 5.92088932e-01 -5.86970503e-02 3.91667991e+01] [ 8.35203612e-02 -1.45962983e-02 9.96399166e-01 1.78784429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:39.20, Z:1.79 [[ 5.90173603e-01 -8.05366211e-01 -5.55012156e-02 8.25577363e+01] [ 8.02922953e-01 5.92732429e-01 -6.31110059e-02 3.91970517e+01] [ 8.37248419e-02 -7.31675019e-03 9.96462049e-01 1.78890041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:39.23, Z:1.79 [[ 5.84168790e-01 -8.10499728e-01 -4.28604223e-02 8.25587741e+01] [ 8.07281116e-01 5.85687097e-01 -7.25797730e-02 3.92253367e+01] [ 8.39286826e-02 7.79842857e-03 9.96441248e-01 1.78507870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.58, Y:39.24, Z:1.79 [[ 5.84402362e-01 -8.09879837e-01 -5.06806588e-02 8.25782267e+01] [ 8.07051906e-01 5.86594201e-01 -6.76347853e-02 3.92439392e+01] [ 8.45050294e-02 -1.37599397e-03 9.96422103e-01 1.79021452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:39.27, Z:1.79 [[ 5.82496450e-01 -8.11253822e-01 -5.06470333e-02 8.25916782e+01] [ 8.08431482e-01 5.84692082e-01 -6.76291898e-02 3.92670598e+01] [ 8.44773580e-02 -1.55089322e-03 9.96424192e-01 1.79186447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.388040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.60, Y:39.30, Z:1.78 [[ 5.82339932e-01 -8.12448008e-01 -2.84330420e-02 8.25982914e+01] [ 8.09011520e-01 5.82604014e-01 -7.79289615e-02 3.93008675e+01] [ 7.98784339e-02 2.23784876e-02 9.96553380e-01 1.77792992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.64, Y:39.31, Z:1.81 [[ 5.84067910e-01 -8.08413510e-01 -7.30224178e-02 8.26408101e+01] [ 8.06960672e-01 5.88011992e-01 -5.52844626e-02 3.93100374e+01] [ 8.76307638e-02 -2.66363388e-02 9.95796844e-01 1.80501065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:39.34, Z:1.78 [[ 5.80227875e-01 -8.13681579e-01 -3.54669028e-02 8.26291634e+01] [ 8.10699158e-01 5.81181671e-01 -7.06734780e-02 3.93425199e+01] [ 7.81184210e-02 1.22537338e-02 9.96868777e-01 1.78411307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.69, Y:39.35, Z:1.83 [[ 5.83907763e-01 -8.06539574e-01 -9.24426315e-02 8.26853708e+01] [ 8.06278672e-01 5.89432018e-01 -4.98457570e-02 3.93503916e+01] [ 9.46912225e-02 -4.54291977e-02 9.94469587e-01 1.82569484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:39.40, Z:1.78 [[ 5.76057905e-01 -8.17308338e-01 -1.28207304e-02 8.26501455e+01] [ 8.13316116e-01 5.74670666e-01 -9.09424052e-02 3.94023217e+01] [ 8.16956837e-02 4.19607848e-02 9.95773623e-01 1.78277319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:39.41, Z:1.79 [[ 5.74696617e-01 -8.17291240e-01 -4.19383719e-02 8.26824273e+01] [ 8.14342885e-01 5.76195116e-01 -6.96049818e-02 3.94136904e+01] [ 8.10522270e-02 5.84953279e-03 9.96692691e-01 1.79354026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.71, Y:39.42, Z:1.81 [[ 5.76533410e-01 -8.13632741e-01 -7.49065430e-02 8.27146816e+01] [ 8.13392550e-01 5.80211469e-01 -4.17996531e-02 3.94184058e+01] [ 7.74712017e-02 -3.68295275e-02 9.96314107e-01 1.81176834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.598040942 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:82.71, Y:39.45, Z:1.81 [[ 5.73623892e-01 -8.17378309e-01 -5.33697549e-02 8.27147589e+01] [ 8.14677545e-01 5.76077138e-01 -6.66005189e-02 3.94548204e+01] [ 8.51829152e-02 -5.27549204e-03 9.96351364e-01 1.81066820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.72, Y:39.48, Z:1.81 [[ 5.72583559e-01 -8.18741405e-01 -4.25509028e-02 8.27238613e+01] [ 8.15171661e-01 5.74085967e-01 -7.69445587e-02 3.94849242e+01] [ 8.74255723e-02 9.37089922e-03 9.96126978e-01 1.80937821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.658040942 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:82.75, Y:39.50, Z:1.82 [[ 5.75613611e-01 -8.15423277e-01 -6.12686752e-02 8.27486844e+01] [ 8.13520076e-01 5.78632019e-01 -5.80523166e-02 3.94952267e+01] [ 8.27892275e-02 -1.64275938e-02 9.96431673e-01 1.81750610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:39.53, Z:1.81 [[ 5.79150919e-01 -8.14167884e-01 -4.14109823e-02 8.27519612e+01] [ 8.10703149e-01 5.80538359e-01 -7.57338644e-02 3.95265162e+01] [ 8.57007439e-02 1.02893234e-02 9.96267791e-01 1.81284947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:39.55, Z:1.82 [[ 5.79176587e-01 -8.13766919e-01 -4.83516636e-02 8.27725125e+01] [ 8.10488625e-01 5.81183026e-01 -7.30375119e-02 3.95491119e+01] [ 8.75366772e-02 3.11314351e-03 9.96156433e-01 1.81739445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:39.57, Z:1.82 [[ 5.80839751e-01 -8.12321394e-01 -5.25274775e-02 8.27898734e+01] [ 8.09170672e-01 5.83209212e-01 -7.14831315e-02 3.95715083e+01] [ 8.87017858e-02 -9.83450046e-04 9.96057742e-01 1.82077231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:39.59, Z:1.82 [[ 5.82441359e-01 -8.11055167e-01 -5.43284380e-02 8.28068732e+01] [ 8.08033605e-01 5.84961349e-01 -7.00136685e-02 3.95925554e+01] [ 8.85649840e-02 -3.12034739e-03 9.96065513e-01 1.82378381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808040942 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:82.82, Y:39.62, Z:1.83 [[ 5.82752018e-01 -8.10903087e-01 -5.32566410e-02 8.28213653e+01] [ 8.07729488e-01 5.85179150e-01 -7.16828873e-02 3.96151370e+01] [ 8.92925505e-02 -1.24361220e-03 9.96004666e-01 1.82622804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:39.64, Z:1.83 [[ 5.84055896e-01 -8.10222827e-01 -4.91699332e-02 8.28347562e+01] [ 8.06735185e-01 5.86106469e-01 -7.52166710e-02 3.96398662e+01] [ 8.97610797e-02 4.26362499e-03 9.95954201e-01 1.82823745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:39.66, Z:1.83 [[ 5.83334923e-01 -8.10333502e-01 -5.54975860e-02 8.28552341e+01] [ 8.07420364e-01 5.85950331e-01 -6.88081744e-02 3.96601186e+01] [ 8.82763978e-02 -4.67166991e-03 9.96085063e-01 1.83265166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:39.69, Z:1.84 [[ 5.86707140e-01 -8.07992836e-01 -5.40583844e-02 8.28810445e+01] [ 8.04879202e-01 5.89189187e-01 -7.08912716e-02 3.96858803e+01] [ 8.91302551e-02 -1.91805411e-03 9.96018132e-01 1.83728676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.89, Y:39.72, Z:1.83 [[ 5.82239297e-01 -8.12130332e-01 -3.79700526e-02 8.28872172e+01] [ 8.08617748e-01 5.83308684e-01 -7.67353717e-02 3.97163166e+01] [ 8.44673843e-02 1.39750905e-02 9.96328238e-01 1.82678207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:39.73, Z:1.84 [[ 5.83240444e-01 -8.10196641e-01 -5.84122228e-02 8.29184741e+01] [ 8.07702700e-01 5.86077875e-01 -6.42578538e-02 3.97314848e+01] [ 8.62956088e-02 -9.70193090e-03 9.96222335e-01 1.84132120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.93, Y:39.76, Z:1.84 [[ 5.82232311e-01 -8.11639339e-01 -4.74037919e-02 8.29284939e+01] [ 8.08687944e-01 5.84155632e-01 -6.91809754e-02 3.97569471e+01] [ 8.38411932e-02 1.94452420e-03 9.96477232e-01 1.83815852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.95, Y:39.78, Z:1.85 [[ 5.83656760e-01 -8.09715523e-01 -6.08733016e-02 8.29543372e+01] [ 8.07320117e-01 5.86697121e-01 -6.34091152e-02 3.97751039e+01] [ 8.70575357e-02 -1.21350823e-02 9.96129372e-01 1.85044812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.97, Y:39.80, Z:1.86 [[ 5.85230839e-01 -8.08079149e-01 -6.71785291e-02 8.29742436e+01] [ 8.05806199e-01 5.88820596e-01 -6.29815515e-02 3.97951320e+01] [ 9.04501801e-02 -1.72741290e-02 9.95751158e-01 1.85670397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.97, Y:39.82, Z:1.85 [[ 5.80316645e-01 -8.13224714e-01 -4.35678264e-02 8.29662020e+01] [ 8.09749233e-01 5.81886406e-01 -7.55935799e-02 3.98232669e+01] [ 8.68260934e-02 8.58919864e-03 9.96186456e-01 1.84629718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.99, Y:39.84, Z:1.85 [[ 5.80647697e-01 -8.12490012e-01 -5.20406866e-02 8.29875328e+01] [ 8.09436043e-01 5.82973769e-01 -7.03908917e-02 3.98422549e+01] [ 8.75302517e-02 -1.25129827e-03 9.96161076e-01 1.85102230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:39.86, Z:1.85 [[ 5.81818802e-01 -8.11578379e-01 -5.31734550e-02 8.30047292e+01] [ 8.08382069e-01 5.84242497e-01 -7.19662064e-02 3.98630909e+01] [ 8.94724093e-02 -1.11317558e-03 9.95988679e-01 1.85272904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:39.88, Z:1.86 [[ 5.82439497e-01 -8.11095471e-01 -5.37435488e-02 8.30225921e+01] [ 8.07825754e-01 5.84912869e-01 -7.27632253e-02 3.98849657e+01] [ 9.04532159e-02 -1.03524648e-03 9.95900168e-01 1.85517903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.04, Y:39.91, Z:1.86 [[ 5.83761969e-01 -8.10110760e-01 -5.42450047e-02 8.30412618e+01] [ 8.06771391e-01 5.86276222e-01 -7.34854685e-02 3.99056243e+01] [ 9.13339251e-02 -8.65296192e-04 9.95819946e-01 1.85773181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.10, Y:39.91, Z:1.89 [[ 5.90819005e-01 -8.00393355e-01 -1.01505563e-01 8.30955628e+01] [ 8.00322282e-01 5.97331298e-01 -5.17645219e-02 3.99118496e+01] [ 1.02064429e-01 -5.06537004e-02 9.93487320e-01 1.89234105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:39.97, Z:1.85 [[ 5.87677775e-01 -8.08926268e-01 -1.65265491e-02 8.30609080e+01] [ 8.03399679e-01 5.85838565e-01 -1.06499444e-01 3.99683901e+01] [ 9.58320874e-02 4.93099320e-02 9.94175408e-01 1.84966378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.10, Y:39.96, Z:1.87 [[ 5.86725520e-01 -8.07256958e-01 -6.39481683e-02 8.31001484e+01] [ 8.04753952e-01 5.90048546e-01 -6.49137091e-02 3.99628219e+01] [ 9.01345670e-02 -1.33760114e-02 9.95839767e-01 1.86826469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:39.99, Z:1.87 [[ 5.86313097e-01 -8.08684009e-01 -4.76143552e-02 8.31084999e+01] [ 8.04815679e-01 5.88185412e-01 -7.94332716e-02 3.99921318e+01] [ 9.22424857e-02 8.25198787e-03 9.95702380e-01 1.86508461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:40.00, Z:1.88 [[ 5.87868977e-01 -8.05996628e-01 -6.91339395e-02 8.31446968e+01] [ 8.03496708e-01 5.91677367e-01 -6.56577036e-02 4.00048863e+01] [ 9.38248751e-02 -1.69507658e-02 9.95444405e-01 1.87627045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.15, Y:40.03, Z:1.87 [[ 5.83528709e-01 -8.10254458e-01 -5.46073153e-02 8.31536970e+01] [ 8.07003573e-01 5.86075650e-01 -7.25297605e-02 4.00328252e+01] [ 9.07715796e-02 -1.74510106e-03 9.95870210e-01 1.86963394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.17, Y:40.05, Z:1.87 [[ 5.78368376e-01 -8.13984011e-01 -5.40375006e-02 8.31711867e+01] [ 8.11004673e-01 5.80876552e-01 -6.96695887e-02 4.00519331e+01] [ 8.80990483e-02 -3.52997865e-03 9.96105465e-01 1.86886913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:40.08, Z:1.87 [[ 5.80641959e-01 -8.13360706e-01 -3.60454820e-02 8.31828437e+01] [ 8.09215972e-01 5.81422025e-01 -8.43678827e-02 4.00840915e+01] [ 8.95791578e-02 1.98189529e-02 9.95782498e-01 1.86856152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.21, Y:40.10, Z:1.87 [[ 5.77805725e-01 -8.14422039e-01 -5.34536007e-02 8.32073073e+01] [ 8.11492039e-01 5.80262754e-01 -6.91072107e-02 4.00955759e+01] [ 8.72995690e-02 -3.44662943e-03 9.96176142e-01 1.87253343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:40.12, Z:1.88 [[ 5.77991514e-01 -8.14660380e-01 -4.74792179e-02 8.32279297e+01] [ 8.11176325e-01 5.79916022e-01 -7.54345838e-02 4.01199044e+01] [ 8.89875259e-02 5.08653175e-03 9.96019753e-01 1.87588916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.26, Y:40.14, Z:1.89 [[ 5.78940287e-01 -8.12939737e-01 -6.29057077e-02 8.32568096e+01] [ 8.10203299e-01 5.82228580e-01 -6.76793590e-02 4.01353987e+01] [ 9.16447411e-02 -1.17841043e-02 9.95722038e-01 1.88731265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.26, Y:40.17, Z:1.88 [[ 5.79060966e-01 -8.14300676e-01 -4.00350674e-02 8.32629054e+01] [ 8.10441105e-01 5.80271189e-01 -8.04398017e-02 4.01654878e+01] [ 8.87333811e-02 1.41334849e-02 9.95955135e-01 1.87616613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.29, Y:40.18, Z:1.89 [[ 5.80781588e-01 -8.11999536e-01 -5.78748778e-02 8.32904151e+01] [ 8.09045419e-01 5.83622349e-01 -6.95015388e-02 4.01786868e+01] [ 9.02122894e-02 -6.45819065e-03 9.95901619e-01 1.88622793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:40.20, Z:1.89 [[ 5.82017720e-01 -8.11365215e-01 -5.42389216e-02 8.33058543e+01] [ 8.08104084e-01 5.84537563e-01 -7.26885605e-02 4.02013895e+01] [ 9.06816566e-02 -1.52466384e-03 9.95878764e-01 1.88613609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:40.22, Z:1.89 [[ 5.84630454e-01 -8.09472886e-01 -5.44139592e-02 8.33271022e+01] [ 8.06100196e-01 5.87156835e-01 -7.38195395e-02 4.02215598e+01] [ 9.17044437e-02 -7.05952294e-04 9.95786020e-01 1.88798467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.34, Y:40.25, Z:1.88 [[ 5.84954429e-01 -8.09719993e-01 -4.67102724e-02 8.33412764e+01] [ 8.05911261e-01 5.86754711e-01 -7.89046811e-02 4.02473347e+01] [ 9.12981702e-02 8.51130815e-03 9.95787227e-01 1.88463132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:40.25, Z:1.91 [[ 5.88873356e-01 -8.03647098e-01 -8.59040863e-02 8.33858553e+01] [ 8.01895732e-01 5.94228002e-01 -6.20992398e-02 4.02510189e+01] [ 1.00952487e-01 -3.23175324e-02 9.94366216e-01 1.91089624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:40.28, Z:1.90 [[ 5.89466031e-01 -8.05756917e-01 -5.73200626e-02 8.33895923e+01] [ 8.01521269e-01 5.92240148e-01 -8.25546040e-02 4.02828046e+01] [ 1.00466186e-01 2.71988549e-03 9.94936756e-01 1.90222737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:40.31, Z:1.89 [[ 5.88912902e-01 -8.07251996e-01 -3.90615967e-02 8.33937061e+01] [ 8.02481335e-01 5.89802686e-01 -9.03133398e-02 4.03104533e+01] [ 9.59442585e-02 2.18404888e-02 9.95147071e-01 1.88933442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.43, Y:40.32, Z:1.91 [[ 5.91548434e-01 -8.03746752e-01 -6.37307536e-02 8.34257252e+01] [ 8.00347124e-01 5.94928954e-01 -7.41890902e-02 4.03224488e+01] [ 9.75445109e-02 -7.12028522e-03 9.95205692e-01 1.90580116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:40.34, Z:1.92 [[ 5.93054747e-01 -8.01654132e-01 -7.50780911e-02 8.34502009e+01] [ 7.99112378e-01 5.97443434e-01 -6.69384087e-02 4.03396203e+01] [ 9.85163645e-02 -2.02976908e-02 9.94928404e-01 1.91845651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:40.38, Z:1.90 [[ 5.91212687e-01 -8.05434278e-01 -4.17514341e-02 8.34455970e+01] [ 8.01147721e-01 5.92453047e-01 -8.46269227e-02 4.03760373e+01] [ 9.28971887e-02 1.65834441e-02 9.95537594e-01 1.90223054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.46, Y:40.40, Z:1.90 [[ 5.88005004e-01 -8.07755072e-01 -4.22120699e-02 8.34629220e+01] [ 8.03826796e-01 5.89363059e-01 -8.07072932e-02 4.04015557e+01] [ 9.00699601e-02 1.35250994e-02 9.95843599e-01 1.90218153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:40.41, Z:1.93 [[ 5.89679156e-01 -8.03103307e-01 -8.54609407e-02 8.35067544e+01] [ 8.01705262e-01 5.94863312e-01 -5.83636328e-02 4.04093019e+01] [ 9.77096047e-02 -3.40986681e-02 9.94630642e-01 1.93252496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.50, Y:40.44, Z:1.92 [[ 5.88488103e-01 -8.06778697e-01 -5.28193743e-02 8.35038888e+01] [ 8.02637594e-01 5.90825579e-01 -8.18414818e-02 4.04416141e+01] [ 9.72350015e-02 5.76792293e-03 9.95244737e-01 1.92293693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.53, Y:40.46, Z:1.93 [[ 5.84926883e-01 -8.08576968e-01 -6.37481645e-02 8.35288959e+01] [ 8.05445343e-01 5.88315354e-01 -7.17136227e-02 4.04626758e+01] [ 9.54900076e-02 -9.39843644e-03 9.95386020e-01 1.93088180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.53, Y:40.49, Z:1.91 [[ 5.80809837e-01 -8.13109861e-01 -3.88881444e-02 8.35269204e+01] [ 8.08790809e-01 5.81822261e-01 -8.56754557e-02 4.04922547e+01] [ 9.22895459e-02 1.83087736e-02 9.95563875e-01 1.91418179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.55, Y:40.51, Z:1.92 [[ 5.80389176e-01 -8.12474852e-01 -5.50728584e-02 8.35521820e+01] [ 8.09092688e-01 5.82994132e-01 -7.40733685e-02 4.05085495e+01] [ 9.22899023e-02 -1.56766577e-03 9.95730946e-01 1.92302735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:40.53, Z:1.93 [[ 5.78895985e-01 -8.13361295e-01 -5.76440942e-02 8.35702651e+01] [ 8.10399797e-01 5.81723678e-01 -6.96400106e-02 4.05280141e+01] [ 9.01754237e-02 -6.40043963e-03 9.95905331e-01 1.92579945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:40.55, Z:1.92 [[ 5.75265297e-01 -8.16303531e-01 -5.21381185e-02 8.35800714e+01] [ 8.13047635e-01 5.77622978e-01 -7.28370715e-02 4.05509720e+01] [ 8.95733339e-02 -4.90134421e-04 9.95980109e-01 1.92157555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:40.57, Z:1.94 [[ 5.77515651e-01 -8.13414112e-01 -6.95208930e-02 8.36108740e+01] [ 8.10653118e-01 5.81450261e-01 -6.89718476e-02 4.05703759e+01] [ 9.65256156e-02 -1.65250073e-02 9.95193313e-01 1.94130135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:40.61, Z:1.92 [[ 5.74221369e-01 -8.18179061e-01 -2.92034927e-02 8.35998862e+01] [ 8.13570913e-01 5.74247340e-01 -9.13365316e-02 4.06100104e+01] [ 9.14996656e-02 2.86882760e-02 9.95391779e-01 1.91703166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:40.62, Z:1.93 [[ 5.73468532e-01 -8.17573780e-01 -5.20284309e-02 8.36285729e+01] [ 8.14165390e-01 5.75823713e-01 -7.45772667e-02 4.06248585e+01] [ 9.09316221e-02 4.07967875e-04 9.95857055e-01 1.92801705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.65, Y:40.65, Z:1.93 [[ 5.73784353e-01 -8.17130926e-01 -5.53946398e-02 8.36458892e+01] [ 8.13969482e-01 5.76439414e-01 -7.19116415e-02 4.06456333e+01] [ 9.06928799e-02 -3.82777165e-03 9.95871553e-01 1.93234497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.66, Y:40.67, Z:1.93 [[ 5.74400436e-01 -8.16927160e-01 -5.19052455e-02 8.36588136e+01] [ 8.13481378e-01 5.76740256e-01 -7.49581526e-02 4.06690669e+01] [ 9.11711953e-02 8.32044874e-04 9.95834886e-01 1.93347757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:40.70, Z:1.94 [[ 5.73833867e-01 -8.17431673e-01 -5.02011189e-02 8.36756918e+01] [ 8.13893653e-01 5.76018933e-01 -7.60217788e-02 4.06953672e+01] [ 9.10594048e-02 2.76549932e-03 9.95841622e-01 1.93566746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.69, Y:40.72, Z:1.93 [[ 5.72380505e-01 -8.18651695e-01 -4.67970052e-02 8.36890224e+01] [ 8.15315871e-01 5.74275200e-01 -7.39460915e-02 4.07194188e+01] [ 8.74104527e-02 4.17096010e-03 9.96163649e-01 1.93378328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:40.74, Z:1.94 [[ 5.71328780e-01 -8.19386865e-01 -4.67823644e-02 8.37043175e+01] [ 8.16291025e-01 5.73235510e-01 -7.12040201e-02 4.07425041e+01] [ 8.51609514e-02 2.49288183e-03 9.96364089e-01 1.93563893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.72, Y:40.77, Z:1.94 [[ 5.71440623e-01 -8.19279656e-01 -4.72912185e-02 8.37198298e+01] [ 8.16020727e-01 5.73385410e-01 -7.30708171e-02 4.07662462e+01] [ 8.69815286e-02 3.16501872e-03 9.96204897e-01 1.93830046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:40.79, Z:1.94 [[ 5.70814069e-01 -8.19403356e-01 -5.24350939e-02 8.37400992e+01] [ 8.16299388e-01 5.73213469e-01 -7.12855420e-02 4.07885463e+01] [ 8.84681143e-02 -2.11194472e-03 9.96076770e-01 1.94422690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.76, Y:40.81, Z:1.95 [[ 5.69720830e-01 -8.20212032e-01 -5.16759061e-02 8.37550294e+01] [ 8.16871161e-01 5.72059627e-01 -7.39546449e-02 4.08118777e+01] [ 9.02201891e-02 -7.90557856e-05 9.95921840e-01 1.94731453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:40.84, Z:1.95 [[ 5.69269990e-01 -8.20674769e-01 -4.92402610e-02 8.37688761e+01] [ 8.17359076e-01 5.71393011e-01 -7.37168007e-02 4.08351693e+01] [ 8.86330594e-02 1.71778806e-03 9.96062864e-01 1.94723360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:40.85, Z:1.96 [[ 5.70844259e-01 -8.18324149e-01 -6.69508735e-02 8.37978927e+01] [ 8.16045544e-01 5.74466493e-01 -6.37017912e-02 4.08495321e+01] [ 9.05897475e-02 -1.82711602e-02 9.95720675e-01 1.96353797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:40.88, Z:1.96 [[ 5.71313728e-01 -8.19045349e-01 -5.25865006e-02 8.38061576e+01] [ 8.15662590e-01 5.73728637e-01 -7.43639033e-02 4.08776150e+01] [ 9.10777905e-02 -4.07722470e-04 9.95843698e-01 1.96024608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:40.89, Z:1.99 [[ 5.74196961e-01 -8.14559615e-01 -8.24043928e-02 8.38433572e+01] [ 8.12611233e-01 5.79290097e-01 -6.39215731e-02 4.08904577e+01] [ 9.98039807e-02 -3.02591622e-02 9.94546906e-01 1.98764208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:40.93, Z:1.97 [[ 5.73509965e-01 -8.18096109e-01 -4.24861862e-02 8.38350462e+01] [ 8.13584580e-01 5.74874497e-01 -8.71747879e-02 4.09286938e+01] [ 9.57415797e-02 1.54295036e-02 9.95286632e-01 1.96576359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.85, Y:40.94, Z:1.97 [[ 5.74472748e-01 -8.16740034e-01 -5.40072095e-02 8.38533145e+01] [ 8.12825041e-01 5.77002351e-01 -7.98983144e-02 4.09431536e+01] [ 9.64184388e-02 2.00099197e-03 9.95338877e-01 1.96939396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.88, Y:40.96, Z:1.98 [[ 5.75089659e-01 -8.15615496e-01 -6.35865334e-02 8.38777721e+01] [ 8.12619852e-01 5.78489510e-01 -7.07026363e-02 4.09628871e+01] [ 9.44503084e-02 -1.10113244e-02 9.95468679e-01 1.97851168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.89, Y:40.98, Z:1.99 [[ 5.75004264e-01 -8.15619109e-01 -6.43083621e-02 8.38915285e+01] [ 8.12570192e-01 5.78480204e-01 -7.13466007e-02 4.09828383e+01] [ 9.53927653e-02 -1.12304584e-02 9.95376360e-01 1.98500160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:41.01, Z:1.97 [[ 5.70359698e-01 -8.19907008e-01 -4.94197698e-02 8.38965191e+01] [ 8.16381646e-01 5.72488823e-01 -7.60102376e-02 4.10116154e+01] [ 9.06135923e-02 3.00778319e-03 9.95881584e-01 1.97262222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:41.04, Z:1.98 [[ 5.73827304e-01 -8.17587190e-01 -4.76803077e-02 8.39164704e+01] [ 8.13349510e-01 5.75731051e-01 -8.36440745e-02 4.10387118e+01] [ 9.58373575e-02 9.21649885e-03 9.95354337e-01 1.98264300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.758040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.94, Y:41.06, Z:1.99 [[ 5.71302990e-01 -8.18955573e-01 -5.40801561e-02 8.39355252e+01] [ 8.15163141e-01 5.73856229e-01 -7.87279026e-02 4.10611289e+01] [ 9.55088890e-02 8.93336215e-04 9.95428176e-01 1.98733357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.96, Y:41.07, Z:1.99 [[ 5.70961861e-01 -8.18204651e-01 -6.74069875e-02 8.39563212e+01] [ 8.15512423e-01 5.74703943e-01 -6.82265857e-02 4.10741942e+01] [ 9.45623712e-02 -1.60164574e-02 9.95390090e-01 1.98878271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.96, Y:41.11, Z:1.98 [[ 5.71688040e-01 -8.19598543e-01 -3.78287231e-02 8.39552843e+01] [ 8.15373987e-01 5.72663603e-01 -8.49803438e-02 4.11081976e+01] [ 9.13128988e-02 1.77376894e-02 9.95664265e-01 1.98485647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:41.13, Z:1.99 [[ 5.70433947e-01 -8.19947027e-01 -4.78746839e-02 8.39790771e+01] [ 8.16193025e-01 5.72410517e-01 -7.85820959e-02 4.11307310e+01] [ 9.18371285e-02 5.75091208e-03 9.95757435e-01 1.99238764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:41.14, Z:2.00 [[ 5.73494405e-01 -8.16273396e-01 -6.92958219e-02 8.40048888e+01] [ 8.13851890e-01 5.77360147e-01 -6.55771528e-02 4.11375152e+01] [ 9.35375311e-02 -1.87884054e-02 9.95438459e-01 1.99805224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.01, Y:41.18, Z:2.00 [[ 5.65642332e-01 -8.22642144e-01 -5.75209172e-02 8.40146406e+01] [ 8.19004039e-01 5.68549601e-01 -7.73546088e-02 4.11753281e+01] [ 9.63386557e-02 -3.35482214e-03 9.95342960e-01 1.99964997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.938040942 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:84.01, Y:41.19, Z:2.01 [[ 5.69380359e-01 -8.20966267e-01 -4.26660955e-02 8.40113890e+01] [ 8.16274947e-01 5.70755643e-01 -8.90685520e-02 4.11944845e+01] [ 9.74741914e-02 1.58866193e-02 9.95111249e-01 2.00597766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:41.22, Z:2.01 [[ 5.67583221e-01 -8.20457712e-01 -6.85450946e-02 8.40498849e+01] [ 8.17181740e-01 5.71542609e-01 -7.45187875e-02 4.12167121e+01] [ 1.00315956e-01 -1.37181862e-02 9.94861056e-01 2.01017568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:41.23, Z:2.04 [[ 5.72949024e-01 -8.15594704e-01 -8.08374548e-02 8.40780610e+01] [ 8.13341571e-01 5.77964768e-01 -6.65748879e-02 4.12337802e+01] [ 1.01019327e-01 -2.76044454e-02 9.94501428e-01 2.03560905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.028040942 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:84.06, Y:41.28, Z:2.02 [[ 5.68528699e-01 -8.21799546e-01 -3.76911761e-02 8.40591635e+01] [ 8.16568761e-01 5.69290792e-01 -9.55167643e-02 4.12761550e+01] [ 9.99528730e-02 2.35265847e-02 9.94713991e-01 2.02065081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:41.30, Z:2.01 [[ 5.70494580e-01 -8.20593852e-01 -3.40832008e-02 8.40782413e+01] [ 8.16135159e-01 5.71064980e-01 -8.83639618e-02 4.12970016e+01] [ 9.19746462e-02 2.25946628e-02 9.95504970e-01 2.00986316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088040942 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:84.11, Y:41.31, Z:2.04 [[ 5.71604472e-01 -8.16794492e-01 -7.81990101e-02 8.41112658e+01] [ 8.14380869e-01 5.76384090e-01 -6.75661188e-02 4.13068031e+01] [ 1.00260299e-01 -2.50626822e-02 9.94645532e-01 2.04396150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.118040942 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:84.12, Y:41.34, Z:2.04 [[ 5.72130201e-01 -8.18295978e-01 -5.53057425e-02 8.41150287e+01] [ 8.14100134e-01 5.74792308e-01 -8.27935691e-02 4.13395852e+01] [ 9.95389599e-02 2.34428902e-03 9.95030904e-01 2.03842181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.148040942 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:84.13, Y:41.36, Z:2.04 [[ 5.72594857e-01 -8.17818905e-01 -5.75097306e-02 8.41321942e+01] [ 8.13786936e-01 5.75475552e-01 -8.11092600e-02 4.13626475e+01] [ 9.94281301e-02 -3.57922290e-04 9.95044682e-01 2.04275115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.15, Y:41.39, Z:2.05 [[ 5.74137166e-01 -8.16887387e-01 -5.53309286e-02 8.41487748e+01] [ 8.12738931e-01 5.76792782e-01 -8.22527603e-02 4.13873666e+01] [ 9.91057227e-02 2.25476696e-03 9.95074355e-01 2.04552657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.208040942 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:84.17, Y:41.40, Z:2.05 [[ 5.71801263e-01 -8.16723652e-01 -7.74970411e-02 8.41712850e+01] [ 8.14585640e-01 5.76434448e-01 -6.46031051e-02 4.14004901e+01] [ 9.74348480e-02 -2.61878397e-02 9.94897305e-01 2.04831860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:41.46, Z:2.03 [[ 5.75902514e-01 -8.17504593e-01 -4.74711177e-03 8.41566164e+01] [ 8.11467236e-01 5.72335338e-01 -1.18123603e-01 4.14570023e+01] [ 9.92835277e-02 6.41755543e-02 9.92987552e-01 2.03498191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.268040942 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:84.21, Y:41.44, Z:2.08 [[ 5.74366374e-01 -8.12698749e-01 -9.81020483e-02 8.42135537e+01] [ 8.11755272e-01 5.80923453e-01 -5.98441222e-02 4.14419875e+01] [ 1.05625024e-01 -4.52624035e-02 9.93375392e-01 2.07856172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.298040942 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:84.21, Y:41.48, Z:2.06 [[ 5.72848085e-01 -8.17476668e-01 -5.98077659e-02 8.42076706e+01] [ 8.13387523e-01 5.75958730e-01 -8.16840143e-02 4.14794100e+01] [ 1.01221581e-01 -1.85435940e-03 9.94862178e-01 2.06352363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.328040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.22, Y:41.51, Z:2.06 [[ 5.71327711e-01 -8.18636968e-01 -5.84650498e-02 8.42223586e+01] [ 8.13887594e-01 5.74304765e-01 -8.80966538e-02 4.15064213e+01] [ 1.05695934e-01 2.74808081e-03 9.94394699e-01 2.06484669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.358040942 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:84.24, Y:41.53, Z:2.07 [[ 5.66599705e-01 -8.21659477e-01 -6.19715904e-02 8.42357878e+01] [ 8.17004837e-01 5.69977541e-01 -8.73424265e-02 4.15288520e+01] [ 1.07088147e-01 -1.14289601e-03 9.94248874e-01 2.06823204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.388040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.24, Y:41.57, Z:2.05 [[ 5.66924574e-01 -8.23429201e-01 -2.36828656e-02 8.42376611e+01] [ 8.17835979e-01 5.66052746e-01 -1.03578959e-01 4.15672198e+01] [ 9.86956905e-02 3.93527576e-02 9.94339238e-01 2.04822498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.418040942 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:84.29, Y:41.55, Z:2.09 [[ 5.61200470e-01 -8.19909726e-01 -1.13146247e-01 8.42903338e+01] [ 8.21536777e-01 5.68430303e-01 -4.43205933e-02 4.15505509e+01] [ 1.00654641e-01 -6.80810653e-02 9.92589347e-01 2.09066010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.28, Y:41.61, Z:2.07 [[ 5.67355991e-01 -8.22936448e-01 -2.97116429e-02 8.42755655e+01] [ 8.17322229e-01 5.67153391e-01 -1.01594317e-01 4.16092257e+01] [ 1.00456726e-01 3.33561584e-02 9.94382126e-01 2.06692819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.31, Y:41.61, Z:2.09 [[ 5.62418849e-01 -8.23649476e-01 -7.27088655e-02 8.43057713e+01] [ 8.20341157e-01 5.66842216e-01 -7.56986675e-02 4.16134338e+01] [ 1.03563622e-01 -1.70717174e-02 9.94476311e-01 2.08824421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:41.66, Z:2.06 [[ 5.57940463e-01 -8.29330778e-01 -3.02142611e-02 8.43009658e+01] [ 8.23928746e-01 5.57924182e-01 -9.93077430e-02 4.16572950e+01] [ 9.92162347e-02 3.05134098e-02 9.94597944e-01 2.06218201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:41.67, Z:2.07 [[ 5.58940473e-01 -8.28285930e-01 -3.90891997e-02 8.43208879e+01] [ 8.23420369e-01 5.59982133e-01 -9.16455450e-02 4.16725868e+01] [ 9.77979690e-02 1.90375610e-02 9.95024185e-01 2.07025725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.568040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.35, Y:41.69, Z:2.08 [[ 5.56433986e-01 -8.28113084e-01 -6.78965356e-02 8.43532848e+01] [ 8.25206052e-01 5.60321435e-01 -7.12380693e-02 4.16861269e+01] [ 9.70370615e-02 -1.63893492e-02 9.95145817e-01 2.08438435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.37, Y:41.71, Z:2.09 [[ 5.54896090e-01 -8.29760804e-01 -5.98943914e-02 8.43657062e+01] [ 8.25889921e-01 5.58097142e-01 -8.02085928e-02 4.17146827e+01] [ 9.99808351e-02 -4.95873965e-03 9.94977007e-01 2.08674447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:41.74, Z:2.09 [[ 5.53162496e-01 -8.31273396e-01 -5.47338541e-02 8.43765693e+01] [ 8.27191991e-01 5.55863730e-01 -8.22734663e-02 4.17392814e+01] [ 9.88163080e-02 2.35190231e-04 9.95105664e-01 2.08552278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.658040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.39, Y:41.77, Z:2.09 [[ 5.51118221e-01 -8.32884621e-01 -5.07140420e-02 8.43904536e+01] [ 8.28454013e-01 5.53420696e-01 -8.59620940e-02 4.17681902e+01] [ 9.96627066e-02 5.36102471e-03 9.95006836e-01 2.08674850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:41.79, Z:2.09 [[ 5.48954798e-01 -8.33863467e-01 -5.76224639e-02 8.44046423e+01] [ 8.30126730e-01 5.51952601e-01 -7.89806216e-02 4.17873020e+01] [ 9.76639238e-02 -4.47715634e-03 9.95209382e-01 2.08948915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.43, Y:41.81, Z:2.10 [[ 5.49735612e-01 -8.33243747e-01 -5.91237313e-02 8.44251351e+01] [ 8.29205749e-01 5.52891846e-01 -8.20270176e-02 4.18141645e+01] [ 1.01037528e-01 -3.93256523e-03 9.94874843e-01 2.09726274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:41.82, Z:2.10 [[ 5.52379769e-01 -8.29748488e-01 -7.99627280e-02 8.44484293e+01] [ 8.27831959e-01 5.57290648e-01 -6.41979901e-02 4.18220833e+01] [ 9.78306657e-02 -3.07340308e-02 9.94728395e-01 2.10027466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:41.86, Z:2.12 [[ 5.51317035e-01 -8.31931094e-01 -6.27708615e-02 8.44609971e+01] [ 8.27139739e-01 5.54872177e-01 -8.92004474e-02 4.18588611e+01] [ 1.09038430e-01 -2.74254785e-03 9.94033752e-01 2.11636628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.48, Y:41.89, Z:2.12 [[ 5.49636337e-01 -8.33087244e-01 -6.21734756e-02 8.44776118e+01] [ 8.27971272e-01 5.53141023e-01 -9.21877512e-02 4.18857704e+01] [ 1.11191139e-01 -8.08113739e-04 9.93798711e-01 2.11990265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:41.91, Z:2.12 [[ 5.49639208e-01 -8.32052664e-01 -7.47335663e-02 8.44962470e+01] [ 8.28245809e-01 5.54430200e-01 -8.13390029e-02 4.19062739e+01] [ 1.09112880e-01 -1.71906580e-02 9.93880707e-01 2.12422881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:41.94, Z:2.12 [[ 5.48326791e-01 -8.33897642e-01 -6.28685401e-02 8.45041872e+01] [ 8.28828247e-01 5.51916333e-01 -9.18264545e-02 4.19364562e+01] [ 1.11272038e-01 -1.75631679e-03 9.93788433e-01 2.12247562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:41.95, Z:2.14 [[ 5.49708533e-01 -8.30293504e-01 -9.18325988e-02 8.45370809e+01] [ 8.27150227e-01 5.56380577e-01 -7.91400948e-02 4.19547923e+01] [ 1.16803381e-01 -3.24553695e-02 9.92624611e-01 2.14213140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.53, Y:41.98, Z:2.13 [[ 5.55757699e-01 -8.29146176e-01 -6.04152201e-02 8.45298999e+01] [ 8.23280851e-01 5.59009081e-01 -9.85773148e-02 4.19772521e+01] [ 1.15507660e-01 5.04640785e-03 9.93293770e-01 2.13461234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:42.00, Z:2.14 [[ 5.55424237e-01 -8.28824445e-01 -6.74830071e-02 8.45497571e+01] [ 8.23548084e-01 5.59496687e-01 -9.34452218e-02 4.19976154e+01] [ 1.15206203e-01 -3.67376016e-03 9.93334805e-01 2.14009476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.988040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.57, Y:42.02, Z:2.15 [[ 5.54148347e-01 -8.29026701e-01 -7.50622348e-02 8.45728353e+01] [ 8.24219057e-01 5.59079886e-01 -8.99590304e-02 4.20228740e+01] [ 1.16544224e-01 -1.20170764e-02 9.93112800e-01 2.14869324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.018040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.59, Y:42.05, Z:2.15 [[ 5.55926238e-01 -8.27647255e-01 -7.71105685e-02 8.45874383e+01] [ 8.22882178e-01 5.61084394e-01 -8.97174666e-02 4.20462561e+01] [ 1.17519952e-01 -1.35766189e-02 9.92977712e-01 2.15420606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:42.07, Z:2.16 [[ 5.56752031e-01 -8.27317353e-01 -7.46536929e-02 8.46019423e+01] [ 8.21961998e-01 5.61665738e-01 -9.43931848e-02 4.20722726e+01] [ 1.20023541e-01 -8.80890120e-03 9.92731964e-01 2.15801211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:42.10, Z:2.16 [[ 5.54740505e-01 -8.29707366e-01 -6.20375649e-02 8.46102134e+01] [ 8.23186039e-01 5.58159070e-01 -1.04034597e-01 4.21033256e+01] [ 1.20945101e-01 6.64374764e-03 9.92636964e-01 2.15575990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:42.12, Z:2.16 [[ 5.54264947e-01 -8.29414025e-01 -6.97333689e-02 8.46298552e+01] [ 8.23747955e-01 5.58621737e-01 -9.68558825e-02 4.21233888e+01] [ 1.19288203e-01 -3.75889947e-03 9.92852555e-01 2.16056657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.65, Y:42.14, Z:2.17 [[ 5.53362458e-01 -8.29594144e-01 -7.45891788e-02 8.46478717e+01] [ 8.24535143e-01 5.58267271e-01 -9.20839410e-02 4.21442830e+01] [ 1.18032996e-01 -1.05456032e-02 9.92953676e-01 2.16553620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:42.17, Z:2.17 [[ 5.53316669e-01 -8.29969255e-01 -7.06519557e-02 8.46617074e+01] [ 8.24688501e-01 5.57772171e-01 -9.36967504e-02 4.21683881e+01] [ 1.17173117e-01 -6.42188162e-03 9.93090741e-01 2.16762455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:42.19, Z:2.17 [[ 5.52977598e-01 -8.30548312e-01 -6.63722679e-02 8.46739895e+01] [ 8.25113057e-01 5.56941870e-01 -9.48904468e-02 4.21927536e+01] [ 1.15776595e-01 -2.29233351e-03 9.93272634e-01 2.16742224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:42.22, Z:2.16 [[ 5.49446727e-01 -8.33799452e-01 -5.37286504e-02 8.46692381e+01] [ 8.28262600e-01 5.52003405e-01 -9.62980056e-02 4.22158326e+01] [ 1.09951622e-01 8.40919228e-03 9.93901366e-01 2.15703475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:42.23, Z:2.18 [[ 5.56326315e-01 -8.26905376e-01 -8.20276157e-02 8.47103875e+01] [ 8.22634718e-01 5.62001613e-01 -8.61760273e-02 4.22318659e+01] [ 1.17359073e-01 -1.95367728e-02 9.92897358e-01 2.17857603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:42.26, Z:2.17 [[ 5.54941278e-01 -8.29479755e-01 -6.32733285e-02 8.47174340e+01] [ 8.23908193e-01 5.58535628e-01 -9.59856286e-02 4.22643190e+01] [ 1.14958544e-01 1.13497364e-03 9.93369642e-01 2.17300892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:42.29, Z:2.16 [[ 5.54815721e-01 -8.30829229e-01 -4.36154561e-02 8.47094437e+01] [ 8.23349549e-01 5.55838365e-01 -1.14626486e-01 4.22925506e+01] [ 1.19478179e-01 2.76858104e-02 9.92450735e-01 2.16415335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:42.30, Z:2.18 [[ 5.55331122e-01 -8.27762198e-01 -8.01067259e-02 8.47479394e+01] [ 8.24311938e-01 5.60635229e-01 -7.87271809e-02 4.23004605e+01] [ 1.10078037e-01 -2.23132767e-02 9.93672453e-01 2.17864562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.78, Y:42.32, Z:2.20 [[ 5.61491579e-01 -8.22764318e-01 -8.82387921e-02 8.47778014e+01] [ 8.18846780e-01 5.67829271e-01 -8.40230302e-02 4.23234508e+01] [ 1.19235720e-01 -2.50758269e-02 9.92549266e-01 2.19589613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:42.35, Z:2.20 [[ 5.67540701e-01 -8.19330215e-01 -8.12130065e-02 8.47904977e+01] [ 8.15044791e-01 5.73050151e-01 -8.55307750e-02 4.23460390e+01] [ 1.16617074e-01 -1.76500420e-02 9.93020108e-01 2.19787940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:42.38, Z:2.19 [[ 5.67660484e-01 -8.20723117e-01 -6.46153237e-02 8.47978509e+01] [ 8.14614003e-01 5.71311064e-01 -1.00038468e-01 4.23777432e+01] [ 1.19019333e-01 4.15133786e-03 9.92883258e-01 2.19454190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:42.40, Z:2.20 [[ 5.72549822e-01 -8.16832151e-01 -7.05119675e-02 8.48166298e+01] [ 8.11596578e-01 5.76859356e-01 -9.24352638e-02 4.23953883e+01] [ 1.16179584e-01 -4.30347766e-03 9.93218901e-01 2.19650256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:42.42, Z:2.20 [[ 5.71071049e-01 -8.18177673e-01 -6.68068274e-02 8.48336728e+01] [ 8.12224537e-01 5.74961956e-01 -9.85395845e-02 4.24244282e+01] [ 1.19034272e-01 2.01095938e-03 9.92888110e-01 2.19862299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.86, Y:42.44, Z:2.21 [[ 5.72149916e-01 -8.15597823e-01 -8.62824739e-02 8.48607912e+01] [ 8.11889953e-01 5.78137719e-01 -8.11879450e-02 4.24377480e+01] [ 1.16099864e-01 -2.36001978e-02 9.92957125e-01 2.20906544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:42.48, Z:2.19 [[ 5.68825944e-01 -8.21576992e-01 -3.80564233e-02 8.48453969e+01] [ 8.14632762e-01 5.69178168e-01 -1.11398722e-01 4.24759517e+01] [ 1.13183512e-01 3.23644742e-02 9.93046843e-01 2.18862694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:42.48, Z:2.22 [[ 5.72050050e-01 -8.15415267e-01 -8.86379308e-02 8.48965732e+01] [ 8.11781973e-01 5.78310264e-01 -8.10386736e-02 4.24796220e+01] [ 1.17340397e-01 -2.55964971e-02 9.92761830e-01 2.21558731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:42.51, Z:2.21 [[ 5.72488929e-01 -8.17062002e-01 -6.83089447e-02 8.49021715e+01] [ 8.11752566e-01 5.76545628e-01 -9.30210195e-02 4.25068640e+01] [ 1.15387164e-01 -2.19645734e-03 9.93318166e-01 2.21169024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:42.54, Z:2.20 [[ 5.67527804e-01 -8.22044822e-01 -4.64166194e-02 8.49086097e+01] [ 8.15720073e-01 5.69030621e-01 -1.03946690e-01 4.25361335e+01] [ 1.11861316e-01 2.11296688e-02 9.93499161e-01 2.20162164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:42.55, Z:2.21 [[ 5.64677490e-01 -8.23363840e-01 -5.66684993e-02 8.49306047e+01] [ 8.17991013e-01 5.67472970e-01 -9.41548215e-02 4.25526046e+01] [ 1.09681517e-01 6.81278508e-03 9.93943434e-01 2.20577517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:42.56, Z:2.23 [[ 5.61503764e-01 -8.22812622e-01 -8.77092544e-02 8.49683490e+01] [ 8.19837301e-01 5.67555074e-01 -7.58158120e-02 4.25598806e+01] [ 1.12162039e-01 -2.93364546e-02 9.93256789e-01 2.22635465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:42.59, Z:2.21 [[ 5.58867568e-01 -8.27674816e-01 -5.12000096e-02 8.49650629e+01] [ 8.22243604e-01 5.61096765e-01 -9.53198628e-02 4.25934078e+01] [ 1.07622010e-01 1.11722995e-02 9.94129108e-01 2.21130900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.99, Y:42.61, Z:2.22 [[ 5.56206828e-01 -8.29003604e-01 -5.81978472e-02 8.49854111e+01] [ 8.24448243e-01 5.59243185e-01 -8.67879849e-02 4.26115665e+01] [ 1.04494302e-01 2.90956945e-04 9.94525443e-01 2.21555501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.01, Y:42.63, Z:2.23 [[ 5.53850556e-01 -8.29621589e-01 -7.05519683e-02 8.50130660e+01] [ 8.25489460e-01 5.58197964e-01 -8.35594713e-02 4.26289130e+01] [ 1.08704706e-01 -1.19604465e-02 9.94002130e-01 2.22714462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.03, Y:42.65, Z:2.23 [[ 5.53671934e-01 -8.29932634e-01 -6.82584302e-02 8.50305863e+01] [ 8.25399790e-01 5.57803831e-01 -8.70061707e-02 4.26518299e+01] [ 1.10284074e-01 -8.16761915e-03 9.93866547e-01 2.23133652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:42.67, Z:2.23 [[ 5.52547147e-01 -8.31378869e-01 -5.91677805e-02 8.50428710e+01] [ 8.26494173e-01 5.55705405e-01 -8.99938061e-02 4.26716578e+01] [ 1.07698804e-01 8.23995028e-04 9.94183227e-01 2.22827585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:42.70, Z:2.22 [[ 5.45833623e-01 -8.36880062e-01 -4.11997299e-02 8.50454212e+01] [ 8.30304442e-01 5.46838454e-01 -1.07527853e-01 4.27018020e+01] [ 1.12517513e-01 2.44839987e-02 9.93348047e-01 2.21829763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:42.71, Z:2.23 [[ 5.47633418e-01 -8.33671428e-01 -7.13413529e-02 8.50838459e+01] [ 8.29888499e-01 5.52057208e-01 -8.07336196e-02 4.27132636e+01] [ 1.06689820e-01 -1.49929402e-02 9.94179307e-01 2.23462314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:42.74, Z:2.23 [[ 5.46159355e-01 -8.35264010e-01 -6.35923973e-02 8.50995784e+01] [ 8.30709138e-01 5.49824825e-01 -8.72639150e-02 4.27374667e+01] [ 1.07853086e-01 -5.16678200e-03 9.94153417e-01 2.23448231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.978040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:85.11, Y:42.76, Z:2.23 [[ 5.46266737e-01 -8.35339528e-01 -6.16484029e-02 8.51145605e+01] [ 8.30571096e-01 5.49728697e-01 -8.91628571e-02 4.27579152e+01] [ 1.08371155e-01 -2.49667856e-03 9.94107368e-01 2.23483039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.14, Y:42.78, Z:2.24 [[ 5.44730181e-01 -8.36255556e-01 -6.28146052e-02 8.51361576e+01] [ 8.31572462e-01 5.48324997e-01 -8.84699880e-02 4.27784445e+01] [ 1.08426337e-01 -4.04262329e-03 9.94096266e-01 2.23901371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.038040942 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:85.16, Y:42.80, Z:2.25 [[ 5.44584663e-01 -8.35864178e-01 -6.89827564e-02 8.51566071e+01] [ 8.31500703e-01 5.48834851e-01 -8.59470008e-02 4.27963400e+01] [ 1.09700160e-01 -1.05537920e-02 9.93908694e-01 2.24501467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.17, Y:42.82, Z:2.24 [[ 5.43397655e-01 -8.37490978e-01 -5.76875180e-02 8.51693728e+01] [ 8.32299187e-01 5.46444960e-01 -9.31448808e-02 4.28233813e+01] [ 1.09531051e-01 2.60143547e-03 9.93979970e-01 2.24305413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:42.84, Z:2.25 [[ 5.44740602e-01 -8.36254284e-01 -6.27411218e-02 8.51908807e+01] [ 8.31497978e-01 5.48329938e-01 -8.91369265e-02 4.28434276e+01] [ 1.08943972e-01 -3.61261291e-03 9.94041327e-01 2.24854767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.20, Y:42.87, Z:2.25 [[ 5.45412175e-01 -8.36286247e-01 -5.61326256e-02 8.52030969e+01] [ 8.31043655e-01 5.48275430e-01 -9.35975185e-02 4.28695518e+01] [ 1.09050457e-01 4.40056379e-03 9.94026475e-01 2.24733673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:42.89, Z:2.25 [[ 5.49216169e-01 -8.33152031e-01 -6.49560791e-02 8.52242355e+01] [ 8.28798408e-01 5.53000202e-01 -8.53462053e-02 4.28869315e+01] [ 1.07027089e-01 -6.96197901e-03 9.94231730e-01 2.25416921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.188040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:85.24, Y:42.91, Z:2.25 [[ 5.50646596e-01 -8.32545910e-01 -6.04618419e-02 8.52363041e+01] [ 8.27839570e-01 5.53954357e-01 -8.84093713e-02 4.29108756e+01] [ 1.07097961e-01 -1.37038587e-03 9.94247529e-01 2.25407796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:42.93, Z:2.26 [[ 5.52820869e-01 -8.31290971e-01 -5.78308568e-02 8.52484894e+01] [ 8.26077927e-01 5.55825496e-01 -9.30229914e-02 4.29335904e+01] [ 1.09473038e-01 3.65225668e-03 9.93983056e-01 2.25719388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.248040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.27, Y:42.96, Z:2.26 [[ 5.53283969e-01 -8.30549653e-01 -6.37504799e-02 8.52692226e+01] [ 8.26152210e-01 5.56918890e-01 -8.55211995e-02 4.29563992e+01] [ 1.06533449e-01 -5.35009118e-03 9.94294725e-01 2.26228117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.278040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:85.28, Y:42.98, Z:2.26 [[ 5.53759919e-01 -8.30645559e-01 -5.81197650e-02 8.52811397e+01] [ 8.25823552e-01 5.56799516e-01 -8.93854609e-02 4.29816821e+01] [ 1.06608693e-01 1.50141478e-03 9.94299921e-01 2.26132354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.308040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.30, Y:43.00, Z:2.27 [[ 5.52792631e-01 -8.30890719e-01 -6.35682372e-02 8.52990209e+01] [ 8.26324346e-01 5.56418402e-01 -8.71013020e-02 4.30037076e+01] [ 1.07742200e-01 -4.37902420e-03 9.94169222e-01 2.26699465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.338040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.32, Y:43.03, Z:2.27 [[ 5.52156119e-01 -8.31062185e-01 -6.67777341e-02 8.53161898e+01] [ 8.26535041e-01 5.56132930e-01 -8.69252026e-02 4.30259571e+01] [ 1.09377546e-01 -7.19785469e-03 9.93974217e-01 2.27206023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.368040942 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:85.33, Y:43.05, Z:2.27 [[ 5.50860557e-01 -8.32632275e-01 -5.72375947e-02 8.53264746e+01] [ 8.27000942e-01 5.53793493e-01 -9.68618039e-02 4.30535098e+01] [ 1.12348072e-01 6.02180250e-03 9.93650667e-01 2.26953647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.398040942 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:85.35, Y:43.07, Z:2.28 [[ 5.48804199e-01 -8.32828135e-01 -7.21889872e-02 8.53500045e+01] [ 8.28294461e-01 5.53407266e-01 -8.75710212e-02 4.30708338e+01] [ 1.12881520e-01 -1.17343941e-02 9.93539162e-01 2.27993166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.428040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.36, Y:43.10, Z:2.28 [[ 5.48737356e-01 -8.33390542e-01 -6.59357181e-02 8.53617016e+01] [ 8.28563305e-01 5.52658232e-01 -8.97314257e-02 4.30953569e+01] [ 1.11221239e-01 -5.39293123e-03 9.93781038e-01 2.28013187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.458040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.37, Y:43.12, Z:2.28 [[ 5.46615941e-01 -8.35219255e-01 -6.01648556e-02 8.53739806e+01] [ 8.29882941e-01 5.49914745e-01 -9.42766019e-02 4.31225099e+01] [ 1.11827174e-01 1.60330615e-03 9.93726377e-01 2.28040389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.488040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.38, Y:43.15, Z:2.28 [[ 5.44403141e-01 -8.36927256e-01 -5.63736506e-02 8.53848308e+01] [ 8.31444307e-01 5.47288710e-01 -9.57884765e-02 4.31474074e+01] [ 1.11020649e-01 5.27599654e-03 9.93804095e-01 2.27907909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.518040942 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:85.40, Y:43.17, Z:2.29 [[ 5.43511586e-01 -8.36949100e-01 -6.41198870e-02 8.54029615e+01] [ 8.31952140e-01 5.47268425e-01 -9.13942419e-02 4.31671500e+01] [ 1.11583118e-01 -3.67084781e-03 9.93748325e-01 2.28540347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.548040942 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:85.41, Y:43.19, Z:2.28 [[ 5.41606186e-01 -8.38556695e-01 -5.90373484e-02 8.54133298e+01] [ 8.33183036e-01 5.44810070e-01 -9.48051511e-02 4.31914221e+01] [ 1.11663636e-01 2.15813923e-03 9.93743717e-01 2.28390320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.43, Y:43.21, Z:2.29 [[ 5.40640576e-01 -8.39099204e-01 -6.01688694e-02 8.54288132e+01] [ 8.33938084e-01 5.43978420e-01 -9.29233554e-02 4.32140109e+01] [ 1.10702480e-01 6.10247610e-05 9.93853589e-01 2.28750603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.608040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.44, Y:43.24, Z:2.29 [[ 5.39710797e-01 -8.39839677e-01 -5.81512888e-02 8.54425263e+01] [ 8.34650630e-01 5.42831595e-01 -9.32318951e-02 4.32373651e+01] [ 1.09866202e-01 1.78225063e-03 9.93944788e-01 2.28864633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.638040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:85.46, Y:43.26, Z:2.29 [[ 5.37982719e-01 -8.41132484e-01 -5.54142465e-02 8.54551384e+01] [ 8.36050200e-01 5.40818607e-01 -9.23866802e-02 4.32615063e+01] [ 1.07678493e-01 3.37334561e-03 9.94180045e-01 2.28897004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.668040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.48, Y:43.28, Z:2.30 [[ 5.37323296e-01 -8.40830549e-01 -6.54802510e-02 8.54764744e+01] [ 8.36961800e-01 5.41184505e-01 -8.13282033e-02 4.32811252e+01] [ 1.03820135e-01 -1.11049305e-02 9.94534092e-01 2.29630448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.698040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.49, Y:43.31, Z:2.30 [[ 5.36838802e-01 -8.41767283e-01 -5.68501717e-02 8.54854146e+01] [ 8.37332944e-01 5.39839066e-01 -8.62978779e-02 4.33060792e+01] [ 1.03332674e-01 -1.27447220e-03 9.94646035e-01 2.29564157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.50, Y:43.33, Z:2.30 [[ 5.36603688e-01 -8.42124852e-01 -5.36862669e-02 8.54992168e+01] [ 8.37650834e-01 5.39280365e-01 -8.67050619e-02 4.33314241e+01] [ 1.01968437e-01 1.55590973e-03 9.94786418e-01 2.29590259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.758040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.51, Y:43.35, Z:2.30 [[ 5.37195056e-01 -8.41662053e-01 -5.50132842e-02 8.55149519e+01] [ 8.37301377e-01 5.40004611e-01 -8.55653184e-02 4.33547086e+01] [ 1.01724509e-01 -9.74326411e-05 9.94812603e-01 2.29888653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.788040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.53, Y:43.38, Z:2.30 [[ 5.38477540e-01 -8.40981101e-01 -5.28462631e-02 8.55282019e+01] [ 8.36539747e-01 5.41059660e-01 -8.63463698e-02 4.33781233e+01] [ 1.01208646e-01 2.28758120e-03 9.94862592e-01 2.29900995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:43.41, Z:2.29 [[ 5.39095852e-01 -8.41318206e-01 -3.94884657e-02 8.55346564e+01] [ 8.35816099e-01 5.40174536e-01 -9.80964751e-02 4.34060547e+01] [ 1.03861014e-01 1.98783075e-02 9.94393153e-01 2.29351611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.56, Y:43.42, Z:2.30 [[ 5.38833245e-01 -8.40544695e-01 -5.60655921e-02 8.55590186e+01] [ 8.35990321e-01 5.41742162e-01 -8.73819926e-02 4.34233859e+01] [ 1.03821565e-01 2.14030286e-04 9.94595916e-01 2.30273045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.878040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.57, Y:43.45, Z:2.30 [[ 5.38697504e-01 -8.41342354e-01 -4.41366347e-02 8.55667062e+01] [ 8.36377077e-01 5.40352695e-01 -9.21539475e-02 4.34506741e+01] [ 1.01382369e-01 1.27282319e-02 9.94766107e-01 2.29625655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.908040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.59, Y:43.47, Z:2.30 [[ 5.38693104e-01 -8.40420474e-01 -5.91875580e-02 8.55910546e+01] [ 8.36734240e-01 5.41889678e-01 -7.89391372e-02 4.34677269e+01] [ 9.84151938e-02 -7.00028756e-03 9.95120820e-01 2.30445089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.938040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.59, Y:43.50, Z:2.29 [[ 5.37636360e-01 -8.42622826e-01 -3.05600670e-02 8.55872895e+01] [ 8.37381470e-01 5.37832373e-01 -9.76146096e-02 4.35021726e+01] [ 9.86884916e-02 2.68907295e-02 9.94754980e-01 2.28898954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.968040942 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:85.66, Y:43.49, Z:2.35 [[ 5.42845518e-01 -8.30893990e-01 -1.22204420e-01 8.56588561e+01] [ 8.33206006e-01 5.51073310e-01 -4.56722900e-02 4.34933141e+01] [ 1.05292426e-01 -7.70284588e-02 9.91453540e-01 2.34733298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.998040942 meters Centerline goodness : 0.987308 Centerline is valid? [True, True] Translation: X:85.65, Y:43.54, Z:2.33 [[ 5.44836378e-01 -8.36129473e-01 -6.35674868e-02 8.56492937e+01] [ 8.31688648e-01 5.48500724e-01 -8.62609276e-02 4.35397602e+01] [ 1.06992116e-01 -5.87026574e-03 9.94242539e-01 2.32850162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.028040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.65, Y:43.57, Z:2.33 [[ 5.42813538e-01 -8.38394203e-01 -4.94835694e-02 8.56513556e+01] [ 8.32548644e-01 5.44911577e-01 -9.96700986e-02 4.35670736e+01] [ 1.10527003e-01 1.29048003e-02 9.93789338e-01 2.32550929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:43.59, Z:2.32 [[ 5.40102245e-01 -8.40727242e-01 -3.83049554e-02 8.56574610e+01] [ 8.34308816e-01 5.40846514e-01 -1.06835613e-01 4.35941024e+01] [ 1.10536712e-01 2.57439923e-02 9.93538566e-01 2.31941644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.69, Y:43.61, Z:2.33 [[ 5.38959704e-01 -8.39920383e-01 -6.36882009e-02 8.56859993e+01] [ 8.35301641e-01 5.42679792e-01 -8.81465296e-02 4.36081459e+01] [ 1.08598367e-01 -5.69143127e-03 9.94069415e-01 2.33227298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.118040942 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:85.70, Y:43.63, Z:2.34 [[ 5.37672606e-01 -8.40372421e-01 -6.84277898e-02 8.57027771e+01] [ 8.36600454e-01 5.41832642e-01 -8.07283617e-02 4.36275091e+01] [ 1.04918299e-01 -1.38412915e-02 9.94384518e-01 2.33704714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.148040942 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:85.71, Y:43.66, Z:2.33 [[ 5.36272704e-01 -8.42357419e-01 -5.33438366e-02 8.57098406e+01] [ 8.37525650e-01 5.38906718e-01 -9.01683748e-02 4.36567684e+01] [ 1.04701351e-01 3.67800681e-03 9.94496908e-01 2.33393285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.178040942 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:85.73, Y:43.67, Z:2.34 [[ 5.33634888e-01 -8.43710470e-01 -5.81931997e-02 8.57263999e+01] [ 8.39460488e-01 5.36785935e-01 -8.46578398e-02 4.36746205e+01] [ 1.02663997e-01 -3.67451493e-03 9.94709305e-01 2.33940245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.208040942 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:85.74, Y:43.70, Z:2.34 [[ 5.32614587e-01 -8.44609094e-01 -5.43799592e-02 8.57395853e+01] [ 8.40158847e-01 5.35383313e-01 -8.65899498e-02 4.36974405e+01] [ 1.02248782e-01 4.31266502e-04 9.94758765e-01 2.34100820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.238040942 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:85.75, Y:43.72, Z:2.34 [[ 5.30743435e-01 -8.46066926e-01 -4.98213104e-02 8.57526073e+01] [ 8.41261708e-01 5.33043113e-01 -9.02428890e-02 4.37224891e+01] [ 1.02908430e-01 5.98306025e-03 9.94672840e-01 2.34283587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.268040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.77, Y:43.74, Z:2.35 [[ 5.30134875e-01 -8.46245903e-01 -5.31496562e-02 8.57697846e+01] [ 8.41913893e-01 5.32792196e-01 -8.55188467e-02 4.37431628e+01] [ 1.00687696e-01 5.89089157e-04 9.94917907e-01 2.34636955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.81, Y:43.76, Z:2.37 [[ 5.32834713e-01 -8.42343100e-01 -8.09028419e-02 8.58055001e+01] [ 8.39106591e-01 5.38305531e-01 -7.82769700e-02 4.37616411e+01] [ 1.09486513e-01 -2.61774211e-02 9.93643521e-01 2.36933965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.78, Y:43.80, Z:2.34 [[ 5.30970321e-01 -8.46872530e-01 -2.96215375e-02 8.57847024e+01] [ 8.41234050e-01 5.30996628e-01 -1.01822661e-01 4.38001480e+01] [ 1.01959751e-01 2.91461649e-02 9.94361459e-01 2.34146784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.84, Y:43.80, Z:2.38 [[ 5.34024024e-01 -8.39781825e-01 -9.79021310e-02 8.58424218e+01] [ 8.38323513e-01 5.40971826e-01 -6.75512512e-02 4.38044933e+01] [ 1.09690608e-01 -4.59996673e-02 9.92900801e-01 2.38172955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.84, Y:43.84, Z:2.37 [[ 5.38356156e-01 -8.40555420e-01 -6.03260841e-02 8.58367262e+01] [ 8.35010111e-01 5.41723411e-01 -9.64046697e-02 4.38392806e+01] [ 1.13713520e-01 1.52715723e-03 9.93512407e-01 2.36958574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:43.88, Z:2.34 [[ 5.29935247e-01 -8.47926471e-01 -1.37598547e-02 8.58189915e+01] [ 8.42444137e-01 5.28230878e-01 -1.06113222e-01 4.38766892e+01] [ 9.72445897e-02 4.46412273e-02 9.94258845e-01 2.33846885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.86, Y:43.88, Z:2.36 [[ 5.29921951e-01 -8.46417571e-01 -5.25359061e-02 8.58550407e+01] [ 8.42552256e-01 5.32517813e-01 -8.08113507e-02 4.38849535e+01] [ 9.63764530e-02 -1.44053756e-03 9.95343913e-01 2.35671726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:43.91, Z:2.36 [[ 5.30224248e-01 -8.46232968e-01 -5.24596075e-02 8.58698761e+01] [ 8.42373068e-01 5.32811285e-01 -8.07449629e-02 4.39088905e+01] [ 9.62801205e-02 -1.37762333e-03 9.95353324e-01 2.35907979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:43.93, Z:2.36 [[ 5.30531255e-01 -8.46030604e-01 -5.26194347e-02 8.58848609e+01] [ 8.42141146e-01 5.33132705e-01 -8.10420158e-02 4.39330813e+01] [ 9.66171671e-02 -1.31766867e-03 9.95320746e-01 2.36130082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:43.94, Z:2.40 [[ 5.39779529e-01 -8.35484273e-01 -1.02976157e-01 8.59329836e+01] [ 8.34023650e-01 5.47368364e-01 -6.92273490e-02 4.39397408e+01] [ 1.14204252e-01 -4.85170443e-02 9.92271881e-01 2.40089102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:43.98, Z:2.39 [[ 5.37085372e-01 -8.40812508e-01 -6.76286162e-02 8.59340441e+01] [ 8.36490306e-01 5.41224714e-01 -8.57891429e-02 4.39792015e+01] [ 1.08734863e-01 -1.04945881e-02 9.94015389e-01 2.38749618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:44.01, Z:2.37 [[ 5.36362782e-01 -8.43187174e-01 -3.67471888e-02 8.59308569e+01] [ 8.37516707e-01 5.37126985e-01 -1.00301384e-01 4.40102304e+01] [ 1.04310747e-01 2.30215448e-02 9.94278269e-01 2.37153871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:44.03, Z:2.36 [[ 5.26637918e-01 -8.49495610e-01 -3.17759670e-02 8.59363452e+01] [ 8.44940752e-01 5.27190158e-01 -9.02533258e-02 4.40330341e+01] [ 9.34217812e-02 2.06820142e-02 9.95411787e-01 2.36337281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:44.04, Z:2.39 [[ 5.32624302e-01 -8.42352924e-01 -8.21760588e-02 8.59872604e+01] [ 8.39974989e-01 5.38010076e-01 -7.06199380e-02 4.40422393e+01] [ 1.03698459e-01 -3.14119389e-02 9.94112629e-01 2.39497534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.688040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.99, Y:44.07, Z:2.39 [[ 5.33744335e-01 -8.43589603e-01 -5.89369733e-02 8.59866367e+01] [ 8.38238962e-01 5.36987021e-01 -9.48703407e-02 4.40715995e+01] [ 1.11680023e-01 1.23323960e-03 9.93743454e-01 2.39055828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:44.11, Z:2.37 [[ 5.23637368e-01 -8.51395739e-01 -3.04828242e-02 8.59775409e+01] [ 8.46687199e-01 5.24042425e-01 -9.21972072e-02 4.41059096e+01] [ 9.44706024e-02 2.24684859e-02 9.95274069e-01 2.36833575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:44.12, Z:2.40 [[ 5.29360185e-01 -8.44835738e-01 -7.76554618e-02 8.60258521e+01] [ 8.41878818e-01 5.34412495e-01 -7.51221753e-02 4.41154811e+01] [ 1.04965947e-01 -2.56097998e-02 9.94146009e-01 2.39736095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:44.15, Z:2.39 [[ 5.28708140e-01 -8.47004784e-01 -5.52322273e-02 8.60291128e+01] [ 8.42357869e-01 5.31585171e-01 -8.86026299e-02 4.41470846e+01] [ 1.04407484e-01 3.19630403e-04 9.94534552e-01 2.38967657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.04, Y:44.17, Z:2.39 [[ 5.29685542e-01 -8.46166018e-01 -5.86199305e-02 8.60439552e+01] [ 8.41976811e-01 5.32898286e-01 -8.42286531e-02 4.41663408e+01] [ 1.02509885e-01 -4.74192238e-03 9.94720683e-01 2.39350783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:44.20, Z:2.39 [[ 5.28194521e-01 -8.48010469e-01 -4.34602380e-02 8.60489199e+01] [ 8.42919475e-01 5.29823899e-01 -9.36664046e-02 4.41975344e+01] [ 1.02456364e-01 1.28406008e-02 9.94654620e-01 2.38555171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.868040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:86.07, Y:44.22, Z:2.39 [[ 5.28384218e-01 -8.47072320e-01 -5.72590868e-02 8.60690519e+01] [ 8.42862993e-01 5.31465075e-01 -8.44206668e-02 4.42150692e+01] [ 1.01941615e-01 -3.65501729e-03 9.94783669e-01 2.39186182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:44.25, Z:2.38 [[ 5.24019412e-01 -8.50770398e-01 -3.99172308e-02 8.60753721e+01] [ 8.46019128e-01 5.25355418e-01 -9.08477832e-02 4.42503272e+01] [ 9.82613382e-02 1.38352612e-02 9.95064468e-01 2.38411940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:44.26, Z:2.39 [[ 5.25884616e-01 -8.48596161e-01 -5.77055142e-02 8.60967648e+01] [ 8.44738313e-01 5.29005767e-01 -8.10560391e-02 4.42624055e+01] [ 9.93103934e-02 -6.11993469e-03 9.95037684e-01 2.39152968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:44.29, Z:2.39 [[ 5.26781190e-01 -8.48125689e-01 -5.64304354e-02 8.61107035e+01] [ 8.44479114e-01 5.29759463e-01 -7.88031591e-02 4.42864903e+01] [ 9.67295407e-02 -6.14230220e-03 9.95291750e-01 2.39371828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:44.31, Z:2.39 [[ 5.20907683e-01 -8.51891347e-01 -5.41878020e-02 8.61218015e+01] [ 8.47837877e-01 5.23711695e-01 -8.30481523e-02 4.43129316e+01] [ 9.91267880e-02 -2.68205040e-03 9.95071197e-01 2.39219685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.15, Y:44.33, Z:2.40 [[ 5.22276496e-01 -8.49888590e-01 -7.01187933e-02 8.61455954e+01] [ 8.46843163e-01 5.26568960e-01 -7.47113630e-02 4.43318020e+01] [ 1.00418715e-01 -2.03596318e-02 9.94736934e-01 2.40481654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.15, Y:44.37, Z:2.40 [[ 5.22597202e-01 -8.51566142e-01 -4.15604378e-02 8.61486459e+01] [ 8.46397936e-01 5.24050748e-01 -9.47699657e-02 4.43668043e+01] [ 1.02482673e-01 1.43498501e-02 9.94631280e-01 2.40035375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:44.38, Z:2.41 [[ 5.21503920e-01 -8.51050219e-01 -6.12142719e-02 8.61744535e+01] [ 8.47130413e-01 5.25006352e-01 -8.20877168e-02 4.43838523e+01] [ 1.01998651e-01 -9.04740536e-03 9.94743394e-01 2.41229264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:44.41, Z:2.41 [[ 5.22903469e-01 -8.50633064e-01 -5.47298090e-02 8.61839306e+01] [ 8.46179974e-01 5.25759126e-01 -8.69298136e-02 4.44072121e+01] [ 1.02720070e-01 -8.55367305e-04 9.94709935e-01 2.41394264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:44.43, Z:2.42 [[ 5.21748675e-01 -8.50718474e-01 -6.36898631e-02 8.62065162e+01] [ 8.47187875e-01 5.25460929e-01 -7.85080719e-02 4.44302993e+01] [ 1.00254802e-01 -1.29957972e-02 9.94876919e-01 2.42126783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:44.46, Z:2.42 [[ 5.21304791e-01 -8.51744859e-01 -5.26498811e-02 8.62154418e+01] [ 8.47585247e-01 5.23956166e-01 -8.40784462e-02 4.44584336e+01] [ 9.91996142e-02 -7.94765692e-04 9.95067236e-01 2.41874770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.198040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:86.23, Y:44.48, Z:2.42 [[ 5.21446151e-01 -8.52027989e-01 -4.62841076e-02 8.62261845e+01] [ 8.47780953e-01 5.23470926e-01 -8.51213534e-02 4.44843835e+01] [ 9.67541602e-02 5.14741720e-03 9.95295000e-01 2.41655479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:86.24, Y:44.51, Z:2.42 [[ 5.21063030e-01 -8.51949276e-01 -5.17276462e-02 8.62441466e+01] [ 8.48175407e-01 5.23620021e-01 -8.01283434e-02 4.45067381e+01] [ 9.53509154e-02 -2.12220006e-03 9.95441459e-01 2.42064813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:44.53, Z:2.42 [[ 5.21465218e-01 -8.51921735e-01 -4.79935891e-02 8.62553445e+01] [ 8.47894544e-01 5.23663303e-01 -8.27743161e-02 4.45307680e+01] [ 9.56497203e-02 2.47042444e-03 9.95411989e-01 2.42063385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.27, Y:44.56, Z:2.42 [[ 5.22370192e-01 -8.51467666e-01 -4.61757141e-02 8.62677110e+01] [ 8.47445699e-01 5.24391065e-01 -8.27635101e-02 4.45557913e+01] [ 9.46845847e-02 4.10178033e-03 9.95498872e-01 2.41986704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:44.58, Z:2.42 [[ 5.23341946e-01 -8.50659023e-01 -4.99242814e-02 8.62844055e+01] [ 8.46869945e-01 5.25717731e-01 -8.02007752e-02 4.45783067e+01] [ 9.44695930e-02 -3.06943713e-04 9.95527700e-01 2.42367240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.348040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.31, Y:44.60, Z:2.43 [[ 5.25109616e-01 -8.48671970e-01 -6.33701699e-02 8.63062889e+01] [ 8.45556015e-01 5.28716320e-01 -7.41220501e-02 4.45983293e+01] [ 9.64101493e-02 -1.46608271e-02 9.95233713e-01 2.43425692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:44.63, Z:2.43 [[ 5.25776738e-01 -8.49390681e-01 -4.57634439e-02 8.63104482e+01] [ 8.45211093e-01 5.27734147e-01 -8.43497424e-02 4.46276996e+01] [ 9.57968171e-02 5.66936193e-03 9.95384764e-01 2.42826601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:44.65, Z:2.44 [[ 5.25958439e-01 -8.48710173e-01 -5.53060714e-02 8.63291663e+01] [ 8.44943859e-01 5.28837780e-01 -8.00029825e-02 4.46476136e+01] [ 9.71472852e-02 -4.65228161e-03 9.95259143e-01 2.43551848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.438040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.35, Y:44.68, Z:2.44 [[ 5.24202602e-01 -8.49778018e-01 -5.55783420e-02 8.63461344e+01] [ 8.45878118e-01 5.27122965e-01 -8.14345655e-02 4.46759533e+01] [ 9.84979241e-02 -4.32429222e-03 9.95127861e-01 2.43808671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:44.70, Z:2.44 [[ 5.26674703e-01 -8.48096399e-01 -5.78468266e-02 8.63606899e+01] [ 8.44326677e-01 5.29800485e-01 -8.01492844e-02 4.46970913e+01] [ 9.86215962e-02 -6.62901834e-03 9.95102928e-01 2.44276474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.498040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.38, Y:44.72, Z:2.45 [[ 5.27228259e-01 -8.47693274e-01 -5.87066871e-02 8.63755633e+01] [ 8.43848218e-01 5.30442242e-01 -8.09395629e-02 4.47197527e+01] [ 9.97524298e-02 -6.86590842e-03 9.94988599e-01 2.44713855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.38, Y:44.75, Z:2.44 [[ 5.26611655e-01 -8.48927655e-01 -4.47437273e-02 8.63816848e+01] [ 8.44357307e-01 5.28436186e-01 -8.84077720e-02 4.47476340e+01] [ 9.86960072e-02 8.77687000e-03 9.95078924e-01 2.44186266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:44.77, Z:2.44 [[ 5.25464161e-01 -8.49712552e-01 -4.33127532e-02 8.63948558e+01] [ 8.45258599e-01 5.27164079e-01 -8.73838323e-02 4.47728539e+01] [ 9.70840668e-02 9.30659505e-03 9.95232672e-01 2.44259267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:44.79, Z:2.45 [[ 5.26044522e-01 -8.48661045e-01 -5.52412067e-02 8.64148658e+01] [ 8.45153708e-01 5.28902837e-01 -7.73110479e-02 4.47912356e+01] [ 9.48281057e-02 -6.01825742e-03 9.95475470e-01 2.44965632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:44.82, Z:2.45 [[ 5.25581622e-01 -8.49241185e-01 -5.05308618e-02 8.64262058e+01] [ 8.45471105e-01 5.28004646e-01 -7.99356308e-02 4.48176215e+01] [ 9.45651596e-02 -7.09684987e-04 9.95518421e-01 2.45026938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:44.84, Z:2.45 [[ 5.25231961e-01 -8.49527647e-01 -4.93372551e-02 8.64385651e+01] [ 8.45930731e-01 5.27543612e-01 -7.80956851e-02 4.48415486e+01] [ 9.23719973e-02 -7.17550466e-04 9.95724309e-01 2.45259925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:44.87, Z:2.46 [[ 5.24948052e-01 -8.49734158e-01 -4.87996368e-02 8.64527140e+01] [ 8.46212249e-01 5.27210906e-01 -7.72883549e-02 4.48662293e+01] [ 9.14022559e-02 -7.22479070e-04 9.95813791e-01 2.45518371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.46, Y:44.89, Z:2.46 [[ 5.25065190e-01 -8.49695974e-01 -4.82006053e-02 8.64646409e+01] [ 8.46255748e-01 5.27272498e-01 -7.63866557e-02 4.48911099e+01] [ 9.03202873e-02 -6.82065406e-04 9.95912537e-01 2.45732113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:44.92, Z:2.46 [[ 5.24929414e-01 -8.49797988e-01 -4.78799505e-02 8.64777587e+01] [ 8.46400093e-01 5.27108079e-01 -7.59207136e-02 4.49156064e+01] [ 8.97551784e-02 -6.72578836e-04 9.95963632e-01 2.45940557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:44.94, Z:2.46 [[ 5.24708847e-01 -8.49935383e-01 -4.78588534e-02 8.64928406e+01] [ 8.46536846e-01 5.26886509e-01 -7.59340105e-02 4.49397303e+01] [ 8.97551865e-02 -6.71035760e-04 9.95963632e-01 2.46195825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:44.96, Z:2.46 [[ 5.24818637e-01 -8.49901131e-01 -4.72595642e-02 8.65063904e+01] [ 8.46583394e-01 5.26941805e-01 -7.50259378e-02 4.49642310e+01] [ 8.86676694e-02 -6.34151863e-04 9.96061064e-01 2.46406269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:44.99, Z:2.47 [[ 5.24747305e-01 -8.49977437e-01 -4.66757079e-02 8.65176093e+01] [ 8.46737678e-01 5.26818733e-01 -7.41439658e-02 4.49885160e+01] [ 8.76103354e-02 -6.15234254e-04 9.96154632e-01 2.46603189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:45.02, Z:2.47 [[ 5.23436630e-01 -8.51146090e-01 -3.95528460e-02 8.65271987e+01] [ 8.47234612e-01 5.24844039e-01 -8.20502708e-02 4.50187904e+01] [ 9.05958427e-02 9.43757705e-03 9.95843022e-01 2.46598209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:45.04, Z:2.47 [[ 5.22445038e-01 -8.51118021e-01 -5.14713185e-02 8.65459968e+01] [ 8.48053713e-01 5.24942031e-01 -7.23931196e-02 4.50396681e+01] [ 8.86345472e-02 -5.82901670e-03 9.96047157e-01 2.47231527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.56, Y:45.06, Z:2.47 [[ 5.23989156e-01 -8.50190003e-01 -5.11108934e-02 8.65585773e+01] [ 8.47335422e-01 5.26433783e-01 -6.99296393e-02 4.50609959e+01] [ 8.63599812e-02 -6.66569775e-03 9.96241699e-01 2.47474566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.57, Y:45.09, Z:2.48 [[ 5.23738423e-01 -8.50660799e-01 -4.55441489e-02 8.65685728e+01] [ 8.47566966e-01 5.25714561e-01 -7.24875041e-02 4.50867559e+01] [ 8.56055004e-02 -6.37225047e-04 9.96328908e-01 2.47505149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:45.11, Z:2.48 [[ 5.23258681e-01 -8.50994222e-01 -4.48239568e-02 8.65803959e+01] [ 8.47996327e-01 5.25174630e-01 -7.13711275e-02 4.51113363e+01] [ 8.42768220e-02 -6.64988681e-04 9.96442158e-01 2.47710608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:45.14, Z:2.48 [[ 5.22924798e-01 -8.51196692e-01 -4.48759127e-02 8.65937078e+01] [ 8.48188702e-01 5.24846394e-01 -7.14995676e-02 4.51351088e+01] [ 8.44131564e-02 -6.74345221e-04 9.96430612e-01 2.47933590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:45.16, Z:2.48 [[ 5.21985170e-01 -8.51722425e-01 -4.58300359e-02 8.66057158e+01] [ 8.48584213e-01 5.23992685e-01 -7.30513430e-02 4.51602928e+01] [ 8.62340706e-02 -7.58927269e-04 9.96274615e-01 2.48030356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:45.19, Z:2.48 [[ 5.20818046e-01 -8.53133616e-01 -3.01926568e-02 8.66082391e+01] [ 8.48401251e-01 5.21203746e-01 -9.25309261e-02 4.51923795e+01] [ 9.46777694e-02 2.25762883e-02 9.95251944e-01 2.47657361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.098040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:86.64, Y:45.20, Z:2.49 [[ 5.19573507e-01 -8.51863476e-01 -6.61210132e-02 8.66420754e+01] [ 8.49942867e-01 5.23214373e-01 -6.19987263e-02 4.52010799e+01] [ 8.74099150e-02 -2.39861879e-02 9.95883612e-01 2.49031262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:45.23, Z:2.49 [[ 5.15909288e-01 -8.55382688e-01 -4.64549629e-02 8.66448956e+01] [ 8.52160467e-01 5.17994916e-01 -7.41876381e-02 4.52334896e+01] [ 8.75222559e-02 -1.31299123e-03 9.96161699e-01 2.48615092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:45.26, Z:2.49 [[ 5.13737794e-01 -8.56686009e-01 -4.65033382e-02 8.66578087e+01] [ 8.53458201e-01 5.15836017e-01 -7.43121934e-02 4.52568797e+01] [ 8.76503132e-02 -1.51167300e-03 9.96150158e-01 2.48892080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.188040942 meters Centerline goodness : 0.996201 Centerline is valid? [True, True] Translation: X:86.66, Y:45.29, Z:2.49 [[ 5.07863552e-01 -8.60813633e-01 -3.27795878e-02 8.66605220e+01] [ 8.56335282e-01 5.08625284e-01 -8.93879483e-02 4.52888450e+01] [ 9.36188917e-02 1.73265634e-02 9.95457329e-01 2.48854921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:45.31, Z:2.50 [[ 5.05973711e-01 -8.60955365e-01 -5.24067215e-02 8.66889270e+01] [ 8.57928893e-01 5.08613919e-01 -7.25940471e-02 4.53104262e+01] [ 8.91550222e-02 -8.23056124e-03 9.95983755e-01 2.49546474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:45.33, Z:2.51 [[ 5.02063760e-01 -8.62615410e-01 -6.18598070e-02 8.67018713e+01] [ 8.59921499e-01 5.05545620e-01 -7.04176226e-02 4.53288370e+01] [ 9.20162808e-02 -1.78404416e-02 9.95597671e-01 2.50534187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:45.36, Z:2.50 [[ 4.98912421e-01 -8.65262203e-01 -4.90684918e-02 8.67068421e+01] [ 8.61652322e-01 5.01311408e-01 -7.90072687e-02 4.53577924e+01] [ 9.29605981e-02 -2.86227221e-03 9.95665674e-01 2.50373290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:45.38, Z:2.51 [[ 4.97696667e-01 -8.65962687e-01 -4.90576498e-02 8.67195075e+01] [ 8.62353573e-01 5.00099796e-01 -7.90348536e-02 4.53826546e+01] [ 9.29749548e-02 -2.96965640e-03 9.95664019e-01 2.50627783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:45.41, Z:2.51 [[ 4.97063474e-01 -8.66323211e-01 -4.91120768e-02 8.67300241e+01] [ 8.62703113e-01 4.99474726e-01 -7.91728268e-02 4.54077501e+01] [ 9.31194987e-02 -3.01522116e-03 9.95650374e-01 2.50823553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:45.43, Z:2.51 [[ 4.96767349e-01 -8.66488459e-01 -4.91930015e-02 8.67432461e+01] [ 8.62854015e-01 4.99187884e-01 -7.93372849e-02 4.54329295e+01] [ 9.33013921e-02 -3.03420618e-03 9.95633288e-01 2.51081787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:45.47, Z:2.49 [[ 4.98764681e-01 -8.66613615e-01 -1.46504155e-02 8.67363840e+01] [ 8.62473626e-01 4.97914710e-01 -9.06652427e-02 4.54678700e+01] [ 8.58663912e-02 3.25850239e-02 9.95773659e-01 2.48516420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:45.48, Z:2.50 [[ 4.95757539e-01 -8.67312301e-01 -4.46523823e-02 8.67671209e+01] [ 8.64050131e-01 4.97762629e-01 -7.51647233e-02 4.54847604e+01] [ 8.74175763e-02 -1.31841852e-03 9.96170884e-01 2.50008239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:45.51, Z:2.50 [[ 4.95698960e-01 -8.67517781e-01 -4.11757252e-02 8.67780384e+01] [ 8.64108543e-01 4.97399752e-01 -7.68759569e-02 4.55096939e+01] [ 8.71720550e-02 2.52703598e-03 9.96190066e-01 2.49988685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:45.53, Z:2.50 [[ 4.99378324e-01 -8.65145183e-01 -4.63152526e-02 8.67909402e+01] [ 8.61593648e-01 5.01520866e-01 -7.83147989e-02 4.55312344e+01] [ 9.09817366e-02 -7.96214430e-04 9.95852243e-01 2.50429626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:45.56, Z:2.50 [[ 4.97668970e-01 -8.66370690e-01 -4.15623016e-02 8.68006094e+01] [ 8.62339019e-01 4.99367707e-01 -8.36857751e-02 4.55597813e+01] [ 9.32577739e-02 5.80701912e-03 9.95625063e-01 2.50241611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.548040942 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:86.83, Y:45.57, Z:2.52 [[ 5.01487629e-01 -8.62397779e-01 -6.91392036e-02 8.68257461e+01] [ 8.60070322e-01 5.05599854e-01 -6.81749928e-02 4.55665627e+01] [ 9.37507336e-02 -2.52756615e-02 9.95274807e-01 2.52210236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:45.60, Z:2.52 [[ 5.04846370e-01 -8.61763976e-01 -4.99298655e-02 8.68358798e+01] [ 8.58184667e-01 5.07299298e-01 -7.85270683e-02 4.56004977e+01] [ 9.30011844e-02 -3.20493957e-03 9.95660840e-01 2.52063766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:45.63, Z:2.52 [[ 5.05806636e-01 -8.61365845e-01 -4.69949811e-02 8.68483852e+01] [ 8.57855255e-01 5.07984103e-01 -7.76949985e-02 4.56269165e+01] [ 9.07965213e-02 -1.01624573e-03 9.95868947e-01 2.52316810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:45.65, Z:2.52 [[ 5.05965572e-01 -8.61945276e-01 -3.23910463e-02 8.68507571e+01] [ 8.58106118e-01 5.06810201e-01 -8.24458072e-02 4.56526194e+01] [ 8.74798867e-02 1.39197851e-02 9.96069028e-01 2.51635348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:45.67, Z:2.53 [[ 5.08941399e-01 -8.58619715e-01 -6.12440783e-02 8.68844636e+01] [ 8.55974833e-01 5.12328904e-01 -6.94707027e-02 4.56696392e+01] [ 9.10260265e-02 -1.70668731e-02 9.95702257e-01 2.53360755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:45.70, Z:2.53 [[ 5.10611661e-01 -8.58397397e-01 -4.92913896e-02 8.68931783e+01] [ 8.54942131e-01 5.12977500e-01 -7.69937512e-02 4.56972425e+01] [ 9.13766093e-02 -2.82737844e-03 9.95812393e-01 2.53126157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:45.72, Z:2.54 [[ 5.13892322e-01 -8.55844025e-01 -5.86999700e-02 8.69133780e+01] [ 8.52591089e-01 5.17110550e-01 -7.53996936e-02 4.57159683e+01] [ 9.48847510e-02 -1.12997477e-02 9.95424131e-01 2.54025275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:45.74, Z:2.53 [[ 5.14301218e-01 -8.56200584e-01 -4.91407851e-02 8.69241918e+01] [ 8.52670968e-01 5.16639887e-01 -7.76881421e-02 4.57436150e+01] [ 9.19047224e-02 -1.94581471e-03 9.95765904e-01 2.53271447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:45.77, Z:2.54 [[ 5.16412236e-01 -8.55319496e-01 -4.17966748e-02 8.69373395e+01] [ 8.51425116e-01 5.18058172e-01 -8.17985424e-02 4.57697989e+01] [ 9.16169970e-02 6.65502942e-03 9.95772081e-01 2.53666524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:45.79, Z:2.54 [[ 5.18784238e-01 -8.53644014e-01 -4.64199461e-02 8.69544094e+01] [ 8.49837868e-01 5.20851624e-01 -8.05554682e-02 4.57900730e+01] [ 9.29435976e-02 2.34147909e-03 9.95668622e-01 2.54252965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:45.81, Z:2.55 [[ 5.23549529e-01 -8.50651138e-01 -4.78386045e-02 8.69718485e+01] [ 8.46861514e-01 5.25728479e-01 -8.02193420e-02 4.58098542e+01] [ 9.33887913e-02 1.48612572e-03 9.95628608e-01 2.54655569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:45.84, Z:2.55 [[ 5.23609912e-01 -8.50744848e-01 -4.54517693e-02 8.69882050e+01] [ 8.46891938e-01 5.25564424e-01 -8.09696373e-02 4.58372683e+01] [ 9.27723347e-02 3.90376768e-03 9.95679695e-01 2.54790506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:45.85, Z:2.56 [[ 5.27677410e-01 -8.46662409e-01 -6.86972793e-02 8.70207091e+01] [ 8.43890224e-01 5.31743240e-01 -7.14031922e-02 4.58497681e+01] [ 9.69837126e-02 -2.02951109e-02 9.95079026e-01 2.56335601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:45.88, Z:2.55 [[ 5.27756634e-01 -8.48465071e-01 -3.97487069e-02 8.70200520e+01] [ 8.44131451e-01 5.29113157e-01 -8.64948577e-02 4.58816473e+01] [ 9.44194293e-02 1.20951012e-02 9.95459030e-01 2.55191510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:45.90, Z:2.57 [[ 5.28870286e-01 -8.46591214e-01 -5.98292291e-02 8.70529332e+01] [ 8.42933556e-01 5.32174041e-01 -7.90810307e-02 4.59018146e+01] [ 9.87888684e-02 -8.60845751e-03 9.95071180e-01 2.56550254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:45.93, Z:2.56 [[ 5.29684392e-01 -8.47156967e-01 -4.19466023e-02 8.70561427e+01] [ 8.42937062e-01 5.31254774e-01 -8.50027913e-02 4.59256964e+01] [ 9.42950397e-02 9.66630617e-03 9.95497367e-01 2.55994416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:45.95, Z:2.56 [[ 5.28859748e-01 -8.47275236e-01 -4.93157359e-02 8.70774951e+01] [ 8.43477851e-01 5.31153522e-01 -8.01314575e-02 4.59464100e+01] [ 9.40876263e-02 7.81571525e-04 9.95563613e-01 2.56448203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:45.97, Z:2.56 [[ 5.26489925e-01 -8.49265611e-01 -3.94497189e-02 8.70922481e+01] [ 8.44412045e-01 5.27750465e-01 -9.19116120e-02 4.59724361e+01] [ 9.88769788e-02 1.50787199e-02 9.94985415e-01 2.56371835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:45.98, Z:2.58 [[ 5.26302249e-01 -8.46854786e-01 -7.64389601e-02 8.71304754e+01] [ 8.44678002e-01 5.31025331e-01 -6.73139775e-02 4.59776224e+01] [ 9.75961881e-02 -2.91388103e-02 9.94799434e-01 2.58457252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:46.01, Z:2.57 [[ 5.19015712e-01 -8.53937570e-01 -3.75940980e-02 8.71291120e+01] [ 8.49397943e-01 5.20178746e-01 -8.90910053e-02 4.60131536e+01] [ 9.56338073e-02 1.43072821e-02 9.95313758e-01 2.56819553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.148040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.17, Y:46.03, Z:2.59 [[ 5.17718038e-01 -8.53101206e-01 -6.47021315e-02 8.71655077e+01] [ 8.49152238e-01 5.21606535e-01 -8.28679645e-02 4.60314734e+01] [ 1.04443815e-01 -1.20397198e-02 9.94457910e-01 2.58892224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.16, Y:46.06, Z:2.57 [[ 5.12743549e-01 -8.57736279e-01 -3.71823707e-02 8.71633552e+01] [ 8.52999640e-01 5.13868648e-01 -9.12722717e-02 4.60592591e+01] [ 9.73943933e-02 1.50827197e-02 9.95131571e-01 2.57346436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.208040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.20, Y:46.07, Z:2.59 [[ 5.10277684e-01 -8.57539849e-01 -6.51313529e-02 8.72006531e+01] [ 8.54011864e-01 5.14192403e-01 -7.91827512e-02 4.60730617e+01] [ 1.01392411e-01 -1.52177572e-02 9.94730114e-01 2.59182705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:46.10, Z:2.59 [[ 5.10350317e-01 -8.58303615e-01 -5.34551987e-02 8.72096147e+01] [ 8.54103709e-01 5.13136764e-01 -8.48381716e-02 4.60950126e+01] [ 1.00246737e-01 -2.35909578e-03 9.94959811e-01 2.59073961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.268040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.23, Y:46.12, Z:2.59 [[ 5.07009834e-01 -8.60459235e-01 -5.05067638e-02 8.72310070e+01] [ 8.56064289e-01 5.09518657e-01 -8.68600674e-02 4.61213975e+01] [ 1.00473686e-01 8.01871571e-04 9.94939393e-01 2.59341877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:46.14, Z:2.60 [[ 5.07063650e-01 -8.59913609e-01 -5.86092206e-02 8.72512189e+01] [ 8.55887946e-01 5.10379478e-01 -8.34782180e-02 4.61383771e+01] [ 1.01696999e-01 -7.83415554e-03 9.94784573e-01 2.60015990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:46.16, Z:2.60 [[ 5.07002036e-01 -8.60287298e-01 -5.34293976e-02 8.72636432e+01] [ 8.55735779e-01 5.09808723e-01 -8.83817961e-02 4.61599502e+01] [ 1.03272510e-01 -9.11696627e-04 9.94652682e-01 2.60073148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.29, Y:46.18, Z:2.61 [[ 5.05650588e-01 -8.60685802e-01 -5.94763290e-02 8.72873193e+01] [ 8.56526151e-01 5.09073376e-01 -8.48955317e-02 4.61798839e+01] [ 1.03346194e-01 -8.01555561e-03 9.94613148e-01 2.60760116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.31, Y:46.20, Z:2.61 [[ 5.04951057e-01 -8.60557392e-01 -6.68236870e-02 8.73087175e+01] [ 8.57199741e-01 5.09039431e-01 -7.80221827e-02 4.61987249e+01] [ 1.01158458e-01 -1.78838636e-02 9.94709573e-01 2.61476040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:46.23, Z:2.61 [[ 5.04481516e-01 -8.61990323e-01 -4.97099960e-02 8.73222296e+01] [ 8.57407914e-01 5.06920081e-01 -8.87902014e-02 4.62293561e+01] [ 1.01735290e-01 2.17127142e-03 9.94809136e-01 2.61264619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:46.25, Z:2.61 [[ 5.05128435e-01 -8.61845683e-01 -4.54673785e-02 8.73344166e+01] [ 8.56905206e-01 5.07111381e-01 -9.24744009e-02 4.62501325e+01] [ 1.02755688e-01 7.75021609e-03 9.94676431e-01 2.61168582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.478040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:46.27, Z:2.62 [[ 5.04192363e-01 -8.61766124e-01 -5.61178054e-02 8.73585686e+01] [ 8.57817923e-01 5.07264549e-01 -8.26503941e-02 4.62717510e+01] [ 9.96918831e-02 -6.46716176e-03 9.94997339e-01 2.61876759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:46.29, Z:2.64 [[ 5.07461280e-01 -8.58623459e-01 -7.24486419e-02 8.73871233e+01] [ 8.55390811e-01 5.12112392e-01 -7.77654014e-02 4.62869192e+01] [ 1.03873045e-01 -2.25089725e-02 9.94335827e-01 2.63542625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.538040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.39, Y:46.32, Z:2.62 [[ 5.07279196e-01 -8.60772624e-01 -4.16930230e-02 8.73860421e+01] [ 8.55857757e-01 5.08865096e-01 -9.25408810e-02 4.63204153e+01] [ 1.00872781e-01 1.12607666e-02 9.94835603e-01 2.62123816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:46.34, Z:2.63 [[ 5.11036061e-01 -8.57734624e-01 -5.59773116e-02 8.74080196e+01] [ 8.53476809e-01 5.14076330e-01 -8.54567881e-02 4.63373569e+01] [ 1.02075857e-01 -4.10383697e-03 9.94768153e-01 2.63120771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:46.36, Z:2.63 [[ 5.12809680e-01 -8.57005205e-01 -5.06785013e-02 8.74192056e+01] [ 8.52742119e-01 5.15307440e-01 -8.53763455e-02 4.63627706e+01] [ 9.92829813e-02 5.66123906e-04 9.95059078e-01 2.63051671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:46.39, Z:2.64 [[ 5.14309861e-01 -8.55922644e-01 -5.36823419e-02 8.74354982e+01] [ 8.51582057e-01 5.17101903e-01 -8.61023979e-02 4.63865011e+01] [ 1.01456233e-01 -1.43160676e-03 9.94838974e-01 2.63614509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:46.41, Z:2.64 [[ 5.13719533e-01 -8.56244706e-01 -5.41963531e-02 8.74501482e+01] [ 8.51939088e-01 5.16566147e-01 -8.57858160e-02 4.64110503e+01] [ 1.01449652e-01 -2.10214226e-03 9.94838454e-01 2.63903341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:46.43, Z:2.65 [[ 5.15607028e-01 -8.54364501e-01 -6.48898477e-02 8.74710588e+01] [ 8.50763229e-01 5.19481586e-01 -7.96292033e-02 4.64314580e+01] [ 1.01741446e-01 -1.41485195e-02 9.94710258e-01 2.64952914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.718040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.48, Y:46.46, Z:2.64 [[ 5.15064118e-01 -8.55732773e-01 -4.92988397e-02 8.74764705e+01] [ 8.51056669e-01 5.17401735e-01 -8.94314908e-02 4.64601134e+01] [ 1.02036763e-01 4.10684567e-03 9.94772151e-01 2.64469046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.748040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.49, Y:46.49, Z:2.64 [[ 5.12672514e-01 -8.57508012e-01 -4.29756132e-02 8.74857446e+01] [ 8.52948958e-01 5.14394609e-01 -8.87482996e-02 4.64860911e+01] [ 9.82088017e-02 8.84280929e-03 9.95126543e-01 2.64228154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:46.51, Z:2.64 [[ 5.11467071e-01 -8.58133299e-01 -4.48182623e-02 8.74982393e+01] [ 8.53628113e-01 5.13382039e-01 -8.80790951e-02 4.65065620e+01] [ 9.85924954e-02 6.79142814e-03 9.95104716e-01 2.64418334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:46.53, Z:2.66 [[ 5.09833329e-01 -8.58307397e-01 -5.81239080e-02 8.75210897e+01] [ 8.54367017e-01 5.13079611e-01 -8.25003796e-02 4.65290430e+01] [ 1.00632878e-01 -7.59770668e-03 9.94894617e-01 2.65515197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:46.56, Z:2.65 [[ 5.04810937e-01 -8.62249371e-01 -4.11331976e-02 8.75245502e+01] [ 8.57525458e-01 5.06374350e-01 -9.07474917e-02 4.65597372e+01] [ 9.90757638e-02 1.05375623e-02 9.95024097e-01 2.64711665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:46.58, Z:2.65 [[ 5.02820991e-01 -8.62784529e-01 -5.26679056e-02 8.75432143e+01] [ 8.59270288e-01 5.05535933e-01 -7.80255949e-02 4.65772959e+01] [ 9.39447950e-02 -6.02305946e-03 9.95559189e-01 2.65226978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.898040942 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:87.56, Y:46.60, Z:2.67 [[ 4.97733864e-01 -8.64874641e-01 -6.52139234e-02 8.75597333e+01] [ 8.61532488e-01 5.01686351e-01 -7.79267460e-02 4.65966420e+01] [ 1.00113802e-01 -1.73971333e-02 9.94823887e-01 2.66606453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.57, Y:46.63, Z:2.66 [[ 4.95769445e-01 -8.66904675e-01 -5.18550150e-02 8.75672164e+01] [ 8.62579863e-01 4.98470551e-01 -8.65048582e-02 4.66266678e+01] [ 1.00839664e-01 -1.84262618e-03 9.94900983e-01 2.66311823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.58, Y:46.65, Z:2.67 [[ 4.94515739e-01 -8.67627902e-01 -5.17301394e-02 8.75805815e+01] [ 8.63276886e-01 4.97211040e-01 -8.67997705e-02 4.66499155e+01] [ 1.01030699e-01 -1.73358098e-03 9.94881798e-01 2.66556066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:46.67, Z:2.67 [[ 4.92177815e-01 -8.69056435e-01 -5.00191194e-02 8.75929327e+01] [ 8.64476131e-01 4.94712576e-01 -8.91094096e-02 4.66742402e+01] [ 1.02186193e-01 6.17339702e-04 9.94765098e-01 2.66662981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.018040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.61, Y:46.70, Z:2.67 [[ 4.92074196e-01 -8.69162200e-01 -4.91940614e-02 8.76120604e+01] [ 8.64683313e-01 4.94526425e-01 -8.81270918e-02 4.67018278e+01] [ 1.00924500e-01 8.27783877e-04 9.94893743e-01 2.66577980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.62, Y:46.72, Z:2.67 [[ 4.88950273e-01 -8.70627876e-01 -5.41731691e-02 8.76230832e+01] [ 8.66496488e-01 4.91912161e-01 -8.48897131e-02 4.67212552e+01] [ 1.00555791e-01 -5.43401237e-03 9.94916582e-01 2.67270973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:46.75, Z:2.67 [[ 4.87313494e-01 -8.71920496e-01 -4.77515234e-02 8.76344039e+01] [ 8.67274355e-01 4.89641556e-01 -8.99240837e-02 4.67492872e+01] [ 1.01787782e-01 2.40754781e-03 9.94803222e-01 2.67292871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:46.77, Z:2.68 [[ 4.86711823e-01 -8.71992550e-01 -5.23506815e-02 8.76511829e+01] [ 8.67718003e-01 4.89507190e-01 -8.63028299e-02 4.67714119e+01] [ 1.00881460e-01 -3.42102116e-03 9.94892571e-01 2.67765597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:46.80, Z:2.69 [[ 4.88848307e-01 -8.70197883e-01 -6.15059068e-02 8.76754312e+01] [ 8.66199661e-01 4.92553386e-01 -8.41980383e-02 4.67958389e+01] [ 1.03563897e-01 -1.21163271e-02 9.94549000e-01 2.68759238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:46.83, Z:2.68 [[ 4.86591425e-01 -8.72919331e-01 -3.52225267e-02 8.76677481e+01] [ 8.67419442e-01 4.87538365e-01 -9.94477515e-02 4.68276009e+01] [ 1.03982198e-01 1.78377187e-02 9.94419186e-01 2.67558988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:46.84, Z:2.70 [[ 4.90011980e-01 -8.68838185e-01 -7.07705341e-02 8.77050995e+01] [ 8.65258221e-01 4.94640038e-01 -8.16054172e-02 4.68424748e+01] [ 1.05907842e-01 -2.12471544e-02 9.94148926e-01 2.69690154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:46.88, Z:2.68 [[ 4.87876224e-01 -8.71999185e-01 -3.99275719e-02 8.76973193e+01] [ 8.66868732e-01 4.89364382e-01 -9.51898271e-02 4.68758074e+01] [ 1.02544583e-01 1.18288898e-02 9.94658075e-01 2.68285841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.74, Y:46.89, Z:2.71 [[ 4.93320200e-01 -8.66100186e-01 -8.06575929e-02 8.77365524e+01] [ 8.63853822e-01 4.98676906e-01 -7.12595100e-02 4.68870564e+01] [ 1.01939954e-01 -3.45226141e-02 9.94191347e-01 2.70689745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:46.93, Z:2.68 [[ 4.92290113e-01 -8.69967337e-01 -2.84126285e-02 8.77179531e+01] [ 8.64605439e-01 4.92504934e-01 -9.94802712e-02 4.69268998e+01] [ 1.00537946e-01 2.44074408e-02 9.94633801e-01 2.68353821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.74, Y:46.95, Z:2.69 [[ 4.93135726e-01 -8.68686762e-01 -4.69091204e-02 8.77411854e+01] [ 8.63919458e-01 4.95342754e-01 -9.09875095e-02 4.69451312e+01] [ 1.02275738e-01 4.34348961e-03 9.94746605e-01 2.69381828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:46.97, Z:2.70 [[ 4.95166892e-01 -8.67348684e-01 -5.01598469e-02 8.77550740e+01] [ 8.62622916e-01 4.97698687e-01 -9.04307547e-02 4.69661622e+01] [ 1.03399486e-01 1.50928230e-03 9.94638763e-01 2.69787210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.378040942 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:87.77, Y:46.99, Z:2.69 [[ 4.96249717e-01 -8.66977055e-01 -4.56837521e-02 8.77686329e+01] [ 8.62290433e-01 4.98319220e-01 -9.01840576e-02 4.69924983e+01] [ 1.00952600e-01 5.36115068e-03 9.94876792e-01 2.69459952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:47.01, Z:2.71 [[ 4.97024219e-01 -8.65423104e-01 -6.33227977e-02 8.77889480e+01] [ 8.61952707e-01 5.00806577e-01 -7.89322673e-02 4.70067561e+01] [ 1.00022281e-01 -1.53500085e-02 9.94866785e-01 2.70803619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.438040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.79, Y:47.04, Z:2.70 [[ 4.96744089e-01 -8.66773038e-01 -4.41566603e-02 8.77927498e+01] [ 8.61763465e-01 4.98632775e-01 -9.34295807e-02 4.70382845e+01] [ 1.03000200e-01 8.35799531e-03 9.94646220e-01 2.70334391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:47.06, Z:2.71 [[ 4.96048562e-01 -8.66302845e-01 -5.87809895e-02 8.78140731e+01] [ 8.62348017e-01 4.99430508e-01 -8.32169816e-02 4.70556808e+01] [ 1.01448127e-01 -9.41000560e-03 9.94796326e-01 2.71180205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:47.09, Z:2.71 [[ 4.94027344e-01 -8.67897972e-01 -5.18661217e-02 8.78282163e+01] [ 8.62898484e-01 4.96741040e-01 -9.30298068e-02 4.70853423e+01] [ 1.06504412e-01 1.20407054e-03 9.94311501e-01 2.71385281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:47.11, Z:2.70 [[ 4.90066745e-01 -8.70791833e-01 -3.94483001e-02 8.78331785e+01] [ 8.65709015e-01 4.91498458e-01 -9.47479118e-02 4.71131855e+01] [ 1.01894486e-01 1.22820517e-02 9.94719390e-01 2.70451031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.558040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.86, Y:47.12, Z:2.72 [[ 4.87879773e-01 -8.69929259e-01 -7.20861328e-02 8.78638455e+01] [ 8.67380187e-01 4.92414098e-01 -7.19719898e-02 4.71226042e+01] [ 9.81067679e-02 -2.74124053e-02 9.94798282e-01 2.72430236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.87, Y:47.15, Z:2.72 [[ 4.85082281e-01 -8.73139257e-01 -4.81977092e-02 8.78656504e+01] [ 8.69199178e-01 4.87467917e-01 -8.28723014e-02 4.71526133e+01] [ 9.58538966e-02 -1.69352425e-03 9.95393974e-01 2.71598721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.618040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.88, Y:47.18, Z:2.72 [[ 4.83286910e-01 -8.74140949e-01 -4.80766570e-02 8.78799187e+01] [ 8.70219047e-01 4.85668782e-01 -8.27323652e-02 4.71765575e+01] [ 9.56690796e-02 -1.85375351e-03 9.95411468e-01 2.71898078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.89, Y:47.20, Z:2.72 [[ 4.80342615e-01 -8.75774231e-01 -4.78588442e-02 8.78944327e+01] [ 8.71891080e-01 4.82716170e-01 -8.24077883e-02 4.71997591e+01] [ 9.52728554e-02 -2.14372684e-03 9.95448887e-01 2.72166097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:47.22, Z:2.72 [[ 4.79083424e-01 -8.76469898e-01 -4.77450678e-02 8.79090441e+01] [ 8.72603605e-01 4.81451402e-01 -8.22647968e-02 4.72240824e+01] [ 9.50895479e-02 -2.25081775e-03 9.95466178e-01 2.72439956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:47.25, Z:2.73 [[ 4.78203618e-01 -8.76975203e-01 -4.72841692e-02 8.79235078e+01] [ 8.73180802e-01 4.80530114e-01 -8.15235900e-02 4.72465465e+01] [ 9.42156341e-02 -2.30275307e-03 9.95549151e-01 2.72695097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:47.27, Z:2.73 [[ 4.78425899e-01 -8.76859972e-01 -4.71725455e-02 8.79371807e+01] [ 8.73078424e-01 4.80740596e-01 -8.13790222e-02 4.72704957e+01] [ 9.40357647e-02 -2.25149983e-03 9.95566274e-01 2.72974735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.768040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.96, Y:47.30, Z:2.73 [[ 4.81784316e-01 -8.74857293e-01 -5.00858287e-02 8.79585019e+01] [ 8.71041442e-01 4.84362115e-01 -8.17321673e-02 4.72975483e+01] [ 9.57636605e-02 -4.24955619e-03 9.95395028e-01 2.73318389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:47.32, Z:2.73 [[ 4.79874813e-01 -8.76075796e-01 -4.70251457e-02 8.79635198e+01] [ 8.72166481e-01 4.82171559e-01 -8.26814207e-02 4.73198672e+01] [ 9.51093793e-02 -1.33702460e-03 9.95465930e-01 2.73425882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.828040942 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:87.98, Y:47.34, Z:2.73 [[ 4.81384871e-01 -8.75185876e-01 -4.81486163e-02 8.79752975e+01] [ 8.71223008e-01 4.83783120e-01 -8.32127603e-02 4.73429901e+01] [ 9.61201203e-02 -1.89081849e-03 9.95367946e-01 2.73451615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:47.37, Z:2.74 [[ 4.82730058e-01 -8.74464473e-01 -4.77867853e-02 8.79887611e+01] [ 8.70552128e-01 4.85086564e-01 -8.26439251e-02 4.73678503e+01] [ 9.54499039e-02 -1.70618081e-03 9.95432773e-01 2.73733371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:47.39, Z:2.74 [[ 4.82779923e-01 -8.74449518e-01 -4.75561439e-02 8.80018177e+01] [ 8.70569755e-01 4.85113652e-01 -8.22985225e-02 4.73909795e+01] [ 9.50360379e-02 -1.66886617e-03 9.95472434e-01 2.73985719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.918040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:88.02, Y:47.42, Z:2.74 [[ 4.82993288e-01 -8.74329122e-01 -4.76032666e-02 8.80159528e+01] [ 8.70436418e-01 4.85330766e-01 -8.24286963e-02 4.74152377e+01] [ 9.51731394e-02 -1.62310982e-03 9.95459411e-01 2.74228049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:47.44, Z:2.75 [[ 4.83026014e-01 -8.74333292e-01 -4.71928488e-02 8.80295392e+01] [ 8.70502601e-01 4.85323382e-01 -8.17706284e-02 4.74390818e+01] [ 9.43985757e-02 -1.58415698e-03 9.95533224e-01 2.74558005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.978040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:47.46, Z:2.75 [[ 4.82295746e-01 -8.74702201e-01 -4.78212605e-02 8.80433224e+01] [ 8.70765182e-01 4.84657951e-01 -8.29136220e-02 4.74637251e+01] [ 9.57016818e-02 -1.65220141e-03 9.95408689e-01 2.74777025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.008040942 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:88.06, Y:47.49, Z:2.75 [[ 4.81468938e-01 -8.75148020e-01 -4.79958898e-02 8.80571380e+01] [ 8.71179129e-01 4.83852231e-01 -8.32702996e-02 4.74886218e+01] [ 9.60967561e-02 -1.72095479e-03 9.95370510e-01 2.74996334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:47.51, Z:2.75 [[ 4.80068657e-01 -8.75925055e-01 -4.78474962e-02 8.80694544e+01] [ 8.71979262e-01 4.82443675e-01 -8.30678505e-02 4.75121386e+01] [ 9.58449334e-02 -1.84375292e-03 9.95394570e-01 2.75181942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:47.54, Z:2.75 [[ 4.79020603e-01 -8.76506161e-01 -4.77096681e-02 8.80828474e+01] [ 8.72582332e-01 4.81386750e-01 -8.28665848e-02 4.75364767e+01] [ 9.55998741e-02 -1.93581203e-03 9.95417961e-01 2.75487725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:47.57, Z:2.74 [[ 4.78949851e-01 -8.77344085e-01 -2.95701844e-02 8.80922253e+01] [ 8.73010857e-01 4.79572783e-01 -8.86678605e-02 4.75698409e+01] [ 9.19732786e-02 1.66523665e-02 9.95622225e-01 2.74370525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:47.59, Z:2.75 [[ 4.78018033e-01 -8.77103150e-01 -4.67848653e-02 8.81142331e+01] [ 8.73549002e-01 4.80291836e-01 -7.89423434e-02 4.75885292e+01] [ 9.17109670e-02 -3.13300857e-03 9.95780740e-01 2.75401805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:47.61, Z:2.76 [[ 4.77232312e-01 -8.77508685e-01 -4.71998661e-02 8.81281575e+01] [ 8.73951522e-01 4.79547651e-01 -7.90113162e-02 4.76142471e+01] [ 9.19677011e-02 -3.54364167e-03 9.95755685e-01 2.75765570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:47.63, Z:2.79 [[ 4.78715276e-01 -8.74257499e-01 -8.06567457e-02 8.81610861e+01] [ 8.72285180e-01 4.84041786e-01 -6.94414392e-02 4.76294787e+01] [ 9.97509342e-02 -3.71130062e-02 9.94320057e-01 2.78513721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.218040942 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:88.14, Y:47.66, Z:2.77 [[ 4.77666391e-01 -8.78068447e-01 -2.88204922e-02 8.81429296e+01] [ 8.72806641e-01 4.78035133e-01 -9.84427753e-02 4.76649947e+01] [ 1.00216703e-01 2.18680882e-02 9.94725288e-01 2.76551837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:47.68, Z:2.78 [[ 4.78052190e-01 -8.76513365e-01 -5.64838356e-02 8.81746012e+01] [ 8.72579692e-01 4.81286118e-01 -8.34766676e-02 4.76817709e+01] [ 1.00353301e-01 -9.38044407e-03 9.94907645e-01 2.77888412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:47.71, Z:2.78 [[ 4.78061915e-01 -8.76406209e-01 -5.80427592e-02 8.81897209e+01] [ 8.72568757e-01 4.81444136e-01 -8.26759291e-02 4.77056791e+01] [ 1.00402044e-01 -1.11220852e-02 9.94884782e-01 2.78462946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:47.74, Z:2.77 [[ 4.76303692e-01 -8.78786657e-01 -2.94755034e-02 8.81862112e+01] [ 8.73701974e-01 4.76785869e-01 -9.65406446e-02 4.77403132e+01] [ 9.88921338e-02 2.02298599e-02 9.94892506e-01 2.76961270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:47.76, Z:2.78 [[ 4.76308195e-01 -8.77827986e-01 -5.04829783e-02 8.82093403e+01] [ 8.73313299e-01 4.78972901e-01 -8.89316743e-02 4.77599421e+01] [ 1.02246691e-01 -1.72857109e-03 9.94757572e-01 2.78100100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:47.78, Z:2.79 [[ 4.76021554e-01 -8.77645675e-01 -5.60495321e-02 8.82257132e+01] [ 8.73360297e-01 4.79250372e-01 -8.69532804e-02 4.77842498e+01] [ 1.03175930e-01 -7.55980030e-03 9.94634394e-01 2.78654312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:47.81, Z:2.78 [[ 4.72647435e-01 -8.80016215e-01 -4.66461536e-02 8.82339032e+01] [ 8.75772651e-01 4.74943637e-01 -8.63180418e-02 4.78143717e+01] [ 9.81155703e-02 -5.34245196e-05 9.95175026e-01 2.78151189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:47.83, Z:2.82 [[ 4.75416394e-01 -8.74984550e-01 -9.15493853e-02 8.82748584e+01] [ 8.73293037e-01 4.81954252e-01 -7.12697068e-02 4.78252723e+01] [ 1.06482508e-01 -4.60666537e-02 9.93246867e-01 2.81561820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:47.87, Z:2.79 [[ 4.71310952e-01 -8.81536454e-01 -2.75584379e-02 8.82535939e+01] [ 8.76203598e-01 4.71568727e-01 -9.94494367e-02 4.78678275e+01] [ 1.00664001e-01 2.27248062e-02 9.94660918e-01 2.78513301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.488040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.27, Y:47.89, Z:2.79 [[ 4.69101565e-01 -8.82148197e-01 -4.19318586e-02 8.82739141e+01] [ 8.77542822e-01 4.70939677e-01 -9.01909955e-02 4.78884769e+01] [ 9.93092000e-02 5.51173559e-03 9.95041358e-01 2.79139117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.518040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.29, Y:47.91, Z:2.80 [[ 4.68831112e-01 -8.81702293e-01 -5.29004180e-02 8.82914629e+01] [ 8.77540647e-01 4.71765415e-01 -8.57893125e-02 4.79097240e+01] [ 1.00597221e-01 -6.20156822e-03 9.94907905e-01 2.79857162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.548040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.31, Y:47.93, Z:2.80 [[ 4.68669668e-01 -8.81748137e-01 -5.35627146e-02 8.83053394e+01] [ 8.77507042e-01 4.71676970e-01 -8.66153956e-02 4.79344208e+01] [ 1.01637263e-01 -6.40765054e-03 9.94800889e-01 2.80219316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.578040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.32, Y:47.96, Z:2.80 [[ 4.68278580e-01 -8.82096839e-01 -5.11892323e-02 8.83180981e+01] [ 8.77698975e-01 4.71053611e-01 -8.80511543e-02 4.79601018e+01] [ 1.01782518e-01 -3.69626714e-03 9.94799807e-01 2.80409246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.33, Y:47.98, Z:2.81 [[ 4.68075807e-01 -8.82238092e-01 -5.06062021e-02 8.83303041e+01] [ 8.77800256e-01 4.70793763e-01 -8.84304373e-02 4.79841990e+01] [ 1.01841785e-01 -3.02998890e-03 9.94795994e-01 2.80565965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:48.00, Z:2.81 [[ 4.69925935e-01 -8.80580903e-01 -6.12118437e-02 8.83484054e+01] [ 8.76578728e-01 4.73697058e-01 -8.49754667e-02 4.80023108e+01] [ 1.03823643e-01 -1.37248246e-02 9.94501021e-01 2.81474783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:48.03, Z:2.82 [[ 4.69513480e-01 -8.80668580e-01 -6.30867983e-02 8.83657526e+01] [ 8.76176229e-01 4.73551394e-01 -8.98014107e-02 4.80299499e+01] [ 1.08960122e-01 -1.31121801e-02 9.93959638e-01 2.82246086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:48.06, Z:2.82 [[ 4.68578046e-01 -8.82211973e-01 -4.62239169e-02 8.83697795e+01] [ 8.76858751e-01 4.70825917e-01 -9.71683448e-02 4.80601772e+01] [ 1.07486495e-01 4.99910707e-03 9.94193976e-01 2.81550437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:48.08, Z:2.83 [[ 4.69437660e-01 -8.80950548e-01 -5.96189175e-02 8.83909382e+01] [ 8.76108302e-01 4.73127655e-01 -9.26523936e-02 4.80808777e+01] [ 1.09829535e-01 -8.73810564e-03 9.93912028e-01 2.82602243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.40, Y:48.11, Z:2.83 [[ 4.69287160e-01 -8.81220093e-01 -5.67512955e-02 8.84027980e+01] [ 8.76070246e-01 4.72679617e-01 -9.52622894e-02 4.81067502e+01] [ 1.10772224e-01 -5.01275226e-03 9.93833178e-01 2.82735414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.41, Y:48.13, Z:2.83 [[ 4.70250421e-01 -8.80980544e-01 -5.23242106e-02 8.84126117e+01] [ 8.75116075e-01 4.73148512e-01 -1.01500446e-01 4.81316449e+01] [ 1.14177040e-01 1.94086953e-03 9.93458523e-01 2.82928831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.818040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:88.44, Y:48.15, Z:2.85 [[ 4.70583164e-01 -8.78893488e-01 -7.80879171e-02 8.84423771e+01] [ 8.74682654e-01 4.76306360e-01 -8.97914565e-02 4.81502856e+01] [ 1.16110898e-01 -2.60477989e-02 9.92894643e-01 2.84811277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.848040942 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:88.45, Y:48.18, Z:2.84 [[ 4.71425036e-01 -8.79802224e-01 -6.08808786e-02 8.84471020e+01] [ 8.74037857e-01 4.75305334e-01 -1.00710797e-01 4.81798609e+01] [ 1.17542590e-01 -5.73460136e-03 9.93051285e-01 2.84474657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.878040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:88.47, Y:48.20, Z:2.86 [[ 4.71699285e-01 -8.78660397e-01 -7.38626479e-02 8.84674907e+01] [ 8.73566709e-01 4.77066581e-01 -9.63778055e-02 4.82012097e+01] [ 1.19920762e-01 -1.90626083e-02 9.92600437e-01 2.85737356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.908040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:88.47, Y:48.23, Z:2.85 [[ 4.72433322e-01 -8.79184808e-01 -6.19744247e-02 8.84744357e+01] [ 8.73053188e-01 4.76453858e-01 -1.03777901e-01 4.82285375e+01] [ 1.20767907e-01 -5.07883072e-03 9.92667778e-01 2.85488940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.938040942 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:88.49, Y:48.25, Z:2.86 [[ 4.72722606e-01 -8.79253752e-01 -5.87041453e-02 8.84862372e+01] [ 8.73098322e-01 4.76348848e-01 -1.03880193e-01 4.82542572e+01] [ 1.19300701e-01 -2.14797542e-03 9.92855845e-01 2.85542341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.968040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:88.49, Y:48.28, Z:2.85 [[ 4.73196277e-01 -8.79532408e-01 -5.00802139e-02 8.84942090e+01] [ 8.73231545e-01 4.75800148e-01 -1.05265799e-01 4.82808912e+01] [ 1.16412855e-01 6.07976152e-03 9.93182301e-01 2.85184735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.998040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.51, Y:48.30, Z:2.86 [[ 4.72576190e-01 -8.79573057e-01 -5.49816493e-02 8.85111115e+01] [ 8.73795159e-01 4.75763607e-01 -1.00652923e-01 4.83040498e+01] [ 1.14689867e-01 -4.76523984e-04 9.93401232e-01 2.85515880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.028040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.52, Y:48.33, Z:2.85 [[ 4.70972160e-01 -8.81119646e-01 -4.25839566e-02 8.85184307e+01] [ 8.75128758e-01 4.72757478e-01 -1.03198953e-01 4.83319036e+01] [ 1.11062509e-01 1.13373889e-02 9.93748752e-01 2.84931389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:48.36, Z:2.84 [[ 4.68744508e-01 -8.82684200e-01 -3.38701696e-02 8.85263059e+01] [ 8.76130360e-01 4.69466917e-01 -1.09528103e-01 4.83592879e+01] [ 1.12579650e-01 2.16660127e-02 9.93406466e-01 2.84477600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:88.56, Y:48.37, Z:2.86 [[ 4.68509337e-01 -8.81020124e-01 -6.55937689e-02 8.85578943e+01] [ 8.77027049e-01 4.72757494e-01 -8.55798337e-02 4.83717632e+01] [ 1.06407501e-01 -1.74325584e-02 9.94169779e-01 2.85968388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.118040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:88.57, Y:48.40, Z:2.86 [[ 4.68858113e-01 -8.81326505e-01 -5.86145124e-02 8.85694397e+01] [ 8.76737093e-01 4.72420886e-01 -9.02805385e-02 4.83968451e+01] [ 1.07257351e-01 -9.06075434e-03 9.94190004e-01 2.86154060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.148040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:88.57, Y:48.42, Z:2.86 [[ 4.68238373e-01 -8.82464183e-01 -4.48306972e-02 8.85747136e+01] [ 8.77316211e-01 4.70349674e-01 -9.53281169e-02 4.84249249e+01] [ 1.05209753e-01 5.30558497e-03 9.94435900e-01 2.85505594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.178040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.59, Y:48.45, Z:2.85 [[ 4.68476786e-01 -8.82361847e-01 -4.43516922e-02 8.85870883e+01] [ 8.77376847e-01 4.70544677e-01 -9.37953879e-02 4.84506701e+01] [ 1.03630924e-01 5.02781398e-03 9.94603113e-01 2.85386361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.208040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.60, Y:48.47, Z:2.85 [[ 4.68406135e-01 -8.82399697e-01 -4.43448739e-02 8.85995363e+01] [ 8.77647591e-01 4.70483903e-01 -9.15401710e-02 4.84745812e+01] [ 1.01638568e-01 3.95880599e-03 9.94813515e-01 2.85378092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.238040942 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:88.61, Y:48.50, Z:2.86 [[ 4.68592171e-01 -8.82191208e-01 -4.64763254e-02 8.86140409e+01] [ 8.77660281e-01 4.70890175e-01 -8.93021520e-02 4.84993562e+01] [ 1.00666818e-01 1.05586449e-03 9.94919633e-01 2.85637381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.268040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:88.63, Y:48.52, Z:2.86 [[ 4.69478922e-01 -8.81744586e-01 -4.60002867e-02 8.86277528e+01] [ 8.77293054e-01 4.71725623e-01 -8.84976468e-02 4.85243394e+01] [ 9.97318349e-02 1.19204784e-03 9.95013638e-01 2.85813199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.298040942 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:88.64, Y:48.55, Z:2.86 [[ 4.69028331e-01 -8.81889026e-01 -4.77929907e-02 8.86409629e+01] [ 8.77834809e-01 4.71451322e-01 -8.44967397e-02 4.85475322e+01] [ 9.70488162e-02 -2.32298604e-03 9.95276912e-01 2.85885332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.328040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:88.64, Y:48.58, Z:2.85 [[ 4.68231926e-01 -8.83129355e-01 -2.90069990e-02 8.86416982e+01] [ 8.77947755e-01 4.68692041e-01 -9.76499312e-02 4.85785289e+01] [ 9.98328703e-02 2.02561857e-02 9.94798012e-01 2.85197102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.358040942 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:88.67, Y:48.59, Z:2.87 [[ 4.68992644e-01 -8.81111012e-01 -6.07394743e-02 8.86708999e+01] [ 8.77921639e-01 4.72593891e-01 -7.68674871e-02 4.85929105e+01] [ 9.64338939e-02 -1.72742127e-02 9.95189482e-01 2.86688877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.388040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.67, Y:48.63, Z:2.86 [[ 4.68847014e-01 -8.82531730e-01 -3.63348727e-02 8.86694326e+01] [ 8.78024112e-01 4.70143665e-01 -8.96582045e-02 4.86267424e+01] [ 9.62088206e-02 1.01330871e-02 9.95309592e-01 2.85762581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.418040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:88.69, Y:48.65, Z:2.87 [[ 4.68784486e-01 -8.81839111e-01 -5.09989072e-02 8.86928781e+01] [ 8.77907730e-01 4.71516077e-01 -8.33702982e-02 4.86497439e+01] [ 9.75659943e-02 -5.68963252e-03 9.95212794e-01 2.86762623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.448040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:88.72, Y:48.67, Z:2.88 [[ 4.71383364e-01 -8.79356314e-01 -6.73067399e-02 8.87169658e+01] [ 8.75698058e-01 4.75743721e-01 -8.25882759e-02 4.86692067e+01] [ 1.04645281e-01 -2.00096420e-02 9.94308292e-01 2.88433309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.478040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:88.73, Y:48.69, Z:2.90 [[ 4.73218718e-01 -8.77659295e-01 -7.60145193e-02 8.87282614e+01] [ 8.74072817e-01 4.78532864e-01 -8.36839856e-02 4.86863911e+01] [ 1.09821473e-01 -2.68413966e-02 9.93588840e-01 2.89937444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.508040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:88.71, Y:48.73, Z:2.86 [[ 4.73618151e-01 -8.80624308e-01 -1.36628908e-02 8.87120647e+01] [ 8.75125996e-01 4.72295053e-01 -1.05317968e-01 4.87341618e+01] [ 9.91984781e-02 3.79237502e-02 9.94344735e-01 2.86282204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.538040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:88.76, Y:48.73, Z:2.91 [[ 4.76511571e-01 -8.74896939e-01 -8.65567361e-02 8.87581432e+01] [ 8.72527015e-01 4.82692871e-01 -7.55261572e-02 4.87339832e+01] [ 1.07857923e-01 -3.95340028e-02 9.93379953e-01 2.90841843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.568040942 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:88.75, Y:48.77, Z:2.90 [[ 4.77968149e-01 -8.76851902e-01 -5.17415708e-02 8.87527933e+01] [ 8.71850513e-01 4.80760411e-01 -9.35206446e-02 4.87689257e+01] [ 1.06879054e-01 -4.11025660e-04 9.94271944e-01 2.89722471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.598040942 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:88.77, Y:48.79, Z:2.90 [[ 4.79045018e-01 -8.76293733e-01 -5.12363621e-02 8.87654923e+01] [ 8.71380687e-01 4.81777156e-01 -9.26632069e-02 4.87937976e+01] [ 1.05884696e-01 -2.56528856e-04 9.94378381e-01 2.89965884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.628040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.77, Y:48.83, Z:2.88 [[ 4.80808831e-01 -8.76611844e-01 -1.93530964e-02 8.87650581e+01] [ 8.71501237e-01 4.80201510e-01 -9.94590553e-02 4.88319139e+01] [ 9.64803720e-02 3.09545447e-02 9.94853433e-01 2.87965133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.658040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:88.81, Y:48.84, Z:2.92 [[ 4.81597957e-01 -8.72956234e-01 -7.75294901e-02 8.88050181e+01] [ 8.70256625e-01 4.86800990e-01 -7.53538552e-02 4.88351473e+01] [ 1.03522050e-01 -3.11802897e-02 9.94138308e-01 2.91620365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:48.87, Z:2.91 [[ 4.81170829e-01 -8.75250345e-01 -4.91066920e-02 8.88036756e+01] [ 8.70720488e-01 4.83670170e-01 -8.89325520e-02 4.88682137e+01] [ 1.01589689e-01 3.35469445e-05 9.94826384e-01 2.90764942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.718040942 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:88.82, Y:48.89, Z:2.91 [[ 4.80496903e-01 -8.75636617e-01 -4.88184473e-02 8.88162988e+01] [ 8.71155697e-01 4.82970511e-01 -8.84716795e-02 4.88929758e+01] [ 1.01046913e-01 -1.81004485e-05 9.94881662e-01 2.90994410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:48.92, Z:2.91 [[ 4.79336498e-01 -8.76286576e-01 -4.85629427e-02 8.88289850e+01] [ 8.71849863e-01 4.81790226e-01 -8.80681229e-02 4.89182367e+01] [ 1.00570065e-01 -1.25329363e-04 9.94929971e-01 2.91206577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:48.94, Z:2.91 [[ 4.76622547e-01 -8.77749382e-01 -4.88566188e-02 8.88405836e+01] [ 8.73260164e-01 4.79119877e-01 -8.86613223e-02 4.89424571e+01] [ 1.01230598e-01 -4.06553685e-04 9.94862906e-01 2.91475655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.85, Y:48.97, Z:2.92 [[ 4.75004628e-01 -8.78619758e-01 -4.89685977e-02 8.88532584e+01] [ 8.74108922e-01 4.77521726e-01 -8.89190310e-02 4.89674809e+01] [ 1.01509587e-01 -5.66936890e-04 9.94834399e-01 2.91753659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:48.99, Z:2.92 [[ 4.71835642e-01 -8.80351659e-01 -4.84982854e-02 8.88643190e+01] [ 8.75930509e-01 4.74320718e-01 -8.81226363e-02 4.89923331e+01] [ 1.00582651e-01 -9.01727173e-04 9.94928298e-01 2.91988374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:49.02, Z:2.92 [[ 4.70282443e-01 -8.81203296e-01 -4.81162690e-02 8.88769787e+01] [ 8.76851899e-01 4.72736330e-01 -8.74706211e-02 4.90175049e+01] [ 9.98257080e-02 -1.05494449e-03 9.95004379e-01 2.92271073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:49.04, Z:2.93 [[ 4.69117947e-01 -8.81845085e-01 -4.77241825e-02 8.88892454e+01] [ 8.77562162e-01 4.71537817e-01 -8.68143901e-02 4.90425197e+01] [ 9.90606000e-02 -1.15474832e-03 9.95080732e-01 2.92603237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.90, Y:49.07, Z:2.93 [[ 4.67951585e-01 -8.82506487e-01 -4.69426636e-02 8.88989796e+01] [ 8.78360771e-01 4.70298572e-01 -8.54494566e-02 4.90677457e+01] [ 9.74867674e-02 -1.24638551e-03 9.95236041e-01 2.92906134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:49.09, Z:2.93 [[ 4.67957877e-01 -8.82521286e-01 -4.66004791e-02 8.89083194e+01] [ 8.78431049e-01 4.70270879e-01 -8.48775151e-02 4.90937798e+01] [ 9.68210621e-02 -1.21620599e-03 9.95301061e-01 2.93179034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:49.12, Z:2.93 [[ 4.68054518e-01 -8.82881404e-01 -3.80183492e-02 8.89141757e+01] [ 8.78031236e-01 4.69486671e-01 -9.29699682e-02 4.91213927e+01] [ 9.99305642e-02 1.01337155e-02 9.94942807e-01 2.93092808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:49.14, Z:2.94 [[ 4.67987007e-01 -8.82009041e-01 -5.52106257e-02 8.89363070e+01] [ 8.78582444e-01 4.71086100e-01 -7.85542873e-02 4.91421747e+01] [ 9.52945500e-02 -1.17447006e-02 9.95379832e-01 2.94046883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:49.17, Z:2.94 [[ 4.67867131e-01 -8.82624248e-01 -4.55498180e-02 8.89430005e+01] [ 8.78706328e-01 4.70077763e-01 -8.30787886e-02 4.91695601e+01] [ 9.47393098e-02 -1.15507889e-03 9.95501446e-01 2.93973464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:49.20, Z:2.95 [[ 4.72657892e-01 -8.79811794e-01 -5.02565849e-02 8.89678630e+01] [ 8.76074753e-01 4.75288658e-01 -8.12017174e-02 4.92001671e+01] [ 9.53286135e-02 -5.64789268e-03 9.95429835e-01 2.94576890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:49.23, Z:2.95 [[ 4.72063136e-01 -8.80227461e-01 -4.85387682e-02 8.89791684e+01] [ 8.76358358e-01 4.74538486e-01 -8.25181984e-02 4.92272608e+01] [ 9.56682978e-02 -3.58355570e-03 9.95406819e-01 2.94798281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:49.26, Z:2.93 [[ 4.68537592e-01 -8.83065554e-01 -2.58408869e-02 8.89723401e+01] [ 8.78606317e-01 4.68829498e-01 -9.08286377e-02 4.92603367e+01] [ 9.23226113e-02 1.98526648e-02 9.95531219e-01 2.93344500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:49.27, Z:2.96 [[ 4.70475631e-01 -8.80052353e-01 -6.45022240e-02 8.90059411e+01] [ 8.77105896e-01 4.74399908e-01 -7.50331522e-02 4.92743461e+01] [ 9.66329512e-02 -2.12740114e-02 9.95092704e-01 2.95573335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:49.30, Z:2.95 [[ 4.65736403e-01 -8.83591036e-01 -4.85436300e-02 8.89977633e+01] [ 8.79577415e-01 4.68246447e-01 -8.41952229e-02 4.92997926e+01] [ 9.71245265e-02 -3.48510035e-03 9.95266135e-01 2.95437305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:49.34, Z:2.93 [[ 4.66464184e-01 -8.84354786e-01 -1.81046067e-02 8.89979518e+01] [ 8.79781034e-01 4.65977623e-01 -9.40754304e-02 4.93408049e+01] [ 9.16323988e-02 2.79547293e-02 9.95400440e-01 2.93478567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:49.36, Z:2.95 [[ 4.67270294e-01 -8.82428635e-01 -5.45726630e-02 8.90312242e+01] [ 8.79080654e-01 4.70301336e-01 -7.76779084e-02 4.93568012e+01] [ 9.42108070e-02 -1.16771932e-02 9.95483785e-01 2.95362910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:49.38, Z:2.97 [[ 4.63704243e-01 -8.83691752e-01 -6.37750959e-02 8.90361166e+01] [ 8.80504107e-01 4.67635505e-01 -7.76501891e-02 4.93764777e+01] [ 9.84423308e-02 -2.01475117e-02 9.94938785e-01 2.96799208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:49.42, Z:2.95 [[ 4.64872608e-01 -8.85183752e-01 -1.85251934e-02 8.90297746e+01] [ 8.80347090e-01 4.64357396e-01 -9.67533438e-02 4.94204422e+01] [ 9.42467985e-02 2.86693792e-02 9.95135974e-01 2.94549036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:49.43, Z:2.97 [[ 4.59664801e-01 -8.86246647e-01 -5.72289338e-02 8.90543106e+01] [ 8.82141351e-01 4.63083160e-01 -8.59105610e-02 4.94341975e+01] [ 1.02639702e-01 -1.09939481e-02 9.94657843e-01 2.96916061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:49.46, Z:2.98 [[ 4.64266499e-01 -8.82395480e-01 -7.63860918e-02 8.90836032e+01] [ 8.79758985e-01 4.69405169e-01 -7.53851191e-02 4.94570023e+01] [ 1.02375515e-01 -3.22025652e-02 9.94224446e-01 2.98393313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:49.49, Z:2.98 [[ 4.60860869e-01 -8.85441337e-01 -6.00074879e-02 8.90865859e+01] [ 8.81941842e-01 4.64477661e-01 -8.02439388e-02 4.94884907e+01] [ 9.89234380e-02 -1.59418230e-02 9.94967342e-01 2.98064252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:49.52, Z:2.97 [[ 4.55717965e-01 -8.89601221e-01 -3.05090790e-02 8.90767831e+01] [ 8.84549657e-01 4.56427807e-01 -9.61538381e-02 4.95221239e+01] [ 9.94637639e-02 1.68322360e-02 9.94898807e-01 2.97052561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.10, Y:49.54, Z:2.98 [[ 4.55145086e-01 -8.89039826e-01 -4.95089688e-02 8.90998949e+01] [ 8.84897191e-01 4.57805395e-01 -8.58555803e-02 4.95413728e+01] [ 9.89945032e-02 -4.73360197e-03 9.95076721e-01 2.97916837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:49.57, Z:2.98 [[ 4.52887159e-01 -8.90258391e-01 -4.83034053e-02 8.91107226e+01] [ 8.85765440e-01 4.55449924e-01 -8.93585610e-02 4.95695039e+01] [ 1.01551991e-01 -2.31614217e-03 9.94827537e-01 2.98037763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:49.59, Z:2.98 [[ 4.45846179e-01 -8.94012758e-01 -4.42986844e-02 8.91088649e+01] [ 8.90436061e-01 4.48025503e-01 -7.99798042e-02 4.95898797e+01] [ 9.13499057e-02 -3.78645599e-03 9.95811658e-01 2.97745714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:49.63, Z:2.97 [[ 4.45888872e-01 -8.94594246e-01 -2.97363258e-02 8.91154471e+01] [ 8.89916394e-01 4.46633932e-01 -9.25577806e-02 4.96260313e+01] [ 9.60829101e-02 1.48076406e-02 9.95263185e-01 2.97422834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:49.64, Z:2.98 [[ 4.44809448e-01 -8.94019310e-01 -5.36099600e-02 8.91377376e+01] [ 8.90372341e-01 4.47881119e-01 -8.14837286e-02 4.96443329e+01] [ 9.68589157e-02 -1.14880932e-02 9.95231819e-01 2.98442474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.618040942 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:89.13, Y:49.68, Z:2.97 [[ 4.41557965e-01 -8.96928537e-01 -2.33615513e-02 8.91283719e+01] [ 8.92282357e-01 4.41704203e-01 -9.34322832e-02 4.96757766e+01] [ 9.41209766e-02 2.04106688e-02 9.95351519e-01 2.97142020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:49.69, Z:2.99 [[ 4.40010695e-01 -8.95436607e-01 -6.77042964e-02 8.91635747e+01] [ 8.92933528e-01 4.44278237e-01 -7.27087549e-02 4.96939898e+01] [ 9.51856262e-02 -2.84628065e-02 9.95052544e-01 2.99142583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:49.73, Z:2.99 [[ 4.39137878e-01 -8.97684707e-01 -3.63330488e-02 8.91560938e+01] [ 8.92979632e-01 4.40565430e-01 -9.21383669e-02 4.97269922e+01] [ 9.87182882e-02 8.01677437e-03 9.95083128e-01 2.98665116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:49.75, Z:2.99 [[ 4.37954529e-01 -8.97691016e-01 -4.84424441e-02 8.91702970e+01] [ 8.93665494e-01 4.40584549e-01 -8.51307248e-02 4.97502755e+01] [ 9.77640792e-02 -6.00795422e-03 9.95191484e-01 2.99226886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:49.78, Z:2.99 [[ 4.37602633e-01 -8.97883759e-01 -4.80488454e-02 8.91789227e+01] [ 8.94006195e-01 4.40186486e-01 -8.35989308e-02 4.97762895e+01] [ 9.62125746e-02 -6.37285325e-03 9.95340408e-01 2.99176066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.768040942 meters Centerline goodness : 0.997047 Centerline is valid? [True, True] Translation: X:89.18, Y:49.81, Z:2.98 [[ 4.34190630e-01 -9.00106595e-01 -3.58694081e-02 8.91782700e+01] [ 8.96104130e-01 4.35644065e-01 -8.49213584e-02 4.98054190e+01] [ 9.20645695e-02 4.72933339e-03 9.95741808e-01 2.98350927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.798040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.19, Y:49.83, Z:2.99 [[ 4.35101727e-01 -8.99610743e-01 -3.72424342e-02 8.91874758e+01] [ 8.96003000e-01 4.36689550e-01 -8.05037951e-02 4.98319797e+01] [ 8.86854607e-02 1.65800752e-03 9.96058302e-01 2.98538086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.828040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.21, Y:49.86, Z:2.99 [[ 4.38855085e-01 -8.97533623e-01 -4.28906758e-02 8.92063967e+01] [ 8.94072696e-01 4.40930069e-01 -7.88332998e-02 4.98603568e+01] [ 8.96673258e-02 -3.75098763e-03 9.95964709e-01 2.98734949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:49.87, Z:3.01 [[ 4.47530662e-01 -8.90948098e-01 -7.69921627e-02 8.92353558e+01] [ 8.88991792e-01 4.52577072e-01 -6.97680954e-02 4.98718680e+01] [ 9.70046395e-02 -3.72220388e-02 9.94587663e-01 3.01176075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.22, Y:49.92, Z:3.00 [[ 4.45296003e-01 -8.94946702e-01 -2.79619578e-02 8.92203394e+01] [ 8.90322343e-01 4.45878748e-01 -9.22944635e-02 4.99209983e+01] [ 9.50662684e-02 1.62032000e-02 9.95339068e-01 2.99840476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.918040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.24, Y:49.94, Z:3.02 [[ 4.44958135e-01 -8.94025122e-01 -5.22622178e-02 8.92445042e+01] [ 8.89692624e-01 4.47958185e-01 -8.82071424e-02 4.99417062e+01] [ 1.02270689e-01 -7.24882411e-03 9.94730195e-01 3.01641361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:49.96, Z:3.02 [[ 4.51693446e-01 -8.89453553e-01 -6.96089695e-02 8.92650460e+01] [ 8.86618144e-01 4.56205742e-01 -7.60564740e-02 4.99636890e+01] [ 9.94047126e-02 -2.73623645e-02 9.94670802e-01 3.01993822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97804094199999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.23, Y:50.01, Z:3.00 [[ 4.42889060e-01 -8.96550196e-01 -6.85766783e-03 8.92274312e+01] [ 8.91536464e-01 4.41196414e-01 -1.02510768e-01 5.00063426e+01] [ 9.49316274e-02 3.92870367e-02 9.94708256e-01 2.99950909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.008040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.27, Y:50.02, Z:3.02 [[ 4.46246288e-01 -8.93163171e-01 -5.58909689e-02 8.92695187e+01] [ 8.89651189e-01 4.49518692e-01 -8.03349671e-02 5.00162795e+01] [ 9.68762692e-02 -1.38742861e-02 9.95199725e-01 3.02039481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:50.05, Z:3.01 [[ 4.41060804e-01 -8.96732309e-01 -3.65586341e-02 8.92648220e+01] [ 8.92608154e-01 4.42541259e-01 -8.60692579e-02 5.00458164e+01] [ 9.33597883e-02 5.32924114e-03 9.95618174e-01 3.01046465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.068040942 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:89.28, Y:50.07, Z:3.02 [[ 4.42676087e-01 -8.95672311e-01 -4.25322615e-02 8.92807083e+01] [ 8.91307692e-01 4.44713050e-01 -8.83227064e-02 5.00725163e+01] [ 9.80228543e-02 1.18901822e-03 9.95183454e-01 3.01723455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:50.10, Z:3.02 [[ 4.42399169e-01 -8.95719444e-01 -4.43807675e-02 8.92914850e+01] [ 8.91928654e-01 4.44608615e-01 -8.23799517e-02 5.00969160e+01] [ 9.35213961e-02 -3.13965601e-03 9.95612320e-01 3.01798194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.30, Y:50.12, Z:3.02 [[ 4.38910262e-01 -8.97547114e-01 -4.20352256e-02 8.93006886e+01] [ 8.93544982e-01 4.40918381e-01 -8.46660848e-02 5.01222689e+01] [ 9.45259036e-02 -3.99551460e-04 9.95522322e-01 3.02408172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.158040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:89.31, Y:50.15, Z:3.03 [[ 4.37792070e-01 -8.97861923e-01 -4.67126376e-02 8.93134720e+01] [ 8.93878511e-01 4.40251929e-01 -8.46135120e-02 5.01463742e+01] [ 9.65365795e-02 -4.71229839e-03 9.95318282e-01 3.02920062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.32, Y:50.17, Z:3.03 [[ 4.37036956e-01 -8.98557855e-01 -3.99058863e-02 8.93223343e+01] [ 8.94353007e-01 4.38849210e-01 -8.68565998e-02 5.01748007e+01] [ 9.55583468e-02 2.26959453e-03 9.95421243e-01 3.03224413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:50.20, Z:3.04 [[ 4.36933864e-01 -8.98207427e-01 -4.80855114e-02 8.93379954e+01] [ 8.94314804e-01 4.39525284e-01 -8.37768219e-02 5.01968230e+01] [ 9.63837617e-02 -6.39865426e-03 9.95323680e-01 3.03857660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.248040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:89.37, Y:50.22, Z:3.07 [[ 4.43424580e-01 -8.92616781e-01 -8.13014355e-02 8.93721012e+01] [ 8.89394470e-01 4.49436008e-01 -8.35748253e-02 5.02168113e+01] [ 1.11140084e-01 -3.52499152e-02 9.93179402e-01 3.06621708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.278040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.37, Y:50.25, Z:3.06 [[ 4.44761687e-01 -8.94332712e-01 -4.85390837e-02 8.93661021e+01] [ 8.88752720e-01 4.47400819e-01 -9.97552489e-02 5.02505171e+01] [ 1.10930808e-01 1.22807016e-03 9.93827373e-01 3.06050299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.38, Y:50.28, Z:3.06 [[ 4.45441170e-01 -8.93857265e-01 -5.10034701e-02 8.93782145e+01] [ 8.88576440e-01 4.48346747e-01 -9.70417665e-02 5.02773741e+01] [ 1.09608728e-01 -2.09408379e-03 9.93972606e-01 3.06131426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.338040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.39, Y:50.30, Z:3.07 [[ 4.47545468e-01 -8.92674168e-01 -5.32530106e-02 8.93940507e+01] [ 8.87165878e-01 4.50693191e-01 -9.90573216e-02 5.03024471e+01] [ 1.12426681e-01 -2.91159848e-03 9.93655757e-01 3.06954649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:50.33, Z:3.06 [[ 4.47463811e-01 -8.93699912e-01 -3.28116773e-02 8.93909694e+01] [ 8.88061385e-01 4.48368992e-01 -1.01549118e-01 5.03328741e+01] [ 1.05466176e-01 1.63007716e-02 9.94289279e-01 3.05695617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.42, Y:50.35, Z:3.06 [[ 4.54071128e-01 -8.88694862e-01 -6.35677046e-02 8.94216570e+01] [ 8.84753283e-01 4.58166586e-01 -8.54108132e-02 5.03466416e+01] [ 1.05028749e-01 -1.74591511e-02 9.94315916e-01 3.05995938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:50.38, Z:3.06 [[ 4.56256027e-01 -8.88363634e-01 -5.13857083e-02 8.94297136e+01] [ 8.83652369e-01 4.59125770e-01 -9.14440721e-02 5.03759670e+01] [ 1.04828091e-01 -3.68519381e-03 9.94483530e-01 3.06084389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.48, Y:50.38, Z:3.10 [[ 4.61780210e-01 -8.79595252e-01 -1.14329479e-01 8.94795362e+01] [ 8.79080643e-01 4.71022066e-01 -7.31808511e-02 5.03829059e+01] [ 1.18221236e-01 -6.67113629e-02 9.90743828e-01 3.09885704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.488040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:89.45, Y:50.43, Z:3.10 [[ 4.63753921e-01 -8.85131724e-01 -3.83944191e-02 8.94545554e+01] [ 8.77421734e-01 4.64854408e-01 -1.18496754e-01 5.04334345e+01] [ 1.22733051e-01 2.12652366e-02 9.92211866e-01 3.09713235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:50.46, Z:3.08 [[ 4.64218180e-01 -8.85436828e-01 -2.24300141e-02 8.94532635e+01] [ 8.78299440e-01 4.63452259e-01 -1.17482329e-01 5.04596380e+01] [ 1.14418422e-01 3.48371642e-02 9.92821634e-01 3.08065837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.48, Y:50.48, Z:3.09 [[ 4.65469963e-01 -8.83496880e-01 -5.26400728e-02 8.94831222e+01] [ 8.77710017e-01 4.68436377e-01 -1.00957847e-01 5.04760761e+01] [ 1.13854468e-01 7.90126167e-04 9.93497124e-01 3.08899657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:50.48, Z:3.13 [[ 4.70836105e-01 -8.73859137e-01 -1.21175782e-01 8.95375170e+01] [ 8.72633094e-01 4.81499911e-01 -8.16659036e-02 5.04835428e+01] [ 1.29710624e-01 -6.72907416e-02 9.89265945e-01 3.13353396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.48, Y:50.54, Z:3.08 [[ 4.64083299e-01 -8.85785854e-01 3.18001689e-03 8.94791346e+01] [ 8.78832085e-01 4.59984989e-01 -1.26759521e-01 5.05427510e+01] [ 1.10819030e-01 6.16216774e-02 9.91928380e-01 3.07960549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.53, Y:50.55, Z:3.11 [[ 4.69270819e-01 -8.80981977e-01 -6.04620024e-02 8.95306985e+01] [ 8.75249362e-01 4.73114810e-01 -1.00503384e-01 5.05469040e+01] [ 1.17147138e-01 -5.75602383e-03 9.93097889e-01 3.10564669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.668040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.54, Y:50.57, Z:3.11 [[ 4.68532373e-01 -8.81763063e-01 -5.45097763e-02 8.95415060e+01] [ 8.76174715e-01 4.71690752e-01 -9.91246843e-02 5.05717525e+01] [ 1.13116243e-01 -1.31696416e-03 9.93580888e-01 3.10511539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.698040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.57, Y:50.59, Z:3.13 [[ 4.67943860e-01 -8.79608497e-01 -8.55420176e-02 8.95723788e+01] [ 8.75519514e-01 4.74590647e-01 -9.07154750e-02 5.05854819e+01] [ 1.20391544e-01 -3.24439562e-02 9.92196183e-01 3.12783517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72804094199999 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:89.55, Y:50.63, Z:3.11 [[ 4.64910749e-01 -8.84921946e-01 -2.77695021e-02 8.95535754e+01] [ 8.77302057e-01 4.64675506e-01 -1.20074036e-01 5.06279695e+01] [ 1.19159957e-01 3.14614685e-02 9.92376481e-01 3.11423282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.758040942 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:89.58, Y:50.65, Z:3.12 [[ 4.63226390e-01 -8.84869661e-01 -4.92645405e-02 8.95822319e+01] [ 8.78643041e-01 4.65808338e-01 -1.04923773e-01 5.06464789e+01] [ 1.15791697e-01 5.31751489e-03 9.93259285e-01 3.11879940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.788040942 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:89.60, Y:50.67, Z:3.13 [[ 4.59045087e-01 -8.86585597e-01 -5.69524985e-02 8.95963358e+01] [ 8.79945177e-01 4.62564398e-01 -1.08308185e-01 5.06669756e+01] [ 1.22368675e-01 -3.96736000e-04 9.92484635e-01 3.12746666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.818040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:89.62, Y:50.68, Z:3.14 [[ 4.57379333e-01 -8.85668267e-01 -7.99741621e-02 8.96226356e+01] [ 8.80796017e-01 4.63571256e-01 -9.64368562e-02 5.06829644e+01] [ 1.22484786e-01 -2.63326985e-02 9.92120994e-01 3.13969664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.848040942 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:89.61, Y:50.72, Z:3.13 [[ 4.53266601e-01 -8.90894007e-01 -2.92789432e-02 8.96092882e+01] [ 8.82923214e-01 4.53239129e-01 -1.22559745e-01 5.07230611e+01] [ 1.22458105e-01 2.97011802e-02 9.92029159e-01 3.12731958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:50.73, Z:3.14 [[ 4.51904555e-01 -8.88824566e-01 -7.59813474e-02 8.96487321e+01] [ 8.83481655e-01 4.57717331e-01 -9.97748016e-02 5.07322854e+01] [ 1.23460274e-01 -2.20394392e-02 9.92104744e-01 3.14468678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:50.76, Z:3.14 [[ 4.50589387e-01 -8.90683848e-01 -6.04275412e-02 8.96538444e+01] [ 8.84447993e-01 4.54584140e-01 -1.05380295e-01 5.07600324e+01] [ 1.21329929e-01 -5.96177493e-03 9.92594331e-01 3.14165203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.938040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.66, Y:50.79, Z:3.14 [[ 4.47092994e-01 -8.93501386e-01 -4.19896224e-02 8.96581677e+01] [ 8.86598176e-01 4.48882065e-01 -1.11573141e-01 5.07897169e+01] [ 1.18539145e-01 1.26556472e-02 9.92868725e-01 3.13585218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.68, Y:50.81, Z:3.14 [[ 4.46888755e-01 -8.92867268e-01 -5.54840720e-02 8.96795296e+01] [ 8.86466841e-01 4.50317469e-01 -1.06727308e-01 5.08095463e+01] [ 1.20278766e-01 -1.48955641e-03 9.92739039e-01 3.14324395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:50.84, Z:3.14 [[ 4.45848259e-01 -8.93964861e-01 -4.52344746e-02 8.96871978e+01] [ 8.87611809e-01 4.48076015e-01 -1.06645028e-01 5.08357490e+01] [ 1.15605391e-01 7.39684630e-03 9.93267678e-01 3.13902489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.70, Y:50.86, Z:3.14 [[ 4.47387965e-01 -8.92975217e-01 -4.93889770e-02 8.97020154e+01] [ 8.86634901e-01 4.50090107e-01 -1.06289450e-01 5.08573318e+01] [ 1.17143334e-01 3.76262992e-03 9.93107890e-01 3.14283342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.72, Y:50.88, Z:3.14 [[ 4.47032329e-01 -8.92951013e-01 -5.29205474e-02 8.97186259e+01] [ 8.87514088e-01 4.50144084e-01 -9.84329608e-02 5.08814304e+01] [ 1.11717683e-01 -2.96501566e-03 9.93735562e-01 3.14406991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:50.91, Z:3.14 [[ 4.46643647e-01 -8.93735516e-01 -4.17885225e-02 8.97257237e+01] [ 8.87712707e-01 4.48496691e-01 -1.04004170e-01 5.09079141e+01] [ 1.11694235e-01 9.35659944e-03 9.93698572e-01 3.14246333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:50.93, Z:3.15 [[ 4.47412951e-01 -8.92771732e-01 -5.27284159e-02 8.97460123e+01] [ 8.87537169e-01 4.50495101e-01 -9.66019555e-02 5.09284494e+01] [ 1.09997388e-01 -3.57746297e-03 9.93925438e-01 3.14825733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:50.95, Z:3.17 [[ 4.53391275e-01 -8.88142527e-01 -7.50946276e-02 8.97764837e+01] [ 8.82932265e-01 4.59057541e-01 -9.84722734e-02 5.09456707e+01] [ 1.21930169e-01 -2.16570001e-02 9.92302377e-01 3.16848641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.76, Y:50.98, Z:3.15 [[ 4.49205539e-01 -8.93093220e-01 -2.44720929e-02 8.97581492e+01] [ 8.86083241e-01 4.48850423e-01 -1.15714249e-01 5.09838276e+01] [ 1.14327920e-01 3.02951701e-02 9.92981032e-01 3.14850733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:51.00, Z:3.17 [[ 4.52174616e-01 -8.89498719e-01 -6.58038444e-02 8.97950125e+01] [ 8.83478498e-01 4.56801624e-01 -1.03913519e-01 5.09962871e+01] [ 1.22490245e-01 -1.11492261e-02 9.92407091e-01 3.16622866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:51.03, Z:3.16 [[ 4.52915697e-01 -8.90284017e-01 -4.75577557e-02 8.97988418e+01] [ 8.83000176e-01 4.55303122e-01 -1.14060317e-01 5.10259599e+01] [ 1.23199272e-01 9.66620126e-03 9.92334875e-01 3.16312230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.83, Y:51.04, Z:3.17 [[ 4.56197092e-01 -8.87389766e-01 -6.65102678e-02 8.98255764e+01] [ 8.81317916e-01 4.60886995e-01 -1.04220479e-01 5.10424163e+01] [ 1.23137904e-01 -1.10716111e-02 9.92327807e-01 3.17423371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:51.06, Z:3.20 [[ 4.61775467e-01 -8.81968752e-01 -9.43108645e-02 8.98604293e+01] [ 8.77204772e-01 4.69844286e-01 -9.87832724e-02 5.10598030e+01] [ 1.31435180e-01 -3.71142487e-02 9.90629762e-01 3.19771277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:51.09, Z:3.21 [[ 4.65900881e-01 -8.81423422e-01 -7.76474117e-02 8.98687329e+01] [ 8.73393701e-01 4.72168848e-01 -1.19331562e-01 5.10900132e+01] [ 1.41844322e-01 -1.22200806e-02 9.89813547e-01 3.20519900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:51.11, Z:3.21 [[ 4.66337650e-01 -8.80868407e-01 -8.12406606e-02 8.98853977e+01] [ 8.73701633e-01 4.73018259e-01 -1.13574575e-01 5.11125996e+01] [ 1.38472571e-01 -1.80159974e-02 9.90202389e-01 3.21026828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:51.15, Z:3.20 [[ 4.65142822e-01 -8.84212206e-01 -4.25550159e-02 8.98776734e+01] [ 8.75402939e-01 4.66589522e-01 -1.26348375e-01 5.11465461e+01] [ 1.31574500e-01 2.15172539e-02 9.91072731e-01 3.19514977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:51.17, Z:3.20 [[ 4.64520175e-01 -8.83385406e-01 -6.20582954e-02 8.99006287e+01] [ 8.75774837e-01 4.68646845e-01 -1.15708987e-01 5.11656682e+01] [ 1.31299055e-01 -5.99934520e-04 9.91342624e-01 3.20312020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.448040942 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:89.90, Y:51.20, Z:3.20 [[ 4.63644212e-01 -8.85366927e-01 -3.40506910e-02 8.99014860e+01] [ 8.76275014e-01 4.63889870e-01 -1.30185590e-01 5.11967803e+01] [ 1.31057786e-01 3.05220255e-02 9.90904770e-01 3.19847139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:51.21, Z:3.21 [[ 4.62563236e-01 -8.84115127e-01 -6.61490309e-02 8.99350954e+01] [ 8.77159004e-01 4.67220680e-01 -1.10891465e-01 5.12092494e+01] [ 1.28947017e-01 -6.72890297e-03 9.91628655e-01 3.20970715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:51.23, Z:3.21 [[ 4.62169135e-01 -8.84774613e-01 -5.97793872e-02 8.99462202e+01] [ 8.77347449e-01 4.66018995e-01 -1.14401706e-01 5.12342652e+01] [ 1.29078055e-01 4.25644897e-04 9.91634345e-01 3.21135037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.96, Y:51.26, Z:3.21 [[ 4.61737332e-01 -8.84991039e-01 -5.99124084e-02 8.99606269e+01] [ 8.77522974e-01 4.65607883e-01 -1.14728937e-01 5.12567092e+01] [ 1.29429771e-01 4.00118658e-04 9.91588511e-01 3.21437362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.568040942 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:89.97, Y:51.28, Z:3.22 [[ 4.60996079e-01 -8.85998972e-01 -4.98842407e-02 8.99697044e+01] [ 8.77317966e-01 4.63487251e-01 -1.24469892e-01 5.12841776e+01] [ 1.33400906e-01 1.36157917e-02 9.90968621e-01 3.21572238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:51.30, Z:3.22 [[ 4.60080098e-01 -8.84975616e-01 -7.17249078e-02 8.99990180e+01] [ 8.78350816e-01 4.65458107e-01 -1.08851244e-01 5.12985114e+01] [ 1.29715637e-01 -1.29193401e-02 9.91467067e-01 3.22373162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.01, Y:51.33, Z:3.22 [[ 4.59915486e-01 -8.86162965e-01 -5.65061536e-02 9.00056397e+01] [ 8.78268108e-01 4.63349909e-01 -1.18118556e-01 5.13256574e+01] [ 1.30854411e-01 4.69700051e-03 9.91390469e-01 3.22250323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:51.35, Z:3.23 [[ 4.59080612e-01 -8.86646528e-01 -5.57039145e-02 9.00218337e+01] [ 8.78555216e-01 4.62408903e-01 -1.19660934e-01 5.13478074e+01] [ 1.31854938e-01 5.99505020e-03 9.91250894e-01 3.22606837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.688040942 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:90.03, Y:51.37, Z:3.23 [[ 4.55686925e-01 -8.88490156e-01 -5.41725892e-02 9.00339798e+01] [ 8.80320980e-01 4.58839422e-01 -1.20421583e-01 5.13720900e+01] [ 1.31849911e-01 7.18527434e-03 9.91243650e-01 3.22811229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.718040942 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:90.05, Y:51.40, Z:3.23 [[ 4.53499219e-01 -8.89603172e-01 -5.42646722e-02 9.00489025e+01] [ 8.81185254e-01 4.56670034e-01 -1.22331633e-01 5.13981204e+01] [ 1.33607659e-01 7.66007115e-03 9.91004701e-01 3.23246646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.748040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:90.08, Y:51.41, Z:3.24 [[ 4.52898778e-01 -8.88108798e-01 -7.83929805e-02 9.00795404e+01] [ 8.82290051e-01 4.59100771e-01 -1.03878527e-01 5.14103968e+01] [ 1.28245712e-01 -2.21188887e-02 9.91495735e-01 3.24088786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:51.45, Z:3.24 [[ 4.52082938e-01 -8.90690143e-01 -4.78757443e-02 9.00782947e+01] [ 8.82241001e-01 4.54412626e-01 -1.23125873e-01 5.14451788e+01] [ 1.31422344e-01 1.34251618e-02 9.91235559e-01 3.23551011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.808040942 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:90.09, Y:51.47, Z:3.23 [[ 4.51449595e-01 -8.91393620e-01 -4.01332552e-02 9.00891207e+01] [ 8.83722772e-01 4.52879359e-01 -1.18043841e-01 5.14665035e+01] [ 1.23399049e-01 1.78241726e-02 9.92197044e-01 3.22846201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.838040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.11, Y:51.49, Z:3.23 [[ 4.49309427e-01 -8.92171679e-01 -4.63760044e-02 9.01071315e+01] [ 8.85128704e-01 4.51598691e-01 -1.12275552e-01 5.14898135e+01] [ 1.21112411e-01 9.39773130e-03 9.92594311e-01 3.23165895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:51.51, Z:3.24 [[ 4.50290776e-01 -8.91104049e-01 -5.63186665e-02 9.01284437e+01] [ 8.84408767e-01 4.53798487e-01 -1.09032406e-01 5.15083831e+01] [ 1.22716544e-01 -7.12435668e-04 9.92441506e-01 3.24005966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.898040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.17, Y:51.52, Z:3.27 [[ 4.51940451e-01 -8.87091332e-01 -9.39084489e-02 9.01662698e+01] [ 8.82510177e-01 4.59977065e-01 -9.79637014e-02 5.15221679e+01] [ 1.30098483e-01 -3.86014025e-02 9.90749371e-01 3.26704294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.14, Y:51.56, Z:3.24 [[ 4.51927500e-01 -8.91478284e-01 -3.20624912e-02 9.01448744e+01] [ 8.83093109e-01 4.52180243e-01 -1.25218165e-01 5.15629877e+01] [ 1.26127300e-01 2.82753670e-02 9.91611016e-01 3.24289284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:51.57, Z:3.27 [[ 4.52887179e-01 -8.87611650e-01 -8.38973304e-02 9.01895081e+01] [ 8.81916764e-01 4.59805213e-01 -1.03932607e-01 5.15723708e+01] [ 1.30828223e-01 -2.69207169e-02 9.91039480e-01 3.27099899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.988040942 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:90.20, Y:51.60, Z:3.27 [[ 4.55573212e-01 -8.88085693e-01 -6.12931494e-02 9.01954102e+01] [ 8.80174722e-01 4.59677928e-01 -1.18273672e-01 5.16005808e+01] [ 1.33212264e-01 -6.63643386e-05 9.91087528e-01 3.26536078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:51.62, Z:3.27 [[ 4.58242606e-01 -8.86724060e-01 -6.11077369e-02 9.02106709e+01] [ 8.78840862e-01 4.62298943e-01 -1.17976377e-01 5.16242373e+01] [ 1.32862534e-01 3.57826202e-04 9.91134410e-01 3.27137948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:51.65, Z:3.27 [[ 4.59452142e-01 -8.86082486e-01 -6.13315285e-02 9.02247947e+01] [ 8.78124332e-01 4.63527222e-01 -1.18491232e-01 5.16468944e+01] [ 1.33421838e-01 5.84342765e-04 9.91059167e-01 3.27492693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:51.67, Z:3.28 [[ 4.60327859e-01 -8.85634967e-01 -6.12288104e-02 9.02392331e+01] [ 8.77689515e-01 4.64381466e-01 -1.18367942e-01 5.16707188e+01] [ 1.33264313e-01 7.48176503e-04 9.91080251e-01 3.27830691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:51.70, Z:3.27 [[ 4.60961831e-01 -8.86329917e-01 -4.39712178e-02 9.02426155e+01] [ 8.77537164e-01 4.62642636e-01 -1.26056805e-01 5.16960518e+01] [ 1.32070878e-01 1.95209981e-02 9.91048038e-01 3.27117153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:51.72, Z:3.28 [[ 4.60778333e-01 -8.85043321e-01 -6.61940172e-02 9.02755162e+01] [ 8.77624681e-01 4.65477986e-01 -1.14477790e-01 5.17182278e+01] [ 1.32129661e-01 -5.34461787e-03 9.91218032e-01 3.28498891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.168040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.29, Y:51.74, Z:3.29 [[ 4.58227090e-01 -8.85928524e-01 -7.18232854e-02 9.02900492e+01] [ 8.78566445e-01 4.63699557e-01 -1.14471494e-01 5.17376947e+01] [ 1.34717987e-01 -1.06475888e-02 9.90826772e-01 3.29345113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:51.77, Z:3.28 [[ 4.58433607e-01 -8.87638122e-01 -4.40135368e-02 9.02965260e+01] [ 8.78850581e-01 4.60145229e-01 -1.26047706e-01 5.17683491e+01] [ 1.32137368e-01 1.91031821e-02 9.91047317e-01 3.28426903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:51.78, Z:3.30 [[ 4.52991465e-01 -8.88147951e-01 -7.74076900e-02 9.03260636e+01] [ 8.81481044e-01 4.59191763e-01 -1.10154862e-01 5.17813579e+01] [ 1.33378789e-01 -1.83341990e-02 9.90895532e-01 3.30450696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.258040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:51.83, Z:3.26 [[ 4.49693639e-01 -8.93178184e-01 -2.89194856e-03 9.03029964e+01] [ 8.84682039e-01 4.45857011e-01 -1.36195501e-01 5.18262410e+01] [ 1.22936246e-01 5.86877956e-02 9.90677759e-01 3.26461551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:51.82, Z:3.32 [[ 4.47484041e-01 -8.87343862e-01 -1.11260523e-01 9.03751197e+01] [ 8.84424647e-01 4.57538765e-01 -9.19310787e-02 5.18168707e+01] [ 1.32480481e-01 -5.72638583e-02 9.89530077e-01 3.32466903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.318040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.35, Y:51.86, Z:3.30 [[ 4.46599169e-01 -8.93647246e-01 -4.40883377e-02 9.03539361e+01] [ 8.84938329e-01 4.48444628e-01 -1.25624716e-01 5.18588135e+01] [ 1.32035360e-01 1.70884339e-02 9.91097699e-01 3.29741951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:51.87, Z:3.32 [[ 4.44766920e-01 -8.92451906e-01 -7.55776633e-02 9.03902488e+01] [ 8.85723991e-01 4.50796635e-01 -1.10794435e-01 5.18726302e+01] [ 1.32948861e-01 -1.76632500e-02 9.90965494e-01 3.31893534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.378040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.39, Y:51.91, Z:3.30 [[ 4.49003495e-01 -8.92558333e-01 -4.16591387e-02 9.03937705e+01] [ 8.83765636e-01 4.50487670e-01 -1.26566815e-01 5.19070708e+01] [ 1.31735194e-01 2.00120272e-02 9.91082922e-01 3.30373929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.408040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:90.42, Y:51.92, Z:3.31 [[ 4.47826981e-01 -8.92124720e-01 -5.97032563e-02 9.04194553e+01] [ 8.84098111e-01 4.51788677e-01 -1.19404861e-01 5.19238645e+01] [ 1.33497283e-01 6.89182093e-04 9.91048940e-01 3.31209722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:51.95, Z:3.32 [[ 4.47591563e-01 -8.92088314e-01 -6.19696136e-02 9.04361519e+01] [ 8.84211849e-01 4.51857317e-01 -1.18297804e-01 5.19485134e+01] [ 1.33533512e-01 -1.84516778e-03 9.91042581e-01 3.31640483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:51.96, Z:3.33 [[ 4.42819096e-01 -8.92791644e-01 -8.26700022e-02 9.04539107e+01] [ 8.86152375e-01 4.49831321e-01 -1.11291289e-01 5.19643335e+01] [ 1.36547489e-01 -2.39763110e-02 9.90343334e-01 3.33420853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.498040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:90.47, Y:52.00, Z:3.33 [[ 4.48308755e-01 -8.91995749e-01 -5.79900268e-02 9.04661645e+01] [ 8.83127171e-01 4.52015205e-01 -1.25573303e-01 5.20020501e+01] [ 1.38223226e-01 5.08304264e-03 9.90388057e-01 3.32653474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.528040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:90.47, Y:52.03, Z:3.32 [[ 4.50200299e-01 -8.91697923e-01 -4.68455381e-02 9.04701396e+01] [ 8.82146243e-01 4.52279954e-01 -1.31380551e-01 5.20297110e+01] [ 1.38339062e-01 1.78229478e-02 9.90224543e-01 3.32262154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.558040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.50, Y:52.04, Z:3.34 [[ 4.50854140e-01 -8.89297421e-01 -7.66853359e-02 9.04980343e+01] [ 8.81978725e-01 4.57055969e-01 -1.14949423e-01 5.20429928e+01] [ 1.37273716e-01 -1.58094115e-02 9.90406982e-01 3.34050529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.51, Y:52.07, Z:3.35 [[ 4.51376081e-01 -8.89213013e-01 -7.45644102e-02 9.05102218e+01] [ 8.81219150e-01 4.57342529e-01 -1.19543386e-01 5.20683595e+01] [ 1.40401010e-01 -1.17485612e-02 9.90025014e-01 3.34623569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:52.10, Z:3.35 [[ 4.48758599e-01 -8.90629298e-01 -7.34518431e-02 9.05256108e+01] [ 8.82446846e-01 4.54607520e-01 -1.20911400e-01 5.20974337e+01] [ 1.41078995e-01 -1.05573169e-02 9.89942049e-01 3.35271294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:52.12, Z:3.36 [[ 4.47908352e-01 -8.91358935e-01 -6.96947408e-02 9.05362347e+01] [ 8.82890956e-01 4.53250825e-01 -1.22748727e-01 5.21221960e+01] [ 1.41002373e-01 -6.55267652e-03 9.89987572e-01 3.35636559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.678040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.55, Y:52.15, Z:3.36 [[ 4.45801102e-01 -8.92885326e-01 -6.33811551e-02 9.05460468e+01] [ 8.84330203e-01 4.50282835e-01 -1.23310423e-01 5.21516666e+01] [ 1.38641514e-01 -1.07794716e-03 9.90342046e-01 3.35593285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:52.18, Z:3.35 [[ 4.41095218e-01 -8.96329715e-01 -4.50338802e-02 9.05402741e+01] [ 8.87295060e-01 4.43080766e-01 -1.28011370e-01 5.21784517e+01] [ 1.34694041e-01 1.65068636e-02 9.90749736e-01 3.34511075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:52.19, Z:3.37 [[ 4.43204544e-01 -8.92156674e-01 -8.73281227e-02 9.05789761e+01] [ 8.85502584e-01 4.50882227e-01 -1.12206914e-01 5.21949801e+01] [ 1.39480846e-01 -2.75986639e-02 9.89840092e-01 3.37227440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:52.23, Z:3.37 [[ 4.42603661e-01 -8.94168544e-01 -6.75619317e-02 9.05811263e+01] [ 8.85820734e-01 4.47692510e-01 -1.22037059e-01 5.22259467e+01] [ 1.39368670e-01 -5.83371087e-03 9.90223380e-01 3.36822576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.59, Y:52.25, Z:3.37 [[ 4.41854812e-01 -8.94458775e-01 -6.86135952e-02 9.05947087e+01] [ 8.86057640e-01 4.47100607e-01 -1.22486353e-01 5.22494981e+01] [ 1.40236173e-01 -6.67441575e-03 9.90095585e-01 3.37411646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:52.27, Z:3.38 [[ 4.42646191e-01 -8.93930550e-01 -7.03741459e-02 9.06085417e+01] [ 8.85423846e-01 4.48138591e-01 -1.23273745e-01 5.22726280e+01] [ 1.41735538e-01 -7.74429303e-03 9.89874266e-01 3.37933815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:52.30, Z:3.38 [[ 4.41244777e-01 -8.94783757e-01 -6.83013598e-02 9.06202417e+01] [ 8.86220584e-01 4.46459775e-01 -1.23639580e-01 5.22995002e+01] [ 1.41124498e-01 -5.97475200e-03 9.89973827e-01 3.38217913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:52.33, Z:3.38 [[ 4.40763621e-01 -8.95433682e-01 -6.26574167e-02 9.06281673e+01] [ 8.86551677e-01 4.45194915e-01 -1.25807837e-01 5.23250209e+01] [ 1.40547338e-01 -9.75202405e-05 9.90073955e-01 3.38134648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:52.35, Z:3.38 [[ 4.40861248e-01 -8.95250457e-01 -6.45598863e-02 9.06414785e+01] [ 8.86503449e-01 4.45557893e-01 -1.24859116e-01 5.23510160e+01] [ 1.40545348e-01 -2.18701613e-03 9.90071827e-01 3.38409463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:52.38, Z:3.38 [[ 4.42609317e-01 -8.94735217e-01 -5.95473294e-02 9.06496742e+01] [ 8.86001660e-01 4.46590300e-01 -1.24732364e-01 5.23765800e+01] [ 1.38195698e-01 2.44867387e-03 9.90401915e-01 3.38295962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.66, Y:52.39, Z:3.39 [[ 4.39741656e-01 -8.95497807e-01 -6.86363858e-02 9.06551741e+01] [ 8.87734563e-01 4.44974131e-01 -1.18005798e-01 5.23910678e+01] [ 1.36215350e-01 -9.03882679e-03 9.90638016e-01 3.39123126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:52.43, Z:3.38 [[ 4.44562952e-01 -8.94346947e-01 -5.00731385e-02 9.06692568e+01] [ 8.85189145e-01 4.47193507e-01 -1.28289304e-01 5.24269417e+01] [ 1.37127530e-01 1.27084731e-02 9.90471875e-01 3.38475025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.038040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:52.44, Z:3.40 [[ 4.45019575e-01 -8.92739667e-01 -7.05227992e-02 9.06916929e+01] [ 8.84889226e-01 4.50469314e-01 -1.18526176e-01 5.24440818e+01] [ 1.37581376e-01 -9.65839694e-03 9.90443376e-01 3.39798705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.068040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.70, Y:52.47, Z:3.40 [[ 4.45783585e-01 -8.93104685e-01 -6.03408495e-02 9.06993709e+01] [ 8.84701005e-01 4.49847527e-01 -1.22234749e-01 5.24714858e+01] [ 1.36312609e-01 1.10663424e-03 9.90665255e-01 3.39623486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:52.49, Z:3.41 [[ 4.45550548e-01 -8.92437942e-01 -7.09875340e-02 9.07076957e+01] [ 8.84938371e-01 4.51032611e-01 -1.15989929e-01 5.24876859e+01] [ 1.35531506e-01 -1.11402165e-02 9.90710405e-01 3.40649945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.128040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:52.52, Z:3.41 [[ 4.51455556e-01 -8.89721254e-01 -6.77050375e-02 9.07288484e+01] [ 8.81668324e-01 4.56468471e-01 -1.19572156e-01 5.25199189e+01] [ 1.37291104e-01 -5.71187265e-03 9.90514274e-01 3.41092512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:52.54, Z:3.41 [[ 4.49090883e-01 -8.91683446e-01 -5.67275195e-02 9.07221362e+01] [ 8.83362687e-01 4.52637094e-01 -1.21614246e-01 5.25434504e+01] [ 1.34118390e-01 4.50487530e-03 9.90955076e-01 3.40892256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:52.57, Z:3.41 [[ 4.49443866e-01 -8.91325596e-01 -5.94886046e-02 9.07343398e+01] [ 8.83249424e-01 4.53361977e-01 -1.19722062e-01 5.25688374e+01] [ 1.33681209e-01 1.26507044e-03 9.91023579e-01 3.41340104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:52.60, Z:3.41 [[ 4.48265681e-01 -8.92528599e-01 -4.95033291e-02 9.07431599e+01] [ 8.83680270e-01 4.50810778e-01 -1.26011201e-01 5.26009236e+01] [ 1.34785235e-01 1.27413815e-02 9.90792914e-01 3.41182205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:52.63, Z:3.40 [[ 4.46610736e-01 -8.93794007e-01 -4.08793768e-02 9.07516955e+01] [ 8.85483481e-01 4.48085517e-01 -1.23038100e-01 5.26304348e+01] [ 1.28288173e-01 1.87521234e-02 9.91559631e-01 3.40488440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:52.64, Z:3.44 [[ 4.44464939e-01 -8.91147196e-01 -9.11459976e-02 9.07860243e+01] [ 8.85424785e-01 4.52477204e-01 -1.06241842e-01 5.26369829e+01] [ 1.35918606e-01 -3.34821514e-02 9.90154068e-01 3.43959104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:52.67, Z:3.43 [[ 4.44554494e-01 -8.93728202e-01 -6.01764320e-02 9.07831898e+01] [ 8.85411089e-01 4.48608141e-01 -1.21646777e-01 5.26716990e+01] [ 1.35714792e-01 7.97740915e-04 9.90747626e-01 3.43125600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:52.70, Z:3.43 [[ 4.38921654e-01 -8.96492050e-01 -6.04134644e-02 9.07961467e+01] [ 8.88123731e-01 4.43059821e-01 -1.22205705e-01 5.26965714e+01] [ 1.36323221e-01 -1.59014006e-05 9.90664413e-01 3.43480534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:52.72, Z:3.44 [[ 4.35400564e-01 -8.98213050e-01 -6.03296429e-02 9.08078883e+01] [ 8.89872180e-01 4.39560069e-01 -1.22124726e-01 5.27202810e+01] [ 1.36212525e-01 -5.12496266e-04 9.90679507e-01 3.43812774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:52.75, Z:3.44 [[ 4.33937902e-01 -8.99251935e-01 -5.51711482e-02 9.08226328e+01] [ 8.90863264e-01 4.37412294e-01 -1.22609663e-01 5.27499630e+01] [ 1.34389515e-01 4.05503082e-03 9.90920287e-01 3.43668853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.428040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.83, Y:52.78, Z:3.43 [[ 4.26531604e-01 -9.03550741e-01 -4.08270749e-02 9.08256019e+01] [ 8.94656462e-01 4.28104676e-01 -1.27734883e-01 5.27791292e+01] [ 1.32893210e-01 1.79567582e-02 9.90967683e-01 3.42721237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:52.79, Z:3.46 [[ 4.23209973e-01 -9.02067819e-01 -8.46579554e-02 9.08567898e+01] [ 8.95846509e-01 4.30592759e-01 -1.09767524e-01 5.27866048e+01] [ 1.35470853e-01 -2.93858231e-02 9.90345456e-01 3.45628868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:52.82, Z:3.45 [[ 4.18926414e-01 -9.06007773e-01 -6.04199815e-02 9.08574178e+01] [ 8.97716780e-01 4.23250456e-01 -1.22325938e-01 5.28176300e+01] [ 1.36401036e-01 -2.99446451e-03 9.90649176e-01 3.45078232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:52.85, Z:3.44 [[ 4.17976550e-01 -9.07805556e-01 -3.44191266e-02 9.08591235e+01] [ 8.98658032e-01 4.18720840e-01 -1.30715719e-01 5.28521596e+01] [ 1.33076461e-01 2.37050806e-02 9.90822247e-01 3.43597332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:52.86, Z:3.47 [[ 4.15706420e-01 -9.05591560e-01 -8.42145995e-02 9.08942376e+01] [ 8.99469662e-01 4.23069106e-01 -1.09393138e-01 5.28592583e+01] [ 1.34694098e-01 -3.02730478e-02 9.90424678e-01 3.46771673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.578040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.90, Y:52.89, Z:3.47 [[ 4.17767860e-01 -9.05983027e-01 -6.82991174e-02 9.09037450e+01] [ 8.98349079e-01 4.23141980e-01 -1.17982190e-01 5.28921520e+01] [ 1.35790085e-01 -1.20672823e-02 9.90664138e-01 3.46634623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.608040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:52.92, Z:3.46 [[ 4.16865271e-01 -9.07448432e-01 -5.25422631e-02 9.09071374e+01] [ 8.99038647e-01 4.20142746e-01 -1.23327144e-01 5.29206509e+01] [ 1.33988274e-01 4.17327807e-03 9.90974130e-01 3.46192413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.638040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.92, Y:52.94, Z:3.47 [[ 4.15316881e-01 -9.07682501e-01 -6.02027002e-02 9.09193070e+01] [ 8.99972366e-01 4.19626529e-01 -1.18166480e-01 5.29404416e+01] [ 1.32520296e-01 -5.10423277e-03 9.91167149e-01 3.46964929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:52.97, Z:3.47 [[ 4.16153215e-01 -9.07434376e-01 -5.81322202e-02 9.09310562e+01] [ 8.99714957e-01 4.20182149e-01 -1.18152270e-01 5.29662280e+01] [ 1.31641553e-01 -3.13298090e-03 9.91292432e-01 3.47276656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.698040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:90.94, Y:52.99, Z:3.48 [[ 4.18893965e-01 -9.06214136e-01 -5.74785769e-02 9.09435766e+01] [ 8.98645970e-01 4.22810532e-01 -1.16904554e-01 5.29915967e+01] [ 1.30243107e-01 -2.68227950e-03 9.91478461e-01 3.47634880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:53.02, Z:3.48 [[ 4.20012859e-01 -9.05697176e-01 -5.74614941e-02 9.09554260e+01] [ 8.98118013e-01 4.23917968e-01 -1.16951235e-01 5.30163192e+01] [ 1.30281364e-01 -2.48618017e-03 9.91473946e-01 3.48038610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:53.04, Z:3.48 [[ 4.22563448e-01 -9.04276715e-01 -6.10225836e-02 9.09721763e+01] [ 8.96746884e-01 4.26911964e-01 -1.16581306e-01 5.30412857e+01] [ 1.31473031e-01 -5.45881310e-03 9.91304718e-01 3.48452599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.98, Y:53.07, Z:3.48 [[ 4.24703028e-01 -9.03573625e-01 -5.64095864e-02 9.09813057e+01] [ 8.95934201e-01 4.28432203e-01 -1.17250819e-01 5.30683469e+01] [ 1.30112431e-01 -7.42499900e-04 9.91498968e-01 3.48482294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:53.09, Z:3.49 [[ 4.25003083e-01 -9.03416942e-01 -5.66587048e-02 9.09906753e+01] [ 8.95876424e-01 4.28761311e-01 -1.16486789e-01 5.30913129e+01] [ 1.29529200e-01 -1.25195329e-03 9.91574818e-01 3.48944387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:53.12, Z:3.49 [[ 4.26566396e-01 -9.02656836e-01 -5.70240860e-02 9.10029006e+01] [ 8.95124283e-01 4.30358775e-01 -1.16378022e-01 5.31159028e+01] [ 1.29590233e-01 -1.40069075e-03 9.91566644e-01 3.49266151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.878040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:91.01, Y:53.14, Z:3.49 [[ 4.26355720e-01 -9.03173404e-01 -4.99860207e-02 9.10128678e+01] [ 8.95386489e-01 4.29237267e-01 -1.18483773e-01 5.31446895e+01] [ 1.28467256e-01 5.75942691e-03 9.91697027e-01 3.48953366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:53.17, Z:3.50 [[ 4.25567937e-01 -9.03329134e-01 -5.37438982e-02 9.10248027e+01] [ 8.95234689e-01 4.28935765e-01 -1.20701949e-01 5.31668790e+01] [ 1.32086267e-01 3.25347740e-03 9.91232885e-01 3.49764059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:53.19, Z:3.51 [[ 4.24341216e-01 -9.03073234e-01 -6.62817205e-02 9.10437436e+01] [ 8.96397177e-01 4.29301776e-01 -1.10327176e-01 5.31873099e+01] [ 1.28088380e-01 -1.25983792e-02 9.91682735e-01 3.50583054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:53.21, Z:3.51 [[ 4.22805819e-01 -9.04472657e-01 -5.62534681e-02 9.10512224e+01] [ 8.97121164e-01 4.26527803e-01 -1.15098442e-01 5.32147669e+01] [ 1.28097062e-01 -1.80188579e-03 9.91759999e-01 3.50576687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.998040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:91.06, Y:53.24, Z:3.51 [[ 4.19837810e-01 -9.05858217e-01 -5.61881019e-02 9.10639992e+01] [ 8.98525542e-01 4.23575393e-01 -1.15046675e-01 5.32388917e+01] [ 1.28015873e-01 -2.18550064e-03 9.91769711e-01 3.50916002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:53.26, Z:3.51 [[ 4.18028757e-01 -9.06687470e-01 -5.63008840e-02 9.10760377e+01] [ 8.99321433e-01 4.21796204e-01 -1.15364305e-01 5.32635072e+01] [ 1.28346869e-01 -2.40699441e-03 9.91726418e-01 3.51272727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:53.29, Z:3.52 [[ 4.15658988e-01 -9.07777565e-01 -5.62805295e-02 9.10877754e+01] [ 9.00416246e-01 4.19443158e-01 -1.15403731e-01 5.32877348e+01] [ 1.28367401e-01 -2.70730480e-03 9.91722986e-01 3.51549351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.088040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:91.10, Y:53.31, Z:3.52 [[ 4.15082352e-01 -9.08024844e-01 -5.65466494e-02 9.10992727e+01] [ 9.00584507e-01 4.18907223e-01 -1.16035704e-01 5.33122684e+01] [ 1.29051102e-01 -2.76066340e-03 9.91634102e-01 3.51879840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:53.34, Z:3.52 [[ 4.14626899e-01 -9.08225654e-01 -5.66630094e-02 9.11107640e+01] [ 9.00745263e-01 4.18471458e-01 -1.16359827e-01 5.33379001e+01] [ 1.29392832e-01 -2.79302321e-03 9.91589479e-01 3.52186517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.148040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:91.12, Y:53.36, Z:3.53 [[ 4.14850487e-01 -9.08121411e-01 -5.66972342e-02 9.11222089e+01] [ 9.00620512e-01 4.18698052e-01 -1.16510238e-01 5.33638307e+01] [ 1.29544463e-01 -2.72836332e-03 9.91569860e-01 3.52502709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:53.39, Z:3.53 [[ 4.15069308e-01 -9.08039996e-01 -5.63988977e-02 9.11343019e+01] [ 9.00606714e-01 4.18875070e-01 -1.15979406e-01 5.33881106e+01] [ 1.28938031e-01 -2.65373421e-03 9.91649102e-01 3.52894120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:53.41, Z:3.53 [[ 4.15052149e-01 -9.08059180e-01 -5.62160023e-02 9.11463019e+01] [ 9.00663212e-01 4.18833726e-01 -1.15689625e-01 5.34136575e+01] [ 1.28598184e-01 -2.61445777e-03 9.91693336e-01 3.53259251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.238040942 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:91.16, Y:53.44, Z:3.54 [[ 4.15178564e-01 -9.08003847e-01 -5.61762724e-02 9.11577216e+01] [ 9.00607611e-01 4.18953995e-01 -1.15686998e-01 5.34386880e+01] [ 1.28579513e-01 -2.56201693e-03 9.91695893e-01 3.53581918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.17, Y:53.46, Z:3.54 [[ 4.15031672e-01 -9.08081865e-01 -5.60003294e-02 9.11689417e+01] [ 9.00722098e-01 4.18784979e-01 -1.15407296e-01 5.34640479e+01] [ 1.28251369e-01 -2.54305110e-03 9.91738433e-01 3.53896454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:53.49, Z:3.54 [[ 4.17976577e-01 -9.06730492e-01 -5.59946111e-02 9.11830001e+01] [ 8.99254322e-01 4.21706826e-01 -1.16211089e-01 5.34911484e+01] [ 1.28985448e-01 -1.77988280e-03 9.91644889e-01 3.54355834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:53.52, Z:3.55 [[ 4.17085979e-01 -9.07070578e-01 -5.71161317e-02 9.11910258e+01] [ 8.99848356e-01 4.20962109e-01 -1.14297150e-01 5.35152180e+01] [ 1.27719309e-01 -3.72411853e-03 9.91803362e-01 3.54632098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:53.54, Z:3.55 [[ 4.18447600e-01 -9.06549230e-01 -5.54084797e-02 9.12001557e+01] [ 8.99302310e-01 4.22095583e-01 -1.14414482e-01 5.35411394e+01] [ 1.27110035e-01 -1.95250823e-03 9.91886700e-01 3.54886534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:53.57, Z:3.55 [[ 4.18863668e-01 -9.06369816e-01 -5.51994907e-02 9.12117677e+01] [ 8.99165324e-01 4.22481143e-01 -1.14067537e-01 5.35666998e+01] [ 1.26708117e-01 -1.85472078e-03 9.91938311e-01 3.55241613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.22, Y:53.59, Z:3.56 [[ 4.19535375e-01 -9.06064343e-01 -5.51132920e-02 9.12233856e+01] [ 8.98869702e-01 4.23136417e-01 -1.13968553e-01 5.35920172e+01] [ 1.26583283e-01 -1.72582856e-03 9.91954482e-01 3.55632536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:53.62, Z:3.56 [[ 4.21796031e-01 -9.05002346e-01 -5.53069833e-02 9.12333616e+01] [ 8.97737549e-01 4.25404346e-01 -1.14448401e-01 5.36173131e+01] [ 1.27103902e-01 -1.37727447e-03 9.91888452e-01 3.56004569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:53.65, Z:3.55 [[ 4.23100666e-01 -9.05212205e-01 -3.97075466e-02 9.12373755e+01] [ 8.97432824e-01 4.24699873e-01 -1.19349676e-01 5.36491592e+01] [ 1.24900574e-01 1.48620719e-02 9.92057945e-01 3.55144399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:53.67, Z:3.57 [[ 4.26566102e-01 -9.02355582e-01 -6.16097743e-02 9.12586463e+01] [ 8.95523524e-01 4.30922114e-01 -1.11102430e-01 5.36679271e+01] [ 1.26802912e-01 -7.78047162e-03 9.91897417e-01 3.56589533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:53.69, Z:3.57 [[ 4.27250474e-01 -9.01883217e-01 -6.37471217e-02 9.12682230e+01] [ 8.95120491e-01 4.31869282e-01 -1.10671720e-01 5.36902626e+01] [ 1.27343391e-01 -9.77680993e-03 9.91810503e-01 3.57415321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:53.72, Z:3.57 [[ 4.28019964e-01 -9.02087297e-01 -5.51127789e-02 9.12747629e+01] [ 8.94815160e-01 4.31553424e-01 -1.14313044e-01 5.37183516e+01] [ 1.26904453e-01 -3.87485243e-04 9.91914870e-01 3.57480271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:53.74, Z:3.58 [[ 4.28583869e-01 -9.01843761e-01 -5.47147037e-02 9.12840630e+01] [ 8.94665141e-01 4.32062209e-01 -1.13562902e-01 5.37429451e+01] [ 1.26056151e-01 -2.80110159e-04 9.92023069e-01 3.57837059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:53.77, Z:3.58 [[ 4.28727960e-01 -9.02305718e-01 -4.51301242e-02 9.12918984e+01] [ 8.93910681e-01 4.30913139e-01 -1.23440517e-01 5.37729710e+01] [ 1.30828247e-01 1.25801008e-02 9.91325230e-01 3.57805209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.32, Y:53.79, Z:3.59 [[ 4.28213416e-01 -9.00820396e-01 -7.18044861e-02 9.13157097e+01] [ 8.94817825e-01 4.33773684e-01 -1.05553076e-01 5.37891195e+01] [ 1.26231260e-01 -1.90526908e-02 9.91817858e-01 3.59365710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:53.82, Z:3.59 [[ 4.26806354e-01 -9.03054471e-01 -4.82592931e-02 9.13141009e+01] [ 8.95745827e-01 4.29487271e-01 -1.14804605e-01 5.38220782e+01] [ 1.24401564e-01 5.77127461e-03 9.92215170e-01 3.58638931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:53.84, Z:3.59 [[ 4.25348888e-01 -9.03311979e-01 -5.57296279e-02 9.13258814e+01] [ 8.96629191e-01 4.28971554e-01 -1.09724653e-01 5.38429738e+01] [ 1.23022018e-01 -3.29755204e-03 9.92398463e-01 3.59343148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:53.87, Z:3.60 [[ 4.23483093e-01 -9.04339068e-01 -5.32251771e-02 9.13324428e+01] [ 8.97502999e-01 4.26814079e-01 -1.10986974e-01 5.38684549e+01] [ 1.23087111e-01 -7.68649274e-04 9.92395572e-01 3.59572620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.35, Y:53.90, Z:3.60 [[ 4.23644507e-01 -9.04185730e-01 -5.45297864e-02 9.13464677e+01] [ 8.97303600e-01 4.27135920e-01 -1.11360475e-01 5.38955617e+01] [ 1.23982183e-01 -1.75251996e-03 9.92282897e-01 3.59910575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.35, Y:53.92, Z:3.60 [[ 4.20390333e-01 -9.05753535e-01 -5.36889395e-02 9.13542366e+01] [ 8.98899007e-01 4.23802174e-01 -1.11230805e-01 5.39219020e+01] [ 1.23501184e-01 -1.50057931e-03 9.92343290e-01 3.60171243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:53.95, Z:3.60 [[ 4.18451561e-01 -9.06760908e-01 -5.17971723e-02 9.13631528e+01] [ 8.99839522e-01 4.21645138e-01 -1.11822239e-01 5.39486012e+01] [ 1.23236060e-01 1.83047560e-04 9.92377368e-01 3.60359249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:53.97, Z:3.61 [[ 4.14069887e-01 -9.08540452e-01 -5.56810097e-02 9.13702591e+01] [ 9.01801212e-01 4.17773302e-01 -1.10544304e-01 5.39718521e+01] [ 1.23696012e-01 -4.44013432e-03 9.92310225e-01 3.60877573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:54.00, Z:3.61 [[ 4.13001284e-01 -9.09064187e-01 -5.50658201e-02 9.13832313e+01] [ 9.02097678e-01 4.16643316e-01 -1.12374940e-01 5.39999599e+01] [ 1.25098839e-01 -3.26375402e-03 9.92138916e-01 3.61146742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:54.03, Z:3.61 [[ 4.10208673e-01 -9.10536601e-01 -5.14970210e-02 9.13910985e+01] [ 9.03370422e-01 4.13428394e-01 -1.14012476e-01 5.40262803e+01] [ 1.25102863e-01 2.48020730e-04 9.92143746e-01 3.61289991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:54.05, Z:3.61 [[ 4.05002086e-01 -9.13147636e-01 -4.62028668e-02 9.13953983e+01] [ 9.05929698e-01 4.07603167e-01 -1.14677981e-01 5.40536967e+01] [ 1.23550363e-01 4.58827243e-03 9.92327696e-01 3.61124944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:54.08, Z:3.62 [[ 4.03017206e-01 -9.13713286e-01 -5.20111760e-02 9.14081311e+01] [ 9.06827199e-01 4.06354397e-01 -1.11984531e-01 5.40787171e+01] [ 1.23456724e-01 -2.03345619e-03 9.92347874e-01 3.61588187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:54.11, Z:3.62 [[ 3.99248941e-01 -9.15401109e-01 -5.13915600e-02 9.14134567e+01] [ 9.08573702e-01 4.02537285e-01 -1.11613450e-01 5.41050107e+01] [ 1.22858095e-01 -2.13146828e-03 9.92421959e-01 3.61763325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:54.13, Z:3.63 [[ 3.98832528e-01 -9.14646987e-01 -6.59810923e-02 9.14309833e+01] [ 9.08301987e-01 4.03915268e-01 -1.08811568e-01 5.41268503e+01] [ 1.26174943e-01 -1.65331646e-02 9.91870222e-01 3.63251549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:54.17, Z:3.61 [[ 3.93040820e-01 -9.19372012e-01 -1.65534774e-02 9.14103853e+01] [ 9.11963671e-01 3.92050639e-01 -1.20907238e-01 5.41665771e+01] [ 1.17648532e-01 3.24253098e-02 9.92525779e-01 3.60569404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.108040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:54.19, Z:3.61 [[ 3.90783086e-01 -9.19776402e-01 -3.60548281e-02 9.14271338e+01] [ 9.13380266e-01 3.92326673e-01 -1.08702678e-01 5.41889572e+01] [ 1.14127428e-01 9.54739941e-03 9.93420242e-01 3.61191745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:54.20, Z:3.65 [[ 3.96092495e-01 -9.13160278e-01 -9.61719444e-02 9.14728937e+01] [ 9.09675416e-01 4.04500007e-01 -9.41827071e-02 5.41988492e+01] [ 1.24905459e-01 -5.01801900e-02 9.90898872e-01 3.65402380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:54.25, Z:3.62 [[ 3.91595822e-01 -9.19913036e-01 -2.03154838e-02 9.14351422e+01] [ 9.12609407e-01 3.91115832e-01 -1.19048210e-01 5.42473325e+01] [ 1.17459708e-01 2.80786801e-02 9.92680616e-01 3.61972305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:54.26, Z:3.66 [[ 3.96730612e-01 -9.14227516e-01 -8.24188761e-02 9.14804841e+01] [ 9.09265485e-01 4.03707405e-01 -1.01274916e-01 5.42572573e+01] [ 1.25861425e-01 -3.47617801e-02 9.91438611e-01 3.65588427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:54.29, Z:3.65 [[ 3.96407926e-01 -9.16453626e-01 -5.45298804e-02 9.14785335e+01] [ 9.09268225e-01 4.00119400e-01 -1.14611345e-01 5.42907323e+01] [ 1.26854445e-01 -4.14944222e-03 9.91912663e-01 3.65119972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.258040942 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:91.47, Y:54.33, Z:3.64 [[ 3.97102481e-01 -9.17321324e-01 -2.88306709e-02 9.14694799e+01] [ 9.09180489e-01 3.97478808e-01 -1.24102523e-01 5.43263018e+01] [ 1.25301471e-01 2.30691362e-02 9.91850471e-01 3.64094129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.288040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:54.35, Z:3.65 [[ 3.97822609e-01 -9.16218056e-01 -4.77665751e-02 9.14874771e+01] [ 9.08547419e-01 4.00663015e-01 -1.18366959e-01 5.43483749e+01] [ 1.27588245e-01 3.69085408e-03 9.91820355e-01 3.65091347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.318040942 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:91.50, Y:54.37, Z:3.66 [[ 3.99673256e-01 -9.14810197e-01 -5.81686462e-02 9.15020260e+01] [ 9.07754228e-01 4.03816531e-01 -1.13641851e-01 5.43699981e+01] [ 1.27450185e-01 -7.38322617e-03 9.91817492e-01 3.65866439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.348040942 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:91.51, Y:54.40, Z:3.66 [[ 4.00855970e-01 -9.14194762e-01 -5.96860867e-02 9.15079507e+01] [ 9.07310640e-01 4.05172566e-01 -1.12350324e-01 5.43956080e+01] [ 1.26893242e-01 -9.11752356e-03 9.91874476e-01 3.66251590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.378040942 meters Centerline goodness : 0.996199 Centerline is valid? [True, True] Translation: X:91.51, Y:54.42, Z:3.66 [[ 4.00897414e-01 -9.14696104e-01 -5.11106706e-02 9.15123322e+01] [ 9.07254116e-01 4.04142228e-01 -1.16443239e-01 5.44243364e+01] [ 1.27166157e-01 3.11427089e-04 9.91881380e-01 3.66334159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:54.45, Z:3.68 [[ 4.01994953e-01 -9.12350817e-01 -7.75631618e-02 9.15334891e+01] [ 9.06177084e-01 4.08557888e-01 -1.09194987e-01 5.44465874e+01] [ 1.31313177e-01 -2.63901261e-02 9.90989612e-01 3.68071004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:54.48, Z:3.68 [[ 4.01811476e-01 -9.14102510e-01 -5.44439117e-02 9.15314110e+01] [ 9.06307871e-01 4.05480486e-01 -1.19128584e-01 5.44790507e+01] [ 1.30971681e-01 -1.47571356e-03 9.91385012e-01 3.67693728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.468040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:91.54, Y:54.50, Z:3.68 [[ 4.00608886e-01 -9.14484185e-01 -5.68436061e-02 9.15393115e+01] [ 9.06867078e-01 4.04598456e-01 -1.17865142e-01 5.45034653e+01] [ 1.30784643e-01 -4.33177186e-03 9.91401338e-01 3.67842998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:54.53, Z:3.68 [[ 4.00179776e-01 -9.14738874e-01 -5.57578606e-02 9.15481993e+01] [ 9.07112293e-01 4.04031328e-01 -1.17923599e-01 5.45285077e+01] [ 1.30397222e-01 -3.38800150e-03 9.91456043e-01 3.68271508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:54.56, Z:3.67 [[ 3.97826791e-01 -9.17103822e-01 -2.55817072e-02 9.15414465e+01] [ 9.09111254e-01 3.97806290e-01 -1.23559229e-01 5.45636333e+01] [ 1.23493205e-01 2.58985535e-02 9.92007406e-01 3.66647699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:54.58, Z:3.67 [[ 3.96736771e-01 -9.16810070e-01 -4.53787386e-02 9.15602323e+01] [ 9.09793450e-01 3.99306840e-01 -1.13269263e-01 5.45843482e+01] [ 1.21966441e-01 3.65280239e-03 9.92527503e-01 3.67184743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:54.61, Z:3.67 [[ 3.93546084e-01 -9.18271731e-01 -4.35718579e-02 9.15676870e+01] [ 9.11531119e-01 3.95930400e-01 -1.11131174e-01 5.46096037e+01] [ 1.19300038e-01 4.01813385e-03 9.92850117e-01 3.66921074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:54.63, Z:3.68 [[ 3.95778555e-01 -9.16957544e-01 -5.04796874e-02 9.15819415e+01] [ 9.10098879e-01 3.98981452e-01 -1.11954597e-01 5.46339942e+01] [ 1.22798071e-01 -1.63227836e-03 9.92430335e-01 3.68007809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:54.66, Z:3.68 [[ 3.92716288e-01 -9.18532759e-01 -4.55135971e-02 9.15896478e+01] [ 9.11547101e-01 3.95334013e-01 -1.13105705e-01 5.46631385e+01] [ 1.21884368e-01 2.93066495e-03 9.92539980e-01 3.68041756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:54.69, Z:3.69 [[ 3.93485599e-01 -9.17893703e-01 -5.13831966e-02 9.16051725e+01] [ 9.10868585e-01 3.96820276e-01 -1.13367052e-01 5.46891052e+01] [ 1.24448797e-01 -2.19503732e-03 9.92223603e-01 3.68716015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:54.71, Z:3.69 [[ 3.92991521e-01 -9.17758442e-01 -5.72460208e-02 9.16181660e+01] [ 9.11105021e-01 3.97044365e-01 -1.10649956e-01 5.47114548e+01] [ 1.24279142e-01 -8.67264227e-03 9.92209393e-01 3.69252689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:54.73, Z:3.72 [[ 3.93869618e-01 -9.14330395e-01 -9.41629119e-02 9.16483151e+01] [ 9.09162399e-01 4.02606334e-01 -1.06451270e-01 5.47263529e+01] [ 1.35242216e-01 -4.36814578e-02 9.89849217e-01 3.72182304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.768040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:91.60, Y:54.78, Z:3.68 [[ 3.92020243e-01 -9.19956468e-01 -4.75082418e-04 9.16039633e+01] [ 9.09858828e-01 3.87793546e-01 -1.47557040e-01 5.47792627e+01] [ 1.35930287e-01 5.74130886e-02 9.89053434e-01 3.68489509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.798040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:54.79, Z:3.70 [[ 3.91757020e-01 -9.18145424e-01 -5.94593851e-02 9.16484451e+01] [ 9.10321725e-01 3.96178413e-01 -1.19820789e-01 5.47925947e+01] [ 1.33569434e-01 -7.18653461e-03 9.91013401e-01 3.70172506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.66, Y:54.81, Z:3.70 [[ 3.92650758e-01 -9.17488124e-01 -6.35682732e-02 9.16592113e+01] [ 9.10227464e-01 3.97570804e-01 -1.15859485e-01 5.48137018e+01] [ 1.31572591e-01 -1.23692735e-02 9.91229365e-01 3.70470916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.66, Y:54.85, Z:3.71 [[ 3.91967276e-01 -9.18760195e-01 -4.73429977e-02 9.16628053e+01] [ 9.09996142e-01 3.94760731e-01 -1.26771394e-01 5.48495383e+01] [ 1.35161667e-01 6.60829274e-03 9.90801521e-01 3.70705758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:54.87, Z:3.71 [[ 3.92219653e-01 -9.18169691e-01 -5.59299734e-02 9.16792576e+01] [ 9.09918320e-01 3.96178095e-01 -1.22847742e-01 5.48728487e+01] [ 1.34953304e-01 -2.70840849e-03 9.90848258e-01 3.71367378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.918040942 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:91.69, Y:54.89, Z:3.72 [[ 3.91280798e-01 -9.18642665e-01 -5.47265094e-02 9.16871628e+01] [ 9.10214584e-01 3.95087504e-01 -1.24158266e-01 5.48946115e+01] [ 1.35678841e-01 -1.23212139e-03 9.90752105e-01 3.71621320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.70, Y:54.92, Z:3.72 [[ 3.90543746e-01 -9.18856313e-01 -5.63795990e-02 9.17006179e+01] [ 9.10412680e-01 3.94582502e-01 -1.24311707e-01 5.49235099e+01] [ 1.36471000e-01 -2.77954193e-03 9.90640167e-01 3.72120639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97804094199999 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:91.71, Y:54.94, Z:3.73 [[ 3.90958101e-01 -9.18505380e-01 -5.91576687e-02 9.17125923e+01] [ 9.10239774e-01 3.95366977e-01 -1.23079273e-01 5.49442270e+01] [ 1.36437963e-01 -5.72882428e-03 9.90632052e-01 3.72577946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:54.96, Z:3.74 [[ 3.91843551e-01 -9.16299269e-01 -8.27905828e-02 9.17352928e+01] [ 9.09002947e-01 3.99467260e-01 -1.18909840e-01 5.49619439e+01] [ 1.42029127e-01 -2.86628298e-02 9.89447406e-01 3.74335677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.038040942 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:91.72, Y:55.00, Z:3.73 [[ 3.91226623e-01 -9.19463302e-01 -3.91019820e-02 9.17225320e+01] [ 9.09861787e-01 3.92821813e-01 -1.33576015e-01 5.49989273e+01] [ 1.38178356e-01 1.66810942e-02 9.90266875e-01 3.72885216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.068040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:55.02, Z:3.74 [[ 3.92746430e-01 -9.18095242e-01 -5.33982072e-02 9.17414231e+01] [ 9.09385126e-01 3.96358602e-01 -1.26168737e-01 5.50227054e+01] [ 1.36999756e-01 9.92785770e-04 9.90570584e-01 3.73740185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.098040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:55.04, Z:3.76 [[ 3.94688395e-01 -9.14503736e-01 -8.89043750e-02 9.17706708e+01] [ 9.07236936e-01 4.03198604e-01 -1.19799950e-01 5.50370281e+01] [ 1.45403622e-01 -3.33736827e-02 9.88809377e-01 3.76384255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.128040942 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:91.76, Y:55.07, Z:3.75 [[ 3.95347634e-01 -9.17595952e-01 -4.14477508e-02 9.17571192e+01] [ 9.07450350e-01 3.97168323e-01 -1.37080946e-01 5.50731441e+01] [ 1.42246655e-01 1.65828518e-02 9.89692325e-01 3.75025254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.158040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:55.09, Z:3.76 [[ 3.98191058e-01 -9.14949352e-01 -6.56625003e-02 9.17820525e+01] [ 9.06302586e-01 4.03459178e-01 -1.25842422e-01 5.50926840e+01] [ 1.41631581e-01 -9.40076656e-03 9.89874801e-01 3.76122500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.81, Y:55.11, Z:3.79 [[ 4.00122251e-01 -9.11411260e-01 -9.60817284e-02 9.18092252e+01] [ 9.04197517e-01 4.09686356e-01 -1.20763983e-01 5.51088726e+01] [ 1.49429027e-01 -3.85565038e-02 9.88020426e-01 3.78747394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:55.15, Z:3.77 [[ 4.03054714e-01 -9.14463912e-01 -3.60922666e-02 9.17906313e+01] [ 9.03591111e-01 4.03898190e-01 -1.42791305e-01 5.51522140e+01] [ 1.45155097e-01 2.49400576e-02 9.89094531e-01 3.76582278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.83, Y:55.16, Z:3.79 [[ 4.06036514e-01 -9.09457206e-01 -8.95652776e-02 9.18296289e+01] [ 9.01383417e-01 4.14704069e-01 -1.24613288e-01 5.51601862e+01] [ 1.50473538e-01 -3.01351110e-02 9.88154638e-01 3.79419211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.83, Y:55.19, Z:3.79 [[ 4.07836270e-01 -9.10788390e-01 -6.42968593e-02 9.18279728e+01] [ 9.00467518e-01 4.12867989e-01 -1.36741625e-01 5.51909471e+01] [ 1.51088800e-01 -2.12903898e-03 9.88517902e-01 3.79253488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.83, Y:55.22, Z:3.79 [[ 4.11601217e-01 -9.10196605e-01 -4.61148335e-02 9.18329919e+01] [ 8.99121134e-01 4.13817775e-01 -1.42604474e-01 5.52232851e+01] [ 1.48881246e-01 1.72333536e-02 9.88704904e-01 3.78597010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.338040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.86, Y:55.24, Z:3.80 [[ 4.16539238e-01 -9.05450962e-01 -8.15697187e-02 9.18628998e+01] [ 8.96620541e-01 4.23982275e-01 -1.27713103e-01 5.52353658e+01] [ 1.50222067e-01 -1.99395667e-02 9.88451185e-01 3.80198018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:55.27, Z:3.80 [[ 4.17330751e-01 -9.06972814e-01 -5.68802121e-02 9.18632982e+01] [ 8.96086090e-01 4.21120842e-01 -1.40310209e-01 5.52700864e+01] [ 1.51210988e-01 7.58619819e-03 9.88472401e-01 3.80037708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:55.29, Z:3.81 [[ 4.19740168e-01 -9.04228479e-01 -7.86705113e-02 9.18878849e+01] [ 8.94379007e-01 4.26813586e-01 -1.33851988e-01 5.52892116e+01] [ 1.54610423e-01 -1.41781976e-02 9.87873775e-01 3.81355305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:55.32, Z:3.81 [[ 4.20766545e-01 -9.04945151e-01 -6.34806109e-02 9.18926302e+01] [ 8.93898884e-01 4.25520425e-01 -1.40986362e-01 5.53176987e+01] [ 1.54597221e-01 2.57709704e-03 9.87974219e-01 3.81339095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:55.34, Z:3.82 [[ 4.22501606e-01 -9.03414016e-01 -7.30445630e-02 9.19104906e+01] [ 8.92681203e-01 4.28720325e-01 -1.38993353e-01 5.53396275e+01] [ 1.56884232e-01 -6.48059352e-03 9.87595737e-01 3.82214668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.488040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.94, Y:55.36, Z:3.84 [[ 4.25473170e-01 -9.00000262e-01 -9.47212266e-02 9.19371554e+01] [ 8.90330037e-01 4.35041805e-01 -1.34354207e-01 5.53561420e+01] [ 1.62126515e-01 -2.71690427e-02 9.86395882e-01 3.84120542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:55.39, Z:3.84 [[ 4.25512786e-01 -9.02815404e-01 -6.21547698e-02 9.19342177e+01] [ 8.90571878e-01 4.29957812e-01 -1.48384671e-01 5.53894021e+01] [ 1.60687895e-01 7.78628457e-03 9.86974556e-01 3.83579615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:55.41, Z:3.84 [[ 4.24152358e-01 -9.03396040e-01 -6.30108837e-02 9.19487323e+01] [ 8.91942260e-01 4.28781929e-01 -1.43474950e-01 5.54136870e+01] [ 1.56632630e-01 4.65316852e-03 9.87645973e-01 3.83561447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:55.44, Z:3.84 [[ 4.21579013e-01 -9.04916918e-01 -5.82795571e-02 9.19601628e+01] [ 8.93545986e-01 4.25507051e-01 -1.43245667e-01 5.54381403e+01] [ 1.54423790e-01 8.31390248e-03 9.87969722e-01 3.83725347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.608040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.98, Y:55.46, Z:3.85 [[ 4.20080846e-01 -9.04723182e-01 -7.07675503e-02 9.19817655e+01] [ 8.94196492e-01 4.25965380e-01 -1.37717570e-01 5.54607002e+01] [ 1.54740805e-01 -5.42758176e-03 9.87940193e-01 3.84550328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:55.49, Z:3.85 [[ 4.18060163e-01 -9.06454797e-01 -5.97109757e-02 9.19921158e+01] [ 8.95283468e-01 4.22261577e-01 -1.41995329e-01 5.54866839e+01] [ 1.53925998e-01 5.90434111e-03 9.88064738e-01 3.84589063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:55.51, Z:3.84 [[ 4.14560766e-01 -9.08444960e-01 -5.35455533e-02 9.19998511e+01] [ 8.97346414e-01 4.17864670e-01 -1.41980740e-01 5.55131966e+01] [ 1.51356482e-01 1.08107340e-02 9.88420125e-01 3.84269042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:55.53, Z:3.85 [[ 4.14748518e-01 -9.07674547e-01 -6.41138324e-02 9.20163356e+01] [ 8.97561355e-01 4.19672083e-01 -1.35125706e-01 5.55306090e+01] [ 1.49556949e-01 -1.50291219e-03 9.88751971e-01 3.84721356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:55.56, Z:3.85 [[ 4.14158652e-01 -9.08283185e-01 -5.91123254e-02 9.20283218e+01] [ 8.97889328e-01 4.18339621e-01 -1.37064643e-01 5.55555693e+01] [ 1.49222538e-01 3.69018165e-03 9.88796752e-01 3.84812920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.758040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.04, Y:55.58, Z:3.85 [[ 4.13566484e-01 -9.08999019e-01 -5.18029554e-02 9.20382135e+01] [ 8.97802005e-01 4.16609474e-01 -1.42786927e-01 5.55849679e+01] [ 1.51374778e-01 1.25430901e-02 9.88396857e-01 3.84901875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:55.61, Z:3.86 [[ 4.14782456e-01 -9.07450104e-01 -6.70061455e-02 9.20621199e+01] [ 8.97496770e-01 4.20135643e-01 -1.34110366e-01 5.56057203e+01] [ 1.49850135e-01 -4.51117232e-03 9.88698430e-01 3.85632658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:55.63, Z:3.86 [[ 4.14297063e-01 -9.07951654e-01 -6.31010134e-02 9.20739486e+01] [ 8.97635532e-01 4.19074915e-01 -1.36479552e-01 5.56320753e+01] [ 1.50360887e-01 -9.86343220e-05 9.88631172e-01 3.85933192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:55.65, Z:3.87 [[ 4.17712093e-01 -9.05945429e-01 -6.91338362e-02 9.20919711e+01] [ 8.95954805e-01 4.23354161e-01 -1.34299077e-01 5.56530461e+01] [ 1.50935732e-01 -5.84244428e-03 9.88526313e-01 3.86654614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:55.67, Z:3.88 [[ 4.18634876e-01 -9.04262156e-01 -8.39928233e-02 9.21132401e+01] [ 8.94918919e-01 4.26498081e-01 -1.31223154e-01 5.56683700e+01] [ 1.54482910e-01 -2.02321776e-02 9.87788282e-01 3.88234752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:55.70, Z:3.88 [[ 4.17359365e-01 -9.06451266e-01 -6.44768355e-02 9.21197710e+01] [ 8.95722765e-01 4.22310340e-01 -1.39049288e-01 5.56961269e+01] [ 1.53270637e-01 2.80153120e-04 9.88184210e-01 3.88174408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:55.73, Z:3.88 [[ 4.14991154e-01 -9.08393030e-01 -5.10337688e-02 9.21269388e+01] [ 8.96355914e-01 4.17819812e-01 -1.48231848e-01 5.57264588e+01] [ 1.55975697e-01 1.57704851e-02 9.87634990e-01 3.88195578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:55.74, Z:3.89 [[ 4.14331742e-01 -9.07479192e-01 -6.93593850e-02 9.21492369e+01] [ 8.96427836e-01 4.20081131e-01 -1.41240851e-01 5.57448488e+01] [ 1.57309702e-01 -3.65511572e-03 9.87542555e-01 3.89241872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:55.77, Z:3.89 [[ 4.13695294e-01 -9.07764876e-01 -6.94199847e-02 9.21633669e+01] [ 8.97214687e-01 4.19447662e-01 -1.38092230e-01 5.57694385e+01] [ 1.54473326e-01 -5.15652423e-03 9.87983503e-01 3.89481347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:55.79, Z:3.90 [[ 4.15181918e-01 -9.07244512e-01 -6.73154481e-02 9.21779921e+01] [ 8.96191270e-01 4.20600152e-01 -1.41197450e-01 5.57906565e+01] [ 1.56413499e-01 -1.70488891e-03 9.87690190e-01 3.90056856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:55.82, Z:3.90 [[ 4.12508314e-01 -9.09362280e-01 -5.38250328e-02 9.21858447e+01] [ 8.97095870e-01 4.15790321e-01 -1.49457047e-01 5.58226135e+01] [ 1.58290529e-01 1.33660597e-02 9.87302110e-01 3.89953698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.088040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.21, Y:55.84, Z:3.91 [[ 4.12874905e-01 -9.07726913e-01 -7.46067242e-02 9.22125581e+01] [ 8.97276832e-01 4.19440257e-01 -1.37710412e-01 5.58393191e+01] [ 1.56296511e-01 -1.00857117e-02 9.87658685e-01 3.91009437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.118040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.22, Y:55.87, Z:3.91 [[ 4.12642143e-01 -9.08564463e-01 -6.50928430e-02 9.22194170e+01] [ 8.97362807e-01 4.17744586e-01 -1.42230285e-01 5.58677654e+01] [ 1.56417565e-01 2.78313317e-04 9.87690978e-01 3.91174006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:55.89, Z:3.92 [[ 4.13444551e-01 -9.08127519e-01 -6.60909393e-02 9.22336520e+01] [ 8.96564617e-01 4.18693430e-01 -1.44456564e-01 5.58891260e+01] [ 1.58856824e-01 4.69981631e-04 9.87301519e-01 3.91865479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:55.92, Z:3.92 [[ 4.13304394e-01 -9.08346376e-01 -6.39244847e-02 9.22468455e+01] [ 8.96331633e-01 4.18203356e-01 -1.47294118e-01 5.59160033e+01] [ 1.60527513e-01 3.57976860e-03 9.87024875e-01 3.92242339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:55.94, Z:3.93 [[ 4.13025235e-01 -9.08029867e-01 -6.99422319e-02 9.22666054e+01] [ 8.96674235e-01 4.18890218e-01 -1.43200218e-01 5.59384094e+01] [ 1.59328191e-01 -3.57009376e-03 9.87219217e-01 3.92948746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:55.97, Z:3.91 [[ 4.13108950e-01 -9.10071260e-01 -3.33361150e-02 9.22629726e+01] [ 8.98049889e-01 4.13181596e-01 -1.50954845e-01 5.59741455e+01] [ 1.51153536e-01 3.24233033e-02 9.87978410e-01 3.91443661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:55.97, Z:3.95 [[ 4.14058835e-01 -9.04196622e-01 -1.04803385e-01 9.23140569e+01] [ 8.96282653e-01 4.25086432e-01 -1.26407795e-01 5.59740132e+01] [ 1.58847999e-01 -4.15931920e-02 9.86426540e-01 3.95357100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.298040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:56.01, Z:3.94 [[ 4.13060392e-01 -9.08903553e-01 -5.72314937e-02 9.23034769e+01] [ 8.96446775e-01 4.16866538e-01 -1.50351153e-01 5.60111247e+01] [ 1.60512592e-01 1.07991183e-02 9.86974714e-01 3.94247268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:56.03, Z:3.95 [[ 4.12441820e-01 -9.07892685e-01 -7.49841230e-02 9.23274174e+01] [ 8.97193922e-01 4.19087719e-01 -1.39314569e-01 5.60298406e+01] [ 1.57907604e-01 -9.81614486e-03 9.87405100e-01 3.95385511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.358040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:56.07, Z:3.93 [[ 4.10710109e-01 -9.11335047e-01 -2.80292535e-02 9.23213878e+01] [ 8.99309093e-01 4.09971648e-01 -1.52205135e-01 5.60677544e+01] [ 1.50201073e-01 3.73052250e-02 9.87951394e-01 3.93209854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.388040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:56.07, Z:3.97 [[ 4.08834466e-01 -9.07981386e-01 -9.17833421e-02 9.23661533e+01] [ 8.98546838e-01 4.18081077e-01 -1.33498291e-01 5.60726523e+01] [ 1.59586842e-01 -2.78929291e-02 9.86789757e-01 3.96862403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.418040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:56.11, Z:3.96 [[ 4.08411937e-01 -9.10713996e-01 -6.16417694e-02 9.23744531e+01] [ 8.99402573e-01 4.13026566e-01 -1.43122563e-01 5.61077926e+01] [ 1.55803409e-01 3.01219696e-03 9.87783491e-01 3.96057563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.448040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:56.13, Z:3.96 [[ 4.04686930e-01 -9.12989314e-01 -5.17590738e-02 9.23817417e+01] [ 9.01704537e-01 4.07823478e-01 -1.43558134e-01 5.61346764e+01] [ 1.52175608e-01 1.14247089e-02 9.88287438e-01 3.95709366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:56.14, Z:3.98 [[ 4.02649859e-01 -9.10888591e-01 -9.03054089e-02 9.24113474e+01] [ 9.01631437e-01 4.11697481e-01 -1.32536546e-01 5.61447971e+01] [ 1.57904537e-01 -2.80563742e-02 9.87055721e-01 3.98316907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.508040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:56.18, Z:3.97 [[ 4.01632001e-01 -9.14263178e-01 -5.30525806e-02 9.24156013e+01] [ 9.02465592e-01 4.04968971e-01 -1.46819577e-01 5.61822758e+01] [ 1.55716383e-01 1.10893121e-02 9.87739558e-01 3.97168557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.538040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:56.20, Z:3.98 [[ 4.00655082e-01 -9.14167455e-01 -6.14277611e-02 9.24343253e+01] [ 9.02766982e-01 4.05330675e-01 -1.43940334e-01 5.62016355e+01] [ 1.56484125e-01 2.21547188e-03 9.87677989e-01 3.97803567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.568040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.45, Y:56.22, Z:3.99 [[ 4.00236333e-01 -9.13837657e-01 -6.86412045e-02 9.24519144e+01] [ 9.02900665e-01 4.06042256e-01 -1.41067631e-01 5.62241657e+01] [ 1.56784143e-01 -5.51579758e-03 9.87617491e-01 3.98525523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.598040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:56.25, Z:3.99 [[ 4.00005950e-01 -9.13737913e-01 -7.12619502e-02 9.24663972e+01] [ 9.03084481e-01 4.06213099e-01 -1.39389164e-01 5.62461708e+01] [ 1.56312702e-01 -8.59906621e-03 9.87670186e-01 3.99136813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.628040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:56.27, Z:4.00 [[ 3.96114269e-01 -9.15572121e-01 -6.94346970e-02 9.24742187e+01] [ 9.04012942e-01 4.02119095e-01 -1.45123511e-01 5.62679725e+01] [ 1.60792058e-01 -5.28437124e-03 9.86974158e-01 3.99751038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.658040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:56.31, Z:3.98 [[ 3.96034104e-01 -9.17233761e-01 -4.28860880e-02 9.24787431e+01] [ 9.05220839e-01 3.97830399e-01 -1.49352621e-01 5.63053705e+01] [ 1.54052656e-01 2.03273510e-02 9.87853520e-01 3.98454603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:56.32, Z:4.00 [[ 3.95579932e-01 -9.16371218e-01 -6.14842023e-02 9.25022524e+01] [ 9.05490484e-01 4.00329601e-01 -1.40794866e-01 5.63249310e+01] [ 1.53634310e-01 2.22637416e-05 9.88127774e-01 3.99526585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:56.35, Z:4.01 [[ 3.97325561e-01 -9.14342490e-01 -7.81678228e-02 9.25257043e+01] [ 9.04098032e-01 4.04622871e-01 -1.37430274e-01 5.63460005e+01] [ 1.57286828e-01 -1.60668141e-02 9.87422256e-01 4.01103705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:56.37, Z:4.02 [[ 3.98764613e-01 -9.13599142e-01 -7.95197505e-02 9.25409082e+01] [ 9.02826351e-01 4.06314278e-01 -1.40759683e-01 5.63699287e+01] [ 1.60907936e-01 -1.56625456e-02 9.86845135e-01 4.02058763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:56.40, Z:4.02 [[ 3.98085982e-01 -9.14773355e-01 -6.86823160e-02 9.25500457e+01] [ 9.03072247e-01 4.03948198e-01 -1.45898493e-01 5.63976852e+01] [ 1.61208152e-01 -3.94494848e-03 9.86912544e-01 4.02134427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:56.42, Z:4.04 [[ 3.99236568e-01 -9.13022454e-01 -8.36669694e-02 9.25740139e+01] [ 9.02274539e-01 4.07457159e-01 -1.40994042e-01 5.64180353e+01] [ 1.62821432e-01 -1.92005987e-02 9.86468711e-01 4.03836489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:56.44, Z:4.03 [[ 3.93634933e-01 -9.17210452e-01 -6.14534502e-02 9.25634542e+01] [ 9.05393462e-01 3.98397323e-01 -1.46772787e-01 5.64411320e+01] [ 1.59104424e-01 2.13534391e-03 9.87259450e-01 4.03032192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.58, Y:56.46, Z:4.04 [[ 3.93389436e-01 -9.17055094e-01 -6.52281149e-02 9.25774908e+01] [ 9.05563652e-01 3.98754835e-01 -1.44737881e-01 5.64646038e+01] [ 1.58742637e-01 -2.12985669e-03 9.87317699e-01 4.03682208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:56.49, Z:4.06 [[ 4.00283320e-01 -9.12671871e-01 -8.24822345e-02 9.26124279e+01] [ 9.01806266e-01 4.08308248e-01 -1.41526792e-01 5.64914365e+01] [ 1.62845699e-01 -1.77321815e-02 9.86492194e-01 4.05506926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.928040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.60, Y:56.52, Z:4.04 [[ 3.94231214e-01 -9.17361655e-01 -5.50394775e-02 9.25968806e+01] [ 9.05264947e-01 3.97957142e-01 -1.48746394e-01 5.65157122e+01] [ 1.58357591e-01 8.81516164e-03 9.87342477e-01 4.04252565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:56.54, Z:4.07 [[ 4.01869933e-01 -9.11516472e-01 -8.73972471e-02 9.26398743e+01] [ 9.00759087e-01 4.10678731e-01 -1.41336647e-01 5.65384106e+01] [ 1.64722872e-01 -2.19249157e-02 9.86096179e-01 4.06818450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:56.57, Z:4.06 [[ 4.01084365e-01 -9.13441474e-01 -6.89637929e-02 9.26418220e+01] [ 9.01331196e-01 4.06961226e-01 -1.48272170e-01 5.65688420e+01] [ 1.63503540e-01 -2.68956849e-03 9.86539081e-01 4.06401420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.018040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.63, Y:56.59, Z:4.06 [[ 3.94882877e-01 -9.17073724e-01 -5.51661032e-02 9.26328288e+01] [ 9.04846950e-01 3.98613122e-01 -1.49531187e-01 5.65890443e+01] [ 1.59121055e-01 9.13042508e-03 9.87216858e-01 4.05727839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:56.61, Z:4.08 [[ 4.00054524e-01 -9.12236149e-01 -8.82133035e-02 9.26737604e+01] [ 9.01393728e-01 4.09036111e-01 -1.42052132e-01 5.66105148e+01] [ 1.65667516e-01 -2.26863205e-02 9.85920689e-01 4.08308040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.078040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:56.64, Z:4.08 [[ 3.99201877e-01 -9.14247834e-01 -6.92008609e-02 9.26750876e+01] [ 9.01826813e-01 4.05148037e-01 -1.50211409e-01 5.66403841e+01] [ 1.65367048e-01 -2.44251557e-03 9.86229068e-01 4.07847035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.108040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.69, Y:56.67, Z:4.09 [[ 3.94858757e-01 -9.14881512e-01 -8.41331137e-02 9.26949891e+01] [ 9.03969672e-01 4.03232918e-01 -1.42274543e-01 5.66662983e+01] [ 1.64089590e-01 -1.98754340e-02 9.86245189e-01 4.08909929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:56.69, Z:4.09 [[ 3.94845671e-01 -9.16068265e-01 -7.01129875e-02 9.26987452e+01] [ 9.03664701e-01 4.01002243e-01 -1.50290749e-01 5.66937096e+01] [ 1.65792051e-01 -4.01698045e-03 9.86152554e-01 4.09065050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.168040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:56.72, Z:4.08 [[ 3.91109486e-01 -9.18911846e-01 -5.13262995e-02 9.26989840e+01] [ 9.06198587e-01 3.94238990e-01 -1.52904346e-01 5.67248587e+01] [ 1.60740444e-01 1.32905202e-02 9.86907226e-01 4.08132815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:56.74, Z:4.10 [[ 3.90019145e-01 -9.17922347e-01 -7.28260317e-02 9.27195630e+01] [ 9.06602959e-01 3.96637961e-01 -1.44046533e-01 5.67431393e+01] [ 1.61109101e-01 -9.84339008e-03 9.86887514e-01 4.09559149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.74, Y:56.76, Z:4.11 [[ 3.91028451e-01 -9.16275011e-01 -8.68150615e-02 9.27374900e+01] [ 9.05168024e-01 3.99929303e-01 -1.43970142e-01 5.67636460e+01] [ 1.66636130e-01 -2.22857961e-02 9.85766576e-01 4.11086879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.258040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.73, Y:56.80, Z:4.10 [[ 3.85726354e-01 -9.20945558e-01 -5.54478001e-02 9.27320795e+01] [ 9.08495483e-01 3.89610778e-01 -1.51127097e-01 5.67975527e+01] [ 1.60782889e-01 7.91962829e-03 9.86958024e-01 4.09700551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.288040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:92.75, Y:56.82, Z:4.11 [[ 3.83262539e-01 -9.21049206e-01 -6.91244239e-02 9.27495303e+01] [ 9.09734266e-01 3.89371178e-01 -1.44130674e-01 5.68191335e+01] [ 1.59666501e-01 -7.64496899e-03 9.87141410e-01 4.10582977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.318040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.76, Y:56.84, Z:4.11 [[ 3.83905386e-01 -9.20763699e-01 -6.93604019e-02 9.27594275e+01] [ 9.09415023e-01 3.90045334e-01 -1.44322391e-01 5.68405711e+01] [ 1.59940520e-01 -7.67124811e-03 9.87096845e-01 4.10999399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.348040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:92.76, Y:56.87, Z:4.11 [[ 3.79862265e-01 -9.23106832e-01 -5.98200265e-02 9.27645594e+01] [ 9.11081450e-01 3.84538805e-01 -1.48527774e-01 5.68698851e+01] [ 1.60110124e-01 1.91918007e-03 9.87097293e-01 4.10835377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.378040942 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:92.78, Y:56.89, Z:4.12 [[ 3.79378068e-01 -9.22400554e-01 -7.24534262e-02 9.27816904e+01] [ 9.11161603e-01 3.86066829e-01 -1.44003254e-01 5.68936378e+01] [ 1.60800546e-01 -1.13851038e-02 9.86921255e-01 4.11882616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.408040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.79, Y:56.91, Z:4.12 [[ 3.81822726e-01 -9.21568650e-01 -7.01614443e-02 9.27874922e+01] [ 9.10096014e-01 3.88124313e-01 -1.45205931e-01 5.69147898e+01] [ 1.61048596e-01 -8.41072649e-03 9.86910639e-01 4.12042683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.438040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:92.80, Y:56.94, Z:4.13 [[ 3.81254281e-01 -9.21281065e-01 -7.67226951e-02 9.28039610e+01] [ 9.09851080e-01 3.88631540e-01 -1.45384107e-01 5.69445295e+01] [ 1.63756484e-01 -1.43779140e-02 9.86396011e-01 4.13074939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.468040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:92.80, Y:56.98, Z:4.12 [[ 3.80481999e-01 -9.23180591e-01 -5.45072960e-02 9.28028649e+01] [ 9.10614878e-01 3.84278881e-01 -1.52020673e-01 5.69772138e+01] [ 1.61288538e-01 8.20597492e-03 9.86873178e-01 4.12221096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.498040942 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:92.83, Y:57.00, Z:4.14 [[ 3.81915465e-01 -9.20571399e-01 -8.17855579e-02 9.28280191e+01] [ 9.09601021e-01 3.90074498e-01 -1.43065959e-01 5.69970882e+01] [ 1.63604891e-01 -1.97531247e-02 9.86328167e-01 4.14231002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.528040942 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:92.83, Y:57.03, Z:4.14 [[ 3.82067304e-01 -9.21753099e-01 -6.63008231e-02 9.28292540e+01] [ 9.09464913e-01 3.87765882e-01 -1.50037305e-01 5.70257971e+01] [ 1.64006548e-01 -2.97392377e-03 9.86454767e-01 4.13954634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.558040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:92.85, Y:57.05, Z:4.15 [[ 3.82156621e-01 -9.20673671e-01 -7.94752071e-02 9.28466061e+01] [ 9.09090852e-01 3.89993984e-01 -1.46487255e-01 5.70484903e+01] [ 1.65861811e-01 -1.62691094e-02 9.86014795e-01 4.15189425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.588040942 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:92.84, Y:57.08, Z:4.14 [[ 3.79126014e-01 -9.23704624e-01 -5.50748008e-02 9.28432588e+01] [ 9.11173907e-01 3.83034474e-01 -1.51811404e-01 5.70822177e+01] [ 1.61324443e-01 7.37293117e-03 9.86873884e-01 4.14130847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.618040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:92.86, Y:57.10, Z:4.15 [[ 3.78268987e-01 -9.23021209e-01 -7.03165834e-02 9.28619886e+01] [ 9.11563155e-01 3.84640362e-01 -1.45273561e-01 5.71036984e+01] [ 1.61137174e-01 -9.14552370e-03 9.86889645e-01 4.15277524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.648040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:92.85, Y:57.13, Z:4.15 [[ 3.71804842e-01 -9.26746614e-01 -5.38690288e-02 9.28513507e+01] [ 9.14940211e-01 3.75645581e-01 -1.47562894e-01 5.71258579e+01] [ 1.56989075e-01 5.57765803e-03 9.87584589e-01 4.14640055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.678040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:92.89, Y:57.15, Z:4.17 [[ 3.76408408e-01 -9.22490718e-01 -8.56013135e-02 9.28911266e+01] [ 9.12301270e-01 3.85161177e-01 -1.39130369e-01 5.71503722e+01] [ 1.61316777e-01 -2.57243463e-02 9.86567360e-01 4.17038104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:57.18, Z:4.16 [[ 3.74418333e-01 -9.25642154e-01 -5.47495710e-02 9.28842427e+01] [ 9.13519918e-01 3.78353506e-01 -1.49432204e-01 5.71837755e+01] [ 1.59035439e-01 5.93533316e-03 9.87255033e-01 4.15819625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.738040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:92.89, Y:57.21, Z:4.16 [[ 3.74852270e-01 -9.25223670e-01 -5.87106187e-02 9.28943594e+01] [ 9.13245336e-01 3.79416790e-01 -1.48411102e-01 5.72050541e+01] [ 1.59589259e-01 2.01503970e-03 9.87181446e-01 4.16215966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.768040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:92.91, Y:57.23, Z:4.17 [[ 3.73775455e-01 -9.24702408e-01 -7.22313414e-02 9.29132823e+01] [ 9.13950645e-01 3.80460793e-01 -1.41222532e-01 5.72294287e+01] [ 1.58070009e-01 -1.32303651e-02 9.87339268e-01 4.17348513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.798040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.92, Y:57.26, Z:4.18 [[ 3.76623065e-01 -9.23497366e-01 -7.28538387e-02 9.29245872e+01] [ 9.11834221e-01 3.83442168e-01 -1.46732605e-01 5.72563977e+01] [ 1.63442408e-01 -1.11677399e-02 9.86489666e-01 4.18165115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.828040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.94, Y:57.28, Z:4.19 [[ 3.78796735e-01 -9.22190779e-01 -7.79563966e-02 9.29361614e+01] [ 9.11274557e-01 3.86358713e-01 -1.42497809e-01 5.72782643e+01] [ 1.61529299e-01 -1.70619759e-02 9.86720414e-01 4.18868026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.858040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.93, Y:57.31, Z:4.18 [[ 3.77703079e-01 -9.24590680e-01 -4.97238247e-02 9.29305316e+01] [ 9.12150600e-01 3.80775669e-01 -1.51628402e-01 5.73148350e+01] [ 1.59127830e-01 1.19148977e-02 9.87186086e-01 4.17668474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.888040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.95, Y:57.34, Z:4.19 [[ 3.77228447e-01 -9.23519181e-01 -6.93615177e-02 9.29527687e+01] [ 9.12591082e-01 3.83428613e-01 -1.41985971e-01 5.73381903e+01] [ 1.57721958e-01 -9.73755509e-03 9.87435549e-01 4.18921680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.918040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.98, Y:57.36, Z:4.22 [[ 3.81093582e-01 -9.18943938e-01 -1.01536795e-01 9.29837301e+01] [ 9.09546722e-01 3.92343131e-01 -1.37082559e-01 5.73569039e+01] [ 1.65808451e-01 -4.01111760e-02 9.85341896e-01 4.21801752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.948040942 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:92.95, Y:57.39, Z:4.19 [[ 3.78135727e-01 -9.25059574e-01 -3.57513098e-02 9.29533433e+01] [ 9.10692704e-01 3.78644756e-01 -1.65127068e-01 5.73922707e+01] [ 1.66289421e-01 2.98819869e-02 9.85624115e-01 4.19370080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:57.40, Z:4.23 [[ 3.87689928e-01 -9.16338899e-01 -1.00097664e-01 9.30036864e+01] [ 9.05828310e-01 3.98844446e-01 -1.42822201e-01 5.73991933e+01] [ 1.70796936e-01 -3.53005686e-02 9.84673690e-01 4.22793644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.008040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:57.43, Z:4.22 [[ 3.87262766e-01 -9.19089679e-01 -7.28128558e-02 9.30007602e+01] [ 9.06049168e-01 3.93999974e-01 -1.54398595e-01 5.74312714e+01] [ 1.70594418e-01 -6.17920044e-03 9.85321959e-01 4.22124914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.038040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:93.01, Y:57.46, Z:4.22 [[ 3.84965109e-01 -9.20916868e-01 -6.09424845e-02 9.30057724e+01] [ 9.07919847e-01 3.89738109e-01 -1.54226324e-01 5.74627749e+01] [ 1.65781232e-01 4.04086248e-03 9.86154275e-01 4.21662801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.068040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.03, Y:57.48, Z:4.23 [[ 3.84319590e-01 -9.19210903e-01 -8.57307888e-02 9.30303382e+01] [ 9.07637486e-01 3.93187312e-01 -1.46962349e-01 5.74847896e+01] [ 1.68797652e-01 -2.13319678e-02 9.85419860e-01 4.23323944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.098040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.04, Y:57.51, Z:4.23 [[ 3.82050729e-01 -9.20647213e-01 -8.02866707e-02 9.30412771e+01] [ 9.09531941e-01 3.89975994e-01 -1.43771945e-01 5.75135237e+01] [ 1.63673115e-01 -1.80951149e-02 9.86348660e-01 4.23439140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.128040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.03, Y:57.54, Z:4.22 [[ 3.82505269e-01 -9.22826139e-01 -4.56249481e-02 9.30307162e+01] [ 9.09131439e-01 3.84719423e-01 -1.59596344e-01 5.75432082e+01] [ 1.64832482e-01 1.95673678e-02 9.86127462e-01 4.22040965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.158040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.04, Y:57.57, Z:4.22 [[ 3.76758948e-01 -9.24687593e-01 -5.48229049e-02 9.30426513e+01] [ 9.12738350e-01 3.80682099e-01 -1.48289732e-01 5.75681019e+01] [ 1.57991774e-01 5.83051558e-03 9.87423215e-01 4.22350851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.188040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.06, Y:57.59, Z:4.23 [[ 3.78562361e-01 -9.23085234e-01 -6.78541756e-02 9.30577826e+01] [ 9.11782292e-01 3.84526508e-01 -1.44195761e-01 5.75865499e+01] [ 1.59196707e-01 -7.28114813e-03 9.87220033e-01 4.23217676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:57.62, Z:4.23 [[ 3.77781112e-01 -9.24406987e-01 -5.24704948e-02 9.30586204e+01] [ 9.12411222e-01 3.81317449e-01 -1.48669987e-01 5.76151238e+01] [ 1.57439490e-01 8.29004467e-03 9.87493839e-01 4.22602794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:57.64, Z:4.23 [[ 3.75902498e-01 -9.25192801e-01 -5.21113559e-02 9.30676043e+01] [ 9.12505583e-01 3.79366469e-01 -1.53018441e-01 5.76405863e+01] [ 1.61340861e-01 9.96811081e-03 9.86848399e-01 4.22912113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:57.66, Z:4.24 [[ 3.75575949e-01 -9.23834136e-01 -7.39810516e-02 9.30908610e+01] [ 9.12910616e-01 3.82534086e-01 -1.42344230e-01 5.76606899e+01] [ 1.59802733e-01 -1.40770181e-02 9.87048593e-01 4.24365669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.308040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.10, Y:57.69, Z:4.24 [[ 3.75020887e-01 -9.24623894e-01 -6.65581549e-02 9.30972877e+01] [ 9.13129268e-01 3.80830625e-01 -1.45474995e-01 5.76869434e+01] [ 1.59857041e-01 -6.22003739e-03 9.87120579e-01 4.24478022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:57.72, Z:4.24 [[ 3.72035003e-01 -9.26723968e-01 -5.26559080e-02 9.30993026e+01] [ 9.14137223e-01 3.75644740e-01 -1.52460376e-01 5.77166460e+01] [ 1.61068599e-01 8.58587068e-03 9.86905866e-01 4.24136864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.368040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.12, Y:57.73, Z:4.25 [[ 3.72902111e-01 -9.25074684e-01 -7.19780788e-02 9.31186623e+01] [ 9.14253911e-01 3.79563503e-01 -1.41673334e-01 5.77327815e+01] [ 1.58378667e-01 -1.29759545e-02 9.87293180e-01 4.25365406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.398040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.13, Y:57.76, Z:4.26 [[ 3.70601095e-01 -9.26435749e-01 -6.61183066e-02 9.31284135e+01] [ 9.14854743e-01 3.76399865e-01 -1.46164087e-01 5.77628745e+01] [ 1.60298557e-01 -6.32007585e-03 9.87048342e-01 4.25862516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.428040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.14, Y:57.79, Z:4.26 [[ 3.69642557e-01 -9.26957872e-01 -6.41364444e-02 9.31370423e+01] [ 9.15350602e-01 3.75136910e-01 -1.46306440e-01 5.77868746e+01] [ 1.59679854e-01 -4.62624638e-03 9.87158013e-01 4.26202130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.458040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.15, Y:57.81, Z:4.27 [[ 3.67795787e-01 -9.27602875e-01 -6.54153316e-02 9.31499252e+01] [ 9.16151342e-01 3.73512378e-01 -1.45448347e-01 5.78133998e+01] [ 1.59351741e-01 -6.43505463e-03 9.87200898e-01 4.26825665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.488040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.16, Y:57.84, Z:4.27 [[ 3.64866238e-01 -9.28943925e-01 -6.27360496e-02 9.31617799e+01] [ 9.16740133e-01 3.70210284e-01 -1.50106210e-01 5.78398850e+01] [ 1.62665783e-01 -2.74396624e-03 9.86677411e-01 4.27453124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.518040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.17, Y:57.87, Z:4.28 [[ 3.62496460e-01 -9.30062893e-01 -5.98275164e-02 9.31708586e+01] [ 9.17624401e-01 3.67400343e-01 -1.51599629e-01 5.78666963e+01] [ 1.62977839e-01 5.51397916e-05 9.86629728e-01 4.27685589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.548040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:57.90, Z:4.28 [[ 3.58823541e-01 -9.31224288e-01 -6.37729718e-02 9.31829199e+01] [ 9.19250416e-01 3.64409803e-01 -1.48943506e-01 5.78959172e+01] [ 1.61939306e-01 -5.17889456e-03 9.86787130e-01 4.28142838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.578040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.20, Y:57.91, Z:4.29 [[ 3.58586028e-01 -9.30524175e-01 -7.44366860e-02 9.31986964e+01] [ 9.19746086e-01 3.65815010e-01 -1.42290252e-01 5.79111229e+01] [ 1.59634577e-01 -1.74395541e-02 9.87022119e-01 4.29186641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.608040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.20, Y:57.94, Z:4.29 [[ 3.57160728e-01 -9.32217119e-01 -5.83734354e-02 9.31996126e+01] [ 9.20491845e-01 3.61897855e-01 -1.47393035e-01 5.79404095e+01] [ 1.58527531e-01 -1.08926762e-03 9.87353956e-01 4.28720636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.638040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:57.96, Z:4.31 [[ 3.57418565e-01 -9.30945259e-01 -7.47856570e-02 9.32203942e+01] [ 9.18945137e-01 3.64842489e-01 -1.49765799e-01 5.79639546e+01] [ 1.66708745e-01 -1.51948390e-02 9.85889097e-01 4.30651819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.668040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:57.99, Z:4.30 [[ 3.56114777e-01 -9.32636782e-01 -5.80594441e-02 9.32209488e+01] [ 9.20568638e-01 3.60816570e-01 -1.49548606e-01 5.79937776e+01] [ 1.60423340e-01 -1.91234963e-04 9.87048284e-01 4.29987488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.698040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:58.02, Z:4.31 [[ 3.57356775e-01 -9.31109707e-01 -7.30126609e-02 9.32394162e+01] [ 9.19973737e-01 3.64407106e-01 -1.44415316e-01 5.80168584e+01] [ 1.61072835e-01 -1.55619391e-02 9.86819825e-01 4.31304619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:58.05, Z:4.31 [[ 3.57003499e-01 -9.32658303e-01 -5.19325683e-02 9.32361616e+01] [ 9.19987491e-01 3.60693508e-01 -1.53372781e-01 5.80466856e+01] [ 1.61776138e-01 6.97730621e-03 9.86802816e-01 4.30620641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.758040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:58.07, Z:4.32 [[ 3.58194117e-01 -9.30468141e-01 -7.69806011e-02 9.32607052e+01] [ 9.19459679e-01 3.65869188e-01 -1.43991790e-01 5.80678816e+01] [ 1.62144603e-01 -1.92035469e-02 9.86580129e-01 4.32439874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.788040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:58.09, Z:4.32 [[ 3.55518255e-01 -9.32972066e-01 -5.63018109e-02 9.32496063e+01] [ 9.19983586e-01 3.59933004e-01 -1.55172274e-01 5.80943349e+01] [ 1.65036277e-01 3.36983426e-03 9.86281740e-01 4.32103565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.818040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:58.12, Z:4.32 [[ 3.59222020e-01 -9.31436480e-01 -5.81861143e-02 9.32676300e+01] [ 9.19046396e-01 3.63902789e-01 -1.51421535e-01 5.81236924e+01] [ 1.62213631e-01 9.18211129e-04 9.86755235e-01 4.32274889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.848040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:58.14, Z:4.34 [[ 3.62490623e-01 -9.28833261e-01 -7.66114929e-02 9.32863352e+01] [ 9.17869872e-01 3.70045020e-01 -1.43462823e-01 5.81435889e+01] [ 1.61602743e-01 -1.83154532e-02 9.86685916e-01 4.33778766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.878040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.31, Y:58.17, Z:4.36 [[ 3.65839645e-01 -9.26302879e-01 -9.01350679e-02 9.33063655e+01] [ 9.14838704e-01 3.75714745e-01 -1.48015456e-01 5.81682464e+01] [ 1.70972217e-01 -2.83091270e-02 9.84869075e-01 4.35933056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.908040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.28, Y:58.21, Z:4.33 [[ 3.62769656e-01 -9.31487312e-01 -2.70104478e-02 9.32797993e+01] [ 9.17061635e-01 3.61999719e-01 -1.67194982e-01 5.82103745e+01] [ 1.65517779e-01 3.58830207e-02 9.85553790e-01 4.32756573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:58.22, Z:4.36 [[ 3.66473886e-01 -9.26033911e-01 -9.03221308e-02 9.33244986e+01] [ 9.15313823e-01 3.76244419e-01 -1.43668864e-01 5.82213178e+01] [ 1.67025438e-01 -3.00222078e-02 9.85495393e-01 4.36294686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:58.26, Z:4.35 [[ 3.66943479e-01 -9.28299109e-01 -6.01103022e-02 9.33188867e+01] [ 9.15395240e-01 3.71830982e-01 -1.54250689e-01 5.82561799e+01] [ 1.65541650e-01 1.57659995e-03 9.86201539e-01 4.35359308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:58.28, Z:4.35 [[ 3.68323008e-01 -9.27996586e-01 -5.62183010e-02 9.33238155e+01] [ 9.15486979e-01 3.72561633e-01 -1.51925707e-01 5.82789749e+01] [ 1.61931320e-01 4.49061101e-03 9.86791813e-01 4.35152735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:58.30, Z:4.37 [[ 3.72552460e-01 -9.24997795e-01 -7.47244578e-02 9.33426423e+01] [ 9.13783336e-01 3.79695286e-01 -1.44331231e-01 5.82985567e+01] [ 1.61878595e-01 -1.45110092e-02 9.86703984e-01 4.36563116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:58.33, Z:4.36 [[ 3.68194779e-01 -9.28076843e-01 -5.57313035e-02 9.33414497e+01] [ 9.16409200e-01 3.72377037e-01 -1.46729411e-01 5.83323264e+01] [ 1.56929226e-01 2.95232382e-03 9.87605438e-01 4.35722539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:58.36, Z:4.36 [[ 3.71792238e-01 -9.27066880e-01 -4.81407430e-02 9.33485227e+01] [ 9.15071076e-01 3.74723293e-01 -1.49088497e-01 5.83615236e+01] [ 1.56254466e-01 1.13777446e-02 9.87651299e-01 4.36064045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:58.38, Z:4.39 [[ 3.75472971e-01 -9.22296536e-01 -9.15922946e-02 9.33844349e+01] [ 9.12458320e-01 3.85177483e-01 -1.38051152e-01 5.83785233e+01] [ 1.62603388e-01 -3.17396752e-02 9.86180882e-01 4.39047517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.36, Y:58.42, Z:4.37 [[ 3.72415015e-01 -9.27343371e-01 -3.66241533e-02 9.33641590e+01] [ 9.14779984e-01 3.73451126e-01 -1.53986483e-01 5.84181914e+01] [ 1.56475675e-01 2.38438360e-02 9.87393961e-01 4.36731484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:58.44, Z:4.38 [[ 3.72992099e-01 -9.25849174e-01 -6.06646676e-02 9.33855421e+01] [ 9.14645206e-01 3.77888370e-01 -1.43612420e-01 5.84362929e+01] [ 1.55887912e-01 -1.92034961e-03 9.87772884e-01 4.38125238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:58.46, Z:4.39 [[ 3.72900224e-01 -9.25855195e-01 -6.11357623e-02 9.33955458e+01] [ 9.14688331e-01 3.77870541e-01 -1.43384490e-01 5.84611540e+01] [ 1.55854678e-01 -2.45205986e-03 9.87776952e-01 4.38519785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:58.49, Z:4.39 [[ 3.71220213e-01 -9.26583912e-01 -6.03142436e-02 9.34046711e+01] [ 9.15155934e-01 3.76085710e-01 -1.45083267e-01 5.84881102e+01] [ 1.57115146e-01 -1.33909659e-03 9.87579383e-01 4.38923248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:58.51, Z:4.40 [[ 3.70603728e-01 -9.26646526e-01 -6.30800480e-02 9.34173164e+01] [ 9.15242462e-01 3.75912499e-01 -1.44986307e-01 5.85142811e+01] [ 1.58063636e-01 -4.00107245e-03 9.87420821e-01 4.39547179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.298040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.44, Y:58.53, Z:4.42 [[ 3.69987487e-01 -9.24710119e-01 -8.95569916e-02 9.34439560e+01] [ 9.14484533e-01 3.79491054e-01 -1.40372998e-01 5.85343119e+01] [ 1.63790408e-01 -2.99622309e-02 9.86040043e-01 4.41654327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.328040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:58.57, Z:4.39 [[ 3.66512385e-01 -9.29614044e-01 -3.85538672e-02 9.34234388e+01] [ 9.17176245e-01 3.67952582e-01 -1.52966117e-01 5.85660423e+01] [ 1.56385445e-01 2.07032851e-02 9.87479097e-01 4.39258276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.358040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.44, Y:58.59, Z:4.40 [[ 3.62879507e-01 -9.30408926e-01 -5.15528270e-02 9.34417181e+01] [ 9.18329830e-01 3.66457395e-01 -1.49597127e-01 5.85920416e+01] [ 1.58078417e-01 6.94323282e-03 9.87402150e-01 4.40178985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.388040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.47, Y:58.61, Z:4.42 [[ 3.59768420e-01 -9.30118352e-01 -7.38006509e-02 9.34654797e+01] [ 9.19036688e-01 3.66911055e-01 -1.44041118e-01 5.86129434e+01] [ 1.61053562e-01 -1.60040604e-02 9.86815900e-01 4.41745869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.418040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.46, Y:58.65, Z:4.41 [[ 3.55312840e-01 -9.33687049e-01 -4.45115644e-02 9.34587242e+01] [ 9.21381238e-01 3.57858843e-01 -1.51636614e-01 5.86454750e+01] [ 1.57510000e-01 1.28663157e-02 9.87433571e-01 4.40570339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.448040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.49, Y:58.66, Z:4.43 [[ 3.54652208e-01 -9.31310952e-01 -8.29561449e-02 9.34914879e+01] [ 9.20998956e-01 3.63260152e-01 -1.40723083e-01 5.86618584e+01] [ 1.61191611e-01 -2.64947705e-02 9.86567429e-01 4.43059342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47804094199999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:93.50, Y:58.69, Z:4.44 [[ 3.54589734e-01 -9.31492503e-01 -8.11654868e-02 9.35029201e+01] [ 9.20506243e-01 3.63003554e-01 -1.44556829e-01 5.86900885e+01] [ 1.64116963e-01 -2.34549697e-02 9.86161998e-01 4.43986197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.508040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.49, Y:58.72, Z:4.42 [[ 3.49807612e-01 -9.36026031e-01 -3.85992755e-02 9.34880099e+01] [ 9.23047415e-01 3.51411140e-01 -1.56504571e-01 5.87232191e+01] [ 1.60056568e-01 1.91175287e-02 9.86922700e-01 4.42013205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.538040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.53, Y:58.74, Z:4.45 [[ 3.51279450e-01 -9.32135344e-01 -8.79002177e-02 9.35267609e+01] [ 9.21519265e-01 3.60817555e-01 -1.43572061e-01 5.87381141e+01] [ 1.65544534e-01 -3.05678292e-02 9.85728469e-01 4.45194988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.568040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.51, Y:58.78, Z:4.43 [[ 3.46804071e-01 -9.37293694e-01 -3.47486198e-02 9.35061283e+01] [ 9.23869034e-01 3.47760346e-01 -1.59777191e-01 5.87761824e+01] [ 1.61842346e-01 2.33082066e-02 9.86541323e-01 4.42685956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.598040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.53, Y:58.79, Z:4.44 [[ 3.46073174e-01 -9.36116001e-01 -6.26114204e-02 9.35296191e+01] [ 9.24793741e-01 3.51609262e-01 -1.45352892e-01 5.87930764e+01] [ 1.58081923e-01 -7.59991299e-03 9.87396752e-01 4.44122713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.628040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:93.55, Y:58.82, Z:4.45 [[ 3.47254367e-01 -9.35058916e-01 -7.12686987e-02 9.35454860e+01] [ 9.23559536e-01 3.54183481e-01 -1.46941642e-01 5.88165526e+01] [ 1.62641288e-01 -1.47947594e-02 9.86574339e-01 4.45237564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.658040942 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:93.55, Y:58.85, Z:4.45 [[ 3.45709647e-01 -9.36951595e-01 -5.10543734e-02 9.35455355e+01] [ 9.24328866e-01 3.49410409e-01 -1.53390071e-01 5.88491271e+01] [ 1.61558001e-01 5.83739632e-03 9.86845954e-01 4.44723682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.688040942 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:93.56, Y:58.87, Z:4.46 [[ 3.46876068e-01 -9.35596179e-01 -6.58542562e-02 9.35638573e+01] [ 9.23922669e-01 3.52940612e-01 -1.47647645e-01 5.88704701e+01] [ 1.61381214e-01 -9.62880577e-03 9.86845170e-01 4.45794418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.718040942 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:93.57, Y:58.90, Z:4.46 [[ 3.46114312e-01 -9.36650454e-01 -5.37662549e-02 9.35682893e+01] [ 9.23598622e-01 3.50239196e-01 -1.55878452e-01 5.89020202e+01] [ 1.64834673e-01 4.29332424e-03 9.86311867e-01 4.45827693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.748040942 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:93.58, Y:58.93, Z:4.46 [[ 3.49101784e-01 -9.35133218e-01 -6.04467476e-02 9.35797829e+01] [ 9.22564094e-01 3.54288068e-01 -1.52824926e-01 5.89256220e+01] [ 1.64327226e-01 -2.41454462e-03 9.86402926e-01 4.46444180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.778040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.59, Y:58.95, Z:4.47 [[ 3.48106648e-01 -9.35210186e-01 -6.48357125e-02 9.35919361e+01] [ 9.23419574e-01 3.53996760e-01 -1.48265251e-01 5.89512599e+01] [ 1.61610805e-01 -8.25844648e-03 9.86820017e-01 4.46859229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.808040942 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:93.61, Y:58.97, Z:4.49 [[ 3.53034317e-01 -9.31766317e-01 -8.47248619e-02 9.36127841e+01] [ 9.20302675e-01 3.62145286e-01 -1.47965462e-01 5.89710862e+01] [ 1.68551943e-01 -2.57356313e-02 9.85356748e-01 4.48837591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.838040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:93.61, Y:59.00, Z:4.48 [[ 3.52169780e-01 -9.34118719e-01 -5.82980738e-02 9.36093890e+01] [ 9.20997406e-01 3.56960287e-01 -1.56022854e-01 5.90045018e+01] [ 1.66553966e-01 1.25415952e-03 9.86031543e-01 4.48043906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.868040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.62, Y:59.03, Z:4.48 [[ 3.51992308e-01 -9.34038746e-01 -6.06055819e-02 9.36195846e+01] [ 9.21708459e-01 3.57162177e-01 -1.51290103e-01 5.90271441e+01] [ 1.62956840e-01 -2.60772486e-03 9.86629752e-01 4.48318480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.898040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.63, Y:59.05, Z:4.49 [[ 3.51561851e-01 -9.34153040e-01 -6.13381053e-02 9.36300555e+01] [ 9.21887007e-01 3.56855625e-01 -1.50925179e-01 5.90533051e+01] [ 1.62876063e-01 -3.48726686e-03 9.86640374e-01 4.48812967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.928040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:93.63, Y:59.08, Z:4.49 [[ 3.49599271e-01 -9.35439457e-01 -5.22816583e-02 9.36339910e+01] [ 9.23200959e-01 3.53458510e-01 -1.50887613e-01 5.90812049e+01] [ 1.59625623e-01 4.48372224e-03 9.87167441e-01 4.48663865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.958040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.64, Y:59.11, Z:4.48 [[ 3.49047659e-01 -9.36075441e-01 -4.39147014e-02 9.36373426e+01] [ 9.23102680e-01 3.51525165e-01 -1.55921453e-01 5.91072326e+01] [ 1.61391366e-01 1.38862397e-02 9.86792784e-01 4.48467724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.67, Y:59.12, Z:4.51 [[ 3.50679464e-01 -9.33109805e-01 -7.95613254e-02 9.36657071e+01] [ 9.21911965e-01 3.58905011e-01 -1.45827026e-01 5.91218305e+01] [ 1.64627586e-01 -2.22099946e-02 9.86105711e-01 4.50598113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:59.16, Z:4.49 [[ 3.51339251e-01 -9.34534129e-01 -5.66276579e-02 9.36637365e+01] [ 9.23152180e-01 3.55871542e-01 -1.45414916e-01 5.91550043e+01] [ 1.56047374e-01 -1.18597810e-03 9.87748860e-01 4.49368569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.048040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:59.18, Z:4.52 [[ 3.51995130e-01 -9.32662919e-01 -7.89892889e-02 9.36885451e+01] [ 9.21584324e-01 3.60091785e-01 -1.44969793e-01 5.91812207e+01] [ 1.63651344e-01 -2.17666293e-02 9.86278080e-01 4.52117136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.078040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.69, Y:59.21, Z:4.52 [[ 3.53501908e-01 -9.33294282e-01 -6.32311946e-02 9.36901746e+01] [ 9.20809156e-01 3.59085329e-01 -1.52211121e-01 5.92112735e+01] [ 1.64763163e-01 -4.41694136e-03 9.86323269e-01 4.51999881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.108040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.67, Y:59.25, Z:4.50 [[ 3.50712245e-01 -9.36272068e-01 -1.98881137e-02 9.36728831e+01] [ 9.22181170e-01 3.48975609e-01 -1.66727063e-01 5.92525016e+01] [ 1.63042359e-01 4.01327787e-02 9.85802490e-01 4.50102789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.138040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:59.25, Z:4.54 [[ 3.51494249e-01 -9.31154382e-01 -9.69706685e-02 9.37245027e+01] [ 9.21904305e-01 3.62294771e-01 -1.37240487e-01 5.92540933e+01] [ 1.62924047e-01 -4.11584347e-02 9.85779761e-01 4.53814248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.168040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.71, Y:59.29, Z:4.53 [[ 3.53518504e-01 -9.33377281e-01 -6.18992700e-02 9.37138096e+01] [ 9.20940922e-01 3.58881469e-01 -1.51894404e-01 5.92869291e+01] [ 1.63989287e-01 -3.30808826e-03 9.86456573e-01 4.52898913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.198040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:59.31, Z:4.53 [[ 3.51802949e-01 -9.34290714e-01 -5.77541956e-02 9.37195880e+01] [ 9.21908563e-01 3.56512067e-01 -1.51603915e-01 5.93148243e+01] [ 1.62232198e-01 9.06170978e-05 9.86752606e-01 4.52926761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.73, Y:59.34, Z:4.53 [[ 3.52761538e-01 -9.33797723e-01 -5.98423762e-02 9.37283340e+01] [ 9.21424777e-01 3.57797364e-01 -1.51517085e-01 5.93387985e+01] [ 1.62897754e-01 -1.69084810e-03 9.86641507e-01 4.53404432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.258040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.75, Y:59.36, Z:4.55 [[ 3.53852557e-01 -9.32382417e-01 -7.38335733e-02 9.37482530e+01] [ 9.19839291e-01 3.61211400e-01 -1.53042485e-01 5.93641591e+01] [ 1.69363650e-01 -1.37605472e-02 9.85457559e-01 4.54987365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.288040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.74, Y:59.39, Z:4.53 [[ 3.49901500e-01 -9.35600111e-01 -4.71314466e-02 9.37396514e+01] [ 9.22759424e-01 3.52899659e-01 -1.54844686e-01 5.93904326e+01] [ 1.61505377e-01 1.06894013e-02 9.86813939e-01 4.53486498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.318040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:59.42, Z:4.54 [[ 3.49639803e-01 -9.35515289e-01 -5.06275857e-02 9.37515019e+01] [ 9.23010786e-01 3.53224144e-01 -1.52590282e-01 5.94181384e+01] [ 1.60633427e-01 6.62182854e-03 9.86991922e-01 4.54042499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.348040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:59.44, Z:4.56 [[ 3.50549892e-01 -9.33626609e-01 -7.38656123e-02 9.37757040e+01] [ 9.21524721e-01 3.57921955e-01 -1.50612292e-01 5.94412460e+01] [ 1.67053767e-01 -1.52718653e-02 9.85829503e-01 4.56014351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.378040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:59.47, Z:4.56 [[ 3.51738004e-01 -9.33495527e-01 -6.97601482e-02 9.37822290e+01] [ 9.21270390e-01 3.58415416e-01 -1.50994230e-01 5.94684434e+01] [ 1.65955551e-01 -1.11575500e-02 9.86070111e-01 4.56386371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.408040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:59.50, Z:4.56 [[ 3.51345970e-01 -9.34120846e-01 -6.30416907e-02 9.37881155e+01] [ 9.21951713e-01 3.56917793e-01 -1.50381938e-01 5.94957718e+01] [ 1.62975604e-01 -5.28530686e-03 9.86615943e-01 4.56319722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:59.53, Z:4.55 [[ 3.47855328e-01 -9.37228211e-01 -2.44938871e-02 9.37736659e+01] [ 9.23786784e-01 3.47092271e-01 -1.61693949e-01 5.95304570e+01] [ 1.60045769e-01 3.36189724e-02 9.86536931e-01 4.54533891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:59.54, Z:4.57 [[ 3.50569896e-01 -9.33243565e-01 -7.84678044e-02 9.38131901e+01] [ 9.22692772e-01 3.58526151e-01 -1.41764059e-01 5.95378099e+01] [ 1.60433155e-01 -2.27034646e-02 9.86785567e-01 4.57226341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.498040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.81, Y:59.57, Z:4.56 [[ 3.50683325e-01 -9.35409712e-01 -4.50541566e-02 9.38055129e+01] [ 9.23166086e-01 3.53379863e-01 -1.51284663e-01 5.95732587e+01] [ 1.57434375e-01 1.14605392e-02 9.87462948e-01 4.56350345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:59.60, Z:4.58 [[ 3.52659627e-01 -9.33321440e-01 -6.73964104e-02 9.38290060e+01] [ 9.22063386e-01 3.58872537e-01 -1.44946938e-01 5.95957291e+01] [ 1.59468806e-01 -1.10268290e-02 9.87141382e-01 4.57990869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:59.62, Z:4.58 [[ 3.53617533e-01 -9.33533714e-01 -5.89020015e-02 9.38339513e+01] [ 9.21526301e-01 3.58486474e-01 -1.49253892e-01 5.96228361e+01] [ 1.60449111e-01 -1.50095040e-03 9.87042973e-01 4.58115382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.588040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.85, Y:59.65, Z:4.59 [[ 3.54388433e-01 -9.32277555e-01 -7.25768546e-02 9.38523007e+01] [ 9.20922702e-01 3.61426396e-01 -1.45850396e-01 5.96475604e+01] [ 1.62204241e-01 -1.51499798e-02 9.86640898e-01 4.59356964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:59.68, Z:4.58 [[ 3.53935979e-01 -9.34212297e-01 -4.44601723e-02 9.38445120e+01] [ 9.21565520e-01 3.56463551e-01 -1.53787933e-01 5.96793819e+01] [ 1.59519009e-01 1.34581209e-02 9.87103118e-01 4.58208836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:59.71, Z:4.59 [[ 3.52488437e-01 -9.34213928e-01 -5.47379154e-02 9.38597115e+01] [ 9.21129625e-01 3.56684571e-01 -1.55872803e-01 5.97094092e+01] [ 1.65142713e-01 4.52264518e-03 9.86259312e-01 4.58941639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.678040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.88, Y:59.72, Z:4.60 [[ 3.52914680e-01 -9.33102453e-01 -6.90727252e-02 9.38766802e+01] [ 9.21424126e-01 3.59425154e-01 -1.47618217e-01 5.97241616e+01] [ 1.62569395e-01 -1.15486397e-02 9.86629526e-01 4.60001498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.88, Y:59.75, Z:4.60 [[ 3.51419107e-01 -9.33982054e-01 -6.46694230e-02 9.38846250e+01] [ 9.21629345e-01 3.57263493e-01 -1.51532656e-01 5.97530795e+01] [ 1.64632805e-01 -6.34976723e-03 9.86334487e-01 4.60478653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:59.78, Z:4.61 [[ 3.47599565e-01 -9.35534912e-01 -6.28408435e-02 9.38936356e+01] [ 9.23811403e-01 3.53171065e-01 -1.47792726e-01 5.97783481e+01] [ 1.60458823e-01 -6.68040044e-03 9.87019928e-01 4.60666838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:59.81, Z:4.61 [[ 3.49324768e-01 -9.34878850e-01 -6.30376273e-02 9.39074931e+01] [ 9.22969684e-01 3.54913213e-01 -1.48874354e-01 5.98062965e+01] [ 1.61552372e-01 -6.17631973e-03 9.86844813e-01 4.60825082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.798040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.91, Y:59.83, Z:4.61 [[ 3.45345687e-01 -9.37055303e-01 -5.16112044e-02 9.39083680e+01] [ 9.24703256e-01 3.49149753e-01 -1.51717958e-01 5.98307291e+01] [ 1.60188157e-01 4.67009377e-03 9.87075450e-01 4.61078642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.828040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:59.86, Z:4.62 [[ 3.40648003e-01 -9.38849302e-01 -5.02088182e-02 9.39168884e+01] [ 9.25202024e-01 3.44236609e-01 -1.59694620e-01 5.98612473e+01] [ 1.67212896e-01 7.94635311e-03 9.85888788e-01 4.61527408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.858040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:59.88, Z:4.62 [[ 3.37622723e-01 -9.39560760e-01 -5.68900281e-02 9.39276665e+01] [ 9.27521500e-01 3.42375507e-01 -1.49942919e-01 5.98831482e+01] [ 1.60358235e-01 -2.14258754e-03 9.87056556e-01 4.61702197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.888040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:59.91, Z:4.61 [[ 3.33401212e-01 -9.41598080e-01 -4.72936282e-02 9.39302269e+01] [ 9.29326525e-01 3.36673878e-01 -1.51667102e-01 5.99114651e+01] [ 1.58731981e-01 6.61477231e-03 9.87299551e-01 4.61432723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.918040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:59.94, Z:4.62 [[ 3.31430938e-01 -9.42439293e-01 -4.42912312e-02 9.39363898e+01] [ 9.29782237e-01 3.34229381e-01 -1.54258592e-01 5.99376536e+01] [ 1.60182789e-01 9.94486994e-03 9.87037271e-01 4.61527238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.948040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:59.96, Z:4.63 [[ 3.32063789e-01 -9.40979790e-01 -6.55032444e-02 9.39591390e+01] [ 9.29071339e-01 3.38278550e-01 -1.49646481e-01 5.99589344e+01] [ 1.62972657e-01 -1.11650095e-02 9.86567411e-01 4.63180218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:59.98, Z:4.63 [[ 3.30502445e-01 -9.41899243e-01 -5.99495582e-02 9.39644526e+01] [ 9.30096369e-01 3.35831016e-01 -1.48789355e-01 5.99838197e+01] [ 1.60277502e-01 -6.58362082e-03 9.87050038e-01 4.63243362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:60.01, Z:4.64 [[ 3.30410134e-01 -9.41957019e-01 -5.95492875e-02 9.39735218e+01] [ 9.30584484e-01 3.35657530e-01 -1.46104553e-01 6.00110855e+01] [ 1.57612376e-01 -7.14121793e-03 9.87475236e-01 4.63662645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:60.04, Z:4.65 [[ 3.32985811e-01 -9.40677994e-01 -6.51564323e-02 9.39852743e+01] [ 9.29233856e-01 3.39099545e-01 -1.46751285e-01 6.00365532e+01] [ 1.60140221e-01 -1.16794671e-02 9.87025177e-01 4.64580085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:60.07, Z:4.64 [[ 3.32902137e-01 -9.42257402e-01 -3.64301393e-02 9.39761487e+01] [ 9.28880301e-01 3.34337737e-01 -1.59372720e-01 6.00693172e+01] [ 1.62350096e-01 1.92162804e-02 9.86546087e-01 4.63620201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:60.09, Z:4.65 [[ 3.35509733e-01 -9.39389221e-01 -7.05769787e-02 9.40025620e+01] [ 9.28578215e-01 3.42405787e-01 -1.43180917e-01 6.00855911e+01] [ 1.58668576e-01 -1.74976537e-02 9.87176841e-01 4.65289951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:60.12, Z:4.65 [[ 3.35105309e-01 -9.41166793e-01 -4.36978137e-02 9.39975769e+01] [ 9.27468517e-01 3.37681783e-01 -1.60540224e-01 6.01205907e+01] [ 1.65851083e-01 1.32695349e-02 9.86061528e-01 4.64918860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:60.15, Z:4.63 [[ 3.28760548e-01 -9.44154613e-01 -2.21035764e-02 9.39881865e+01] [ 9.31952787e-01 3.28123392e-01 -1.54269386e-01 6.01501484e+01] [ 1.52906852e-01 3.01181981e-02 9.87781549e-01 4.63379130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188040942 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:94.03, Y:60.16, Z:4.66 [[ 3.32713956e-01 -9.39381090e-01 -8.28528306e-02 9.40306170e+01] [ 9.29955558e-01 3.41411182e-01 -1.36459025e-01 6.01576609e+01] [ 1.56473911e-01 -3.16476282e-02 9.87174930e-01 4.66397490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:60.20, Z:4.64 [[ 3.29559334e-01 -9.44042021e-01 -1.32403884e-02 9.40002664e+01] [ 9.31750752e-01 3.27468514e-01 -1.56859515e-01 6.02017248e+01] [ 1.52417784e-01 3.93577755e-02 9.87532169e-01 4.63838762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:60.23, Z:4.62 [[ 3.21084806e-01 -9.47032657e-01 5.80470334e-03 9.39891035e+01] [ 9.36297560e-01 3.16512216e-01 -1.52206752e-01 6.02282965e+01] [ 1.42307505e-01 5.43062051e-02 9.88331630e-01 4.62338416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:60.22, Z:4.72 [[ 0.33869627 -0.92823811 -0.15381436 94.10131048] [ 0.92587416 0.35790018 -0.12109703 60.21989226] [ 0.16745706 -0.10139763 0.98065114 4.71765154] [ 0. 0. 0. 1. ]] SLAMing on 128.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:60.27, Z:4.69 [[ 3.39051657e-01 -9.38160323e-01 -6.99941634e-02 9.40679778e+01] [ 9.25195160e-01 3.45996363e-01 -1.55885960e-01 6.02670910e+01] [ 1.70463748e-01 -1.19048681e-02 9.85292030e-01 4.69413582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.338040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.01, Y:60.31, Z:4.64 [[ 3.24927898e-01 -9.45350915e-01 2.70833641e-02 9.40105668e+01] [ 9.33474629e-01 3.15985838e-01 -1.69640993e-01 6.03127852e+01] [ 1.51812309e-01 8.04027246e-02 9.85133709e-01 4.64145782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:60.29, Z:4.76 [[ 0.34059746 -0.92441068 -0.17163408 94.14163789] [ 0.92308391 0.36345762 -0.12575633 60.29179762] [ 0.17863221 -0.11560037 0.97710137 4.75679842] [ 0. 0. 0. 1. ]] SLAMing on 128.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:60.35, Z:4.71 [[ 3.38790519e-01 -9.39684859e-01 -4.70462639e-02 9.40875968e+01] [ 9.24356515e-01 3.41755851e-01 -1.69611238e-01 6.03497617e+01] [ 1.75459448e-01 1.39751586e-02 9.84387463e-01 4.70979794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.11, Y:60.37, Z:4.72 [[ 3.37851394e-01 -9.39225967e-01 -6.09181329e-02 9.41050506e+01] [ 9.24575241e-01 3.43299197e-01 -1.65246137e-01 6.03725784e+01] [ 1.76116609e-01 -4.94759734e-04 9.84369187e-01 4.72035148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:60.40, Z:4.71 [[ 3.33804837e-01 -9.41873117e-01 -3.80704835e-02 9.40997062e+01] [ 9.26991726e-01 3.35323789e-01 -1.68060397e-01 6.04043524e+01] [ 1.71057509e-01 2.08083502e-02 9.85041289e-01 4.71000224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:60.42, Z:4.74 [[ 3.35425741e-01 -9.38415787e-01 -8.28576050e-02 9.41351929e+01] [ 9.25168157e-01 3.44716522e-01 -1.58853393e-01 6.04185678e+01] [ 1.77632917e-01 -2.33737008e-02 9.83819199e-01 4.73747508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:60.46, Z:4.72 [[ 3.32304732e-01 -9.42307252e-01 -4.03807917e-02 9.41201875e+01] [ 9.27391417e-01 3.34244232e-01 -1.68005813e-01 6.04554789e+01] [ 1.71810143e-01 1.83803270e-02 9.84958597e-01 4.72023343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:60.48, Z:4.71 [[ 3.28110217e-01 -9.44215838e-01 -2.82866906e-02 9.41191637e+01] [ 9.30134218e-01 3.28154518e-01 -1.64817928e-01 6.04841045e+01] [ 1.64906103e-01 2.77680271e-02 9.85918310e-01 4.70988764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:60.51, Z:4.70 [[ 3.23541171e-01 -9.46012753e-01 -1.95187614e-02 9.41186996e+01] [ 9.32724536e-01 3.22331585e-01 -1.61639381e-01 6.05118338e+01] [ 1.59204429e-01 3.40913670e-02 9.86656844e-01 4.70184476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:60.53, Z:4.72 [[ 3.25914389e-01 -9.43844668e-01 -5.41945842e-02 9.41496419e+01] [ 9.31102813e-01 3.30389520e-01 -1.54564926e-01 6.05309807e+01] [ 1.63790604e-01 -8.57963171e-05 9.86495124e-01 4.72102669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:60.56, Z:4.71 [[ 3.20854134e-01 -9.46725833e-01 -2.76192409e-02 9.41394663e+01] [ 9.34079091e-01 3.21122864e-01 -1.56129301e-01 6.05614878e+01] [ 1.56680812e-01 2.42961761e-02 9.87350403e-01 4.70816732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.16, Y:60.58, Z:4.72 [[ 3.20730563e-01 -9.45900542e-01 -4.90313271e-02 9.41607807e+01] [ 9.34556913e-01 3.24455113e-01 -1.46055662e-01 6.05805366e+01] [ 1.54062595e-01 1.02194902e-03 9.88060561e-01 4.71911578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69804094199998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:94.17, Y:60.61, Z:4.72 [[ 3.22046242e-01 -9.45703506e-01 -4.39442553e-02 9.41677798e+01] [ 9.33600427e-01 3.24941601e-01 -1.51007282e-01 6.06069846e+01] [ 1.57087432e-01 7.60495209e-03 9.87555418e-01 4.72347074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72804094199998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:94.18, Y:60.63, Z:4.73 [[ 3.23820233e-01 -9.44829203e-01 -4.93784687e-02 9.41837759e+01] [ 9.32514346e-01 3.27547746e-01 -1.52083758e-01 6.06321086e+01] [ 1.59866982e-01 3.20166755e-03 9.87133374e-01 4.73322359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.21, Y:60.66, Z:4.75 [[ 3.27066773e-01 -9.42800861e-01 -6.44504688e-02 9.42052680e+01] [ 9.30345816e-01 3.33209447e-01 -1.53062493e-01 6.06551353e+01] [ 1.65782956e-01 -9.89956828e-03 9.86112575e-01 4.74943049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.22, Y:60.68, Z:4.76 [[ 3.28898642e-01 -9.42020595e-01 -6.65047469e-02 9.42179781e+01] [ 9.28579052e-01 3.35420313e-01 -1.58852628e-01 6.06791884e+01] [ 1.71949490e-01 -9.50850124e-03 9.85059877e-01 4.75997234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.22, Y:60.71, Z:4.76 [[ 3.28919187e-01 -9.42657075e-01 -5.66551549e-02 9.42225899e+01] [ 9.28386797e-01 3.33760867e-01 -1.63406360e-01 6.07083226e+01] [ 1.72945435e-01 1.14958928e-03 9.84930736e-01 4.76240590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:60.73, Z:4.78 [[ 3.32262462e-01 -9.39923926e-01 -7.83879443e-02 9.42470720e+01] [ 9.26851638e-01 3.40779115e-01 -1.57529792e-01 6.07303058e+01] [ 1.74778995e-01 -2.03127580e-02 9.84398138e-01 4.78279531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:60.76, Z:4.79 [[ 3.34025507e-01 -9.39153349e-01 -8.01120899e-02 9.42605223e+01] [ 9.25240853e-01 3.42920250e-01 -1.62280825e-01 6.07556756e+01] [ 1.79878638e-01 -1.99170435e-02 9.83487156e-01 4.79481022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:60.78, Z:4.82 [[ 3.36644019e-01 -9.36875048e-01 -9.45301448e-02 9.42826558e+01] [ 9.22311124e-01 3.48302768e-01 -1.67413777e-01 6.07800818e+01] [ 1.89770901e-01 -3.08273573e-02 9.81344322e-01 4.81733613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:60.81, Z:4.80 [[ 3.34652599e-01 -9.40965701e-01 -5.09037027e-02 9.42674541e+01] [ 9.23329205e-01 3.38218142e-01 -1.81856173e-01 6.08140691e+01] [ 1.88336978e-01 1.38577658e-02 9.82006693e-01 4.80310863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:60.83, Z:4.83 [[ 3.35677844e-01 -9.36984297e-01 -9.68545971e-02 9.43045639e+01] [ 9.22092297e-01 3.47865294e-01 -1.69515586e-01 6.08314400e+01] [ 1.92525795e-01 -3.24062515e-02 9.80756674e-01 4.83375606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:60.86, Z:4.84 [[ 3.35978891e-01 -9.38011335e-01 -8.51640811e-02 9.43099579e+01] [ 9.21312066e-01 3.46087798e-01 -1.77221086e-01 6.08625176e+01] [ 1.95709637e-01 -1.89201516e-02 9.80479355e-01 4.84026895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:60.89, Z:4.84 [[ 3.35416754e-01 -9.39470470e-01 -6.99345157e-02 9.43094318e+01] [ 9.21439285e-01 3.42616826e-01 -1.83203042e-01 6.08917907e+01] [ 1.96074589e-01 -2.99104056e-03 9.80584422e-01 4.84022688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:60.92, Z:4.85 [[ 3.34959161e-01 -9.39493356e-01 -7.17955064e-02 9.43194291e+01] [ 9.21583175e-01 3.42530795e-01 -1.82639277e-01 6.09191114e+01] [ 1.96180559e-01 -4.98883192e-03 9.80555098e-01 4.84689110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:60.94, Z:4.86 [[ 3.34423419e-01 -9.38711535e-01 -8.35561531e-02 9.43350425e+01] [ 9.21635459e-01 3.44277917e-01 -1.79055291e-01 6.09420736e+01] [ 1.96847806e-01 -1.71280309e-02 9.80284434e-01 4.85773333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:60.97, Z:4.85 [[ 3.31419138e-01 -9.41633133e-01 -5.90626599e-02 9.43312309e+01] [ 9.24294929e-01 3.36603043e-01 -1.79936863e-01 6.09748173e+01] [ 1.89315183e-01 5.04320300e-03 9.81903421e-01 4.84771746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:60.99, Z:4.87 [[ 3.33185306e-01 -9.38237934e-01 -9.32584131e-02 9.43593579e+01] [ 9.22811886e-01 3.44790264e-01 -1.71865929e-01 6.09913810e+01] [ 1.93405727e-01 -2.87967699e-02 9.80696166e-01 4.87397696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:61.03, Z:4.85 [[ 3.30634908e-01 -9.42891808e-01 -4.04424957e-02 9.43375066e+01] [ 9.25373503e-01 3.32313309e-01 -1.82350608e-01 6.10300099e+01] [ 1.85376475e-01 2.28670628e-02 9.82401476e-01 4.84847047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:61.05, Z:4.88 [[ 3.32708932e-01 -9.38920394e-01 -8.79389626e-02 9.43714509e+01] [ 9.23647629e-01 3.43259785e-01 -1.70434083e-01 6.10461106e+01] [ 1.90209946e-01 -2.45196725e-02 9.81437192e-01 4.87559565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:61.08, Z:4.87 [[ 3.32290076e-01 -9.41282988e-01 -5.97464804e-02 9.43635039e+01] [ 9.24655580e-01 3.37602544e-01 -1.76172019e-01 6.10783173e+01] [ 1.85998289e-01 3.29529727e-03 9.82544542e-01 4.86639407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:61.11, Z:4.87 [[ 3.32990303e-01 -9.40865400e-01 -6.23679142e-02 9.43733488e+01] [ 9.24886664e-01 3.38780553e-01 -1.72662665e-01 6.11051280e+01] [ 1.83581364e-01 -1.88258842e-04 9.83004500e-01 4.87126275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:61.13, Z:4.88 [[ 3.33647538e-01 -9.40416314e-01 -6.55475154e-02 9.43827121e+01] [ 9.24963728e-01 3.40002084e-01 -1.69825451e-01 6.11288340e+01] [ 1.81992916e-01 -3.96723065e-03 9.83291838e-01 4.87687949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.39, Y:61.15, Z:4.88 [[ 3.35526148e-01 -9.39669134e-01 -6.66642558e-02 9.43905628e+01] [ 9.24411776e-01 3.42047896e-01 -1.68719012e-01 6.11538208e+01] [ 1.81342416e-01 -5.01558276e-03 9.83407226e-01 4.88199377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:61.18, Z:4.89 [[ 3.38211309e-01 -9.38327435e-01 -7.17964838e-02 9.44031436e+01] [ 9.23550429e-01 3.45600238e-01 -1.66177856e-01 6.11804334e+01] [ 1.80742124e-01 -1.01044431e-02 9.83478614e-01 4.89019343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:61.21, Z:4.89 [[ 3.39561342e-01 -9.38875801e-01 -5.66597305e-02 9.44039002e+01] [ 9.23205781e-01 3.44208408e-01 -1.70914181e-01 6.12105300e+01] [ 1.79969944e-01 5.72725771e-03 9.83655437e-01 4.88953035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:61.23, Z:4.90 [[ 3.43054357e-01 -9.36702554e-01 -7.00145265e-02 9.44190267e+01] [ 9.21744561e-01 3.50050386e-01 -1.66888263e-01 6.12345383e+01] [ 1.80833274e-01 -7.28376329e-03 9.83486794e-01 4.90076399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:61.26, Z:4.90 [[ 3.43018714e-01 -9.37708223e-01 -5.51493527e-02 9.44188069e+01] [ 9.21957715e-01 3.47333424e-01 -1.71328530e-01 6.12643539e+01] [ 1.79811385e-01 7.92352087e-03 9.83669194e-01 4.89768627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.43, Y:61.29, Z:4.91 [[ 3.43540738e-01 -9.36825890e-01 -6.58560030e-02 9.44330648e+01] [ 9.22004205e-01 3.49776626e-01 -1.66025778e-01 6.12870485e+01] [ 1.78572137e-01 -3.68289359e-03 9.83919930e-01 4.90606890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:61.32, Z:4.91 [[ 3.42356380e-01 -9.37677433e-01 -5.96082299e-02 9.44389287e+01] [ 9.22557641e-01 3.47498382e-01 -1.67726783e-01 6.13151310e+01] [ 1.77987383e-01 2.43030622e-03 9.84029768e-01 4.90754973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:61.34, Z:4.92 [[ 3.41712751e-01 -9.36628107e-01 -7.72022387e-02 9.44587450e+01] [ 9.22301756e-01 3.49995460e-01 -1.63898287e-01 6.13389910e+01] [ 1.80532175e-01 -1.51976259e-02 9.83451659e-01 4.92224178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:61.37, Z:4.92 [[ 3.39957790e-01 -9.38703146e-01 -5.71410912e-02 9.44564261e+01] [ 9.23381151e-01 3.44694773e-01 -1.68975630e-01 6.13651738e+01] [ 1.78314191e-01 4.68157524e-03 9.83962465e-01 4.91797503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:61.39, Z:4.92 [[ 3.37441982e-01 -9.39984915e-01 -5.06089747e-02 9.44593705e+01] [ 9.24895007e-01 3.41072436e-01 -1.68044098e-01 6.13909542e+01] [ 1.75220244e-01 9.89714571e-03 9.84479514e-01 4.91540833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.48, Y:61.41, Z:4.92 [[ 3.40366517e-01 -9.37960718e-01 -6.61840344e-02 9.44771701e+01] [ 9.24006208e-01 3.46685222e-01 -1.61313001e-01 6.14085614e+01] [ 1.74250285e-01 -6.24891427e-03 9.84681567e-01 4.91876386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:61.44, Z:4.93 [[ 3.34008533e-01 -9.41071117e-01 -5.31361739e-02 9.44779506e+01] [ 9.25986557e-01 3.38138401e-01 -1.67962252e-01 6.14403398e+01] [ 1.76031805e-01 6.89744267e-03 9.84360315e-01 4.92611754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:61.46, Z:4.93 [[ 3.33535576e-01 -9.40762273e-01 -6.09947913e-02 9.44909905e+01] [ 9.26155403e-01 3.39063942e-01 -1.65141795e-01 6.14628087e+01] [ 1.76040305e-01 -1.40999179e-03 9.84381950e-01 4.93407239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:61.48, Z:4.96 [[ 3.33895536e-01 -9.37594302e-01 -9.71117747e-02 9.45233085e+01] [ 9.24726696e-01 3.45790828e-01 -1.59088786e-01 6.14803711e+01] [ 1.82741100e-01 -3.66828152e-02 9.82476494e-01 4.96142350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:61.52, Z:4.93 [[ 3.27251444e-01 -9.44573995e-01 -2.62003929e-02 9.44912802e+01] [ 9.28826159e-01 3.26646413e-01 -1.74883065e-01 6.15245363e+01] [ 1.73748260e-01 3.28951252e-02 9.84240546e-01 4.93285723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:61.54, Z:4.95 [[ 3.24422371e-01 -9.43905040e-01 -6.15905847e-02 9.45193938e+01] [ 9.29858559e-01 3.30184734e-01 -1.62299421e-01 6.15417691e+01] [ 1.73531512e-01 -4.61696945e-03 9.84817495e-01 4.94798201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:61.57, Z:4.95 [[ 3.23955004e-01 -9.44545435e-01 -5.37315231e-02 9.45243764e+01] [ 9.29065664e-01 3.28338356e-01 -1.70384611e-01 6.15700363e+01] [ 1.78578126e-01 5.27683410e-03 9.83911585e-01 4.95202288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:61.59, Z:4.96 [[ 3.24439390e-01 -9.42019216e-01 -8.56672599e-02 9.45519420e+01] [ 9.29688662e-01 3.34265104e-01 -1.54744406e-01 6.15877681e+01] [ 1.74407780e-01 -2.94386996e-02 9.84233351e-01 4.96431929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:61.62, Z:4.96 [[ 3.20463067e-01 -9.46035372e-01 -4.81715431e-02 9.45408675e+01] [ 9.30638579e-01 3.23917195e-01 -1.70262990e-01 6.16231854e+01] [ 1.76678402e-01 9.73270357e-03 9.84220512e-01 4.96059324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:61.64, Z:4.99 [[ 3.23014106e-01 -9.42273495e-01 -8.82187562e-02 9.45746212e+01] [ 9.28430852e-01 3.33578816e-01 -1.63527753e-01 6.16406456e+01] [ 1.83515776e-01 -2.90832441e-02 9.82586447e-01 4.98684644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:61.68, Z:4.96 [[ 3.16906394e-01 -9.47821141e-01 -3.47191808e-02 9.45489247e+01] [ 9.31916679e-01 3.17977703e-01 -1.74417557e-01 6.16784541e+01] [ 1.76356573e-01 2.29186555e-02 9.84059497e-01 4.96155491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:61.70, Z:4.97 [[ 3.13735241e-01 -9.47589825e-01 -6.03632451e-02 9.45693838e+01] [ 9.33147384e-01 3.19456343e-01 -1.64874514e-01 6.16970088e+01] [ 1.75516833e-01 -4.60085902e-03 9.84465679e-01 4.97255245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:61.72, Z:4.98 [[ 3.12783310e-01 -9.47995685e-01 -5.89133467e-02 9.45781379e+01] [ 9.33430906e-01 3.18267046e-01 -1.65568205e-01 6.17243982e+01] [ 1.75708120e-01 -3.20456737e-03 9.84437092e-01 4.97734570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:61.75, Z:4.98 [[ 3.12176585e-01 -9.47217930e-01 -7.29655613e-02 9.45945694e+01] [ 9.34241416e-01 3.20025155e-01 -1.57406724e-01 6.17455772e+01] [ 1.72449287e-01 -1.90287556e-02 9.84834580e-01 4.97881047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:61.78, Z:4.98 [[ 3.11015278e-01 -9.49559188e-01 -4.00854807e-02 9.45862053e+01] [ 9.33911756e-01 3.13169474e-01 -1.72434662e-01 6.17800516e+01] [ 1.76290467e-01 1.61935128e-02 9.84204979e-01 4.98451281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:61.80, Z:4.99 [[ 3.09428030e-01 -9.49414942e-01 -5.35309462e-02 9.46022304e+01] [ 9.34747600e-01 3.14021177e-01 -1.66245676e-01 6.18045764e+01] [ 1.74645979e-01 1.40314854e-03 9.84630293e-01 4.99336124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:61.83, Z:5.00 [[ 3.08262824e-01 -9.49213082e-01 -6.29964726e-02 9.46165874e+01] [ 9.34848688e-01 3.14529201e-01 -1.64709781e-01 6.18287511e+01] [ 1.76158909e-01 -8.11826745e-03 9.84328265e-01 5.00403053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:61.86, Z:5.02 [[ 3.08738491e-01 -9.48252729e-01 -7.41438262e-02 9.46350371e+01] [ 9.33031924e-01 3.17078063e-01 -1.70038030e-01 6.18564459e+01] [ 1.84748407e-01 -1.66812720e-02 9.82644270e-01 5.02230780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.63, Y:61.89, Z:5.01 [[ 3.04623877e-01 -9.50855600e-01 -5.54790223e-02 9.46285766e+01] [ 9.36270518e-01 3.09631488e-01 -1.65909188e-01 6.18854746e+01] [ 1.74933733e-01 -1.40347282e-03 9.84579209e-01 5.01227067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:61.91, Z:5.02 [[ 3.03550068e-01 -9.50930783e-01 -5.98999326e-02 9.46389220e+01] [ 9.36540765e-01 3.09344762e-01 -1.64915779e-01 6.19118764e+01] [ 1.75353221e-01 -6.03853285e-03 9.84487066e-01 5.01858230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.65, Y:61.94, Z:5.03 [[ 3.03613894e-01 -9.50608794e-01 -6.45098799e-02 9.46477038e+01] [ 9.36142374e-01 3.10226023e-01 -1.65521211e-01 6.19368140e+01] [ 1.77358562e-01 -1.01358926e-02 9.84094103e-01 5.02874233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.65, Y:61.96, Z:5.03 [[ 3.03205120e-01 -9.51121383e-01 -5.86069055e-02 9.46514560e+01] [ 9.36436662e-01 3.08786161e-01 -1.66545743e-01 6.19632706e+01] [ 1.76502219e-01 -4.38413292e-03 9.84290478e-01 5.02919002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:61.98, Z:5.04 [[ 2.98053478e-01 -9.51267158e-01 -7.90880404e-02 9.46663000e+01] [ 9.38462176e-01 3.07169924e-01 -1.57909411e-01 6.19819157e+01] [ 1.74507504e-01 -2.71556853e-02 9.84281311e-01 5.03574415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:62.02, Z:5.04 [[ 3.03026563e-01 -9.51954971e-01 -4.42338675e-02 9.46582855e+01] [ 9.35285461e-01 3.05982430e-01 -1.77808491e-01 6.20224816e+01] [ 1.82800463e-01 1.25094027e-02 9.83070448e-01 5.03820911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:62.04, Z:5.05 [[ 3.03530164e-01 -9.50137404e-01 -7.14727497e-02 9.46813774e+01] [ 9.34770885e-01 3.11472781e-01 -1.70845251e-01 6.20443807e+01] [ 1.84588279e-01 -1.49539585e-02 9.82702166e-01 5.05401579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:62.07, Z:5.06 [[ 3.06398156e-01 -9.48977368e-01 -7.45796591e-02 9.46913978e+01] [ 9.33963626e-01 3.14838672e-01 -1.69081507e-01 6.20687456e+01] [ 1.83935084e-01 -1.78484270e-02 9.82776332e-01 5.05737551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:62.10, Z:5.06 [[ 3.04607225e-01 -9.50832202e-01 -5.59692978e-02 9.46863542e+01] [ 9.34488958e-01 3.09704312e-01 -1.75538108e-01 6.21013969e+01] [ 1.84241219e-01 1.16748532e-03 9.82880364e-01 5.05859107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:62.13, Z:5.06 [[ 3.04844023e-01 -9.50507867e-01 -6.00409658e-02 9.46953105e+01] [ 9.34717511e-01 3.10680618e-01 -1.72570936e-01 6.21252046e+01] [ 1.82683596e-01 -3.51412386e-03 9.83165477e-01 5.06240175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:62.15, Z:5.09 [[ 3.06749766e-01 -9.47698504e-01 -8.81596694e-02 9.47219643e+01] [ 9.32406411e-01 3.17808933e-01 -1.72092321e-01 6.21492096e+01] [ 1.91109566e-01 -2.94113617e-02 9.81127976e-01 5.08728998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:62.19, Z:5.06 [[ 3.03703091e-01 -9.52291368e-01 -3.00928929e-02 9.46933349e+01] [ 9.33684812e-01 3.03761690e-01 -1.89635195e-01 6.21854142e+01] [ 1.89729028e-01 2.94955180e-02 9.81393352e-01 5.06420725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.72, Y:62.21, Z:5.08 [[ 3.01882101e-01 -9.50943969e-01 -6.76222266e-02 9.47211807e+01] [ 9.35357234e-01 3.09154005e-01 -1.71844832e-01 6.22054286e+01] [ 1.84320489e-01 -1.13740600e-02 9.82800381e-01 5.07766563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:62.23, Z:5.08 [[ 3.01429824e-01 -9.50758298e-01 -7.21021508e-02 9.47279992e+01] [ 9.36219129e-01 3.09449870e-01 -1.66536844e-01 6.22262855e+01] [ 1.80648288e-01 -1.73042411e-02 9.83395525e-01 5.08207501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:62.26, Z:5.08 [[ 2.99034705e-01 -9.52228018e-01 -6.19681195e-02 9.47333552e+01] [ 9.37196572e-01 3.05292629e-01 -1.68697945e-01 6.22594950e+01] [ 1.79557320e-01 -7.62976880e-03 9.83717925e-01 5.07814332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:62.29, Z:5.08 [[ 2.99891626e-01 -9.52251415e-01 -5.72909661e-02 9.47383656e+01] [ 9.36144536e-01 3.05312095e-01 -1.74407377e-01 6.22883123e+01] [ 1.83571297e-01 -1.32931287e-03 9.83005499e-01 5.08346206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.74, Y:62.31, Z:5.09 [[ 2.98553682e-01 -9.53055991e-01 -5.04972881e-02 9.47395637e+01] [ 9.37275565e-01 3.02764286e-01 -1.72766611e-01 6.23099041e+01] [ 1.79945029e-01 4.25023346e-03 9.83667486e-01 5.08775259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:62.33, Z:5.10 [[ 2.99189197e-01 -9.51884455e-01 -6.63461316e-02 9.47545955e+01] [ 9.38063520e-01 3.06150392e-01 -1.62199786e-01 6.23302500e+01] [ 1.74707349e-01 -1.37084622e-02 9.84524972e-01 5.09625835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:62.36, Z:5.10 [[ 2.98899907e-01 -9.52574347e-01 -5.71048081e-02 9.47584089e+01] [ 9.38031995e-01 3.04279790e-01 -1.65860745e-01 6.23582731e+01] [ 1.75370530e-01 -3.99037571e-03 9.84494415e-01 5.09899320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.78, Y:62.38, Z:5.11 [[ 3.01191123e-01 -9.50205616e-01 -7.99574568e-02 9.47839415e+01] [ 9.36745460e-01 3.10515875e-01 -1.61517291e-01 6.23831640e+01] [ 1.78302696e-01 -2.62522105e-02 9.83625422e-01 5.11149782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:62.42, Z:5.11 [[ 2.99012073e-01 -9.52834698e-01 -5.19405298e-02 9.47737907e+01] [ 9.36945591e-01 3.03473349e-01 -1.73311530e-01 6.24180084e+01] [ 1.80899806e-01 3.15678953e-03 9.83496464e-01 5.11369241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:62.44, Z:5.12 [[ 3.01573424e-01 -9.51283561e-01 -6.41331106e-02 9.47889477e+01] [ 9.36315495e-01 3.08177637e-01 -1.68344405e-01 6.24389798e+01] [ 1.79907656e-01 -9.28062656e-03 9.83639723e-01 5.12084565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:62.46, Z:5.12 [[ 3.02055468e-01 -9.50939411e-01 -6.69083714e-02 9.48005770e+01] [ 9.35662993e-01 3.09173900e-01 -1.70136015e-01 6.24645180e+01] [ 1.82475364e-01 -1.12131733e-02 9.83146483e-01 5.12222942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:62.50, Z:5.13 [[ 2.99500251e-01 -9.52621845e-01 -5.30209364e-02 9.48018817e+01] [ 9.36596144e-01 3.04147288e-01 -1.74017501e-01 6.24962437e+01] [ 1.81899047e-01 2.45908047e-03 9.83314136e-01 5.12793489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.85, Y:62.51, Z:5.17 [[ 3.02193424e-01 -9.46456854e-01 -1.13571819e-01 9.48477906e+01] [ 9.34080557e-01 3.17779460e-01 -1.62818081e-01 6.25088128e+01] [ 1.90191080e-01 -5.68826746e-02 9.80097809e-01 5.16607688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:62.55, Z:5.13 [[ 3.00856528e-01 -9.53032104e-01 -3.48591110e-02 9.48097376e+01] [ 9.36144073e-01 3.02105712e-01 -1.79906681e-01 6.25494757e+01] [ 1.81987979e-01 2.14929493e-02 9.83065831e-01 5.12873298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:62.57, Z:5.15 [[ 3.01289981e-01 -9.51773339e-01 -5.78952336e-02 9.48323535e+01] [ 9.35022492e-01 3.06801542e-01 -1.77780071e-01 6.25711811e+01] [ 1.86968679e-01 -5.69991299e-04 9.82365710e-01 5.14957107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:62.59, Z:5.15 [[ 3.03042015e-01 -9.51135604e-01 -5.92165468e-02 9.48419728e+01] [ 9.34858415e-01 3.08765220e-01 -1.75224948e-01 6.25935618e+01] [ 1.84946697e-01 -2.25856568e-03 9.82745958e-01 5.15420243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:62.62, Z:5.16 [[ 2.98616207e-01 -9.51013795e-01 -8.00070139e-02 9.48627575e+01] [ 9.35708264e-01 3.08244021e-01 -1.71568263e-01 6.26189728e+01] [ 1.87825468e-01 -2.36301604e-02 9.81918127e-01 5.16196902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:62.65, Z:5.19 [[ 3.08041165e-01 -9.48846334e-01 -6.92912405e-02 9.48734635e+01] [ 9.29827102e-01 3.15677947e-01 -1.89126923e-01 6.26460052e+01] [ 2.01326104e-01 -6.16999554e-03 9.79504840e-01 5.18592892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:62.67, Z:5.19 [[ 3.07279952e-01 -9.48288615e-01 -7.95470543e-02 9.48876854e+01] [ 9.31497278e-01 3.16828847e-01 -1.78696121e-01 6.26677657e+01] [ 1.94658298e-01 -1.91881292e-02 9.80683416e-01 5.19071365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.87, Y:62.71, Z:5.17 [[ 3.01045811e-01 -9.52945798e-01 -3.55770447e-02 9.48723172e+01] [ 9.34391446e-01 3.02225667e-01 -1.88606130e-01 6.27052775e+01] [ 1.90483715e-01 2.35361991e-02 9.81408173e-01 5.17227308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:62.71, Z:5.18 [[ 3.05008440e-01 -9.50121589e-01 -6.51062097e-02 9.48951103e+01] [ 9.33715051e-01 3.11798340e-01 -1.75948854e-01 6.27147637e+01] [ 1.87472812e-01 -7.12476255e-03 9.82243953e-01 5.18366491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:62.74, Z:5.19 [[ 3.04128020e-01 -9.50537125e-01 -6.31294054e-02 9.49064235e+01] [ 9.32325409e-01 3.10600628e-01 -1.85193364e-01 6.27431875e+01] [ 1.95641201e-01 -2.53465745e-03 9.80672267e-01 5.19427867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:62.76, Z:5.20 [[ 3.06547372e-01 -9.48414510e-01 -8.08617737e-02 9.49299655e+01] [ 9.32562419e-01 3.16265591e-01 -1.74078749e-01 6.27628177e+01] [ 1.90672608e-01 -2.20452683e-02 9.81406115e-01 5.20157211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:62.79, Z:5.20 [[ 3.10472945e-01 -9.48886811e-01 -5.67483069e-02 9.49253185e+01] [ 9.29600111e-01 3.15552166e-01 -1.90448060e-01 6.27869480e+01] [ 1.98620704e-01 6.37573759e-03 9.80055695e-01 5.20300808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:62.81, Z:5.22 [[ 3.06657530e-01 -9.49299861e-01 -6.92165698e-02 9.49422897e+01] [ 9.31928878e-01 3.14243151e-01 -1.80996709e-01 6.28142599e+01] [ 1.93570984e-01 -9.00091642e-03 9.81044983e-01 5.21518505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:62.84, Z:5.22 [[ 3.08042477e-01 -9.49127479e-01 -6.53212065e-02 9.49493620e+01] [ 9.32043405e-01 3.14841721e-01 -1.79359364e-01 6.28363482e+01] [ 1.90800742e-01 -5.63189701e-03 9.81612632e-01 5.21555686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:62.86, Z:5.22 [[ 3.07094876e-01 -9.49590589e-01 -6.30115186e-02 9.49585765e+01] [ 9.32933887e-01 3.13462039e-01 -1.77132473e-01 6.28633415e+01] [ 1.87955048e-01 -4.38910626e-03 9.82167825e-01 5.21858781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:62.88, Z:5.22 [[ 3.12674726e-01 -9.47282511e-01 -6.99311048e-02 9.49759084e+01] [ 9.30787816e-01 3.20244346e-01 -1.76288401e-01 6.28798597e+01] [ 1.89389960e-01 -9.97009292e-03 9.81851333e-01 5.22173579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:62.91, Z:5.23 [[ 3.09282572e-01 -9.49516930e-01 -5.25536959e-02 9.49771837e+01] [ 9.31759004e-01 3.13623446e-01 -1.82935759e-01 6.29119686e+01] [ 1.90182672e-01 7.61146285e-03 9.81719215e-01 5.22539580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:62.93, Z:5.24 [[ 3.09195552e-01 -9.47855763e-01 -7.72500090e-02 9.50020548e+01] [ 9.31830768e-01 3.18189090e-01 -1.74491042e-01 6.29327693e+01] [ 1.89972450e-01 -1.80320812e-02 9.81623814e-01 5.23803884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:62.96, Z:5.23 [[ 3.10789301e-01 -9.48761122e-01 -5.71169280e-02 9.50030791e+01] [ 9.30937410e-01 3.15972230e-01 -1.83076728e-01 6.29599604e+01] [ 1.91743445e-01 3.72600325e-03 9.81438010e-01 5.23495285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:62.97, Z:5.24 [[ 3.13290103e-01 -9.47037540e-01 -7.04926228e-02 9.50179228e+01] [ 9.31011209e-01 3.20928724e-01 -1.73847298e-01 6.29737117e+01] [ 1.87263025e-01 -1.11647840e-02 9.82246358e-01 5.24294431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:63.02, Z:5.24 [[ 3.11557882e-01 -9.49696190e-01 -3.17621369e-02 9.50118244e+01] [ 9.29836063e-01 3.11589235e-01 -1.95747399e-01 6.30155860e+01] [ 1.95797299e-01 3.14530648e-02 9.80139848e-01 5.23729709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.04, Y:63.03, Z:5.25 [[ 3.13291087e-01 -9.47453061e-01 -6.46636809e-02 9.50409298e+01] [ 9.28774463e-01 3.19891728e-01 -1.87209186e-01 6.30325533e+01] [ 1.98057293e-01 -1.40700617e-03 9.80189435e-01 5.25445858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.06, Y:63.06, Z:5.27 [[ 3.13578735e-01 -9.46159549e-01 -8.03149052e-02 9.50628754e+01] [ 9.28895039e-01 3.23205031e-01 -1.80810714e-01 6.30580412e+01] [ 1.97033965e-01 -1.79057220e-02 9.80233136e-01 5.26961042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57804094199997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.06, Y:63.09, Z:5.27 [[ 3.15964025e-01 -9.46935620e-01 -5.89886900e-02 9.50640032e+01] [ 9.28533972e-01 3.21399166e-01 -1.85815066e-01 6.30860976e+01] [ 1.94913821e-01 3.93787368e-03 9.80812467e-01 5.26601634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:63.11, Z:5.28 [[ 3.18152561e-01 -9.45365679e-01 -7.11525248e-02 9.50811971e+01] [ 9.27796286e-01 3.25907740e-01 -1.81598999e-01 6.31071627e+01] [ 1.94866620e-01 -8.23886157e-03 9.80795148e-01 5.27698675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.09, Y:63.14, Z:5.28 [[ 3.18360700e-01 -9.46076645e-01 -5.98785925e-02 9.50885023e+01] [ 9.27801172e-01 3.23925347e-01 -1.85087427e-01 6.31381786e+01] [ 1.94503086e-01 3.36913469e-03 9.80896120e-01 5.27862196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:63.16, Z:5.29 [[ 3.20058009e-01 -9.44661526e-01 -7.19546460e-02 9.51031134e+01] [ 9.27273317e-01 3.27925675e-01 -1.80634844e-01 6.31596329e+01] [ 1.94234563e-01 -8.90799472e-03 9.80914666e-01 5.29021345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:63.19, Z:5.29 [[ 3.23220021e-01 -9.44480591e-01 -5.90358481e-02 9.51046561e+01] [ 9.25307473e-01 3.28500728e-01 -1.89455412e-01 6.31860797e+01] [ 1.98330278e-01 6.60947087e-03 9.80112961e-01 5.29171204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:63.21, Z:5.30 [[ 3.21039015e-01 -9.44726638e-01 -6.65246605e-02 9.51165898e+01] [ 9.27410953e-01 3.27836128e-01 -1.80089970e-01 6.32134979e+01] [ 1.91944979e-01 -3.87979229e-03 9.81398019e-01 5.29681145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:63.24, Z:5.30 [[ 3.20920390e-01 -9.45622389e-01 -5.29943367e-02 9.51159316e+01] [ 9.26637151e-01 3.25062763e-01 -1.88885657e-01 6.32419195e+01] [ 1.95840992e-01 1.15107377e-02 9.80568105e-01 5.29717716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.13, Y:63.27, Z:5.31 [[ 3.19646511e-01 -9.45384962e-01 -6.38230421e-02 9.51278400e+01] [ 9.26305756e-01 3.25953400e-01 -1.88976263e-01 6.32666738e+01] [ 1.99458654e-01 1.28595183e-03 9.79905399e-01 5.30616308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:63.29, Z:5.31 [[ 3.17586250e-01 -9.45285894e-01 -7.46562240e-02 9.51404621e+01] [ 9.28304398e-01 3.26002953e-01 -1.78810012e-01 6.32889273e+01] [ 1.93364731e-01 -1.25161000e-02 9.81047108e-01 5.31388973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:63.32, Z:5.32 [[ 3.14976795e-01 -9.46964911e-01 -6.36166398e-02 9.51428745e+01] [ 9.28449180e-01 3.21336772e-01 -1.86345911e-01 6.33174856e+01] [ 1.96905405e-01 -3.70179231e-04 9.80422421e-01 5.31591079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:63.34, Z:5.32 [[ 3.09764629e-01 -9.48570036e-01 -6.52745127e-02 9.51522291e+01] [ 9.31080318e-01 3.16534025e-01 -1.81371588e-01 6.33431545e+01] [ 1.92705258e-01 -4.59331118e-03 9.81245935e-01 5.32059942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:63.37, Z:5.33 [[ 3.06501599e-01 -9.49513625e-01 -6.69376305e-02 9.51625863e+01] [ 9.32020687e-01 3.13653324e-01 -1.81546224e-01 6.33695369e+01] [ 1.93375823e-01 -6.74304851e-03 9.81101586e-01 5.32661757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:63.39, Z:5.32 [[ 3.00111742e-01 -9.52126947e-01 -5.81998256e-02 9.51663534e+01] [ 9.34881350e-01 3.05702803e-01 -1.80395837e-01 6.33937108e+01] [ 1.89551587e-01 -2.71022524e-04 9.81870726e-01 5.32457157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:63.42, Z:5.33 [[ 2.96471072e-01 -9.53326730e-01 -5.72105737e-02 9.51738404e+01] [ 9.35450689e-01 3.01939110e-01 -1.83751960e-01 6.34221941e+01] [ 1.92449765e-01 9.59469997e-04 9.81306358e-01 5.33096402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:63.45, Z:5.34 [[ 2.93984246e-01 -9.53690907e-01 -6.36153809e-02 9.51839780e+01] [ 9.36265322e-01 3.00724917e-01 -1.81581309e-01 6.34464648e+01] [ 1.92303174e-01 -6.17883071e-03 9.81316112e-01 5.33844572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:63.48, Z:5.33 [[ 2.88408957e-01 -9.56882922e-01 -3.45738043e-02 9.51720415e+01] [ 9.37258195e-01 2.89512246e-01 -1.94241434e-01 6.34781327e+01] [ 1.95875851e-01 2.36163880e-02 9.80344285e-01 5.32933231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.058040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.21, Y:63.50, Z:5.35 [[ 2.86364118e-01 -9.54714435e-01 -8.07213646e-02 9.52056682e+01] [ 9.38533408e-01 2.96460986e-01 -1.76821732e-01 6.34956396e+01] [ 1.92744995e-01 -2.51242982e-02 9.80927182e-01 5.35182250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:63.53, Z:5.34 [[ 2.84196482e-01 -9.57481668e-01 -4.96106252e-02 9.51973476e+01] [ 9.39282738e-01 2.88426774e-01 -1.85897645e-01 6.35283072e+01] [ 1.92302619e-01 6.23305273e-03 9.81315878e-01 5.34443369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:63.54, Z:5.37 [[ 2.83415678e-01 -9.55251867e-01 -8.46724523e-02 9.52268469e+01] [ 9.39125942e-01 2.94339739e-01 -1.77219027e-01 6.35436461e+01] [ 1.94211274e-01 -2.92914458e-02 9.80522306e-01 5.37101889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:63.58, Z:5.36 [[ 2.80245569e-01 -9.58801153e-01 -4.65055949e-02 9.52128001e+01] [ 9.40435582e-01 2.83946030e-01 -1.86964084e-01 6.35794003e+01] [ 1.92466458e-01 8.66033994e-03 9.81265337e-01 5.35730499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:63.60, Z:5.37 [[ 2.81285892e-01 -9.57090477e-01 -6.96854756e-02 9.52316237e+01] [ 9.40005177e-01 2.89416435e-01 -1.80633317e-01 6.35980505e+01] [ 1.93050549e-01 -1.46951041e-02 9.81078763e-01 5.37158023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.24, Y:63.62, Z:5.38 [[ 2.82207725e-01 -9.57140951e-01 -6.51152840e-02 9.52372426e+01] [ 9.39406746e-01 2.89471645e-01 -1.83633144e-01 6.36245147e+01] [ 1.94611831e-01 -9.34704514e-03 9.80835801e-01 5.37635158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.24, Y:63.65, Z:5.37 [[ 2.78637945e-01 -9.58498547e-01 -6.03442707e-02 9.52393529e+01] [ 9.41405877e-01 2.85021869e-01 -1.80326121e-01 6.36498967e+01] [ 1.90041762e-01 -6.56275117e-03 9.81754073e-01 5.37128905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.24, Y:63.68, Z:5.37 [[ 2.81272217e-01 -9.58681484e-01 -4.26116538e-02 9.52381785e+01] [ 9.40123820e-01 2.84190706e-01 -1.88156439e-01 6.36813824e+01] [ 1.92491930e-01 1.28629480e-02 9.81214248e-01 5.37186614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:63.70, Z:5.38 [[ 2.79783987e-01 -9.58229022e-01 -5.93132512e-02 9.52538403e+01] [ 9.40678957e-01 2.85963339e-01 -1.82614535e-01 6.37044314e+01] [ 1.91947963e-01 -4.70210476e-03 9.81393840e-01 5.38153106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:63.73, Z:5.40 [[ 2.81060836e-01 -9.57221535e-01 -6.87876376e-02 9.52695928e+01] [ 9.39622516e-01 2.89057140e-01 -1.83181597e-01 6.37296840e+01] [ 1.95228927e-01 -1.31492404e-02 9.80669549e-01 5.39540006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:63.75, Z:5.41 [[ 2.85655363e-01 -9.54922026e-01 -8.07770863e-02 9.52858935e+01] [ 9.37285929e-01 2.95955644e-01 -1.84134038e-01 6.37456103e+01] [ 1.99740083e-01 -2.31123509e-02 9.79576295e-01 5.41141059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:63.79, Z:5.39 [[ 2.80388282e-01 -9.59219322e-01 -3.57869176e-02 9.52704722e+01] [ 9.40144961e-01 2.81953105e-01 -1.91389389e-01 6.37886486e+01] [ 1.93674632e-01 2.00184516e-02 9.80861559e-01 5.39424864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:63.81, Z:5.41 [[ 2.80215542e-01 -9.57921091e-01 -6.21806483e-02 9.52928818e+01] [ 9.40862049e-01 2.86919576e-01 -1.80154828e-01 6.38065550e+01] [ 1.90414955e-01 -8.02122918e-03 9.81670925e-01 5.40832639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:63.83, Z:5.42 [[ 2.79904925e-01 -9.57735505e-01 -6.63018535e-02 9.53056225e+01] [ 9.40521379e-01 2.87414075e-01 -1.81142720e-01 6.38335568e+01] [ 1.92542900e-01 -1.16555713e-02 9.81219333e-01 5.41828804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:63.86, Z:5.42 [[ 2.82628605e-01 -9.57580580e-01 -5.62183570e-02 9.53087620e+01] [ 9.40457920e-01 2.88159257e-01 -1.80286281e-01 6.38567813e+01] [ 1.88838481e-01 -1.91693916e-03 9.82006290e-01 5.41661658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:63.89, Z:5.42 [[ 2.81597913e-01 -9.58140997e-01 -5.16570018e-02 9.53149326e+01] [ 9.40800486e-01 2.86285790e-01 -1.81479729e-01 6.38871501e+01] [ 1.88671834e-01 2.50538047e-03 9.82036996e-01 5.41891896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:63.91, Z:5.43 [[ 2.82645168e-01 -9.57512409e-01 -5.72860774e-02 9.53264201e+01] [ 9.40355326e-01 2.88377890e-01 -1.80471752e-01 6.39122882e+01] [ 1.89323981e-01 -2.85979917e-03 9.81910511e-01 5.42583503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:63.93, Z:5.44 [[ 2.85788715e-01 -9.55584250e-01 -7.19968811e-02 9.53436573e+01] [ 9.39078157e-01 2.94236434e-01 -1.77643285e-01 6.39341801e+01] [ 1.90937231e-01 -1.68422522e-02 9.81457749e-01 5.43955103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:63.97, Z:5.43 [[ 2.87969060e-01 -9.56528252e-01 -4.61250990e-02 9.53381771e+01] [ 9.38520282e-01 2.91468685e-01 -1.85001856e-01 6.39664241e+01] [ 1.90403523e-01 9.98546941e-03 9.81655127e-01 5.43257266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:63.99, Z:5.44 [[ 2.87479927e-01 -9.55935340e-01 -5.95224014e-02 9.53534392e+01] [ 9.38706817e-01 2.93551082e-01 -1.80713237e-01 6.39901879e+01] [ 1.90223036e-01 -3.92265562e-03 9.81733064e-01 5.44236041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:64.02, Z:5.46 [[ 2.89587914e-01 -9.54503971e-01 -7.11407665e-02 9.53702249e+01] [ 9.37469352e-01 2.97843801e-01 -1.80111865e-01 6.40161250e+01] [ 1.93106326e-01 -1.45340690e-02 9.81070185e-01 5.45616704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:64.05, Z:5.45 [[ 2.90889971e-01 -9.55403698e-01 -5.08605771e-02 9.53687240e+01] [ 9.37648555e-01 2.95248485e-01 -1.83421697e-01 6.40483417e+01] [ 1.90258276e-01 5.66618550e-03 9.81717720e-01 5.45076135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:64.07, Z:5.46 [[ 2.92358555e-01 -9.53879835e-01 -6.81156105e-02 9.53877701e+01] [ 9.36683051e-01 2.99987474e-01 -1.80644340e-01 6.40691371e+01] [ 1.92746823e-01 -1.09898198e-02 9.81186978e-01 5.46433232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:64.10, Z:5.47 [[ 2.92992392e-01 -9.53979526e-01 -6.38633063e-02 9.53963202e+01] [ 9.36479521e-01 2.99801697e-01 -1.82002885e-01 6.40960951e+01] [ 1.92773354e-01 -6.48121781e-03 9.81221906e-01 5.46909824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:64.13, Z:5.46 [[ 2.90757912e-01 -9.56018812e-01 -3.85728845e-02 9.53896857e+01] [ 9.38339370e-01 2.92797545e-01 -1.83817364e-01 6.41273719e+01] [ 1.87026904e-01 1.72518969e-02 9.82203293e-01 5.45797019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:64.15, Z:5.47 [[ 2.90101864e-01 -9.55325312e-01 -5.65195286e-02 9.54070736e+01] [ 9.38660890e-01 2.95552470e-01 -1.77663927e-01 6.41479782e+01] [ 1.86431333e-01 -1.51203448e-03 9.82466830e-01 5.46821734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:64.18, Z:5.48 [[ 2.89548756e-01 -9.55325813e-01 -5.92799166e-02 9.54192607e+01] [ 9.38405574e-01 2.95530459e-01 -1.79043925e-01 6.41754771e+01] [ 1.88564304e-01 -3.78665833e-03 9.82053545e-01 5.47634165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:64.19, Z:5.50 [[ 2.94345635e-01 -9.51402984e-01 -9.05152391e-02 9.54462735e+01] [ 9.35672536e-01 3.06169513e-01 -1.75434129e-01 6.41902876e+01] [ 1.94621561e-01 -3.30543533e-02 9.80321303e-01 5.49639108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:64.23, Z:5.48 [[ 2.89125849e-01 -9.56697211e-01 -3.37148220e-02 9.54208655e+01] [ 9.38422512e-01 2.90209303e-01 -1.87461330e-01 6.42281585e+01] [ 1.89128087e-01 2.25611682e-02 9.81693211e-01 5.47822982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:64.25, Z:5.49 [[ 2.89279605e-01 -9.55542292e-01 -5.70634557e-02 9.54422289e+01] [ 9.38062284e-01 2.94852710e-01 -1.81936886e-01 6.42501336e+01] [ 1.90673703e-01 -8.98445126e-04 9.81653061e-01 5.48516387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:64.27, Z:5.51 [[ 2.85927112e-01 -9.55751563e-01 -6.91710691e-02 9.54559969e+01] [ 9.38631953e-01 2.93874475e-01 -1.80576438e-01 6.42744715e+01] [ 1.92913824e-01 -1.32944763e-02 9.81125636e-01 5.50545162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:64.31, Z:5.50 [[ 2.83666072e-01 -9.57905124e-01 -4.41738876e-02 9.54492373e+01] [ 9.40075111e-01 2.86883799e-01 -1.84272817e-01 6.43054801e+01] [ 1.89188648e-01 1.07451738e-02 9.81881967e-01 5.49627226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:64.33, Z:5.51 [[ 2.80606737e-01 -9.58182876e-01 -5.60841782e-02 9.54645748e+01] [ 9.41052667e-01 2.86148401e-01 -1.80385618e-01 6.43332164e+01] [ 1.88890808e-01 -2.16074585e-03 9.81995720e-01 5.50657325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:64.36, Z:5.51 [[ 2.75302722e-01 -9.59239914e-01 -6.37745977e-02 9.54730665e+01] [ 9.42967178e-01 2.82354952e-01 -1.76319546e-01 6.43576799e+01] [ 1.87139819e-01 -1.15961015e-02 9.82264841e-01 5.50978740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:64.39, Z:5.51 [[ 2.78285921e-01 -9.59252324e-01 -4.89073230e-02 9.54733950e+01] [ 9.41951128e-01 2.82516305e-01 -1.81418327e-01 6.43883502e+01] [ 1.87843067e-01 4.41785796e-03 9.82189119e-01 5.51160947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:64.41, Z:5.52 [[ 2.78442737e-01 -9.58923421e-01 -5.41804014e-02 9.54810712e+01] [ 9.41418318e-01 2.83664986e-01 -1.82388942e-01 6.44136299e+01] [ 1.90266111e-01 -2.21546097e-04 9.81732529e-01 5.51667835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:64.44, Z:5.53 [[ 2.77755926e-01 -9.58576034e-01 -6.31160186e-02 9.54939466e+01] [ 9.41329488e-01 2.84692277e-01 -1.81243214e-01 6.44399151e+01] [ 1.91704044e-01 -9.07159278e-03 9.81410855e-01 5.52667155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:64.47, Z:5.52 [[ 2.75265602e-01 -9.60147493e-01 -4.84318121e-02 9.54924407e+01] [ 9.42271947e-01 2.79446448e-01 -1.84481057e-01 6.44716983e+01] [ 1.90663122e-01 5.14535131e-03 9.81642042e-01 5.52358258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:64.49, Z:5.55 [[ 2.79024122e-01 -9.56668486e-01 -8.32523133e-02 9.55186358e+01] [ 9.40556894e-01 2.89745577e-01 -1.77201100e-01 6.44874472e+01] [ 1.93644697e-01 -2.88601561e-02 9.80647145e-01 5.54524669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:64.53, Z:5.53 [[ 2.75001472e-01 -9.60707045e-01 -3.76319553e-02 9.55015562e+01] [ 9.41757872e-01 2.77044348e-01 -1.90626701e-01 6.45271819e+01] [ 1.93562135e-01 1.69824333e-02 9.80941026e-01 5.53148804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:64.55, Z:5.55 [[ 2.75257985e-01 -9.59504486e-01 -5.98680399e-02 9.55211511e+01] [ 9.41764634e-01 2.81633534e-01 -1.83744189e-01 6.45473567e+01] [ 1.93164221e-01 -5.80454761e-03 9.81149270e-01 5.54550621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:64.57, Z:5.55 [[ 2.74840954e-01 -9.59614848e-01 -6.00149479e-02 9.55287404e+01] [ 9.42107609e-01 2.81245237e-01 -1.82577027e-01 6.45727950e+01] [ 1.92082544e-01 -6.36089474e-03 9.81358159e-01 5.54890227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:64.60, Z:5.56 [[ 2.74797774e-01 -9.59549003e-01 -6.12527001e-02 9.55374943e+01] [ 9.41965858e-01 2.81444148e-01 -1.83001405e-01 6.46007336e+01] [ 1.92838030e-01 -7.40957348e-03 9.81202626e-01 5.55797279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:64.63, Z:5.56 [[ 2.74599291e-01 -9.60150823e-01 -5.20156416e-02 9.55404231e+01] [ 9.42351811e-01 2.79478264e-01 -1.84024356e-01 6.46300418e+01] [ 1.91228378e-01 1.51592369e-03 9.81544400e-01 5.55932617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:64.66, Z:5.56 [[ 2.74285347e-01 -9.60646937e-01 -4.38749533e-02 9.55432788e+01] [ 9.43157087e-01 2.77635211e-01 -1.82683877e-01 6.46588137e+01] [ 1.87675939e-01 8.72653746e-03 9.82192237e-01 5.55709509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40804094199999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.56, Y:64.68, Z:5.57 [[ 2.77785859e-01 -9.58702619e-01 -6.10270832e-02 9.55615313e+01] [ 9.41244608e-01 2.84328774e-01 -1.82251846e-01 6.46837430e+01] [ 1.92077078e-01 -6.81442737e-03 9.81356184e-01 5.57135105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:64.71, Z:5.58 [[ 2.79287453e-01 -9.58323349e-01 -6.01238589e-02 9.55692253e+01] [ 9.41522910e-01 2.85607743e-01 -1.78781505e-01 6.47104420e+01] [ 1.88502330e-01 -6.67655959e-03 9.82050047e-01 5.57666596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:64.74, Z:5.58 [[ 2.80089427e-01 -9.58400780e-01 -5.49350369e-02 9.55751683e+01] [ 9.41085904e-01 2.85424474e-01 -1.81356527e-01 6.47400810e+01] [ 1.89492041e-01 -9.02543185e-04 9.81881842e-01 5.58045678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:64.76, Z:5.59 [[ 2.82600697e-01 -9.57089440e-01 -6.41611205e-02 9.55878712e+01] [ 9.40237186e-01 2.89629658e-01 -1.79077347e-01 6.47624002e+01] [ 1.89976001e-01 -9.71928834e-03 9.81740625e-01 5.59039702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:64.79, Z:5.59 [[ 2.86009310e-01 -9.56373683e-01 -5.95655361e-02 9.55937051e+01] [ 9.39019943e-01 2.92118098e-01 -1.81407178e-01 6.47900645e+01] [ 1.90893222e-01 -4.04908466e-03 9.81602457e-01 5.59461828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:64.82, Z:5.60 [[ 2.86187029e-01 -9.56560259e-01 -5.55828745e-02 9.55995365e+01] [ 9.38922566e-01 2.91534650e-01 -1.82844097e-01 6.48181674e+01] [ 1.91105731e-01 1.39593882e-04 9.81569447e-01 5.59762372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:64.84, Z:5.61 [[ 2.87069939e-01 -9.55741886e-01 -6.44072857e-02 9.56117590e+01] [ 9.38191899e-01 2.94096633e-01 -1.82491455e-01 6.48410126e+01] [ 1.93356694e-01 -8.03858267e-03 9.81095597e-01 5.60736353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:64.87, Z:5.61 [[ 2.85938694e-01 -9.56554668e-01 -5.69405947e-02 9.56145053e+01] [ 9.38716668e-01 2.91551714e-01 -1.83871191e-01 6.48685885e+01] [ 1.92483974e-01 -8.75197261e-04 9.81299727e-01 5.60817422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:64.89, Z:5.61 [[ 2.80058750e-01 -9.58229937e-01 -5.79869355e-02 9.56189485e+01] [ 9.40847039e-01 2.85975478e-01 -1.81727473e-01 6.48934780e+01] [ 1.90719547e-01 -3.66246763e-03 9.81637734e-01 5.60727241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:64.92, Z:5.62 [[ 2.83251221e-01 -9.56648650e-01 -6.77650831e-02 9.56353808e+01] [ 9.39764764e-01 2.90960096e-01 -1.79400143e-01 6.49205198e+01] [ 1.91339839e-01 -1.28679278e-02 9.81439495e-01 5.61627767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:64.95, Z:5.61 [[ 2.76575986e-01 -9.60428367e-01 -3.29101291e-02 9.56187886e+01] [ 9.42208340e-01 2.77748802e-01 -1.87347395e-01 6.49519267e+01] [ 1.89074501e-01 2.08075923e-02 9.81742266e-01 5.61071277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:64.97, Z:5.62 [[ 2.71693026e-01 -9.61106029e-01 -4.95792249e-02 9.56320909e+01] [ 9.43867137e-01 2.76168841e-01 -1.81233550e-01 6.49731369e+01] [ 1.87876895e-01 2.44369070e-03 9.82189544e-01 5.62024481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:64.99, Z:5.63 [[ 2.71008676e-01 -9.58556907e-01 -8.78803426e-02 9.56597868e+01] [ 9.44622162e-01 2.82394177e-01 -1.67160106e-01 6.49907144e+01] [ 1.85049371e-01 -3.77118803e-02 9.82005369e-01 5.63331613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:65.03, Z:5.62 [[ 2.66268339e-01 -9.63642019e-01 -2.22537976e-02 9.56290574e+01] [ 9.45792125e-01 2.65650789e-01 -1.86833922e-01 6.50305722e+01] [ 1.85952757e-01 2.87004917e-02 9.82139427e-01 5.62270536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:65.05, Z:5.63 [[ 2.63443925e-01 -9.63853765e-01 -3.97896688e-02 9.56445116e+01] [ 9.46054312e-01 2.66203964e-01 -1.84707033e-01 6.50547160e+01] [ 1.88622737e-01 1.10167580e-02 9.81987828e-01 5.63233707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:65.08, Z:5.64 [[ 2.60782366e-01 -9.63736398e-01 -5.66101833e-02 9.56598043e+01] [ 9.47277593e-01 2.66755196e-01 -1.77501627e-01 6.50775169e+01] [ 1.86165839e-01 -7.33626401e-03 9.82490946e-01 5.64313602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:65.10, Z:5.65 [[ 2.64594671e-01 -9.62221967e-01 -6.41759043e-02 9.56709713e+01] [ 9.46802576e-01 2.71842250e-01 -1.72240160e-01 6.51027184e+01] [ 1.83178988e-01 -1.51880830e-02 9.82962248e-01 5.64992999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:65.14, Z:5.65 [[ 2.62358440e-01 -9.63907189e-01 -4.52877542e-02 9.56666025e+01] [ 9.47063025e-01 2.66205470e-01 -1.79461066e-01 6.51350721e+01] [ 1.85039659e-01 4.19276783e-03 9.82722110e-01 5.65238171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:65.16, Z:5.67 [[ 2.65134383e-01 -9.62563112e-01 -5.63561299e-02 9.56776473e+01] [ 9.45841350e-01 2.70993120e-01 -1.78736874e-01 6.51606833e+01] [ 1.87317645e-01 -5.91466720e-03 9.82281587e-01 5.66575575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:65.19, Z:5.67 [[ 2.66512367e-01 -9.62251635e-01 -5.51629251e-02 9.56819433e+01] [ 9.45269709e-01 2.72129480e-01 -1.80029787e-01 6.51861689e+01] [ 1.88245415e-01 -4.16367745e-03 9.82113195e-01 5.67062978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:65.22, Z:5.68 [[ 2.68253570e-01 -9.61833709e-01 -5.39994291e-02 9.56876525e+01] [ 9.44535276e-01 2.73625085e-01 -1.81610640e-01 6.52156396e+01] [ 1.89454834e-01 -2.28666313e-03 9.81886774e-01 5.67577215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:65.24, Z:5.68 [[ 2.71550052e-01 -9.60992060e-01 -5.24864740e-02 9.56902029e+01] [ 9.43105132e-01 2.76575276e-01 -1.84550338e-01 6.52426018e+01] [ 1.91867871e-01 6.14391096e-04 9.81420574e-01 5.68027286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:65.26, Z:5.70 [[ 2.73616887e-01 -9.59320849e-01 -6.95507635e-02 9.57067470e+01] [ 9.42166252e-01 2.81868910e-01 -1.81308222e-01 6.52647781e+01] [ 1.93536955e-01 -1.59193910e-02 9.80963822e-01 5.69520944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:65.29, Z:5.70 [[ 2.77610358e-01 -9.58014725e-01 -7.16957175e-02 9.57150373e+01] [ 9.41546770e-01 2.86144146e-01 -1.77795411e-01 6.52940779e+01] [ 1.90845932e-01 -1.81470235e-02 9.81452248e-01 5.69632319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:65.33, Z:5.70 [[ 2.74413248e-01 -9.60726893e-01 -4.12456839e-02 9.57036942e+01] [ 9.42159601e-01 2.77198399e-01 -1.88404707e-01 6.53276022e+01] [ 1.92438706e-01 1.28407304e-02 9.81224979e-01 5.69993085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:65.35, Z:5.71 [[ 2.74013553e-01 -9.60391319e-01 -5.06466864e-02 9.57135016e+01] [ 9.42754330e-01 2.78643979e-01 -1.83226109e-01 6.53524620e+01] [ 1.90081159e-01 2.45905423e-03 9.81765301e-01 5.70675263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:65.38, Z:5.71 [[ 2.76889560e-01 -9.58557887e-01 -6.70741989e-02 9.57304365e+01] [ 9.42307335e-01 2.84534845e-01 -1.76342873e-01 6.53775805e+01] [ 1.88119799e-01 -1.43770091e-02 9.82040856e-01 5.71310135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:65.41, Z:5.72 [[ 2.75451997e-01 -9.60174487e-01 -4.68097455e-02 9.57220949e+01] [ 9.42241184e-01 2.79318150e-01 -1.84832146e-01 6.54064768e+01] [ 1.90545922e-01 6.80631364e-03 9.81654688e-01 5.71922572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:65.43, Z:5.73 [[ 2.72148345e-01 -9.59389342e-01 -7.42116491e-02 9.57406025e+01] [ 9.44001413e-01 2.81141175e-01 -1.72687499e-01 6.54268974e+01] [ 1.86538496e-01 -2.30592845e-02 9.82177000e-01 5.72526048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:65.47, Z:5.72 [[ 2.75023318e-01 -9.61122434e-01 -2.46138547e-02 9.57194896e+01] [ 9.42544883e-01 2.74580900e-01 -1.90301008e-01 6.54651154e+01] [ 1.89661062e-01 2.91375519e-02 9.81417182e-01 5.72084837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:65.48, Z:5.74 [[ 2.76138355e-01 -9.59163671e-01 -6.12589741e-02 9.57455164e+01] [ 9.41811180e-01 2.82752226e-01 -1.81777009e-01 6.54844332e+01] [ 1.91675015e-01 -7.49878243e-03 9.81429802e-01 5.73837651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:65.51, Z:5.74 [[ 2.76421627e-01 -9.59435730e-01 -5.54451524e-02 9.57491146e+01] [ 9.41465950e-01 2.81925253e-01 -1.84824288e-01 6.55133001e+01] [ 1.92958415e-01 -1.11029252e-03 9.81206307e-01 5.74306913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:65.54, Z:5.75 [[ 2.75642253e-01 -9.59683028e-01 -5.50439289e-02 9.57498725e+01] [ 9.41815889e-01 2.81082580e-01 -1.84324208e-01 6.55377941e+01] [ 1.92364704e-01 -1.03370695e-03 9.81322960e-01 5.74503302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:65.56, Z:5.78 [[ 2.77513313e-01 -9.56009489e-01 -9.50379824e-02 9.57819860e+01] [ 9.38568509e-01 2.90905435e-01 -1.85642616e-01 6.55604047e+01] [ 2.05123168e-01 -3.76813600e-02 9.78010532e-01 5.77855679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:65.60, Z:5.75 [[ 2.72210730e-01 -9.62102180e-01 -1.61465980e-02 9.57401289e+01] [ 9.42220666e-01 2.69915401e-01 -1.98408400e-01 6.56003183e+01] [ 1.95247370e-01 3.87952372e-02 9.79986426e-01 5.74528224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:65.61, Z:5.79 [[ 2.75649755e-01 -9.57099401e-01 -8.93193708e-02 9.57890703e+01] [ 9.38708051e-01 2.88027139e-01 -1.89387336e-01 6.56109367e+01] [ 2.06988909e-01 -3.16402396e-02 9.77831523e-01 5.78512699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:65.64, Z:5.78 [[ 2.73841377e-01 -9.60000297e-01 -5.83980301e-02 9.57795756e+01] [ 9.39927530e-01 2.79995426e-01 -1.95291577e-01 6.56422136e+01] [ 2.03831154e-01 -1.41100178e-03 9.79005041e-01 5.77934778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:65.67, Z:5.78 [[ 2.73508161e-01 -9.60103968e-01 -5.82550940e-02 9.57872310e+01] [ 9.40038127e-01 2.79640011e-01 -1.95268492e-01 6.56691595e+01] [ 2.03768509e-01 -1.35448336e-03 9.79018161e-01 5.78485654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:65.70, Z:5.80 [[ 2.70736112e-01 -9.60465780e-01 -6.48648033e-02 9.57973285e+01] [ 9.40643880e-01 2.78271032e-01 -1.94304719e-01 6.56977779e+01] [ 2.04673030e-01 -8.40937611e-03 9.78794275e-01 5.79601194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:65.72, Z:5.79 [[ 2.69595939e-01 -9.61814165e-01 -4.72392021e-02 9.57910430e+01] [ 9.41798962e-01 2.73581060e-01 -1.95366626e-01 6.57232573e+01] [ 2.00830139e-01 8.18021727e-03 9.79591925e-01 5.78943176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60804094199997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.81, Y:65.75, Z:5.80 [[ 2.66553018e-01 -9.61793339e-01 -6.24744942e-02 9.58052343e+01] [ 9.42839194e-01 2.73653357e-01 -1.90179109e-01 6.57513784e+01] [ 2.00009355e-01 -8.21058632e-03 9.79759585e-01 5.80214644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:65.78, Z:5.80 [[ 2.63612441e-01 -9.63841776e-01 -3.89552615e-02 9.57981977e+01] [ 9.44308423e-01 2.66094130e-01 -1.93585940e-01 6.57841836e+01] [ 1.96951983e-01 1.42458805e-02 9.80309630e-01 5.79650000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:65.80, Z:5.82 [[ 2.62619739e-01 -9.61966645e-01 -7.51734389e-02 9.58235610e+01] [ 9.44047639e-01 2.72272483e-01 -1.86122946e-01 6.58026012e+01] [ 1.99511725e-01 -2.20877480e-02 9.79646468e-01 5.81634990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:65.84, Z:5.81 [[ 2.60254753e-01 -9.64170344e-01 -5.14102151e-02 9.58183053e+01] [ 9.44696222e-01 2.65278995e-01 -1.92811053e-01 6.58351545e+01] [ 1.99540750e-01 1.61295712e-03 9.79888202e-01 5.81452671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:65.86, Z:5.81 [[ 2.57274825e-01 -9.65166840e-01 -4.75671586e-02 9.58205252e+01] [ 9.46400360e-01 2.61608732e-01 -1.89439253e-01 6.58612581e+01] [ 1.95284469e-01 3.72037464e-03 9.80739586e-01 5.81282277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:65.89, Z:5.81 [[ 2.52998611e-01 -9.66721514e-01 -3.79633748e-02 9.58173334e+01] [ 9.48171001e-01 2.55559636e-01 -1.88841269e-01 6.58880173e+01] [ 1.92258824e-01 1.17808076e-02 9.81273539e-01 5.80859163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:65.91, Z:5.81 [[ 2.51845739e-01 -9.66807171e-01 -4.31000812e-02 9.58260216e+01] [ 9.48840179e-01 2.55440126e-01 -1.85614270e-01 6.59145014e+01] [ 1.90462697e-01 5.85107416e-03 9.81676997e-01 5.81250535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.85, Y:65.94, Z:5.82 [[ 2.57004417e-01 -9.63717169e-01 -7.20968013e-02 9.58519248e+01] [ 9.47726874e-01 2.65931935e-01 -1.76334846e-01 6.59365941e+01] [ 1.89109761e-01 -2.30092417e-02 9.81686342e-01 5.82192401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:65.97, Z:5.82 [[ 2.53328369e-01 -9.66955191e-01 -2.86774298e-02 9.58319158e+01] [ 9.48258616e-01 2.54076792e-01 -1.90395853e-01 6.59699321e+01] [ 1.91390528e-01 2.10390511e-02 9.81288451e-01 5.81895679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:65.99, Z:5.83 [[ 2.57680067e-01 -9.64909753e-01 -5.04990256e-02 9.58505156e+01] [ 9.46123270e-01 2.62579650e-01 -1.89480041e-01 6.59877497e+01] [ 1.96091156e-01 1.04692645e-03 9.80585112e-01 5.83115703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:66.02, Z:5.84 [[ 2.59975482e-01 -9.64044619e-01 -5.50519906e-02 9.58623553e+01] [ 9.45689505e-01 2.65718926e-01 -1.87256006e-01 6.60189788e+01] [ 1.95151501e-01 -3.38011930e-03 9.80767285e-01 5.84038517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:66.04, Z:5.85 [[ 2.65958535e-01 -9.61429753e-01 -7.01347758e-02 9.58803476e+01] [ 9.44799314e-01 2.74417539e-01 -1.79023099e-01 6.60436822e+01] [ 1.91364346e-01 -1.86505669e-02 9.81341859e-01 5.84516430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:66.07, Z:5.84 [[ 2.70778786e-01 -9.61254116e-01 -5.16659849e-02 9.58795784e+01] [ 9.43286986e-01 2.75660458e-01 -1.84989117e-01 6.60748010e+01] [ 1.92063819e-01 1.35527730e-03 9.81381502e-01 5.84460795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:66.10, Z:5.85 [[ 2.67328454e-01 -9.63100715e-01 -3.11851043e-02 9.58729369e+01] [ 9.43808339e-01 2.68225456e-01 -1.93082686e-01 6.61032842e+01] [ 1.94322711e-01 2.21837344e-02 9.80686783e-01 5.85033252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:66.12, Z:5.86 [[ 2.73740170e-01 -9.58845758e-01 -7.53732817e-02 9.59084100e+01] [ 9.42239555e-01 2.83073081e-01 -1.79037013e-01 6.61201063e+01] [ 1.93005028e-01 -2.20100649e-02 9.80950874e-01 5.86347149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:66.15, Z:5.86 [[ 2.75461623e-01 -9.60927757e-01 -2.71797650e-02 9.58889265e+01] [ 9.40416200e-01 2.75229252e-01 -1.99665293e-01 6.61461210e+01] [ 1.99344589e-01 2.94398343e-02 9.79487127e-01 5.85970618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:66.17, Z:5.87 [[ 2.72976626e-01 -9.60049449e-01 -6.15533646e-02 9.59161250e+01] [ 9.42164113e-01 2.79727175e-01 -1.84606313e-01 6.61689557e+01] [ 1.94449338e-01 -7.60016272e-03 9.80883119e-01 5.87373109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:66.20, Z:5.88 [[ 2.76784638e-01 -9.59829954e-01 -4.60078639e-02 9.59215435e+01] [ 9.40864767e-01 2.80427303e-01 -1.90089501e-01 6.61996129e+01] [ 1.95355458e-01 9.32667550e-03 9.80688155e-01 5.87920378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:66.22, Z:5.89 [[ 2.81024267e-01 -9.56940862e-01 -7.27292760e-02 9.59467504e+01] [ 9.39184253e-01 2.89811797e-01 -1.84233713e-01 6.62196720e+01] [ 1.97378571e-01 -1.65320466e-02 9.80187937e-01 5.89027385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:66.25, Z:5.89 [[ 2.78793866e-01 -9.59584849e-01 -3.83522734e-02 9.59375683e+01] [ 9.39865190e-01 2.80833725e-01 -1.94385813e-01 6.62538612e+01] [ 1.97300293e-01 1.81476057e-02 9.80175116e-01 5.89090016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:66.28, Z:5.90 [[ 2.79748875e-01 -9.58752038e-01 -5.03497541e-02 9.59561301e+01] [ 9.39545910e-01 2.84177516e-01 -1.91040890e-01 6.62771243e+01] [ 1.97469111e-01 6.13756849e-03 9.80289896e-01 5.89937792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:66.30, Z:5.91 [[ 2.76494332e-01 -9.58627239e-01 -6.77104221e-02 9.59725262e+01] [ 9.40816371e-01 2.84379812e-01 -1.84371036e-01 6.62974112e+01] [ 1.95998575e-01 -1.27255272e-02 9.80521606e-01 5.90575247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:66.33, Z:5.91 [[ 2.79673048e-01 -9.59519540e-01 -3.32451302e-02 9.59659798e+01] [ 9.39873178e-01 2.80687671e-01 -1.94558066e-01 6.63305155e+01] [ 1.96013765e-01 2.31664413e-02 9.80327456e-01 5.90572974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:66.35, Z:5.92 [[ 2.81971818e-01 -9.57352247e-01 -6.29965757e-02 9.59952169e+01] [ 9.38829587e-01 2.88855276e-01 -1.87514363e-01 6.63475623e+01] [ 1.97714190e-01 -6.26928331e-03 9.80239662e-01 5.92296757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:66.38, Z:5.93 [[ 2.81420752e-01 -9.58383656e-01 -4.79909240e-02 9.59980825e+01] [ 9.38072558e-01 2.85297912e-01 -1.96532381e-01 6.63786903e+01] [ 2.02045132e-01 1.02893216e-02 9.79322161e-01 5.92655458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:66.40, Z:5.95 [[ 2.83354632e-01 -9.55821488e-01 -7.82012518e-02 9.60295526e+01] [ 9.37214750e-01 2.93279052e-01 -1.88721779e-01 6.63957831e+01] [ 2.03319121e-01 -1.98161765e-02 9.78911975e-01 5.94679596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:66.43, Z:5.93 [[ 2.78077347e-01 -9.59852600e-01 -3.68235796e-02 9.60155048e+01] [ 9.39535883e-01 2.79767883e-01 -1.97489891e-01 6.64319754e+01] [ 1.99863240e-01 2.03203904e-02 9.79613070e-01 5.93481462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:66.46, Z:5.94 [[ 2.74404789e-01 -9.60784566e-01 -3.99378243e-02 9.60264372e+01] [ 9.39500070e-01 2.76718684e-01 -2.01906881e-01 6.64578576e+01] [ 2.05040557e-01 1.78826264e-02 9.78590099e-01 5.94171118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:66.48, Z:5.95 [[ 2.69920247e-01 -9.61098150e-01 -5.85952833e-02 9.60491229e+01] [ 9.41367504e-01 2.76192281e-01 -1.93765443e-01 6.64789867e+01] [ 2.02411174e-01 -2.85847926e-03 9.79296454e-01 5.95144018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:66.50, Z:5.95 [[ 2.64277087e-01 -9.63511954e-01 -4.24539144e-02 9.60476337e+01] [ 9.43596408e-01 2.67416634e-01 -1.95228490e-01 6.65043969e+01] [ 1.99457867e-01 1.15350555e-02 9.79838508e-01 5.94849307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:66.52, Z:5.98 [[ 2.64481435e-01 -9.61009356e-01 -8.06882197e-02 9.60851180e+01] [ 9.42701512e-01 2.75271346e-01 -1.88519352e-01 6.65211238e+01] [ 2.03380016e-01 -2.62050380e-02 9.78749133e-01 5.97663293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:66.55, Z:5.98 [[ 2.63332890e-01 -9.62246093e-01 -6.88349166e-02 9.60905432e+01] [ 9.42335982e-01 2.71847714e-01 -1.95196613e-01 6.65487388e+01] [ 2.06539793e-01 -1.34639304e-02 9.78345561e-01 5.98208925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:66.58, Z:5.98 [[ 2.57852684e-01 -9.64024137e-01 -6.45713340e-02 9.60967855e+01] [ 9.43812836e-01 2.65617376e-01 -1.96633517e-01 6.65784778e+01] [ 2.06710725e-01 -1.02407736e-02 9.78348508e-01 5.98145725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:66.61, Z:5.98 [[ 2.54542799e-01 -9.66403909e-01 -3.56573878e-02 9.60946504e+01] [ 9.45351621e-01 2.56428205e-01 -2.01382443e-01 6.66083936e+01] [ 2.03760340e-01 1.75516813e-02 9.78863454e-01 5.97905987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:66.62, Z:6.00 [[ 2.55773784e-01 -9.64461496e-01 -6.62857031e-02 9.61220746e+01] [ 9.44204653e-01 2.63941735e-01 -1.97008461e-01 6.66243224e+01] [ 2.07502639e-01 -1.21976698e-02 9.78158408e-01 5.99858716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:66.66, Z:5.99 [[ 2.51478767e-01 -9.66890734e-01 -4.33674817e-02 9.61224738e+01] [ 9.46031525e-01 2.55022628e-01 -1.99969529e-01 6.66575502e+01] [ 2.04408374e-01 9.26108577e-03 9.78841892e-01 5.99316251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:66.68, Z:6.00 [[ 2.51489248e-01 -9.66067070e-01 -5.88861063e-02 9.61397748e+01] [ 9.46300734e-01 2.58201847e-01 -1.94542355e-01 6.66765922e+01] [ 2.03145464e-01 -6.79865495e-03 9.79124966e-01 6.00420401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:66.71, Z:6.00 [[ 2.51217696e-01 -9.67240407e-01 -3.65467511e-02 9.61381183e+01] [ 9.45049478e-01 2.53265406e-01 -2.06731997e-01 6.67090935e+01] [ 2.09215568e-01 1.73962477e-02 9.77714793e-01 6.00234519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:66.73, Z:6.02 [[ 2.52842997e-01 -9.65054311e-01 -6.88519768e-02 9.61675814e+01] [ 9.44911798e-01 2.61602035e-01 -1.96738582e-01 6.67285672e+01] [ 2.07875234e-01 -1.53150726e-02 9.78035447e-01 6.02172100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:66.75, Z:6.03 [[ 2.55358603e-01 -9.64111055e-01 -7.26763938e-02 9.61813547e+01] [ 9.43190324e-01 2.64932017e-01 -2.00506957e-01 6.67537754e+01] [ 2.12565277e-01 -1.73464949e-02 9.76992887e-01 6.03492258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:66.78, Z:6.03 [[ 2.54010278e-01 -9.66310577e-01 -4.15047780e-02 9.61753237e+01] [ 9.44018179e-01 2.57032556e-01 -2.06794444e-01 6.67840834e+01] [ 2.10495738e-01 1.33466493e-02 9.77503663e-01 6.02522286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:66.81, Z:6.04 [[ 2.54411996e-01 -9.65155200e-01 -6.12370547e-02 9.61961200e+01] [ 9.43851974e-01 2.61598204e-01 -2.01766772e-01 6.68053954e+01] [ 2.10755752e-01 -6.46682791e-03 9.77517362e-01 6.04010885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:66.83, Z:6.05 [[ 2.54507905e-01 -9.65288501e-01 -5.86842039e-02 9.62063230e+01] [ 9.43446538e-01 2.61163938e-01 -2.04210741e-01 6.68325414e+01] [ 2.12448478e-01 -3.39216122e-03 9.77166382e-01 6.04786798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:66.86, Z:6.06 [[ 2.54108176e-01 -9.65234568e-01 -6.12475600e-02 9.62199212e+01] [ 9.43374125e-01 2.61319664e-01 -2.04346013e-01 6.68559428e+01] [ 2.13247028e-01 -5.85337068e-03 9.76980779e-01 6.05699482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.23, Y:66.87, Z:6.06 [[ 2.55824856e-01 -9.64623960e-01 -6.36730595e-02 9.62298834e+01] [ 9.42693891e-01 2.63518192e-01 -2.04661646e-01 6.68735779e+01] [ 2.14200537e-01 -7.66666815e-03 9.76759618e-01 6.06228731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:66.91, Z:6.07 [[ 2.54211536e-01 -9.65763939e-01 -5.17349916e-02 9.62348363e+01] [ 9.43092214e-01 2.59390009e-01 -2.08071863e-01 6.69079753e+01] [ 2.14367842e-01 4.10340010e-03 9.76744383e-01 6.06651244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.26, Y:66.93, Z:6.08 [[ 2.55938494e-01 -9.64307224e-01 -6.78753594e-02 9.62574735e+01] [ 9.42194282e-01 2.64543765e-01 -2.05636894e-01 6.69301745e+01] [ 2.16253146e-01 -1.13213784e-02 9.76271685e-01 6.08304810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.018040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.27, Y:66.95, Z:6.10 [[ 2.60556210e-01 -9.62490183e-01 -7.56512376e-02 9.62717539e+01] [ 9.40330999e-01 2.70755309e-01 -2.06080506e-01 6.69536265e+01] [ 2.18833438e-01 -1.74416481e-02 9.75606332e-01 6.09729373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.26, Y:66.99, Z:6.09 [[ 2.60689427e-01 -9.64409485e-01 -4.42195519e-02 9.62622328e+01] [ 9.40466437e-01 2.64031136e-01 -2.14033736e-01 6.69889708e+01] [ 2.18091504e-01 1.42093274e-02 9.75824877e-01 6.08707128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07804094199997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:96.29, Y:67.01, Z:6.12 [[ 2.65541065e-01 -9.60081105e-01 -8.79330100e-02 9.62949778e+01] [ 9.37327001e-01 2.78435901e-01 -2.09503085e-01 6.70063457e+01] [ 2.25623661e-01 -2.67903121e-02 9.73846108e-01 6.11847492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:67.04, Z:6.10 [[ 2.65075648e-01 -9.63346389e-01 -4.12145117e-02 9.62760905e+01] [ 9.39526586e-01 2.67661929e-01 -2.13651316e-01 6.70429271e+01] [ 2.16851780e-01 1.79116316e-02 9.76040204e-01 6.09903377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.30, Y:67.06, Z:6.12 [[ 2.69003490e-01 -9.60726097e-01 -6.81358128e-02 9.62975472e+01] [ 9.37226822e-01 2.77409677e-01 -2.11304889e-01 6.70644592e+01] [ 2.21907655e-01 -7.01695869e-03 9.75042438e-01 6.11851817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:67.09, Z:6.12 [[ 2.70212265e-01 -9.60751882e-01 -6.27785993e-02 9.63016371e+01] [ 9.36913282e-01 2.77405861e-01 -2.12695769e-01 6.70908077e+01] [ 2.21763011e-01 -1.34509803e-03 9.75099665e-01 6.12200695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19804094199998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:96.30, Y:67.12, Z:6.12 [[ 2.69641617e-01 -9.61454271e-01 -5.38431304e-02 9.63032064e+01] [ 9.37540340e-01 2.74875452e-01 -2.13217250e-01 6.71195202e+01] [ 2.19798791e-01 7.01213731e-03 9.75520026e-01 6.12211959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.32, Y:67.14, Z:6.13 [[ 2.69508539e-01 -9.60751693e-01 -6.57368377e-02 9.63160888e+01] [ 9.37392701e-01 2.77367266e-01 -2.10623654e-01 6.71423794e+01] [ 2.20590279e-01 -4.85635836e-03 9.75354471e-01 6.13398776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25804094199998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.33, Y:67.16, Z:6.16 [[ 2.67627418e-01 -9.59950307e-01 -8.28913373e-02 9.63265949e+01] [ 9.36673936e-01 2.79372601e-01 -2.11170280e-01 6.71588803e+01] [ 2.25870544e-01 -2.11271983e-02 9.73928200e-01 6.15522554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28804094199998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.31, Y:67.20, Z:6.13 [[ 2.66761442e-01 -9.63189011e-01 -3.32454708e-02 9.63121037e+01] [ 9.38782402e-01 2.67495417e-01 -2.17103211e-01 6.72019060e+01] [ 2.18004438e-01 2.67045028e-02 9.75582357e-01 6.13239193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31804094199998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:96.34, Y:67.22, Z:6.15 [[ 2.67366746e-01 -9.61259861e-01 -6.70410556e-02 9.63350367e+01] [ 9.39156250e-01 2.75524094e-01 -2.05114629e-01 6.72160262e+01] [ 2.15639886e-01 -8.12119536e-03 9.76439187e-01 6.15077649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:67.25, Z:6.15 [[ 2.62834388e-01 -9.63904170e-01 -4.25068844e-02 9.63294475e+01] [ 9.39140561e-01 2.65685536e-01 -2.17775578e-01 6.72501529e+01] [ 2.21208252e-01 1.73189713e-02 9.75072799e-01 6.14743846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.35, Y:67.27, Z:6.16 [[ 2.60692454e-01 -9.63222494e-01 -6.51296522e-02 9.63490357e+01] [ 9.39822738e-01 2.68634140e-01 -2.11113524e-01 6.72722787e+01] [ 2.20845343e-01 -6.17462568e-03 9.75289295e-01 6.16343873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:67.29, Z:6.19 [[ 2.58458720e-01 -9.61975893e-01 -8.83259411e-02 9.63651634e+01] [ 9.39218060e-01 2.71623692e-01 -2.09976201e-01 6.72882624e+01] [ 2.25983462e-01 -2.86871388e-02 9.73708644e-01 6.18830048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.36, Y:67.32, Z:6.18 [[ 2.58418395e-01 -9.64155369e-01 -6.02026353e-02 9.63585614e+01] [ 9.39222480e-01 2.65338204e-01 -2.17845751e-01 6.73207316e+01] [ 2.26011210e-01 -2.48319106e-04 9.74124669e-01 6.18341164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.35, Y:67.36, Z:6.17 [[ 2.54372083e-01 -9.66544094e-01 -3.29751232e-02 9.63542122e+01] [ 9.41545358e-01 2.55292282e-01 -2.19813989e-01 6.73587041e+01] [ 2.20878207e-01 2.48669680e-02 9.74984334e-01 6.16773879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:67.38, Z:6.20 [[ 2.53674417e-01 -9.64254868e-01 -7.65626531e-02 9.63849801e+01] [ 9.40636751e-01 2.64363240e-01 -2.12872214e-01 6.73770481e+01] [ 2.25503419e-01 -1.80174105e-02 9.74075757e-01 6.19578919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:67.40, Z:6.19 [[ 2.52229276e-01 -9.65867524e-01 -5.89942144e-02 9.63809686e+01] [ 9.41614726e-01 2.59033281e-01 -2.15089438e-01 6.74014646e+01] [ 2.23029368e-01 -1.29796761e-03 9.74810862e-01 6.19053078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.558040942 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:96.39, Y:67.43, Z:6.20 [[ 2.48093440e-01 -9.67330926e-01 -5.21586434e-02 9.63851704e+01] [ 9.42078411e-01 2.53460431e-01 -2.19649898e-01 6.74349416e+01] [ 2.25694292e-01 5.35616689e-03 9.74183452e-01 6.19582803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:67.45, Z:6.22 [[ 2.45548097e-01 -9.66100028e-01 -7.97299682e-02 9.64021474e+01] [ 9.41464946e-01 2.57265329e-01 -2.17849272e-01 6.74501726e+01] [ 2.30975944e-01 -2.15704962e-02 9.72720323e-01 6.22015846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:67.48, Z:6.21 [[ 2.43406075e-01 -9.68875336e-01 -4.51006189e-02 9.63908059e+01] [ 9.41059112e-01 2.47166376e-01 -2.30903723e-01 6.74846282e+01] [ 2.34864279e-01 1.37610206e-02 9.71930761e-01 6.21408945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.41, Y:67.49, Z:6.23 [[ 2.46727383e-01 -9.65648705e-01 -8.15363499e-02 9.64146734e+01] [ 9.41740589e-01 2.58761336e-01 -2.14865618e-01 6.74901392e+01] [ 2.28583161e-01 -2.37728585e-02 9.73234088e-01 6.23106076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:67.53, Z:6.23 [[ 2.42686736e-01 -9.68657114e-01 -5.29768305e-02 9.64068280e+01] [ 9.42517424e-01 2.48364083e-01 -2.23553545e-01 6.75288362e+01] [ 2.29704274e-01 4.32189432e-03 9.73250876e-01 6.22806139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:67.56, Z:6.22 [[ 2.40915172e-01 -9.69936986e-01 -3.43820168e-02 9.64044477e+01] [ 9.44406142e-01 2.42445788e-01 -2.22074491e-01 6.75635949e+01] [ 2.23734037e-01 2.10305262e-02 9.74423315e-01 6.21805590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.738040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.43, Y:67.58, Z:6.24 [[ 2.40373104e-01 -9.68590357e-01 -6.36670418e-02 9.64259440e+01] [ 9.44243098e-01 2.48526432e-01 -2.15961996e-01 6.75835659e+01] [ 2.25001650e-01 -8.20570945e-03 9.74323829e-01 6.23700788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.42, Y:67.61, Z:6.24 [[ 2.38977547e-01 -9.69565000e-01 -5.32300858e-02 9.64241480e+01] [ 9.44883549e-01 2.44828467e-01 -2.17380082e-01 6.76089823e+01] [ 2.23796359e-01 1.65272617e-03 9.74634525e-01 6.23530942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79804094199997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:96.42, Y:67.64, Z:6.23 [[ 2.35566904e-01 -9.71265376e-01 -3.39382283e-02 9.64195150e+01] [ 9.44574616e-01 2.37030436e-01 -2.27146137e-01 6.76396626e+01] [ 2.28663572e-01 2.14509235e-02 9.73269145e-01 6.23294946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:67.66, Z:6.25 [[ 2.35652831e-01 -9.69276759e-01 -7.05004030e-02 9.64432700e+01] [ 9.46108679e-01 2.45391433e-01 -2.11332469e-01 6.76597833e+01] [ 2.22139846e-01 -1.68999483e-02 9.74868340e-01 6.25215116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:67.69, Z:6.26 [[ 2.35929739e-01 -9.70066335e-01 -5.75192532e-02 9.64437241e+01] [ 9.45421245e-01 2.42820122e-01 -2.17294865e-01 6.76875603e+01] [ 2.24757266e-01 -3.11360305e-03 9.74409810e-01 6.25525713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.46, Y:67.71, Z:6.27 [[ 2.37586084e-01 -9.69203825e-01 -6.47827021e-02 9.64556267e+01] [ 9.45020276e-01 2.46054885e-01 -2.15391903e-01 6.77136570e+01] [ 2.24698756e-01 -1.00468484e-02 9.74376483e-01 6.26827917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:67.74, Z:6.27 [[ 2.37924973e-01 -9.69640098e-01 -5.64782091e-02 9.64586212e+01] [ 9.44962636e-01 2.44530883e-01 -2.17371257e-01 6.77413464e+01] [ 2.24582553e-01 -1.65174700e-03 9.74453667e-01 6.27188883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:67.76, Z:6.29 [[ 2.40092648e-01 -9.67875286e-01 -7.46522053e-02 9.64766848e+01] [ 9.43431074e-01 2.50760495e-01 -2.16926215e-01 6.77640132e+01] [ 2.28677346e-01 -1.83468207e-02 9.73329372e-01 6.29116200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.47, Y:67.80, Z:6.28 [[ 2.39063233e-01 -9.70054371e-01 -4.29335368e-02 9.64657901e+01] [ 9.43930776e-01 2.42538624e-01 -2.23985949e-01 6.77975536e+01] [ 2.27691590e-01 1.30205186e-02 9.73646243e-01 6.28093816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:67.82, Z:6.30 [[ 2.40380317e-01 -9.68777212e-01 -6.07290381e-02 9.64825227e+01] [ 9.42713979e-01 2.47906894e-01 -2.23232000e-01 6.78224559e+01] [ 2.31317222e-01 -3.58953420e-03 9.72871758e-01 6.29764466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:67.84, Z:6.31 [[ 2.42133094e-01 -9.66802532e-01 -8.16359558e-02 9.65001537e+01] [ 9.42205146e-01 2.54383301e-01 -2.18033484e-01 6.78419303e+01] [ 2.31562148e-01 -2.41246955e-02 9.72520936e-01 6.31345056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:67.87, Z:6.32 [[ 2.41448044e-01 -9.67533839e-01 -7.47068448e-02 9.65021935e+01] [ 9.41485009e-01 2.52212197e-01 -2.23595584e-01 6.78666674e+01] [ 2.35178271e-01 -1.63486580e-02 9.71814747e-01 6.32383086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:67.90, Z:6.33 [[ 2.42495492e-01 -9.67985404e-01 -6.48089060e-02 9.65074031e+01] [ 9.41078518e-01 2.50934503e-01 -2.26722512e-01 6.78982175e+01] [ 2.35726873e-01 -6.01108210e-03 9.71800756e-01 6.32653104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:67.92, Z:6.33 [[ 2.40009163e-01 -9.68888040e-01 -6.04282013e-02 9.65090582e+01] [ 9.41785610e-01 2.47488822e-01 -2.27572289e-01 6.79220556e+01] [ 2.35447373e-01 -2.29097588e-03 9.71884399e-01 6.33085253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.51, Y:67.96, Z:6.32 [[ 2.37631691e-01 -9.70489138e-01 -4.10123408e-02 9.65079936e+01] [ 9.42896981e-01 2.40609214e-01 -2.30331260e-01 6.79554967e+01] [ 2.33401933e-01 1.60635946e-02 9.72247653e-01 6.32332709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:67.97, Z:6.35 [[ 2.36342896e-01 -9.68241277e-01 -8.15528399e-02 9.65343016e+01] [ 9.42638326e-01 2.48835476e-01 -2.22517174e-01 6.79691362e+01] [ 2.35743553e-01 -2.42844791e-02 9.71511833e-01 6.35236161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.218040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.52, Y:68.01, Z:6.33 [[ 2.31176084e-01 -9.72543898e-01 -2.67578873e-02 9.65175435e+01] [ 9.43749333e-01 2.30845152e-01 -2.36743979e-01 6.80146975e+01] [ 2.36420841e-01 2.94768077e-02 9.71203534e-01 6.33312705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:68.03, Z:6.35 [[ 2.30254741e-01 -9.70224177e-01 -7.51518473e-02 9.65476692e+01] [ 9.45074177e-01 2.41358717e-01 -2.20410456e-01 6.80279663e+01] [ 2.31986107e-01 -2.02735178e-02 9.72507805e-01 6.35436874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:68.06, Z:6.35 [[ 2.29118655e-01 -9.71431207e-01 -6.18550916e-02 9.65479983e+01] [ 9.45619113e-01 2.37202927e-01 -2.22574177e-01 6.80554290e+01] [ 2.30887710e-01 -7.49546064e-03 9.72951532e-01 6.35467334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:68.09, Z:6.35 [[ 2.25058580e-01 -9.73289212e-01 -4.53513556e-02 9.65459660e+01] [ 9.46670517e-01 2.29443828e-01 -2.26208891e-01 6.80868700e+01] [ 2.30572262e-01 7.97746049e-03 9.73022504e-01 6.35103198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.338040942 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:96.57, Y:68.10, Z:6.38 [[ 2.25844750e-01 -9.70356837e-01 -8.60334667e-02 9.65721479e+01] [ 9.45518421e-01 2.39606314e-01 -2.20417170e-01 6.80956145e+01] [ 2.34497470e-01 -3.15661669e-02 9.71604093e-01 6.37945326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:68.13, Z:6.38 [[ 2.23980315e-01 -9.72656638e-01 -6.14156551e-02 9.65668238e+01] [ 9.46093392e-01 2.32126369e-01 -2.25886349e-01 6.81280582e+01] [ 2.33966050e-01 -7.51084979e-03 9.72215755e-01 6.37580666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.398040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.57, Y:68.16, Z:6.38 [[ 2.22637018e-01 -9.73752921e-01 -4.73075789e-02 9.65670428e+01] [ 9.45498965e-01 2.27495658e-01 -2.32975178e-01 6.81600235e+01] [ 2.37622529e-01 7.13963210e-03 9.71331334e-01 6.37694498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:68.20, Z:6.35 [[ 2.19810674e-01 -9.75370595e-01 -1.83158703e-02 9.65574373e+01] [ 9.48363902e-01 2.18049970e-01 -2.30347823e-01 6.81960864e+01] [ 2.28668268e-01 3.32627998e-02 9.72935974e-01 6.35478366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:68.21, Z:6.38 [[ 2.21414994e-01 -9.73318595e-01 -6.02188722e-02 9.65866301e+01] [ 9.48345092e-01 2.29297907e-01 -2.19235160e-01 6.82136632e+01] [ 2.27193720e-01 -8.56632025e-03 9.73811908e-01 6.37821026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:68.23, Z:6.41 [[ 2.22231637e-01 -9.70463930e-01 -9.38768320e-02 9.66096173e+01] [ 9.46371682e-01 2.37864072e-01 -2.18635137e-01 6.82274244e+01] [ 2.34507440e-01 -4.02547308e-02 9.71280504e-01 6.41140205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.518040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:68.26, Z:6.41 [[ 2.22304760e-01 -9.73060207e-01 -6.11099599e-02 9.66002261e+01] [ 9.46187539e-01 2.30435251e-01 -2.27219575e-01 6.82603956e+01] [ 2.35180216e-01 -7.30948949e-03 9.71924296e-01 6.40524984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:68.28, Z:6.41 [[ 2.22984069e-01 -9.72752380e-01 -6.34894730e-02 9.66073777e+01] [ 9.46025074e-01 2.31650932e-01 -2.26659225e-01 6.82842727e+01] [ 2.35190696e-01 -9.52123709e-03 9.71902610e-01 6.41245095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:68.31, Z:6.42 [[ 2.22071896e-01 -9.73413480e-01 -5.61272616e-02 9.66107975e+01] [ 9.45970597e-01 2.29045145e-01 -2.29516779e-01 6.83121009e+01] [ 2.36270404e-01 -2.12551289e-03 9.71685020e-01 6.41647898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:68.35, Z:6.39 [[ 2.22290376e-01 -9.74620328e-01 -2.64991499e-02 9.66016304e+01] [ 9.48863142e-01 2.22504536e-01 -2.23943007e-01 6.83459774e+01] [ 2.24155588e-01 2.46363085e-02 9.74241923e-01 6.39352062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:68.35, Z:6.45 [[ 2.23028696e-01 -9.69223186e-01 -1.04233470e-01 9.66475925e+01] [ 9.46032564e-01 2.40993369e-01 -2.16666987e-01 6.83521518e+01] [ 2.35118242e-01 -5.02853014e-02 9.70665133e-01 6.45021741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:68.39, Z:6.44 [[ 2.23344972e-01 -9.72879550e-01 -6.01864090e-02 9.66330421e+01] [ 9.45484402e-01 2.31242343e-01 -2.29316867e-01 6.83878836e+01] [ 2.37015336e-01 -5.68854162e-03 9.71489254e-01 6.43928658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:68.41, Z:6.45 [[ 2.22908002e-01 -9.72999780e-01 -5.98619257e-02 9.66393864e+01] [ 9.45833081e-01 2.30735399e-01 -2.28387736e-01 6.84125043e+01] [ 2.36033482e-01 -5.70993563e-03 9.71728147e-01 6.44556269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:68.45, Z:6.43 [[ 2.23789409e-01 -9.74255888e-01 -2.72720426e-02 9.66331354e+01] [ 9.47543829e-01 2.24034985e-01 -2.27967141e-01 6.84524348e+01] [ 2.28208221e-01 2.51751760e-02 9.73286812e-01 6.42922897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:68.46, Z:6.47 [[ 2.24226849e-01 -9.70255248e-01 -9.12527998e-02 9.66678265e+01] [ 9.46176555e-01 2.39170277e-01 -2.18053904e-01 6.84583329e+01] [ 2.33392903e-01 -3.74477198e-02 9.71661166e-01 6.47044945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:68.49, Z:6.47 [[ 2.24483704e-01 -9.72695242e-01 -5.89154791e-02 9.66590852e+01] [ 9.46206268e-01 2.32029587e-01 -2.25512679e-01 6.84921825e+01] [ 2.33025244e-01 -5.12227422e-03 9.72457196e-01 6.46521490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:68.52, Z:6.47 [[ 2.24919000e-01 -9.72609208e-01 -5.86751478e-02 9.66659900e+01] [ 9.46272182e-01 2.32393746e-01 -2.24860188e-01 6.85188859e+01] [ 2.32336827e-01 -4.94733157e-03 9.72622806e-01 6.47229309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:68.54, Z:6.48 [[ 2.25710866e-01 -9.72435813e-01 -5.85080663e-02 9.66724619e+01] [ 9.46181255e-01 2.33123556e-01 -2.24487061e-01 6.85449037e+01] [ 2.31938866e-01 -4.69006657e-03 9.72719058e-01 6.47880030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:68.57, Z:6.48 [[ 2.25914513e-01 -9.72395913e-01 -5.83851206e-02 9.66786440e+01] [ 9.46184636e-01 2.33292295e-01 -2.24297435e-01 6.85703737e+01] [ 2.31726707e-01 -4.57105850e-03 9.72770188e-01 6.48475105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:68.60, Z:6.49 [[ 2.26178021e-01 -9.72343635e-01 -5.82353758e-02 9.66838050e+01] [ 9.46196171e-01 2.33512734e-01 -2.24019218e-01 6.85970960e+01] [ 2.31422363e-01 -4.43386629e-03 9.72843272e-01 6.49090456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:68.62, Z:6.50 [[ 2.25807406e-01 -9.72441445e-01 -5.80400916e-02 9.66897827e+01] [ 9.46410979e-01 2.33104702e-01 -2.23536255e-01 6.86233851e+01] [ 2.30905337e-01 -4.45363798e-03 9.72966027e-01 6.49702325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:68.65, Z:6.50 [[ 2.25489484e-01 -9.72519412e-01 -5.79697066e-02 9.66959433e+01] [ 9.46491153e-01 2.32779032e-01 -2.23536172e-01 6.86489203e+01] [ 2.30887399e-01 -4.46275837e-03 9.72970243e-01 6.50281400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:68.69, Z:6.47 [[ 2.22618912e-01 -9.74840998e-01 -1.12182414e-02 9.66775042e+01] [ 9.49164743e-01 2.19353435e-01 -2.25766164e-01 6.86915046e+01] [ 2.22546873e-01 3.96118587e-02 9.74116928e-01 6.47416405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:68.71, Z:6.50 [[ 2.23757543e-01 -9.72370185e-01 -6.65491173e-02 9.67137914e+01] [ 9.48528300e-01 2.32954138e-01 -2.14537722e-01 6.87059335e+01] [ 2.24112977e-01 -1.51192874e-02 9.74445884e-01 6.50461425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:68.73, Z:6.53 [[ 2.26610829e-01 -9.70246513e-01 -8.52598201e-02 9.67326157e+01] [ 9.46437901e-01 2.40028073e-01 -2.15967182e-01 6.87277705e+01] [ 2.30006155e-01 -3.17526230e-02 9.72671034e-01 6.52980639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:68.75, Z:6.53 [[ 2.23199108e-01 -9.72506020e-01 -6.64394372e-02 9.67222749e+01] [ 9.46760986e-01 2.32503303e-01 -2.22678802e-01 6.87519013e+01] [ 2.32003864e-01 -1.32005570e-02 9.72625289e-01 6.53073304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:68.78, Z:6.53 [[ 2.23126071e-01 -9.73056453e-01 -5.81024608e-02 9.67240257e+01] [ 9.46632051e-01 2.30518333e-01 -2.25275517e-01 6.87800375e+01] [ 2.32599478e-01 -4.73681062e-03 9.72561075e-01 6.53366884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.73, Y:68.81, Z:6.54 [[ 2.23202002e-01 -9.73035740e-01 -5.81576720e-02 9.67285696e+01] [ 9.46488442e-01 2.30607526e-01 -2.25787065e-01 6.88051320e+01] [ 2.33110481e-01 -4.64943943e-03 9.72439143e-01 6.53889786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.178040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:96.74, Y:68.84, Z:6.54 [[ 2.26561652e-01 -9.72473886e-01 -5.44459290e-02 9.67402686e+01] [ 9.45806456e-01 2.33011754e-01 -2.26176192e-01 6.88389579e+01] [ 2.32636982e-01 -2.52459390e-04 9.72563608e-01 6.54274990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:68.86, Z:6.54 [[ 2.23360490e-01 -9.73672478e-01 -4.55192045e-02 9.67368012e+01] [ 9.47389095e-01 2.27841237e-01 -2.24816087e-01 6.88648310e+01] [ 2.29268388e-01 7.09063337e-03 9.73337418e-01 6.53674392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.238040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.75, Y:68.89, Z:6.55 [[ 2.22523647e-01 -9.73156642e-01 -5.87313905e-02 9.67511711e+01] [ 9.47096502e-01 2.30069937e-01 -2.23776765e-01 6.88911327e+01] [ 2.31282173e-01 -5.82867262e-03 9.72869253e-01 6.55262399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:68.91, Z:6.56 [[ 2.21743021e-01 -9.72963053e-01 -6.45982156e-02 9.67596613e+01] [ 9.47404428e-01 2.30648723e-01 -2.21869369e-01 6.89128582e+01] [ 2.30770194e-01 -1.20026513e-02 9.72934249e-01 6.56128753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:68.94, Z:6.57 [[ 2.19145814e-01 -9.73216152e-01 -6.94653414e-02 9.67686014e+01] [ 9.47783585e-01 2.29243724e-01 -2.21706092e-01 6.89372154e+01] [ 2.31692443e-01 -1.72521482e-02 9.72636096e-01 6.57299923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:68.97, Z:6.58 [[ 2.18609533e-01 -9.73849013e-01 -6.18706028e-02 9.67712660e+01] [ 9.47833555e-01 2.26988258e-01 -2.23803224e-01 6.89652396e+01] [ 2.31994450e-01 -9.71751508e-03 9.72668569e-01 6.57669575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:68.98, Z:6.59 [[ 2.11558543e-01 -9.74818471e-01 -7.05119310e-02 9.67731514e+01] [ 9.49138530e-01 2.22126575e-01 -2.23149807e-01 6.89846460e+01] [ 2.33193127e-01 -1.97163425e-02 9.72230544e-01 6.58944589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:69.03, Z:6.56 [[ 2.07411131e-01 -9.78192908e-01 -1.09205234e-02 9.67505320e+01] [ 9.52248958e-01 2.04441782e-01 -2.26771867e-01 6.90304695e+01] [ 2.24059243e-01 3.66359524e-02 9.73886679e-01 6.55831367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:69.05, Z:6.58 [[ 2.05555561e-01 -9.77382534e-01 -4.97020444e-02 9.67754224e+01] [ 9.53232630e-01 2.11457918e-01 -2.15946989e-01 6.90481076e+01] [ 2.21572706e-01 -2.98850594e-03 9.75139275e-01 6.57637903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:69.08, Z:6.57 [[ 2.01768379e-01 -9.79009761e-01 -2.87994531e-02 9.67679854e+01] [ 9.52970777e-01 2.03020972e-01 -2.25009294e-01 6.90805243e+01] [ 2.26133188e-01 1.79547233e-02 9.73930906e-01 6.57367955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:69.10, Z:6.59 [[ 2.02318240e-01 -9.76689109e-01 -7.17336402e-02 9.67948289e+01] [ 9.54726647e-01 2.13019964e-01 -2.07652413e-01 6.90966764e+01] [ 2.18092547e-01 -2.64741471e-02 9.75568942e-01 6.59409749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:69.12, Z:6.60 [[ 2.05156938e-01 -9.77015491e-01 -5.78909424e-02 9.67923578e+01] [ 9.53619545e-01 2.12855739e-01 -2.12843127e-01 6.91226166e+01] [ 2.20273452e-01 -1.15396901e-02 9.75369900e-01 6.59586663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:69.15, Z:6.60 [[ 2.04885308e-01 -9.77648065e-01 -4.71833887e-02 9.67906389e+01] [ 9.53326649e-01 2.10247296e-01 -2.16712657e-01 6.91542991e+01] [ 2.21788889e-01 -5.79942365e-04 9.75094535e-01 6.59963626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.79, Y:69.18, Z:6.61 [[ 2.07894028e-01 -9.76967787e-01 -4.81042301e-02 9.67946248e+01] [ 9.51911738e-01 2.13386823e-01 -2.19841096e-01 6.91789437e+01] [ 2.25042478e-01 -8.73302224e-05 9.74348950e-01 6.60640089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:69.21, Z:6.61 [[ 2.11558958e-01 -9.76266377e-01 -4.63332255e-02 9.67957516e+01] [ 9.49252332e-01 2.16530989e-01 -2.28110372e-01 6.92076334e+01] [ 2.32729066e-01 4.27687048e-03 9.72532205e-01 6.61484262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:69.22, Z:6.63 [[ 2.17111842e-01 -9.72812396e-01 -8.06132135e-02 9.68192335e+01] [ 9.49439084e-01 2.29635873e-01 -2.14085945e-01 6.92219997e+01] [ 2.26777146e-01 -3.00567420e-02 9.73482778e-01 6.63233739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:69.26, Z:6.63 [[ 2.17294366e-01 -9.74751701e-01 -5.14031163e-02 9.68084335e+01] [ 9.49116908e-01 2.23290930e-01 -2.22077138e-01 6.92567416e+01] [ 2.27947917e-01 -5.31455923e-04 9.73673182e-01 6.62874685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:69.29, Z:6.65 [[ 2.20569096e-01 -9.73149436e-01 -6.57985540e-02 9.68243492e+01] [ 9.46649575e-01 2.29836617e-01 -2.25897570e-01 6.92863186e+01] [ 2.34955010e-01 -1.24621504e-02 9.71926354e-01 6.64952812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:69.31, Z:6.64 [[ 2.19598211e-01 -9.74499866e-01 -4.61154774e-02 9.68163233e+01] [ 9.47242073e-01 2.24291048e-01 -2.28967205e-01 6.93093687e+01] [ 2.33471799e-01 6.59826802e-03 9.72341186e-01 6.64349274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:69.34, Z:6.67 [[ 2.20051638e-01 -9.72701959e-01 -7.36761600e-02 9.68375790e+01] [ 9.46884161e-01 2.31144811e-01 -2.23567576e-01 6.93364283e+01] [ 2.34494481e-01 -2.05663778e-02 9.71899873e-01 6.66676811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.778040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.83, Y:69.37, Z:6.66 [[ 2.19069084e-01 -9.74544368e-01 -4.76656238e-02 9.68273352e+01] [ 9.47143002e-01 2.24135880e-01 -2.29528302e-01 6.93662879e+01] [ 2.34369091e-01 5.13639299e-03 9.72134120e-01 6.66213379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:69.39, Z:6.67 [[ 2.18673550e-01 -9.74222943e-01 -5.54214415e-02 9.68373023e+01] [ 9.47185800e-01 2.25571795e-01 -2.27939520e-01 6.93937929e+01] [ 2.34565424e-01 -2.65005838e-03 9.72096723e-01 6.67201143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.85, Y:69.42, Z:6.68 [[ 2.19275074e-01 -9.73508318e-01 -6.48073844e-02 9.68466644e+01] [ 9.46567592e-01 2.28366724e-01 -2.27724467e-01 6.94159372e+01] [ 2.36491513e-01 -1.14102705e-02 9.71566555e-01 6.68422904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.85, Y:69.44, Z:6.69 [[ 2.18490679e-01 -9.73605864e-01 -6.59806381e-02 9.68536842e+01] [ 9.47086004e-01 2.27859918e-01 -2.26070695e-01 6.94433444e+01] [ 2.35138097e-01 -1.30949992e-02 9.71873755e-01 6.69259627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:69.47, Z:6.70 [[ 2.18425763e-01 -9.73983539e-01 -6.03842000e-02 9.68553487e+01] [ 9.46849653e-01 2.26501695e-01 -2.28413479e-01 6.94715620e+01] [ 2.36148092e-01 -7.28337049e-03 9.71689781e-01 6.69762575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:69.49, Z:6.72 [[ 2.17117846e-01 -9.72130526e-01 -8.84425272e-02 9.68703654e+01] [ 9.45663601e-01 2.31937912e-01 -2.27870926e-01 6.94855966e+01] [ 2.42033458e-01 -3.41620341e-02 9.69666314e-01 6.72414824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:69.53, Z:6.71 [[ 2.19285928e-01 -9.74511755e-01 -4.73341422e-02 9.68617978e+01] [ 9.45502792e-01 2.24226562e-01 -2.36107854e-01 6.95273924e+01] [ 2.40703451e-01 7.02056640e-03 9.70573315e-01 6.71215808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:69.55, Z:6.72 [[ 2.18179072e-01 -9.74648210e-01 -4.95858747e-02 9.68665584e+01] [ 9.46133729e-01 2.23704299e-01 -2.34066984e-01 6.95534595e+01] [ 2.39225541e-01 4.15364888e-03 9.70955142e-01 6.71512549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.88, Y:69.58, Z:6.73 [[ 2.17069714e-01 -9.74327801e-01 -5.97166295e-02 9.68784397e+01] [ 9.46307906e-01 2.25050400e-01 -2.32063925e-01 6.95804271e+01] [ 2.39545585e-01 -6.13626898e-03 9.70865727e-01 6.72598887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:69.61, Z:6.73 [[ 2.15408717e-01 -9.74621447e-01 -6.09271593e-02 9.68853344e+01] [ 9.46461082e-01 2.23732497e-01 -2.32712677e-01 6.96077515e+01] [ 2.40438152e-01 -7.53684582e-03 9.70635200e-01 6.73341226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:69.64, Z:6.74 [[ 2.14116712e-01 -9.75177023e-01 -5.64252399e-02 9.68893319e+01] [ 9.46819715e-01 2.21400082e-01 -2.33483256e-01 6.96353459e+01] [ 2.40180059e-01 -3.43186256e-03 9.70722289e-01 6.73761086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:69.66, Z:6.75 [[ 2.13763818e-01 -9.75042864e-01 -5.99703612e-02 9.68981816e+01] [ 9.46261447e-01 2.21922665e-01 -2.35243714e-01 6.96601022e+01] [ 2.42681487e-01 -6.46104621e-03 9.70084507e-01 6.74682552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:69.69, Z:6.75 [[ 2.11326116e-01 -9.76154851e-01 -4.96284138e-02 9.68990132e+01] [ 9.46463479e-01 2.17046724e-01 -2.38951046e-01 6.96879837e+01] [ 2.44024908e-01 3.52511530e-03 9.69762558e-01 6.74897207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:69.71, Z:6.76 [[ 2.10643407e-01 -9.75448525e-01 -6.42614204e-02 9.69142535e+01] [ 9.47252428e-01 2.19913136e-01 -2.33133118e-01 6.97134956e+01] [ 2.41541286e-01 -1.17638323e-02 9.70319236e-01 6.76061995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:69.74, Z:6.77 [[ 2.12123577e-01 -9.75047319e-01 -6.54699468e-02 9.69209073e+01] [ 9.46596606e-01 2.21655783e-01 -2.34144357e-01 6.97350894e+01] [ 2.42813620e-01 -1.23060908e-02 9.69994900e-01 6.76835213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:69.76, Z:6.78 [[ 2.12766365e-01 -9.74798250e-01 -6.70734361e-02 9.69290944e+01] [ 9.46442534e-01 2.22665081e-01 -2.33809306e-01 6.97627192e+01] [ 2.42851815e-01 -1.37343966e-02 9.69966166e-01 6.77770433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:69.79, Z:6.78 [[ 2.13174993e-01 -9.75481147e-01 -5.47079051e-02 9.69288088e+01] [ 9.46540086e-01 2.20077868e-01 -2.35855037e-01 6.97920591e+01] [ 2.42112141e-01 -1.50482942e-03 9.70247106e-01 6.77836779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.94, Y:69.80, Z:6.80 [[ 2.15701882e-01 -9.73068967e-01 -8.12987349e-02 9.69429773e+01] [ 9.44447837e-01 2.29049830e-01 -2.35699934e-01 6.98039581e+01] [ 2.47973752e-01 -2.59414952e-02 9.68419360e-01 6.80207233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:69.85, Z:6.78 [[ 2.15788530e-01 -9.75947099e-01 -3.10253098e-02 9.69270653e+01] [ 9.46410926e-01 2.16865949e-01 -2.39323042e-01 6.98458065e+01] [ 2.40294962e-01 2.22804752e-02 9.70444183e-01 6.77821664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:69.88, Z:6.79 [[ 2.15100742e-01 -9.75851294e-01 -3.80252829e-02 9.69400512e+01] [ 9.45428087e-01 2.17836568e-01 -2.42307577e-01 6.98763149e+01] [ 2.44739460e-01 1.61703691e-02 9.69454030e-01 6.79198026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:69.89, Z:6.81 [[ 2.18770368e-01 -9.72718691e-01 -7.71872689e-02 9.69676866e+01] [ 9.45045695e-01 2.30912413e-01 -2.31447817e-01 6.98882776e+01] [ 2.42957116e-01 -2.23115721e-02 9.69780405e-01 6.81092058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:69.92, Z:6.81 [[ 2.16238602e-01 -9.75382128e-01 -4.32501064e-02 9.69566200e+01] [ 9.45089581e-01 2.20229752e-01 -2.41463332e-01 6.99226178e+01] [ 2.45043979e-01 1.13384685e-02 9.69445660e-01 6.80647051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:69.95, Z:6.82 [[ 2.16662306e-01 -9.74445669e-01 -5.92712710e-02 9.69723903e+01] [ 9.45345800e-01 2.24571796e-01 -2.36408179e-01 6.99457454e+01] [ 2.43677582e-01 -4.81110606e-03 9.69844364e-01 6.81830613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:69.98, Z:6.83 [[ 2.14191403e-01 -9.75312022e-01 -5.37447892e-02 9.69769238e+01] [ 9.45291500e-01 2.20830401e-01 -2.40120622e-01 6.99801456e+01] [ 2.46061013e-01 6.27280575e-04 9.69254138e-01 6.82658430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.498040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.99, Y:70.00, Z:6.84 [[ 2.14273011e-01 -9.74165477e-01 -7.13351214e-02 9.69934044e+01] [ 9.45179235e-01 2.25212879e-01 -2.36464315e-01 7.00024597e+01] [ 2.46420960e-01 -1.67565547e-02 9.69018023e-01 6.84020539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.00, Y:70.03, Z:6.85 [[ 2.15320237e-01 -9.74415737e-01 -6.44295498e-02 9.69983138e+01] [ 9.44196530e-01 2.24574792e-01 -2.40954509e-01 7.00272093e+01] [ 2.49259118e-01 -8.95177540e-03 9.68395455e-01 6.84545612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:70.05, Z:6.85 [[ 2.15783067e-01 -9.74141387e-01 -6.69793008e-02 9.70052784e+01] [ 9.44546771e-01 2.25631824e-01 -2.38582643e-01 7.00470541e+01] [ 2.47525888e-01 -1.17829878e-02 9.68809628e-01 6.85088443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:70.09, Z:6.85 [[ 2.11998430e-01 -9.76435091e-01 -4.03878470e-02 9.70010788e+01] [ 9.44438701e-01 2.15323404e-01 -2.48337213e-01 7.00865744e+01] [ 2.51181618e-01 1.45032536e-02 9.67831313e-01 6.85145679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:70.10, Z:6.87 [[ 2.12661377e-01 -9.74438603e-01 -7.24192504e-02 9.70251787e+01] [ 9.44399350e-01 2.23994182e-01 -2.40699968e-01 7.01035646e+01] [ 2.50768831e-01 -1.72051063e-02 9.67894094e-01 6.86982692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:70.13, Z:6.88 [[ 2.11809883e-01 -9.74714735e-01 -7.11881938e-02 9.70345184e+01] [ 9.44309577e-01 2.22882975e-01 -2.42079744e-01 7.01293562e+01] [ 2.51825330e-01 -1.59488109e-02 9.67641276e-01 6.87892158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:70.15, Z:6.88 [[ 2.12401895e-01 -9.75636497e-01 -5.49441631e-02 9.70315813e+01] [ 9.43925328e-01 2.19392647e-01 -2.46722194e-01 7.01515017e+01] [ 2.52765522e-01 5.41074466e-04 9.67527415e-01 6.87670955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:70.18, Z:6.88 [[ 2.08797755e-01 -9.76784735e-01 -4.79069914e-02 9.70357041e+01] [ 9.44805868e-01 2.14124138e-01 -2.47977268e-01 7.01844906e+01] [ 2.52478453e-01 6.51429023e-03 9.67580588e-01 6.88114327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:70.21, Z:6.89 [[ 2.07177949e-01 -9.76834948e-01 -5.35796806e-02 9.70467103e+01] [ 9.44999336e-01 2.13993245e-01 -2.47352271e-01 7.02078742e+01] [ 2.53088032e-01 6.13173572e-04 9.67443059e-01 6.89036153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:70.23, Z:6.90 [[ 2.05722237e-01 -9.76415593e-01 -6.55053545e-02 9.70603685e+01] [ 9.45344448e-01 2.15587722e-01 -2.44634032e-01 7.02312883e+01] [ 2.52986633e-01 -1.15984629e-02 9.67400248e-01 6.90282106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:70.26, Z:6.91 [[ 2.02467766e-01 -9.77588387e-01 -5.76866568e-02 9.70646270e+01] [ 9.46126809e-01 2.10471597e-01 -2.46060496e-01 7.02573200e+01] [ 2.52687286e-01 -4.75957365e-03 9.67536295e-01 6.90751348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:70.27, Z:6.92 [[ 2.03926795e-01 -9.75719986e-01 -7.99022531e-02 9.70834658e+01] [ 9.46706677e-01 2.17330533e-01 -2.37726539e-01 7.02743412e+01] [ 2.49319735e-01 -2.71651852e-02 9.68040145e-01 6.92395090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:70.31, Z:6.95 [[ 2.05386939e-01 -9.75112397e-01 -8.34986195e-02 9.70981545e+01] [ 9.43448067e-01 2.19957237e-01 -2.48041446e-01 7.03064296e+01] [ 2.60234415e-01 -2.78321376e-02 9.65144249e-01 6.94672869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:70.34, Z:6.93 [[ 2.01305408e-01 -9.78604892e-01 -4.25276181e-02 9.70809762e+01] [ 9.45977617e-01 2.05492744e-01 -2.50796890e-01 7.03385833e+01] [ 2.54170180e-01 1.02565953e-02 9.67105125e-01 6.92983233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:70.36, Z:6.94 [[ 2.00958483e-01 -9.78001474e-01 -5.59357152e-02 9.70924696e+01] [ 9.45434866e-01 2.08581958e-01 -2.50292791e-01 7.03579695e+01] [ 2.56453900e-01 -2.58511577e-03 9.66553007e-01 6.94079396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:70.38, Z:6.95 [[ 2.01137622e-01 -9.77708037e-01 -6.02548797e-02 9.71008029e+01] [ 9.45484631e-01 2.09856300e-01 -2.49036434e-01 7.03844861e+01] [ 2.56129789e-01 -6.87946652e-03 9.66617920e-01 6.94833314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:70.41, Z:6.96 [[ 2.01913442e-01 -9.76863632e-01 -7.04869243e-02 9.71136813e+01] [ 9.45108077e-01 2.13216180e-01 -2.47607720e-01 7.04109369e+01] [ 2.56907930e-01 -1.66224343e-02 9.66292922e-01 6.96156727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:70.44, Z:6.96 [[ 2.01448124e-01 -9.78247743e-01 -4.94975470e-02 9.71089091e+01] [ 9.44392941e-01 2.07387683e-01 -2.55171161e-01 7.04414480e+01] [ 2.59885794e-01 4.65861759e-03 9.65628123e-01 6.95885572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:70.46, Z:6.97 [[ 2.02263703e-01 -9.77153062e-01 -6.52785466e-02 9.71227218e+01] [ 9.44523645e-01 2.12253998e-01 -2.50645814e-01 7.04609671e+01] [ 2.58774957e-01 -1.09605805e-02 9.65875451e-01 6.97018751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:70.49, Z:6.98 [[ 2.02216769e-01 -9.76803456e-01 -7.04513147e-02 9.71338051e+01] [ 9.44231290e-01 2.13551348e-01 -2.50645351e-01 7.04889394e+01] [ 2.59876218e-01 -1.58376428e-02 9.65512051e-01 6.98348893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:70.51, Z:7.00 [[ 2.03021928e-01 -9.76485083e-01 -7.25188210e-02 9.71439888e+01] [ 9.43314724e-01 2.14909021e-01 -2.52925768e-01 7.05146083e+01] [ 2.62563189e-01 -1.70585944e-02 9.64764000e-01 6.99611725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:70.55, Z:6.99 [[ 2.00817703e-01 -9.78562679e-01 -4.56873481e-02 9.71346796e+01] [ 9.44901308e-01 2.05795586e-01 -2.54577482e-01 7.05452410e+01] [ 2.58522277e-01 7.95363006e-03 9.65972552e-01 6.98782344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:70.56, Z:7.02 [[ 2.02957976e-01 -9.75868905e-01 -8.05477482e-02 9.71630592e+01] [ 9.43643282e-01 2.16890028e-01 -2.49992145e-01 7.05636461e+01] [ 2.61429564e-01 -2.52704418e-02 9.64891697e-01 7.01597709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.188040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.16, Y:70.60, Z:7.01 [[ 2.01185791e-01 -9.78049810e-01 -5.42480096e-02 9.71559890e+01] [ 9.44498982e-01 2.08371181e-01 -2.53974653e-01 7.05962286e+01] [ 2.59703583e-01 -1.41098165e-04 9.65688370e-01 7.01175987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:70.62, Z:7.02 [[ 1.99487384e-01 -9.78379972e-01 -5.45656860e-02 9.71624135e+01] [ 9.45388562e-01 2.06811183e-01 -2.51931739e-01 7.06234497e+01] [ 2.57769762e-01 -1.32857188e-03 9.66205457e-01 7.01776863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:70.65, Z:7.03 [[ 1.99052609e-01 -9.78084021e-01 -6.10713196e-02 9.71718022e+01] [ 9.45389748e-01 2.08064608e-01 -2.50893091e-01 7.06491685e+01] [ 2.58101304e-01 -7.79527506e-03 9.66086410e-01 7.02799552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:70.67, Z:7.04 [[ 1.98671671e-01 -9.77669995e-01 -6.84904919e-02 9.71837623e+01] [ 9.45319764e-01 2.09602712e-01 -2.49874464e-01 7.06716097e+01] [ 2.58650559e-01 -1.51024383e-02 9.65852890e-01 7.03963343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:70.70, Z:7.05 [[ 1.98380416e-01 -9.77664203e-01 -6.94112186e-02 9.71924794e+01] [ 9.44705567e-01 2.09597493e-01 -2.52190966e-01 7.06987198e+01] [ 2.61106497e-01 -1.55434159e-02 9.65184853e-01 7.05119269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:70.73, Z:7.05 [[ 1.98370585e-01 -9.78432218e-01 -5.76151597e-02 9.71943317e+01] [ 9.44070605e-01 2.06540110e-01 -2.57044500e-01 7.07262242e+01] [ 2.63400461e-01 -3.40271094e-03 9.64680579e-01 7.05397577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.20, Y:70.75, Z:7.06 [[ 1.98105933e-01 -9.78588194e-01 -5.58496757e-02 9.71994471e+01] [ 9.43737500e-01 2.05822985e-01 -2.58836687e-01 7.07515391e+01] [ 2.64789673e-01 -1.43034987e-03 9.64305130e-01 7.05937680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:70.77, Z:7.08 [[ 1.99376742e-01 -9.76463339e-01 -8.22694500e-02 9.72201415e+01] [ 9.43741954e-01 2.13940061e-01 -2.52152286e-01 7.07732078e+01] [ 2.63818194e-01 -2.73678302e-02 9.64184092e-01 7.08025256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:70.81, Z:7.08 [[ 2.01076316e-01 -9.77455572e-01 -6.44121034e-02 9.72187795e+01] [ 9.43180580e-01 2.10943757e-01 -2.56735517e-01 7.08058497e+01] [ 2.64534893e-01 -9.12881302e-03 9.64332907e-01 7.08154733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:70.83, Z:7.08 [[ 2.00823395e-01 -9.78031513e-01 -5.58956476e-02 9.72196400e+01] [ 9.43734559e-01 2.08453681e-01 -2.56733605e-01 7.08349176e+01] [ 2.62745210e-01 -1.19254013e-03 9.64864515e-01 7.08267986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:70.86, Z:7.09 [[ 2.01459048e-01 -9.77607282e-01 -6.08132755e-02 9.72271866e+01] [ 9.43632640e-01 2.10354877e-01 -2.55554820e-01 7.08587625e+01] [ 2.62624622e-01 -5.90156085e-03 9.64880034e-01 7.08976914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:70.88, Z:7.11 [[ 2.06163141e-01 -9.74861935e-01 -8.45042466e-02 9.72498460e+01] [ 9.40985792e-01 2.21203304e-01 -2.56153933e-01 7.08779131e+01] [ 2.68407338e-01 -2.67077961e-02 9.62935198e-01 7.11288629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:70.90, Z:7.11 [[ 2.02174028e-01 -9.77079835e-01 -6.66382729e-02 9.72390040e+01] [ 9.41857331e-01 2.12630486e-01 -2.60178868e-01 7.08988915e+01] [ 2.68384854e-01 -1.01623362e-02 9.63258167e-01 7.11232046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57804094199997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:97.24, Y:70.93, Z:7.12 [[ 2.03373636e-01 -9.77277616e-01 -5.97296033e-02 9.72437821e+01] [ 9.41658772e-01 2.11941094e-01 -2.61456935e-01 7.09252682e+01] [ 2.68175168e-01 -3.07145741e-03 9.63365271e-01 7.11759642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:70.95, Z:7.15 [[ 2.10942041e-01 -9.73552323e-01 -8.77458253e-02 9.72757483e+01] [ 9.38406114e-01 2.26820474e-01 -2.60665376e-01 7.09528557e+01] [ 2.73673932e-01 -2.73559325e-02 9.61433426e-01 7.14619337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:70.98, Z:7.13 [[ 2.03747117e-01 -9.78086677e-01 -4.28201493e-02 9.72494725e+01] [ 9.41753978e-01 2.07756317e-01 -2.64455588e-01 7.09796176e+01] [ 2.67556644e-01 1.35560178e-02 9.63446769e-01 7.12624078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:71.00, Z:7.14 [[ 2.03124575e-01 -9.77350660e-01 -5.93809234e-02 9.72646570e+01] [ 9.41913543e-01 2.11605662e-01 -2.60810126e-01 7.10024389e+01] [ 2.67468288e-01 -2.95475008e-03 9.63562133e-01 7.13971866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:71.03, Z:7.15 [[ 2.02461979e-01 -9.77497571e-01 -5.92253771e-02 9.72720052e+01] [ 9.42156766e-01 2.10924453e-01 -2.60483213e-01 7.10287247e+01] [ 2.67113788e-01 -3.06164278e-03 9.63660132e-01 7.14679433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72804094199998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:97.28, Y:71.05, Z:7.15 [[ 2.01363167e-01 -9.77730766e-01 -5.91221119e-02 9.72808584e+01] [ 9.42426467e-01 2.09837437e-01 -2.60385493e-01 7.10539290e+01] [ 2.66992940e-01 -3.28619554e-03 9.63692882e-01 7.15437898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:71.08, Z:7.18 [[ 2.07243498e-01 -9.74526820e-01 -8.57181978e-02 9.73129970e+01] [ 9.39565549e-01 2.22682793e-01 -2.60055672e-01 7.10818682e+01] [ 2.72519195e-01 -2.66430184e-02 9.61781388e-01 7.18184613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.29, Y:71.11, Z:7.16 [[ 1.99763160e-01 -9.78842947e-01 -4.42850370e-02 9.72868951e+01] [ 9.42734685e-01 2.04321637e-01 -2.63636079e-01 7.11080923e+01] [ 2.67106707e-01 1.09157358e-02 9.63605134e-01 7.16284352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:71.14, Z:7.17 [[ 2.04608028e-01 -9.77501655e-01 -5.12451969e-02 9.73047766e+01] [ 9.42033981e-01 2.10865532e-01 -2.60974530e-01 7.11403647e+01] [ 2.65908881e-01 5.12276708e-03 9.63984556e-01 7.17175126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.32, Y:71.16, Z:7.18 [[ 2.05264570e-01 -9.76709354e-01 -6.24923502e-02 9.73150708e+01] [ 9.42105229e-01 2.14483623e-01 -2.57748934e-01 7.11629572e+01] [ 2.65149380e-01 -5.96764583e-03 9.64188878e-01 7.18230456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:71.18, Z:7.21 [[ 2.07634135e-01 -9.74493532e-01 -8.51494149e-02 9.73328902e+01] [ 9.40425533e-01 2.22815195e-01 -2.56813560e-01 7.11847916e+01] [ 2.69235737e-01 -2.67534224e-02 9.62702640e-01 7.20559229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:71.22, Z:7.20 [[ 2.06863321e-01 -9.76651116e-01 -5.79669273e-02 9.73239279e+01] [ 9.40998511e-01 2.14831072e-01 -2.61475453e-01 7.12173905e+01] [ 2.67823390e-01 -4.57111692e-04 9.63467915e-01 7.19973981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:71.24, Z:7.20 [[ 2.04992149e-01 -9.77494306e-01 -4.98307205e-02 9.73212726e+01] [ 9.42460469e-01 2.10870179e-01 -2.59426353e-01 7.12436542e+01] [ 2.64095596e-01 6.21688147e-03 9.64476473e-01 7.19682748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.33, Y:71.27, Z:7.21 [[ 2.04196277e-01 -9.77244093e-01 -5.74270222e-02 9.73301684e+01] [ 9.42881372e-01 2.12111083e-01 -2.56872746e-01 7.12688254e+01] [ 2.63208281e-01 -1.69441111e-03 9.64737544e-01 7.20572294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:71.29, Z:7.22 [[ 2.05862552e-01 -9.75887154e-01 -7.25594348e-02 9.73437254e+01] [ 9.41527834e-01 2.17732954e-01 -2.57133620e-01 7.12894192e+01] [ 2.66731977e-01 -1.53825443e-02 9.63647980e-01 7.22267780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:71.32, Z:7.22 [[ 2.01618328e-01 -9.77676094e-01 -5.91566074e-02 9.73405547e+01] [ 9.42530294e-01 2.10090601e-01 -2.59804895e-01 7.13184838e+01] [ 2.66433282e-01 -3.37546595e-03 9.63847453e-01 7.22337006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:71.34, Z:7.24 [[ 2.02462113e-01 -9.76026864e-01 -7.98789893e-02 9.73577356e+01] [ 9.41433677e-01 2.16447081e-01 -2.58560036e-01 7.13390868e+01] [ 2.69651115e-01 -2.28521594e-02 9.62686894e-01 7.24442363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:71.36, Z:7.24 [[ 1.95047267e-01 -9.79222822e-01 -5.54908028e-02 9.73394608e+01] [ 9.43862576e-01 2.02781602e-01 -2.60773962e-01 7.13620505e+01] [ 2.66608329e-01 -1.51244347e-03 9.63803772e-01 7.23817607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:71.39, Z:7.25 [[ 1.93261788e-01 -9.79525024e-01 -5.63968923e-02 9.73448961e+01] [ 9.44244129e-01 2.01301558e-01 -2.60539262e-01 7.13881005e+01] [ 2.66557509e-01 -2.90015087e-03 9.63814652e-01 7.24674967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:71.42, Z:7.25 [[ 1.97226940e-01 -9.78907207e-01 -5.33124162e-02 9.73564910e+01] [ 9.43566381e-01 2.04302370e-01 -2.60658830e-01 7.14201014e+01] [ 2.66052660e-01 1.10513989e-03 9.63957862e-01 7.25287492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:71.44, Z:7.26 [[ 1.92394998e-01 -9.78979247e-01 -6.77037602e-02 9.73585193e+01] [ 9.44663889e-01 2.03447504e-01 -2.57331014e-01 7.14358951e+01] [ 2.65695883e-01 -1.44480976e-02 9.63948624e-01 7.26497124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:71.47, Z:7.28 [[ 1.96994254e-01 -9.77856475e-01 -7.06397800e-02 9.73756182e+01] [ 9.41881183e-01 2.08760876e-01 -2.63208538e-01 7.14683600e+01] [ 2.72126996e-01 -1.46837099e-02 9.62149306e-01 7.28230039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:71.50, Z:7.26 [[ 1.89941307e-01 -9.81305865e-01 -3.10015939e-02 9.73562802e+01] [ 9.43928023e-01 1.91209330e-01 -2.69144719e-01 7.15045280e+01] [ 2.70041085e-01 2.18584264e-02 9.62600655e-01 7.26404133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:71.51, Z:7.29 [[ 1.85382007e-01 -9.79071769e-01 -8.39760850e-02 9.73796930e+01] [ 9.45215663e-01 2.01032132e-01 -2.57203094e-01 7.15123059e+01] [ 2.68702179e-01 -3.16946852e-02 9.62701712e-01 7.29306393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:71.55, Z:7.28 [[ 1.88049537e-01 -9.81381595e-01 -3.90837111e-02 9.73683444e+01] [ 9.45676378e-01 1.91666020e-01 -2.62602981e-01 7.15523114e+01] [ 2.65204752e-01 1.24218268e-02 9.64112098e-01 7.27651639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:71.58, Z:7.28 [[ 1.84346076e-01 -9.81827132e-01 -4.50777890e-02 9.73744593e+01] [ 9.46764349e-01 1.89704283e-01 -2.60095275e-01 7.15795667e+01] [ 2.63920047e-01 5.26949957e-03 9.64530166e-01 7.28309699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:71.60, Z:7.30 [[ 1.85912145e-01 -9.80045986e-01 -7.03316362e-02 9.73933789e+01] [ 9.45819857e-01 1.97892680e-01 -2.57416561e-01 7.16005878e+01] [ 2.66198184e-01 -1.86641929e-02 9.63737607e-01 7.30425493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.39, Y:71.63, Z:7.31 [[ 1.87043795e-01 -9.80374532e-01 -6.22928246e-02 9.73938190e+01] [ 9.45413309e-01 1.96873718e-01 -2.59681370e-01 7.16292339e+01] [ 2.66848821e-01 -1.03206766e-02 9.63683138e-01 7.30993472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:71.66, Z:7.31 [[ 1.85237369e-01 -9.81354646e-01 -5.12852479e-02 9.73925395e+01] [ 9.45022928e-01 1.92205016e-01 -2.64554147e-01 7.16586372e+01] [ 2.69478723e-01 5.39578827e-04 9.63006193e-01 7.31269414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:71.67, Z:7.35 [[ 1.90051554e-01 -9.77029532e-01 -9.64038435e-02 9.74234795e+01] [ 9.43320903e-01 2.08937507e-01 -2.57858086e-01 7.16740927e+01] [ 2.72077344e-01 -4.19334307e-02 9.61361278e-01 7.34800171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:71.71, Z:7.34 [[ 1.90237028e-01 -9.79795304e-01 -6.17335797e-02 9.74117014e+01] [ 9.42882162e-01 1.99861965e-01 -2.66511582e-01 7.17068353e+01] [ 2.73464991e-01 -7.50711974e-03 9.61852661e-01 7.34216247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50804094199998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:97.40, Y:71.73, Z:7.34 [[ 1.84764823e-01 -9.81157060e-01 -5.65047290e-02 9.74039373e+01] [ 9.44438800e-01 1.93165566e-01 -2.65936866e-01 7.17263258e+01] [ 2.71840601e-01 -4.22948054e-03 9.62332998e-01 7.34357742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:71.76, Z:7.36 [[ 1.90488925e-01 -9.79785270e-01 -6.11129544e-02 9.74205088e+01] [ 9.42871808e-01 1.99934484e-01 -2.66493818e-01 7.17566856e+01] [ 2.73325305e-01 -6.85756075e-03 9.61897215e-01 7.35609935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:71.79, Z:7.35 [[ 1.88418405e-01 -9.81331467e-01 -3.85623609e-02 9.74124057e+01] [ 9.43301109e-01 1.91763412e-01 -2.70942451e-01 7.17874608e+01] [ 2.73279203e-01 1.46746266e-02 9.61822818e-01 7.34953460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:71.81, Z:7.37 [[ 1.88964093e-01 -9.79656152e-01 -6.75751018e-02 9.74337878e+01] [ 9.42659690e-01 2.00245829e-01 -2.67009955e-01 7.18076292e+01] [ 2.75109578e-01 -1.32450305e-02 9.61321637e-01 7.37011337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:71.83, Z:7.38 [[ 1.90437159e-01 -9.78949528e-01 -7.34268994e-02 9.74447094e+01] [ 9.42447763e-01 2.03249261e-01 -2.65484371e-01 7.18298523e+01] [ 2.74819763e-01 -1.86429278e-02 9.61315005e-01 7.38302260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65804094199999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:97.43, Y:71.86, Z:7.38 [[ 1.87406134e-01 -9.81123236e-01 -4.77088844e-02 9.74346811e+01] [ 9.43988541e-01 1.93316819e-01 -2.67421469e-01 7.18612430e+01] [ 2.71596347e-01 5.07978352e-03 9.62397849e-01 7.37539769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:71.88, Z:7.40 [[ 1.87327099e-01 -9.78947400e-01 -8.10589053e-02 9.74596770e+01] [ 9.41550383e-01 2.02464721e-01 -2.69241365e-01 7.18843206e+01] [ 2.79984703e-01 -2.58848396e-02 9.59655428e-01 7.40281622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.718040942 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:97.45, Y:71.91, Z:7.39 [[ 1.82149987e-01 -9.81843069e-01 -5.29676307e-02 9.74453974e+01] [ 9.44336385e-01 1.89692025e-01 -2.68785653e-01 7.19103575e+01] [ 2.73952867e-01 -1.05995767e-03 9.61742535e-01 7.39264145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748040942 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:97.45, Y:71.93, Z:7.40 [[ 1.83822228e-01 -9.81228898e-01 -5.83029809e-02 9.74544786e+01] [ 9.43866342e-01 1.92761864e-01 -2.68252105e-01 7.19296869e+01] [ 2.74455308e-01 -5.71952183e-03 9.61582847e-01 7.40040660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.778040942 meters Centerline goodness : 0.996048 Centerline is valid? [True, True] Translation: X:97.45, Y:71.96, Z:7.41 [[ 1.82430697e-01 -9.82196361e-01 -4.48257728e-02 9.74542160e+01] [ 9.43150845e-01 1.87696728e-01 -2.74292584e-01 7.19581889e+01] [ 2.77822829e-01 7.76192195e-03 9.60600972e-01 7.40593948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:71.97, Z:7.43 [[ 1.88560566e-01 -9.78857395e-01 -7.92660913e-02 9.74852943e+01] [ 9.41589397e-01 2.03132351e-01 -2.68601294e-01 7.19734796e+01] [ 2.79023870e-01 -2.39884993e-02 9.59984496e-01 7.42864671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:72.01, Z:7.42 [[ 1.85576107e-01 -9.81180158e-01 -5.33573399e-02 9.74749103e+01] [ 9.43973683e-01 1.93093256e-01 -2.67635348e-01 7.20145381e+01] [ 2.72901435e-01 -7.01198605e-04 9.62041743e-01 7.42176124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:72.04, Z:7.43 [[ 1.88584566e-01 -9.80516867e-01 -5.49775778e-02 9.74827434e+01] [ 9.41797685e-01 1.96434633e-01 -2.72819640e-01 7.20365044e+01] [ 2.78303759e-01 -3.28182033e-04 9.60493056e-01 7.43163278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:72.06, Z:7.44 [[ 1.85728885e-01 -9.80873391e-01 -5.82423501e-02 9.74855150e+01] [ 9.43802899e-01 1.94573325e-01 -2.67165322e-01 7.20630315e+01] [ 2.73387763e-01 -5.34898145e-03 9.61889037e-01 7.43611757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:72.09, Z:7.45 [[ 1.86203443e-01 -9.80471248e-01 -6.32804100e-02 9.74926634e+01] [ 9.43574588e-01 1.96404902e-01 -2.66631039e-01 7.20850886e+01] [ 2.73852650e-01 -1.00621692e-02 9.61719023e-01 7.44557874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:72.11, Z:7.47 [[ 1.86173586e-01 -9.79183084e-01 -8.08695468e-02 9.75090512e+01] [ 9.42915792e-01 2.01195979e-01 -2.65386487e-01 7.21096487e+01] [ 2.76132586e-01 -2.68452188e-02 9.60744570e-01 7.46521549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:72.14, Z:7.46 [[ 1.84696618e-01 -9.81095428e-01 -5.77833913e-02 9.75031511e+01] [ 9.43471108e-01 1.93464823e-01 -2.69134967e-01 7.21414487e+01] [ 2.75226140e-01 -4.80864207e-03 9.61367489e-01 7.46330610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01804094199997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:97.51, Y:72.17, Z:7.47 [[ 1.84015147e-01 -9.80745074e-01 -6.54028002e-02 9.75122910e+01] [ 9.43263758e-01 1.94909322e-01 -2.68819342e-01 7.21668130e+01] [ 2.76390861e-01 -1.22252603e-02 9.60967551e-01 7.47445495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:72.19, Z:7.48 [[ 1.83265762e-01 -9.81120820e-01 -6.17705176e-02 9.75148500e+01] [ 9.43517018e-01 1.93188530e-01 -2.69172490e-01 7.21939487e+01] [ 2.76024090e-01 -8.95143321e-03 9.61109033e-01 7.48162070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:72.22, Z:7.49 [[ 1.82103163e-01 -9.81417282e-01 -6.04860121e-02 9.75191728e+01] [ 9.43941340e-01 1.91712246e-01 -2.68739950e-01 7.22219583e+01] [ 2.75341940e-01 -8.15685250e-03 9.61311750e-01 7.48814162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:72.24, Z:7.52 [[ 1.85436282e-01 -9.78291011e-01 -9.25207191e-02 9.75423959e+01] [ 9.40610967e-01 2.03960152e-01 -2.71387666e-01 7.22406633e+01] [ 2.84366654e-01 -3.67008833e-02 9.58012866e-01 7.51840229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:72.27, Z:7.52 [[ 1.85084950e-01 -9.80502279e-01 -6.60215267e-02 9.75352327e+01] [ 9.40750588e-01 1.96204041e-01 -2.76572423e-01 7.22740097e+01] [ 2.84133582e-01 -1.09203970e-02 9.58722511e-01 7.51614313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:72.30, Z:7.50 [[ 1.78568715e-01 -9.83407701e-01 -3.19766694e-02 9.75121286e+01] [ 9.44313394e-01 1.80417577e-01 -2.75175784e-01 7.23006613e+01] [ 2.76379138e-01 1.89417890e-02 9.60861999e-01 7.49889875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:72.33, Z:7.52 [[ 1.82552454e-01 -9.81040067e-01 -6.50767935e-02 9.75405224e+01] [ 9.43066384e-01 1.93434507e-01 -2.70571408e-01 7.23254892e+01] [ 2.78029490e-01 -1.19782619e-02 9.60497852e-01 7.52189087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:72.35, Z:7.53 [[ 1.81973107e-01 -9.81455363e-01 -6.02590922e-02 9.75426622e+01] [ 9.43280941e-01 1.91544197e-01 -2.71167637e-01 7.23536163e+01] [ 2.77681212e-01 -7.49603570e-03 9.60644031e-01 7.52758048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:72.38, Z:7.52 [[ 1.79748772e-01 -9.82684207e-01 -4.49680804e-02 9.75385826e+01] [ 9.44715856e-01 1.85186000e-01 -2.70588427e-01 7.23843309e+01] [ 2.74230432e-01 6.15587895e-03 9.61644308e-01 7.52497340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:72.40, Z:7.56 [[ 1.83430736e-01 -9.79403250e-01 -8.43945389e-02 9.75646187e+01] [ 9.41851493e-01 1.99685988e-01 -2.70261488e-01 7.24000623e+01] [ 2.81547387e-01 -2.99128587e-02 9.59080961e-01 7.55506869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.56, Y:72.43, Z:7.55 [[ 1.84294169e-01 -9.80990689e-01 -6.07694690e-02 9.75569131e+01] [ 9.41428274e-01 1.93950179e-01 -2.75855274e-01 7.24315183e+01] [ 2.82397704e-01 -6.37157791e-03 9.59276258e-01 7.55367078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:72.46, Z:7.55 [[ 1.80605797e-01 -9.82693281e-01 -4.11759852e-02 9.75442518e+01] [ 9.42670488e-01 1.84891395e-01 -2.77826425e-01 7.24569868e+01] [ 2.80631246e-01 1.13616768e-02 9.59748413e-01 7.54926843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:72.48, Z:7.57 [[ 1.81456580e-01 -9.81082514e-01 -6.74582065e-02 9.75663746e+01] [ 9.42720608e-01 1.93066210e-01 -2.72035465e-01 7.24834586e+01] [ 2.79913139e-01 -1.42316161e-02 9.59919838e-01 7.56731606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.58, Y:72.51, Z:7.58 [[ 1.81191785e-01 -9.80570786e-01 -7.51696149e-02 9.75764146e+01] [ 9.41884350e-01 1.95012524e-01 -2.73539736e-01 7.25089575e+01] [ 2.82884090e-01 -2.12379308e-02 9.58918944e-01 7.58219377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:72.54, Z:7.58 [[ 1.78094001e-01 -9.82718980e-01 -5.04572465e-02 9.75677418e+01] [ 9.43157624e-01 1.85097113e-01 -2.76030351e-01 7.25409332e+01] [ 2.80599755e-01 1.57021269e-03 9.59823584e-01 7.57694878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:97.58, Y:72.56, Z:7.59 [[ 1.75501761e-01 -9.82569283e-01 -6.12922257e-02 9.75782879e+01] [ 9.43516421e-01 1.85645236e-01 -2.74431428e-01 7.25648641e+01] [ 2.81026501e-01 -9.66702251e-03 9.59651319e-01 7.58879641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:72.59, Z:7.59 [[ 1.72557803e-01 -9.83393505e-01 -5.62229342e-02 9.75791861e+01] [ 9.44588837e-01 1.81390260e-01 -2.73586373e-01 7.25920405e+01] [ 2.79241355e-01 -5.89809246e-03 9.60202832e-01 7.59098119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:72.62, Z:7.60 [[ 1.71221131e-01 -9.83125855e-01 -6.43962600e-02 9.75885630e+01] [ 9.44203887e-01 1.82405584e-01 -2.74239354e-01 7.26158404e+01] [ 2.81358036e-01 -1.38476267e-02 9.59502943e-01 7.60407879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:72.65, Z:7.61 [[ 1.68939558e-01 -9.83835811e-01 -5.93845333e-02 9.75905378e+01] [ 9.44602313e-01 1.78815503e-01 -2.75229878e-01 7.26453992e+01] [ 2.81399886e-01 -9.59755351e-03 9.59542595e-01 7.61005319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:72.67, Z:7.62 [[ 1.68341464e-01 -9.83686233e-01 -6.34235460e-02 9.75962953e+01] [ 9.44508658e-01 1.79379489e-01 -2.75184290e-01 7.26700516e+01] [ 2.82071881e-01 -1.35791622e-02 9.59297170e-01 7.62079716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:72.70, Z:7.62 [[ 1.67649039e-01 -9.84354952e-01 -5.42137254e-02 9.75951079e+01] [ 9.45040568e-01 1.76124362e-01 -2.75460587e-01 7.26974491e+01] [ 2.80699350e-01 -5.05346718e-03 9.59782443e-01 7.62229147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.61, Y:72.72, Z:7.63 [[ 1.68870264e-01 -9.83502129e-01 -6.48567395e-02 9.76050274e+01] [ 9.44758483e-01 1.80269644e-01 -2.73741237e-01 7.27204485e+01] [ 2.80916791e-01 -1.50471999e-02 9.59614161e-01 7.63438657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:72.75, Z:7.63 [[ 1.68659529e-01 -9.84365194e-01 -5.07851120e-02 9.76012700e+01] [ 9.45254746e-01 1.76131692e-01 -2.74720026e-01 7.27520394e+01] [ 2.79369700e-01 -1.67071799e-03 9.60182160e-01 7.63415848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:72.77, Z:7.66 [[ 1.70890615e-01 -9.82283038e-01 -7.69183370e-02 9.76207259e+01] [ 9.43555815e-01 1.85632721e-01 -2.74304422e-01 7.27743641e+01] [ 2.83723141e-01 -2.57006928e-02 9.58561763e-01 7.65670125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:72.80, Z:7.64 [[ 1.67484736e-01 -9.84966523e-01 -4.23061592e-02 9.75994750e+01] [ 9.45338904e-01 1.72628925e-01 -2.76647088e-01 7.28024831e+01] [ 2.79791388e-01 6.34050626e-03 9.60039883e-01 7.64353653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:72.83, Z:7.66 [[ 1.71713752e-01 -9.83503483e-01 -5.68795787e-02 9.76170532e+01] [ 9.44027682e-01 1.80778856e-01 -2.75917995e-01 7.28311878e+01] [ 2.81648935e-01 -6.31698268e-03 9.59496729e-01 7.65820177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.62, Y:72.86, Z:7.67 [[ 1.72202217e-01 -9.83368965e-01 -5.77224033e-02 9.76218645e+01] [ 9.43891199e-01 1.81485279e-01 -2.75921180e-01 7.28575538e+01] [ 2.81808091e-01 -6.96942963e-03 9.59445479e-01 7.66654064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:72.89, Z:7.67 [[ 1.72408854e-01 -9.83381099e-01 -5.68928891e-02 9.76255897e+01] [ 9.44089738e-01 1.81445606e-01 -2.75267248e-01 7.28856195e+01] [ 2.81015574e-01 -6.25348181e-03 9.59682834e-01 7.67357327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:72.91, Z:7.69 [[ 1.72473260e-01 -9.82954348e-01 -6.36688679e-02 9.76342722e+01] [ 9.43639872e-01 1.83420006e-01 -2.75501167e-01 7.29114339e+01] [ 2.82483214e-01 -1.25638979e-02 9.59189962e-01 7.68558723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:72.94, Z:7.68 [[ 1.66604779e-01 -9.84732757e-01 -5.04405002e-02 9.76265832e+01] [ 9.45603114e-01 1.74062517e-01 -2.74839937e-01 7.29350389e+01] [ 2.79423689e-01 -1.90704705e-03 9.60166009e-01 7.68456527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:72.96, Z:7.72 [[ 1.71112606e-01 -9.80587131e-01 -9.57567437e-02 9.76633579e+01] [ 9.42159858e-01 1.91282882e-01 -2.75219295e-01 7.29570141e+01] [ 2.88193125e-01 -4.31246693e-02 9.56600745e-01 7.72387242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:72.99, Z:7.69 [[ 1.64041199e-01 -9.86237877e-01 -2.06236699e-02 9.76222995e+01] [ 9.46138051e-01 1.63218466e-01 -2.79611376e-01 7.29923110e+01] [ 2.79129493e-01 2.63549465e-02 9.59891735e-01 7.69003394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:73.01, Z:7.71 [[ 1.61664795e-01 -9.85440797e-01 -5.26396211e-02 9.76442729e+01] [ 9.46773933e-01 1.69925369e-01 -2.73394384e-01 7.30124137e+01] [ 2.78358786e-01 -5.63957405e-03 9.60460609e-01 7.70839513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:73.04, Z:7.71 [[ 1.59681210e-01 -9.85763532e-01 -5.26513935e-02 9.76482416e+01] [ 9.46967952e-01 1.68026085e-01 -2.73895845e-01 7.30392730e+01] [ 2.78843343e-01 -6.12316220e-03 9.60317081e-01 7.71475877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:73.07, Z:7.74 [[ 1.63218011e-01 -9.83313853e-01 -8.03352122e-02 9.76732347e+01] [ 9.44366470e-01 1.79280449e-01 -2.75736270e-01 7.30650293e+01] [ 2.85537827e-01 -3.08607551e-02 9.57870431e-01 7.74069902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:73.10, Z:7.72 [[ 1.57708775e-01 -9.86949573e-01 -3.25343268e-02 9.76471993e+01] [ 9.46892670e-01 1.60492918e-01 -2.78632902e-01 7.30966518e+01] [ 2.80218153e-01 1.31363381e-02 9.59846458e-01 7.72219455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:73.12, Z:7.73 [[ 1.58675361e-01 -9.86124583e-01 -4.87897096e-02 9.76635900e+01] [ 9.46759990e-01 1.65989282e-01 -2.75849741e-01 7.31230661e+01] [ 2.80120780e-01 -2.42158775e-03 9.59961710e-01 7.73403232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:73.14, Z:7.75 [[ 1.57582086e-01 -9.85761811e-01 -5.86646257e-02 9.76709727e+01] [ 9.47166506e-01 1.67683986e-01 -2.73418528e-01 7.31441325e+01] [ 2.79362661e-01 -1.24793065e-02 9.60104562e-01 7.74694178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:73.17, Z:7.75 [[ 1.58760588e-01 -9.85923306e-01 -5.24433974e-02 9.76714663e+01] [ 9.46785207e-01 1.67091283e-01 -2.75096845e-01 7.31728087e+01] [ 2.79987226e-01 -5.97809588e-03 9.59985112e-01 7.75178941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:73.20, Z:7.76 [[ 1.59554406e-01 -9.85792652e-01 -5.24903628e-02 9.76758551e+01] [ 9.46444920e-01 1.67870894e-01 -2.75792269e-01 7.31994774e+01] [ 2.80685597e-01 -5.67536555e-03 9.59782989e-01 7.75904734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.218040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.68, Y:73.22, Z:7.77 [[ 1.59950326e-01 -9.85723491e-01 -5.25841558e-02 9.76799743e+01] [ 9.46096271e-01 1.68282820e-01 -2.76735862e-01 7.32241471e+01] [ 2.81634050e-01 -5.48568230e-03 9.59506211e-01 7.76592595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:73.25, Z:7.79 [[ 1.64371963e-01 -9.83965729e-01 -6.92336729e-02 9.76994762e+01] [ 9.43951069e-01 1.77279016e-01 -2.78439455e-01 7.32509466e+01] [ 2.86248559e-01 -1.95855598e-02 9.57955202e-01 7.78552943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:73.28, Z:7.78 [[ 1.65759334e-01 -9.85492986e-01 -3.64337326e-02 9.76851654e+01] [ 9.43410027e-01 1.69224956e-01 -2.85202445e-01 7.32800840e+01] [ 2.87230507e-01 1.29030187e-02 9.57774581e-01 7.77603739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:73.30, Z:7.79 [[ 1.63730051e-01 -9.84679651e-01 -5.99871263e-02 9.77022590e+01] [ 9.45075533e-01 1.74000707e-01 -2.76687532e-01 7.33048367e+01] [ 2.82886385e-01 -1.13903014e-02 9.59085791e-01 7.79130692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:73.33, Z:7.81 [[ 1.64709075e-01 -9.83961131e-01 -6.84938995e-02 9.77133269e+01] [ 9.44183059e-01 1.77373701e-01 -2.77591285e-01 7.33287393e+01] [ 2.85288051e-01 -1.89489759e-02 9.58254488e-01 7.80662853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:73.35, Z:7.80 [[ 1.59716962e-01 -9.86040849e-01 -4.70524742e-02 9.76994695e+01] [ 9.46301956e-01 1.66503370e-01 -2.77108708e-01 7.33545557e+01] [ 2.81074901e-01 -2.66887336e-04 9.59685797e-01 7.80204265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.74, Y:73.38, Z:7.85 [[ 1.65600309e-01 -9.80577814e-01 -1.05088953e-01 9.77443909e+01] [ 9.41918957e-01 1.88835257e-01 -2.77722746e-01 7.33762224e+01] [ 2.92173262e-01 -5.29943049e-02 9.54896009e-01 7.85050028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:73.41, Z:7.81 [[ 1.57206458e-01 -9.87492105e-01 -1.20611731e-02 9.76898460e+01] [ 9.46940087e-01 1.54195097e-01 -2.82007703e-01 7.34135090e+01] [ 2.80340154e-01 3.29122238e-02 9.59336325e-01 7.80645860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:73.43, Z:7.87 [[ 1.62486377e-01 -9.80222331e-01 -1.12970612e-01 9.77569762e+01] [ 9.42626769e-01 1.88046109e-01 -2.75850386e-01 7.34276391e+01] [ 2.91638392e-01 -6.16671932e-02 9.54538740e-01 7.87255512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:73.47, Z:7.82 [[ 1.53539577e-01 -9.88133041e-01 -4.32335817e-03 9.76930117e+01] [ 9.47684852e-01 1.48490903e-01 -2.82566583e-01 7.34684119e+01] [ 2.79855356e-01 3.92879724e-02 9.59237945e-01 7.81985581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:73.49, Z:7.85 [[ 1.56486514e-01 -9.86022128e-01 -5.72043229e-02 9.77318046e+01] [ 9.47045866e-01 1.66238510e-01 -2.74716010e-01 7.34901150e+01] [ 2.80385627e-01 -1.11857668e-02 9.59822264e-01 7.84844165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:73.51, Z:7.85 [[ 1.52715829e-01 -9.86961626e-01 -5.08391946e-02 9.77237641e+01] [ 9.48469901e-01 1.60823430e-01 -2.73021374e-01 7.35118887e+01] [ 2.77637753e-01 -6.52476033e-03 9.60663680e-01 7.84908867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57804094199997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.76, Y:73.53, Z:7.89 [[ 1.61812813e-01 -9.81819269e-01 -9.92347508e-02 9.77619687e+01] [ 9.43527562e-01 1.83388499e-01 -2.75906503e-01 7.35298688e+01] [ 2.89088833e-01 -4.89855150e-02 9.56048150e-01 7.89141988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:73.56, Z:7.91 [[ 1.62160343e-01 -9.82075396e-01 -9.60829858e-02 9.77639717e+01] [ 9.42189593e-01 1.83034477e-01 -2.80672677e-01 7.35637784e+01] [ 2.93228229e-01 -4.50144117e-02 9.54982151e-01 7.90621173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.71, Y:73.61, Z:7.86 [[ 1.56008330e-01 -9.87717011e-01 8.74689545e-03 9.77069221e+01] [ 9.48328430e-01 1.47298280e-01 -2.81027410e-01 7.36096939e+01] [ 2.76287150e-01 5.21375465e-02 9.59659881e-01 7.85647389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:73.61, Z:7.92 [[ 1.59748855e-01 -9.80493687e-01 -1.14509534e-01 9.77771931e+01] [ 9.44793811e-01 1.85478529e-01 -2.70115475e-01 7.36144318e+01] [ 2.86085578e-01 -6.50372616e-02 9.55994350e-01 7.92152594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:73.65, Z:7.91 [[ 1.63439965e-01 -9.84735571e-01 -5.98601138e-02 9.77535026e+01] [ 9.43202622e-01 1.73759011e-01 -2.83154762e-01 7.36497362e+01] [ 2.89233800e-01 -1.01814120e-02 9.57204340e-01 7.91105189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:73.67, Z:7.91 [[ 1.66276750e-01 -9.85168961e-01 -4.23575441e-02 9.77460082e+01] [ 9.43817073e-01 1.71444284e-01 -2.82517593e-01 7.36707753e+01] [ 2.85589522e-01 6.99833390e-03 9.58326483e-01 7.90579917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:73.69, Z:7.92 [[ 1.68087280e-01 -9.83543681e-01 -6.62457017e-02 9.77599921e+01] [ 9.44409750e-01 1.79932636e-01 -2.75162625e-01 7.36892425e+01] [ 2.82554225e-01 -1.63117494e-02 9.59112630e-01 7.92044863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.74, Y:73.74, Z:7.91 [[ 1.60214516e-01 -9.86983152e-01 -1.39845184e-02 9.77379300e+01] [ 9.42033215e-01 1.57118401e-01 -2.96457803e-01 7.37368943e+01] [ 2.94796082e-01 3.43229625e-02 9.54943561e-01 7.91374876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:73.75, Z:7.93 [[ 1.59691835e-01 -9.84778952e-01 -6.86216748e-02 9.77670640e+01] [ 9.44211748e-01 1.72656088e-01 -2.80453293e-01 7.37486520e+01] [ 2.88032450e-01 -2.00072905e-02 9.57411623e-01 7.93419340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:73.78, Z:7.93 [[ 1.59127290e-01 -9.86425109e-01 -4.05463898e-02 9.77536324e+01] [ 9.45115669e-01 1.64077444e-01 -2.82550817e-01 7.37768067e+01] [ 2.85367969e-01 6.64051755e-03 9.58395026e-01 7.92655435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:73.80, Z:7.94 [[ 1.57301595e-01 -9.85067809e-01 -6.99829929e-02 9.77720372e+01] [ 9.47752725e-01 1.70497779e-01 -2.69620620e-01 7.37998608e+01] [ 2.77526539e-01 -2.39148185e-02 9.60420273e-01 7.94244000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.74, Y:73.83, Z:7.92 [[ 1.55718813e-01 -9.87666260e-01 -1.63404416e-02 9.77412581e+01] [ 9.50298626e-01 1.54301167e-01 -2.70413887e-01 7.38309048e+01] [ 2.69600022e-01 2.65802304e-02 9.62605485e-01 7.91850616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:73.85, Z:7.94 [[ 1.54688122e-01 -9.86452092e-01 -5.46246695e-02 9.77649322e+01] [ 9.51292807e-01 1.63642613e-01 -2.61272063e-01 7.38547509e+01] [ 2.66671297e-01 -1.15483705e-02 9.63718348e-01 7.93863998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:73.88, Z:7.94 [[ 1.54738033e-01 -9.87344020e-01 -3.47552485e-02 9.77566506e+01] [ 9.50406682e-01 1.58371241e-01 -2.67667123e-01 7.38810359e+01] [ 2.69783765e-01 8.38666370e-03 9.62884408e-01 7.93820618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:73.91, Z:7.92 [[ 1.47217592e-01 -9.88800246e-01 -2.45164206e-02 9.77451670e+01] [ 9.55309441e-01 1.48567722e-01 -2.55561155e-01 7.39130943e+01] [ 2.56341281e-01 1.42023296e-02 9.66481992e-01 7.92268343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:73.94, Z:7.94 [[ 1.49748915e-01 -9.88079025e-01 -3.57085826e-02 9.77579265e+01] [ 9.53344210e-01 1.53871064e-01 -2.59727766e-01 7.39412352e+01] [ 2.62126076e-01 4.85138069e-03 9.65021443e-01 7.94283201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:73.97, Z:7.95 [[ 1.49687554e-01 -9.87692361e-01 -4.53589764e-02 9.77679353e+01] [ 9.53214734e-01 1.56344073e-01 -2.58724183e-01 7.39674476e+01] [ 2.62631506e-01 -4.50905451e-03 9.64885672e-01 7.95423183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:73.98, Z:7.99 [[ 1.51389845e-01 -9.83997079e-01 -9.39726752e-02 9.77928403e+01] [ 9.50325675e-01 1.71044272e-01 -2.60048011e-01 7.39779261e+01] [ 2.71959971e-01 -4.99360180e-02 9.61012054e-01 7.98960827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:74.02, Z:7.97 [[ 1.51442919e-01 -9.88249052e-01 -2.07087806e-02 9.77621907e+01] [ 9.50443681e-01 1.51340342e-01 -2.71574872e-01 7.40241814e+01] [ 2.71517684e-01 2.14455616e-02 9.62194489e-01 7.96983180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.78, Y:74.04, Z:7.99 [[ 1.52971309e-01 -9.86728255e-01 -5.44713662e-02 9.77816065e+01] [ 9.50930744e-01 1.61974493e-01 -2.63619011e-01 7.40448799e+01] [ 2.68943299e-01 -1.14723515e-02 9.63087684e-01 7.98658117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:74.08, Z:8.00 [[ 1.52426066e-01 -9.87171684e-01 -4.75222168e-02 9.77824291e+01] [ 9.49166729e-01 1.59618235e-01 -2.71301566e-01 7.40770694e+01] [ 2.75406636e-01 -3.75307687e-03 9.61320498e-01 7.99700838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:74.10, Z:8.00 [[ 1.50052457e-01 -9.87885346e-01 -3.95828695e-02 9.77782133e+01] [ 9.49826795e-01 1.55153447e-01 -2.71581418e-01 7.41032945e+01] [ 2.74432722e-01 3.15458902e-03 9.61601128e-01 7.99664886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:74.12, Z:8.02 [[ 1.47462494e-01 -9.86797388e-01 -6.69755776e-02 9.77884332e+01] [ 9.49062181e-01 1.60237262e-01 -2.71302408e-01 7.41202302e+01] [ 2.78452491e-01 -2.35570581e-02 9.60161067e-01 8.01691993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:74.15, Z:8.02 [[ 1.51414259e-01 -9.86650990e-01 -5.99461908e-02 9.77939378e+01] [ 9.49597388e-01 1.62031969e-01 -2.68347615e-01 7.41527975e+01] [ 2.74478639e-01 -1.62930907e-02 9.61455153e-01 8.02196827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:74.19, Z:8.02 [[ 1.47635804e-01 -9.88341835e-01 -3.72033219e-02 9.77836132e+01] [ 9.49122948e-01 1.52155598e-01 -2.75706916e-01 7.41920593e+01] [ 2.78153373e-01 5.39368569e-03 9.60521530e-01 8.02422484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:74.21, Z:8.04 [[ 1.46711130e-01 -9.87270898e-01 -6.14167634e-02 9.77989295e+01] [ 9.50682610e-01 1.57882175e-01 -2.66975267e-01 7.42113402e+01] [ 2.73273524e-01 -1.92196059e-02 9.61744346e-01 8.03580592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:74.24, Z:8.05 [[ 1.46514248e-01 -9.87225448e-01 -6.26058239e-02 9.78029779e+01] [ 9.50165787e-01 1.58054558e-01 -2.68707523e-01 7.42382371e+01] [ 2.75170041e-01 -2.01164313e-02 9.61185090e-01 8.04716009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.79, Y:74.27, Z:8.05 [[ 1.44057991e-01 -9.88573050e-01 -4.43916765e-02 9.77916358e+01] [ 9.51107596e-01 1.50704600e-01 -2.69596857e-01 7.42697602e+01] [ 2.73206216e-01 -3.38367909e-03 9.61949538e-01 8.04611802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:74.29, Z:8.06 [[ 1.38425805e-01 -9.89643636e-01 -3.79969702e-02 9.77839423e+01] [ 9.50164066e-01 1.43529127e-01 -2.76744714e-01 7.42927588e+01] [ 2.79332317e-01 2.20525416e-03 9.60191957e-01 8.05545487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.79, Y:74.33, Z:8.06 [[ 1.39671315e-01 -9.89280786e-01 -4.26080987e-02 9.77892957e+01] [ 9.53079271e-01 1.45982162e-01 -2.65196366e-01 7.43258695e+01] [ 2.68573691e-01 -3.56857066e-03 9.63252531e-01 8.05613650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:74.35, Z:8.07 [[ 1.39918090e-01 -9.88899067e-01 -5.00156371e-02 9.77949563e+01] [ 9.52734044e-01 1.48214131e-01 -2.65198817e-01 7.43503227e+01] [ 2.69667887e-01 -1.05454883e-02 9.62895645e-01 8.06540488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:74.38, Z:8.06 [[ 1.35610523e-01 -9.90229007e-01 -3.25007774e-02 9.77831234e+01] [ 9.54388997e-01 1.39368523e-01 -2.64041773e-01 7.43787324e+01] [ 2.65991408e-01 4.78845871e-03 9.63963506e-01 8.06231659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:74.41, Z:8.06 [[ 1.30145844e-01 -9.91437699e-01 -1.06465668e-02 9.77659332e+01] [ 9.56656762e-01 1.28387094e-01 -2.61389737e-01 7.44058863e+01] [ 2.60518521e-01 2.38336777e-02 9.65174625e-01 8.05564046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:74.41, Z:8.12 [[ 1.35616897e-01 -9.83579313e-01 -1.19078931e-01 9.78301549e+01] [ 9.52589548e-01 1.62486955e-01 -2.57237522e-01 7.44116161e+01] [ 2.72362278e-01 -7.85475903e-02 9.58983350e-01 8.11701458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:74.47, Z:8.07 [[ 1.32108420e-01 -9.91149523e-01 1.30379439e-02 9.77588489e+01] [ 9.55805998e-01 1.23890336e-01 -2.66619727e-01 7.44666402e+01] [ 2.62644740e-01 4.76844560e-02 9.63713616e-01 8.07399516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:74.48, Z:8.12 [[ 1.35385720e-01 -9.87511156e-01 -8.05755793e-02 9.78127720e+01] [ 9.52815128e-01 1.52065147e-01 -2.62715670e-01 7.44763610e+01] [ 2.71687393e-01 -4.12056807e-02 9.61503017e-01 8.11813091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:74.51, Z:8.12 [[ 1.35947053e-01 -9.89272079e-01 -5.34710413e-02 9.77949899e+01] [ 9.51234791e-01 1.45423780e-01 -2.72037307e-01 7.45054483e+01] [ 2.76894873e-01 -1.38808445e-02 9.60799954e-01 8.12049219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:74.53, Z:8.13 [[ 1.36196548e-01 -9.89051373e-01 -5.68144434e-02 9.77983505e+01] [ 9.51859069e-01 1.46541049e-01 -2.69239732e-01 7.45304663e+01] [ 2.74617575e-01 -1.74098209e-02 9.61395905e-01 8.12842126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.718040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.79, Y:74.56, Z:8.13 [[ 1.36225253e-01 -9.89654139e-01 -4.50262797e-02 9.77919763e+01] [ 9.51657539e-01 1.43354608e-01 -2.71656742e-01 7.45594739e+01] [ 2.75300944e-01 -5.84309016e-03 9.61340340e-01 8.13299529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:74.59, Z:8.14 [[ 1.35920207e-01 -9.89701851e-01 -4.48992623e-02 9.77941991e+01] [ 9.51782419e-01 1.43024699e-01 -2.71393005e-01 7.45861902e+01] [ 2.75019863e-01 -5.84653502e-03 9.61420768e-01 8.14069121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:74.62, Z:8.15 [[ 1.39736199e-01 -9.89521035e-01 -3.63581738e-02 9.77977536e+01] [ 9.51369671e-01 1.44347863e-01 -2.72138649e-01 7.46204975e+01] [ 2.74535142e-01 3.43755668e-03 9.61570922e-01 8.14750182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:74.65, Z:8.13 [[ 1.29268337e-01 -9.91591702e-01 -5.96607716e-03 9.77701562e+01] [ 9.55833484e-01 1.26203760e-01 -2.65433537e-01 7.46508293e+01] [ 2.63954634e-01 2.86095755e-02 9.64110701e-01 8.13038101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.838040942 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:97.80, Y:74.67, Z:8.15 [[ 1.30421393e-01 -9.89590461e-01 -6.08356785e-02 9.78022993e+01] [ 9.55880309e-01 1.41794373e-01 -2.57268712e-01 7.46653122e+01] [ 2.63216821e-01 -2.45982833e-02 9.64423055e-01 8.15288634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:74.69, Z:8.16 [[ 1.31879416e-01 -9.89195392e-01 -6.40335523e-02 9.78026007e+01] [ 9.54970550e-01 1.44105367e-01 -2.59354760e-01 7.46865320e+01] [ 2.65780113e-01 -2.69466022e-02 9.63656999e-01 8.16098075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:74.72, Z:8.17 [[ 1.33533250e-01 -9.90004644e-01 -4.53836456e-02 9.77992919e+01] [ 9.54016038e-01 1.40809918e-01 -2.64624199e-01 7.47222420e+01] [ 2.68369653e-01 -7.96059661e-03 9.63283114e-01 8.16859947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:74.74, Z:8.17 [[ 1.31132313e-01 -9.90286565e-01 -4.62259215e-02 9.77971194e+01] [ 9.54824229e-01 1.38704475e-01 -2.62815068e-01 7.47418373e+01] [ 2.66673973e-01 -9.67408224e-03 9.63738245e-01 8.17186841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.958040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.79, Y:74.77, Z:8.18 [[ 1.30502139e-01 -9.90547809e-01 -4.22401367e-02 9.77942663e+01] [ 9.54926574e-01 1.37037817e-01 -2.63317060e-01 7.47689886e+01] [ 2.66616633e-01 -5.97278945e-03 9.63784155e-01 8.17879639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:74.79, Z:8.19 [[ 1.29928654e-01 -9.90628066e-01 -4.21257560e-02 9.77953946e+01] [ 9.55055537e-01 1.36453423e-01 -2.63152777e-01 7.47949335e+01] [ 2.66434731e-01 -6.04135024e-03 9.63834030e-01 8.18614671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:74.82, Z:8.19 [[ 1.28963761e-01 -9.90759026e-01 -4.20107185e-02 9.77940929e+01] [ 9.55239983e-01 1.35491406e-01 -2.62980330e-01 7.48205431e+01] [ 2.66242227e-01 -6.21538553e-03 9.63886116e-01 8.19240516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:74.85, Z:8.20 [[ 1.28375187e-01 -9.90834573e-01 -4.20316693e-02 9.77960605e+01] [ 9.55123182e-01 1.34934182e-01 -2.63690109e-01 7.48455289e+01] [ 2.66944785e-01 -6.29415472e-03 9.63691271e-01 8.19980773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:74.87, Z:8.21 [[ 1.27919301e-01 -9.90897541e-01 -4.19370488e-02 9.77982615e+01] [ 9.55196342e-01 1.34469281e-01 -2.63662590e-01 7.48720229e+01] [ 2.66901857e-01 -6.33058131e-03 9.63702922e-01 8.20748586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:74.91, Z:8.21 [[ 1.28975016e-01 -9.90985877e-01 -3.62275657e-02 9.77987450e+01] [ 9.55254526e-01 1.33965061e-01 -2.63708462e-01 7.49059667e+01] [ 2.66184589e-01 -5.94743140e-04 9.63921890e-01 8.21208507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13804094199998 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:97.80, Y:74.93, Z:8.22 [[ 1.29006513e-01 -9.90862533e-01 -3.93542905e-02 9.78013508e+01] [ 9.55075455e-01 1.34829201e-01 -2.63916581e-01 7.49290852e+01] [ 2.66811159e-01 -3.53935906e-03 9.63742330e-01 8.22054883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16804094199998 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:97.79, Y:74.96, Z:8.22 [[ 1.29230977e-01 -9.91224146e-01 -2.78216872e-02 9.77930497e+01] [ 9.55943720e-01 1.31990782e-01 -2.62202282e-01 7.49574171e+01] [ 2.63573440e-01 7.28868982e-03 9.64611796e-01 8.21931228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19804094199998 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:97.81, Y:74.98, Z:8.24 [[ 1.29542077e-01 -9.89519475e-01 -6.37970131e-02 9.78140754e+01] [ 9.54822305e-01 1.41836465e-01 -2.61145137e-01 7.49766722e+01] [ 2.67456942e-01 -2.70855276e-02 9.63189056e-01 8.24120291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.81, Y:75.00, Z:8.25 [[ 1.32284573e-01 -9.89927063e-01 -5.04499896e-02 9.78103219e+01] [ 9.54757312e-01 1.40930696e-01 -2.61872133e-01 7.50007732e+01] [ 2.66344264e-01 -1.35258532e-02 9.63783059e-01 8.24593979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25804094199998 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:97.80, Y:75.03, Z:8.25 [[ 1.30174503e-01 -9.90965531e-01 -3.22787173e-02 9.78019732e+01] [ 9.54684618e-01 1.34063713e-01 -2.65714511e-01 7.50307998e+01] [ 2.67641326e-01 3.77325939e-03 9.63511226e-01 8.25063400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28804094199998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:97.82, Y:75.05, Z:8.26 [[ 1.32963004e-01 -9.89700303e-01 -5.30485536e-02 9.78150422e+01] [ 9.54900687e-01 1.42257662e-01 -2.60628924e-01 7.50507473e+01] [ 2.65491088e-01 -1.60020956e-02 9.63980505e-01 8.26184477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31804094199998 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:97.79, Y:75.08, Z:8.26 [[ 1.31100473e-01 -9.91245342e-01 -1.56632869e-02 9.77920007e+01] [ 9.55102005e-01 1.30523087e-01 -2.65977225e-01 7.50841567e+01] [ 2.65693106e-01 1.99097032e-02 9.63852052e-01 8.25621690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34804094199998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:97.82, Y:75.11, Z:8.28 [[ 1.32246813e-01 -9.88930599e-01 -6.72833605e-02 9.78236303e+01] [ 9.54234372e-01 1.45387717e-01 -2.61341109e-01 7.51054844e+01] [ 2.68230394e-01 -2.96425665e-02 9.62898631e-01 8.27990334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37804094199998 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:97.81, Y:75.13, Z:8.28 [[ 1.33494494e-01 -9.90542869e-01 -3.16866493e-02 9.78060917e+01] [ 9.53228000e-01 1.37082797e-01 -2.69378336e-01 7.51306200e+01] [ 2.71174484e-01 5.75592339e-03 9.62512996e-01 8.27944422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40804094199999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.81, Y:75.16, Z:8.29 [[ 1.35330577e-01 -9.89830037e-01 -4.38421290e-02 9.78149617e+01] [ 9.52973487e-01 1.42146374e-01 -2.67648916e-01 7.51577217e+01] [ 2.71158936e-01 -5.55930419e-03 9.62518533e-01 8.29096541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.438040942 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:97.82, Y:75.18, Z:8.30 [[ 1.33557533e-01 -9.90036706e-01 -4.46061190e-02 9.78150956e+01] [ 9.52927758e-01 1.40653204e-01 -2.68598890e-01 7.51787447e+01] [ 2.72196753e-01 -6.63300389e-03 9.62218754e-01 8.29829530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.82, Y:75.21, Z:8.31 [[ 1.34175193e-01 -9.90030041e-01 -4.28664796e-02 9.78164995e+01] [ 9.52530074e-01 1.40780832e-01 -2.69939281e-01 7.52053711e+01] [ 2.73282776e-01 -4.61245600e-03 9.61922684e-01 8.30645155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.498040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:97.82, Y:75.23, Z:8.31 [[ 1.36403629e-01 -9.89983903e-01 -3.64131982e-02 9.78180696e+01] [ 9.52819561e-01 1.41166696e-01 -2.68713318e-01 7.52332543e+01] [ 2.71162190e-01 1.95826419e-03 9.62531678e-01 8.30966392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528040942 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:97.84, Y:75.26, Z:8.32 [[ 1.46034905e-01 -9.87594879e-01 -5.77075562e-02 9.78380555e+01] [ 9.50964148e-01 1.56217005e-01 -2.66952123e-01 7.52559957e+01] [ 2.72655451e-01 -1.58934890e-02 9.61980458e-01 8.31597085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.558040942 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:97.82, Y:75.29, Z:8.33 [[ 1.40190694e-01 -9.89821659e-01 -2.44878271e-02 9.78188018e+01] [ 9.51399853e-01 1.41515641e-01 -2.73517170e-01 7.52880600e+01] [ 2.74198630e-01 1.50468468e-02 9.61555357e-01 8.32747045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:97.84, Y:75.31, Z:8.34 [[ 1.41327063e-01 -9.88708887e-01 -4.98136314e-02 9.78353936e+01] [ 9.51480659e-01 1.49554490e-01 -2.68920082e-01 7.53111703e+01] [ 2.73333527e-01 -9.39102151e-03 9.61873480e-01 8.33951167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.618040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:97.84, Y:75.34, Z:8.35 [[ 1.45207511e-01 -9.88205463e-01 -4.86286140e-02 9.78390776e+01] [ 9.49843926e-01 1.52992163e-01 -2.72745144e-01 7.53385699e+01] [ 2.76968038e-01 -6.58495000e-03 9.60856568e-01 8.35151765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.85, Y:75.36, Z:8.36 [[ 1.46966523e-01 -9.87533646e-01 -5.63749818e-02 9.78474269e+01] [ 9.49307329e-01 1.56829924e-01 -2.72433424e-01 7.53617520e+01] [ 2.77878457e-01 -1.34785902e-02 9.60521676e-01 8.36026031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:75.39, Z:8.37 [[ 1.46868253e-01 -9.88201785e-01 -4.34390233e-02 9.78428358e+01] [ 9.49475247e-01 1.53154199e-01 -2.73935295e-01 7.53903525e+01] [ 2.77356217e-01 -1.01187921e-03 9.60766624e-01 8.36591362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708040942 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:97.85, Y:75.41, Z:8.36 [[ 1.51489035e-01 -9.87418431e-01 -4.53421929e-02 9.78496588e+01] [ 9.49276096e-01 1.58118160e-01 -2.71796874e-01 7.54055156e+01] [ 2.75546667e-01 -1.86801381e-03 9.61285881e-01 8.36081059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:75.44, Z:8.38 [[ 1.47566458e-01 -9.88214815e-01 -4.06893109e-02 9.78479413e+01] [ 9.49829089e-01 1.53065064e-01 -2.72755913e-01 7.54389801e+01] [ 2.75769546e-01 1.60173281e-03 9.61222447e-01 8.37580990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76804094199997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.83, Y:75.47, Z:8.37 [[ 1.42116500e-01 -9.89801586e-01 -9.78366759e-03 9.78294286e+01] [ 9.52839791e-01 1.39473604e-01 -2.69524483e-01 7.54658214e+01] [ 2.68140324e-01 2.89816084e-02 9.62943837e-01 8.36584848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79804094199997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.87, Y:75.48, Z:8.39 [[ 1.44949223e-01 -9.87530441e-01 -6.14276072e-02 9.78681041e+01] [ 9.50336502e-01 1.56233081e-01 -2.69168642e-01 7.54845492e+01] [ 2.75409252e-01 -1.93611118e-02 9.61132088e-01 8.39496175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82804094199997 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:97.84, Y:75.52, Z:8.38 [[ 1.38549995e-01 -9.90314835e-01 -8.96805880e-03 9.78381143e+01] [ 9.53856498e-01 1.35874073e-01 -2.67761122e-01 7.55160851e+01] [ 2.66386338e-01 2.85440608e-02 9.63443592e-01 8.37885629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85804094199997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:97.86, Y:75.54, Z:8.39 [[ 1.37572081e-01 -9.89743097e-01 -3.85035615e-02 9.78594398e+01] [ 9.53848308e-01 1.42858146e-01 -2.64130567e-01 7.55389275e+01] [ 2.66921953e-01 -3.89565287e-04 9.63718071e-01 8.39032461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88804094199998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:97.89, Y:75.56, Z:8.41 [[ 1.38517095e-01 -9.88086149e-01 -6.70729157e-02 9.78858673e+01] [ 9.51233432e-01 1.51587638e-01 -2.68656184e-01 7.55643205e+01] [ 2.75622879e-01 -2.65885256e-02 9.60898059e-01 8.41498370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91804094199998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:97.87, Y:75.59, Z:8.41 [[ 1.32535955e-01 -9.90678959e-01 -3.14550710e-02 9.78655391e+01] [ 9.53640155e-01 1.36103231e-01 -2.68414539e-01 7.55890379e+01] [ 2.70193773e-01 5.57775844e-03 9.62789808e-01 8.40674045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94804094199998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:97.87, Y:75.62, Z:8.42 [[ 1.32639595e-01 -9.90593614e-01 -3.36307854e-02 9.78709079e+01] [ 9.53570438e-01 1.36791464e-01 -2.68312346e-01 7.56158839e+01] [ 2.70388901e-01 3.51951797e-03 9.62744751e-01 8.41512521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97804094199998 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:97.87, Y:75.64, Z:8.44 [[ 1.32379484e-01 -9.90521953e-01 -3.66324080e-02 9.78733461e+01] [ 9.50477611e-01 1.37338617e-01 -2.78801749e-01 7.56385648e+01] [ 2.81190297e-01 2.08934790e-03 9.59649755e-01 8.43708644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00804094199998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:97.88, Y:75.67, Z:8.45 [[ 1.32802833e-01 -9.90145555e-01 -4.44430701e-02 9.78832897e+01] [ 9.50104465e-01 1.39945369e-01 -2.78777328e-01 7.56679936e+01] [ 2.82249734e-01 -5.20314033e-03 9.59326855e-01 8.44555514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03804094199998 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:97.86, Y:75.69, Z:8.42 [[ 1.18291895e-01 -9.92800669e-01 -1.88111385e-02 9.78629982e+01] [ 9.56452456e-01 1.19010994e-01 -2.66524076e-01 7.56917291e+01] [ 2.66844014e-01 1.35356785e-02 9.63644674e-01 8.42010660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06804094199998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:97.92, Y:75.72, Z:8.46 [[ 1.31470761e-01 -9.87757729e-01 -8.39649158e-02 9.79171182e+01] [ 9.50732574e-01 1.49623015e-01 -2.71515242e-01 7.57216775e+01] [ 2.80754363e-01 -4.41318652e-02 9.58764500e-01 8.45837471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09804094199998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:97.86, Y:75.75, Z:8.44 [[ 1.30156208e-01 -9.91414078e-01 1.25493776e-02 9.78622101e+01] [ 9.53724068e-01 1.21727912e-01 -2.74941298e-01 7.57541398e+01] [ 2.71053064e-01 4.77539601e-02 9.61379111e-01 8.43686364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12804094199998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:97.91, Y:75.77, Z:8.47 [[ 1.26943787e-01 -9.89216662e-01 -7.30456710e-02 9.79147029e+01] [ 9.52086719e-01 1.42173339e-01 -2.70772269e-01 7.57672290e+01] [ 2.78237587e-01 -3.51729561e-02 9.59868068e-01 8.46502639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15804094199999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:97.89, Y:75.80, Z:8.46 [[ 1.29876140e-01 -9.91306397e-01 -2.10669509e-02 9.78901288e+01] [ 9.53354973e-01 1.30686399e-01 -2.72094397e-01 7.58032658e+01] [ 2.72482081e-01 1.52542875e-02 9.62039928e-01 8.45555828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.188040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.91, Y:75.82, Z:8.48 [[ 1.39326547e-01 -9.89283181e-01 -4.36680859e-02 9.79124698e+01] [ 9.51139578e-01 1.45964508e-01 -2.72080623e-01 7.58197205e+01] [ 2.75538775e-01 -3.62639105e-03 9.61283118e-01 8.48297180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.218040942 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:97.90, Y:75.85, Z:8.47 [[ 1.40985831e-01 -9.89732001e-01 -2.35279122e-02 9.79047743e+01] [ 9.53074413e-01 1.42118369e-01 -2.67304194e-01 7.58540603e+01] [ 2.67903263e-01 1.52622528e-02 9.63324922e-01 8.47260065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.94, Y:75.87, Z:8.51 [[ 1.44544844e-01 -9.87129246e-01 -6.84298110e-02 9.79401851e+01] [ 9.48518048e-01 1.57922907e-01 -2.74543016e-01 7.58719853e+01] [ 2.81816075e-01 -2.52231334e-02 9.59136848e-01 8.51218010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.278040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.90, Y:75.91, Z:8.49 [[ 1.39241190e-01 -9.90247816e-01 4.59931208e-03 9.78984127e+01] [ 9.51939688e-01 1.32572178e-01 -2.76107674e-01 7.59053918e+01] [ 2.72805280e-01 4.28238287e-02 9.61115705e-01 8.48889244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:75.93, Z:8.50 [[ 1.39292957e-01 -9.89784374e-01 -3.04033819e-02 9.79235718e+01] [ 9.51943905e-01 1.42298400e-01 -2.71208347e-01 7.59295067e+01] [ 2.72764136e-01 8.83509856e-03 9.62040367e-01 8.50278262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.338040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.98, Y:75.95, Z:8.53 [[ 1.50382481e-01 -9.83626966e-01 -9.93131497e-02 9.79785850e+01] [ 9.46705306e-01 1.72220054e-01 -2.72193527e-01 7.59488964e+01] [ 2.84840609e-01 -5.30871480e-02 9.57103747e-01 8.53468145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.96, Y:75.98, Z:8.54 [[ 1.52656578e-01 -9.87047292e-01 -4.93316587e-02 9.79593210e+01] [ 9.46152073e-01 1.60385762e-01 -2.81198616e-01 7.59833750e+01] [ 2.85468428e-01 -3.74843262e-03 9.58380783e-01 8.53605984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.398040942 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:97.95, Y:76.01, Z:8.52 [[ 1.55902687e-01 -9.87328021e-01 -2.96265397e-02 9.79539579e+01] [ 9.48125723e-01 1.57990065e-01 -2.75856397e-01 7.60054560e+01] [ 2.77041450e-01 1.49170692e-02 9.60742169e-01 8.52118381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428040942 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:97.95, Y:76.04, Z:8.54 [[ 1.38019231e-01 -9.90015007e-01 -2.86526989e-02 9.79519961e+01] [ 9.49503176e-01 1.40490897e-01 -2.80545945e-01 7.60388029e+01] [ 2.81770139e-01 1.15149070e-02 9.59412839e-01 8.53711290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.458040942 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:97.95, Y:76.06, Z:8.55 [[ 1.44168120e-01 -9.89443123e-01 -1.47600915e-02 9.79522744e+01] [ 9.49684951e-01 1.42535532e-01 -2.78894454e-01 7.60568811e+01] [ 2.78054036e-01 2.61902524e-02 9.60208323e-01 8.54510984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.00, Y:76.08, Z:8.58 [[ 1.47779549e-01 -9.86298686e-01 -7.33219463e-02 9.79950791e+01] [ 9.46721772e-01 1.62519167e-01 -2.78038500e-01 7.60773009e+01] [ 2.86145229e-01 -2.83270787e-02 9.57767448e-01 8.57839730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51804094199997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:97.99, Y:76.11, Z:8.58 [[ 1.41081840e-01 -9.87805954e-01 -6.58430875e-02 9.79937031e+01] [ 9.48000053e-01 1.53963738e-01 -2.78551730e-01 7.61058193e+01] [ 2.85292505e-01 -2.31206600e-02 9.58161584e-01 8.57528842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:76.13, Z:8.59 [[ 1.46150927e-01 -9.88904874e-01 -2.65905286e-02 9.79856139e+01] [ 9.46639158e-01 1.47608288e-01 -2.86506717e-01 7.61342892e+01] [ 2.87252871e-01 1.67015866e-02 9.57709165e-01 8.58925978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57804094199997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:98.00, Y:76.16, Z:8.60 [[ 1.44302188e-01 -9.88369525e-01 -4.79849968e-02 9.80027471e+01] [ 9.46889556e-01 1.52003326e-01 -2.83364002e-01 7.61564453e+01] [ 2.87362224e-01 -4.54644671e-03 9.57811193e-01 8.60259169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.01, Y:76.18, Z:8.61 [[ 1.42986081e-01 -9.88884223e-01 -4.07795833e-02 9.80078270e+01] [ 9.46516574e-01 1.48669040e-01 -2.86363217e-01 7.61809017e+01] [ 2.89242729e-01 2.34740257e-03 9.57252910e-01 8.61120921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:76.21, Z:8.62 [[ 1.41518153e-01 -9.89121377e-01 -4.01436653e-02 9.80116729e+01] [ 9.47134773e-01 1.47083210e-01 -2.85135495e-01 7.62070422e+01] [ 2.87938072e-01 2.33038709e-03 9.57646196e-01 8.61525422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.02, Y:76.23, Z:8.63 [[ 1.40640652e-01 -9.88895070e-01 -4.80286139e-02 9.80217986e+01] [ 9.47048584e-01 1.48515521e-01 -2.84678976e-01 7.62301024e+01] [ 2.88650631e-01 -5.44799408e-03 9.57418995e-01 8.62704743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69804094199998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:98.04, Y:76.26, Z:8.63 [[ 1.42369489e-01 -9.87992697e-01 -6.00113248e-02 9.80377184e+01] [ 9.47780301e-01 1.53553385e-01 -2.79524344e-01 7.62611401e+01] [ 2.85382952e-01 -1.70818136e-02 9.58261333e-01 8.62526658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:76.29, Z:8.64 [[ 1.38825008e-01 -9.89895346e-01 -2.88932602e-02 9.80286066e+01] [ 9.47415491e-01 1.41248809e-01 -2.87145714e-01 7.62850087e+01] [ 2.88325345e-01 1.24890838e-02 9.57451053e-01 8.63935104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75804094199998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:98.05, Y:76.32, Z:8.65 [[ 1.32357685e-01 -9.88983464e-01 -6.62808552e-02 9.80507586e+01] [ 9.46804142e-01 1.45935081e-01 -2.86818530e-01 7.63154159e+01] [ 2.93331485e-01 -2.47923515e-02 9.55689269e-01 8.65023051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78804094199998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:98.02, Y:76.34, Z:8.64 [[ 1.32376715e-01 -9.91194170e-01 -3.24391360e-03 9.80207559e+01] [ 9.50627513e-01 1.27884322e-01 -2.82759496e-01 7.63387219e+01] [ 2.80684409e-01 3.43470196e-02 9.59185355e-01 8.63545520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:76.36, Z:8.66 [[ 1.32680050e-01 -9.90083186e-01 -4.61658921e-02 9.80533204e+01] [ 9.49572953e-01 1.40325538e-01 -2.80392494e-01 7.63581458e+01] [ 2.84090148e-01 -6.63539245e-03 9.58774614e-01 8.65848201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84804094199998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:98.06, Y:76.38, Z:8.66 [[ 1.24909329e-01 -9.90698786e-01 -5.39775437e-02 9.80577218e+01] [ 9.49937359e-01 1.35118953e-01 -2.81712412e-01 7.63846693e+01] [ 2.86385533e-01 -1.60867769e-02 9.57979406e-01 8.65785965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:76.41, Z:8.66 [[ 1.27632747e-01 -9.91736704e-01 -1.29689141e-02 9.80479892e+01] [ 9.51140292e-01 1.26093728e-01 -2.81837749e-01 7.64130183e+01] [ 2.81144139e-01 2.36364695e-02 9.59374427e-01 8.66245916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90804094199999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.07, Y:76.44, Z:8.68 [[ 1.26212100e-01 -9.91370588e-01 -3.54240464e-02 9.80663679e+01] [ 9.51122108e-01 1.31079375e-01 -2.79615689e-01 7.64366968e+01] [ 2.81846132e-01 1.59828956e-03 9.59458286e-01 8.67579458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:76.46, Z:8.68 [[ 1.25551467e-01 -9.91425681e-01 -3.62208197e-02 9.80722777e+01] [ 9.50689279e-01 1.30668836e-01 -2.81274864e-01 7.64599847e+01] [ 2.83596056e-01 8.79726896e-04 9.58943430e-01 8.68365044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.08, Y:76.49, Z:8.69 [[ 1.23281432e-01 -9.91673006e-01 -3.72335677e-02 9.80813572e+01] [ 9.50365995e-01 1.28780552e-01 -2.83231433e-01 7.64866465e+01] [ 2.85667926e-01 -4.68340012e-04 9.58328554e-01 8.69257141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:76.51, Z:8.70 [[ 1.22677891e-01 -9.91652830e-01 -3.96837472e-02 9.80910989e+01] [ 9.50512303e-01 1.28900811e-01 -2.82685236e-01 7.65114368e+01] [ 2.85440881e-01 -3.04066158e-03 9.58391495e-01 8.70135242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:76.54, Z:8.71 [[ 1.22842930e-01 -9.91568627e-01 -4.12464738e-02 9.80986714e+01] [ 9.50279720e-01 1.29507636e-01 -2.83189383e-01 7.65356217e+01] [ 2.86143441e-01 -4.40787409e-03 9.58176655e-01 8.71124903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.058040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.10, Y:76.56, Z:8.72 [[ 1.22831475e-01 -9.91580026e-01 -4.10058589e-02 9.81049079e+01] [ 9.49831971e-01 1.29434320e-01 -2.84720887e-01 7.65618861e+01] [ 2.87631110e-01 -3.97598933e-03 9.57733019e-01 8.72125326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:76.58, Z:8.75 [[ 1.24827473e-01 -9.89401545e-01 -7.41800818e-02 9.81338588e+01] [ 9.47319305e-01 1.41076952e-01 -2.87547263e-01 7.65816336e+01] [ 2.94964806e-01 -3.43784252e-02 9.54889463e-01 8.75243099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.118040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.11, Y:76.62, Z:8.74 [[ 1.23100109e-01 -9.92035563e-01 -2.66796736e-02 9.81141754e+01] [ 9.48607803e-01 1.25523747e-01 -2.90494448e-01 7.66158258e+01] [ 2.91529756e-01 1.04513515e-02 9.56504663e-01 8.74111388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:76.64, Z:8.74 [[ 1.14398798e-01 -9.92864095e-01 -3.36720103e-02 9.81200975e+01] [ 9.52524001e-01 1.19251368e-01 -2.80137715e-01 7.66361877e+01] [ 2.82154112e-01 -2.59799409e-05 9.59369093e-01 8.73556105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.178040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.12, Y:76.67, Z:8.74 [[ 1.15406564e-01 -9.92982591e-01 -2.58244008e-02 9.81237969e+01] [ 9.51041005e-01 1.17961359e-01 -2.85667856e-01 7.66669210e+01] [ 2.86709489e-01 8.40788154e-03 9.57980677e-01 8.74475980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:76.68, Z:8.76 [[ 1.18001965e-01 -9.92111529e-01 -4.23113470e-02 9.81412343e+01] [ 9.51849124e-01 1.25148511e-01 -2.79859063e-01 7.66844703e+01] [ 2.82946605e-01 -7.25009933e-03 9.59108260e-01 8.75818207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:76.71, Z:8.77 [[ 1.18368990e-01 -9.92578096e-01 -2.78837867e-02 9.81403777e+01] [ 9.51057198e-01 1.21400416e-01 -2.84169220e-01 7.67147304e+01] [ 2.85445246e-01 7.11774738e-03 9.58368587e-01 8.76564143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:76.74, Z:8.78 [[ 1.20487710e-01 -9.92186743e-01 -3.23755973e-02 9.81493574e+01] [ 9.50173549e-01 1.24707959e-01 -2.85688906e-01 7.67413907e+01] [ 2.87494240e-01 3.65956589e-03 9.57775375e-01 8.77778810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:76.77, Z:8.78 [[ 1.23497130e-01 -9.92155407e-01 -1.93934910e-02 9.81499164e+01] [ 9.48404638e-01 1.23757275e-01 -2.91912280e-01 7.67702700e+01] [ 2.92022432e-01 1.76574520e-02 9.56248458e-01 8.78172863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32804094199997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.18, Y:76.79, Z:8.80 [[ 1.24807468e-01 -9.90325598e-01 -6.06490400e-02 9.81780214e+01] [ 9.48740722e-01 1.37009160e-01 -2.84814908e-01 7.67922524e+01] [ 2.90368968e-01 -2.19931864e-02 9.56661990e-01 8.80388791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.17, Y:76.83, Z:8.80 [[ 1.27539088e-01 -9.91587000e-01 -2.21133864e-02 9.81653841e+01] [ 9.46388931e-01 1.28336607e-01 -2.96441742e-01 7.68258966e+01] [ 2.96785734e-01 1.68800451e-02 9.54794895e-01 8.80198803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:76.84, Z:8.83 [[ 1.29794699e-01 -9.88944546e-01 -7.17078848e-02 9.81983368e+01] [ 9.47997789e-01 1.44965909e-01 -2.83346214e-01 7.68362175e+01] [ 2.90608892e-01 -3.12020797e-02 9.56333050e-01 8.82725616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.19, Y:76.86, Z:8.83 [[ 1.26597223e-01 -9.90896508e-01 -4.57957924e-02 9.81916898e+01] [ 9.48514533e-01 1.34436799e-01 -2.86787252e-01 7.68643501e+01] [ 2.90333126e-01 -7.13150503e-03 9.56899063e-01 8.82600837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:76.90, Z:8.83 [[ 1.28298648e-01 -9.91267549e-01 -3.04647988e-02 9.81911622e+01] [ 9.47973883e-01 1.31603892e-01 -2.89872271e-01 7.68952230e+01] [ 2.91350262e-01 8.31038679e-03 9.56580348e-01 8.83276016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:76.92, Z:8.84 [[ 1.27082458e-01 -9.91268427e-01 -3.51703525e-02 9.81988686e+01] [ 9.47859444e-01 1.31811976e-01 -2.90151817e-01 7.69200615e+01] [ 2.92254209e-01 3.53665538e-03 9.56334131e-01 8.84180129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.21, Y:76.94, Z:8.85 [[ 1.24370092e-01 -9.91229737e-01 -4.46731397e-02 9.82113751e+01] [ 9.48270336e-01 1.31992273e-01 -2.88723761e-01 7.69434256e+01] [ 2.92088087e-01 -6.45361250e-03 9.56369646e-01 8.85481756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:76.97, Z:8.86 [[ 1.21921498e-01 -9.91643102e-01 -4.21794471e-02 9.82164668e+01] [ 9.48247791e-01 1.28928800e-01 -2.90178378e-01 7.69732815e+01] [ 2.93191532e-01 -4.61758488e-03 9.56042574e-01 8.86453691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:76.99, Z:8.87 [[ 1.15767447e-01 -9.92304809e-01 -4.39211229e-02 9.82220131e+01] [ 9.48223936e-01 1.23574658e-01 -2.92575923e-01 7.69942650e+01] [ 2.95752033e-01 -7.77629242e-03 9.55233094e-01 8.86567006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:77.02, Z:8.89 [[ 1.11467917e-01 -9.90840581e-01 -7.62223524e-02 9.82433086e+01] [ 9.49905333e-01 1.28769832e-01 -2.84777436e-01 7.70160427e+01] [ 2.91984180e-01 -4.06604715e-02 9.55558457e-01 8.88662724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:77.05, Z:8.87 [[ 1.08984065e-01 -9.94043296e-01 6.31638281e-04 9.82098096e+01] [ 9.49058006e-01 1.03862974e-01 -2.97491820e-01 7.70525106e+01] [ 2.95654146e-01 3.30213294e-02 9.54724158e-01 8.86633177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65804094199999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.25, Y:77.07, Z:8.90 [[ 1.13483548e-01 -9.92344681e-01 -4.87187658e-02 9.82454951e+01] [ 9.48276267e-01 1.22815197e-01 -2.92726065e-01 7.70743121e+01] [ 2.96468558e-01 -1.29792570e-02 9.54954414e-01 8.90285752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:77.10, Z:8.90 [[ 1.13190150e-01 -9.93143171e-01 -2.92341060e-02 9.82415639e+01] [ 9.48379134e-01 1.16767795e-01 -2.94859798e-01 7.70987264e+01] [ 2.96251597e-01 5.65020849e-03 9.55093224e-01 8.90297277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.718040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.24, Y:77.13, Z:8.90 [[ 1.10898727e-01 -9.93699490e-01 -1.62109964e-02 9.82377422e+01] [ 9.48463191e-01 1.10694238e-01 -2.96924839e-01 7.71276306e+01] [ 2.96848525e-01 1.75530533e-02 9.54763240e-01 8.90232308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:77.15, Z:8.93 [[ 1.11141041e-01 -9.92652629e-01 -4.78375157e-02 9.82594124e+01] [ 9.47352728e-01 1.20367829e-01 -2.96705906e-01 7.71471780e+01] [ 3.00283995e-01 -1.23427978e-02 9.53769981e-01 8.92554487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:77.17, Z:8.93 [[ 1.11138166e-01 -9.92862617e-01 -4.32681293e-02 9.82623608e+01] [ 9.48707810e-01 1.18960793e-01 -2.92919478e-01 7.71699516e+01] [ 2.95976011e-01 -8.49427857e-03 9.55157604e-01 8.92989818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:77.19, Z:8.95 [[ 1.12185260e-01 -9.91704320e-01 -6.27455907e-02 9.82806174e+01] [ 9.48514343e-01 1.25693818e-01 -2.90725997e-01 7.71936433e+01] [ 2.96200960e-01 -2.68999213e-02 9.54746765e-01 8.95135981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.838040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:98.30, Y:77.22, Z:8.98 [[ 1.14457725e-01 -9.90299250e-01 -7.87834055e-02 9.82979918e+01] [ 9.44026942e-01 1.33120527e-01 -3.01814607e-01 7.72215284e+01] [ 3.09374468e-01 -3.98286442e-02 9.50105846e-01 8.98050698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:98.29, Y:77.25, Z:8.98 [[ 1.14607266e-01 -9.92292289e-01 -4.71294783e-02 9.82860941e+01] [ 9.44275144e-01 1.23551788e-01 -3.05089181e-01 7.72548838e+01] [ 3.08560573e-01 -9.53775797e-03 9.51156877e-01 8.97665110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.898040942 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:98.27, Y:77.28, Z:8.97 [[ 1.11476109e-01 -9.93573236e-01 -1.96290859e-02 9.82737275e+01] [ 9.47240375e-01 1.12209273e-01 -3.00241156e-01 7.72848886e+01] [ 3.00514142e-01 1.48762532e-02 9.53661338e-01 8.96551011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:98.29, Y:77.31, Z:8.99 [[ 1.12761335e-01 -9.92474034e-01 -4.77511603e-02 9.82938200e+01] [ 9.46339642e-01 1.21919719e-01 -2.99293944e-01 7.73056386e+01] [ 3.02863276e-01 -1.14400311e-02 9.52965352e-01 8.98556472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:77.33, Z:8.99 [[ 1.12721979e-01 -9.93004980e-01 -3.51406520e-02 9.82913147e+01] [ 9.47346212e-01 1.18072189e-01 -2.97647632e-01 7.73337639e+01] [ 2.99714715e-01 2.61066576e-04 9.54028837e-01 8.98833758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.28, Y:77.36, Z:8.98 [[ 1.11152784e-01 -9.93625416e-01 -1.88040028e-02 9.82823419e+01] [ 9.47730097e-01 1.11675085e-01 -2.98891850e-01 7.73563956e+01] [ 2.99086477e-01 1.54015419e-02 9.54101709e-01 8.97985444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01804094199997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.29, Y:77.38, Z:8.99 [[ 1.13951770e-01 -9.92954159e-01 -3.25120359e-02 9.82930180e+01] [ 9.48586703e-01 1.18470460e-01 -2.93509823e-01 7.73822655e+01] [ 2.95293516e-01 2.60547900e-03 9.55403031e-01 8.99473335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04804094199997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.30, Y:77.41, Z:9.01 [[ 1.13443052e-01 -9.92761972e-01 -3.94251226e-02 9.82990175e+01] [ 9.49502426e-01 1.20012459e-01 -2.89900247e-01 7.74108727e+01] [ 2.92533447e-01 -4.54708075e-03 9.56244480e-01 9.00539943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:77.44, Z:9.00 [[ 1.11364074e-01 -9.93713730e-01 -1.14483845e-02 9.82830461e+01] [ 9.52316118e-01 1.10003445e-01 -2.84593138e-01 7.74409254e+01] [ 2.84063470e-01 2.07909701e-02 9.58580033e-01 8.99515186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:77.46, Z:9.01 [[ 1.11260190e-01 -9.93265529e-01 -3.23227331e-02 9.82962804e+01] [ 9.52150194e-01 1.15858155e-01 -2.82819546e-01 7.74649447e+01] [ 2.84659759e-01 6.90459826e-04 9.58628367e-01 9.01077920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:77.49, Z:9.03 [[ 1.11287343e-01 -9.92951435e-01 -4.07746897e-02 9.83047495e+01] [ 9.50918866e-01 1.18317787e-01 -2.85926935e-01 7.74912786e+01] [ 2.88735931e-01 -6.95337280e-03 9.57383524e-01 9.02715839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.30, Y:77.52, Z:9.03 [[ 1.10059122e-01 -9.93378489e-01 -3.29570679e-02 9.83036934e+01] [ 9.51302146e-01 1.14887604e-01 -2.86050810e-01 7.75198586e+01] [ 2.87943080e-01 1.30371467e-04 9.57647516e-01 9.03189794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19804094199998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:98.32, Y:77.54, Z:9.04 [[ 1.05407605e-01 -9.93086215e-01 -5.16624358e-02 9.83154937e+01] [ 9.51837539e-01 1.15798200e-01 -2.83894479e-01 7.75397734e+01] [ 2.87914111e-01 -1.92496085e-02 9.57462750e-01 9.04371251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22804094199998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:98.32, Y:77.57, Z:9.06 [[ 1.07635921e-01 -9.93409736e-01 -3.93904096e-02 9.83169440e+01] [ 9.47844102e-01 1.14493708e-01 -2.97460502e-01 7.75739640e+01] [ 3.00010112e-01 -5.31853226e-03 9.53921195e-01 9.06099971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:77.60, Z:9.06 [[ 1.01495822e-01 -9.94577932e-01 -2.26568857e-02 9.83076624e+01] [ 9.52284339e-01 1.03718881e-01 -2.87048656e-01 7.76002967e+01] [ 2.87842206e-01 7.55844176e-03 9.57648022e-01 9.05505989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28804094199998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.35, Y:77.62, Z:9.09 [[ 1.07079564e-01 -9.89697761e-01 -9.50384570e-02 9.83518356e+01] [ 9.49790743e-01 1.30087578e-01 -2.84560655e-01 7.76170964e+01] [ 2.93992366e-01 -5.97960158e-02 9.53935493e-01 9.09187618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31804094199998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.30, Y:77.66, Z:9.07 [[ 9.92694878e-02 -9.95048962e-01 4.80948879e-03 9.83011295e+01] [ 9.51632880e-01 9.35236164e-02 -2.92657127e-01 7.76600995e+01] [ 2.90758370e-01 3.36287908e-02 9.56205352e-01 9.06612161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:77.67, Z:9.09 [[ 9.05676877e-02 -9.95096111e-01 -3.97646031e-02 9.83174476e+01] [ 9.50299394e-01 9.82954446e-02 -2.95413383e-01 7.76694994e+01] [ 2.97873388e-01 -1.10333713e-02 9.54541623e-01 9.09191724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37804094199998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:98.30, Y:77.70, Z:9.08 [[ 8.80541186e-02 -9.96078594e-01 -8.59692641e-03 9.83019297e+01] [ 9.53101212e-01 8.67573804e-02 -2.89950403e-01 7.77005253e+01] [ 2.89559236e-01 1.73375861e-02 9.57003060e-01 9.08024457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.33, Y:77.72, Z:9.11 [[ 8.92164843e-02 -9.94671247e-01 -5.16674970e-02 9.83263186e+01] [ 9.51011672e-01 1.00487317e-01 -2.92368089e-01 7.77192600e+01] [ 2.96002059e-01 -2.30523397e-02 9.54909090e-01 9.11091934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.438040942 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:98.32, Y:77.74, Z:9.11 [[ 8.63256108e-02 -9.95815537e-01 -2.99884296e-02 9.83158835e+01] [ 9.49667778e-01 9.13487491e-02 -2.99643986e-01 7.77447002e+01] [ 3.01129542e-01 -2.61209512e-03 9.53579664e-01 9.11115957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468040942 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:98.31, Y:77.77, Z:9.10 [[ 8.63799976e-02 -9.96104917e-01 -1.77056733e-02 9.83143915e+01] [ 9.53272338e-01 8.78038712e-02 -2.89071495e-01 7.77710841e+01] [ 2.89500164e-01 8.09166639e-03 9.57143761e-01 9.09903343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.498040942 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:98.31, Y:77.81, Z:9.11 [[ 9.14779499e-02 -9.95794895e-01 4.93079212e-03 9.83080375e+01] [ 9.49851608e-01 8.57684111e-02 -3.00708668e-01 7.78069737e+01] [ 2.99021250e-01 3.21917333e-02 9.53703300e-01 9.10958863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:77.83, Z:9.15 [[ 9.49319829e-02 -9.92872851e-01 -7.20515117e-02 9.83532675e+01] [ 9.52005824e-01 1.11704346e-01 -2.84968507e-01 7.78261098e+01] [ 2.90985961e-01 -4.15408333e-02 9.55825052e-01 9.14521420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:77.85, Z:9.14 [[ 8.83695678e-02 -9.95498424e-01 -3.42594196e-02 9.83253257e+01] [ 9.51739673e-01 9.45335959e-02 -2.91984580e-01 7.78500445e+01] [ 2.93908855e-01 -6.80349765e-03 9.55809237e-01 9.13866491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:77.89, Z:9.11 [[ 9.01059126e-02 -9.95868282e-01 1.12822754e-02 9.83076174e+01] [ 9.55428942e-01 8.32380803e-02 -2.83243638e-01 7.78889469e+01] [ 2.81134240e-01 3.63013390e-02 9.58981622e-01 9.11441750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.618040942 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:98.35, Y:77.89, Z:9.14 [[ 9.42595527e-02 -9.93706300e-01 -6.05221077e-02 9.83459314e+01] [ 9.55312272e-01 1.07391034e-01 -2.75400852e-01 7.78863427e+01] [ 2.80167093e-01 -3.18583511e-02 9.59422454e-01 9.13845598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648040942 meters Centerline goodness : 0.997536 Centerline is valid? [True, True] Translation: X:98.32, Y:77.92, Z:9.13 [[ 9.33362505e-02 -9.95603774e-01 -7.84020860e-03 9.83216616e+01] [ 9.55061657e-01 9.17549963e-02 -2.81847923e-01 7.79220469e+01] [ 2.81328234e-01 1.88187457e-02 9.59427058e-01 9.12901230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.678040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:98.35, Y:77.96, Z:9.15 [[ 9.15345220e-02 -9.94668803e-01 -4.74910972e-02 9.83456347e+01] [ 9.55563062e-01 1.01155983e-01 -2.76887526e-01 7.79583799e+01] [ 2.80215393e-01 -2.00359709e-02 9.59728031e-01 9.15253025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708040942 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:98.34, Y:77.98, Z:9.14 [[ 9.85038115e-02 -9.94862041e-01 -2.33777397e-02 9.83429322e+01] [ 9.55847668e-01 1.01124480e-01 -2.75914977e-01 7.79798117e+01] [ 2.76861399e-01 4.83311893e-03 9.60897709e-01 9.14197607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.738040942 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:98.33, Y:78.01, Z:9.16 [[ 8.96241933e-02 -9.95819053e-01 -1.76611901e-02 9.83348232e+01] [ 9.55277965e-01 9.09656743e-02 -2.81370318e-01 7.80061048e+01] [ 2.81800485e-01 8.34624199e-03 9.59436724e-01 9.15800955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76804094199997 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:98.34, Y:78.03, Z:9.16 [[ 8.70817549e-02 -9.95950967e-01 -2.23257424e-02 9.83387228e+01] [ 9.55850113e-01 8.98472432e-02 -2.79782118e-01 7.80303185e+01] [ 2.80655178e-01 3.02385449e-03 9.59803901e-01 9.16375208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.36, Y:78.05, Z:9.19 [[ 8.90462704e-02 -9.94791038e-01 -4.96140338e-02 9.83595490e+01] [ 9.54959498e-01 9.94247592e-02 -2.79583753e-01 7.80533950e+01] [ 2.83060275e-01 -2.24835023e-02 9.58838554e-01 9.18762677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82804094199997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.35, Y:78.08, Z:9.18 [[ 8.85433970e-02 -9.95437087e-01 -3.55678663e-02 9.83530777e+01] [ 9.56536666e-01 9.49351781e-02 -2.75726167e-01 7.80799855e+01] [ 2.77844695e-01 -9.60823670e-03 9.60577955e-01 9.17556838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.35, Y:78.11, Z:9.19 [[ 8.37904209e-02 -9.95992730e-01 -3.12673595e-02 9.83536293e+01] [ 9.57281900e-01 8.91689060e-02 -2.75064119e-01 7.81128156e+01] [ 2.76749939e-01 -6.88393902e-03 9.60917313e-01 9.18763070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.35, Y:78.14, Z:9.19 [[ 8.24001158e-02 -9.96461448e-01 -1.65772091e-02 9.83486708e+01] [ 9.57591770e-01 8.37721330e-02 -2.75681397e-01 7.81378029e+01] [ 2.76094592e-01 6.84197997e-03 9.61106115e-01 9.18952754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.36, Y:78.16, Z:9.20 [[ 8.26174698e-02 -9.96209569e-01 -2.72185309e-02 9.83571066e+01] [ 9.56859557e-01 8.69289347e-02 -2.77242040e-01 7.81620618e+01] [ 2.78557251e-01 -3.13927552e-03 9.60414495e-01 9.20314295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.37, Y:78.18, Z:9.21 [[ 8.44768964e-02 -9.95267927e-01 -4.80146623e-02 9.83716640e+01] [ 9.57223652e-01 9.44423137e-02 -2.73502341e-01 7.81836955e+01] [ 2.76742723e-01 -2.28561415e-02 9.60672193e-01 9.21291463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.36, Y:78.22, Z:9.21 [[ 8.47895536e-02 -9.96070857e-01 -2.55651981e-02 9.83619008e+01] [ 9.56975040e-01 8.85537993e-02 -2.76327700e-01 7.82201815e+01] [ 2.77505864e-01 -1.03555417e-03 9.60723385e-01 9.21444997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:78.24, Z:9.22 [[ 8.48459873e-02 -9.96039538e-01 -2.65781421e-02 9.83634432e+01] [ 9.57715577e-01 8.88832722e-02 -2.73643269e-01 7.82395256e+01] [ 2.74921867e-01 -2.23676738e-03 9.61463969e-01 9.21756719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:78.26, Z:9.23 [[ 8.91097158e-02 -9.95144316e-01 -4.18001068e-02 9.83741988e+01] [ 9.56455532e-01 9.72055421e-02 -2.75216092e-01 7.82638767e+01] [ 2.77942931e-01 -1.54555156e-02 9.60473245e-01 9.22694968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06804094199998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.36, Y:78.30, Z:9.23 [[ 7.66420885e-02 -9.96675822e-01 -2.76278053e-02 9.83615580e+01] [ 9.59762781e-01 8.12546647e-02 -2.68799339e-01 7.83002957e+01] [ 2.70150690e-01 -5.91479659e-03 9.62799886e-01 9.22561720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:78.32, Z:9.23 [[ 8.34651259e-02 -9.96071004e-01 -2.95994632e-02 9.83671129e+01] [ 9.58610713e-01 8.83691326e-02 -2.70659189e-01 7.83203129e+01] [ 2.72211449e-01 -5.78375917e-03 9.62220076e-01 9.23349926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:78.35, Z:9.23 [[ 8.93782081e-02 -9.95997707e-01 -3.20480935e-04 9.83541708e+01] [ 9.58464814e-01 8.60975957e-02 -2.71905139e-01 7.83498148e+01] [ 2.70844487e-01 2.39952244e-02 9.62324006e-01 9.23391809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:78.38, Z:9.24 [[ 8.72735459e-02 -9.96132011e-01 -1.02149676e-02 9.83597574e+01] [ 9.59256346e-01 8.67999795e-02 -2.68873625e-01 7.83754108e+01] [ 2.68720283e-01 1.36667821e-02 9.63121295e-01 9.24255948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:78.40, Z:9.25 [[ 8.74214633e-02 -9.95947701e-01 -2.11107753e-02 9.83667595e+01] [ 9.59554190e-01 8.98820069e-02 -2.66790145e-01 7.84012007e+01] [ 2.67606510e-01 3.06625199e-03 9.63523406e-01 9.25249676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:78.43, Z:9.28 [[ 9.25811341e-02 -9.93981758e-01 -5.85576524e-02 9.83929856e+01] [ 9.58068334e-01 1.04943889e-01 -2.66630546e-01 7.84251350e+01] [ 2.71171166e-01 -3.14172741e-02 9.62018271e-01 9.27736226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:78.46, Z:9.26 [[ 9.12289454e-02 -9.95696518e-01 -1.63010131e-02 9.83700779e+01] [ 9.59394350e-01 9.22666512e-02 -2.66550831e-01 7.84568461e+01] [ 2.66907774e-01 8.67805131e-03 9.63683004e-01 9.26210890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:78.48, Z:9.28 [[ 8.93156496e-02 -9.95675326e-01 -2.55608997e-02 9.83783525e+01] [ 9.59258660e-01 9.28987138e-02 -2.66819514e-01 7.84810037e+01] [ 2.68040181e-01 -6.88356203e-04 9.63407488e-01 9.27666663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:78.51, Z:9.29 [[ 8.65348840e-02 -9.95954206e-01 -2.42267033e-02 9.83817939e+01] [ 9.58366642e-01 8.98619151e-02 -2.71031762e-01 7.85091251e+01] [ 2.72112281e-01 2.35637805e-04 9.62265478e-01 9.29046861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:78.53, Z:9.30 [[ 8.69425239e-02 -9.95680826e-01 -3.25682423e-02 9.83890007e+01] [ 9.57890331e-01 9.25336235e-02 -2.71815457e-01 7.85300251e+01] [ 2.73655096e-01 -7.56448246e-03 9.61798142e-01 9.29953790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:78.56, Z:9.32 [[ 8.28007695e-02 -9.95763591e-01 -3.99862800e-02 9.83984807e+01] [ 9.57724095e-01 9.06023357e-02 -2.73049034e-01 7.85621154e+01] [ 2.75515137e-01 -1.56871537e-02 9.61168727e-01 9.31676257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:78.58, Z:9.32 [[ 7.92264481e-02 -9.96161925e-01 -3.72100574e-02 9.83945888e+01] [ 9.57950103e-01 8.64078615e-02 -2.73615207e-01 7.85802534e+01] [ 2.75780293e-01 -1.39678173e-02 9.61119207e-01 9.32238468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:78.62, Z:9.32 [[ 7.85614518e-02 -9.96729767e-01 -1.89174599e-02 9.83921165e+01] [ 9.58167013e-01 8.07334994e-02 -2.74587105e-01 7.86166626e+01] [ 2.75216414e-01 3.44587561e-03 9.61376124e-01 9.32445904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:78.64, Z:9.34 [[ 7.75161341e-02 -9.96344631e-01 -3.58974134e-02 9.84045457e+01] [ 9.57806993e-01 8.44163651e-02 -2.74735584e-01 7.86375648e+01] [ 2.76761653e-01 -1.30863532e-02 9.60849486e-01 9.34148867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:78.67, Z:9.34 [[ 7.22141658e-02 -9.96907092e-01 -3.10058759e-02 9.84033162e+01] [ 9.58911782e-01 7.79460861e-02 -2.72786734e-01 7.86659762e+01] [ 2.74359816e-01 -1.00328333e-02 9.61574767e-01 9.34467242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:78.69, Z:9.35 [[ 6.75076274e-02 -9.97343223e-01 -2.73717901e-02 9.84042410e+01] [ 9.59370621e-01 7.24214217e-02 -2.72696076e-01 7.86933850e+01] [ 2.73953888e-01 -7.85062617e-03 9.61710786e-01 9.35054994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:78.72, Z:9.36 [[ 6.63558809e-02 -9.97063870e-01 -3.82169561e-02 9.84134171e+01] [ 9.59341229e-01 7.42824586e-02 -2.72298592e-01 7.87184932e+01] [ 2.74337937e-01 -1.85944887e-02 9.61453556e-01 9.36392140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:78.75, Z:9.37 [[ 6.35781201e-02 -9.97519575e-01 -3.02079347e-02 9.84100426e+01] [ 9.60033680e-01 6.93999731e-02 -2.71143830e-01 7.87478981e+01] [ 2.72567708e-01 -1.17618197e-02 9.62064709e-01 9.36767294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:78.77, Z:9.38 [[ 6.69790603e-02 -9.96905230e-01 -4.11554211e-02 9.84178057e+01] [ 9.59428751e-01 7.56738975e-02 -2.71606210e-01 7.87686078e+01] [ 2.73880042e-01 -2.12937656e-02 9.61528106e-01 9.37515920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:78.80, Z:9.38 [[ 6.49112496e-02 -9.97652634e-01 -2.18117529e-02 9.84072400e+01] [ 9.59713144e-01 6.84010737e-02 -2.72528850e-01 7.88000029e+01] [ 2.73381073e-01 -3.24283770e-03 9.61900345e-01 9.38052000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:78.82, Z:9.39 [[ 6.53818294e-02 -9.97311370e-01 -3.30945276e-02 9.84147130e+01] [ 9.59509910e-01 7.19406677e-02 -2.72333018e-01 7.88239568e+01] [ 2.73981658e-01 -1.39488963e-02 9.61633755e-01 9.39252169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:78.85, Z:9.40 [[ 6.40694901e-02 -9.97276649e-01 -3.65292411e-02 9.84181771e+01] [ 9.59762422e-01 7.16052959e-02 -2.71530431e-01 7.88510844e+01] [ 2.73406646e-01 -1.76625766e-02 9.61736367e-01 9.40273722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:78.87, Z:9.42 [[ 6.71854863e-02 -9.96350933e-01 -5.26396163e-02 9.84291862e+01] [ 9.59586331e-01 7.89766934e-02 -2.70105082e-01 7.88740129e+01] [ 2.73276753e-01 -3.23651150e-02 9.61390824e-01 9.41504935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:78.90, Z:9.41 [[ 6.64503948e-02 -9.97361784e-01 -2.92201430e-02 9.84192393e+01] [ 9.59671257e-01 7.19015085e-02 -2.71774266e-01 7.89045968e+01] [ 2.73158239e-01 -9.98222413e-03 9.61917321e-01 9.41464131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:78.94, Z:9.42 [[ 6.36403682e-02 -9.97850551e-01 -1.56263120e-02 9.84115566e+01] [ 9.60341315e-01 6.54923904e-02 -2.71026393e-01 7.89352407e+01] [ 2.71467240e-01 2.24162641e-03 9.62445070e-01 9.42000203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:78.96, Z:9.43 [[ 6.47545367e-02 -9.97218076e-01 -3.69182835e-02 9.84219148e+01] [ 9.60407751e-01 7.23247006e-02 -2.69046630e-01 7.89562057e+01] [ 2.70968266e-01 -1.80346158e-02 9.62419322e-01 9.42918103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:78.99, Z:9.43 [[ 6.10069155e-02 -9.98034261e-01 -1.43446603e-02 9.84088088e+01] [ 9.61200113e-01 6.26166531e-02 -2.68651257e-01 7.89885060e+01] [ 2.69021373e-01 2.60149540e-03 9.63130694e-01 9.43180005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.00, Z:9.43 [[ 6.48168324e-02 -9.97802442e-01 -1.37501193e-02 9.84094010e+01] [ 9.58205164e-01 6.60803237e-02 -2.78345568e-01 7.90042784e+01] [ 2.78642499e-01 4.86604273e-03 9.60382569e-01 9.43410612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.03, Z:9.45 [[ 6.10695857e-02 -9.97631224e-01 -3.16614441e-02 9.84158374e+01] [ 9.60524925e-01 6.73643178e-02 -2.69914648e-01 7.90296282e+01] [ 2.71408132e-01 -1.39280305e-02 9.62363567e-01 9.44877192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.06, Z:9.45 [[ 5.84792619e-02 -9.97778409e-01 -3.19127338e-02 9.84161592e+01] [ 9.61712407e-01 6.48817695e-02 -2.66269791e-01 7.90612451e+01] [ 2.67748803e-01 -1.51196112e-02 9.63370114e-01 9.45460319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:79.09, Z:9.46 [[ 5.52670643e-02 -9.98463568e-01 -4.00687712e-03 9.84001156e+01] [ 9.60227826e-01 5.42497951e-02 -2.73896845e-01 7.90918989e+01] [ 2.73693393e-01 1.12899596e-02 9.61750728e-01 9.45674050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:79.11, Z:9.48 [[ 5.52367455e-02 -9.97023580e-01 -5.37855249e-02 9.84268576e+01] [ 9.62559456e-01 6.74900883e-02 -2.62534535e-01 7.91122910e+01] [ 2.65383112e-01 -3.72702123e-02 9.63422408e-01 9.48193198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.14, Z:9.48 [[ 5.41046970e-02 -9.98061645e-01 -3.07511703e-02 9.84129666e+01] [ 9.61951513e-01 6.03573544e-02 -2.66470029e-01 7.91400643e+01] [ 2.67809575e-01 -1.51638547e-02 9.63352526e-01 9.47761735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.17, Z:9.49 [[ 5.26106944e-02 -9.98288201e-01 -2.55496208e-02 9.84100214e+01] [ 9.62267135e-01 5.75191223e-02 -2.65957725e-01 7.91691646e+01] [ 2.66972050e-01 -1.05933398e-02 9.63646048e-01 9.48731286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.19, Z:9.50 [[ 5.62819043e-02 -9.98095963e-01 -2.52348204e-02 9.84093084e+01] [ 9.60075988e-01 6.10401963e-02 -2.72998521e-01 7.91898162e+01] [ 2.74019060e-01 -8.86246849e-03 9.61683426e-01 9.49532091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:79.22, Z:9.50 [[ 5.39708348e-02 -9.98527303e-01 -5.51125569e-03 9.83980455e+01] [ 9.59440711e-01 5.33860050e-02 -2.76809424e-01 7.92232644e+01] [ 2.76695992e-01 9.65191262e-03 9.60909033e-01 9.49520369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.24, Z:9.52 [[ 5.74610736e-02 -9.97022842e-01 -5.14167126e-02 9.84231092e+01] [ 9.61427213e-01 6.91390614e-02 -2.66228293e-01 7.92379948e+01] [ 2.68990593e-01 -3.41356632e-02 9.62537697e-01 9.51620343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:79.28, Z:9.51 [[ 5.61022010e-02 -9.98414307e-01 -4.62761221e-03 9.83970264e+01] [ 9.59230806e-01 5.51851654e-02 -2.77183799e-01 7.92779230e+01] [ 2.76999646e-01 1.11116730e-02 9.60805770e-01 9.51210148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.30, Z:9.53 [[ 5.73960779e-02 -9.97571705e-01 -3.94510339e-02 9.84153162e+01] [ 9.59897623e-01 6.60038691e-02 -2.72470261e-01 7.92980178e+01] [ 2.74412544e-01 -2.22302293e-02 9.61355071e-01 9.53135526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:79.33, Z:9.53 [[ 5.84218794e-02 -9.98044168e-01 -2.22423547e-02 9.84047299e+01] [ 9.58714840e-01 6.23031459e-02 -2.77460219e-01 7.93280544e+01] [ 2.78303322e-01 -5.11432810e-03 9.60479622e-01 9.53375518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.35, Z:9.55 [[ 5.93331115e-02 -9.97514502e-01 -3.80052579e-02 9.84131535e+01] [ 9.59369509e-01 6.75020427e-02 -2.73959157e-01 7.93528978e+01] [ 2.75843665e-01 -2.02062364e-02 9.60990104e-01 9.54642291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.38, Z:9.57 [[ 6.35328030e-02 -9.96652669e-01 -5.14493874e-02 9.84209118e+01] [ 9.57993521e-01 7.53529832e-02 -2.76713465e-01 7.93775856e+01] [ 2.79664078e-01 -3.17077978e-02 9.59574186e-01 9.56603491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:79.41, Z:9.55 [[ 5.96075143e-02 -9.98214258e-01 -3.90385001e-03 9.83941289e+01] [ 9.58032040e-01 5.83057170e-02 -2.80668941e-01 7.94113164e+01] [ 2.80395355e-01 1.29899645e-02 9.59796700e-01 9.55163862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.43, Z:9.57 [[ 6.01121499e-02 -9.97205361e-01 -4.43621098e-02 9.84154788e+01] [ 9.60536285e-01 6.98789782e-02 -2.69234051e-01 7.94301700e+01] [ 2.71581618e-01 -2.64271785e-02 9.62052508e-01 9.56870057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:79.46, Z:9.56 [[ 5.85426016e-02 -9.98274096e-01 -4.64676840e-03 9.83944066e+01] [ 9.58951497e-01 5.75290884e-02 -2.77673245e-01 7.94629213e+01] [ 2.77461332e-01 1.17996887e-02 9.60664341e-01 9.56485537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.48, Z:9.59 [[ 6.03294872e-02 -9.97076859e-01 -4.68837935e-02 9.84171767e+01] [ 9.59880288e-01 7.08364444e-02 -2.71315371e-01 7.94821940e+01] [ 2.73843359e-01 -2.86345120e-02 9.61347949e-01 9.58670459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:79.51, Z:9.59 [[ 6.36124182e-02 -9.97751558e-01 -2.11018852e-02 9.84044607e+01] [ 9.58096763e-01 6.69744201e-02 -2.78504973e-01 7.95121976e+01] [ 2.79292057e-01 -2.50127312e-03 9.60202942e-01 9.59118113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.54, Z:9.60 [[ 6.39573939e-02 -9.97358301e-01 -3.44364793e-02 9.84107398e+01] [ 9.59429883e-01 7.09469140e-02 -2.72875127e-01 7.95364990e+01] [ 2.74597435e-01 -1.55870053e-02 9.61432938e-01 9.59896362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:79.57, Z:9.60 [[ 6.29857952e-02 -9.97988902e-01 -7.13730591e-03 9.83983186e+01] [ 9.58406258e-01 6.24792635e-02 -2.78484803e-01 7.95697116e+01] [ 2.78370676e-01 1.07001481e-02 9.60414116e-01 9.60128125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.59, Z:9.62 [[ 6.49009191e-02 -9.97244562e-01 -3.59326343e-02 9.84140404e+01] [ 9.58088891e-01 7.23402335e-02 -2.77186882e-01 7.95937531e+01] [ 2.79022486e-01 -1.64369743e-02 9.60143884e-01 9.61632075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.62, Z:9.63 [[ 6.88507884e-02 -9.96951272e-01 -3.67114409e-02 9.84168250e+01] [ 9.56463902e-01 7.64266647e-02 -2.81666058e-01 7.96196942e+01] [ 2.83613068e-01 -1.57202379e-02 9.58809940e-01 9.62988606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:79.65, Z:9.61 [[ 6.44210420e-02 -9.97880050e-01 9.23765151e-03 9.83875613e+01] [ 9.59037750e-01 5.93492783e-02 -2.76991440e-01 7.96501329e+01] [ 2.75855984e-01 2.67033337e-02 9.60827981e-01 9.60927412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:79.67, Z:9.62 [[ 6.41078282e-02 -9.97831063e-01 -1.49451188e-02 9.84007462e+01] [ 9.59472247e-01 6.57476358e-02 -2.74026014e-01 7.96740799e+01] [ 2.74414275e-01 3.22778590e-03 9.61606150e-01 9.61992649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.70, Z:9.64 [[ 6.62203631e-02 -9.97144849e-01 -3.62906904e-02 9.84147240e+01] [ 9.58779216e-01 7.36605855e-02 -2.74438579e-01 7.96981025e+01] [ 2.76328209e-01 -1.66213373e-02 9.60919587e-01 9.63745891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:79.73, Z:9.63 [[ 6.38354937e-02 -9.97941892e-01 -6.08353649e-03 9.83985234e+01] [ 9.59579782e-01 6.30536278e-02 -2.74282486e-01 7.97288958e+01] [ 2.74101572e-01 1.16713193e-02 9.61629923e-01 9.63217313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.75, Z:9.65 [[ 6.61247903e-02 -9.97204942e-01 -3.47824117e-02 9.84152546e+01] [ 9.60405452e-01 7.30622646e-02 -2.68855487e-01 7.97484866e+01] [ 2.70645302e-01 -1.56272052e-02 9.62552290e-01 9.64675844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.78, Z:9.65 [[ 6.57620342e-02 -9.97735970e-01 -1.40814931e-02 9.84060338e+01] [ 9.60392762e-01 6.71176195e-02 -2.70445870e-01 7.97776967e+01] [ 2.70778689e-01 4.26130650e-03 9.62632195e-01 9.64846379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.81, Z:9.65 [[ 6.32664089e-02 -9.97969278e-01 -7.39467249e-03 9.84055329e+01] [ 9.59689271e-01 6.28694717e-02 -2.73941478e-01 7.98080847e+01] [ 2.73850078e-01 1.02347057e-02 9.61717934e-01 9.65463476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.83, Z:9.67 [[ 6.21249691e-02 -9.97870516e-01 -1.98726363e-02 9.84148140e+01] [ 9.59754384e-01 6.51921327e-02 -2.73169376e-01 7.98339520e+01] [ 2.73883206e-01 -2.10221073e-03 9.61760662e-01 9.66634834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.86, Z:9.67 [[ 5.94901590e-02 -9.98039846e-01 -1.94264317e-02 9.84179534e+01] [ 9.60257100e-01 6.25328375e-02 -2.72021960e-01 7.98598206e+01] [ 2.72703545e-01 -2.47173931e-03 9.62094937e-01 9.67391827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.89, Z:9.68 [[ 5.80915724e-02 -9.98124122e-01 -1.93289021e-02 9.84209563e+01] [ 9.60443743e-01 6.11595952e-02 -2.71675028e-01 7.98872404e+01] [ 2.72347546e-01 -2.78229355e-03 9.62194925e-01 9.68194156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:79.91, Z:9.69 [[ 5.23816025e-02 -9.98034448e-01 -3.44007101e-02 9.84314816e+01] [ 9.61365528e-01 5.97193740e-02 -2.68719032e-01 7.99095724e+01] [ 2.70245240e-01 -1.89957233e-02 9.62604110e-01 9.69034396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:79.94, Z:9.69 [[ 5.15026190e-02 -9.98495910e-01 -1.87989068e-02 9.84266980e+01] [ 9.60995462e-01 5.46725181e-02 -2.71106322e-01 7.99378003e+01] [ 2.71726337e-01 -4.10297848e-03 9.62365816e-01 9.69459563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:79.97, Z:9.71 [[ 5.61488720e-02 -9.98191110e-01 -2.14898021e-02 9.84344306e+01] [ 9.59353552e-01 5.99013537e-02 -2.75776342e-01 7.99662899e+01] [ 2.76564761e-01 -5.13178741e-03 9.60981580e-01 9.71246212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:80.00, Z:9.71 [[ 5.34932640e-02 -9.98543872e-01 -6.97177506e-03 9.84278926e+01] [ 9.60481590e-01 5.33615505e-02 -2.73180636e-01 7.99952223e+01] [ 2.73154875e-01 7.91706232e-03 9.61937490e-01 9.71059994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:80.02, Z:9.73 [[ 5.48226863e-02 -9.98178206e-01 -2.51940880e-02 9.84419398e+01] [ 9.59994832e-01 5.96310997e-02 -2.73594689e-01 8.00213595e+01] [ 2.74598607e-01 -9.18699845e-03 9.61515057e-01 9.72616446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:80.04, Z:9.74 [[ 5.63702747e-02 -9.97691202e-01 -3.78768827e-02 9.84509733e+01] [ 9.60298782e-01 6.45611610e-02 -2.71400267e-01 8.00441060e+01] [ 2.73219034e-01 -2.10742167e-02 9.61720977e-01 9.73848370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:80.08, Z:9.74 [[ 5.53854292e-02 -9.98448174e-01 -5.80505635e-03 9.84356344e+01] [ 9.59722913e-01 5.48393159e-02 -2.75544151e-01 8.00763674e+01] [ 2.75434900e-01 9.68988546e-03 9.61270889e-01 9.73523581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:80.10, Z:9.75 [[ 5.48092209e-02 -9.98226540e-01 -2.32319830e-02 9.84473226e+01] [ 9.59885164e-01 5.90831770e-02 -2.74097883e-01 8.01003521e+01] [ 2.74984400e-01 -7.27694445e-03 9.61421149e-01 9.74776185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:80.13, Z:9.75 [[ 5.27277882e-02 -9.98475279e-01 -1.63370026e-02 9.84459236e+01] [ 9.60516845e-01 5.51850726e-02 -2.72693964e-01 8.01265039e+01] [ 2.73179740e-01 -1.31341664e-03 9.61962112e-01 9.75054117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:80.15, Z:9.76 [[ 5.11804255e-02 -9.98541253e-01 -1.72026188e-02 9.84496844e+01] [ 9.60443024e-01 5.39343789e-02 -2.73203733e-01 8.01535544e+01] [ 2.73733010e-01 -2.53945196e-03 9.61802365e-01 9.75935804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:80.18, Z:9.77 [[ 5.12575939e-02 -9.98363356e-01 -2.53627329e-02 9.84576186e+01] [ 9.60160148e-01 5.62501152e-02 -2.73730552e-01 8.01809130e+01] [ 2.74709210e-01 -1.03215159e-02 9.61471953e-01 9.77211565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:80.21, Z:9.78 [[ 5.18937118e-02 -9.98325666e-01 -2.55520465e-02 9.84609088e+01] [ 9.59647761e-01 5.69315678e-02 -2.75381500e-01 8.02068954e+01] [ 2.76375137e-01 -1.02303961e-02 9.60995381e-01 9.78196948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:80.23, Z:9.78 [[ 4.99482842e-02 -9.98636339e-01 -1.51865772e-02 9.84575689e+01] [ 9.60102763e-01 5.21989139e-02 -2.74732521e-01 8.02329951e+01] [ 2.75150601e-01 -8.58256672e-04 9.61400754e-01 9.78403197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:80.26, Z:9.79 [[ 4.80335572e-02 -9.98703222e-01 -1.68715982e-02 9.84594081e+01] [ 9.61093722e-01 5.08114296e-02 -2.71508853e-01 8.02598218e+01] [ 2.72014036e-01 -3.17365112e-03 9.62288051e-01 9.79014100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:80.29, Z:9.80 [[ 4.53602980e-02 -9.98885749e-01 -1.30270682e-02 9.84597660e+01] [ 9.61036052e-01 4.71935794e-02 -2.72364594e-01 8.02879140e+01] [ 2.72675905e-01 -1.64942996e-04 9.62105932e-01 9.79615557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:80.31, Z:9.81 [[ 4.60303821e-02 -9.98677464e-01 -2.29025407e-02 9.84668022e+01] [ 9.61165766e-01 5.05232778e-02 -2.71307518e-01 8.03106391e+01] [ 2.72105815e-01 -9.52474937e-03 9.62220195e-01 9.80590812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:80.34, Z:9.81 [[ 4.33579876e-02 -9.98959473e-01 -1.41441259e-02 9.84645713e+01] [ 9.60738575e-01 4.55741709e-02 -2.73686656e-01 8.03407494e+01] [ 2.74046484e-01 -1.72230469e-03 9.61714905e-01 9.81140794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:80.37, Z:9.83 [[ 4.38659679e-02 -9.98721542e-01 -2.51208762e-02 9.84736813e+01] [ 9.60163065e-01 4.90918541e-02 -2.75094307e-01 8.03670086e+01] [ 2.75975841e-01 -1.20528595e-02 9.61088999e-01 9.82525252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:80.40, Z:9.83 [[ 4.37740552e-02 -9.98826481e-01 -2.07242261e-02 9.84734740e+01] [ 9.60018286e-01 4.77962797e-02 -2.75826769e-01 8.03952864e+01] [ 2.76493622e-01 -7.82157984e-03 9.60983923e-01 9.83247898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:80.42, Z:9.85 [[ 4.87202446e-02 -9.97894571e-01 -4.28107872e-02 9.84897994e+01] [ 9.57733980e-01 5.88392932e-02 -2.81573366e-01 8.04171822e+01] [ 2.83499490e-01 -2.72830224e-02 9.58584204e-01 9.85478252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:80.45, Z:9.84 [[ 4.26901768e-02 -9.99063420e-01 7.05913981e-03 9.84602213e+01] [ 9.59950804e-01 3.90586151e-02 -2.77432655e-01 8.04510901e+01] [ 2.76897097e-01 1.86200760e-02 9.60719153e-01 9.83671343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:80.47, Z:9.86 [[ 4.42883716e-02 -9.98439867e-01 -3.40054786e-02 9.84861559e+01] [ 9.58960912e-01 5.20301199e-02 -2.78723582e-01 8.04734970e+01] [ 2.80058045e-01 -2.02657112e-02 9.59769135e-01 9.86240314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:80.50, Z:9.86 [[ 4.30082444e-02 -9.99030437e-01 -9.40619688e-03 9.84720355e+01] [ 9.59860774e-01 4.39301795e-02 -2.77015222e-01 8.05000002e+01] [ 2.77159854e-01 2.88529893e-03 9.60819489e-01 9.85605064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:80.53, Z:9.87 [[ 4.21581373e-02 -9.98953577e-01 -1.77325023e-02 9.84794686e+01] [ 9.59901924e-01 4.54205839e-02 -2.76632006e-01 8.05255829e+01] [ 2.77147952e-01 -5.35917299e-03 9.60812308e-01 9.86694126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:80.55, Z:9.87 [[ 4.05154198e-02 -9.99037895e-01 -1.67864315e-02 9.84792600e+01] [ 9.60700300e-01 4.35670500e-02 -2.74147488e-01 8.05521337e+01] [ 2.74615065e-01 -5.01952925e-03 9.61541143e-01 9.87163239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:80.58, Z:9.87 [[ 4.02526864e-02 -9.99183780e-01 -3.39044353e-03 9.84733914e+01] [ 9.59886978e-01 3.96114638e-02 -2.77575075e-01 8.05804710e+01] [ 2.77482813e-01 7.91869985e-03 9.60697966e-01 9.87391235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:80.61, Z:9.89 [[ 3.99978174e-02 -9.99043643e-01 -1.76627898e-02 9.84827104e+01] [ 9.59822912e-01 4.33291089e-02 -2.77240988e-01 8.06063451e+01] [ 2.77741160e-01 -5.86411589e-03 9.60638049e-01 9.88662768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:80.63, Z:9.90 [[ 4.03402968e-02 -9.98915901e-01 -2.32310762e-02 9.84871959e+01] [ 9.60155786e-01 4.51888029e-02 -2.75787668e-01 8.06306251e+01] [ 2.76538472e-01 -1.11800958e-02 9.60937812e-01 9.89561057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:80.66, Z:9.90 [[ 3.95702887e-02 -9.99128800e-01 -1.32602468e-02 9.84832431e+01] [ 9.60362642e-01 4.16929129e-02 -2.75618026e-01 8.06573670e+01] [ 2.75930765e-01 -1.82836080e-03 9.61175775e-01 9.89887421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:80.68, Z:9.91 [[ 4.12926742e-02 -9.98800320e-01 -2.63217758e-02 9.84934601e+01] [ 9.60381888e-01 4.69437809e-02 -2.74705134e-01 8.06811480e+01] [ 2.75611220e-01 -1.39356471e-02 9.61168171e-01 9.91251392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:80.72, Z:9.92 [[ 4.16596689e-02 -9.99112890e-01 -6.15671017e-03 9.84853919e+01] [ 9.59465540e-01 4.17240304e-02 -2.78720258e-01 8.07154876e+01] [ 2.78729886e-01 5.70424245e-03 9.60352598e-01 9.91732337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:80.74, Z:9.93 [[ 4.60891289e-02 -9.98561927e-01 -2.73837531e-02 9.85006406e+01] [ 9.58412383e-01 5.19315622e-02 -2.80622196e-01 8.07392749e+01] [ 2.81640722e-01 -1.33112954e-02 9.59427597e-01 9.93237428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:80.77, Z:9.94 [[ 4.60900732e-02 -9.98820503e-01 -1.52744164e-02 9.84960312e+01] [ 9.58267648e-01 4.85270286e-02 -2.81723699e-01 8.07678331e+01] [ 2.82132629e-01 -1.65231315e-03 9.59373988e-01 9.93883038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:80.79, Z:9.94 [[ 4.54918361e-02 -9.98900116e-01 -1.13600404e-02 9.84944420e+01] [ 9.58096795e-01 4.68473177e-02 -2.82587791e-01 8.07935346e+01] [ 2.82809164e-01 1.97141917e-03 9.59174171e-01 9.94344771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:80.82, Z:9.96 [[ 4.81425472e-02 -9.98513916e-01 -2.55392823e-02 9.85049334e+01] [ 9.58008932e-01 5.33953423e-02 -2.81722957e-01 8.08196025e+01] [ 2.82667972e-01 -1.09039998e-02 9.59155838e-01 9.95671246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:80.85, Z:9.96 [[ 4.89098001e-02 -9.98588947e-01 -2.06868447e-02 9.85044328e+01] [ 9.57720979e-01 5.27670161e-02 -2.82818261e-01 8.08457359e+01] [ 2.83510773e-01 -5.97964050e-03 9.58950408e-01 9.96346609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:80.87, Z:9.98 [[ 5.12903885e-02 -9.98144811e-01 -3.28059686e-02 9.85157702e+01] [ 9.56906738e-01 5.85199442e-02 -2.84437886e-01 8.08733919e+01] [ 2.85830003e-01 -1.68033228e-02 9.58133006e-01 9.98008047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:80.91, Z:9.97 [[ 4.97873999e-02 -9.98743463e-01 5.71926387e-03 9.84939495e+01] [ 9.56329594e-01 4.60201539e-02 -2.88644857e-01 8.09080645e+01] [ 2.88018962e-01 1.98403782e-02 9.57419154e-01 9.97233377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:80.93, Z:10.00 [[ 5.05543950e-02 -9.97664677e-01 -4.59287102e-02 9.85280224e+01] [ 9.56884936e-01 6.15562652e-02 -2.83869769e-01 8.09254142e+01] [ 2.86034041e-01 -2.95976265e-02 9.57762240e-01 9.99916625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:80.95, Z:9.99 [[ 4.94583240e-02 -9.98696859e-01 -1.25879996e-02 9.85114111e+01] [ 9.57250694e-01 5.09946378e-02 -2.84729091e-01 8.09542779e+01] [ 2.84999969e-01 2.03235227e-03 9.58525371e-01 9.99357643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:80.98, Z:10.01 [[ 4.98612629e-02 -9.98459690e-01 -2.43331309e-02 9.85220721e+01] [ 9.56411707e-01 5.47520171e-02 -2.86842925e-01 8.09814319e+01] [ 2.87733386e-01 -8.97014072e-03 9.57668541e-01 1.00089139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:81.01, Z:10.02 [[ 4.89915697e-02 -9.98531128e-01 -2.31389970e-02 9.85252860e+01] [ 9.56197255e-01 5.35831845e-02 -2.87777088e-01 8.10061984e+01] [ 2.88594241e-01 -8.02679411e-03 9.57417847e-01 1.00173047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:81.03, Z:10.02 [[ 5.04524184e-02 -9.98568696e-01 -1.77514196e-02 9.85261837e+01] [ 9.55772976e-01 5.34314435e-02 -2.89211167e-01 8.10300701e+01] [ 2.89745702e-01 -2.37492433e-03 9.57100720e-01 1.00240272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:81.05, Z:10.04 [[ 4.64395392e-02 -9.98219474e-01 -3.74332751e-02 9.85348598e+01] [ 9.55306006e-01 5.53328928e-02 -2.90394054e-01 8.10478134e+01] [ 2.91948292e-01 -2.22744665e-02 9.56174693e-01 1.00434287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:81.09, Z:10.04 [[ 4.91733305e-02 -9.98789535e-01 -1.20382430e-03 9.85232784e+01] [ 9.55902199e-01 4.74111924e-02 -2.89832993e-01 8.10865449e+01] [ 2.89539235e-01 1.31013153e-02 9.57076479e-01 1.00354857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:81.11, Z:10.06 [[ 4.93463220e-02 -9.98343611e-01 -2.95799809e-02 9.85438139e+01] [ 9.55190833e-01 5.58258859e-02 -2.90678418e-01 8.11087911e+01] [ 2.91848270e-01 -1.39106158e-02 9.56363468e-01 1.00561812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:81.13, Z:10.05 [[ 4.88258995e-02 -9.98752474e-01 -1.04655603e-02 9.85352062e+01] [ 9.55802259e-01 4.97625739e-02 -2.89768403e-01 8.11331110e+01] [ 2.89927702e-01 4.14519672e-03 9.57039573e-01 1.00527323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:81.16, Z:10.07 [[ 4.75846781e-02 -9.98615526e-01 -2.24216552e-02 9.85444850e+01] [ 9.55357072e-01 5.20533625e-02 -2.90832104e-01 8.11616938e+01] [ 2.91596577e-01 -7.58153482e-03 9.56511347e-01 1.00682481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:81.18, Z:10.08 [[ 4.82003876e-02 -9.98544181e-01 -2.42124371e-02 9.85461103e+01] [ 9.55285935e-01 5.31650936e-02 -2.90864668e-01 8.11842637e+01] [ 2.91728478e-01 -9.11001088e-03 9.56457789e-01 1.00760514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:81.21, Z:10.08 [[ 4.65670465e-02 -9.98859717e-01 -1.05250588e-02 9.85390168e+01] [ 9.55613512e-01 4.76145557e-02 -2.90750184e-01 8.12147242e+01] [ 2.90919792e-01 3.48148890e-03 9.56741111e-01 1.00782521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:81.24, Z:10.11 [[ 5.09987827e-02 -9.97278334e-01 -5.32451774e-02 9.85636275e+01] [ 9.52981752e-01 6.45411183e-02 -2.96074696e-01 8.12375584e+01] [ 2.98705382e-01 -3.56422334e-02 9.53679572e-01 1.01120496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.55, Y:81.27, Z:10.11 [[ 5.08285869e-02 -9.98106654e-01 -3.46347058e-02 9.85533172e+01] [ 9.51872146e-01 5.89112979e-02 -3.00780446e-01 8.12699377e+01] [ 3.02251340e-01 -1.76795667e-02 9.53064300e-01 1.01146338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:81.30, Z:10.10 [[ 4.72623542e-02 -9.98855098e-01 7.40017008e-03 9.85271905e+01] [ 9.54579197e-01 4.29830004e-02 -2.94840666e-01 8.12981570e+01] [ 2.94185021e-01 2.09989124e-02 9.55517775e-01 1.01005323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:81.31, Z:10.12 [[ 4.29818780e-02 -9.98839514e-01 -2.17298039e-02 9.85382243e+01] [ 9.54549275e-01 4.74773575e-02 -2.94247483e-01 8.13139274e+01] [ 2.94937687e-01 -8.09485912e-03 9.55482200e-01 1.01182633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:81.34, Z:10.13 [[ 4.45971689e-02 -9.98037820e-01 -4.39500047e-02 9.85568373e+01] [ 9.53343613e-01 5.56660898e-02 -2.96710703e-01 8.13427025e+01] [ 2.98575028e-01 -2.86669989e-02 9.53955531e-01 1.01349485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:81.38, Z:10.12 [[ 4.32961114e-02 -9.98568637e-01 3.14025964e-02 9.85148750e+01] [ 9.53039915e-01 3.18511465e-02 -3.01165112e-01 8.13761856e+01] [ 2.99733826e-01 4.29672060e-02 9.53054800e-01 1.01180690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:81.40, Z:10.15 [[ 3.97228038e-02 -9.98519817e-01 -3.71520335e-02 9.85540272e+01] [ 9.52672126e-01 4.90615819e-02 -3.00014636e-01 8.13973846e+01] [ 3.01393297e-01 -2.34762842e-02 9.53210860e-01 1.01508086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:81.42, Z:10.15 [[ 3.61084573e-02 -9.99126285e-01 -2.10439182e-02 9.85452395e+01] [ 9.51409685e-01 4.08124367e-02 -3.05211331e-01 8.14210577e+01] [ 3.05803517e-01 -9.00067727e-03 9.52052098e-01 1.01492731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:81.45, Z:10.16 [[ 3.45136019e-02 -9.98631992e-01 -3.92804707e-02 9.85545757e+01] [ 9.53590733e-01 4.46696609e-02 -2.97773965e-01 8.14472882e+01] [ 2.99121254e-01 -2.71802408e-02 9.53827925e-01 1.01612394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.52, Y:81.48, Z:10.15 [[ 3.38268568e-02 -9.99283126e-01 1.69993300e-02 9.85238368e+01] [ 9.53221319e-01 2.71462623e-02 -3.01051819e-01 8.14794923e+01] [ 3.00374534e-01 2.63877606e-02 9.53456252e-01 1.01526366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:81.50, Z:10.17 [[ 3.67311096e-02 -9.98583484e-01 -3.84948218e-02 9.85566608e+01] [ 9.53603764e-01 4.65429512e-02 -2.97445147e-01 8.14969267e+01] [ 2.98815474e-01 -2.57833166e-02 9.53962543e-01 1.01741001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:81.53, Z:10.17 [[ 3.18033649e-02 -9.99422374e-01 1.19776616e-02 9.85268389e+01] [ 9.54641911e-01 2.68243971e-02 -2.96545568e-01 8.15290210e+01] [ 2.96052982e-01 2.08655247e-02 9.54943591e-01 1.01690792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:81.55, Z:10.18 [[ 3.19396303e-02 -9.99467254e-01 -6.71324297e-03 9.85377487e+01] [ 9.54767562e-01 3.24964828e-02 -2.95572125e-01 8.15513315e+01] [ 2.95632817e-01 3.03087778e-03 9.55296839e-01 1.01823101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.55, Y:81.58, Z:10.19 [[ 3.37051936e-02 -9.99126776e-01 -2.46910135e-02 9.85484939e+01] [ 9.54596417e-01 3.94999094e-02 -2.95271802e-01 8.15765168e+01] [ 2.95989257e-01 -1.36177597e-02 9.55094193e-01 1.01932062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:81.61, Z:10.20 [[ 3.23404114e-02 -9.99476703e-01 6.46839627e-04 9.85345012e+01] [ 9.54404665e-01 3.06898307e-02 -2.96934117e-01 8.16076546e+01] [ 2.96758881e-01 1.02203183e-02 9.54897749e-01 1.01983000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:81.63, Z:10.22 [[ 3.48384394e-02 -9.99031834e-01 -2.68640498e-02 9.85515071e+01] [ 9.53298899e-01 4.12889552e-02 -2.99192967e-01 8.16317077e+01] [ 3.00012487e-01 -1.51860531e-02 9.53814391e-01 1.02196912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:81.66, Z:10.22 [[ 3.45129007e-02 -9.99335861e-01 -1.16916934e-02 9.85406797e+01] [ 9.54470813e-01 3.64273300e-02 -2.96071811e-01 8.16579635e+01] [ 2.96301076e-01 -9.41083128e-04 9.55094125e-01 1.02174594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:81.69, Z:10.22 [[ 3.24478715e-02 -9.99466998e-01 3.58541672e-03 9.85322847e+01] [ 9.54259934e-01 2.99130647e-02 -2.97478045e-01 8.16887114e+01] [ 2.97212238e-01 1.30739489e-02 9.54721927e-01 1.02187577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:81.71, Z:10.23 [[ 3.30457650e-02 -9.99309042e-01 -1.70122484e-02 9.85448866e+01] [ 9.54465070e-01 3.66031130e-02 -2.96068643e-01 8.17128491e+01] [ 2.96486773e-01 -6.45378210e-03 9.55015153e-01 1.02348701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:81.74, Z:10.24 [[ 3.53400082e-02 -9.99091524e-01 -2.38161734e-02 9.85502311e+01] [ 9.54242183e-01 4.08152224e-02 -2.96236347e-01 8.17387439e+01] [ 2.96939286e-01 -1.22574024e-02 9.54817688e-01 1.02434044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:81.77, Z:10.25 [[ 3.64265455e-02 -9.99334924e-01 -1.67831831e-03 9.85392422e+01] [ 9.54201260e-01 3.52803110e-02 -2.97077860e-01 8.17687810e+01] [ 2.96939492e-01 9.22006675e-03 9.54851783e-01 1.02471678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.55, Y:81.79, Z:10.26 [[ 3.84945800e-02 -9.99155010e-01 -1.44025396e-02 9.85475534e+01] [ 9.54076643e-01 4.10352451e-02 -2.96738721e-01 8.17924263e+01] [ 2.97078992e-01 -2.31829416e-03 9.54850092e-01 1.02590838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:81.82, Z:10.28 [[ 4.42672179e-02 -9.98589649e-01 -2.93108532e-02 9.85600422e+01] [ 9.51830142e-01 5.10688318e-02 -3.02343110e-01 8.18191809e+01] [ 3.03413571e-01 -1.45150653e-02 9.52748402e-01 1.02802051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:81.84, Z:10.29 [[ 4.76472864e-02 -9.98537287e-01 -2.55542943e-02 9.85603527e+01] [ 9.51644069e-01 5.31529561e-02 -3.02569544e-01 8.18440483e+01] [ 3.03485258e-01 -9.90197490e-03 9.52784681e-01 1.02891682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:81.87, Z:10.30 [[ 4.97433962e-02 -9.98592111e-01 -1.84225735e-02 9.85591675e+01] [ 9.51205975e-01 5.29907732e-02 -3.03972320e-01 8.18700127e+01] [ 3.04520587e-01 -2.40304639e-03 9.52502723e-01 1.02959790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:81.90, Z:10.30 [[ 5.03769940e-02 -9.98605869e-01 -1.57631672e-02 9.85605158e+01] [ 9.51265404e-01 5.27846799e-02 -3.03822165e-01 8.18968720e+01] [ 3.04230651e-01 3.10691783e-04 9.52598349e-01 1.03028170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:81.92, Z:10.31 [[ 4.92730082e-02 -9.98709482e-01 -1.23102288e-02 9.85595579e+01] [ 9.51801796e-01 5.06873518e-02 -3.02496502e-01 8.19227701e+01] [ 3.02730098e-01 3.18801470e-03 9.53070997e-01 1.03076154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:81.94, Z:10.32 [[ 5.33813848e-02 -9.98019033e-01 -3.32932035e-02 9.85773698e+01] [ 9.49729008e-01 6.10419372e-02 -3.07064640e-01 8.19416724e+01] [ 3.08488637e-01 -1.52279854e-02 9.51106129e-01 1.03226691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.238040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.56, Y:81.98, Z:10.32 [[ 4.98330931e-02 -9.98749442e-01 -4.02679302e-03 9.85613059e+01] [ 9.51090435e-01 4.86850431e-02 -3.05052047e-01 8.19755639e+01] [ 3.04866606e-01 1.13718427e-02 9.52327167e-01 1.03241150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:82.00, Z:10.33 [[ 4.72394724e-02 -9.98883565e-01 2.37900593e-04 9.85610250e+01] [ 9.51596774e-01 4.49307588e-02 -3.04047375e-01 8.20036583e+01] [ 3.03697237e-01 1.45894230e-02 9.52656883e-01 1.03292276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:82.03, Z:10.35 [[ 4.65072611e-02 -9.98522622e-01 -2.81006716e-02 9.85776182e+01] [ 9.52139588e-01 5.28195752e-02 -3.01065271e-01 8.20258607e+01] [ 3.02104749e-01 -1.27540407e-02 9.53189412e-01 1.03474165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:82.06, Z:10.34 [[ 4.21094078e-02 -9.99111988e-01 1.42622059e-03 9.85623449e+01] [ 9.52620024e-01 3.97194477e-02 -3.01558377e-01 8.20552210e+01] [ 3.01233940e-01 1.40570910e-02 9.53446648e-01 1.03429694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:82.08, Z:10.35 [[ 3.92905447e-02 -9.99143747e-01 -1.29624490e-02 9.85705211e+01] [ 9.52789061e-01 4.13701480e-02 -3.00801455e-01 8.20796283e+01] [ 3.01080151e-01 -5.31826622e-04 9.53598689e-01 1.03544396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:82.11, Z:10.37 [[ 3.54172272e-02 -9.98978373e-01 -2.80683100e-02 9.85811115e+01] [ 9.53130560e-01 4.22096448e-02 -2.99600536e-01 8.21070581e+01] [ 3.00479209e-01 -1.61417438e-02 9.53651765e-01 1.03717169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.56, Y:82.14, Z:10.36 [[ 3.04188336e-02 -9.99535699e-01 1.75544044e-03 9.85632499e+01] [ 9.54210930e-01 2.85165024e-02 -2.97772245e-01 8.21352063e+01] [ 2.97583930e-01 1.07329448e-02 9.54635328e-01 1.03641651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44804094199998 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:98.57, Y:82.15, Z:10.38 [[ 2.31675723e-02 -9.99472101e-01 -2.27768074e-02 9.85743535e+01] [ 9.54422829e-01 2.88928996e-02 -2.97055995e-01 8.21520908e+01] [ 2.97557268e-01 -1.48566387e-02 9.54588368e-01 1.03797699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47804094199998 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:98.57, Y:82.18, Z:10.38 [[ 2.10647909e-02 -9.99694731e-01 -1.29119711e-02 9.85694999e+01] [ 9.54270044e-01 2.39563796e-02 -2.97984522e-01 8.21789521e+01] [ 2.98202881e-01 -6.04452554e-03 9.54483371e-01 1.03843033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50804094199998 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:98.57, Y:82.20, Z:10.39 [[ 1.98273805e-02 -9.99744271e-01 -1.08751267e-02 9.85690944e+01] [ 9.53795822e-01 2.21755239e-02 -2.99636072e-01 8.22043559e+01] [ 2.99800608e-01 -4.43165200e-03 9.53991591e-01 1.03919199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53804094199998 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:98.56, Y:82.23, Z:10.40 [[ 1.83789793e-02 -9.99829239e-01 -1.92505641e-03 9.85642073e+01] [ 9.53155838e-01 1.81023693e-02 -3.01937499e-01 8.22308204e+01] [ 3.01920788e-01 3.71442429e-03 9.53325779e-01 1.03982752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56804094199998 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:98.57, Y:82.25, Z:10.41 [[ 1.78807320e-02 -9.99789744e-01 -1.00372456e-02 9.85692030e+01] [ 9.53180534e-01 2.00763718e-02 -3.01734665e-01 8.22547020e+01] [ 3.01872735e-01 -4.17207040e-03 9.53339103e-01 1.04085436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59804094199998 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:98.57, Y:82.28, Z:10.42 [[ 1.79517812e-02 -9.99721617e-01 -1.53108519e-02 9.85720313e+01] [ 9.53946035e-01 2.17119515e-02 -2.99191501e-01 8.22783474e+01] [ 2.99440640e-01 -9.23470608e-03 9.54070240e-01 1.04160407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62804094199998 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:98.56, Y:82.31, Z:10.42 [[ 1.65654572e-02 -9.99852394e-01 4.55811486e-03 9.85580255e+01] [ 9.53020825e-01 1.44102412e-02 -3.02561816e-01 8.23080359e+01] [ 3.02451473e-01 9.35605320e-03 9.53118865e-01 1.04188999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.57, Y:82.33, Z:10.43 [[ 1.98963066e-02 -9.99561494e-01 -2.19307204e-02 9.85731971e+01] [ 9.53564783e-01 2.55650596e-02 -3.00101036e-01 8.23302985e+01] [ 3.00530100e-01 -1.49414604e-02 9.53655290e-01 1.04347690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.688040942 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:98.56, Y:82.36, Z:10.44 [[ 1.97038648e-02 -9.99797155e-01 4.17201916e-03 9.85557655e+01] [ 9.52889386e-01 1.75158198e-02 -3.02811846e-01 8.23586742e+01] [ 3.02677346e-01 9.94203645e-03 9.53041227e-01 1.04350387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.718040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:98.51, Y:82.40, Z:10.42 [[ 2.05099043e-02 -9.95236532e-01 9.53078702e-02 9.85082575e+01] [ 9.53776833e-01 -9.10988174e-03 -3.00377699e-01 8.24020698e+01] [ 2.99815103e-01 9.70631565e-02 9.49046705e-01 1.04171347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748040942 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:98.63, Y:82.39, Z:10.51 [[ 2.84516364e-02 -9.91336864e-01 -1.28225294e-01 9.86348440e+01] [ 9.50928890e-01 6.63808667e-02 -3.02204941e-01 8.23914138e+01] [ 3.08098605e-01 -1.13334911e-01 9.44579508e-01 1.05119217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:82.45, Z:10.47 [[ 3.09697063e-02 -9.99399785e-01 1.55224478e-02 9.85619498e+01] [ 9.50479124e-01 2.46418407e-02 -3.09809965e-01 8.24462439e+01] [ 3.09241511e-01 2.43484862e-02 9.50671783e-01 1.04722246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:82.46, Z:10.50 [[ 3.47261807e-02 -9.98881111e-01 -3.21032515e-02 9.85917061e+01] [ 9.48542368e-01 4.30585105e-02 -3.13709006e-01 8.24646082e+01] [ 3.14740318e-01 -1.95573786e-02 9.48976312e-01 1.05033188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:82.48, Z:10.51 [[ 3.82177132e-02 -9.98757313e-01 -3.19880681e-02 9.85916142e+01] [ 9.49937567e-01 4.62461677e-02 -3.08998237e-01 8.24822060e+01] [ 3.10093575e-01 -1.85774616e-02 9.50524515e-01 1.05114483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.58, Y:82.51, Z:10.52 [[ 3.27227085e-02 -9.99331637e-01 -1.62942687e-02 9.85760509e+01] [ 9.49645794e-01 3.61704346e-02 -3.11230729e-01 8.25081426e+01] [ 3.11612084e-01 -5.28947127e-03 9.50194680e-01 1.05183339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:82.54, Z:10.53 [[ 3.99804072e-02 -9.99152215e-01 -9.81925858e-03 9.85820357e+01] [ 9.48757762e-01 4.10431619e-02 -3.13327574e-01 8.25421253e+01] [ 3.13464953e-01 3.21086621e-03 9.49594341e-01 1.05284066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928040942 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:98.58, Y:82.56, Z:10.53 [[ 3.62501400e-02 -9.99269290e-01 -1.21166291e-02 9.85777565e+01] [ 9.50585814e-01 3.82199346e-02 -3.08100383e-01 8.25590823e+01] [ 3.08338348e-01 -3.49213750e-04 9.51276690e-01 1.05317939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.958040942 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:98.58, Y:82.58, Z:10.54 [[ 3.53694446e-02 -9.99321401e-01 -1.02829819e-02 9.85758551e+01] [ 9.50593229e-01 3.68166505e-02 -3.08248352e-01 8.25838947e+01] [ 3.08417760e-01 1.12764002e-03 9.51250342e-01 1.05391104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:82.62, Z:10.55 [[ 3.67805523e-02 -9.99181166e-01 -1.68578714e-02 9.85808501e+01] [ 9.49901242e-01 4.01959825e-02 -3.09954696e-01 8.26153159e+01] [ 3.10378513e-01 -4.61300813e-03 9.50601861e-01 1.05513771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01804094199997 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:98.57, Y:82.63, Z:10.55 [[ 3.32527855e-02 -9.99434630e-01 -4.96724335e-03 9.85700985e+01] [ 9.50136561e-01 3.31536081e-02 -3.10066694e-01 8.26327682e+01] [ 3.10056073e-01 5.59102175e-03 9.50701831e-01 1.05514290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.57, Y:82.66, Z:10.56 [[ 3.16882629e-02 -9.99478005e-01 -6.29057338e-03 9.85727392e+01] [ 9.49222163e-01 3.20646889e-02 -3.12968275e-01 8.26601771e+01] [ 3.13006613e-01 3.94626931e-03 9.49742748e-01 1.05625644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:82.68, Z:10.58 [[ 2.89658919e-02 -9.99468416e-01 -1.49620091e-02 9.85777627e+01] [ 9.48363413e-01 3.22085198e-02 -3.15546270e-01 8.26831942e+01] [ 3.15860435e-01 -5.04934291e-03 9.48792227e-01 1.05771518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:82.71, Z:10.58 [[ 2.53440852e-02 -9.99611773e-01 -1.15749817e-02 9.85771077e+01] [ 9.48378449e-01 2.77034064e-02 -3.15928535e-01 8.27092503e+01] [ 3.16126550e-01 -2.97054341e-03 9.48712380e-01 1.05847911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:82.73, Z:10.59 [[ 2.36818750e-02 -9.99653329e-01 -1.15061518e-02 9.85773311e+01] [ 9.48075077e-01 2.61083881e-02 -3.16973185e-01 8.27346501e+01] [ 3.17163707e-01 -3.40217641e-03 9.48364702e-01 1.05933638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16804094199998 meters Centerline goodness : 0.997336 Centerline is valid? [True, True] Translation: X:98.57, Y:82.76, Z:10.60 [[ 2.27013191e-02 -9.99742128e-01 -5.72105749e-04 9.85705046e+01] [ 9.48333928e-01 2.17151194e-02 -3.16529957e-01 8.27591554e+01] [ 3.16460757e-01 6.64310027e-03 9.48582342e-01 1.05954302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:82.80, Z:10.60 [[ 1.70076020e-02 -9.99726453e-01 -1.60549454e-02 9.85762869e+01] [ 9.50597402e-01 2.11454702e-02 -3.09705421e-01 8.27950915e+01] [ 3.09960191e-01 -9.99444290e-03 9.50697003e-01 1.05980371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22804094199998 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:98.57, Y:82.81, Z:10.61 [[ 1.92848364e-02 -9.99763580e-01 -1.00439015e-02 9.85723020e+01] [ 9.49633694e-01 2.14585942e-02 -3.12626576e-01 8.28091678e+01] [ 3.12768193e-01 -3.50907490e-03 9.49823007e-01 1.06118450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25804094199998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:98.58, Y:82.84, Z:10.63 [[ 1.84781986e-02 -9.99625393e-01 -2.01898483e-02 9.85775802e+01] [ 9.47563776e-01 2.39520994e-02 -3.18667831e-01 8.28353141e+01] [ 3.19032045e-01 -1.32427615e-02 9.47651404e-01 1.06312455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28804094199998 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:98.56, Y:82.86, Z:10.63 [[ 1.76461765e-02 -9.99840848e-01 2.62518490e-03 9.85631049e+01] [ 9.49925177e-01 1.59458428e-02 -3.12070325e-01 8.28583996e+01] [ 3.11978797e-01 8.00057725e-03 9.50055378e-01 1.06257642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:82.89, Z:10.64 [[ 1.99923873e-02 -9.99800067e-01 -3.59905590e-04 9.85672343e+01] [ 9.50650035e-01 1.91210406e-02 -3.09675470e-01 8.28922518e+01] [ 3.09620438e-01 5.84900768e-03 9.50842244e-01 1.06367868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:82.92, Z:10.59 [[-3.01611764e-03 -9.94696889e-01 1.02805655e-01 9.84900230e+01] [ 9.56436259e-01 -3.28813334e-02 -2.90083611e-01 8.29204265e+01] [ 2.91925652e-01 9.74521302e-02 9.51463344e-01 1.05885975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:82.94, Z:10.62 [[-4.32908783e-04 -9.99945085e-01 1.04709013e-02 9.85460106e+01] [ 9.57259208e-01 -3.44289395e-03 -2.89210918e-01 8.29388750e+01] [ 2.89231086e-01 9.89816471e-03 9.57208131e-01 1.06232395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40804094199999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.52, Y:82.97, Z:10.62 [[-3.20533646e-03 -9.99011529e-01 4.43361141e-02 9.85201753e+01] [ 9.58112308e-01 -1.57649448e-02 -2.85958514e-01 8.29716462e+01] [ 2.86374808e-01 4.15623834e-02 9.57215774e-01 1.06166862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:82.97, Z:10.74 [[ 1.78133172e-02 -9.87253045e-01 -1.58158497e-01 9.86438631e+01] [ 9.45602436e-01 6.80268332e-02 -3.18132651e-01 8.29731718e+01] [ 3.24836450e-01 -1.43888062e-01 9.34760668e-01 1.07404600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:83.03, Z:10.63 [[ 4.68361152e-05 -9.91451878e-01 1.30472877e-01 9.84717549e+01] [ 9.53388447e-01 -3.93253582e-02 -2.99172165e-01 8.30274706e+01] [ 3.01745698e-01 1.24405346e-01 9.45236925e-01 1.06266325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.498040942 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:98.54, Y:83.03, Z:10.67 [[-6.59451467e-03 -9.99548545e-01 -2.93124181e-02 9.85441917e+01] [ 9.55202373e-01 2.37680758e-03 -2.95943875e-01 8.30339191e+01] [ 2.95879940e-01 -2.99508976e-02 9.54755469e-01 1.06692492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.50, Y:83.07, Z:10.67 [[-1.24117522e-02 -9.99323836e-01 3.46095181e-02 9.85009014e+01] [ 9.52688661e-01 -2.23306958e-02 -3.03126469e-01 8.30740210e+01] [ 3.03694360e-01 2.92097649e-02 9.52321650e-01 1.06664369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.558040942 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:98.57, Y:83.07, Z:10.70 [[-5.62982552e-03 -9.97205858e-01 -7.44901446e-02 9.85660870e+01] [ 9.52582820e-01 1.73145970e-02 -3.03786397e-01 8.30747236e+01] [ 3.04227342e-01 -7.26682964e-02 9.49823691e-01 1.07013095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:83.12, Z:10.68 [[-1.01694077e-02 -9.97859769e-01 6.45946173e-02 9.84893269e+01] [ 9.51150649e-01 -2.95862860e-02 -3.07306190e-01 8.31240640e+01] [ 3.08559598e-01 5.83140903e-02 9.49415842e-01 1.06756622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:83.12, Z:10.78 [[ 3.46015533e-03 -9.91495590e-01 -1.30094284e-01 9.86079232e+01] [ 9.43030198e-01 4.65167948e-02 -3.29439271e-01 8.31213352e+01] [ 3.32689154e-01 -1.21542927e-01 9.35171238e-01 1.07836272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:83.17, Z:10.69 [[-1.18001950e-02 -9.93446205e-01 1.13689900e-01 9.84600173e+01] [ 9.48970810e-01 -4.69597743e-02 -3.11848009e-01 8.31719312e+01] [ 3.15143073e-01 1.04208529e-01 9.43305585e-01 1.06851116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.678040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.59, Y:83.18, Z:10.79 [[-3.56076302e-03 -9.94556886e-01 -1.04134148e-01 9.85911865e+01] [ 9.41377165e-01 3.17949446e-02 -3.35854306e-01 8.31777752e+01] [ 3.37337152e-01 -9.92254070e-02 9.36139928e-01 1.07937454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708040942 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:98.53, Y:83.21, Z:10.77 [[-7.01172018e-03 -9.99847643e-01 1.59852088e-02 9.85257372e+01] [ 9.37647668e-01 -1.21292408e-02 -3.47375492e-01 8.32124683e+01] [ 3.47516455e-01 1.25527940e-02 9.37589858e-01 1.07738594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.738040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.55, Y:83.24, Z:10.79 [[-8.87547208e-03 -9.99457985e-01 -3.17011386e-02 9.85502106e+01] [ 9.41222922e-01 2.35542077e-03 -3.37777832e-01 8.32360982e+01] [ 3.37669421e-01 -3.28357760e-02 9.40691859e-01 1.07898353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.53, Y:83.27, Z:10.79 [[-9.71637727e-03 -9.99951906e-01 -1.33348860e-03 9.85334812e+01] [ 9.42604920e-01 -8.71401042e-03 -3.33796392e-01 8.32676328e+01] [ 3.33768719e-01 -4.50024460e-03 9.42644254e-01 1.07893620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:83.29, Z:10.73 [[-3.01083580e-02 -9.94044886e-01 1.04729416e-01 9.84543770e+01] [ 9.50363996e-01 -6.09313511e-02 -3.05115791e-01 8.32937119e+01] [ 3.09680097e-01 9.03445306e-02 9.46539013e-01 1.07320802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:83.32, Z:10.75 [[-2.92612514e-02 -9.98361654e-01 4.91710043e-02 9.84832199e+01] [ 9.52128786e-01 -4.28139114e-02 -3.02684232e-01 8.33227863e+01] [ 3.04293533e-01 3.79602093e-02 9.51821658e-01 1.07492622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85804094199997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.59, Y:83.33, Z:10.86 [[-1.18750304e-02 -9.92132653e-01 -1.24626574e-01 9.85941315e+01] [ 9.43133838e-01 3.02937217e-02 -3.31029990e-01 8.33287315e+01] [ 3.32201064e-01 -1.21470530e-01 9.35354138e-01 1.08569196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88804094199998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:98.53, Y:83.37, Z:10.83 [[-9.30401166e-03 -9.99854914e-01 -1.42683963e-02 9.85338219e+01] [ 9.42697488e-01 -4.01116274e-03 -3.33624575e-01 8.33671647e+01] [ 3.33518937e-01 -1.65548283e-02 9.42598035e-01 1.08332144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91804094199998 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:98.52, Y:83.40, Z:10.83 [[-3.65546995e-03 -9.99904501e-01 1.33276934e-02 9.85202167e+01] [ 9.44238329e-01 -7.83945287e-03 -3.29169441e-01 8.34049404e+01] [ 3.29242487e-01 1.13812499e-02 9.44176812e-01 1.08301730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94804094199998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:98.53, Y:83.43, Z:10.85 [[-2.14412483e-03 -9.99910595e-01 -1.31986274e-02 9.85332944e+01] [ 9.44264947e-01 2.32028671e-03 -3.29178259e-01 8.34292580e+01] [ 3.29179453e-01 -1.31688005e-02 9.44175551e-01 1.08468582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97804094199998 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:98.53, Y:83.46, Z:10.86 [[-1.13048529e-03 -9.99932876e-01 -1.15310341e-02 9.85308694e+01] [ 9.44421269e-01 2.72308386e-03 -3.28726407e-01 8.34554163e+01] [ 3.28735742e-01 -1.12617742e-02 9.44354798e-01 1.08550405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00804094199998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:98.53, Y:83.48, Z:10.87 [[ 2.15885298e-03 -9.99895990e-01 -1.42600394e-02 9.85298854e+01] [ 9.44020541e-01 6.74191727e-03 -3.29817775e-01 8.34809329e+01] [ 3.29879611e-01 -1.27497421e-02 9.43936908e-01 1.08660981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.55, Y:83.51, Z:10.89 [[ 4.53897959e-03 -9.98671741e-01 -5.13239941e-02 9.85514120e+01] [ 9.42888451e-01 2.13693859e-02 -3.32422500e-01 8.35060906e+01] [ 3.33077718e-01 -4.68839424e-02 9.41733046e-01 1.08940906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06804094199998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:98.52, Y:83.54, Z:10.89 [[ 1.07567814e-02 -9.99941690e-01 9.52932847e-04 9.85204330e+01] [ 9.43161408e-01 9.82939986e-03 -3.32189617e-01 8.35352175e+01] [ 3.32160880e-01 4.47206058e-03 9.43212145e-01 1.08896070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09804094199998 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:98.51, Y:83.56, Z:10.89 [[ 8.16025998e-03 -9.99945302e-01 6.54238860e-03 9.85128202e+01] [ 9.45528869e-01 5.58658281e-03 -3.25490319e-01 8.35627805e+01] [ 3.25435966e-01 8.84210291e-03 9.45522739e-01 1.08891720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12804094199998 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:98.52, Y:83.59, Z:10.90 [[ 9.89621301e-03 -9.99913364e-01 -8.67930286e-03 9.85209346e+01] [ 9.44982504e-01 1.21900134e-02 -3.26893670e-01 8.35872105e+01] [ 3.26971150e-01 -4.96677996e-03 9.45021269e-01 1.09029824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15804094199999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:98.53, Y:83.61, Z:10.91 [[ 1.20504140e-02 -9.99815794e-01 -1.49387232e-02 9.85250029e+01] [ 9.44202727e-01 1.62953004e-02 -3.28961506e-01 8.36114657e+01] [ 3.29144341e-01 -1.01410609e-02 9.44225165e-01 1.09147948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.188040942 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:98.52, Y:83.64, Z:10.92 [[ 1.12032840e-02 -9.99925553e-01 -4.83479762e-03 9.85188695e+01] [ 9.43576435e-01 1.21720455e-02 -3.30931040e-01 8.36382801e+01] [ 3.30965253e-01 -8.54486688e-04 9.43642555e-01 1.09199354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.218040942 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:98.52, Y:83.67, Z:10.93 [[ 9.77776460e-03 -9.99909177e-01 -9.27537649e-03 9.85209131e+01] [ 9.43130402e-01 1.23040602e-02 -3.32195206e-01 8.36661025e+01] [ 3.32279160e-01 -5.49976303e-03 9.43165051e-01 1.09322345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248040942 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:98.52, Y:83.69, Z:10.94 [[ 8.74319900e-03 -9.99865123e-01 -1.39029472e-02 9.85226225e+01] [ 9.44428847e-01 1.28256992e-02 -3.28465606e-01 8.36908172e+01] [ 3.28599618e-01 -1.02585042e-02 9.44413603e-01 1.09419605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.278040942 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:98.51, Y:83.72, Z:10.94 [[ 5.49966111e-03 -9.99942465e-01 9.20975068e-03 9.85078594e+01] [ 9.44351574e-01 2.16436821e-03 -3.28930722e-01 8.37200722e+01] [ 3.28891864e-01 1.05062501e-02 9.44309145e-01 1.09398622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308040942 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:98.53, Y:83.74, Z:10.96 [[ 6.30749147e-03 -9.99681925e-01 -2.44185100e-02 9.85293608e+01] [ 9.43422489e-01 1.40448407e-02 -3.31295564e-01 8.37416084e+01] [ 3.31533141e-01 -2.09473276e-02 9.43210998e-01 1.09620588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.338040942 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:98.52, Y:83.77, Z:10.97 [[ 3.50177421e-03 -9.99992363e-01 -1.73520617e-03 9.85175994e+01] [ 9.43212903e-01 3.87932505e-03 -3.32166179e-01 8.37724607e+01] [ 3.32170374e-01 -4.73497893e-04 9.43219284e-01 1.09650336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368040942 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:98.53, Y:83.80, Z:10.98 [[ 2.22018399e-03 -9.99873044e-01 -1.57787084e-02 9.85278802e+01] [ 9.43055505e-01 7.34196730e-03 -3.32554371e-01 8.37959861e+01] [ 3.32627998e-01 -1.41418660e-02 9.42952079e-01 1.09793410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.398040942 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:98.52, Y:83.83, Z:10.99 [[-2.74003654e-04 -9.99998454e-01 -1.73711984e-03 9.85209791e+01] [ 9.42594364e-01 3.21819574e-04 -3.33939757e-01 8.38263400e+01] [ 3.33939799e-01 -1.72890008e-03 9.42592818e-01 1.09855728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428040942 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:98.52, Y:83.85, Z:10.99 [[-1.79421324e-03 -9.99961357e-01 -8.60616915e-03 9.85249405e+01] [ 9.43015145e-01 1.17175843e-03 -3.32747748e-01 8.38508482e+01] [ 3.32744974e-01 -8.71276826e-03 9.42976601e-01 1.09941089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.458040942 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:98.51, Y:83.88, Z:10.99 [[-7.84599604e-03 -9.99775197e-01 1.96976014e-02 9.85067217e+01] [ 9.43597705e-01 -1.39225868e-02 -3.30801350e-01 8.38807086e+01] [ 3.31001227e-01 1.59911453e-02 9.43494818e-01 1.09907024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488040942 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:98.52, Y:83.90, Z:11.01 [[-8.33757110e-03 -9.99937705e-01 -7.42096939e-03 9.85216535e+01] [ 9.43576055e-01 -5.41029969e-03 -3.31111700e-01 8.39047792e+01] [ 3.31050923e-01 -9.76291636e-03 9.43562384e-01 1.10066568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51804094199997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.54, Y:83.92, Z:11.03 [[-9.65893423e-03 -9.98946355e-01 -4.48651914e-02 9.85417767e+01] [ 9.42226322e-01 5.93179642e-03 -3.34924426e-01 8.39187668e+01] [ 3.34837666e-01 -4.55081773e-02 9.41176255e-01 1.10321251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54804094199997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:98.51, Y:83.96, Z:11.02 [[-1.04430524e-02 -9.99757416e-01 1.93920581e-02 9.85094915e+01] [ 9.44756805e-01 -1.62184698e-02 -3.27370649e-01 8.39553735e+01] [ 3.27605743e-01 1.49020300e-02 9.44696992e-01 1.10181765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57804094199997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:98.53, Y:83.98, Z:11.04 [[-8.78517127e-03 -9.99818156e-01 -1.69256160e-02 9.85340100e+01] [ 9.43514692e-01 -2.68163347e-03 -3.31319838e-01 8.39782974e+01] [ 3.31214201e-01 -1.88802688e-02 9.43366678e-01 1.10429021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60804094199997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:98.52, Y:84.01, Z:11.04 [[-1.12966575e-02 -9.99931008e-01 3.21937821e-03 9.85226045e+01] [ 9.44645677e-01 -1.17277259e-02 -3.27882610e-01 8.40054944e+01] [ 3.27897744e-01 -6.62805830e-04 9.44712988e-01 1.10423511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.53, Y:84.03, Z:11.05 [[-1.08024244e-02 -9.99864552e-01 -1.24171284e-02 9.85315905e+01] [ 9.44529987e-01 -6.12665548e-03 -3.28368037e-01 8.40296444e+01] [ 3.28247485e-01 -1.52755210e-02 9.44468235e-01 1.10543122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66804094199998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.54, Y:84.06, Z:11.07 [[-8.71036750e-03 -9.99874478e-01 -1.32347307e-02 9.85351535e+01] [ 9.43819776e-01 -3.84823921e-03 -3.30438226e-01 8.40580801e+01] [ 3.30345818e-01 -1.53694389e-02 9.43734825e-01 1.10688872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.53, Y:84.08, Z:11.08 [[-8.91738791e-03 -9.99923451e-01 -8.57738054e-03 9.85312797e+01] [ 9.42915985e-01 -5.55263871e-03 -3.32984404e-01 8.40762214e+01] [ 3.32911288e-01 -1.10571003e-02 9.42893321e-01 1.10770408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.53, Y:84.11, Z:11.08 [[-3.14358978e-03 -9.99902227e-01 1.36255374e-02 9.85261914e+01] [ 9.42647676e-01 -7.51094024e-03 -3.33704877e-01 8.41116733e+01] [ 3.33774590e-01 1.17950499e-02 9.42579121e-01 1.10785552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.54, Y:84.14, Z:11.09 [[-1.98261178e-03 -9.99992772e-01 -3.24439866e-03 9.85368968e+01] [ 9.42866087e-01 -7.88403535e-04 -3.33171008e-01 8.41389657e+01] [ 3.33166042e-01 -3.71958224e-03 9.42860834e-01 1.10917163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.54, Y:84.16, Z:11.10 [[-2.13827236e-03 -9.99995275e-01 -2.20879818e-03 9.85358675e+01] [ 9.45528661e-01 -1.30276007e-03 -3.25536256e-01 8.41625755e+01] [ 3.25531840e-01 -2.78456716e-03 9.45526979e-01 1.10955720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81804094199998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:98.55, Y:84.19, Z:11.11 [[ 2.83934587e-03 -9.99943667e-01 -1.02274735e-02 9.85475246e+01] [ 9.43471115e-01 6.06855920e-03 -3.31399197e-01 8.41886407e+01] [ 3.31442594e-01 -8.70836892e-03 9.43435197e-01 1.11136052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.55, Y:84.21, Z:11.12 [[ 5.13748320e-03 -9.99831995e-01 -1.75950945e-02 9.85546073e+01] [ 9.44689774e-01 1.06226650e-02 -3.27793212e-01 8.42100614e+01] [ 3.27925048e-01 -1.49378738e-02 9.44585636e-01 1.11219909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.55, Y:84.24, Z:11.13 [[ 3.49394144e-03 -9.99983423e-01 4.57660250e-03 9.85451699e+01] [ 9.42999500e-01 1.77176946e-03 -3.32789430e-01 8.42405507e+01] [ 3.32775805e-01 5.47848065e-03 9.42990058e-01 1.11270056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90804094199999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:98.56, Y:84.26, Z:11.14 [[ 5.52269602e-03 -9.99798818e-01 -1.92827413e-02 9.85597620e+01] [ 9.43867536e-01 1.15806637e-02 -3.30121134e-01 8.42624623e+01] [ 3.30278027e-01 -1.63771948e-02 9.43741603e-01 1.11421919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.938040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.54, Y:84.29, Z:11.14 [[ 2.99305673e-03 -9.99850793e-01 1.70127556e-02 9.85430029e+01] [ 9.42584456e-01 -2.86072353e-03 -3.33955625e-01 8.42948565e+01] [ 3.33954465e-01 1.70355072e-02 9.42435253e-01 1.11383844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.968040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.57, Y:84.31, Z:11.16 [[ 4.98475046e-03 -9.99605200e-01 -2.76513354e-02 9.85695875e+01] [ 9.44651136e-01 1.37780414e-02 -3.27787123e-01 8.43126405e+01] [ 3.28038693e-01 -2.44869284e-02 9.44346867e-01 1.11591442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.998040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.56, Y:84.34, Z:11.16 [[ 2.57405242e-03 -9.99978402e-01 6.04727989e-03 9.85560294e+01] [ 9.44791398e-01 4.50427356e-04 -3.27672110e-01 8.43420989e+01] [ 3.27662309e-01 6.55686321e-03 9.44772152e-01 1.11569993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:84.37, Z:11.15 [[-3.27214052e-03 -9.99401403e-01 3.44402112e-02 9.85391651e+01] [ 9.44955550e-01 -1.43585601e-02 -3.26883527e-01 8.43736597e+01] [ 3.27182368e-01 3.14748599e-02 9.44436886e-01 1.11534897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.058040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.59, Y:84.35, Z:11.18 [[-4.61884866e-03 -9.99179639e-01 -4.02332522e-02 9.85857586e+01] [ 9.36855574e-01 9.74556870e-03 -3.49580687e-01 8.43461872e+01] [ 3.49686001e-01 -3.93074069e-02 9.36042002e-01 1.11822860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:84.38, Z:11.17 [[-3.12372929e-04 -9.99818362e-01 1.90563768e-02 9.85584650e+01] [ 9.40252024e-01 -6.78195503e-03 -3.40411715e-01 8.43769601e+01] [ 3.40479123e-01 1.78114614e-02 9.40083357e-01 1.11657358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.118040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:98.60, Y:84.40, Z:11.20 [[ 2.98875631e-03 -9.99307932e-01 -3.70772693e-02 9.85975423e+01] [ 9.37554645e-01 1.56967312e-02 -3.47483670e-01 8.43996846e+01] [ 3.47825180e-01 -3.37234221e-02 9.36952707e-01 1.12019381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.58, Y:84.42, Z:11.19 [[-1.11306292e-03 -9.99996930e-01 2.21403995e-03 9.85769480e+01] [ 9.40159176e-01 -1.80085346e-03 -3.40730805e-01 8.44236709e+01] [ 3.40733746e-01 1.70229515e-03 9.40158293e-01 1.11895929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.178040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.60, Y:84.45, Z:11.22 [[-7.71674202e-04 -9.99723451e-01 -2.35037558e-02 9.85975805e+01] [ 9.37685586e-01 7.44379638e-03 -3.47405139e-01 8.44504311e+01] [ 3.47484022e-01 -2.23072167e-02 9.37420526e-01 1.12168051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.58, Y:84.47, Z:11.21 [[-7.77547483e-03 -9.99963530e-01 3.53293229e-03 9.85805642e+01] [ 9.37404270e-01 -8.51902500e-03 -3.48138853e-01 8.44708058e+01] [ 3.48156254e-01 6.04840921e-04 9.37436322e-01 1.12117245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.238040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.60, Y:84.50, Z:11.23 [[-2.74913267e-03 -9.99727410e-01 -2.31850946e-02 9.86049523e+01] [ 9.37778911e-01 5.47304170e-03 -3.47189803e-01 8.44973544e+01] [ 3.47222055e-01 -2.26969636e-02 9.37508236e-01 1.12337493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.53, Z:11.23 [[-5.77284952e-03 -9.99981510e-01 1.91175402e-03 9.85966944e+01] [ 9.36767294e-01 -6.07685199e-03 -3.49900141e-01 8.45274510e+01] [ 3.49905289e-01 -2.29052226e-04 9.36785053e-01 1.12345165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:84.55, Z:11.26 [[-6.88720915e-03 -9.99830601e-01 -1.70685468e-02 9.86117825e+01] [ 9.34643702e-01 -3.67821996e-04 -3.55585454e-01 8.45541973e+01] [ 3.55518941e-01 -1.84020011e-02 9.34487908e-01 1.12566508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.56, Z:11.25 [[-7.48311971e-03 -9.99970084e-01 1.95795016e-03 9.86039322e+01] [ 9.36460070e-01 -7.69450613e-03 -3.50689795e-01 8.45617827e+01] [ 3.50694369e-01 -7.90711574e-04 9.36489634e-01 1.12506500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35804094199997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.60, Y:84.57, Z:11.25 [[-1.01478785e-02 -9.99930579e-01 5.98805885e-03 9.86004060e+01] [ 9.39893030e-01 -1.15822843e-02 -3.41272534e-01 8.45669183e+01] [ 3.41318198e-01 2.16494257e-03 9.39945318e-01 1.12467401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.61, Y:84.55, Z:11.25 [[-7.64747395e-03 -9.99931023e-01 -8.91438704e-03 9.86087766e+01] [ 9.38460875e-01 -4.09845399e-03 -3.45361245e-01 8.45516375e+01] [ 3.45300888e-01 -1.10069446e-02 9.38427485e-01 1.12483658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.60, Y:84.55, Z:11.25 [[-4.37395489e-03 -9.99989192e-01 -1.57641111e-03 9.86047268e+01] [ 9.38627025e-01 -3.56182232e-03 -3.44915382e-01 8.45532016e+01] [ 3.44906039e-01 -2.98830640e-03 9.38632460e-01 1.12470669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.60, Y:84.55, Z:11.25 [[-2.39415815e-03 -9.99993642e-01 2.64267695e-03 9.86015129e+01] [ 9.39213539e-01 -3.15592714e-03 -3.43319047e-01 8.45534706e+01] [ 3.43325205e-01 1.66007787e-03 9.39215123e-01 1.12450384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.60, Y:84.56, Z:11.25 [[-8.81216641e-04 -9.99996666e-01 2.42738578e-03 9.86012911e+01] [ 9.40061030e-01 -1.65614690e-03 -3.41002225e-01 8.45568309e+01] [ 3.41005108e-01 1.98139394e-03 9.40059355e-01 1.12454784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.60, Y:84.55, Z:11.24 [[-3.12368801e-03 -9.99985187e-01 4.45742976e-03 9.86009559e+01] [ 9.40895989e-01 -4.44871322e-03 -3.38666424e-01 8.45530474e+01] [ 3.38681237e-01 3.13608953e-03 9.40895948e-01 1.12439725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.55, Z:11.24 [[-2.36940054e-03 -9.99890049e-01 1.46381479e-02 9.85934660e+01] [ 9.42169648e-01 -7.13782437e-03 -3.35060303e-01 8.45484850e+01] [ 3.35127948e-01 1.29977266e-02 9.42082968e-01 1.12381451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.55, Z:11.25 [[-1.92785269e-03 -9.99997461e-01 -1.16657069e-03 9.86018551e+01] [ 9.42067054e-01 -1.42487714e-03 -3.35421580e-01 8.45530460e+01] [ 3.35419066e-01 -1.74563121e-03 9.42067409e-01 1.12455049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.61, Y:84.55, Z:11.24 [[-2.48935930e-03 -9.99971196e-01 -7.17009943e-03 9.86061733e+01] [ 9.41177758e-01 7.99343069e-05 -3.37911856e-01 8.45462462e+01] [ 3.37902696e-01 -7.58952213e-03 9.41150449e-01 1.12448948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.55, Z:11.24 [[-3.26177881e-03 -9.99954548e-01 8.95895258e-03 9.85980479e+01] [ 9.42314267e-01 -6.07222873e-03 -3.34674394e-01 8.45472082e+01] [ 3.34713583e-01 7.35051499e-03 9.42291243e-01 1.12388500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.60, Y:84.54, Z:11.24 [[-5.09122486e-03 -9.99979686e-01 3.83503754e-03 9.86009351e+01] [ 9.43232774e-01 -6.07586066e-03 -3.32076825e-01 8.45442481e+01] [ 3.32093380e-01 1.92665531e-03 9.43244547e-01 1.12377646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:84.54, Z:11.24 [[-6.77835361e-03 -9.99947507e-01 -7.68358412e-03 9.86090643e+01] [ 9.42865046e-01 -3.83146581e-03 -3.33152856e-01 8.45358862e+01] [ 3.33105929e-01 -9.50281076e-03 9.42841523e-01 1.12387434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.54, Z:11.23 [[-8.35360036e-03 -9.99937308e-01 7.45643395e-03 9.86015573e+01] [ 9.43356974e-01 -1.03537631e-02 -3.31617880e-01 8.45362175e+01] [ 3.31674292e-01 4.26387573e-03 9.43384324e-01 1.12328752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:84.53, Z:11.24 [[-7.66320636e-03 -9.99965602e-01 -3.17324111e-03 9.86083363e+01] [ 9.42426600e-01 -6.16122826e-03 -3.34356311e-01 8.45341581e+01] [ 3.34325259e-01 -5.55278825e-03 9.42441397e-01 1.12373555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.53, Z:11.23 [[-9.69289985e-03 -9.99901432e-01 1.01574608e-02 9.86013262e+01] [ 9.42699283e-01 -1.25253073e-02 -3.33408426e-01 8.45297172e+01] [ 3.33502788e-01 6.34373650e-03 9.42727770e-01 1.12309622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808040942 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:98.61, Y:84.53, Z:11.23 [[-1.07435781e-02 -9.99940161e-01 -2.06151840e-03 9.86079722e+01] [ 9.42612204e-01 -9.43954837e-03 -3.33756090e-01 8.45282535e+01] [ 3.33716659e-01 -5.52894703e-03 9.42657214e-01 1.12338986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.53, Z:11.23 [[-1.29693895e-02 -9.99883893e-01 7.99973367e-03 9.86010455e+01] [ 9.44362887e-01 -1.48779996e-02 -3.28568688e-01 8.45291080e+01] [ 3.28649559e-01 3.29331628e-03 9.44446198e-01 1.12300629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:98.61, Y:84.53, Z:11.23 [[-1.29929187e-02 -9.99914753e-01 -1.29288458e-03 9.86061958e+01] [ 9.43284939e-01 -1.18280880e-02 -3.31773448e-01 8.45276474e+01] [ 3.31729873e-01 -5.53026398e-03 9.43358207e-01 1.12335465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.898040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:98.60, Y:84.52, Z:11.23 [[-1.40635398e-02 -9.99900915e-01 6.14100072e-04 9.86047458e+01] [ 9.43411769e-01 -1.34725258e-02 -3.31349853e-01 8.45242726e+01] [ 3.31325295e-01 -4.08060259e-03 9.43507762e-01 1.12330398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:84.52, Z:11.24 [[-1.10547344e-02 -9.99853686e-01 -1.30537254e-02 9.86138467e+01] [ 9.40705229e-01 -5.97265535e-03 -3.39172523e-01 8.45212240e+01] [ 3.39044932e-01 -1.60291699e-02 9.40633616e-01 1.12440256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.958040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.60, Y:84.52, Z:11.24 [[-1.21879711e-02 -9.99922133e-01 2.67996088e-03 9.86041529e+01] [ 9.40894268e-01 -1.23756536e-02 -3.38474252e-01 8.45214279e+01] [ 3.38481062e-01 -1.60375458e-03 9.40971837e-01 1.12367964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.52, Z:11.24 [[-1.53767859e-02 -9.99867738e-01 5.29725771e-03 9.86009865e+01] [ 9.42424586e-01 -1.62630184e-02 -3.34023074e-01 8.45224907e+01] [ 3.34065045e-01 -1.43935404e-04 9.42550012e-01 1.12364329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01804094199997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.23 [[-2.40912509e-02 -9.99663600e-01 -9.60725739e-03 9.86047085e+01] [ 9.40140606e-01 -1.93869607e-02 -3.40234901e-01 8.44875970e+01] [ 3.39934190e-01 -1.72288571e-02 9.40291398e-01 1.12315592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04804094199997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.22 [[-2.70410595e-02 -9.99618296e-01 5.66076834e-03 9.85956852e+01] [ 9.39882278e-01 -2.73527869e-02 -3.40401424e-01 8.44851921e+01] [ 3.40426329e-01 -3.88435932e-03 9.40263169e-01 1.12247133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07804094199997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.23 [[-2.97998309e-02 -9.99539066e-01 5.79874220e-03 9.85957530e+01] [ 9.39895173e-01 -2.99949454e-02 -3.40143155e-01 8.44878805e+01] [ 3.40160305e-01 -4.68599871e-03 9.40355788e-01 1.12268056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.51, Z:11.22 [[-2.84197536e-02 -9.99375174e-01 2.10138018e-02 9.85901299e+01] [ 9.42818117e-01 -3.37837571e-02 -3.31591097e-01 8.45129426e+01] [ 3.32093836e-01 1.03884558e-02 9.43189146e-01 1.12241769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.61, Y:84.47, Z:11.23 [[-3.70574843e-02 -9.99229334e-01 -1.29414600e-02 9.86063109e+01] [ 9.39786212e-01 -3.04442477e-02 -3.40404207e-01 8.44715083e+01] [ 3.39747876e-01 -2.47767292e-02 9.40190137e-01 1.12279649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.60, Y:84.51, Z:11.23 [[-2.97461077e-02 -9.99500855e-01 1.06400363e-02 9.85993209e+01] [ 9.40953226e-01 -3.15917883e-02 -3.37059321e-01 8.45081660e+01] [ 3.37227217e-01 -1.44263303e-05 9.41423286e-01 1.12322441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.22 [[-3.61853122e-02 -9.99306978e-01 8.72854764e-03 9.86001111e+01] [ 9.43557327e-01 -3.70414265e-02 -3.29131437e-01 8.44942015e+01] [ 3.29226660e-01 -3.67383873e-03 9.44243777e-01 1.12202818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.22 [[-3.58715029e-02 -9.99303649e-01 1.02690290e-02 9.85992999e+01] [ 9.43714613e-01 -3.72533832e-02 -3.28656226e-01 8.44927059e+01] [ 3.28809922e-01 -2.09836000e-03 9.44393791e-01 1.12196567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.22 [[-3.43729918e-02 -9.99392556e-01 5.74597712e-03 9.86023777e+01] [ 9.42913635e-01 -3.43350472e-02 -3.31262707e-01 8.44929566e+01] [ 3.31258772e-01 -5.96853014e-03 9.43521066e-01 1.12212401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.22 [[-3.54443354e-02 -9.99322042e-01 9.95770524e-03 9.85983314e+01] [ 9.43922412e-01 -3.67488975e-02 -3.28115832e-01 8.44943228e+01] [ 3.28259317e-01 -2.23054644e-03 9.44585012e-01 1.12183690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.22 [[-3.28783412e-02 -9.99441712e-01 5.93960192e-03 9.86009524e+01] [ 9.42983207e-01 -3.29893457e-02 -3.31201411e-01 8.44941254e+01] [ 3.31212449e-01 -5.28840812e-03 9.43541386e-01 1.12214940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.60, Y:84.50, Z:11.22 [[-3.09097631e-02 -9.99478944e-01 9.29661199e-03 9.85986698e+01] [ 9.42936322e-01 -3.22437131e-02 -3.31408262e-01 8.44963962e+01] [ 3.31535337e-01 -1.47763775e-03 9.43441645e-01 1.12212646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.22 [[-3.13009509e-02 -9.99508879e-01 1.50044553e-03 9.86030308e+01] [ 9.42974053e-01 -3.00281433e-02 -3.31509045e-01 8.44933378e+01] [ 3.31391289e-01 -8.96166715e-03 9.43450848e-01 1.12229460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:84.50, Z:11.24 [[-2.63245949e-02 -9.99586135e-01 -1.16005941e-02 9.86131820e+01] [ 9.39962092e-01 -2.08010532e-02 -3.40644362e-01 8.44967571e+01] [ 3.40262076e-01 -1.98714435e-02 9.40120655e-01 1.12368457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.22 [[-2.87520721e-02 -9.99496893e-01 1.33894945e-02 9.85960275e+01] [ 9.43218341e-01 -3.15628714e-02 -3.30670450e-01 8.44855465e+01] [ 3.30926699e-01 3.12175613e-03 9.43651299e-01 1.12177896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.22 [[-2.69878860e-02 -9.99635541e-01 -6.61985367e-04 9.86024544e+01] [ 9.42421997e-01 -2.52224154e-02 -3.33473550e-01 8.44869476e+01] [ 3.33335316e-01 -9.62361574e-03 9.42759223e-01 1.12243997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.49, Z:11.22 [[-2.70742886e-02 -9.99559718e-01 1.21389266e-02 9.85935893e+01] [ 9.43436056e-01 -2.95645603e-02 -3.30233772e-01 8.44862788e+01] [ 3.30447258e-01 2.51145660e-03 9.43821118e-01 1.12173662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:84.48, Z:11.23 [[-2.35938276e-02 -9.99615656e-01 -1.45558297e-02 9.86092207e+01] [ 9.40364687e-01 -1.72483737e-02 -3.39730406e-01 8.44814599e+01] [ 3.39348768e-01 -2.17033289e-02 9.40410219e-01 1.12305814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.558040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.60, Y:84.49, Z:11.23 [[-2.45491367e-02 -9.99688820e-01 4.42760821e-03 9.85988589e+01] [ 9.40863053e-01 -2.46010877e-02 -3.37892738e-01 8.44927320e+01] [ 3.37896517e-01 -4.12920202e-03 9.41174210e-01 1.12271342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.59, Y:84.48, Z:11.22 [[-2.59403559e-02 -9.99616394e-01 9.70375236e-03 9.85949881e+01] [ 9.41206696e-01 -2.76930579e-02 -3.36694299e-01 8.44816313e+01] [ 3.36833867e-01 3.99266769e-04 9.41564011e-01 1.12192803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.618040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.59, Y:84.48, Z:11.22 [[-2.90674001e-02 -9.99542886e-01 8.31301212e-03 9.85941981e+01] [ 9.42482810e-01 -3.01766348e-02 -3.32889656e-01 8.44760475e+01] [ 3.32988346e-01 -1.84136577e-03 9.42929144e-01 1.12155587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.47, Z:11.21 [[-3.05055733e-02 -9.99515675e-01 6.15026387e-03 9.85943421e+01] [ 9.43345421e-01 -3.08241305e-02 -3.30377497e-01 8.44725848e+01] [ 3.30407063e-01 -4.27653168e-03 9.43828842e-01 1.12147933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.678040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.59, Y:84.47, Z:11.21 [[-3.11060226e-02 -9.99499115e-01 5.82538218e-03 9.85936349e+01] [ 9.43550673e-01 -3.12866836e-02 -3.29747283e-01 8.44688792e+01] [ 3.29764375e-01 -4.76058318e-03 9.44051267e-01 1.12114694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.48, Z:11.22 [[-3.07648313e-02 -9.99499008e-01 -7.43352766e-03 9.86019539e+01] [ 9.43223726e-01 -2.65702362e-02 -3.31093681e-01 8.44822752e+01] [ 3.30730295e-01 -1.71975209e-02 9.43568608e-01 1.12225272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.47, Z:11.21 [[-3.34378142e-02 -9.99264921e-01 1.87491393e-02 9.85867315e+01] [ 9.44426054e-01 -3.77298371e-02 -3.26551509e-01 8.44652154e+01] [ 3.27018870e-01 6.78800700e-03 9.44993430e-01 1.12055378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.60, Y:84.46, Z:11.21 [[-3.28086592e-02 -9.99460393e-01 1.58551558e-03 9.85963399e+01] [ 9.43866438e-01 -3.15053444e-02 -3.28821472e-01 8.44610937e+01] [ 3.28693990e-01 -9.29167666e-03 9.44390770e-01 1.12112470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.45, Z:11.20 [[-3.51526570e-02 -9.99326209e-01 1.05554684e-02 9.85892639e+01] [ 9.45338330e-01 -3.66760708e-02 -3.24022079e-01 8.44547375e+01] [ 3.24190889e-01 -1.41174814e-03 9.45990631e-01 1.12022950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82804094199997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:98.59, Y:84.45, Z:11.20 [[-3.61367204e-02 -9.99322742e-01 6.94225947e-03 9.85904432e+01] [ 9.45348161e-01 -3.64358930e-02 -3.24020493e-01 8.44542213e+01] [ 3.24053995e-01 -5.14618575e-03 9.46024590e-01 1.12013638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.45, Z:11.20 [[-3.87832123e-02 -9.99185055e-01 1.11842535e-02 9.85869725e+01] [ 9.47439256e-01 -4.03273047e-02 -3.17383938e-01 8.44509003e+01] [ 3.17576318e-01 -1.71276780e-03 9.48231168e-01 1.11967961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.44, Z:11.20 [[-3.84133133e-02 -9.99253651e-01 -4.06929209e-03 9.85962004e+01] [ 9.47404906e-01 -3.51247184e-02 -3.18104068e-01 8.44433623e+01] [ 3.17723718e-01 -1.60746985e-02 9.48047068e-01 1.11996783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91804094199998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.58, Y:84.45, Z:11.19 [[-3.77239588e-02 -9.99131289e-01 1.77079390e-02 9.85839333e+01] [ 9.47378238e-01 -4.13958234e-02 -3.17428512e-01 8.44460999e+01] [ 3.17885793e-01 4.80145589e-03 9.48116854e-01 1.11923772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.59, Y:84.45, Z:11.20 [[-3.88234335e-02 -9.99231535e-01 5.39270667e-03 9.85902283e+01] [ 9.48920446e-01 -3.85587095e-02 -3.13150463e-01 8.44494510e+01] [ 3.13117754e-01 -7.04032659e-03 9.49688215e-01 1.11966045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.45, Z:11.20 [[-3.70919155e-02 -9.99293693e-01 6.02532010e-03 9.85898842e+01] [ 9.48493580e-01 -3.71033126e-02 -3.14616072e-01 8.44515998e+01] [ 3.14617416e-01 -5.95473532e-03 9.49199886e-01 1.11982854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:84.44, Z:11.19 [[-3.46960806e-02 -9.99257803e-01 1.67339711e-02 9.85836655e+01] [ 9.49288361e-01 -3.81872500e-02 -3.12079062e-01 8.44442305e+01] [ 3.12486462e-01 5.05744371e-03 9.49908750e-01 1.11922091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.60, Y:84.46, Z:11.21 [[-2.59955993e-02 -9.99629343e-01 -8.08733825e-03 9.86005818e+01] [ 9.45890431e-01 -2.19789325e-02 -3.23740975e-01 8.44586666e+01] [ 3.23443227e-01 -1.60655765e-02 9.46111186e-01 1.12134926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:84.45, Z:11.19 [[-3.18629206e-02 -9.99255850e-01 2.17370958e-02 9.85803945e+01] [ 9.50405023e-01 -3.70227218e-02 -3.08803513e-01 8.44486826e+01] [ 3.09378483e-01 1.08196632e-02 9.50877431e-01 1.11898718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.45, Z:11.20 [[-2.78882510e-02 -9.99610744e-01 7.77959717e-04 9.85930399e+01] [ 9.48705452e-01 -2.67132152e-02 -3.15030745e-01 8.44453116e+01] [ 3.14928900e-01 -8.04760186e-03 9.49081147e-01 1.11988392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.46, Z:11.20 [[-2.76829542e-02 -9.99563198e-01 1.03472925e-02 9.85870829e+01] [ 9.49062721e-01 -2.95317073e-02 -3.13700222e-01 8.44550343e+01] [ 3.13868771e-01 1.13608073e-03 9.49465694e-01 1.11981173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15804094199999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.59, Y:84.45, Z:11.20 [[-2.50313505e-02 -9.99683927e-01 -2.34054491e-03 9.85942040e+01] [ 9.48310609e-01 -2.30039631e-02 -3.16508779e-01 8.44467990e+01] [ 3.16354897e-01 -1.01422057e-02 9.48586693e-01 1.11998856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:84.44, Z:11.19 [[-2.58808771e-02 -9.99601369e-01 1.12819816e-02 9.85843115e+01] [ 9.49230194e-01 -2.81130281e-02 -3.13323630e-01 8.44416795e+01] [ 3.13515900e-01 2.60010724e-03 9.49579391e-01 1.11941747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:84.44, Z:11.19 [[-2.73184689e-02 -9.99514617e-01 1.49743953e-02 9.85832987e+01] [ 9.48751264e-01 -3.06432714e-02 -3.14534623e-01 8.44378374e+01] [ 3.14840818e-01 5.61437218e-03 9.49127883e-01 1.11932774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.44, Z:11.21 [[-1.96240747e-02 -9.99750385e-01 -1.06800541e-02 9.85965493e+01] [ 9.47001066e-01 -1.51608690e-02 -3.20872449e-01 8.44446627e+01] [ 3.20630436e-01 -1.64108475e-02 9.47062198e-01 1.12091006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.44, Z:11.20 [[-2.29221058e-02 -9.99734112e-01 -2.50656089e-03 9.85911644e+01] [ 9.46731011e-01 -2.09011513e-02 -3.21346439e-01 8.44423383e+01] [ 3.21208607e-01 -9.73897599e-03 9.46958385e-01 1.12033940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:84.43, Z:11.19 [[-2.48300782e-02 -9.99450366e-01 2.19643832e-02 9.85761868e+01] [ 9.49482736e-01 -3.04527848e-02 -3.12338217e-01 8.44348047e+01] [ 3.12835422e-01 1.30994204e-02 9.49717013e-01 1.11903947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.44, Z:11.20 [[-2.65579790e-02 -9.99647271e-01 8.76643197e-05 9.85852885e+01] [ 9.48919886e-01 -2.52378675e-02 -3.14506122e-01 8.44354253e+01] [ 3.14397399e-01 -8.26946058e-03 9.49255441e-01 1.11955062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.42, Z:11.21 [[-2.19071760e-02 -9.99735920e-01 -6.94017522e-03 9.85891323e+01] [ 9.45489719e-01 -1.84614381e-02 -3.25128232e-01 8.44154168e+01] [ 3.24914247e-01 -1.36845057e-02 9.45644472e-01 1.12084899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:84.43, Z:11.19 [[-2.05516326e-02 -9.99477659e-01 2.49407287e-02 9.85693273e+01] [ 9.48957656e-01 -2.73536712e-02 -3.14215123e-01 8.44293743e+01] [ 3.14733216e-01 1.72100617e-02 9.49024139e-01 1.11920446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:84.43, Z:11.21 [[-1.85032602e-02 -9.99816762e-01 -4.90625613e-03 9.85822465e+01] [ 9.46087389e-01 -1.59213467e-02 -3.23519959e-01 8.44308120e+01] [ 3.23382564e-01 -1.06279210e-02 9.46208626e-01 1.12075886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:84.42, Z:11.19 [[-2.34846979e-02 -9.99562986e-01 1.79529052e-02 9.85665201e+01] [ 9.48344676e-01 -2.79570596e-02 -3.16007561e-01 8.44214389e+01] [ 3.16371371e-01 9.60419994e-03 9.48586799e-01 1.11906202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:84.42, Z:11.20 [[-2.30628557e-02 -9.99712357e-01 -6.58095186e-03 9.85782460e+01] [ 9.45139830e-01 -1.96574002e-02 -3.26074053e-01 8.44161839e+01] [ 3.25850895e-01 -1.37401186e-02 9.45321323e-01 1.12014717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:84.42, Z:11.20 [[-2.38547843e-02 -9.99710004e-01 3.29498578e-03 9.85721736e+01] [ 9.44385377e-01 -2.36156859e-02 -3.27991706e-01 8.44195580e+01] [ 3.27974403e-01 -4.71243500e-03 9.44674856e-01 1.12028903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:84.41, Z:11.18 [[-3.22207481e-02 -9.99236329e-01 2.21039113e-02 9.85573449e+01] [ 9.47833677e-01 -3.75654602e-02 -3.16544084e-01 8.44069026e+01] [ 3.17132692e-01 1.07515444e-02 9.48320231e-01 1.11846520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:84.41, Z:11.20 [[-3.19574164e-02 -9.99486428e-01 -2.36712505e-03 9.85684267e+01] [ 9.44142832e-01 -2.94105287e-02 -3.28221470e-01 8.44088615e+01] [ 3.27983286e-01 -1.27240143e-02 9.44597832e-01 1.11996212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:84.42, Z:11.20 [[-2.96741039e-02 -9.99558197e-01 -1.69087918e-03 9.85617674e+01] [ 9.42491221e-01 -2.74164556e-02 -3.33104541e-01 8.44161713e+01] [ 3.32911017e-01 -1.14782176e-02 9.42888384e-01 1.12011224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:84.41, Z:11.20 [[-2.99245536e-02 -9.99536762e-01 5.54826062e-03 9.85575404e+01] [ 9.42030110e-01 -3.00578683e-02 -3.34179287e-01 8.44124217e+01] [ 3.34191251e-01 -4.77353743e-03 9.42493194e-01 1.12013060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:84.40, Z:11.17 [[-4.13904161e-02 -9.98585519e-01 3.33735548e-02 9.85365631e+01] [ 9.48190632e-01 -4.97882645e-02 -3.13776439e-01 8.43972154e+01] [ 3.14994220e-01 1.86571547e-02 9.48910192e-01 1.11741855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:84.39, Z:11.18 [[-4.40661795e-02 -9.98992312e-01 8.51660421e-03 9.85470120e+01] [ 9.48139355e-01 -4.45061040e-02 -3.14723641e-01 8.43896082e+01] [ 3.14785539e-01 -5.79374085e-03 9.49145140e-01 1.11793232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:84.40, Z:11.19 [[-4.22299365e-02 -9.99106884e-01 1.43779723e-03 9.85495715e+01] [ 9.46444694e-01 -4.04649947e-02 -3.20320191e-01 8.43977257e+01] [ 3.20092289e-01 -1.21663058e-02 9.47308243e-01 1.11869593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:84.39, Z:11.18 [[-4.58107004e-02 -9.98893470e-01 1.06403112e-02 9.85379393e+01] [ 9.46539263e-01 -4.68095376e-02 -3.19174390e-01 8.43877038e+01] [ 3.19319282e-01 -4.55013003e-03 9.47636266e-01 1.11788015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:84.38, Z:11.17 [[-4.96534101e-02 -9.98642915e-01 1.57120254e-02 9.85314708e+01] [ 9.47582255e-01 -5.20744154e-02 -3.15239790e-01 8.43825536e+01] [ 3.15630178e-01 -7.64294180e-04 9.48881977e-01 1.11722621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:84.38, Z:11.17 [[-5.35012965e-02 -9.98455353e-01 1.49839461e-02 9.85291217e+01] [ 9.48633654e-01 -5.55059104e-02 -3.11469558e-01 8.43756663e+01] [ 3.11820145e-01 -2.44974965e-03 9.50137988e-01 1.11671121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:84.37, Z:11.17 [[-5.56876401e-02 -9.98401672e-01 9.64305414e-03 9.85295044e+01] [ 9.48468087e-01 -5.59149915e-02 -3.11900307e-01 8.43738661e+01] [ 3.11940980e-01 -8.22286295e-03 9.50065898e-01 1.11687191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:84.37, Z:11.17 [[-5.58627190e-02 -9.98408017e-01 7.79663064e-03 9.85292123e+01] [ 9.48165126e-01 -5.54949547e-02 -3.12894878e-01 8.43722026e+01] [ 3.12829428e-01 -1.00866653e-02 9.49755762e-01 1.11703822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:84.37, Z:11.17 [[-5.78181414e-02 -9.98272004e-01 1.04913460e-02 9.85213884e+01] [ 9.48291134e-01 -5.82025128e-02 -3.12019859e-01 8.43730152e+01] [ 3.12091313e-01 -8.09155796e-03 9.50017652e-01 1.11697545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:84.38, Z:11.18 [[-5.66427622e-02 -9.98372672e-01 -6.60348865e-03 9.85298995e+01] [ 9.45293611e-01 -5.15006686e-02 -3.22129897e-01 8.43821136e+01] [ 3.21265602e-01 -2.44885628e-02 9.46672448e-01 1.11807137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:84.38, Z:11.18 [[-5.11725515e-02 -9.98552296e-01 1.65735532e-02 9.85121768e+01] [ 9.45879088e-01 -5.37849642e-02 -3.20031135e-01 8.43829380e+01] [ 3.20459233e-01 -7.00232338e-04 9.47262049e-01 1.11776880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.998040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.51, Y:84.38, Z:11.18 [[-5.27375745e-02 -9.98525800e-01 1.28442437e-02 9.85105674e+01] [ 9.46709472e-01 -5.40851376e-02 -3.17515313e-01 8.43839067e+01] [ 3.17741915e-01 -4.58522025e-03 9.48166152e-01 1.11780097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:84.38, Z:11.18 [[-5.25161489e-02 -9.98592778e-01 7.38363056e-03 9.85117971e+01] [ 9.46404043e-01 -5.21283894e-02 -3.18750714e-01 8.43802116e+01] [ 3.18687057e-01 -9.75166212e-03 9.47809825e-01 1.11782708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:84.39, Z:11.19 [[-4.78411899e-02 -9.98854809e-01 -5.40035786e-04 9.85130979e+01] [ 9.44132843e-01 -4.50437155e-02 -3.26472417e-01 8.43870933e+01] [ 3.26074218e-01 -1.61286944e-02 9.45206575e-01 1.11874855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:84.39, Z:11.18 [[-4.94624284e-02 -9.98706935e-01 1.17442359e-02 9.85032115e+01] [ 9.44783246e-01 -5.05990845e-02 -3.23765888e-01 8.43853018e+01] [ 3.23941485e-01 -4.91848978e-03 9.46064333e-01 1.11816183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:84.38, Z:11.18 [[-5.27498611e-02 -9.98435869e-01 1.85274639e-02 9.84969059e+01] [ 9.44562429e-01 -5.59073033e-02 -3.23537002e-01 8.43788984e+01] [ 3.24066768e-01 4.33814400e-04 9.46034112e-01 1.11769068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:84.37, Z:11.17 [[-4.89041005e-02 -9.98655833e-01 1.71731070e-02 9.84931098e+01] [ 9.45663273e-01 -5.18288783e-02 -3.20990251e-01 8.43738787e+01] [ 3.21448849e-01 5.42237091e-04 9.46926789e-01 1.11745892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:84.38, Z:11.18 [[-4.85438177e-02 -9.98820668e-01 8.78589911e-04 9.85000186e+01] [ 9.45569563e-01 -4.62390976e-02 -3.22118218e-01 8.43760695e+01] [ 3.21778959e-01 -1.48060802e-02 9.46699045e-01 1.11782088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:84.36, Z:11.16 [[-5.39868511e-02 -9.98187223e-01 2.66023978e-02 9.84791904e+01] [ 9.49095133e-01 -5.95748944e-02 -3.09304478e-01 8.43588091e+01] [ 3.10328613e-01 8.54983149e-03 9.50590896e-01 1.11591692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:84.35, Z:11.16 [[-5.48994004e-02 -9.98348564e-01 1.69174562e-02 9.84821495e+01] [ 9.50018616e-01 -5.74416601e-02 -3.06863301e-01 8.43527299e+01] [ 3.07328303e-01 -7.74712951e-04 9.51603234e-01 1.11574358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:84.35, Z:11.16 [[-5.13527128e-02 -9.98570053e-01 1.48576121e-02 9.84792726e+01] [ 9.50269654e-01 -5.34337971e-02 -3.06810062e-01 8.43515659e+01] [ 3.07165239e-01 -1.63679111e-03 9.51654789e-01 1.11581454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:84.35, Z:11.16 [[-5.17299770e-02 -9.98569020e-01 1.35617811e-02 9.84801484e+01] [ 9.50277921e-01 -5.33948975e-02 -3.06791228e-01 8.43491798e+01] [ 3.07076345e-01 -2.98284197e-03 9.51680209e-01 1.11575850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32804094199997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.48, Y:84.35, Z:11.16 [[-5.06205894e-02 -9.98637651e-01 1.26647929e-02 9.84795528e+01] [ 9.50392578e-01 -5.20642076e-02 -3.06664746e-01 8.43523126e+01] [ 3.06906344e-01 -3.48702506e-03 9.51733333e-01 1.11579816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:84.35, Z:11.16 [[-4.95522765e-02 -9.98630118e-01 1.68065015e-02 9.84765713e+01] [ 9.50218752e-01 -5.23194515e-02 -3.07159564e-01 8.43526252e+01] [ 3.07618099e-01 7.49397264e-04 9.51509613e-01 1.11575281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.48, Y:84.35, Z:11.16 [[-4.87408263e-02 -9.98776550e-01 8.35070389e-03 9.84815908e+01] [ 9.49680957e-01 -4.89315839e-02 -3.09373206e-01 8.43503843e+01] [ 3.09403317e-01 -7.14860123e-03 9.50904036e-01 1.11598559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.48, Y:84.35, Z:11.16 [[-4.80254699e-02 -9.98727089e-01 1.54193176e-02 9.84785743e+01] [ 9.49912945e-01 -5.04398050e-02 -3.08417287e-01 8.43512670e+01] [ 3.08802447e-01 -1.64875784e-04 9.51126186e-01 1.11592334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:84.35, Z:11.16 [[-4.70078311e-02 -9.98818444e-01 1.23280000e-02 9.84807054e+01] [ 9.49529516e-01 -4.85131343e-02 -3.09903492e-01 8.43523453e+01] [ 3.10135393e-01 -2.86209107e-03 9.50688091e-01 1.11612551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:84.35, Z:11.16 [[-4.74573051e-02 -9.98791032e-01 1.28171021e-02 9.84805633e+01] [ 9.49558578e-01 -4.90925956e-02 -3.09723140e-01 8.43497834e+01] [ 3.09977919e-01 -2.52803632e-03 9.50740395e-01 1.11604139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:84.35, Z:11.16 [[-4.59963894e-02 -9.98858381e-01 1.28944629e-02 9.84819318e+01] [ 9.49349337e-01 -4.77258502e-02 -3.10577011e-01 8.43501198e+01] [ 3.10837849e-01 -2.04407135e-03 9.50460758e-01 1.11603305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:84.37, Z:11.19 [[-3.45998287e-02 -9.99267224e-01 -1.63666371e-02 9.85031423e+01] [ 9.42588001e-01 -2.71856772e-02 -3.32849514e-01 8.43654149e+01] [ 3.32160672e-01 -2.69435319e-02 9.42837915e-01 1.11868958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:84.35, Z:11.16 [[-4.62721114e-02 -9.98295060e-01 3.55789822e-02 9.84705802e+01] [ 9.48589664e-01 -5.50763953e-02 -3.11679708e-01 8.43536646e+01] [ 3.13107875e-01 1.93277766e-02 9.49520877e-01 1.11578786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:84.33, Z:11.18 [[-4.78248155e-02 -9.98772424e-01 -1.29008379e-02 9.84997433e+01] [ 9.42817351e-01 -4.08727167e-02 -3.30794292e-01 8.43309092e+01] [ 3.29860925e-01 -2.79833098e-02 9.43614701e-01 1.11755424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:84.35, Z:11.16 [[-4.36758024e-02 -9.98605566e-01 2.96537972e-02 9.84804148e+01] [ 9.46483673e-01 -5.08605868e-02 -3.18719088e-01 8.43486915e+01] [ 3.19782865e-01 1.41465230e-02 9.47385241e-01 1.11638269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:84.34, Z:11.16 [[-5.91520934e-02 -9.98217967e-01 7.86890782e-03 9.84917520e+01] [ 9.47754641e-01 -5.86335750e-02 -3.13565375e-01 8.43431231e+01] [ 3.13467973e-01 -1.10902544e-02 9.49534010e-01 1.11564381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:84.34, Z:11.15 [[-6.35133631e-02 -9.97825329e-01 1.76257239e-02 9.84869608e+01] [ 9.47789551e-01 -6.58401615e-02 -3.12025706e-01 8.43415405e+01] [ 3.12507633e-01 -3.11232501e-03 9.49910150e-01 1.11527774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:84.33, Z:11.15 [[-6.21428228e-02 -9.97873565e-01 1.96626178e-02 9.84896681e+01] [ 9.48629977e-01 -6.51767170e-02 -3.09601620e-01 8.43283611e+01] [ 3.10224817e-01 -5.86969896e-04 9.50663042e-01 1.11489842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:84.33, Z:11.15 [[-5.70774609e-02 -9.98008708e-01 2.68474008e-02 9.84886952e+01] [ 9.49619569e-01 -6.25711818e-02 -3.07095297e-01 8.43297391e+01] [ 3.08163654e-01 7.96659737e-03 9.51300003e-01 1.11513813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:84.33, Z:11.16 [[-5.25499887e-02 -9.98615789e-01 2.23714122e-03 9.85069523e+01] [ 9.47604889e-01 -5.05722596e-02 -3.15416266e-01 8.43278018e+01] [ 3.15092801e-01 -1.44551953e-02 9.48950775e-01 1.11611122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:84.36, Z:11.18 [[-4.63086356e-02 -9.98916125e-01 4.69953070e-03 9.85082008e+01] [ 9.45486655e-01 -4.53488915e-02 -3.22487927e-01 8.43622878e+01] [ 3.22351509e-01 -1.04906323e-02 9.46561911e-01 1.11778642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:84.64, Z:11.28 [[-5.03598764e-02 -9.98719490e-01 4.82309701e-03 9.85003041e+01] [ 9.41891543e-01 -4.90991745e-02 -3.32309482e-01 8.46410425e+01] [ 3.32120766e-01 -1.21922301e-02 9.43158071e-01 1.12841964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.50, Y:84.36, Z:11.17 [[-4.41329534e-02 -9.98725547e-01 2.44860149e-02 9.85023338e+01] [ 9.46202876e-01 -4.96512102e-02 -3.19741888e-01 8.43557840e+01] [ 3.20550152e-01 9.05758388e-03 9.47188239e-01 1.11747908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:84.31, Z:11.17 [[-5.20014388e-02 -9.98645808e-01 -1.54966745e-03 9.85155855e+01] [ 9.43658266e-01 -4.86301913e-02 -3.27328858e-01 8.43128467e+01] [ 3.26810231e-01 -1.84839281e-02 9.44909211e-01 1.11707769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:84.35, Z:11.16 [[-5.46558884e-02 -9.97261662e-01 4.98187950e-02 9.84883636e+01] [ 9.50644116e-01 -6.72330997e-02 -3.02911662e-01 8.43499509e+01] [ 3.05431659e-01 3.08040384e-02 9.51715616e-01 1.11577420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:84.35, Z:11.19 [[-4.12249611e-02 -9.98915191e-01 -2.16550949e-02 9.85356611e+01] [ 9.43237654e-01 -3.17602920e-02 -3.30596449e-01 8.43509751e+01] [ 3.29550043e-01 -3.40547267e-02 9.43523738e-01 1.11902564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:84.34, Z:11.17 [[-4.64653949e-02 -9.98703179e-01 2.08069103e-02 9.85131088e+01] [ 9.45697640e-01 -5.06884459e-02 -3.21071106e-01 8.43449149e+01] [ 3.21709404e-01 4.75835022e-03 9.46826498e-01 1.11725080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:84.35, Z:11.18 [[-4.61488510e-02 -9.98930180e-01 2.96306096e-03 9.85270344e+01] [ 9.44036735e-01 -4.45822739e-02 -3.26813501e-01 8.43465904e+01] [ 3.26595969e-01 -1.22848291e-02 9.45084206e-01 1.11821695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:84.34, Z:11.17 [[-4.84064281e-02 -9.98721691e-01 1.45533786e-02 9.85219675e+01] [ 9.44785653e-01 -5.05102536e-02 -3.23772735e-01 8.43382669e+01] [ 3.24093948e-01 -1.92285829e-03 9.46022947e-01 1.11740833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:84.33, Z:11.18 [[-4.63567872e-02 -9.98922051e-01 2.40490983e-03 9.85329906e+01] [ 9.42913886e-01 -4.45522075e-02 -3.30043185e-01 8.43343204e+01] [ 3.29794559e-01 -1.30321188e-02 9.43962771e-01 1.11778575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:84.33, Z:11.17 [[-5.07330579e-02 -9.98564336e-01 1.71878814e-02 9.85255589e+01] [ 9.45199149e-01 -5.35654521e-02 -3.22070352e-01 8.43335678e+01] [ 3.22528644e-01 -9.36429778e-05 9.46559700e-01 1.11692445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.52, Y:84.33, Z:11.17 [[-5.07753369e-02 -9.98368817e-01 2.61068948e-02 9.85241136e+01] [ 9.44915044e-01 -5.64875039e-02 -3.22404592e-01 8.43328635e+01] [ 3.23353404e-01 8.29859588e-03 9.46241887e-01 1.11670179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:84.33, Z:11.18 [[-4.48276350e-02 -9.98913520e-01 -1.27382621e-02 9.85498283e+01] [ 9.41204306e-01 -3.79569825e-02 -3.35698857e-01 8.43339944e+01] [ 3.34850621e-01 -2.70378930e-02 9.41883227e-01 1.11847162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:84.33, Z:11.16 [[-5.08213729e-02 -9.98426887e-01 2.36841444e-02 9.85298439e+01] [ 9.44562459e-01 -5.57549873e-02 -3.23563197e-01 8.43276554e+01] [ 3.24374705e-01 5.92722775e-03 9.45910101e-01 1.11644663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:84.30, Z:11.14 [[-5.78666040e-02 -9.97864680e-01 3.02908597e-02 9.85272152e+01] [ 9.47936498e-01 -6.44383311e-02 -3.11871926e-01 8.42976720e+01] [ 3.13157872e-01 1.06668422e-02 9.49641177e-01 1.11445307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:84.29, Z:11.15 [[-5.69181050e-02 -9.98302981e-01 1.23079947e-02 9.85389673e+01] [ 9.47694211e-01 -5.79024992e-02 -3.13883709e-01 8.42948547e+01] [ 3.14063706e-01 -6.20145059e-03 9.49381657e-01 1.11488796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:84.29, Z:11.15 [[-5.41878571e-02 -9.98505779e-01 7.06290148e-03 9.85464964e+01] [ 9.46489992e-01 -5.36161354e-02 -3.18248340e-01 8.42938933e+01] [ 3.18151492e-01 -1.05602300e-02 9.47981070e-01 1.11542845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:84.32, Z:11.18 [[-4.25719555e-02 -9.99031298e-01 -1.11397856e-02 9.85626917e+01] [ 9.40192453e-01 -3.62878780e-02 -3.38705391e-01 8.43171765e+01] [ 3.37973047e-01 -2.48928932e-02 9.40826532e-01 1.11808691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34804094199998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.55, Y:84.32, Z:11.18 [[-4.33719202e-02 -9.98953488e-01 1.45191391e-02 9.85515658e+01] [ 9.40636017e-01 -4.57281584e-02 -3.36322494e-01 8.43166511e+01] [ 3.36634462e-01 -9.29727198e-04 9.41634948e-01 1.11751125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37804094199998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.55, Y:84.31, Z:11.17 [[-4.71018670e-02 -9.98787154e-01 1.43399772e-02 9.85541252e+01] [ 9.41839442e-01 -4.91892917e-02 -3.32443799e-01 8.43122851e+01] [ 3.32745969e-01 -2.15276749e-03 9.43014043e-01 1.11676215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:84.29, Z:11.15 [[-5.46080559e-02 -9.98104157e-01 2.83910424e-02 9.85473498e+01] [ 9.45439106e-01 -6.08310242e-02 -3.20069497e-01 8.42917142e+01] [ 3.21189752e-01 9.36362877e-03 9.46968567e-01 1.11536408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:84.30, Z:11.16 [[-6.00841073e-02 -9.98132704e-01 1.10002638e-02 9.85605360e+01] [ 9.44984570e-01 -6.04278114e-02 -3.21485058e-01 8.42962544e+01] [ 3.21549472e-01 -8.92106322e-03 9.46850755e-01 1.11584590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:84.29, Z:11.15 [[-6.99661945e-02 -9.97410360e-01 1.66524772e-02 9.85588958e+01] [ 9.44542046e-01 -7.16083717e-02 -3.20488011e-01 8.42879846e+01] [ 3.20850519e-01 -6.69436165e-03 9.47106187e-01 1.11471391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:84.28, Z:11.15 [[-6.37139135e-02 -9.97727641e-01 2.19109775e-02 9.85619216e+01] [ 9.46403934e-01 -6.73734428e-02 -3.15880377e-01 8.42810866e+01] [ 3.16638802e-01 6.10660239e-04 9.48545991e-01 1.11516293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:84.28, Z:11.15 [[-6.61059294e-02 -9.97661854e-01 1.73445108e-02 9.85663799e+01] [ 9.46024170e-01 -6.81926984e-02 -3.16840694e-01 8.42750097e+01] [ 3.17282643e-01 -4.53672207e-03 9.48320169e-01 1.11495192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:84.28, Z:11.15 [[-6.40036566e-02 -9.97741438e-01 2.03851489e-02 9.85680912e+01] [ 9.45393285e-01 -6.71618949e-02 -3.18937011e-01 8.42752623e+01] [ 3.19585777e-01 -1.14115203e-03 9.47556663e-01 1.11513973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:84.27, Z:11.15 [[-6.55294547e-02 -9.97676913e-01 1.86190137e-02 9.85731732e+01] [ 9.46271071e-01 -6.80527987e-02 -3.16132687e-01 8.42678126e+01] [ 3.16665360e-01 -3.09736860e-03 9.48532264e-01 1.11482526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:84.27, Z:11.15 [[-6.46197087e-02 -9.97635071e-01 2.34213113e-02 9.85731038e+01] [ 9.46721403e-01 -6.87086107e-02 -3.14639019e-01 8.42722847e+01] [ 3.15504166e-01 1.84157496e-03 9.48922405e-01 1.11468440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.27, Z:11.15 [[-6.18931658e-02 -9.98043815e-01 8.81930997e-03 9.85864666e+01] [ 9.46108990e-01 -6.14821272e-02 -3.17958688e-01 8.42733793e+01] [ 3.17878931e-01 -1.13354413e-02 9.48063549e-01 1.11529392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.27, Z:11.15 [[-5.79847797e-02 -9.98175643e-01 1.68270777e-02 9.85859567e+01] [ 9.44372708e-01 -6.03094654e-02 -3.23300103e-01 8.42718087e+01] [ 3.23725121e-01 -2.85545235e-03 9.46146866e-01 1.11543876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.27, Z:11.16 [[-5.75425588e-02 -9.98328577e-01 5.37640277e-03 9.85939164e+01] [ 9.44427827e-01 -5.61800172e-02 -3.23882519e-01 8.42734928e+01] [ 3.23643221e-01 -1.35594045e-02 9.46082030e-01 1.11572537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.28, Z:11.17 [[-5.00356364e-02 -9.98746783e-01 -1.13921043e-03 9.86024653e+01] [ 9.39836717e-01 -4.66983230e-02 -3.38417215e-01 8.42811813e+01] [ 3.37939905e-01 -1.80035925e-02 9.40995479e-01 1.11715505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.29, Z:11.17 [[-4.79791722e-02 -9.98791176e-01 1.06857743e-02 9.86004089e+01] [ 9.39982682e-01 -4.87673340e-02 -3.37719268e-01 8.42947365e+01] [ 3.37832141e-01 -6.15904808e-03 9.41186225e-01 1.11727644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.27, Z:11.16 [[-5.21010297e-02 -9.98379742e-01 2.28773579e-02 9.85985872e+01] [ 9.42104707e-01 -5.67371529e-02 -3.30483912e-01 8.42738306e+01] [ 3.31246438e-01 4.33431449e-03 9.43534319e-01 1.11565957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:84.27, Z:11.16 [[-5.64479946e-02 -9.98403641e-01 -1.94767741e-03 9.86127826e+01] [ 9.41134867e-01 -5.25587094e-02 -3.33920267e-01 8.42736995e+01] [ 3.33284843e-01 -2.06821566e-02 9.42599311e-01 1.11604341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:84.28, Z:11.15 [[-5.59693624e-02 -9.97693852e-01 3.83980254e-02 9.85923014e+01] [ 9.44443171e-01 -6.53789149e-02 -3.22106652e-01 8.42785392e+01] [ 3.23874247e-01 1.82366490e-02 9.45924361e-01 1.11497680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:84.27, Z:11.15 [[-5.62810203e-02 -9.98234652e-01 1.89743675e-02 9.86064806e+01] [ 9.45043609e-01 -5.93932093e-02 -3.21504315e-01 8.42706901e+01] [ 3.22063696e-01 -1.62986097e-04 9.46717988e-01 1.11521563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:84.28, Z:11.17 [[-5.78845389e-02 -9.98092457e-01 -2.14669102e-02 9.86302474e+01] [ 9.39193636e-01 -4.71530871e-02 -3.40135120e-01 8.42762866e+01] [ 3.38474066e-01 -3.98501500e-02 9.40131518e-01 1.11673960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:84.27, Z:11.16 [[-4.88791456e-02 -9.98364685e-01 2.96443089e-02 9.86105175e+01] [ 9.40315914e-01 -5.60039155e-02 -3.35662841e-01 8.42743187e+01] [ 3.36774123e-01 1.14681026e-02 9.41515625e-01 1.11594868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:84.28, Z:11.17 [[-4.64604023e-02 -9.98886594e-01 8.18559562e-03 9.86248641e+01] [ 9.38853995e-01 -4.64639150e-02 -3.41166060e-01 8.42812248e+01] [ 3.41166538e-01 -8.16563326e-03 9.39967401e-01 1.11722734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:84.25, Z:11.16 [[-5.92471393e-02 -9.97930598e-01 2.49859759e-02 9.86133923e+01] [ 9.40596169e-01 -6.41908989e-02 -3.33404222e-01 8.42540379e+01] [ 3.34318147e-01 3.74846682e-03 9.42452824e-01 1.11553348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:84.27, Z:11.16 [[-5.13248616e-02 -9.98560892e-01 1.55532520e-02 9.86241598e+01] [ 9.41636829e-01 -5.35754457e-02 -3.32339818e-01 8.42712921e+01] [ 3.32694818e-01 -2.41178028e-03 9.43031464e-01 1.11609986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:84.27, Z:11.15 [[-5.45500145e-02 -9.98291305e-01 2.09467309e-02 9.86244035e+01] [ 9.42888532e-01 -5.84038261e-02 -3.27948487e-01 8.42656545e+01] [ 3.28611493e-01 1.86083765e-03 9.44463353e-01 1.11540726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:84.27, Z:11.15 [[-5.61204609e-02 -9.98118882e-01 2.46817868e-02 9.86256630e+01] [ 9.43761712e-01 -6.10991762e-02 -3.24931874e-01 8.42674101e+01] [ 3.25828676e-01 5.05839885e-03 9.45415299e-01 1.11520803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:84.26, Z:11.16 [[-5.65589413e-02 -9.98369965e-01 7.64850554e-03 9.86377963e+01] [ 9.43565044e-01 -5.59549209e-02 -3.26426185e-01 8.42584516e+01] [ 3.26322071e-01 -1.12454570e-02 9.45191751e-01 1.11564796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.63, Y:84.26, Z:11.15 [[-6.01467637e-02 -9.97855101e-01 2.58372753e-02 9.86285914e+01] [ 9.44715070e-01 -6.52638742e-02 -3.21331702e-01 8.42624490e+01] [ 3.22328719e-01 5.08180141e-03 9.46614162e-01 1.11491018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.188040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.63, Y:84.26, Z:11.15 [[-6.04912612e-02 -9.98047823e-01 1.55354524e-02 9.86342882e+01] [ 9.44737887e-01 -6.22701626e-02 -3.21858278e-01 8.42592817e+01] [ 3.22197349e-01 -4.79268266e-03 9.46660392e-01 1.11518225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:84.26, Z:11.16 [[-5.87255895e-02 -9.98257022e-01 5.85002880e-03 9.86461212e+01] [ 9.42274511e-01 -5.73654836e-02 -3.29890812e-01 8.42580686e+01] [ 3.29651409e-01 -1.38606994e-02 9.44000969e-01 1.11614297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:84.26, Z:11.16 [[-5.89943406e-02 -9.98186861e-01 1.19439907e-02 9.86448311e+01] [ 9.41832996e-01 -5.96213994e-02 -3.30750505e-01 8.42566598e+01] [ 3.30862926e-01 -8.26316342e-03 9.43642647e-01 1.11589777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.278040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.65, Y:84.26, Z:11.17 [[-5.72124313e-02 -9.98337360e-01 7.01807736e-03 9.86515836e+01] [ 9.40417748e-01 -5.62505252e-02 -3.35336157e-01 8.42607965e+01] [ 3.35173384e-01 -1.25854723e-02 9.42072401e-01 1.11675780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.65, Y:84.26, Z:11.16 [[-5.83425785e-02 -9.98192854e-01 1.43933742e-02 9.86490458e+01] [ 9.40944543e-01 -5.98016110e-02 -3.33237356e-01 8.42609938e+01] [ 3.33495894e-01 -5.89855966e-03 9.42733099e-01 1.11638749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:84.25, Z:11.15 [[-6.21174073e-02 -9.97838818e-01 2.14271174e-02 9.86452360e+01] [ 9.43075775e-01 -6.57091446e-02 -3.26022070e-01 8.42515055e+01] [ 3.26725435e-01 -4.42504004e-05 9.45119299e-01 1.11522931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.65, Y:84.26, Z:11.16 [[-6.22131374e-02 -9.97888429e-01 1.86603651e-02 9.86483910e+01] [ 9.43480443e-01 -6.48987595e-02 -3.25012007e-01 8.42602673e+01] [ 3.25536756e-01 -2.61432717e-03 9.45525772e-01 1.11570816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:84.25, Z:11.16 [[-5.94161964e-02 -9.98230815e-01 2.22624290e-03 9.86606548e+01] [ 9.42001923e-01 -5.68070362e-02 -3.30764776e-01 8.42500054e+01] [ 3.30306058e-01 -1.75556598e-02 9.43710606e-01 1.11619069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.66, Y:84.27, Z:11.17 [[-5.55845266e-02 -9.98428842e-01 7.08568455e-03 9.86608838e+01] [ 9.40292591e-01 -5.47320609e-02 -3.35937860e-01 8.42742152e+01] [ 3.35797863e-01 -1.20103302e-02 9.41857498e-01 1.11731124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:84.25, Z:11.15 [[-6.01509370e-02 -9.97635848e-01 3.32352116e-02 9.86467384e+01] [ 9.43670387e-01 -6.76872289e-02 -3.23889858e-01 8.42519062e+01] [ 3.25373732e-01 1.18808066e-02 9.45510857e-01 1.11483275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:84.25, Z:11.16 [[-5.97260984e-02 -9.98135238e-01 1.26031771e-02 9.86581318e+01] [ 9.44067395e-01 -6.05836229e-02 -3.24139444e-01 8.42501269e+01] [ 3.24298547e-01 -7.46133571e-03 9.45925357e-01 1.11557963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:84.25, Z:11.16 [[-5.53952825e-02 -9.98450689e-01 5.25213278e-03 9.86676526e+01] [ 9.41770043e-01 -5.39964258e-02 -3.31893917e-01 8.42471617e+01] [ 3.31663306e-01 -1.34390560e-02 9.43302095e-01 1.11636360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:84.25, Z:11.17 [[-5.41555177e-02 -9.98508653e-01 6.90282801e-03 9.86690231e+01] [ 9.38057840e-01 -5.32436874e-02 -3.42363256e-01 8.42472163e+01] [ 3.42220206e-01 -1.20656074e-02 9.39542310e-01 1.11650457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:84.25, Z:11.15 [[-5.60163391e-02 -9.97624817e-01 4.00860736e-02 9.86481415e+01] [ 9.42581299e-01 -6.60800554e-02 -3.27374283e-01 8.42493039e+01] [ 3.29245600e-01 1.94460745e-02 9.44044059e-01 1.11460101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:84.24, Z:11.16 [[-5.49848216e-02 -9.98386682e-01 1.41669624e-02 9.86645861e+01] [ 9.41575237e-01 -5.65672996e-02 -3.32018394e-01 8.42420396e+01] [ 3.32284130e-01 -4.91671123e-03 9.43166519e-01 1.11556094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:84.24, Z:11.15 [[-5.77979167e-02 -9.98239049e-01 1.33492347e-02 9.86652058e+01] [ 9.42292226e-01 -5.89657090e-02 -3.29557895e-01 8.42399751e+01] [ 3.29764707e-01 -6.46887969e-03 9.44040990e-01 1.11532370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66804094199998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.67, Y:84.23, Z:11.15 [[-5.65437151e-02 -9.98367530e-01 8.06737360e-03 9.86709800e+01] [ 9.41603917e-01 -5.60118412e-02 -3.32031229e-01 8.42346482e+01] [ 3.31941067e-01 -1.11780086e-02 9.43233895e-01 1.11535955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69804094199998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:98.66, Y:84.25, Z:11.15 [[-6.07389162e-02 -9.97616636e-01 3.27388398e-02 9.86552284e+01] [ 9.42358825e-01 -6.81253164e-02 -3.27595461e-01 8.42483809e+01] [ 3.29045025e-01 1.09539414e-02 9.44250699e-01 1.11479895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:84.24, Z:11.15 [[-6.33119901e-02 -9.97878808e-01 1.51485029e-02 9.86643207e+01] [ 9.42702536e-01 -6.47796627e-02 -3.27285081e-01 8.42391038e+01] [ 3.27572162e-01 -6.44053772e-03 9.44804212e-01 1.11515307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75804094199998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.67, Y:84.23, Z:11.15 [[-6.38705536e-02 -9.97877223e-01 1.27121796e-02 9.86668775e+01] [ 9.42239170e-01 -6.44963917e-02 -3.28672423e-01 8.42281018e+01] [ 3.28794614e-01 -9.01457603e-03 9.44358427e-01 1.11504140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:84.23, Z:11.15 [[-6.65114133e-02 -9.97615213e-01 1.84422882e-02 9.86632128e+01] [ 9.42825247e-01 -6.88867792e-02 -3.26090732e-01 8.42266977e+01] [ 3.26583505e-01 -4.30090054e-03 9.45158567e-01 1.11462488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.66, Y:84.22, Z:11.14 [[-7.12644169e-02 -9.97270648e-01 1.93038277e-02 9.86630197e+01] [ 9.42607885e-01 -7.36622268e-02 -3.25675072e-01 8.42226620e+01] [ 3.26208153e-01 -5.01310394e-03 9.45284671e-01 1.11428835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84804094199998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.66, Y:84.22, Z:11.15 [[-6.51122299e-02 -9.97627435e-01 2.23584287e-02 9.86592487e+01] [ 9.42320988e-01 -6.88435527e-02 -3.27554151e-01 8.42234209e+01] [ 3.28316241e-01 -2.58964598e-04 9.44567827e-01 1.11466733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87804094199998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.66, Y:84.23, Z:11.15 [[-7.35594277e-02 -9.97236990e-01 1.03632218e-02 9.86646587e+01] [ 9.43874208e-01 -7.29709151e-02 -3.22143951e-01 8.42252066e+01] [ 3.22010078e-01 -1.39151469e-02 9.46633973e-01 1.11453802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:84.22, Z:11.15 [[-7.24904961e-02 -9.97354244e-01 5.44419861e-03 9.86679382e+01] [ 9.41755740e-01 -7.02446771e-02 -3.28879631e-01 8.42159057e+01] [ 3.28391922e-01 -1.87135423e-02 9.44356156e-01 1.11480887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:84.21, Z:11.14 [[-7.49722239e-02 -9.96990798e-01 1.97107920e-02 9.86588783e+01] [ 9.42553720e-01 -7.73037244e-02 -3.24987105e-01 8.42138891e+01] [ 3.25532871e-01 -5.78652569e-03 9.45513017e-01 1.11402874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:84.21, Z:11.14 [[-7.44151301e-02 -9.97135106e-01 1.35634791e-02 9.86617950e+01] [ 9.42136217e-01 -7.47557496e-02 -3.26788810e-01 8.42088049e+01] [ 3.26866543e-01 -1.15393869e-02 9.45000056e-01 1.11420826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:84.21, Z:11.13 [[-7.76484773e-02 -9.96475367e-01 3.17420241e-02 9.86498758e+01] [ 9.43925349e-01 -8.37268013e-02 -3.19366181e-01 8.42095000e+01] [ 3.20898191e-01 5.16380353e-03 9.47099618e-01 1.11308359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:84.20, Z:11.14 [[-7.45058264e-02 -9.97189550e-01 7.86662734e-03 9.86610410e+01] [ 9.43636007e-01 -7.30512145e-02 -3.22822871e-01 8.42040932e+01] [ 3.22490260e-01 -1.66289520e-02 9.46426706e-01 1.11397467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.058040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.66, Y:84.21, Z:11.15 [[-7.08298546e-02 -9.97467037e-01 6.53010461e-03 9.86621526e+01] [ 9.41695644e-01 -6.90254305e-02 -3.29309586e-01 8.42104991e+01] [ 3.28926200e-01 -1.71755790e-02 9.44199425e-01 1.11468457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088040942 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:98.65, Y:84.21, Z:11.13 [[-7.41145925e-02 -9.96767721e-01 3.10022214e-02 9.86452393e+01] [ 9.45320637e-01 -8.01223095e-02 -3.16147606e-01 8.42055376e+01] [ 3.17609698e-01 5.87588873e-03 9.48203329e-01 1.11278279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:84.22, Z:11.14 [[-7.06437738e-02 -9.97469136e-01 8.04862382e-03 9.86578100e+01] [ 9.43517063e-01 -6.94368230e-02 -3.23966169e-01 8.42179486e+01] [ 3.23705126e-01 -1.52921789e-02 9.46034429e-01 1.11447337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:84.25, Z:11.15 [[-6.88876543e-02 -9.97528703e-01 1.38194514e-02 9.86537122e+01] [ 9.42578735e-01 -6.96181755e-02 -3.26647574e-01 8.42472854e+01] [ 3.26802416e-01 -9.47606410e-03 9.45045176e-01 1.11542355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.178040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.65, Y:84.21, Z:11.13 [[-7.05209798e-02 -9.97228039e-01 2.37282511e-02 9.86474766e+01] [ 9.44966146e-01 -7.44058898e-02 -3.18594958e-01 8.42126118e+01] [ 3.19477347e-01 -4.52346394e-05 9.47593913e-01 1.11335466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:84.22, Z:11.14 [[-7.20505825e-02 -9.97204007e-01 1.98212380e-02 9.86476563e+01] [ 9.45682219e-01 -7.46172883e-02 -3.16413338e-01 8.42181495e+01] [ 3.17007656e-01 -4.05317302e-03 9.48414318e-01 1.11351238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:84.18, Z:11.15 [[-7.67544875e-02 -9.97011144e-01 -8.80491603e-03 9.86625852e+01] [ 9.39076825e-01 -6.93214291e-02 -3.36644108e-01 8.41762954e+01] [ 3.35027558e-01 -3.41074386e-02 9.41590791e-01 1.11481388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:84.36, Z:11.18 [[-6.68949794e-02 -9.97149639e-01 3.48949859e-02 9.86336602e+01] [ 9.43738945e-01 -7.45861234e-02 -3.22170320e-01 8.43570509e+01] [ 3.23854700e-01 1.13801803e-02 9.46038385e-01 1.11834715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.65, Y:84.37, Z:11.20 [[-6.11730113e-02 -9.98031116e-01 1.38474997e-02 9.86454391e+01] [ 9.41999396e-01 -6.23142413e-02 -3.29778825e-01 8.43711077e+01] [ 3.29992425e-01 -7.12922747e-03 9.43956659e-01 1.12008623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32804094199997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:98.01, Y:83.77, Z:12.12 [[-1.24158168e-01 9.87429762e-01 -9.78121343e-02 9.80127625e+01] [ 9.38222759e-01 1.48911628e-01 3.12351375e-01 8.37714175e+01] [ 3.22990408e-01 -5.29885960e-02 -9.44917671e-01 1.21178603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:83.77, Z:12.10 [[-2.07821385e-01 9.78153007e-01 -5.19290841e-03 9.79929074e+01] [ 9.19200192e-01 1.97105948e-01 3.40910914e-01 8.37689218e+01] [ 3.34486589e-01 6.60752559e-02 -9.40081264e-01 1.20953399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:83.75, Z:11.93 [[-0.2703761 0.90940941 0.3160242 97.89614644] [ 0.91440934 0.13985875 0.37986194 83.74795096] [ 0.30125127 0.39168107 -0.86938692 11.92633179] [ 0. 0. 0. 1. ]] SLAMing on 162.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:84.03, Z:12.21 [[-3.54275171e-01 9.33732771e-01 -5.13051204e-02 9.79829959e+01] [ 8.84796824e-01 3.52456161e-01 3.04810162e-01 8.40305113e+01] [ 3.02694043e-01 6.25920649e-02 -9.51030257e-01 1.22067872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:84.02, Z:12.12 [[-0.42897484 0.89360548 0.13209781 97.91493344] [ 0.85914642 0.35844397 0.36521959 84.02435385] [ 0.27901257 0.27016138 -0.92150139 12.12126631] [ 0. 0. 0. 1. ]] SLAMing on 162.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:83.72, Z:12.07 [[-4.93131515e-01 8.68179831e-01 5.55435879e-02 9.81563222e+01] [ 8.23181396e-01 4.45012994e-01 3.52612854e-01 8.37151807e+01] [ 2.81413750e-01 2.19606959e-01 -9.34119417e-01 1.20653039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.10, Y:83.69, Z:11.94 [[-0.55850856 0.78514223 0.26761888 98.09888232] [ 0.79199245 0.40882321 0.45344408 83.69371948] [ 0.24660929 0.46520453 -0.85015799 11.93874288] [ 0. 0. 0. 1. ]] SLAMing on 162.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:83.70, Z:12.05 [[-6.17880244e-01 7.80696710e-01 9.34700546e-02 9.82198224e+01] [ 7.51910555e-01 5.51928656e-01 3.60562445e-01 8.37024278e+01] [ 2.29901113e-01 2.93065532e-01 -9.28039909e-01 1.20540508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56804094199998 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:97.96, Y:84.04, Z:12.16 [[-6.76624121e-01 7.32912964e-01 7.08405620e-02 9.79647067e+01] [ 7.08268255e-01 6.21513740e-01 3.34778657e-01 8.40437629e+01] [ 2.01335235e-01 2.76693436e-01 -9.39630175e-01 1.21641245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59804094199998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:98.36, Y:83.75, Z:12.11 [[-7.33115934e-01 6.80049765e-01 8.56410817e-03 9.83628033e+01] [ 6.54060980e-01 7.01536090e-01 2.82933471e-01 8.37461149e+01] [ 1.86400810e-01 2.13024485e-01 -9.59101302e-01 1.21145637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:83.76, Z:12.14 [[-7.82004904e-01 6.22677343e-01 -2.72260451e-02 9.84231822e+01] [ 5.96505266e-01 7.60370530e-01 2.56939924e-01 8.37632962e+01] [ 1.80692552e-01 1.84687801e-01 -9.66043797e-01 1.21385653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:83.74, Z:12.09 [[-8.29105659e-01 5.57766462e-01 3.84757142e-02 9.84403337e+01] [ 5.36890077e-01 7.75093125e-01 3.33136147e-01 8.37380974e+01] [ 1.55989909e-01 2.96862294e-01 -9.42093375e-01 1.20859414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:83.82, Z:12.18 [[-8.70525697e-01 4.87569503e-01 -6.67906557e-02 9.85378712e+01] [ 4.70537696e-01 8.64395962e-01 1.77239663e-01 8.38155222e+01] [ 1.44150227e-01 1.22864160e-01 -9.81898727e-01 1.21755898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.718040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.58, Y:83.83, Z:12.18 [[-9.05975590e-01 4.17257476e-01 -7.14452900e-02 9.85807928e+01] [ 4.00556494e-01 8.99550048e-01 1.74253285e-01 8.38347007e+01] [ 1.36977100e-01 1.29251348e-01 -9.82105576e-01 1.21779639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748040942 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:98.62, Y:83.85, Z:12.17 [[-9.36155997e-01 3.45148149e-01 -6.69679379e-02 9.86220243e+01] [ 3.28328441e-01 9.26351090e-01 1.84591693e-01 8.38496105e+01] [ 1.25747303e-01 1.50819142e-01 -9.80531082e-01 1.21719385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.778040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.67, Y:83.89, Z:12.19 [[-9.60324301e-01 2.66342047e-01 -8.26991641e-02 9.86681997e+01] [ 2.53322860e-01 9.57086902e-01 1.40755786e-01 8.38945947e+01] [ 1.16639471e-01 1.14221613e-01 -9.86584338e-01 1.21911381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:83.93, Z:12.20 [[-9.77800050e-01 1.89191727e-01 -9.00752627e-02 9.87090361e+01] [ 1.77205198e-01 9.76024642e-01 1.26389144e-01 8.39276742e+01] [ 1.11827456e-01 1.07621507e-01 -9.87882701e-01 1.21983185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:83.94, Z:12.18 [[-9.89521892e-01 1.18424460e-01 -8.25958350e-02 9.87414309e+01] [ 1.02988404e-01 9.79860406e-01 1.71075929e-01 8.39366309e+01] [ 1.01191963e-01 1.60776964e-01 -9.81789669e-01 1.21782457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:83.96, Z:12.17 [[-9.96092388e-01 4.21353387e-02 -7.76180887e-02 9.87777456e+01] [ 2.73942983e-02 9.82912978e-01 1.82020963e-01 8.39602595e+01] [ 8.39613416e-02 1.79183403e-01 -9.80226403e-01 1.21716521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.898040942 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.81, Y:84.06, Z:12.23 [[-9.94976773e-01 -4.67191500e-02 -8.85355402e-02 9.88130477e+01] [-5.19334422e-02 9.96991751e-01 5.75357833e-02 8.40569667e+01] [ 8.55811803e-02 6.18447234e-02 -9.94409921e-01 1.22274265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.67, Y:84.82, Z:11.21 [[-9.94460317e-01 6.81577356e-02 8.00200037e-02 9.86691786e+01] [-6.45663068e-02 -9.96822663e-01 4.66451567e-02 8.48208955e+01] [ 8.29449814e-02 4.12201612e-02 9.95701275e-01 1.12112518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:84.19, Z:12.29 [[-9.88440213e-01 -1.28466538e-01 -8.05126943e-02 9.88324641e+01] [-1.18086231e-01 9.85406392e-01 -1.22596427e-01 8.41895320e+01] [ 9.50872621e-02 -1.11671797e-01 -9.89185434e-01 1.22940018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:84.86, Z:11.22 [[-9.85578312e-01 1.45154822e-01 8.69797081e-02 9.86410994e+01] [-1.42412995e-01 -9.89116553e-01 3.69727407e-02 8.48553904e+01] [ 9.13998406e-02 2.40524906e-02 9.95523755e-01 1.12156232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:84.19, Z:12.27 [[-9.76684791e-01 -1.98606352e-01 -8.15005304e-02 9.88548624e+01] [-1.94219696e-01 9.79200275e-01 -5.86986539e-02 8.41921747e+01] [ 9.14632673e-02 -4.15010742e-02 -9.94943281e-01 1.22666093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:84.88, Z:11.21 [[-9.71303154e-01 2.23601738e-01 8.10706190e-02 9.86013707e+01] [-2.20971998e-01 -9.74451680e-01 4.01907767e-02 8.48786339e+01] [ 8.79861285e-02 2.11230915e-02 9.95897714e-01 1.12134593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:84.28, Z:12.29 [[-9.59436440e-01 -2.74526360e-01 -6.41638138e-02 9.88564462e+01] [-2.63448687e-01 9.54065764e-01 -1.42665019e-01 8.42769478e+01] [ 1.00381806e-01 -1.19974145e-01 -9.87689069e-01 1.22927729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:84.89, Z:11.21 [[-9.50130311e-01 3.01139301e-01 8.10401997e-02 9.85584327e+01] [-2.97323414e-01 -9.53138132e-01 5.59150055e-02 8.48928307e+01] [ 9.40807103e-02 2.90313927e-02 9.95141195e-01 1.12089591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:84.33, Z:12.30 [[-9.36370069e-01 -3.46497033e-01 -5.61328767e-02 9.88608377e+01] [-3.33470236e-01 9.28045580e-01 -1.65918663e-01 8.43302408e+01] [ 1.09584193e-01 -1.36642626e-01 -9.84540551e-01 1.22973276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:84.92, Z:11.22 [[-9.23577816e-01 3.70980035e-01 9.68392043e-02 9.85124173e+01] [-3.67133122e-01 -9.28506899e-01 5.55716556e-02 8.49166049e+01] [ 1.10531844e-01 1.57718689e-02 9.93747433e-01 1.12159966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:84.29, Z:12.24 [[-9.08242889e-01 -4.04363212e-01 -1.07634791e-01 9.88892514e+01] [-4.04443976e-01 9.14296652e-01 -2.20613212e-02 8.42892104e+01] [ 1.07330915e-01 2.34952046e-02 -9.93945698e-01 1.22420762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:84.92, Z:11.21 [[-8.91715158e-01 4.44595939e-01 8.47261980e-02 9.84669138e+01] [-4.40265665e-01 -8.95485507e-01 6.53593916e-02 8.49242000e+01] [ 1.04929602e-01 2.09799243e-02 9.94258327e-01 1.12140513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:84.37, Z:12.27 [[-8.74723648e-01 -4.79297402e-01 -7.16417573e-02 9.88753585e+01] [-4.72755815e-01 8.76443162e-01 -9.13746326e-02 8.43666442e+01] [ 1.06585552e-01 -4.60584946e-02 -9.93236193e-01 1.22678578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:84.92, Z:11.20 [[-8.53479196e-01 5.17388106e-01 6.23121995e-02 9.84288628e+01] [-5.12558554e-01 -8.55017524e-01 7.89225070e-02 8.49245730e+01] [ 9.41115889e-02 3.54200670e-02 9.94931368e-01 1.12013260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:85.09, Z:12.09 [[-8.63789421e-01 -1.37622144e-01 4.84693698e-01 9.83841904e+01] [-4.81654759e-01 -5.68493143e-02 -8.74515208e-01 8.50865383e+01] [ 1.47907162e-01 -9.88852012e-01 -1.71805243e-02 1.20940582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:84.34, Z:12.20 [[-8.25631376e-01 -5.33645635e-01 -1.83180695e-01 9.88619549e+01] [-5.37121777e-01 8.42804534e-01 -3.43615261e-02 8.43391490e+01] [ 1.72722399e-01 7.00203863e-02 -9.82478559e-01 1.22027984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:84.87, Z:11.19 [[-8.04164490e-01 5.84594087e-01 1.07560341e-01 9.82879079e+01] [-5.73576763e-01 -8.10657608e-01 1.17660272e-01 8.48745637e+01] [ 1.55978108e-01 3.29241005e-02 9.87211646e-01 1.11910473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40804094199999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.30, Y:85.03, Z:12.13 [[-8.06141730e-01 -2.39854830e-01 5.40929913e-01 9.83025239e+01] [-5.51813303e-01 -2.53092327e-02 -8.33583542e-01 8.50339644e+01] [ 2.13629560e-01 -9.70478801e-01 -1.11952258e-01 1.21260066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:84.34, Z:12.17 [[-7.63859052e-01 -5.88978476e-01 -2.63863039e-01 9.88273449e+01] [-6.01807482e-01 7.97715843e-01 -3.84342130e-02 8.43390414e+01] [ 2.33124651e-01 1.29436429e-01 -9.63794121e-01 1.21664058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:84.81, Z:11.19 [[-7.48493266e-01 6.47761658e-01 1.41995301e-01 9.81500066e+01] [-6.27410155e-01 -7.61076266e-01 1.64679731e-01 8.48075003e+01] [ 2.14742469e-01 3.41723757e-02 9.76072703e-01 1.11897044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:84.94, Z:12.20 [[-7.28087558e-01 -4.07316260e-01 5.51345602e-01 9.82691399e+01] [-6.27700378e-01 7.29445890e-02 -7.75029885e-01 8.49403215e+01] [ 2.75464596e-01 -9.10369459e-01 -3.08782618e-01 1.22017042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:84.74, Z:11.20 [[-7.27850890e-01 6.55622475e-01 2.00978238e-01 9.80499924e+01] [-6.24776415e-01 -7.54829248e-01 1.99717894e-01 8.47429304e+01] [ 2.82643792e-01 1.97983837e-02 9.59020600e-01 1.11990552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.558040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.73, Y:84.44, Z:12.22 [[-6.81238877e-01 -7.08462407e-01 -1.84376276e-01 9.87253140e+01] [-6.72598375e-01 7.05157734e-01 -2.24419242e-01 8.44426706e+01] [ 2.89006953e-01 -2.88719291e-02 -9.56891526e-01 1.22161924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:84.72, Z:11.20 [[-6.78059098e-01 7.14101819e-01 1.74053015e-01 9.80068711e+01] [-6.79557351e-01 -6.99306443e-01 2.21748294e-01 8.47196942e+01] [ 2.80067254e-01 3.20794425e-02 9.59444236e-01 1.11983008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:84.92, Z:12.19 [[-6.52726549e-01 -4.61406540e-01 6.00876074e-01 9.81606328e+01] [-6.75440660e-01 -4.78376730e-03 -7.37398827e-01 8.49222011e+01] [ 3.43115093e-01 -8.87175924e-01 -3.08530246e-01 1.21896031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:84.40, Z:12.13 [[-0.59132025 -0.73392555 -0.33420599 98.72890992] [-0.73357217 0.66167197 -0.15511957 84.40009929] [ 0.33498095 0.15343887 -0.92964739 12.13255399] [ 0. 0. 0. 1. ]] SLAMing on 163.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:84.44, Z:12.13 [[-0.53150834 -0.77615776 -0.33923151 98.7174187 ] [-0.78382043 0.60249601 -0.15041306 84.43645665] [ 0.3211299 0.18595079 -0.92859996 12.12648768] [ 0. 0. 0. 1. ]] SLAMing on 163.708040942 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:98.67, Y:84.52, Z:12.17 [[-0.47176058 -0.84279283 -0.25911812 98.67237975] [-0.8241441 0.5259403 -0.21017446 84.51556001] [ 0.31341419 0.11439864 -0.94270064 12.16603133] [ 0. 0. 0. 1. ]] SLAMing on 163.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:84.60, Z:12.22 [[-4.06490550e-01 -9.06737207e-01 -1.12218850e-01 9.85833372e+01] [-8.59225913e-01 4.21139948e-01 -2.90468545e-01 8.46007381e+01] [ 3.10638478e-01 -2.16513743e-02 -9.50281513e-01 1.22235790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:84.87, Z:12.12 [[-0.37755136 -0.28903298 0.87972434 97.80741629] [-0.8424582 -0.28710822 -0.45588711 84.86983078] [ 0.38434249 -0.91325178 -0.1351001 12.12381573] [ 0. 0. 0. 1. ]] SLAMing on 163.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:84.18, Z:11.51 [[-3.79321394e-01 -3.68479764e-02 -9.24530966e-01 9.86204326e+01] [-8.69362845e-01 3.56244302e-01 3.42488306e-01 8.41750449e+01] [ 3.16738888e-01 9.33666013e-01 -1.67165347e-01 1.15087939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:84.48, Z:11.29 [[-3.85491221e-01 9.06636178e-01 1.71485741e-01 9.76945889e+01] [-8.59904182e-01 -4.20388086e-01 2.89549055e-01 8.44799467e+01] [ 3.34606211e-01 -3.58426865e-02 9.41676157e-01 1.12876003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:84.12, Z:11.50 [[-3.90658792e-01 3.07616036e-02 -9.20021430e-01 9.85647855e+01] [-8.86213812e-01 2.57797040e-01 3.84923064e-01 8.41176951e+01] [ 2.49019652e-01 9.65709278e-01 -7.34493225e-02 1.14966895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:84.44, Z:11.33 [[-3.84718197e-01 9.15938435e-01 1.14230870e-01 9.76965586e+01] [-8.85591679e-01 -4.01165084e-01 2.34081081e-01 8.44440520e+01] [ 2.60229296e-01 -1.11066561e-02 9.65482965e-01 1.13296077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:84.33, Z:12.31 [[-3.14255224e-01 -9.34541075e-01 -1.66962969e-01 9.84717800e+01] [-9.15643253e-01 3.44817561e-01 -2.06635630e-01 8.43276516e+01] [ 2.50681247e-01 8.79421896e-02 -9.64066950e-01 1.23094572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:84.35, Z:11.35 [[-3.17109059e-01 9.45283650e-01 7.66854998e-02 9.76439499e+01] [-9.14717624e-01 -3.26203513e-01 2.38501438e-01 8.43471552e+01] [ 2.50466590e-01 5.48538847e-03 9.68109703e-01 1.13456110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:84.34, Z:11.34 [[-3.17574906e-01 9.45606033e-01 7.05365795e-02 9.76458956e+01] [-9.15969856e-01 -3.25158716e-01 2.35097921e-01 8.43414964e+01] [ 2.45245596e-01 1.00518195e-02 9.69408871e-01 1.13422400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:84.49, Z:12.41 [[-2.80230862e-01 -5.82991760e-01 7.62621316e-01 9.78126477e+01] [-9.09930622e-01 -9.17352196e-02 -4.04488458e-01 8.44905603e+01] [ 3.05772672e-01 -8.07282637e-01 -5.04775016e-01 1.24119745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:83.96, Z:11.71 [[-0.26615681 -0.23521717 -0.93479058 98.52468141] [-0.93215445 0.30974961 0.18746534 83.96111192] [ 0.24545595 0.92126438 -0.3017007 11.71212129] [ 0. 0. 0. 1. ]] SLAMing on 164.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:84.14, Z:11.40 [[-2.54571707e-01 9.64840669e-01 6.53890670e-02 9.75604044e+01] [-9.36469791e-01 -2.62827023e-01 2.32263401e-01 8.41442725e+01] [ 2.41283188e-01 -2.10719552e-03 9.70452463e-01 1.13977013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:84.14, Z:11.40 [[-2.53177487e-01 9.65184695e-01 6.57241545e-02 9.75590894e+01] [-9.36621941e-01 -2.61556905e-01 2.33082229e-01 8.41384281e+01] [ 2.42158007e-01 -2.54751205e-03 9.70233482e-01 1.13979675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:84.17, Z:11.41 [[-2.52417466e-01 9.65325470e-01 6.65744721e-02 9.75670086e+01] [-9.36107835e-01 -2.61034054e-01 2.35718783e-01 8.41654481e+01] [ 2.44923549e-01 -2.82134718e-03 9.69538290e-01 1.14050654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:84.12, Z:11.41 [[-2.58962954e-01 9.64097895e-01 5.87659563e-02 9.75533608e+01] [-9.35389336e-01 -2.65489678e-01 2.33585148e-01 8.41226574e+01] [ 2.40800704e-01 5.52085092e-03 9.70558881e-01 1.14099853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:84.25, Z:12.52 [[-2.19979835e-01 -8.41324657e-01 4.93742538e-01 9.79681706e+01] [-9.37483582e-01 4.23978739e-02 -3.45437336e-01 8.42484316e+01] [ 2.69691315e-01 -5.38864771e-01 -7.98054731e-01 1.25172264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.218040942 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:98.19, Y:83.65, Z:12.54 [[-1.47332682e-01 -9.86316455e-01 -7.39792701e-02 9.81902224e+01] [-9.49552111e-01 1.61982764e-01 -2.68537472e-01 8.36460901e+01] [ 2.76846294e-01 3.06828262e-02 -9.60424226e-01 1.25420942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:83.58, Z:11.72 [[-1.19616591e-01 -4.09650180e-02 -9.91974666e-01 9.83322924e+01] [-9.65886066e-01 2.35952354e-01 1.06726723e-01 8.35841975e+01] [ 2.29686695e-01 9.70900795e-01 -6.77913562e-02 1.17216678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.278040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.40, Y:83.51, Z:11.59 [[-1.15770926e-01 9.93048171e-01 2.12702151e-02 9.73999512e+01] [-9.69449343e-01 -1.17630136e-01 2.15246655e-01 8.35072331e+01] [ 2.16252316e-01 4.29890863e-03 9.76328047e-01 1.15853496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308040942 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:97.38, Y:83.31, Z:11.63 [[-1.09743837e-01 9.93654360e-01 2.46435124e-02 9.73800020e+01] [-9.71651933e-01 -1.12471105e-01 2.07948962e-01 8.33128717e+01] [ 2.09401076e-01 -1.12379948e-03 9.77829191e-01 1.16265891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.338040942 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:97.38, Y:83.29, Z:11.63 [[-1.10303498e-01 9.93702825e-01 1.96934988e-02 9.73799322e+01] [-9.73452081e-01 -1.12011560e-01 1.99610763e-01 8.32893375e+01] [ 2.00559678e-01 2.84708798e-03 9.79677350e-01 1.16266980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:83.67, Z:12.29 [[-1.40709079e-01 1.98775461e-01 9.69891371e-01 9.72192502e+01] [-9.56900883e-01 -2.78683093e-01 -8.17094408e-02 8.36708791e+01] [ 2.54050496e-01 -9.39587170e-01 2.29421655e-01 1.22943319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:83.94, Z:12.36 [[-1.16836374e-01 -1.29359937e-01 9.84690443e-01 9.73729286e+01] [-9.34929092e-01 -3.20158038e-01 -1.52991583e-01 8.39430172e+01] [ 3.35047542e-01 -9.38490723e-01 -8.35362644e-02 1.23597460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:83.61, Z:11.50 [[-1.30824084e-01 9.90653712e-01 3.86041738e-02 9.74230802e+01] [-9.26825393e-01 -1.36033378e-01 3.49985158e-01 8.36083329e+01] [ 3.51965552e-01 1.00071591e-02 9.35959458e-01 1.14986151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:83.65, Z:12.20 [[-9.51921884e-02 -7.91867195e-01 -6.03228641e-01 9.83760785e+01] [-9.51200334e-01 2.51037985e-01 -1.79437606e-01 8.36498364e+01] [ 2.93524056e-01 5.56710227e-01 -7.77121195e-01 1.21953223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:83.53, Z:11.56 [[-7.81965181e-02 9.94061696e-01 7.56746212e-02 9.73727892e+01] [-9.44100152e-01 -9.82223618e-02 3.14685989e-01 8.35280434e+01] [ 3.20250228e-01 -4.68370727e-02 9.46174445e-01 1.15626676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51804094199997 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:98.19, Y:83.14, Z:12.62 [[-2.52661456e-02 -9.77296165e-01 -2.10365939e-01 9.81857763e+01] [-9.56366721e-01 8.49014344e-02 -2.79561157e-01 8.31406576e+01] [ 2.91074417e-01 1.94123551e-01 -9.36798661e-01 1.26188111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:83.72, Z:12.49 [[ 5.43956983e-02 -9.88488555e-01 -1.41178908e-01 9.81133439e+01] [-9.55874192e-01 -1.06706258e-02 -2.93582471e-01 8.37181503e+01] [ 2.88696445e-01 1.50918898e-01 -9.45451135e-01 1.24888426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:83.34, Z:11.57 [[ 8.86545647e-02 9.95587621e-01 -3.07515539e-02 9.73388862e+01] [-9.54800559e-01 9.37354462e-02 2.82080766e-01 8.33417186e+01] [ 2.83718630e-01 4.35385327e-03 9.58897692e-01 1.15708366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:83.68, Z:12.49 [[ 1.30499586e-01 -9.76178858e-01 -1.73334058e-01 9.81228124e+01] [-9.52334485e-01 -7.47986316e-02 -2.95743458e-01 8.36758773e+01] [ 2.75733360e-01 2.03666399e-01 -9.39409981e-01 1.24915486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:83.67, Z:12.57 [[ 2.06738859e-01 -9.77682318e-01 3.73674915e-02 9.80088658e+01] [-9.38566558e-01 -2.08964359e-01 -2.74639242e-01 8.36744881e+01] [ 2.76318405e-01 2.17067257e-02 -9.60820981e-01 1.25707068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:83.66, Z:12.59 [[ 2.83735071e-01 -9.54047670e-01 9.63714308e-02 9.79680368e+01] [-9.19103826e-01 -2.99235662e-01 -2.56332157e-01 8.36634279e+01] [ 2.73390866e-01 -1.58449280e-02 -9.61772516e-01 1.25867353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:83.14, Z:11.61 [[ 3.14213264e-01 9.45837669e-01 -8.16157401e-02 9.73947219e+01] [-9.10764443e-01 3.24586895e-01 2.55247875e-01 8.31434643e+01] [ 2.67914455e-01 -5.86955389e-03 9.63424825e-01 1.16143442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:83.11, Z:11.64 [[ 3.11053815e-01 9.47877355e-01 -6.90944621e-02 9.73990496e+01] [-9.09270026e-01 3.17961434e-01 2.68567582e-01 8.31098746e+01] [ 2.76538503e-01 -2.07134476e-02 9.60779584e-01 1.16411292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75804094199998 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:98.08, Y:83.61, Z:12.55 [[ 3.52689620e-01 -9.33510265e-01 -6.45648255e-02 9.80751716e+01] [-8.97382583e-01 -3.17873361e-01 -3.06040890e-01 8.36079203e+01] [ 2.65168874e-01 1.65876795e-01 -9.49826488e-01 1.25502067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:83.61, Z:12.52 [[ 0.41997744 -0.89986276 -0.11775387 98.13051006] [-0.8703364 -0.36259149 -0.3332296 83.61302139] [ 0.25716435 0.24243439 -0.93546356 12.52306908] [ 0. 0. 0. 1. ]] SLAMing on 164.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:83.55, Z:12.66 [[ 0.48854903 -0.84446686 0.21953488 97.94817675] [-0.83361733 -0.5260484 -0.16839012 83.5520422 ] [ 0.25768585 -0.10074125 -0.96096264 12.65834951] [ 0. 0. 0. 1. ]] SLAMing on 164.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:82.95, Z:11.67 [[ 5.08487029e-01 8.52897970e-01 -1.18346923e-01 9.75661773e+01] [-8.20627925e-01 5.21632456e-01 2.33386781e-01 8.29511313e+01] [ 2.60788708e-01 -2.15553613e-02 9.65155229e-01 1.16677246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:82.93, Z:11.66 [[ 5.11616516e-01 8.48512435e-01 -1.35185754e-01 9.75946469e+01] [-8.19527067e-01 5.29172675e-01 2.19890124e-01 8.29330568e+01] [ 2.58116112e-01 -1.71103474e-03 9.66112387e-01 1.16633803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:82.91, Z:11.68 [[ 5.10110191e-01 8.51471290e-01 -1.21590438e-01 9.76003842e+01] [-8.19338862e-01 5.24058117e-01 2.32479934e-01 8.29075823e+01] [ 2.61670445e-01 -1.89666126e-02 9.64970904e-01 1.16817152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:83.50, Z:12.61 [[ 5.44902842e-01 -8.38372193e-01 1.45930887e-02 9.81114334e+01] [-7.97990920e-01 -5.23843849e-01 -2.97990122e-01 8.35019992e+01] [ 2.57471132e-01 1.50730512e-01 -9.54457400e-01 1.26148476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:83.51, Z:12.60 [[ 6.11683150e-01 -7.90935863e-01 -1.62537715e-02 9.81398154e+01] [-7.52921200e-01 -5.75732258e-01 -3.18813478e-01 8.35120984e+01] [ 2.42803192e-01 2.07250641e-01 -9.47678100e-01 1.25965496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:83.46, Z:12.68 [[ 6.70419509e-01 -7.26325106e-01 1.51622964e-01 9.80514207e+01] [-7.02535649e-01 -6.87124704e-01 -1.85211509e-01 8.34573479e+01] [ 2.38707653e-01 1.76488719e-02 -9.70931086e-01 1.26776287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:83.46, Z:12.67 [[ 7.25708570e-01 -6.76268292e-01 1.26523787e-01 9.80675720e+01] [-6.46669590e-01 -7.33257934e-01 -2.10121973e-01 8.34635622e+01] [ 2.34873399e-01 7.06682316e-02 -9.69453706e-01 1.26672325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:83.45, Z:12.67 [[ 7.75964836e-01 -6.17103188e-01 1.30622470e-01 9.80650853e+01] [-5.87361730e-01 -7.82392538e-01 -2.07046165e-01 8.34532819e+01] [ 2.29966894e-01 8.39379036e-02 -9.69571893e-01 1.26729432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:83.46, Z:12.66 [[ 8.21736683e-01 -5.61616278e-01 9.66228754e-02 9.80850368e+01] [-5.25110038e-01 -8.12100984e-01 -2.54463043e-01 8.34645895e+01] [ 2.21378120e-01 1.58363975e-01 -9.62243514e-01 1.26551563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.118040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.10, Y:83.47, Z:12.64 [[ 8.62517067e-01 -5.00106721e-01 7.71853359e-02 9.80973954e+01] [-4.61026032e-01 -8.39498870e-01 -2.87570245e-01 8.34678417e+01] [ 2.08612814e-01 2.12449795e-01 -9.54644320e-01 1.26441343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:83.48, Z:12.62 [[ 8.98847388e-01 -4.34943432e-01 5.38292091e-02 9.81120309e+01] [-3.93985532e-01 -8.55719016e-01 -3.35440555e-01 8.34766622e+01] [ 1.91960344e-01 2.80301937e-01 -9.40522222e-01 1.26226960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:83.46, Z:12.64 [[ 9.29276294e-01 -3.63210173e-01 6.72602424e-02 9.81079054e+01] [-3.25064629e-01 -8.90587174e-01 -3.18099783e-01 8.34626864e+01] [ 1.75438186e-01 2.73738662e-01 -9.45668329e-01 1.26367073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:83.48, Z:12.60 [[ 9.54601428e-01 -2.95311310e-01 3.90812381e-02 9.81300207e+01] [-2.56163571e-01 -8.80764550e-01 -3.98288881e-01 8.34841496e+01] [ 1.52040580e-01 3.70195946e-01 -9.16427097e-01 1.25992390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:83.48, Z:12.60 [[ 9.74065496e-01 -2.22181734e-01 4.27982042e-02 9.81335291e+01] [-1.86816569e-01 -8.96433861e-01 -4.01877970e-01 8.34773222e+01] [ 1.27655704e-01 3.83460050e-01 -9.14692523e-01 1.25999285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:83.44, Z:12.65 [[ 9.87833230e-01 -1.40370175e-01 6.69456719e-02 9.81285765e+01] [-1.12007485e-01 -9.40805356e-01 -3.19905619e-01 8.34378027e+01] [ 1.07888054e-01 3.08514985e-01 -9.45081304e-01 1.26478560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:83.36, Z:12.71 [[ 9.94718319e-01 -5.63927787e-02 8.57631596e-02 9.81194528e+01] [-4.18512349e-02 -9.85774667e-01 -1.62778314e-01 8.33571943e+01] [ 9.37226716e-02 1.58329277e-01 -9.82928228e-01 1.27148927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:83.46, Z:12.61 [[ 9.96930743e-01 -1.96538494e-03 7.82638498e-02 9.81383899e+01] [ 3.04848088e-02 -9.11037063e-01 -4.11195995e-01 8.34583224e+01] [ 7.21094262e-02 4.12319788e-01 -9.08180942e-01 1.26067909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:82.71, Z:11.71 [[ 9.97442416e-01 -5.90115988e-02 -4.03268926e-02 9.82635278e+01] [ 5.59310910e-02 9.95713541e-01 -7.36631395e-02 8.27078059e+01] [ 4.45010127e-02 7.12192127e-02 9.96467503e-01 1.17050025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:82.66, Z:11.74 [[ 9.97401967e-01 -5.38241676e-02 -4.78777091e-02 9.82949356e+01] [ 5.44226831e-02 9.98454210e-01 1.12855120e-02 8.26606209e+01] [ 4.71962669e-02 -1.38618252e-02 9.98789448e-01 1.17370548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:82.68, Z:11.73 [[ 9.97278287e-01 -5.90219185e-02 -4.41863282e-02 9.83220048e+01] [ 5.85703963e-02 9.98217666e-01 -1.14455598e-02 8.26763411e+01] [ 4.47831123e-02 8.82639750e-03 9.98957741e-01 1.17272609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:82.67, Z:11.73 [[ 9.97189687e-01 -5.90847257e-02 -4.60621706e-02 9.83509163e+01] [ 5.90975744e-02 9.98251622e-01 -1.08400397e-03 8.26721604e+01] [ 4.60456846e-02 -1.64120497e-03 9.98937987e-01 1.17332578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:82.68, Z:11.73 [[ 9.97189952e-01 -6.04133650e-02 -4.42992583e-02 9.83771004e+01] [ 6.03226637e-02 9.98173198e-01 -3.38262065e-03 8.26756318e+01] [ 4.44226879e-02 7.00866060e-04 9.99012579e-01 1.17336658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.40, Y:82.67, Z:11.74 [[ 9.97153695e-01 -6.16923128e-02 -4.33424371e-02 9.84015531e+01] [ 6.22794441e-02 9.97982612e-01 1.23279262e-02 8.26711859e+01] [ 4.24944603e-02 -1.49921801e-02 9.98984212e-01 1.17351925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:82.68, Z:11.74 [[ 9.97152114e-01 -5.92250104e-02 -4.66911063e-02 9.84360797e+01] [ 5.88058191e-02 9.98216279e-01 -1.03022327e-02 8.26835167e+01] [ 4.72179722e-02 7.52718441e-03 9.98856248e-01 1.17373124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:82.68, Z:11.74 [[ 9.97249576e-01 -5.68887058e-02 -4.75074626e-02 9.84645279e+01] [ 5.67822097e-02 9.98380137e-01 -3.58931607e-03 8.26845115e+01] [ 4.76346986e-02 8.81865222e-04 9.98864434e-01 1.17394161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:82.68, Z:11.74 [[ 9.97196872e-01 -5.58320380e-02 -4.98114580e-02 9.84938922e+01] [ 5.58875975e-02 9.98437028e-01 -2.77782226e-04 8.26846586e+01] [ 4.97491132e-02 -2.50683914e-03 9.98758600e-01 1.17433010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:82.67, Z:11.76 [[ 9.97055542e-01 -5.05548837e-02 -5.76580384e-02 9.85277533e+01] [ 5.18105199e-02 9.98446638e-01 2.04934542e-02 8.26716219e+01] [ 5.65324304e-02 -2.34204050e-02 9.98126029e-01 1.17608002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:82.68, Z:11.76 [[ 9.96931189e-01 -4.79014348e-02 -6.19165332e-02 9.85545603e+01] [ 4.87212707e-02 9.98742722e-01 1.17988663e-02 8.26766230e+01] [ 6.12735043e-02 -1.47793100e-02 9.98011588e-01 1.17640632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:82.71, Z:11.74 [[ 9.97077054e-01 -5.54391876e-02 -5.25722748e-02 9.85790393e+01] [ 5.36383243e-02 9.97944416e-01 -3.50695371e-02 8.27086748e+01] [ 5.44084348e-02 3.21471421e-02 9.98001144e-01 1.17404194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:82.69, Z:11.75 [[ 9.97196319e-01 -5.22965748e-02 -5.35216664e-02 9.86086374e+01] [ 5.21249099e-02 9.98629982e-01 -4.59924426e-03 8.26943690e+01] [ 5.36888655e-02 1.79653741e-03 9.98556097e-01 1.17506081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:82.69, Z:11.75 [[ 9.97231674e-01 -5.07836317e-02 -5.43139975e-02 9.86352010e+01] [ 5.09132862e-02 9.98702572e-01 1.00523063e-03 8.26929601e+01] [ 5.41924798e-02 -3.76775193e-03 9.98523399e-01 1.17549842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:82.70, Z:11.75 [[ 9.97329890e-01 -5.04533932e-02 -5.27972176e-02 9.86621333e+01] [ 5.01606395e-02 9.98717629e-01 -6.85619824e-03 8.26996262e+01] [ 5.30754305e-02 4.18954924e-03 9.98581717e-01 1.17521997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:82.70, Z:11.75 [[ 9.97406487e-01 -4.97168984e-02 -5.20435290e-02 9.86913150e+01] [ 4.95117569e-02 9.98759877e-01 -5.22439160e-03 8.27000291e+01] [ 5.22387292e-02 2.63407552e-03 9.98631152e-01 1.17537195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:82.70, Z:11.76 [[ 9.97476594e-01 -4.77356735e-02 -5.25523501e-02 9.87191161e+01] [ 4.80197453e-02 9.98837743e-01 4.15546975e-03 8.26968772e+01] [ 5.22929066e-02 -6.66853428e-03 9.98609525e-01 1.17596867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:82.71, Z:11.76 [[ 9.97607173e-01 -4.60290644e-02 -5.15873427e-02 9.87475777e+01] [ 4.56854891e-02 9.98925263e-01 -7.82020501e-03 8.27055225e+01] [ 5.18918566e-02 5.44469963e-03 9.98637868e-01 1.17567791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:82.70, Z:11.76 [[ 9.97618210e-01 -4.43142380e-02 -5.28597789e-02 9.87746727e+01] [ 4.42471518e-02 9.99017637e-01 -2.43930115e-03 8.27038766e+01] [ 5.29159472e-02 9.45965779e-05 9.98598965e-01 1.17606427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:82.70, Z:11.76 [[ 9.97740159e-01 -4.14155623e-02 -5.29086657e-02 9.88021239e+01] [ 4.14173757e-02 9.99141367e-01 -1.06263433e-03 8.27040883e+01] [ 5.29072461e-02 -1.13110513e-03 9.98598790e-01 1.17626518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:82.69, Z:11.78 [[ 9.97613223e-01 -3.57317391e-02 -5.90855265e-02 9.88358226e+01] [ 3.67796500e-02 9.99183118e-01 1.67437755e-02 8.26922214e+01] [ 5.84389764e-02 -1.88769568e-02 9.98112492e-01 1.17768479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:82.71, Z:11.76 [[ 9.97650559e-01 -4.38758598e-02 -5.26143528e-02 9.88580062e+01] [ 4.39649425e-02 9.99032930e-01 5.36368558e-04 8.27076233e+01] [ 5.25399375e-02 -2.84829539e-03 9.98614762e-01 1.17591163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:82.70, Z:11.77 [[ 9.97598306e-01 -3.50770687e-02 -5.97261998e-02 9.88914069e+01] [ 3.47223412e-02 9.99372713e-01 -6.96706846e-03 8.27045533e+01] [ 5.99331186e-02 4.87650220e-03 9.98190483e-01 1.17744788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:82.70, Z:11.78 [[ 9.97590286e-01 -3.41914071e-02 -6.03702614e-02 9.89179640e+01] [ 3.42605550e-02 9.99412929e-01 1.10361511e-04 8.27013962e+01] [ 6.03310463e-02 -2.17841423e-03 9.98176046e-01 1.17783964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:82.70, Z:11.79 [[ 9.97495362e-01 -3.17052086e-02 -6.32280226e-02 9.89466964e+01] [ 3.22034287e-02 9.99457683e-01 6.87600946e-03 8.26954477e+01] [ 6.29757276e-02 -8.89494666e-03 9.97975419e-01 1.17884119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:82.71, Z:11.77 [[ 9.97843680e-01 -3.33803485e-02 -5.65132059e-02 9.89698845e+01] [ 3.30032880e-02 9.99426404e-01 -7.59254948e-03 8.27062560e+01] [ 5.67342321e-02 5.71105591e-03 9.98372982e-01 1.17700203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:82.71, Z:11.78 [[ 9.97777660e-01 -3.56488183e-02 -5.62930087e-02 9.90003642e+01] [ 3.48410160e-02 9.99276248e-01 -1.52670830e-02 8.27117547e+01] [ 5.67965200e-02 1.32718488e-02 9.98297558e-01 1.17759487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:82.71, Z:11.78 [[ 9.97771290e-01 -3.62339381e-02 -5.60317291e-02 9.90286039e+01] [ 3.57616646e-02 9.99316055e-01 -9.40884449e-03 8.27088948e+01] [ 5.63343259e-02 7.38408700e-03 9.98384655e-01 1.17770171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:82.70, Z:11.78 [[ 9.97664143e-01 -3.59323398e-02 -5.80958162e-02 9.90574229e+01] [ 3.60899322e-02 9.99347159e-01 1.66534542e-03 8.27019254e+01] [ 5.79980491e-02 -3.75812948e-03 9.98309623e-01 1.17841772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:82.69, Z:11.80 [[ 9.97444421e-01 -3.40668023e-02 -6.28019109e-02 9.90901743e+01] [ 3.49084840e-02 9.99314157e-01 1.23536815e-02 8.26912288e+01] [ 6.23379882e-02 -1.45144302e-02 9.97949551e-01 1.17950206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:82.71, Z:11.78 [[ 9.97325077e-01 -4.05272753e-02 -6.08295255e-02 9.91160002e+01] [ 3.92169305e-02 9.98975491e-01 -2.25832187e-02 8.27110564e+01] [ 6.16824414e-02 2.01372630e-02 9.97892663e-01 1.17823035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:82.69, Z:11.79 [[ 9.97350750e-01 -3.90402938e-02 -6.13786326e-02 9.91446262e+01] [ 3.95368507e-02 9.99194317e-01 6.89601604e-03 8.26943593e+01] [ 6.10599584e-02 -9.30446460e-03 9.98090732e-01 1.17941806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:82.69, Z:11.79 [[ 9.97171439e-01 -4.15047773e-02 -6.26615959e-02 9.91740017e+01] [ 4.15819635e-02 9.99135094e-01 -7.23445142e-05 8.26947838e+01] [ 6.26104022e-02 -2.53345231e-03 9.98034829e-01 1.17943930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:82.69, Z:11.80 [[ 9.97113364e-01 -4.21057065e-02 -6.31826575e-02 9.92005666e+01] [ 4.21962284e-02 9.99109338e-01 9.84238516e-05 8.26934097e+01] [ 6.31222389e-02 -2.76420958e-03 9.98001975e-01 1.17965649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:82.73, Z:11.76 [[ 9.97104710e-01 -5.68554614e-02 -5.04940939e-02 9.92231636e+01] [ 5.39805533e-02 9.96937571e-01 -5.65824923e-02 8.27313203e+01] [ 5.35564830e-02 5.36929704e-02 9.97120238e-01 1.17647446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:82.67, Z:11.81 [[ 9.96602526e-01 -4.53892638e-02 -6.87256886e-02 9.92585994e+01] [ 4.89777980e-02 9.97473180e-01 5.14629099e-02 8.26667606e+01] [ 6.62161675e-02 -5.46540989e-02 9.96307357e-01 1.18129822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:82.70, Z:11.79 [[ 9.96368474e-01 -4.93974106e-02 -6.93524336e-02 9.92908289e+01] [ 4.79911432e-02 9.98609840e-01 -2.17999301e-02 8.27018518e+01] [ 7.03328827e-02 1.83924605e-02 9.97354001e-01 1.17947191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:82.68, Z:11.81 [[ 9.96467579e-01 -4.63286122e-02 -7.00430138e-02 9.93176336e+01] [ 4.70248235e-02 9.98859047e-01 8.32286588e-03 8.26844154e+01] [ 6.95775112e-02 -1.15872264e-02 9.97509251e-01 1.18083054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:82.69, Z:11.81 [[ 9.96253576e-01 -4.85342554e-02 -7.15767981e-02 9.93452728e+01] [ 4.85959126e-02 9.98818132e-01 -8.80768484e-04 8.26865986e+01] [ 7.15349512e-02 -2.60087107e-03 9.97434703e-01 1.18086213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:82.69, Z:11.81 [[ 9.96145236e-01 -4.94536104e-02 -7.24500429e-02 9.93731656e+01] [ 4.94162852e-02 9.98775601e-01 -2.30865761e-03 8.26866923e+01] [ 7.24755066e-02 -1.28045371e-03 9.97369371e-01 1.18110276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:82.69, Z:11.81 [[ 9.96063270e-01 -5.15696148e-02 -7.21008868e-02 9.94047139e+01] [ 5.06271122e-02 9.98607363e-01 -1.48401798e-02 8.26926116e+01] [ 7.27657788e-02 1.11314983e-02 9.97286935e-01 1.18090724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:82.66, Z:11.84 [[ 9.95771941e-01 -4.45370086e-02 -8.03411199e-02 9.94333201e+01] [ 4.67806872e-02 9.98559865e-01 2.62633427e-02 8.26647184e+01] [ 7.90557271e-02 -2.99107126e-02 9.96421367e-01 1.18352995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:82.69, Z:11.82 [[ 9.95873006e-01 -4.91046068e-02 -7.63262270e-02 9.94616075e+01] [ 4.83093612e-02 9.98757523e-01 -1.22317945e-02 8.26864447e+01] [ 7.68320308e-02 8.49404271e-03 9.97007869e-01 1.18209820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:82.66, Z:11.84 [[ 9.95851051e-01 -3.78887097e-02 -8.27352973e-02 9.94882143e+01] [ 4.08680221e-02 9.98564667e-01 3.46180659e-02 8.26559229e+01] [ 8.13049107e-02 -3.78556652e-02 9.95970110e-01 1.18386751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:82.68, Z:11.84 [[ 9.95485447e-01 -4.45233484e-02 -8.38236048e-02 9.95231388e+01] [ 4.36757970e-02 9.98974658e-01 -1.19187958e-02 8.26791523e+01] [ 8.42683216e-02 8.20392497e-03 9.96409326e-01 1.18374958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:82.68, Z:11.83 [[ 9.95680251e-01 -4.79159509e-02 -7.95292348e-02 9.95489780e+01] [ 4.67112458e-02 9.98764769e-01 -1.69409235e-02 8.26838563e+01] [ 8.02427383e-02 1.31528333e-02 9.96688570e-01 1.18315759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.738040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:82.67, Z:11.84 [[ 9.95538226e-01 -5.02904876e-02 -7.98405144e-02 9.95704635e+01] [ 5.11648531e-02 9.98650185e-01 8.94235672e-03 8.26686489e+01] [ 7.92830290e-02 -1.29874861e-02 9.96767539e-01 1.18375328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:82.67, Z:11.84 [[ 9.95421821e-01 -4.73184249e-02 -8.30443599e-02 9.96059633e+01] [ 4.68137195e-02 9.98871478e-01 -8.01531992e-03 8.26734710e+01] [ 8.33299149e-02 4.09100898e-03 9.96513617e-01 1.18425693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79804094199997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:99.64, Y:82.66, Z:11.86 [[ 9.95240477e-01 -4.34572869e-02 -8.72230270e-02 9.96355257e+01] [ 4.46274639e-02 9.98937388e-01 1.15101473e-02 8.26591712e+01] [ 8.66301431e-02 -1.53479069e-02 9.96122312e-01 1.18557534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:82.68, Z:11.84 [[ 9.95473292e-01 -4.71828387e-02 -8.25027606e-02 9.96621244e+01] [ 4.59239557e-02 9.98798716e-01 -1.70913960e-02 8.26757341e+01] [ 8.32100719e-02 1.32251751e-02 9.96444268e-01 1.18414679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:82.67, Z:11.84 [[ 9.95522298e-01 -4.94001948e-02 -8.05914068e-02 9.96902790e+01] [ 5.00492542e-02 9.98728412e-01 6.05238739e-03 8.26662140e+01] [ 8.01899386e-02 -1.00588264e-02 9.96728847e-01 1.18419825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:82.67, Z:11.84 [[ 9.95559520e-01 -4.56585706e-02 -8.23197288e-02 9.97193930e+01] [ 4.46926225e-02 9.98909027e-01 -1.35397984e-02 8.26713275e+01] [ 8.28481280e-02 9.80059065e-03 9.96513992e-01 1.18446731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:82.67, Z:11.85 [[ 9.95529023e-01 -4.51683139e-02 -8.29565363e-02 9.97469128e+01] [ 4.51553747e-02 9.98977907e-01 -2.03313211e-03 8.26666642e+01] [ 8.29635801e-02 -1.72189145e-03 9.96551092e-01 1.18511508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:82.66, Z:11.85 [[ 9.95501364e-01 -4.66959233e-02 -8.24410392e-02 9.97706967e+01] [ 4.74649123e-02 9.98845557e-01 7.39157803e-03 8.26628759e+01] [ 8.20007092e-02 -1.12713827e-02 9.96568532e-01 1.18533948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.80, Y:82.67, Z:11.85 [[ 9.95552276e-01 -4.31160440e-02 -8.37655835e-02 9.98034169e+01] [ 4.23582421e-02 9.99044072e-01 -1.08037674e-02 8.26685221e+01] [ 8.41513253e-02 7.20755237e-03 9.96426919e-01 1.18537558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00804094199998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:99.83, Y:82.66, Z:11.86 [[ 9.95596147e-01 -3.97455155e-02 -8.49035137e-02 9.98310012e+01] [ 3.98254327e-02 9.99206369e-01 -7.52912681e-04 8.26649326e+01] [ 8.48660565e-02 -2.63172220e-03 9.96388893e-01 1.18616547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:82.67, Z:11.86 [[ 9.95680342e-01 -4.00528037e-02 -8.37641335e-02 9.98597930e+01] [ 3.96227972e-02 9.99191636e-01 -6.79033176e-03 8.26709233e+01] [ 8.39683934e-02 3.44203057e-03 9.96462474e-01 1.18598933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:82.65, Z:11.88 [[ 9.95353112e-01 -3.43524186e-02 -8.99560626e-02 9.98893977e+01] [ 3.70956846e-02 9.98890754e-01 2.90029563e-02 8.26531621e+01] [ 8.88599575e-02 -3.22051646e-02 9.95523347e-01 1.18820849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:82.68, Z:11.86 [[ 9.95568783e-01 -3.79641579e-02 -8.60320907e-02 9.99159328e+01] [ 3.60028721e-02 9.99057767e-01 -2.42357385e-02 8.26843871e+01] [ 8.68711179e-02 2.10309424e-02 9.95997544e-01 1.18624932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:82.67, Z:11.88 [[ 9.95271610e-01 -3.48553393e-02 -9.06616108e-02 9.99452827e+01] [ 3.56334171e-02 9.99340571e-01 6.97730467e-03 8.26706752e+01] [ 9.03586296e-02 -1.01748962e-02 9.95857314e-01 1.18785717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:82.67, Z:11.88 [[ 9.94990743e-01 -3.55274895e-02 -9.34409914e-02 9.99745811e+01] [ 3.62367156e-02 9.99325795e-01 5.90383160e-03 8.26725471e+01] [ 9.31682447e-02 -9.26025242e-03 9.95607315e-01 1.18836904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:82.68, Z:11.87 [[ 9.95369919e-01 -3.91117715e-02 -8.78008700e-02 1.00005187e+02] [ 3.89194770e-02 9.99234733e-01 -3.90160044e-03 8.26825482e+01] [ 8.78862774e-02 4.66371782e-04 9.96130406e-01 1.18717295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:82.66, Z:11.89 [[ 9.95138864e-01 -3.44012341e-02 -9.22778237e-02 1.00032221e+02] [ 3.71373650e-02 9.98915039e-01 2.80991145e-02 8.26632643e+01] [ 9.12110617e-02 -3.13894760e-02 9.95336749e-01 1.18878628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:82.70, Z:11.88 [[ 9.94724087e-01 -4.73731798e-02 -9.09932606e-02 1.00060949e+02] [ 4.52848290e-02 9.98664222e-01 -2.48808490e-02 8.26951678e+01] [ 9.20503987e-02 2.06289656e-02 9.95540642e-01 1.18791399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:82.69, Z:11.89 [[ 9.94458474e-01 -5.24681507e-02 -9.11012392e-02 1.00087335e+02] [ 5.19314318e-02 9.98616545e-01 -8.25357602e-03 8.26882519e+01] [ 9.14082546e-02 3.47682083e-03 9.95807433e-01 1.18866844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:82.69, Z:11.89 [[ 9.94311226e-01 -5.46291640e-02 -9.14376338e-02 1.00113120e+02] [ 5.46202717e-02 9.98503810e-01 -2.60154415e-03 8.26865424e+01] [ 9.14429459e-02 -2.40760386e-03 9.95807407e-01 1.18897506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:82.69, Z:11.89 [[ 9.93994167e-01 -6.04929839e-02 -9.11931791e-02 1.00142288e+02] [ 5.97326495e-02 9.98153288e-01 -1.10465017e-02 8.26938416e+01] [ 9.16930073e-02 5.53294802e-03 9.95771951e-01 1.18872055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.17, Y:82.68, Z:11.89 [[ 9.94434928e-01 -5.59705064e-02 -8.92551150e-02 1.00168711e+02] [ 5.76897978e-02 9.98193213e-01 1.67987043e-02 8.26796512e+01] [ 8.81536180e-02 -2.18543279e-02 9.95867124e-01 1.18883700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:82.70, Z:11.89 [[ 9.93994643e-01 -5.92793034e-02 -9.19815922e-02 1.00198236e+02] [ 5.86751615e-02 9.98234172e-01 -9.26087606e-03 8.26965187e+01] [ 9.23681468e-02 3.80822642e-03 9.95717642e-01 1.18875663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:82.71, Z:11.88 [[ 9.94159221e-01 -6.17778674e-02 -8.84925915e-02 1.00225898e+02] [ 6.04644188e-02 9.98017820e-01 -1.74495184e-02 8.27062500e+01] [ 8.93951773e-02 1.19969465e-02 9.95923981e-01 1.18810798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:82.71, Z:11.89 [[ 9.94008842e-01 -6.40710977e-02 -8.85512065e-02 1.00255133e+02] [ 6.28407459e-02 9.97885242e-01 -1.66157624e-02 8.27094936e+01] [ 8.94285323e-02 1.09515909e-02 9.95933030e-01 1.18891065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:82.75, Z:11.84 [[ 9.94913512e-01 -7.48001084e-02 -6.74688570e-02 1.00268813e+02] [ 7.05442290e-02 9.95491846e-01 -6.33994936e-02 8.27509913e+01] [ 7.19069860e-02 5.83174744e-02 9.95705005e-01 1.18413888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:82.67, Z:11.92 [[ 9.94406046e-01 -5.41256941e-02 -9.07029506e-02 1.00307545e+02] [ 6.01762845e-02 9.96045883e-01 6.53560474e-02 8.26692360e+01] [ 8.68068591e-02 -7.04486152e-02 9.93731132e-01 1.19160526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:82.70, Z:11.90 [[ 9.94130345e-01 -6.02204847e-02 -8.98796421e-02 1.00339938e+02] [ 6.09062790e-02 9.98131439e-01 4.90457095e-03 8.27024225e+01] [ 8.94163409e-02 -1.03500174e-02 9.95940558e-01 1.19014766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57804094199997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:100.37, Y:82.69, Z:11.90 [[ 9.94997403e-01 -4.98011635e-02 -8.66026116e-02 1.00367720e+02] [ 5.21774457e-02 9.98314912e-01 2.53939084e-02 8.26875876e+01] [ 8.51920324e-02 -2.97855760e-02 9.95919242e-01 1.19008219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:82.75, Z:11.88 [[ 9.94144664e-01 -7.07766827e-02 -8.16519954e-02 1.00396945e+02] [ 6.56533937e-02 9.95799956e-01 -6.38128493e-02 8.27458864e+01] [ 8.58255152e-02 5.80784731e-02 9.94615942e-01 1.18821771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:82.70, Z:11.92 [[ 9.94003441e-01 -6.13624272e-02 -9.05086265e-02 1.00428318e+02] [ 6.31807494e-02 9.97851086e-01 1.73609709e-02 8.27012447e+01] [ 8.92488199e-02 -2.29752677e-02 9.95744337e-01 1.19190870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:100.43, Y:82.81, Z:11.83 [[ 9.94315213e-01 -9.38524859e-02 -5.02888440e-02 1.00425629e+02] [ 8.67442355e-02 9.87899252e-01 -1.28571012e-01 8.28080185e+01] [ 6.17470205e-02 1.23477846e-01 9.90424418e-01 1.18303179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69804094199998 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:100.46, Y:82.70, Z:11.92 [[ 9.94195792e-01 -7.41470324e-02 -7.79547616e-02 1.00460358e+02] [ 8.08541232e-02 9.92945547e-01 8.67280356e-02 8.26967895e+01] [ 7.09742069e-02 -9.25276119e-02 9.93177377e-01 1.19156617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72804094199998 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:100.49, Y:82.75, Z:11.88 [[ 9.94306415e-01 -7.77758441e-02 -7.28400382e-02 1.00486599e+02] [ 7.74240333e-02 9.96968940e-01 -7.64535381e-03 8.27458854e+01] [ 7.32138796e-02 1.96225479e-03 9.97314332e-01 1.18824723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:82.74, Z:11.88 [[ 9.94851887e-01 -7.10662664e-02 -7.22447778e-02 1.00522829e+02] [ 7.08436119e-02 9.97471473e-01 -5.64293294e-03 8.27437959e+01] [ 7.24631271e-02 4.95801484e-04 9.97370969e-01 1.18838128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78804094199998 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:100.54, Y:82.76, Z:11.88 [[ 9.94433188e-01 -7.78995812e-02 -7.09527370e-02 1.00539986e+02] [ 7.68785135e-02 9.96895292e-01 -1.70138678e-02 8.27583792e+01] [ 7.20578226e-02 1.14644139e-02 9.97334566e-01 1.18797206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:82.76, Z:11.87 [[ 9.95137350e-01 -6.52499679e-02 -7.37841234e-02 1.00575199e+02] [ 6.24783299e-02 9.97273426e-01 -3.92705005e-02 8.27573592e+01] [ 7.61453444e-02 3.44696330e-02 9.96500743e-01 1.18713648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:82.76, Z:11.88 [[ 9.95203594e-01 -7.17242766e-02 -6.65239454e-02 1.00605420e+02] [ 6.97891919e-02 9.97080811e-01 -3.09729860e-02 8.27564993e+01] [ 6.85512644e-02 2.61817746e-02 9.97303985e-01 1.18778222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:82.74, Z:11.89 [[ 9.95046796e-01 -7.39562184e-02 -6.64255338e-02 1.00632600e+02] [ 7.35867563e-02 9.97256772e-01 -7.99502082e-03 8.27441464e+01] [ 6.68345949e-02 3.06738028e-03 9.97759354e-01 1.18876889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90804094199999 meters Centerline goodness : 0.997290 Centerline is valid? [True, True] Translation: X:100.66, Y:82.71, Z:11.92 [[ 9.94342162e-01 -7.20161579e-02 -7.80854556e-02 1.00660577e+02] [ 7.72875860e-02 9.94773283e-01 6.67288870e-02 8.27119503e+01] [ 7.28717670e-02 -7.23863821e-02 9.94710972e-01 1.19248300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:82.79, Z:11.87 [[ 9.94602349e-01 -8.47144319e-02 -5.99135443e-02 1.00687542e+02] [ 7.96949214e-02 9.93464116e-01 -8.17176187e-02 8.27879813e+01] [ 6.64446180e-02 7.65017303e-02 9.94853053e-01 1.18662531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:82.77, Z:11.88 [[ 9.94144873e-01 -8.43607371e-02 -6.75221197e-02 1.00721806e+02] [ 8.09297036e-02 9.95360615e-01 -5.20348772e-02 8.27746627e+01] [ 7.15985592e-02 4.62656613e-02 9.96359942e-01 1.18763988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.998040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.75, Y:82.76, Z:11.88 [[ 9.94271918e-01 -8.78134461e-02 -6.09274295e-02 1.00749720e+02] [ 8.67293268e-02 9.96026678e-01 -2.02207919e-02 8.27639201e+01] [ 6.24610027e-02 1.48207706e-02 9.97937357e-01 1.18808000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:82.66, Z:11.98 [[ 9.93898934e-01 -5.64426935e-02 -9.47582796e-02 1.00795391e+02] [ 7.01461693e-02 9.86473183e-01 1.48155912e-01 8.26583062e+01] [ 8.51141830e-02 -1.53898934e-01 9.84413884e-01 1.19804746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:82.75, Z:11.92 [[ 9.93267307e-01 -7.81052163e-02 -8.55548499e-02 1.00826791e+02] [ 7.70361426e-02 9.96904179e-01 -1.57318335e-02 8.27458888e+01] [ 8.65187256e-02 9.03510024e-03 9.96209254e-01 1.19247233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:82.73, Z:11.94 [[ 9.93491049e-01 -7.02430174e-02 -8.96741512e-02 1.00854473e+02] [ 7.08622146e-02 9.97479117e-01 3.73611526e-03 8.27304589e+01] [ 8.91856571e-02 -1.00663060e-02 9.95964150e-01 1.19356714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:82.74, Z:11.94 [[ 9.93158363e-01 -7.41123595e-02 -9.02431342e-02 1.00882977e+02] [ 7.32752955e-02 9.97232682e-01 -1.25582352e-02 8.27435732e+01] [ 9.09241232e-02 5.85972398e-03 9.95840583e-01 1.19376553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:82.75, Z:11.93 [[ 9.93264640e-01 -7.86792313e-02 -8.50584075e-02 1.00913695e+02] [ 7.73643000e-02 9.96828413e-01 -1.86515329e-02 8.27530786e+01] [ 8.62561257e-02 1.19454240e-02 9.96201379e-01 1.19300998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:82.75, Z:11.94 [[ 9.93406559e-01 -7.56751748e-02 -8.61201264e-02 1.00941792e+02] [ 7.55423694e-02 9.97131017e-01 -4.80467023e-03 8.27494881e+01] [ 8.62366435e-02 -1.73272748e-03 9.96273175e-01 1.19365088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.97, Y:82.75, Z:11.94 [[ 9.93670496e-01 -7.30839701e-02 -8.53093094e-02 1.00968300e+02] [ 7.31204611e-02 9.97319459e-01 -2.70100263e-03 8.27506417e+01] [ 8.52780342e-02 -3.55394941e-03 9.96350855e-01 1.19397282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.238040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:82.74, Z:11.96 [[ 9.93604006e-01 -6.81723131e-02 -9.00200801e-02 1.01001761e+02] [ 6.96474854e-02 9.97482397e-01 1.33452254e-02 8.27419586e+01] [ 8.88836704e-02 -1.95295416e-02 9.95850536e-01 1.19553927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:82.76, Z:11.95 [[ 9.93849950e-01 -6.70370312e-02 -8.81380356e-02 1.01029094e+02] [ 6.68148758e-02 9.97750386e-01 -5.47167592e-03 8.27570153e+01] [ 8.83065640e-02 -4.50907068e-04 9.96093242e-01 1.19496073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:82.75, Z:11.96 [[ 9.93696086e-01 -6.31835828e-02 -9.26062795e-02 1.01060499e+02] [ 6.44896615e-02 9.97855785e-01 1.11765705e-02 8.27488713e+01] [ 9.17015360e-02 -1.70782620e-02 9.95640076e-01 1.19632578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:82.76, Z:11.96 [[ 9.94062126e-01 -6.15274942e-02 -8.97488508e-02 1.01087196e+02] [ 6.16432316e-02 9.98097144e-01 -1.48430128e-03 8.27572339e+01] [ 8.96693970e-02 -4.05692150e-03 9.95963323e-01 1.19613996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:82.82, Z:11.91 [[ 9.94504602e-01 -7.79768899e-02 -6.98584372e-02 1.01103385e+02] [ 7.17916387e-02 9.93613032e-01 -8.70580446e-02 8.28184992e+01] [ 7.62007691e-02 8.15643743e-02 9.93750822e-01 1.19122988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:82.71, Z:12.01 [[ 9.93877326e-01 -5.05370349e-02 -9.82541025e-02 1.01146060e+02] [ 5.92242211e-02 9.94392857e-01 8.76090037e-02 8.27137357e+01] [ 9.32756784e-02 -9.28916251e-02 9.91297530e-01 1.20061844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:82.86, Z:11.89 [[ 9.94789586e-01 -8.53488952e-02 -5.57606133e-02 1.01152888e+02] [ 7.76956351e-02 9.88806362e-01 -1.27378833e-01 8.28564524e+01] [ 6.60080919e-02 1.22382780e-01 9.90285508e-01 1.18909264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:82.69, Z:12.04 [[ 9.93828388e-01 -3.83364446e-02 -1.04093477e-01 1.01212068e+02] [ 5.37203192e-02 9.87336435e-01 1.49267853e-01 8.26854198e+01] [ 9.70528832e-02 -1.53938564e-01 9.83302424e-01 1.20432362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:82.79, Z:11.97 [[ 9.93804971e-01 -6.39220101e-02 -9.09156571e-02 1.01239967e+02] [ 6.04034741e-02 9.97334009e-01 -4.09425831e-02 8.27887167e+01] [ 9.32904090e-02 3.51973211e-02 9.95016607e-01 1.19676430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50804094199998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:101.27, Y:82.76, Z:11.99 [[ 9.94193541e-01 -5.56547570e-02 -9.20964232e-02 1.01271528e+02] [ 5.79521092e-02 9.98066690e-01 2.24596512e-02 8.27551399e+01] [ 9.06683858e-02 -2.76664221e-02 9.95496767e-01 1.19865294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:82.77, Z:11.99 [[ 9.93667764e-01 -6.22529047e-02 -9.35358219e-02 1.01300040e+02] [ 6.21814147e-02 9.98058074e-01 -3.68144405e-03 8.27709969e+01] [ 9.35833628e-02 -2.15805745e-03 9.95609109e-01 1.19853604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:82.78, Z:11.99 [[ 9.93253802e-01 -6.64973218e-02 -9.49999548e-02 1.01324986e+02] [ 6.58212126e-02 9.97778926e-01 -1.02363904e-02 8.27756889e+01] [ 9.54696454e-02 3.91432146e-03 9.95424646e-01 1.19899446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:82.76, Z:11.99 [[ 9.93705256e-01 -6.30231706e-02 -9.26171899e-02 1.01356869e+02] [ 6.47791929e-02 9.97770145e-01 1.60746234e-02 8.27631306e+01] [ 9.13975933e-02 -2.19731046e-02 9.95572028e-01 1.19931617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:82.79, Z:11.99 [[ 9.92985635e-01 -7.46816394e-02 -9.16634158e-02 1.01379195e+02] [ 7.24281100e-02 9.96989612e-01 -2.76745728e-02 8.27921627e+01] [ 9.34542559e-02 2.08414452e-02 9.95405413e-01 1.19850181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:82.78, Z:12.00 [[ 9.92943982e-01 -7.56488471e-02 -9.13208678e-02 1.01408810e+02] [ 7.59617998e-02 9.97110727e-01 -4.88939587e-05 8.27798667e+01] [ 9.10607157e-02 -6.88834851e-03 9.95821519e-01 1.19961454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:82.78, Z:11.99 [[ 9.92974105e-01 -7.75315942e-02 -8.93939507e-02 1.01433917e+02] [ 7.74712301e-02 9.96985951e-01 -4.14999850e-03 8.27847134e+01] [ 8.94462689e-02 -2.80461828e-03 9.95987700e-01 1.19911978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:82.79, Z:12.00 [[ 9.92545413e-01 -8.07951426e-02 -9.12455388e-02 1.01463469e+02] [ 8.06124872e-02 9.96729268e-01 -5.69155498e-03 8.27883337e+01] [ 9.14069490e-02 -1.70640304e-03 9.95812160e-01 1.19983997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:82.79, Z:12.00 [[ 9.92606756e-01 -8.17819660e-02 -8.96857776e-02 1.01491103e+02] [ 8.21969020e-02 9.96615669e-01 9.36731561e-04 8.27886550e+01] [ 8.93056435e-02 -8.30169915e-03 9.95969670e-01 1.20029664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:82.79, Z:12.00 [[ 9.92531097e-01 -8.36377849e-02 -8.88073384e-02 1.01520093e+02] [ 8.36871217e-02 9.96487024e-01 -3.17425104e-03 8.27939792e+01] [ 8.87608478e-02 -4.28148767e-03 9.96043764e-01 1.20029903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:82.80, Z:12.01 [[ 9.92488723e-01 -8.42521363e-02 -8.87001300e-02 1.01548552e+02] [ 8.43200814e-02 9.96434242e-01 -2.98741062e-03 8.27958053e+01] [ 8.86355425e-02 -4.51423083e-03 9.96053895e-01 1.20055404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:82.80, Z:12.01 [[ 9.92679758e-01 -8.41223444e-02 -8.66621550e-02 1.01576308e+02] [ 8.42883148e-02 9.96439874e-01 -1.74879455e-03 8.27997891e+01] [ 8.65007394e-02 -5.56861405e-03 9.96236223e-01 1.20056768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:82.82, Z:12.00 [[ 9.92254009e-01 -9.19872534e-02 -8.34884864e-02 1.01605575e+02] [ 9.03198936e-02 9.95634538e-01 -2.35410908e-02 8.28179388e+01] [ 8.52895009e-02 1.58180705e-02 9.96230641e-01 1.19980478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:82.80, Z:12.01 [[ 9.92670310e-01 -8.61389322e-02 -8.47687450e-02 1.01630206e+02] [ 8.73344578e-02 9.96123807e-01 1.04906852e-02 8.28025877e+01] [ 8.35365085e-02 -1.78170241e-02 9.96345425e-01 1.20148663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:82.81, Z:12.01 [[ 9.92463307e-01 -8.64808680e-02 -8.68196054e-02 1.01656650e+02] [ 8.65664195e-02 9.96242186e-01 -2.78616812e-03 8.28134656e+01] [ 8.67343037e-02 -4.75049275e-03 9.96220153e-01 1.20135903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:82.81, Z:12.02 [[ 9.92953034e-01 -8.17883773e-02 -8.57609070e-02 1.01689826e+02] [ 8.32191136e-02 9.96443360e-01 1.32366348e-02 8.28066563e+01] [ 8.43732834e-02 -2.02803033e-02 9.96227814e-01 1.20178552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:82.83, Z:12.01 [[ 9.92650943e-01 -8.73341064e-02 -8.37666925e-02 1.01714403e+02] [ 8.62828700e-02 9.96140651e-01 -1.60956721e-02 8.28283347e+01] [ 8.48491087e-02 8.74975344e-03 9.96355394e-01 1.20140144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:82.83, Z:12.02 [[ 9.92645413e-01 -8.44701943e-02 -8.67171885e-02 1.01740815e+02] [ 8.44678084e-02 9.96419326e-01 -3.70343679e-03 8.28263406e+01] [ 8.67195126e-02 -3.64861132e-03 9.96226086e-01 1.20193682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:82.82, Z:12.03 [[ 9.92689106e-01 -8.07979968e-02 -8.96661760e-02 1.01770394e+02] [ 8.15675930e-02 9.96655540e-01 4.94601083e-03 8.28245337e+01] [ 8.89666633e-02 -1.22237052e-02 9.95959595e-01 1.20291720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.80, Y:82.84, Z:12.03 [[ 9.92843366e-01 -7.95796163e-02 -8.90456960e-02 1.01801294e+02] [ 7.93609245e-02 9.96827895e-01 -5.99932430e-03 8.28357164e+01] [ 8.92406577e-02 -1.11035943e-03 9.96009474e-01 1.20277046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10804094199997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.83, Y:82.83, Z:12.03 [[ 9.93079802e-01 -7.81578404e-02 -8.76576219e-02 1.01826848e+02] [ 7.93948060e-02 9.96785721e-01 1.07093820e-02 8.28314957e+01] [ 8.65388437e-02 -1.75948309e-02 9.96093093e-01 1.20300334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:82.84, Z:12.02 [[ 9.93070433e-01 -7.71072814e-02 -8.86881154e-02 1.01852488e+02] [ 7.71656805e-02 9.97014422e-01 -2.77507024e-03 8.28414318e+01] [ 8.86373082e-02 -4.08783857e-03 9.96055579e-01 1.20213279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:82.86, Z:12.03 [[ 9.93075086e-01 -7.76654827e-02 -8.81473038e-02 1.01878141e+02] [ 7.52334825e-02 9.96696631e-01 -3.05900202e-02 8.28622027e+01] [ 9.02319094e-02 2.37465583e-02 9.95637637e-01 1.20253651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:82.86, Z:12.03 [[ 9.92821500e-01 -7.96175055e-02 -8.92553756e-02 1.01906678e+02] [ 7.78955198e-02 9.96704920e-01 -2.26183874e-02 8.28625484e+01] [ 9.07620915e-02 1.55034274e-02 9.95751920e-01 1.20268580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:82.85, Z:12.04 [[ 9.92918893e-01 -7.66647586e-02 -9.07446227e-02 1.01933851e+02] [ 7.82281584e-02 9.96840050e-01 1.37938167e-02 8.28468230e+01] [ 8.94003746e-02 -2.07949260e-02 9.95778662e-01 1.20421323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.96, Y:82.86, Z:12.04 [[ 9.92755886e-01 -7.95129744e-02 -9.00746257e-02 1.01964502e+02] [ 7.95754538e-02 9.96824618e-01 -2.90303971e-03 8.28591330e+01] [ 9.00194337e-02 -4.28571945e-03 9.95930788e-01 1.20398398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.99, Y:82.86, Z:12.04 [[ 9.92720619e-01 -8.15564904e-02 -8.86245489e-02 1.01991183e+02] [ 8.17349805e-02 9.96652784e-01 -1.61922125e-03 8.28627577e+01] [ 8.84599614e-02 -5.63629145e-03 9.96063787e-01 1.20405442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.03, Y:82.84, Z:12.07 [[ 9.92233403e-01 -7.55477949e-02 -9.88200662e-02 1.02031258e+02] [ 7.96623881e-02 9.96083124e-01 3.83707375e-02 8.28400165e+01] [ 9.55341757e-02 -4.59449699e-02 9.94365265e-01 1.20725843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.06, Y:82.86, Z:12.06 [[ 9.92414355e-01 -7.78497146e-02 -9.51481496e-02 1.02055157e+02] [ 7.80335322e-02 9.96949122e-01 -1.79306886e-03 8.28628073e+01] [ 9.49974541e-02 -5.64527891e-03 9.95461508e-01 1.20629786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.09, Y:82.86, Z:12.07 [[ 9.91885083e-01 -8.04645639e-02 -9.84349373e-02 1.02087175e+02] [ 8.11818362e-02 9.96693855e-01 3.29675508e-03 8.28625733e+01] [ 9.78442252e-02 -1.12611311e-02 9.95138028e-01 1.20704038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:82.89, Z:12.04 [[ 9.92658986e-01 -8.52209680e-02 -8.58226277e-02 1.02103010e+02] [ 8.26151646e-02 9.96019111e-01 -3.34763364e-02 8.28902435e+01] [ 8.83338631e-02 2.61403356e-02 9.95747865e-01 1.20386592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:82.89, Z:12.04 [[ 9.92598626e-01 -8.96565733e-02 -8.19125519e-02 1.02136389e+02] [ 8.79520674e-02 9.95830884e-01 -2.41926696e-02 8.28924107e+01] [ 8.37400808e-02 1.68092323e-02 9.96345848e-01 1.20439540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:82.87, Z:12.05 [[ 9.92964547e-01 -7.98517763e-02 -8.74362776e-02 1.02158270e+02] [ 8.14122220e-02 9.96576155e-01 1.44227768e-02 8.28721034e+01] [ 8.59852250e-02 -2.14396877e-02 9.96065701e-01 1.20522997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.498040942 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:102.20, Y:82.87, Z:12.07 [[ 9.92461094e-01 -8.15866072e-02 -9.14582053e-02 1.02197638e+02] [ 8.45572955e-02 9.95994043e-01 2.90848834e-02 8.28678715e+01] [ 8.87188907e-02 -3.65990737e-02 9.95384080e-01 1.20665053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:82.89, Z:12.06 [[ 9.92696707e-01 -8.09061793e-02 -8.94842903e-02 1.02222736e+02] [ 7.94816821e-02 9.96648013e-01 -1.93752313e-02 8.28945574e+01] [ 9.07519160e-02 1.21213664e-02 9.95799760e-01 1.20565327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:82.92, Z:12.04 [[ 9.92776218e-01 -9.22097262e-02 -7.67642330e-02 1.02246746e+02] [ 8.84893189e-02 9.94794162e-01 -5.05392406e-02 8.29230463e+01] [ 8.10248204e-02 4.33813415e-02 9.95767562e-01 1.20383162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:82.88, Z:12.08 [[ 9.92373329e-01 -8.30178360e-02 -9.11219726e-02 1.02282515e+02] [ 8.55716510e-02 9.96031235e-01 2.44800062e-02 8.28798131e+01] [ 8.87280538e-02 -3.20907629e-02 9.95538807e-01 1.20765949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:82.89, Z:12.07 [[ 9.92309209e-01 -8.39606496e-02 -9.09562650e-02 1.02305134e+02] [ 8.48281881e-02 9.96379246e-01 5.70761727e-03 8.28902216e+01] [ 9.01477195e-02 -1.33793763e-02 9.95838532e-01 1.20715707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:82.91, Z:12.06 [[ 9.92383349e-01 -9.19076181e-02 -8.20260880e-02 1.02332994e+02] [ 9.00661776e-02 9.95599421e-01 -2.58819667e-02 8.29132522e+01] [ 8.40438756e-02 1.82970566e-02 9.96294055e-01 1.20554541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:82.92, Z:12.06 [[ 9.92034637e-01 -9.73459975e-02 -7.99439546e-02 1.02359833e+02] [ 9.63988653e-02 9.95220028e-01 -1.56318638e-02 8.29155716e+01] [ 8.10835241e-02 7.80084377e-03 9.96676783e-01 1.20550399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:82.92, Z:12.06 [[ 9.92154083e-01 -9.71908502e-02 -7.86397702e-02 1.02387359e+02] [ 9.66327089e-02 9.95260629e-01 -1.08811357e-02 8.29163570e+01] [ 7.93246140e-02 3.19658921e-03 9.96843713e-01 1.20604739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73804094199997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.41, Y:82.92, Z:12.06 [[ 9.92329412e-01 -9.70376462e-02 -7.65900373e-02 1.02412147e+02] [ 9.63941854e-02 9.95270140e-01 -1.20627494e-02 8.29220503e+01] [ 7.73983179e-02 4.58738678e-03 9.96989697e-01 1.20582269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.44, Y:82.92, Z:12.07 [[ 9.92524039e-01 -9.23287948e-02 -7.98212062e-02 1.02441928e+02] [ 9.26798361e-02 9.95695718e-01 6.96301359e-04 8.29172744e+01] [ 7.94133446e-02 -8.08891215e-03 9.96808954e-01 1.20672933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79804094199997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.47, Y:82.93, Z:12.06 [[ 9.92303351e-01 -9.29798926e-02 -8.17850836e-02 1.02469038e+02] [ 9.16073301e-02 9.95586516e-01 -2.03859514e-02 8.29315132e+01] [ 8.33196100e-02 1.27369347e-02 9.96441475e-01 1.20621140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82804094199997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.50, Y:82.92, Z:12.07 [[ 9.92429239e-01 -8.85491045e-02 -8.51073497e-02 1.02497310e+02] [ 8.88343250e-02 9.96046320e-01 -4.37425236e-04 8.29228565e+01] [ 8.48095960e-02 -7.12634036e-03 9.96371692e-01 1.20722400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:82.92, Z:12.08 [[ 9.92821926e-01 -8.87389401e-02 -8.01874245e-02 1.02523794e+02] [ 9.04697664e-02 9.95732729e-01 1.82086000e-02 8.29167742e+01] [ 7.82294312e-02 -2.53324348e-02 9.96613478e-01 1.20777314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:82.94, Z:12.07 [[ 9.93188697e-01 -8.69650179e-02 -7.75454561e-02 1.02552047e+02] [ 8.60297063e-02 9.96174655e-01 -1.53279747e-02 8.29362599e+01] [ 7.85818156e-02 8.55235844e-03 9.96870982e-01 1.20685166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91804094199998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.59, Y:82.95, Z:12.08 [[ 9.91910384e-01 -9.27769558e-02 -8.66384856e-02 1.02594475e+02] [ 9.11675957e-02 9.95584507e-01 -2.23597504e-02 8.29464200e+01] [ 8.83304036e-02 1.42802462e-02 9.95988863e-01 1.20751646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94804094199998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.61, Y:82.92, Z:12.09 [[ 9.93133457e-01 -8.22377091e-02 -8.32039383e-02 1.02612180e+02] [ 8.47635366e-02 9.96027354e-01 2.72883281e-02 8.29187062e+01] [ 8.06292689e-02 -3.41536117e-02 9.96158849e-01 1.20889561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.64, Y:82.95, Z:12.08 [[ 9.92884899e-01 -8.90043028e-02 -7.91063331e-02 1.02640167e+02] [ 8.74642189e-02 9.95908270e-01 -2.27316694e-02 8.29496183e+01] [ 8.08058677e-02 1.56509576e-02 9.96606973e-01 1.20820216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:82.93, Z:12.10 [[ 9.93103015e-01 -8.22681016e-02 -8.35365911e-02 1.02668091e+02] [ 8.35375958e-02 9.96434629e-01 1.18110268e-02 8.29321291e+01] [ 8.22670814e-02 -1.87080123e-02 9.96434713e-01 1.20965779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.70, Y:82.96, Z:12.09 [[ 9.92535304e-01 -8.69592808e-02 -8.55087899e-02 1.02699112e+02] [ 8.45036696e-02 9.95911237e-01 -3.19364766e-02 8.29584878e+01] [ 8.79363378e-02 2.44722740e-02 9.95825441e-01 1.20857041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:82.94, Z:12.10 [[ 9.93034029e-01 -8.01457770e-02 -8.63717052e-02 1.02726897e+02] [ 8.04532938e-02 9.96758377e-01 7.97012784e-05 8.29437664e+01] [ 8.60853330e-02 -7.02803426e-03 9.96262978e-01 1.20962950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:82.95, Z:12.10 [[ 9.93157889e-01 -7.92908176e-02 -8.57343256e-02 1.02754134e+02] [ 7.91096688e-02 9.96850671e-01 -5.51369767e-03 8.29479223e+01] [ 8.59015056e-02 -1.30644177e-03 9.96302778e-01 1.20978641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:82.95, Z:12.10 [[ 9.92778586e-01 -7.86564965e-02 -9.05750208e-02 1.02783615e+02] [ 7.78443489e-02 9.96887533e-01 -1.24700847e-02 8.29516336e+01] [ 9.12739623e-02 5.32927953e-03 9.95811560e-01 1.21006737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:82.95, Z:12.11 [[ 9.92857793e-01 -7.84833291e-02 -8.98541571e-02 1.02820198e+02] [ 7.91172935e-02 9.96859134e-01 3.51010992e-03 8.29454521e+01] [ 8.92964522e-02 -1.05940577e-02 9.95948748e-01 1.21104584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:82.96, Z:12.10 [[ 9.92971999e-01 -7.79385315e-02 -8.90628722e-02 1.02841187e+02] [ 7.67712909e-02 9.96912816e-01 -1.64622882e-02 8.29561748e+01] [ 9.00709653e-02 9.50911954e-03 9.95889953e-01 1.21023871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:82.95, Z:12.11 [[ 9.92737631e-01 -7.73562115e-02 -9.21304108e-02 1.02868052e+02] [ 7.64067045e-02 9.96981308e-01 -1.37944257e-02 8.29546526e+01] [ 9.29193820e-02 6.65486439e-03 9.95651395e-01 1.21056348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:82.95, Z:12.11 [[ 9.92918340e-01 -7.49484280e-02 -9.21732240e-02 1.02892853e+02] [ 7.53344718e-02 9.97158068e-01 7.11150084e-04 8.29451496e+01] [ 9.18579744e-02 -7.64993510e-03 9.95742733e-01 1.21118472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:82.95, Z:12.12 [[ 9.92820143e-01 -7.60423046e-02 -9.23348933e-02 1.02923359e+02] [ 7.60530511e-02 9.97097950e-01 -3.40743441e-03 8.29476974e+01] [ 9.23260421e-02 -3.63938084e-03 9.95722179e-01 1.21164378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:102.95, Y:82.95, Z:12.12 [[ 9.92594732e-01 -7.77687782e-02 -9.33151430e-02 1.02951937e+02] [ 7.67878920e-02 9.96948284e-01 -1.40619507e-02 8.29522678e+01] [ 9.41239524e-02 6.79234507e-03 9.95537315e-01 1.21157794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:82.95, Z:12.12 [[ 9.92442926e-01 -7.84479612e-02 -9.43554779e-02 1.02980612e+02] [ 7.79405713e-02 9.96916871e-01 -9.05646774e-03 8.29504506e+01] [ 9.47750292e-02 1.63390749e-03 9.95497375e-01 1.21193347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:82.94, Z:12.13 [[ 9.92937932e-01 -7.64997963e-02 -9.06754878e-02 1.03004944e+02] [ 7.74945510e-02 9.96964597e-01 7.49585904e-03 8.29436638e+01] [ 8.98268194e-02 -1.44697790e-02 9.95852282e-01 1.21255541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:82.95, Z:12.12 [[ 9.92534219e-01 -8.27359284e-02 -8.96135591e-02 1.03033764e+02] [ 8.28048160e-02 9.96561403e-01 -2.95512800e-03 8.29491205e+01] [ 8.95499094e-02 -4.48736861e-03 9.95972227e-01 1.21239162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:82.96, Z:12.13 [[ 9.91647603e-01 -8.44596376e-02 -9.74761615e-02 1.03060977e+02] [ 8.30288219e-02 9.96372616e-01 -1.86500767e-02 8.29565325e+01] [ 9.86977567e-02 1.04009730e-02 9.95063100e-01 1.21280114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:82.94, Z:12.13 [[ 9.92530408e-01 -8.23360606e-02 -9.00231259e-02 1.03089923e+02] [ 8.29601114e-02 9.96547711e-01 3.20607033e-03 8.29418097e+01] [ 8.94483648e-02 -1.06504508e-02 9.95934515e-01 1.21324275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:82.97, Z:12.12 [[ 9.91730161e-01 -8.93365487e-02 -9.21426561e-02 1.03120238e+02] [ 8.60608156e-02 9.95528631e-01 -3.89394627e-02 8.29652875e+01] [ 9.52093694e-02 3.06875675e-02 9.94984145e-01 1.21196968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:82.93, Z:12.14 [[ 9.91816141e-01 -8.23991178e-02 -9.75250098e-02 1.03148977e+02] [ 8.46095465e-02 9.96237870e-01 1.87438307e-02 8.29315497e+01] [ 9.56136329e-02 -2.68419806e-02 9.95056552e-01 1.21442467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:82.96, Z:12.13 [[ 9.91457072e-01 -8.97382487e-02 -9.46568647e-02 1.03177664e+02] [ 8.71988197e-02 9.95719629e-01 -3.06396085e-02 8.29594522e+01] [ 9.70012431e-02 2.21238896e-02 9.95038337e-01 1.21275234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:82.95, Z:12.14 [[ 9.91459111e-01 -8.84208392e-02 -9.58675514e-02 1.03207631e+02] [ 8.76668573e-02 9.96076883e-01 -1.20567336e-02 8.29500630e+01] [ 9.65575183e-02 3.54935142e-03 9.95321078e-01 1.21350527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:82.93, Z:12.15 [[ 9.91481491e-01 -8.13311417e-02 -1.01733467e-01 1.03232984e+02] [ 8.33251710e-02 9.96401860e-01 1.54999519e-02 8.29298498e+01] [ 1.00106787e-01 -2.38448739e-02 9.94690934e-01 1.21508806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:82.95, Z:12.14 [[ 9.91253576e-01 -8.84960060e-02 -9.79020156e-02 1.03266261e+02] [ 8.66487807e-02 9.95974079e-01 -2.29700506e-02 8.29522013e+01] [ 9.95406275e-02 1.42860545e-02 9.94930938e-01 1.21413261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:82.93, Z:12.16 [[ 9.91454766e-01 -8.35751760e-02 -1.00163050e-01 1.03294491e+02] [ 8.49461809e-02 9.96340305e-01 9.49431524e-03 8.29316681e+01] [ 9.90029951e-02 -1.79216527e-02 9.94925737e-01 1.21561065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:82.94, Z:12.16 [[ 9.90382683e-01 -8.83370545e-02 -1.06483362e-01 1.03333688e+02] [ 8.74726547e-02 9.96085064e-01 -1.27702412e-02 8.29431718e+01] [ 1.07194572e-01 3.33304335e-03 9.94232475e-01 1.21566241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:82.94, Z:12.16 [[ 9.90286489e-01 -8.84286373e-02 -1.07298866e-01 1.03363205e+02] [ 8.85932597e-02 9.96062614e-01 -3.24096226e-03 8.29411297e+01] [ 1.07162983e-01 -6.29647518e-03 9.94221529e-01 1.21623672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:82.95, Z:12.15 [[ 9.91455034e-01 -8.84746844e-02 -9.58600311e-02 1.03380624e+02] [ 8.76944731e-02 9.96071108e-01 -1.23299576e-02 8.29462428e+01] [ 9.65742964e-02 3.81820357e-03 9.95318455e-01 1.21518496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:82.95, Z:12.15 [[ 9.91365916e-01 -8.97340558e-02 -9.56107769e-02 1.03408753e+02] [ 8.88556751e-02 9.95954183e-01 -1.34139739e-02 8.29469893e+01] [ 9.64276434e-02 4.80259637e-03 9.95328410e-01 1.21525827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:82.95, Z:12.15 [[ 9.91207421e-01 -9.14106434e-02 -9.56657898e-02 1.03438922e+02] [ 9.00213764e-02 9.95763363e-01 -1.87476984e-02 8.29468764e+01] [ 9.69742277e-02 9.97089170e-03 9.95236947e-01 1.21534119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:82.92, Z:12.18 [[ 9.91233339e-01 -8.27734474e-02 -1.02980699e-01 1.03468552e+02] [ 8.60471940e-02 9.95904334e-01 2.77567777e-02 8.29168971e+01] [ 1.00261400e-01 -3.63746436e-02 9.94296001e-01 1.21812511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:82.95, Z:12.16 [[ 9.91335113e-01 -9.17820671e-02 -9.39720491e-02 1.03495111e+02] [ 8.99394786e-02 9.95665969e-01 -2.36678634e-02 8.29465101e+01] [ 9.57370568e-02 1.50109869e-02 9.95293467e-01 1.21608271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:82.92, Z:12.18 [[ 9.90998596e-01 -8.41361717e-02 -1.04129188e-01 1.03521114e+02] [ 8.58008061e-02 9.96244740e-01 1.16034700e-02 8.29184017e+01] [ 1.02761885e-01 -2.04333908e-02 9.94496089e-01 1.21848651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:82.94, Z:12.17 [[ 9.90631448e-01 -9.25363753e-02 -1.00430839e-01 1.03552687e+02] [ 9.09116127e-02 9.95644932e-01 -2.06457556e-02 8.29379361e+01] [ 1.01903939e-01 1.13220052e-02 9.94729812e-01 1.21726555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.968040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.58, Y:82.94, Z:12.17 [[ 9.90347739e-01 -9.68508125e-02 -9.91527881e-02 1.03584409e+02] [ 9.53280419e-02 9.95245113e-01 -1.99932550e-02 8.29363396e+01] [ 1.00617691e-01 1.03482337e-02 9.94871346e-01 1.21725656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.61, Y:82.92, Z:12.19 [[ 9.89770482e-01 -9.70165648e-02 -1.04604871e-01 1.03607614e+02] [ 9.83093870e-02 9.95129399e-01 7.26250648e-03 8.29239690e+01] [ 1.03390799e-01 -1.74718553e-02 9.94487344e-01 1.21916139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:82.92, Z:12.20 [[ 9.90311344e-01 -9.03599140e-02 -1.05444426e-01 1.03642252e+02] [ 9.15302205e-02 9.95782352e-01 6.30292295e-03 8.29154396e+01] [ 1.04430167e-01 -1.58932077e-02 9.94405222e-01 1.21952148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:82.94, Z:12.18 [[ 9.90149061e-01 -9.85594182e-02 -9.94528975e-02 1.03669897e+02] [ 9.63393686e-02 9.94985109e-01 -2.68953265e-02 8.29384089e+01] [ 1.01604940e-01 1.70491529e-02 9.94678723e-01 1.21805418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.70, Y:82.91, Z:12.20 [[ 9.90288239e-01 -8.99702052e-02 -1.05993233e-01 1.03702489e+02] [ 9.18921619e-02 9.95679057e-01 1.33808375e-02 8.29141744e+01] [ 1.04331365e-01 -2.29908333e-02 9.94276816e-01 1.22049631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:82.94, Z:12.19 [[ 9.90632808e-01 -9.20233022e-02 -1.00887814e-01 1.03726054e+02] [ 9.05749539e-02 9.95711161e-01 -1.88536954e-02 8.29368070e+01] [ 1.02190102e-01 9.53918014e-03 9.94719150e-01 1.21926445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:82.93, Z:12.20 [[ 9.90986778e-01 -9.01685845e-02 -9.90698376e-02 1.03754072e+02] [ 9.00447046e-02 9.95921239e-01 -5.73026934e-03 8.29338046e+01] [ 9.91824457e-02 -3.24209311e-03 9.95063984e-01 1.21974155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:82.94, Z:12.20 [[ 9.91041200e-01 -8.84310123e-02 -1.00086441e-01 1.03779376e+02] [ 8.78710904e-02 9.96081682e-01 -9.99776250e-03 8.29383265e+01] [ 1.00578383e-01 1.11348981e-03 9.94928515e-01 1.21984161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:82.94, Z:12.20 [[ 9.90593633e-01 -9.16529846e-02 -1.01607010e-01 1.03801261e+02] [ 9.15835999e-02 9.95782980e-01 -5.35741740e-03 8.29425220e+01] [ 1.01669555e-01 -3.99851220e-03 9.94810190e-01 1.22046784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:82.95, Z:12.20 [[ 9.90893303e-01 -9.04977503e-02 -9.97026581e-02 1.03835361e+02] [ 8.93348989e-02 9.95871899e-01 -1.60759355e-02 8.29463871e+01] [ 1.00745911e-01 7.02260991e-03 9.94887403e-01 1.22002732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:82.95, Z:12.20 [[ 9.90931305e-01 -9.03981460e-02 -9.94149111e-02 1.03857996e+02] [ 8.96098533e-02 9.95900056e-01 -1.23755048e-02 8.29479591e+01] [ 1.00126038e-01 3.35471956e-03 9.94969106e-01 1.22013447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:82.95, Z:12.20 [[ 9.90503872e-01 -9.37097484e-02 -1.00601006e-01 1.03891564e+02] [ 9.28591093e-02 9.95592871e-01 -1.31156751e-02 8.29522506e+01] [ 1.01386711e-01 3.64940723e-03 9.94840398e-01 1.22043206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:82.96, Z:12.21 [[ 9.90077793e-01 -9.68176963e-02 -1.01844474e-01 1.03914941e+02] [ 9.61216362e-02 9.95300457e-01 -1.17316130e-02 8.29558553e+01] [ 1.02501679e-01 1.82575199e-03 9.94731156e-01 1.22067973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35804094199997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.94, Y:82.96, Z:12.21 [[ 9.90024510e-01 -9.81012326e-02 -1.01131688e-01 1.03942222e+02] [ 9.77311344e-02 9.95175525e-01 -8.61972390e-03 8.29578286e+01] [ 1.01489386e-01 -1.34997667e-03 9.94835706e-01 1.22098438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.98, Y:82.96, Z:12.22 [[ 9.89555951e-01 -1.03120728e-01 -1.00723059e-01 1.03975472e+02] [ 1.03075510e-01 9.94657390e-01 -5.66711966e-03 8.29598721e+01] [ 1.00769332e-01 -4.77414869e-03 9.94898361e-01 1.22150166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:82.97, Z:12.21 [[ 9.89443018e-01 -1.06662116e-01 -9.81106919e-02 1.04003172e+02] [ 1.05682179e-01 9.94284602e-01 -1.51462142e-02 8.29678079e+01] [ 9.91654775e-02 4.61776420e-03 9.95060242e-01 1.22125385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:82.97, Z:12.22 [[ 9.89284059e-01 -1.08986747e-01 -9.71542050e-02 1.04031342e+02] [ 1.08342722e-01 9.94042427e-01 -1.18957488e-02 8.29692963e+01] [ 9.78718806e-02 1.24232355e-03 9.95198247e-01 1.22156795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:82.97, Z:12.22 [[ 9.89128427e-01 -1.11589170e-01 -9.57747961e-02 1.04058077e+02] [ 1.11415847e-01 9.93747989e-01 -7.17236144e-03 8.29705726e+01] [ 9.59763689e-02 -3.57644344e-03 9.95377188e-01 1.22200407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:82.98, Z:12.22 [[ 9.89109448e-01 -1.13008647e-01 -9.42949893e-02 1.04083896e+02] [ 1.12591791e-01 9.93593525e-01 -9.74660090e-03 8.29770987e+01] [ 9.47923410e-02 -9.76386660e-04 9.95496589e-01 1.22202184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:82.98, Z:12.23 [[ 9.89133916e-01 -1.11967551e-01 -9.52751976e-02 1.04112862e+02] [ 1.11956091e-01 9.93698029e-01 -5.48273158e-03 8.29782805e+01] [ 9.52886641e-02 -5.24348293e-03 9.95435873e-01 1.22252870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:82.98, Z:12.22 [[ 9.89223951e-01 -1.12237708e-01 -9.40142063e-02 1.04140633e+02] [ 1.11707972e-01 9.93681348e-01 -1.08953245e-02 8.29847084e+01] [ 9.46430295e-02 2.75779531e-04 9.95511236e-01 1.22247733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:82.98, Z:12.23 [[ 9.89367998e-01 -1.09238467e-01 -9.60100086e-02 1.04169671e+02] [ 1.09527640e-01 9.93981161e-01 -2.26889795e-03 8.29816307e+01] [ 9.56799907e-02 -8.27097461e-03 9.95377783e-01 1.22335166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:82.99, Z:12.23 [[ 9.89412365e-01 -1.09081693e-01 -9.57306396e-02 1.04196159e+02] [ 1.08820818e-01 9.94029532e-01 -7.95733896e-03 8.29871791e+01] [ 9.60270829e-02 -2.54439700e-03 9.95375470e-01 1.22345915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:82.98, Z:12.26 [[ 9.89066220e-01 -1.05418172e-01 -1.03126240e-01 1.04220184e+02] [ 1.07678768e-01 9.94047324e-01 1.65891789e-02 8.29784330e+01] [ 1.00763562e-01 -2.75123028e-02 9.94529928e-01 1.22571536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:82.99, Z:12.25 [[ 9.89156063e-01 -1.06903894e-01 -1.00706710e-01 1.04246921e+02] [ 1.06498543e-01 9.94268346e-01 -9.40828751e-03 8.29944637e+01] [ 1.01135277e-01 -1.41885330e-03 9.94871671e-01 1.22503014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:83.00, Z:12.25 [[ 9.89313623e-01 -1.05975284e-01 -1.00138876e-01 1.04274933e+02] [ 1.05568411e-01 9.94367910e-01 -9.36853510e-03 8.29969788e+01] [ 1.00567718e-01 -1.30308260e-03 9.94929362e-01 1.22525963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:83.00, Z:12.26 [[ 9.89323607e-01 -1.05776302e-01 -1.00250558e-01 1.04302945e+02] [ 1.05364606e-01 9.94389158e-01 -9.40758470e-03 8.29990853e+01] [ 1.00683168e-01 -1.25571493e-03 9.94917747e-01 1.22552956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:83.01, Z:12.24 [[ 9.89732048e-01 -1.05841442e-01 -9.60628076e-02 1.04336910e+02] [ 1.03668350e-01 9.94235772e-01 -2.73514799e-02 8.30084390e+01] [ 9.84039997e-02 1.71119635e-02 9.94999414e-01 1.22438252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:82.99, Z:12.27 [[ 9.89257810e-01 -1.05033028e-01 -1.01671278e-01 1.04359548e+02] [ 1.06585832e-01 9.94253743e-01 9.94760661e-03 8.29925600e+01] [ 1.00042221e-01 -2.06774653e-02 9.94768313e-01 1.22677171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:83.02, Z:12.24 [[ 9.89752674e-01 -1.09305241e-01 -9.18804050e-02 1.04390203e+02] [ 1.06107469e-01 9.93589123e-01 -3.90110143e-02 8.30195892e+01] [ 9.55554794e-02 2.88620585e-02 9.95005594e-01 1.22424207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:83.00, Z:12.27 [[ 9.88731472e-01 -1.07524417e-01 -1.04156500e-01 1.04415074e+02] [ 1.08087069e-01 9.94141401e-01 -2.43747743e-04 8.30013810e+01] [ 1.03572498e-01 -1.10169697e-02 9.94560890e-01 1.22673420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:83.02, Z:12.25 [[ 9.89562114e-01 -1.10851503e-01 -9.20802207e-02 1.04447249e+02] [ 1.09265107e-01 9.93766708e-01 -2.21103205e-02 8.30159489e+01] [ 9.39572201e-02 1.18183804e-02 9.95506086e-01 1.22523080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:83.00, Z:12.27 [[ 9.89449212e-01 -1.06006085e-01 -9.87571102e-02 1.04480139e+02] [ 1.06657115e-01 9.94294984e-01 1.32121504e-03 8.30025056e+01] [ 9.80536425e-02 -1.18404236e-02 9.95110691e-01 1.22691770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:83.02, Z:12.26 [[ 9.89564332e-01 -1.10830617e-01 -9.20815261e-02 1.04503457e+02] [ 1.09264092e-01 9.93771507e-01 -2.18986403e-02 8.30199808e+01] [ 9.39350367e-02 1.16089090e-02 9.95510644e-01 1.22579918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:83.00, Z:12.28 [[ 9.89363325e-01 -1.04225019e-01 -1.01475891e-01 1.04534398e+02] [ 1.06171992e-01 9.94249729e-01 1.39636945e-02 8.29989087e+01] [ 9.94370110e-02 -2.45890647e-02 9.94739996e-01 1.22816769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:83.01, Z:12.29 [[ 9.88936879e-01 -1.07005399e-01 -1.02731172e-01 1.04557216e+02] [ 1.08020462e-01 9.94139142e-01 4.35275184e-03 8.30083888e+01] [ 1.01663311e-01 -1.54016655e-02 9.94699633e-01 1.22875151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.59, Y:83.03, Z:12.27 [[ 9.89281690e-01 -1.10307386e-01 -9.56766406e-02 1.04590566e+02] [ 1.07962396e-01 9.93721191e-01 -2.93652115e-02 8.30265703e+01] [ 9.83151050e-02 1.87209867e-02 9.94979228e-01 1.22699186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:83.02, Z:12.27 [[ 9.89388245e-01 -1.11467197e-01 -9.31985252e-02 1.04617189e+02] [ 1.10499889e-01 9.93755388e-01 -1.54920552e-02 8.30239341e+01] [ 9.43433925e-02 5.02923066e-03 9.95527012e-01 1.22741279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:83.02, Z:12.29 [[ 9.89235571e-01 -1.09614763e-01 -9.69411656e-02 1.04646768e+02] [ 1.10042770e-01 9.93926412e-01 -9.36498550e-04 8.30178069e+01] [ 9.64550389e-02 -9.74125671e-03 9.95289673e-01 1.22858391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:83.02, Z:12.29 [[ 9.89159515e-01 -1.10586008e-01 -9.66136028e-02 1.04674605e+02] [ 1.10270953e-01 9.93864262e-01 -8.61078480e-03 8.30245352e+01] [ 9.69730393e-02 -2.13623428e-03 9.95284716e-01 1.22863987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:83.02, Z:12.30 [[ 9.88785734e-01 -1.08226635e-01 -1.02906602e-01 1.04698695e+02] [ 1.09859673e-01 9.93893538e-01 1.03193011e-02 8.30173858e+01] [ 1.01161384e-01 -2.15088633e-02 9.94637493e-01 1.23049443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:83.04, Z:12.29 [[ 9.89117732e-01 -1.12137863e-01 -9.52429138e-02 1.04728940e+02] [ 1.09964155e-01 9.93546997e-01 -2.77893793e-02 8.30397595e+01] [ 9.77445526e-02 1.70136613e-02 9.95066097e-01 1.22853777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:83.02, Z:12.31 [[ 9.89011706e-01 -1.07051451e-01 -1.01959952e-01 1.04754328e+02] [ 1.08527660e-01 9.94052446e-01 9.02677037e-03 8.30231978e+01] [ 1.00387210e-01 -1.99930565e-02 9.94747549e-01 1.23106496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:83.04, Z:12.29 [[ 9.89379581e-01 -1.10305472e-01 -9.46612287e-02 1.04784128e+02] [ 1.08355737e-01 9.93784785e-01 -2.55114563e-02 8.30446897e+01] [ 9.68869420e-02 1.49834267e-02 9.95182605e-01 1.22941104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:83.03, Z:12.32 [[ 9.89192606e-01 -1.06406569e-01 -1.00874333e-01 1.04809636e+02] [ 1.07628540e-01 9.94168370e-01 6.73423169e-03 8.30306900e+01] [ 9.95695046e-02 -1.75184094e-02 9.94876384e-01 1.23165962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:83.03, Z:12.32 [[ 9.89323038e-01 -1.04312141e-01 -1.01778701e-01 1.04841727e+02] [ 1.05019108e-01 9.94468920e-01 1.59797913e-03 8.30329605e+01] [ 1.01049066e-01 -1.22696259e-02 9.94805781e-01 1.23212676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:83.06, Z:12.30 [[ 9.89487845e-01 -1.11227952e-01 -9.24237366e-02 1.04866767e+02] [ 1.08587479e-01 9.93534390e-01 -3.31387179e-02 8.30585344e+01] [ 9.55121125e-02 2.27542980e-02 9.95168166e-01 1.23025042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:104.89, Y:83.04, Z:12.33 [[ 9.89226442e-01 -1.07968208e-01 -9.88631005e-02 1.04893463e+02] [ 1.08969826e-01 9.94033602e-01 4.77231944e-03 8.30416330e+01] [ 9.77579851e-02 -1.54939994e-02 9.95089600e-01 1.23255889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:83.05, Z:12.32 [[ 9.88875932e-01 -1.12710137e-01 -9.70608866e-02 1.04920989e+02] [ 1.12310597e-01 9.93626896e-01 -9.58755515e-03 8.30528164e+01] [ 9.75229221e-02 -1.42006363e-03 9.95232266e-01 1.23232786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:83.05, Z:12.33 [[ 9.88739254e-01 -1.11551742e-01 -9.97541816e-02 1.04952848e+02] [ 1.11875448e-01 9.93719433e-01 -2.36067343e-03 8.30496579e+01] [ 9.93910060e-02 -8.82595324e-03 9.95009312e-01 1.23308487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:83.06, Z:12.33 [[ 9.88442430e-01 -1.14791792e-01 -9.90172100e-02 1.04980575e+02] [ 1.14289669e-01 9.93389331e-01 -1.07474602e-02 8.30577330e+01] [ 9.95963603e-02 -6.93398529e-04 9.95027680e-01 1.23301843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.498040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:105.01, Y:83.06, Z:12.33 [[ 9.88060289e-01 -1.18459259e-01 -9.85102446e-02 1.05007986e+02] [ 1.17789946e-01 9.92958550e-01 -1.26034268e-02 8.30630127e+01] [ 9.93095822e-02 8.49429226e-04 9.95056222e-01 1.23324425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:105.04, Y:83.07, Z:12.34 [[ 9.87769878e-01 -1.19339111e-01 -1.00343635e-01 1.05037062e+02] [ 1.18753474e-01 9.92853521e-01 -1.18109330e-02 8.30658042e+01] [ 1.01036038e-01 -2.49671361e-04 9.94882735e-01 1.23369366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.558040942 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:105.06, Y:83.07, Z:12.34 [[ 9.87832826e-01 -1.20396126e-01 -9.84432851e-02 1.05060737e+02] [ 1.20179355e-01 9.92718736e-01 -8.15065531e-03 8.30690410e+01] [ 9.87078009e-02 -3.77936568e-03 9.95109284e-01 1.23419009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:83.07, Z:12.35 [[ 9.87370849e-01 -1.22564325e-01 -1.00383229e-01 1.05094412e+02] [ 1.23096341e-01 9.92394317e-01 -9.00554026e-04 8.30697417e+01] [ 9.97301219e-02 -1.14676274e-02 9.94948439e-01 1.23490710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:83.08, Z:12.35 [[ 9.87313129e-01 -1.23761123e-01 -9.94784885e-02 1.05122588e+02] [ 1.23521783e-01 9.92304721e-01 -8.58546502e-03 8.30766908e+01] [ 9.97755206e-02 -3.81121790e-03 9.95002673e-01 1.23490196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:83.09, Z:12.35 [[ 9.87191596e-01 -1.26234949e-01 -9.75576245e-02 1.05150158e+02] [ 1.25330651e-01 9.91996005e-01 -1.53673152e-02 8.30877359e+01] [ 9.87166660e-02 2.94352378e-03 9.95111228e-01 1.23468150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.678040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:105.18, Y:83.09, Z:12.35 [[ 9.87191470e-01 -1.25032374e-01 -9.90954450e-02 1.05178272e+02] [ 1.24928890e-01 9.92139037e-01 -7.27344278e-03 8.30882383e+01] [ 9.92258752e-02 -5.19960325e-03 9.95051350e-01 1.23525279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:83.10, Z:12.35 [[ 9.87182937e-01 -1.26922164e-01 -9.67502601e-02 1.05205667e+02] [ 1.25966359e-01 9.91906302e-01 -1.59488359e-02 8.30990959e+01] [ 9.79914534e-02 3.55714062e-03 9.95180899e-01 1.23494831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:83.11, Z:12.35 [[ 9.87515663e-01 -1.24999847e-01 -9.58532940e-02 1.05231915e+02] [ 1.24297091e-01 9.92156022e-01 -1.32914246e-02 8.31055338e+01] [ 9.67628489e-02 1.21120438e-03 9.95306729e-01 1.23504585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:83.11, Z:12.35 [[ 9.87687243e-01 -1.25203151e-01 -9.37980833e-02 1.05259717e+02] [ 1.24340460e-01 9.92126089e-01 -1.50091212e-02 8.31131246e+01] [ 9.49387148e-02 3.16142070e-03 9.95478099e-01 1.23501999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:83.12, Z:12.35 [[ 9.87980962e-01 -1.23064183e-01 -9.35351558e-02 1.05287494e+02] [ 1.22626912e-01 9.92398030e-01 -1.04302817e-02 8.31185379e+01] [ 9.41076985e-02 -1.16500759e-03 9.95561341e-01 1.23534365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:83.12, Z:12.37 [[ 9.87583268e-01 -1.21787637e-01 -9.92323588e-02 1.05310696e+02] [ 1.23139810e-01 9.92360274e-01 7.59432883e-03 8.31157794e+01] [ 9.75493554e-02 -1.97194859e-02 9.95035309e-01 1.23691292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.34, Y:83.13, Z:12.36 [[ 9.88329664e-01 -1.18834427e-01 -9.53040105e-02 1.05344344e+02] [ 1.18110187e-01 9.92912427e-01 -1.32248088e-02 8.31305519e+01] [ 9.62000989e-02 1.81409634e-03 9.95360362e-01 1.23625636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:83.14, Z:12.36 [[ 9.88487802e-01 -1.18963980e-01 -9.34849569e-02 1.05369871e+02] [ 1.18060342e-01 9.92890728e-01 -1.51577873e-02 8.31378850e+01] [ 9.46235776e-02 3.94642186e-03 9.95505301e-01 1.23616924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:83.14, Z:12.37 [[ 9.88576888e-01 -1.17256879e-01 -9.46919278e-02 1.05397217e+02] [ 1.16970625e-01 9.93098249e-01 -8.58725855e-03 8.31412600e+01] [ 9.50453028e-02 -2.58700869e-03 9.95469587e-01 1.23658797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.42, Y:83.14, Z:12.38 [[ 9.88156646e-01 -1.19038006e-01 -9.68317918e-02 1.05421347e+02] [ 1.19735525e-01 9.92804831e-01 1.40395610e-03 8.31439658e+01] [ 9.59679466e-02 -1.29815340e-02 9.95299770e-01 1.23760038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:83.14, Z:12.38 [[ 9.88546675e-01 -1.13129990e-01 -9.98853150e-02 1.05457927e+02] [ 1.14114987e-01 9.93458734e-01 4.18494138e-03 8.31428682e+01] [ 9.87584962e-02 -1.55354213e-02 9.94990156e-01 1.23839485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:83.16, Z:12.37 [[ 9.88534533e-01 -1.19163555e-01 -9.27336214e-02 1.05483807e+02] [ 1.17538009e-01 9.92806217e-01 -2.28173625e-02 8.31643014e+01] [ 9.47855139e-02 1.16560255e-02 9.95429477e-01 1.23718028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:83.16, Z:12.38 [[ 9.88467037e-01 -1.17478113e-01 -9.55605014e-02 1.05509067e+02] [ 1.16712157e-01 9.93072865e-01 -1.35851698e-02 8.31630662e+01] [ 9.64945010e-02 2.27542029e-03 9.95330917e-01 1.23772453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:83.17, Z:12.38 [[ 9.88068975e-01 -1.22121705e-01 -9.38402332e-02 1.05538717e+02] [ 1.21828351e-01 9.92511547e-01 -8.87027216e-03 8.31665940e+01] [ 9.42207678e-02 -2.66796016e-03 9.95547753e-01 1.23796518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:83.17, Z:12.38 [[ 9.87824309e-01 -1.24078862e-01 -9.38486566e-02 1.05567439e+02] [ 1.23929541e-01 9.92263125e-01 -7.44034187e-03 8.31696117e+01] [ 9.40457505e-02 -4.28087042e-03 9.95558673e-01 1.23826139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:83.16, Z:12.40 [[ 9.87046429e-01 -1.21468578e-01 -1.04808070e-01 1.05600247e+02] [ 1.23413805e-01 9.92279629e-01 1.22544045e-02 8.31588034e+01] [ 1.02510388e-01 -2.50304290e-02 9.94416964e-01 1.24026314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:83.19, Z:12.38 [[ 9.86423101e-01 -1.34796114e-01 -9.38055076e-02 1.05614071e+02] [ 1.33117217e-01 9.90810654e-01 -2.39594424e-02 8.31907094e+01] [ 9.61731360e-02 1.11470194e-02 9.95302201e-01 1.23836360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:83.17, Z:12.40 [[ 9.86514153e-01 -1.26602523e-01 -1.03738260e-01 1.05654099e+02] [ 1.27974653e-01 9.91755128e-01 6.65236158e-03 8.31698786e+01] [ 1.02040746e-01 -1.98385167e-02 9.94582384e-01 1.24022548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:83.19, Z:12.39 [[ 9.85981147e-01 -1.34456148e-01 -9.88064923e-02 1.05681607e+02] [ 1.32599347e-01 9.90850462e-01 -2.51550277e-02 8.31937188e+01] [ 1.01284707e-01 1.17007067e-02 9.94788672e-01 1.23887045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:83.20, Z:12.38 [[ 9.85936625e-01 -1.37604155e-01 -9.48370649e-02 1.05705018e+02] [ 1.36212709e-01 9.90456510e-01 -2.10237764e-02 8.31994880e+01] [ 9.68249474e-02 7.81009766e-03 9.95270783e-01 1.23848539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:83.19, Z:12.40 [[ 9.85484353e-01 -1.37502898e-01 -9.95667758e-02 1.05726901e+02] [ 1.39004948e-01 9.90257107e-01 8.27563639e-03 8.31924252e+01] [ 9.74587834e-02 -2.19957846e-02 9.94996468e-01 1.24027965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:83.22, Z:12.38 [[ 9.86145415e-01 -1.40538895e-01 -8.81251399e-02 1.05761481e+02] [ 1.36771816e-01 9.89465521e-01 -4.74494824e-02 8.32237214e+01] [ 9.38652853e-02 3.47390541e-02 9.94978646e-01 1.23787123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.338040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.77, Y:83.28, Z:12.33 [[ 9.85216357e-01 -1.60460184e-01 -6.00104947e-02 1.05766965e+02] [ 1.53360733e-01 9.82197540e-01 -1.08482612e-01 8.32828923e+01] [ 7.63493002e-02 9.76755906e-02 9.92285374e-01 1.23322925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:83.25, Z:12.35 [[ 9.85904671e-01 -1.51298138e-01 -7.14202583e-02 1.05805150e+02] [ 1.48602798e-01 9.88018035e-01 -4.16841887e-02 8.32502441e+01] [ 7.68712433e-02 3.04833862e-02 9.96574922e-01 1.23513396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:83.14, Z:12.47 [[ 0.98585349 -0.11044479 -0.12607477 105.84966258] [ 0.12869586 0.98069299 0.14723666 83.14099749] [ 0.10737913 -0.16137907 0.98103339 12.46645249] [ 0. 0. 0. 1. ]] SLAMing on 173.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:83.33, Z:12.33 [[ 9.84831240e-01 -1.61928291e-01 -6.23430655e-02 1.05853543e+02] [ 1.49675914e-01 9.74554185e-01 -1.66857008e-01 8.33285645e+01] [ 8.77755654e-02 1.54994738e-01 9.84008171e-01 1.23343715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:83.16, Z:12.45 [[ 9.87038641e-01 -1.11288862e-01 -1.15626596e-01 1.05912959e+02] [ 1.23938122e-01 9.86321566e-01 1.08669730e-01 8.31618277e+01] [ 1.01951274e-01 -1.21591765e-01 9.87330431e-01 1.24511241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:83.30, Z:12.36 [[ 9.85530742e-01 -1.52464423e-01 -7.40523867e-02 1.05926426e+02] [ 1.43374051e-01 9.82898594e-01 -1.15560524e-01 8.33030247e+01] [ 9.04048554e-02 1.03271258e-01 9.90536223e-01 1.23600012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:83.26, Z:12.38 [[ 9.86195016e-01 -1.44078123e-01 -8.16142487e-02 1.05952192e+02] [ 1.42282951e-01 9.89445855e-01 -2.74310465e-02 8.32571589e+01] [ 8.47050937e-02 1.54400452e-02 9.96286431e-01 1.23825568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.98, Y:83.26, Z:12.38 [[ 9.86693257e-01 -1.41502263e-01 -8.00844932e-02 1.05981175e+02] [ 1.40077589e-01 9.89869511e-01 -2.31650837e-02 8.32611925e+01] [ 8.25511099e-02 1.16387892e-02 9.96518867e-01 1.23846027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:83.16, Z:12.49 [[ 9.87618902e-01 -9.72588731e-02 -1.23083777e-01 1.06030127e+02] [ 1.13862862e-01 9.84147707e-01 1.35972572e-01 8.31591738e+01] [ 1.07908078e-01 -1.48303753e-01 9.83037051e-01 1.24868262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:83.34, Z:12.37 [[ 9.86071640e-01 -1.52128065e-01 -6.72292565e-02 1.06034231e+02] [ 1.40738476e-01 9.78596378e-01 -1.50139306e-01 8.33370487e+01] [ 8.86307089e-02 1.38586368e-01 9.86376407e-01 1.23689314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.07, Y:83.27, Z:12.40 [[ 9.87694337e-01 -1.33448710e-01 -8.15557364e-02 1.06074241e+02] [ 1.30822666e-01 9.90724023e-01 -3.67605882e-02 8.32741455e+01] [ 8.57048803e-02 2.56388859e-02 9.95990623e-01 1.23990621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:83.26, Z:12.41 [[ 9.88347860e-01 -1.24676670e-01 -8.73168748e-02 1.06108862e+02] [ 1.23885922e-01 9.92191415e-01 -1.44386235e-02 8.32645468e+01] [ 8.84352130e-02 3.45305103e-03 9.96075946e-01 1.24105009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:83.17, Z:12.51 [[ 9.86958672e-01 -8.83911541e-02 -1.34534694e-01 1.06147305e+02] [ 1.07418034e-01 9.84098493e-01 1.41462088e-01 8.31740898e+01] [ 1.19891392e-01 -1.54068687e-01 9.80759345e-01 1.25126129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.19, Y:83.25, Z:12.46 [[ 9.86814469e-01 -1.03526417e-01 -1.24416575e-01 1.06186627e+02] [ 1.01682815e-01 9.94593182e-01 -2.10952193e-02 8.32497505e+01] [ 1.25927790e-01 8.16604000e-03 9.92005800e-01 1.24640436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:83.25, Z:12.46 [[ 9.87434958e-01 -1.04835360e-01 -1.18244454e-01 1.06212411e+02] [ 1.03809468e-01 9.94486796e-01 -1.48191637e-02 8.32494395e+01] [ 1.19146121e-01 2.35806640e-03 9.92873930e-01 1.24642058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:83.33, Z:12.41 [[ 9.87018276e-01 -1.36699388e-01 -8.43101456e-02 1.06226298e+02] [ 1.26463644e-01 9.85083605e-01 -1.16692924e-01 8.33261685e+01] [ 9.90043935e-02 1.04515881e-01 9.89583024e-01 1.24104746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:83.27, Z:12.44 [[ 9.87367469e-01 -1.29032589e-01 -9.19569058e-02 1.06258010e+02] [ 1.27608260e-01 9.91597432e-01 -2.12288510e-02 8.32732309e+01] [ 9.39234453e-02 9.22621616e-03 9.95536671e-01 1.24367759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.29, Y:83.27, Z:12.44 [[ 9.87055903e-01 -1.29970734e-01 -9.39587772e-02 1.06286918e+02] [ 1.28724438e-01 9.91493906e-01 -1.92315698e-02 8.32737046e+01] [ 9.56590962e-02 6.88784375e-03 9.95390323e-01 1.24412762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:83.28, Z:12.44 [[ 9.86600980e-01 -1.35550343e-01 -9.07998430e-02 1.06312380e+02] [ 1.33707995e-01 9.90676940e-01 -2.61031296e-02 8.32818838e+01] [ 9.34915988e-02 1.36127083e-02 9.95527004e-01 1.24392592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.34, Y:83.29, Z:12.44 [[ 9.85898746e-01 -1.41863752e-01 -8.87600039e-02 1.06340147e+02] [ 1.40206167e-01 9.89814925e-01 -2.46707392e-02 8.32859653e+01] [ 9.13558602e-02 1.18781509e-02 9.95747466e-01 1.24381021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:83.29, Z:12.44 [[ 9.85673558e-01 -1.40596860e-01 -9.31673817e-02 1.06374052e+02] [ 1.39021183e-01 9.90017033e-01 -2.32246787e-02 8.32859197e+01] [ 9.55026117e-02 9.93971206e-03 9.95379552e-01 1.24443594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.41, Y:83.27, Z:12.46 [[ 9.85371472e-01 -1.36562904e-01 -1.01949186e-01 1.06405094e+02] [ 1.36450641e-01 9.90613697e-01 -8.10711326e-03 8.32748460e+01] [ 1.02099391e-01 -5.92251367e-03 9.94756572e-01 1.24596929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:83.19, Z:12.54 [[ 9.85244074e-01 -1.00376902e-01 -1.38631136e-01 1.06453924e+02] [ 1.17820552e-01 9.85268419e-01 1.23953457e-01 8.31898051e+01] [ 1.24146816e-01 -1.38458005e-01 9.82556334e-01 1.25445281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:83.27, Z:12.50 [[ 9.84529031e-01 -1.21021637e-01 -1.26713654e-01 1.06482298e+02] [ 1.18651544e-01 9.92592443e-01 -2.61161515e-02 8.32708887e+01] [ 1.28935635e-01 1.06773386e-02 9.91595480e-01 1.25000677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:83.35, Z:12.45 [[ 9.84008725e-01 -1.51295016e-01 -9.40034393e-02 1.06484036e+02] [ 1.39238432e-01 9.82493869e-01 -1.23767751e-01 8.33462579e+01] [ 1.11083247e-01 1.08699655e-01 9.87848621e-01 1.24453754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.54, Y:83.20, Z:12.56 [[ 9.84545395e-01 -9.21297970e-02 -1.48937792e-01 1.06542416e+02] [ 1.09831975e-01 9.87233407e-01 1.15356563e-01 8.31984148e+01] [ 1.36408587e-01 -1.29931904e-01 9.82094903e-01 1.25644129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:83.26, Z:12.53 [[ 9.84087190e-01 -1.09395471e-01 -1.40017979e-01 1.06571788e+02] [ 1.09248224e-01 9.93975891e-01 -8.76089467e-03 8.32630874e+01] [ 1.40132898e-01 -6.67523133e-03 9.90110202e-01 1.25275504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:83.27, Z:12.53 [[ 9.83614824e-01 -1.14486332e-01 -1.39265062e-01 1.06587867e+02] [ 1.14636237e-01 9.93383074e-01 -6.97147586e-03 8.32717082e+01] [ 1.39141694e-01 -9.10757558e-03 9.90230600e-01 1.25318081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:83.28, Z:12.53 [[ 9.83835039e-01 -1.14453898e-01 -1.37727705e-01 1.06614722e+02] [ 1.13692165e-01 9.93425504e-01 -1.34111397e-02 8.32768248e+01] [ 1.38357172e-01 -2.46421180e-03 9.90379332e-01 1.25340965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:83.27, Z:12.54 [[ 9.84527460e-01 -1.08525937e-01 -1.37578346e-01 1.06653134e+02] [ 1.07436087e-01 9.94093564e-01 -1.53451268e-02 8.32734671e+01] [ 1.38431092e-01 3.26819577e-04 9.90372014e-01 1.25378905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:83.29, Z:12.53 [[ 9.84898314e-01 -1.11498670e-01 -1.32451343e-01 1.06677079e+02] [ 1.09020399e-01 9.93703586e-01 -2.58405921e-02 8.32850992e+01] [ 1.34498566e-01 1.10104574e-02 9.90852616e-01 1.25316207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:83.27, Z:12.55 [[ 9.84171342e-01 -1.08220857e-01 -1.40338930e-01 1.06696720e+02] [ 1.10577039e-01 9.93826093e-01 9.07831477e-03 8.32724525e+01] [ 1.38490028e-01 -2.44528806e-02 9.90061902e-01 1.25528367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:83.29, Z:12.54 [[ 9.84740028e-01 -1.09135655e-01 -1.35559901e-01 1.06732799e+02] [ 1.06637538e-01 9.93968942e-01 -2.55768817e-02 8.32885680e+01] [ 1.37533681e-01 1.07308050e-02 9.90438961e-01 1.25420229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:83.27, Z:12.56 [[ 9.84538217e-01 -1.01156087e-01 -1.43010299e-01 1.06761816e+02] [ 1.03166129e-01 9.94641631e-01 6.69141217e-03 8.32710625e+01] [ 1.41567120e-01 -2.13417699e-02 9.89698580e-01 1.25641883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:83.29, Z:12.56 [[ 9.84643456e-01 -1.06460916e-01 -1.38359449e-01 1.06788478e+02] [ 1.05005759e-01 9.94312381e-01 -1.77954868e-02 8.32876881e+01] [ 1.39467037e-01 2.99367073e-03 9.90222189e-01 1.25559169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:83.28, Z:12.57 [[ 9.84324861e-01 -1.06303919e-01 -1.40726847e-01 1.06816505e+02] [ 1.06623977e-01 9.94285367e-01 -5.28541389e-03 8.32824996e+01] [ 1.40484505e-01 -9.80229178e-03 9.90034352e-01 1.25667750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:83.29, Z:12.57 [[ 9.83844151e-01 -1.09427822e-01 -1.41690646e-01 1.06843424e+02] [ 1.07764766e-01 9.93987485e-01 -1.93813104e-02 8.32920092e+01] [ 1.42959583e-01 3.79892954e-03 9.89721236e-01 1.25663780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.87, Y:83.29, Z:12.57 [[ 9.84104983e-01 -1.10313747e-01 -1.39169898e-01 1.06869313e+02] [ 1.09980838e-01 9.93882348e-01 -1.01041635e-02 8.32900084e+01] [ 1.39433134e-01 -5.36246437e-03 9.90216969e-01 1.25703622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:83.29, Z:12.58 [[ 9.83780818e-01 -1.10831701e-01 -1.41037710e-01 1.06899339e+02] [ 1.11333296e-01 9.93773587e-01 -4.35384482e-03 8.32891622e+01] [ 1.40642095e-01 -1.14189641e-02 9.89994651e-01 1.25791395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:83.29, Z:12.58 [[ 9.83688899e-01 -1.13218142e-01 -1.39777692e-01 1.06927587e+02] [ 1.12773286e-01 9.93558465e-01 -1.11249081e-02 8.32945363e+01] [ 1.40136851e-01 -4.81974108e-03 9.90120413e-01 1.25817821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:83.30, Z:12.59 [[ 9.83635177e-01 -1.13882670e-01 -1.39615813e-01 1.06955743e+02] [ 1.13362893e-01 9.93484803e-01 -1.16961889e-02 8.32979098e+01] [ 1.40038181e-01 -4.32246956e-03 9.90136669e-01 1.25856724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.99, Y:83.30, Z:12.59 [[ 9.83426936e-01 -1.12954658e-01 -1.41819275e-01 1.06985859e+02] [ 1.13075721e-01 9.93560059e-01 -7.23122532e-03 8.32962851e+01] [ 1.41722768e-01 -8.92493505e-03 9.89866154e-01 1.25942010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:83.29, Z:12.61 [[ 9.83008218e-01 -1.09940728e-01 -1.46996187e-01 1.07015531e+02] [ 1.12406632e-01 9.93625511e-01 8.54941607e-03 8.32885546e+01] [ 1.45119233e-01 -2.49274926e-02 9.89100110e-01 1.26104237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:83.32, Z:12.58 [[ 9.83314625e-01 -1.24055482e-01 -1.33051064e-01 1.07038891e+02] [ 1.18979752e-01 9.91854752e-01 -4.54749329e-02 8.33246748e+01] [ 1.37608745e-01 2.88857838e-02 9.90065374e-01 1.25834049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:83.30, Z:12.61 [[ 9.83155817e-01 -1.14837643e-01 -1.42186341e-01 1.07070652e+02] [ 1.16603135e-01 9.93170045e-01 4.11954460e-03 8.32980826e+01] [ 1.40742136e-01 -2.06295273e-02 9.89831336e-01 1.26088990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:83.31, Z:12.61 [[ 9.83152256e-01 -1.16128920e-01 -1.41158476e-01 1.07095928e+02] [ 1.15552477e-01 9.93225198e-01 -1.23017114e-02 8.33088720e+01] [ 1.41630739e-01 -4.21675615e-03 9.89910578e-01 1.26082846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:83.32, Z:12.61 [[ 9.83207778e-01 -1.20087780e-01 -1.37409570e-01 1.07123272e+02] [ 1.18486221e-01 9.92758145e-01 -1.98061019e-02 8.33178333e+01] [ 1.38792940e-01 3.19237286e-03 9.90316277e-01 1.26058690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:83.32, Z:12.61 [[ 9.83746253e-01 -1.17053713e-01 -1.36168048e-01 1.07150768e+02] [ 1.16259438e-01 9.93123022e-01 -1.37987616e-02 8.33174717e+01] [ 1.36846819e-01 -2.25634072e-03 9.90589651e-01 1.26106457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.18, Y:83.31, Z:12.62 [[ 9.83540594e-01 -1.13571428e-01 -1.40532665e-01 1.07177284e+02] [ 1.14576559e-01 9.93413972e-01 -9.44591991e-04 8.33125233e+01] [ 1.39714391e-01 -1.51727046e-02 9.90075592e-01 1.26226210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:83.31, Z:12.62 [[ 9.84766153e-01 -1.08475610e-01 -1.35899469e-01 1.07196714e+02] [ 1.10035377e-01 9.93919638e-01 3.99615901e-03 8.33131742e+01] [ 1.34639666e-01 -1.88890315e-02 9.90714573e-01 1.26243624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:83.35, Z:12.61 [[ 9.82978072e-01 -1.21338859e-01 -1.37952861e-01 1.07233367e+02] [ 1.15290873e-01 9.92019261e-01 -5.10470441e-02 8.33462590e+01] [ 1.43045886e-01 3.42734192e-02 9.89122443e-01 1.26115955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:83.33, Z:12.62 [[ 9.82907680e-01 -1.16761127e-01 -1.42335280e-01 1.07260135e+02] [ 1.14771803e-01 9.93145231e-01 -2.21355551e-02 8.33339335e+01] [ 1.43944177e-01 5.42113045e-03 9.89570960e-01 1.26225446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:83.33, Z:12.63 [[ 9.84020526e-01 -1.13782092e-01 -1.36957072e-01 1.07285531e+02] [ 1.14004013e-01 9.93460641e-01 -6.24824056e-03 8.33286930e+01] [ 1.36772398e-01 -9.46525891e-03 9.90557277e-01 1.26277538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.32, Y:83.34, Z:12.63 [[ 9.82700582e-01 -1.22886180e-01 -1.38558842e-01 1.07317422e+02] [ 1.20182920e-01 9.92364049e-01 -2.77427393e-02 8.33437907e+01] [ 1.40910013e-01 1.06103998e-02 9.89965549e-01 1.26252982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.958040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.35, Y:83.34, Z:12.63 [[ 9.82527040e-01 -1.21770872e-01 -1.40756775e-01 1.07346362e+02] [ 1.21007923e-01 9.92552824e-01 -1.39990877e-02 8.33389664e+01] [ 1.41413215e-01 -3.27820273e-03 9.89945229e-01 1.26341570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.37, Y:83.33, Z:12.65 [[ 9.81834658e-01 -1.17175728e-01 -1.49233218e-01 1.07370323e+02] [ 1.18006852e-01 9.93007283e-01 -3.30445544e-03 8.33323186e+01] [ 1.48576875e-01 -1.43661134e-02 9.88796504e-01 1.26486821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01804094199997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.40, Y:83.35, Z:12.64 [[ 9.82386078e-01 -1.25159397e-01 -1.38754168e-01 1.07399600e+02] [ 1.23426396e-01 9.92130251e-01 -2.10591960e-02 8.33484326e+01] [ 1.40297964e-01 3.56233410e-03 9.90102919e-01 1.26394577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:83.35, Z:12.65 [[ 9.81667106e-01 -1.23109308e-01 -1.45512169e-01 1.07424724e+02] [ 1.21058461e-01 9.92381193e-01 -2.29001681e-02 8.33494543e+01] [ 1.47222763e-01 4.86486253e-03 9.89091397e-01 1.26474025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07804094199997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.46, Y:83.34, Z:12.66 [[ 9.81731169e-01 -1.20212838e-01 -1.47488258e-01 1.07458365e+02] [ 1.21741202e-01 9.92560964e-01 1.34628823e-03 8.33400938e+01] [ 1.46229246e-01 -1.92770909e-02 9.89062890e-01 1.26612148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10804094199997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.49, Y:83.35, Z:12.66 [[ 9.81806117e-01 -1.22716685e-01 -1.44904675e-01 1.07486899e+02] [ 1.21072068e-01 9.92439221e-01 -2.01480998e-02 8.33549198e+01] [ 1.46281591e-01 2.23761892e-03 9.89240461e-01 1.26579476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:83.35, Z:12.66 [[ 9.82356194e-01 -1.18291364e-01 -1.44856690e-01 1.07507832e+02] [ 1.18526259e-01 9.92925972e-01 -7.03842912e-03 8.33506610e+01] [ 1.44664555e-01 -1.02550770e-02 9.89427612e-01 1.26649083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16804094199998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.54, Y:83.36, Z:12.66 [[ 9.82128795e-01 -1.20464684e-01 -1.44607362e-01 1.07541911e+02] [ 1.18749775e-01 9.92713299e-01 -2.04645229e-02 8.33621596e+01] [ 1.46018903e-01 2.92670565e-03 9.89277471e-01 1.26644119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:83.36, Z:12.67 [[ 9.81891099e-01 -1.21079312e-01 -1.45704053e-01 1.07562639e+02] [ 1.21048952e-01 9.92604757e-01 -9.10759036e-03 8.33629640e+01] [ 1.45729277e-01 -8.69466091e-03 9.89286299e-01 1.26736392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:83.37, Z:12.67 [[ 9.82478601e-01 -1.17561196e-01 -1.44620760e-01 1.07598359e+02] [ 1.15633272e-01 9.93055024e-01 -2.16948227e-02 8.33681288e+01] [ 1.46166841e-01 4.59172748e-03 9.89249296e-01 1.26725308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:83.36, Z:12.69 [[ 9.82431969e-01 -1.13688215e-01 -1.47994650e-01 1.07625823e+02] [ 1.14334329e-01 9.93433610e-01 -4.16226941e-03 8.33610133e+01] [ 1.47496061e-01 -1.28317225e-02 9.88979403e-01 1.26852943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:83.38, Z:12.68 [[ 9.82887061e-01 -1.17279375e-01 -1.42051307e-01 1.07654185e+02] [ 1.14604090e-01 9.93046998e-01 -2.68991120e-02 8.33769007e+01] [ 1.44218335e-01 1.01591284e-02 9.89493741e-01 1.26778382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.67, Y:83.37, Z:12.69 [[ 9.82677418e-01 -1.16802388e-01 -1.43882917e-01 1.07673253e+02] [ 1.17639732e-01 9.93052659e-01 -2.70368328e-03 8.33704692e+01] [ 1.43199110e-01 -1.42694993e-02 9.89591025e-01 1.26918493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:83.38, Z:12.69 [[ 9.82777985e-01 -1.18628532e-01 -1.41685227e-01 1.07699498e+02] [ 1.17564094e-01 9.92938159e-01 -1.58901045e-02 8.33799680e+01] [ 1.42569689e-01 -1.04065054e-03 9.89784219e-01 1.26914946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.73, Y:83.39, Z:12.68 [[ 9.83325509e-01 -1.19726346e-01 -1.36881503e-01 1.07733339e+02] [ 1.16349441e-01 9.92678435e-01 -3.24396585e-02 8.33888805e+01] [ 1.39763198e-01 1.59726573e-02 9.90056121e-01 1.26833727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.76, Y:83.38, Z:12.69 [[ 9.83641334e-01 -1.18903285e-01 -1.35320860e-01 1.07758386e+02] [ 1.17695912e-01 9.92905585e-01 -1.69166258e-02 8.33847866e+01] [ 1.36372280e-01 7.13180350e-04 9.90657404e-01 1.26881241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.438040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.78, Y:83.39, Z:12.70 [[ 9.81750453e-01 -1.22827094e-01 -1.45187989e-01 1.07784781e+02] [ 1.22094286e-01 9.92420023e-01 -1.39815100e-02 8.33858889e+01] [ 1.45804776e-01 -4.00027013e-03 9.89305294e-01 1.27025417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.81, Y:83.38, Z:12.71 [[ 9.82600401e-01 -1.20507520e-01 -1.41330784e-01 1.07810907e+02] [ 1.22491898e-01 9.92454856e-01 5.39383553e-03 8.33780312e+01] [ 1.39614425e-01 -2.26118609e-02 9.89947734e-01 1.27123638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.498040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.85, Y:83.40, Z:12.70 [[ 9.82834986e-01 -1.26019005e-01 -1.34739008e-01 1.07847300e+02] [ 1.22407942e-01 9.91869906e-01 -3.47905960e-02 8.33980166e+01] [ 1.38027844e-01 1.77002902e-02 9.90270172e-01 1.26976073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:83.39, Z:12.71 [[ 9.82848654e-01 -1.25563490e-01 -1.35064185e-01 1.07873931e+02] [ 1.24745802e-01 9.92082274e-01 -1.45343381e-02 8.33907520e+01] [ 1.35819766e-01 -2.56363556e-03 9.90730245e-01 1.27054768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:83.38, Z:12.72 [[ 9.82025264e-01 -1.25235879e-01 -1.41217402e-01 1.07895963e+02] [ 1.27575945e-01 9.91799651e-01 7.60458755e-03 8.33837213e+01] [ 1.39107003e-01 -2.54838406e-02 9.89949401e-01 1.27243643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:83.40, Z:12.72 [[ 9.81718266e-01 -1.30371979e-01 -1.38680908e-01 1.07923088e+02] [ 1.28775320e-01 9.91462643e-01 -2.04632518e-02 8.33999945e+01] [ 1.40164774e-01 2.23046975e-03 9.90125679e-01 1.27174614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.618040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.95, Y:83.40, Z:12.72 [[ 9.81624143e-01 -1.30611715e-01 -1.39120886e-01 1.07950787e+02] [ 1.29172942e-01 9.91433059e-01 -1.93608143e-02 8.34009504e+01] [ 1.40457794e-01 1.03438860e-03 9.90086127e-01 1.27216623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.98, Y:83.40, Z:12.73 [[ 9.81976545e-01 -1.28621557e-01 -1.38486681e-01 1.07979967e+02] [ 1.28693103e-01 9.91648250e-01 -8.47542182e-03 8.33967581e+01] [ 1.38420197e-01 -9.49961523e-03 9.90328030e-01 1.27293161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.678040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.01, Y:83.40, Z:12.73 [[ 9.82106353e-01 -1.29137384e-01 -1.37078986e-01 1.08006641e+02] [ 1.28207007e-01 9.91624223e-01 -1.56321677e-02 8.34034992e+01] [ 1.37949540e-01 -2.22203537e-03 9.90436766e-01 1.27299928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:83.41, Z:12.73 [[ 9.82171829e-01 -1.28443378e-01 -1.37261784e-01 1.08034620e+02] [ 1.27501550e-01 9.91714596e-01 -1.56689033e-02 8.34060098e+01] [ 1.38137082e-01 -2.11153485e-03 9.90410868e-01 1.27329744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.06, Y:83.41, Z:12.73 [[ 9.81775264e-01 -1.29723158e-01 -1.38885687e-01 1.08062774e+02] [ 1.27125187e-01 9.91506655e-01 -2.74543110e-02 8.34146427e+01] [ 1.41267543e-01 9.29809440e-03 9.89927789e-01 1.27326323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:83.41, Z:12.74 [[ 9.81968124e-01 -1.27770750e-01 -1.39331398e-01 1.08091344e+02] [ 1.27574848e-01 9.91774696e-01 -1.03735617e-02 8.34071659e+01] [ 1.39510792e-01 -7.58867493e-03 9.90191472e-01 1.27419512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:83.42, Z:12.74 [[ 9.81462000e-01 -1.30777617e-01 -1.40105524e-01 1.08119423e+02] [ 1.28511416e-01 9.91389289e-01 -2.51414577e-02 8.34176489e+01] [ 1.42187055e-01 6.67022617e-03 9.89817331e-01 1.27406780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:83.45, Z:12.70 [[ 9.82931888e-01 -1.42549971e-01 -1.16294497e-01 1.08144590e+02] [ 1.34970966e-01 9.88326118e-01 -7.06705267e-02 8.34546235e+01] [ 1.25010971e-01 5.37679336e-02 9.90697364e-01 1.27022728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:83.46, Z:12.70 [[ 9.82553803e-01 -1.45814156e-01 -1.15439403e-01 1.08174922e+02] [ 1.39316525e-01 9.88271882e-01 -6.25267374e-02 8.34564849e+01] [ 1.23202799e-01 4.53532672e-02 9.91344618e-01 1.27007344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:83.37, Z:12.78 [[ 9.82348676e-01 -1.12197798e-01 -1.49675423e-01 1.08214407e+02] [ 1.22911313e-01 9.90330368e-01 6.43317331e-02 8.33733099e+01] [ 1.41010238e-01 -8.15929957e-02 9.86640105e-01 1.27767993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:83.41, Z:12.77 [[ 9.81641057e-01 -1.21351887e-01 -1.47154869e-01 1.08233634e+02] [ 1.23521741e-01 9.92325705e-01 5.66352505e-03 8.34085473e+01] [ 1.45338280e-01 -2.37363743e-02 9.89097250e-01 1.27661574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94804094199998 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:108.26, Y:83.43, Z:12.77 [[ 9.80665926e-01 -1.29833439e-01 -1.46415911e-01 1.08262072e+02] [ 1.29087030e-01 9.91525358e-01 -1.46288449e-02 8.34263480e+01] [ 1.47074402e-01 -4.55438536e-03 9.89114947e-01 1.27650783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:83.44, Z:12.76 [[ 9.80696490e-01 -1.32532463e-01 -1.43769055e-01 1.08298533e+02] [ 1.28867289e-01 9.91059637e-01 -3.45545620e-02 8.34398974e+01] [ 1.47063309e-01 1.53604093e-02 9.89007806e-01 1.27614511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:83.42, Z:12.79 [[ 9.80275041e-01 -1.26944265e-01 -1.51479362e-01 1.08320143e+02] [ 1.29339081e-01 9.91582139e-01 6.02199254e-03 8.34218114e+01] [ 1.49439772e-01 -2.54954105e-02 9.88442077e-01 1.27859894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.36, Y:83.44, Z:12.77 [[ 9.81108961e-01 -1.27776442e-01 -1.45252840e-01 1.08355848e+02] [ 1.24653541e-01 9.91733292e-01 -3.04396467e-02 8.34411279e+01] [ 1.47941547e-01 1.17583292e-02 9.88926206e-01 1.27738371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:83.43, Z:12.79 [[ 9.80801538e-01 -1.25566570e-01 -1.49202476e-01 1.08375728e+02] [ 1.26805167e-01 9.91926892e-01 -1.22085793e-03 8.34322935e+01] [ 1.48151247e-01 -1.77222255e-02 9.88805912e-01 1.27914653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:83.44, Z:12.79 [[ 9.80906837e-01 -1.27362136e-01 -1.46971642e-01 1.08403129e+02] [ 1.26189186e-01 9.91855055e-01 -1.73158782e-02 8.34446804e+01] [ 1.47979953e-01 -1.56096861e-03 9.88989129e-01 1.27899697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:83.45, Z:12.79 [[ 9.81087249e-01 -1.25622928e-01 -1.47264014e-01 1.08430064e+02] [ 1.24418945e-01 9.92077267e-01 -1.73960412e-02 8.34488845e+01] [ 1.48282622e-01 -1.25539898e-03 9.88944229e-01 1.27935406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:83.45, Z:12.80 [[ 9.81154923e-01 -1.25117374e-01 -1.47243538e-01 1.08458065e+02] [ 1.23905448e-01 9.92141267e-01 -1.74110801e-02 8.34527350e+01] [ 1.48264819e-01 -1.16130970e-03 9.88947013e-01 1.27975418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:83.46, Z:12.80 [[ 9.81461882e-01 -1.22782677e-01 -1.47163136e-01 1.08485418e+02] [ 1.21539524e-01 9.92433287e-01 -1.74446272e-02 8.34565189e+01] [ 1.48191493e-01 -7.64900796e-04 9.88958390e-01 1.28011005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:83.46, Z:12.81 [[ 9.81567221e-01 -1.21858342e-01 -1.47228851e-01 1.08512544e+02] [ 1.20597237e-01 9.92547332e-01 -1.74957340e-02 8.34599312e+01] [ 1.48263604e-01 -5.82153636e-04 9.88947706e-01 1.28052663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:83.46, Z:12.81 [[ 9.81593906e-01 -1.20979921e-01 -1.47774366e-01 1.08539110e+02] [ 1.19692826e-01 9.92654871e-01 -1.76049384e-02 8.34637195e+01] [ 1.48818789e-01 -4.06631361e-04 9.88864401e-01 1.28090762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:83.47, Z:12.81 [[ 9.81785042e-01 -1.19426812e-01 -1.47767953e-01 1.08566642e+02] [ 1.18118025e-01 9.92842997e-01 -1.76328045e-02 8.34693324e+01] [ 1.48816207e-01 -1.42435103e-04 9.88864862e-01 1.28114649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:83.47, Z:12.82 [[ 9.81865036e-01 -1.18870872e-01 -1.47684688e-01 1.08593637e+02] [ 1.17550884e-01 9.92909722e-01 -1.76656184e-02 8.34737439e+01] [ 1.48737490e-01 -1.52126251e-05 9.88876716e-01 1.28153229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:83.48, Z:12.82 [[ 9.81892353e-01 -1.18844610e-01 -1.47524119e-01 1.08620442e+02] [ 1.17520523e-01 9.92912865e-01 -1.76909307e-02 8.34779092e+01] [ 1.48581067e-01 3.34780394e-05 9.88900230e-01 1.28191121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:83.48, Z:12.82 [[ 9.81859491e-01 -1.19678725e-01 -1.47067814e-01 1.08648408e+02] [ 1.18367876e-01 9.92812671e-01 -1.76648546e-02 8.34814633e+01] [ 1.48124896e-01 -6.36996082e-05 9.88968660e-01 1.28236522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:83.48, Z:12.83 [[ 9.81698144e-01 -1.21520568e-01 -1.46633914e-01 1.08675632e+02] [ 1.20231671e-01 9.92588869e-01 -1.76545439e-02 8.34849641e+01] [ 1.47692581e-01 -2.98607552e-04 9.89033272e-01 1.28276272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:83.49, Z:12.83 [[ 9.81665588e-01 -1.21789466e-01 -1.46628784e-01 1.08703635e+02] [ 1.20497202e-01 9.92555912e-01 -1.76970531e-02 8.34884509e+01] [ 1.47692581e-01 -2.95770110e-04 9.89033273e-01 1.28321252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:83.50, Z:12.82 [[ 9.82072082e-01 -1.25845815e-01 -1.40346912e-01 1.08736163e+02] [ 1.21596988e-01 9.91833244e-01 -3.84836068e-02 8.35020028e+01] [ 1.44043734e-01 2.07279140e-02 9.89354212e-01 1.28233646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:83.48, Z:12.85 [[ 9.81023908e-01 -1.24097313e-01 -1.48969625e-01 1.08759123e+02] [ 1.26214271e-01 9.91991367e-01 4.80469563e-03 8.34819672e+01] [ 1.47180332e-01 -2.35156139e-02 9.88830100e-01 1.28488067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:83.50, Z:12.84 [[ 9.80643476e-01 -1.29933876e-01 -1.46477166e-01 1.08785186e+02] [ 1.28718770e-01 9.91521653e-01 -1.77845412e-02 8.34975890e+01] [ 1.47546096e-01 -1.41406630e-03 9.89054169e-01 1.28446049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:83.50, Z:12.85 [[ 9.80203792e-01 -1.32189640e-01 -1.47398863e-01 1.08812628e+02] [ 1.30980175e-01 9.91222924e-01 -1.79250834e-02 8.35010867e+01] [ 1.48474643e-01 -1.73609427e-03 9.88914691e-01 1.28487268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57804094199997 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:108.85, Y:83.52, Z:12.83 [[ 9.80425585e-01 -1.39328503e-01 -1.39115922e-01 1.08845538e+02] [ 1.34155198e-01 9.89894766e-01 -4.59427473e-02 8.35210085e+01] [ 1.44111257e-01 2.63803208e-02 9.89209798e-01 1.28328525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60804094199997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:108.87, Y:83.51, Z:12.85 [[ 9.80358001e-01 -1.35012899e-01 -1.43769633e-01 1.08874866e+02] [ 1.34271169e-01 9.90832684e-01 -1.48945117e-02 8.35070098e+01] [ 1.44462602e-01 -4.70216293e-03 9.89499089e-01 1.28482957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63804094199998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:108.90, Y:83.50, Z:12.87 [[ 9.79338754e-01 -1.31540225e-01 -1.53599392e-01 1.08898454e+02] [ 1.34503764e-01 9.90872043e-01 9.01837530e-03 8.34989471e+01] [ 1.51011065e-01 -2.94917409e-02 9.88092048e-01 1.28697730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66804094199998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:108.93, Y:83.53, Z:12.85 [[ 9.79853838e-01 -1.39867527e-01 -1.42560626e-01 1.08930155e+02] [ 1.34832636e-01 9.89871574e-01 -4.44345192e-02 8.35329498e+01] [ 1.47331657e-01 2.43175092e-02 9.88788168e-01 1.28465909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69804094199998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:108.95, Y:83.51, Z:12.88 [[ 9.79109076e-01 -1.30127042e-01 -1.56244586e-01 1.08954249e+02] [ 1.33111757e-01 9.91062422e-01 8.74851429e-03 8.35073203e+01] [ 1.53709719e-01 -2.93637411e-02 9.87679651e-01 1.28788256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72804094199998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:108.98, Y:83.53, Z:12.87 [[ 9.79076041e-01 -1.33899729e-01 -1.53235013e-01 1.08980541e+02] [ 1.32589812e-01 9.90993011e-01 -1.87828291e-02 8.35267955e+01] [ 1.54369842e-01 -1.92758354e-03 9.88011253e-01 1.28734534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75804094199998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:109.01, Y:83.53, Z:12.88 [[ 9.79086606e-01 -1.33168954e-01 -1.53803279e-01 1.09008025e+02] [ 1.31837320e-01 9.91091716e-01 -1.88714599e-02 8.35312171e+01] [ 1.54946248e-01 -1.80021843e-03 9.87921262e-01 1.28779611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78804094199998 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:109.03, Y:83.54, Z:12.88 [[ 9.79026452e-01 -1.32302029e-01 -1.54930244e-01 1.09034635e+02] [ 1.30932766e-01 9.91208109e-01 -1.90550415e-02 8.35371452e+01] [ 1.56089135e-01 -1.63005576e-03 9.87741629e-01 1.28820620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81804094199998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:109.06, Y:83.55, Z:12.88 [[ 9.79370316e-01 -1.33763708e-01 -1.51463046e-01 1.09064971e+02] [ 1.30589070e-01 9.90959226e-01 -3.07621006e-02 8.35478587e+01] [ 1.54208555e-01 1.03480698e-02 9.87984129e-01 1.28778644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84804094199998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:109.07, Y:83.62, Z:12.83 [[ 9.79411724e-01 -1.61061554e-01 -1.21703943e-01 1.09072781e+02] [ 1.48415929e-01 9.83150521e-01 -1.06713468e-01 8.36157029e+01] [ 1.36840732e-01 8.64536178e-02 9.86813248e-01 1.28274446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87804094199998 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:109.12, Y:83.50, Z:12.93 [[ 9.78714163e-01 -1.16038372e-01 -1.69273988e-01 1.09124697e+02] [ 1.29137633e-01 9.89257191e-01 6.85104498e-02 8.34991850e+01] [ 1.59505669e-01 -8.89117898e-02 9.83184945e-01 1.29275304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90804094199999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:109.13, Y:83.62, Z:12.84 [[ 9.79127526e-01 -1.58055462e-01 -1.27780120e-01 1.09133497e+02] [ 1.45808771e-01 9.84230231e-01 -1.00153159e-01 8.36158837e+01] [ 1.41594811e-01 7.94312527e-02 9.86732783e-01 1.28439360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.938040942 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:109.18, Y:83.51, Z:12.94 [[ 9.77949140e-01 -1.17311566e-01 -1.72781588e-01 1.09180391e+02] [ 1.29697748e-01 9.89601070e-01 6.21949943e-02 8.35075836e+01] [ 1.63688652e-01 -8.32329240e-02 9.82994560e-01 1.29389560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.968040942 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:109.21, Y:83.55, Z:12.92 [[ 9.77636896e-01 -1.28423406e-01 -1.66533863e-01 1.09208886e+02] [ 1.28503148e-01 9.91655173e-01 -1.03421363e-02 8.35486654e+01] [ 1.66472339e-01 -1.12892716e-02 9.85981497e-01 1.29215267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.998040942 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:109.24, Y:83.55, Z:12.92 [[ 9.77636381e-01 -1.29074301e-01 -1.66032924e-01 1.09235344e+02] [ 1.27956361e-01 9.91626128e-01 -1.74583165e-02 8.35549261e+01] [ 1.66896005e-01 -4.17708339e-03 9.85965656e-01 1.29246044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028040942 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:109.26, Y:83.57, Z:12.92 [[ 9.78000310e-01 -1.31845380e-01 -1.61654539e-01 1.09262311e+02] [ 1.28827347e-01 9.91241210e-01 -2.90581911e-02 8.35657072e+01] [ 1.64069829e-01 7.59339453e-03 9.86419501e-01 1.29217805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.058040942 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:109.29, Y:83.56, Z:12.94 [[ 9.78025959e-01 -1.24827954e-01 -1.66982648e-01 1.09288308e+02] [ 1.24567993e-01 9.92137635e-01 -1.20717939e-02 8.35564672e+01] [ 1.67176667e-01 -8.99416544e-03 9.85885930e-01 1.29364552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088040942 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:109.32, Y:83.57, Z:12.94 [[ 9.77936056e-01 -1.26229956e-01 -1.66454406e-01 1.09317742e+02] [ 1.23830149e-01 9.91994468e-01 -2.47602353e-02 8.35665028e+01] [ 1.68247333e-01 3.60185296e-03 9.85738232e-01 1.29374915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.118040942 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:109.35, Y:83.56, Z:12.95 [[ 9.78161499e-01 -1.23570313e-01 -1.67124083e-01 1.09347101e+02] [ 1.23339210e-01 9.92294383e-01 -1.18023739e-02 8.35630369e+01] [ 1.67294712e-01 -9.06832466e-03 9.85865226e-01 1.29474080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148040942 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:109.37, Y:83.57, Z:12.95 [[ 9.78435202e-01 -1.21876720e-01 -1.66765166e-01 1.09373905e+02] [ 1.20315020e-01 9.92544732e-01 -1.94743644e-02 8.35712701e+01] [ 1.67895358e-01 -1.00995060e-03 9.85804305e-01 1.29495710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.178040942 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:109.40, Y:83.58, Z:12.95 [[ 9.78590867e-01 -1.21095735e-01 -1.66420364e-01 1.09401658e+02] [ 1.19347536e-01 9.92640812e-01 -2.05032566e-02 8.35758763e+01] [ 1.67678502e-01 2.02439296e-04 9.85841711e-01 1.29534827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:109.43, Y:83.59, Z:12.95 [[ 9.79083471e-01 -1.24168058e-01 -1.61176456e-01 1.09427886e+02] [ 1.20365585e-01 9.92174859e-01 -3.31839480e-02 8.35907562e+01] [ 1.64035614e-01 1.30897566e-02 9.86367566e-01 1.29480609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23804094199997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:109.46, Y:83.58, Z:12.96 [[ 9.78868197e-01 -1.20252034e-01 -1.65398006e-01 1.09457231e+02] [ 1.19222041e-01 9.92735802e-01 -1.61781522e-02 8.35834290e+01] [ 1.66141978e-01 -3.88280924e-03 9.86094198e-01 1.29616514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26804094199997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:109.48, Y:83.60, Z:12.96 [[ 9.79005480e-01 -1.26907860e-01 -1.59507574e-01 1.09482685e+02] [ 1.23596183e-01 9.91862075e-01 -3.05549950e-02 8.35983004e+01] [ 1.62087182e-01 1.01989803e-02 9.86723733e-01 1.29551320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29804094199997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:109.51, Y:83.60, Z:12.96 [[ 9.78654860e-01 -1.31580076e-01 -1.57864972e-01 1.09510470e+02] [ 1.28345607e-01 9.91258640e-01 -3.05567192e-02 8.36023186e+01] [ 1.60505673e-01 9.64320619e-03 9.86987810e-01 1.29568504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32804094199997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:109.54, Y:83.60, Z:12.96 [[ 9.78158952e-01 -1.32798964e-01 -1.59904658e-01 1.09538767e+02] [ 1.30935030e-01 9.91142701e-01 -2.21847986e-02 8.36010688e+01] [ 1.61434453e-01 7.63138251e-04 9.86883142e-01 1.29644929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35804094199997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:109.57, Y:83.61, Z:12.97 [[ 9.77362736e-01 -1.37432342e-01 -1.60855319e-01 1.09568670e+02] [ 1.35117986e-01 9.90506659e-01 -2.52920773e-02 8.36063420e+01] [ 1.62804214e-01 2.98508715e-03 9.86653879e-01 1.29675595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38804094199998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.60, Y:83.60, Z:12.98 [[ 9.76848876e-01 -1.37713547e-01 -1.63710878e-01 1.09595479e+02] [ 1.36761639e-01 9.90455929e-01 -1.71262079e-02 8.36047768e+01] [ 1.64506921e-01 -5.65965096e-03 9.86359692e-01 1.29759524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41804094199998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:109.62, Y:83.61, Z:12.98 [[ 9.75947714e-01 -1.41535704e-01 -1.65812257e-01 1.09622704e+02] [ 1.40012153e-01 9.89929144e-01 -2.09018217e-02 8.36104055e+01] [ 1.67100739e-01 -2.81664591e-03 9.85935804e-01 1.29796188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.65, Y:83.60, Z:13.00 [[ 9.76293879e-01 -1.36569996e-01 -1.67925277e-01 1.09651201e+02] [ 1.38896270e-01 9.90304645e-01 2.12997691e-03 8.36002684e+01] [ 1.66006290e-01 -2.54036781e-02 9.85797426e-01 1.29955618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47804094199998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:109.68, Y:83.62, Z:12.99 [[ 9.74885593e-01 -1.43042423e-01 -1.70695478e-01 1.09682055e+02] [ 1.40108488e-01 9.89706203e-01 -2.91760892e-02 8.36210642e+01] [ 1.73111792e-01 4.52746359e-03 9.84891776e-01 1.29924203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50804094199998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:109.71, Y:83.62, Z:13.00 [[ 9.74607561e-01 -1.42561497e-01 -1.72674033e-01 1.09710648e+02] [ 1.41330655e-01 9.89771040e-01 -1.94662490e-02 8.36212853e+01] [ 1.73682895e-01 -5.43218074e-03 9.84786649e-01 1.30016430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53804094199998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:109.73, Y:83.67, Z:12.96 [[ 9.75269663e-01 -1.62761323e-01 -1.49525371e-01 1.09729256e+02] [ 1.51577816e-01 9.84916813e-01 -8.34448211e-02 8.36740325e+01] [ 1.60851641e-01 5.87164734e-02 9.85230493e-01 1.29640833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56804094199998 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:109.76, Y:83.61, Z:13.01 [[ 9.74905954e-01 -1.42178849e-01 -1.71299606e-01 1.09757242e+02] [ 1.49135922e-01 9.88409164e-01 2.83866496e-02 8.36123674e+01] [ 1.65278119e-01 -5.32212385e-02 9.84809953e-01 1.30129496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.79, Y:83.68, Z:12.98 [[ 9.74948023e-01 -1.59610510e-01 -1.54922038e-01 1.09788532e+02] [ 1.50572388e-01 9.86223311e-01 -6.84947927e-02 8.36754772e+01] [ 1.63720214e-01 4.34518815e-02 9.85549403e-01 1.29817933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.82, Y:83.61, Z:13.05 [[ 9.73123790e-01 -1.35155812e-01 -1.86448370e-01 1.09817509e+02] [ 1.46395864e-01 9.88069046e-01 4.78310614e-02 8.36096398e+01] [ 1.77759218e-01 -7.38408141e-02 9.81299748e-01 1.30504558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65804094199999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:109.85, Y:83.66, Z:13.02 [[ 9.73891129e-01 -1.46286258e-01 -1.73598385e-01 1.09851335e+02] [ 1.41797319e-01 9.89164033e-01 -3.80530847e-02 8.36571026e+01] [ 1.77283921e-01 1.24437762e-02 9.84081076e-01 1.30212109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.688040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.88, Y:83.67, Z:13.01 [[ 9.74270868e-01 -1.53137548e-01 -1.65363744e-01 1.09876676e+02] [ 1.46912107e-01 9.87919328e-01 -4.93176863e-02 8.36729707e+01] [ 1.70918429e-01 2.37548488e-02 9.84998781e-01 1.30133882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.718040942 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:109.91, Y:83.64, Z:13.05 [[ 9.73715566e-01 -1.39436988e-01 -1.80098095e-01 1.09910378e+02] [ 1.42931891e-01 9.89711108e-01 6.51128856e-03 8.36411343e+01] [ 1.77337170e-01 -3.20819043e-02 9.83627104e-01 1.30491323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.748040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:109.94, Y:83.66, Z:13.05 [[ 9.73599998e-01 -1.43584443e-01 -1.77444506e-01 1.09938961e+02] [ 1.41619175e-01 9.89636053e-01 -2.37590457e-02 8.36630525e+01] [ 1.79016910e-01 -1.99773780e-03 9.83843969e-01 1.30454530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.778040942 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:109.96, Y:83.66, Z:13.05 [[ 9.73584834e-01 -1.41352124e-01 -1.79310200e-01 1.09964634e+02] [ 1.40669630e-01 9.89917736e-01 -1.65810764e-02 8.36633601e+01] [ 1.79846118e-01 -9.08041487e-03 9.83652845e-01 1.30538858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.99, Y:83.66, Z:13.06 [[ 9.74320794e-01 -1.35876360e-01 -1.79545554e-01 1.09987363e+02] [ 1.37321752e-01 9.90516663e-01 -4.41314568e-03 8.36616810e+01] [ 1.78442505e-01 -2.03556904e-02 9.83739761e-01 1.30643858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.838040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.02, Y:83.67, Z:13.07 [[ 9.73061352e-01 -1.38269328e-01 -1.84480891e-01 1.10020807e+02] [ 1.37418522e-01 9.90359308e-01 -1.74525559e-02 8.36724834e+01] [ 1.85115520e-01 -8.36868366e-03 9.82681133e-01 1.30710229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.04, Y:83.69, Z:13.07 [[ 9.74180523e-01 -1.39924526e-01 -1.77181927e-01 1.10041729e+02] [ 1.36625960e-01 9.90145519e-01 -3.07440667e-02 8.36861893e+01] [ 1.79737740e-01 5.74261999e-03 9.83697803e-01 1.30659767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.898040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.07, Y:83.68, Z:13.08 [[ 9.74125175e-01 -1.35970636e-01 -1.80532906e-01 1.10071286e+02] [ 1.36949723e-01 9.90552629e-01 -7.08956014e-03 8.36776252e+01] [ 1.79791317e-01 -1.78178124e-02 9.83543394e-01 1.30817515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928040942 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.10, Y:83.69, Z:13.08 [[ 9.73886968e-01 -1.41532487e-01 -1.77518247e-01 1.10100637e+02] [ 1.38741966e-01 9.89929828e-01 -2.80998577e-02 8.36941454e+01] [ 1.79707651e-01 2.73685461e-03 9.83716255e-01 1.30792825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.958040942 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:110.13, Y:83.71, Z:13.07 [[ 9.73928050e-01 -1.47880814e-01 -1.72033192e-01 1.10128032e+02] [ 1.42962136e-01 9.88890636e-01 -4.07079478e-02 8.37087241e+01] [ 1.76141937e-01 1.50523796e-02 9.84249686e-01 1.30746178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98804094199997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.16, Y:83.69, Z:13.09 [[ 9.74190314e-01 -1.39832316e-01 -1.77200893e-01 1.10155075e+02] [ 1.41351762e-01 9.89951011e-01 -4.08364181e-03 8.36910982e+01] [ 1.75991228e-01 -2.10694142e-02 9.84166230e-01 1.30949523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01804094199997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:110.18, Y:83.72, Z:13.09 [[ 9.73906206e-01 -1.47976194e-01 -1.72074832e-01 1.10183902e+02] [ 1.43620469e-01 9.88919692e-01 -3.75633431e-02 8.37161065e+01] [ 1.75726671e-01 1.18697049e-02 9.84367435e-01 1.30864600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04804094199997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:110.21, Y:83.71, Z:13.10 [[ 9.73928911e-01 -1.40554120e-01 -1.78064642e-01 1.10213406e+02] [ 1.40709961e-01 9.89980328e-01 -1.18177010e-02 8.37070179e+01] [ 1.77941519e-01 -1.35458681e-02 9.83947826e-01 1.31039385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07804094199997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.24, Y:83.71, Z:13.11 [[ 9.74613695e-01 -1.37943442e-01 -1.76351222e-01 1.10238178e+02] [ 1.37596736e-01 9.90385776e-01 -1.42531447e-02 8.37134158e+01] [ 1.76621870e-01 -1.03740424e-02 9.84224108e-01 1.31084918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.27, Y:83.73, Z:13.11 [[ 9.74510190e-01 -1.38498941e-01 -1.76487772e-01 1.10269378e+02] [ 1.36440466e-01 9.90362190e-01 -2.38061227e-02 8.37263705e+01] [ 1.78083939e-01 -8.80764760e-04 9.84014906e-01 1.31115274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.29, Y:83.73, Z:13.12 [[ 9.75301280e-01 -1.34612854e-01 -1.75119369e-01 1.10292456e+02] [ 1.34135051e-01 9.90855249e-01 -1.46172635e-02 8.37263631e+01] [ 1.75485617e-01 -9.23340972e-03 9.84438694e-01 1.31170320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.32, Y:83.74, Z:13.12 [[ 9.74682902e-01 -1.38994342e-01 -1.75139411e-01 1.10319431e+02] [ 1.35362601e-01 9.90260521e-01 -3.25740308e-02 8.37415121e+01] [ 1.77961251e-01 8.04202449e-03 9.84004634e-01 1.31156009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.35, Y:83.74, Z:13.13 [[ 9.75082819e-01 -1.35891780e-01 -1.75347995e-01 1.10345226e+02] [ 1.34830188e-01 9.90705027e-01 -1.80102970e-02 8.37368240e+01] [ 1.76165592e-01 -6.08067196e-03 9.84341765e-01 1.31262417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22804094199998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.38, Y:83.74, Z:13.13 [[ 9.74354459e-01 -1.39519492e-01 -1.76543761e-01 1.10375270e+02] [ 1.37523044e-01 9.90218435e-01 -2.35555281e-02 8.37439537e+01] [ 1.78103342e-01 -1.32740158e-03 9.84010893e-01 1.31308397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:83.74, Z:13.15 [[ 9.73641095e-01 -1.37335521e-01 -1.82104290e-01 1.10406092e+02] [ 1.38918242e-01 9.90295375e-01 -4.09777216e-03 8.37365877e+01] [ 1.80899806e-01 -2.13078485e-02 9.83270683e-01 1.31467937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:83.75, Z:13.14 [[ 9.74232910e-01 -1.41570010e-01 -1.75579523e-01 1.10424656e+02] [ 1.42457731e-01 9.89771683e-01 -7.60326629e-03 8.37463778e+01] [ 1.74860034e-01 -1.76053081e-02 9.84435890e-01 1.31422446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:83.76, Z:13.15 [[ 9.74141162e-01 -1.42910664e-01 -1.75001538e-01 1.10457252e+02] [ 1.38937067e-01 9.89689022e-01 -3.48156849e-02 8.37626097e+01] [ 1.78172633e-01 9.60119135e-03 9.83952402e-01 1.31451276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:83.76, Z:13.15 [[ 9.74079958e-01 -1.41082786e-01 -1.76815957e-01 1.10485463e+02] [ 1.39662118e-01 9.89986608e-01 -2.05185033e-02 8.37589823e+01] [ 1.77940237e-01 -4.70782815e-03 9.84030034e-01 1.31540657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:83.77, Z:13.16 [[ 9.73188930e-01 -1.44793081e-01 -1.78712816e-01 1.10512349e+02] [ 1.42311570e-01 9.89461805e-01 -2.66974584e-02 8.37681196e+01] [ 1.80695113e-01 5.48769431e-04 9.83539005e-01 1.31559161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40804094199999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.54, Y:83.77, Z:13.16 [[ 9.73536748e-01 -1.43281425e-01 -1.78035486e-01 1.10539677e+02] [ 1.41938411e-01 9.89666799e-01 -2.03252187e-02 8.37697483e+01] [ 1.79108036e-01 -5.48272664e-03 9.83814135e-01 1.31619107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.57, Y:83.78, Z:13.16 [[ 9.72926115e-01 -1.45970107e-01 -1.79185667e-01 1.10568259e+02] [ 1.43607295e-01 9.89288961e-01 -2.61590595e-02 8.37789667e+01] [ 1.81084844e-01 -2.81536768e-04 9.83467437e-01 1.31640377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.468040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.60, Y:83.78, Z:13.17 [[ 9.72527923e-01 -1.45708966e-01 -1.81544307e-01 1.10596817e+02] [ 1.44899317e-01 9.89286501e-01 -1.77878389e-02 8.37789272e+01] [ 1.82191180e-01 -9.00647616e-03 9.83221876e-01 1.31723307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.498040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.62, Y:83.79, Z:13.17 [[ 9.72544912e-01 -1.48287050e-01 -1.79352572e-01 1.10622188e+02] [ 1.45644503e-01 9.88943856e-01 -2.78877917e-02 8.37898151e+01] [ 1.81505022e-01 1.00041377e-03 9.83389509e-01 1.31716758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:83.78, Z:13.19 [[ 9.71112844e-01 -1.47829926e-01 -1.87312993e-01 1.10657546e+02] [ 1.48435081e-01 9.88862403e-01 -1.08707977e-02 8.37845582e+01] [ 1.86833805e-01 -1.72470480e-02 9.82240128e-01 1.31877537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.68, Y:83.81, Z:13.17 [[ 9.72036530e-01 -1.55732202e-01 -1.75762527e-01 1.10677070e+02] [ 1.51275586e-01 9.87739247e-01 -3.85600516e-02 8.38083402e+01] [ 1.79612588e-01 1.08931996e-02 9.83677110e-01 1.31746876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:83.80, Z:13.19 [[ 9.71301250e-01 -1.55148048e-01 -1.80285789e-01 1.10707192e+02] [ 1.54494380e-01 9.87834219e-01 -1.77494139e-02 8.38020435e+01] [ 1.80846259e-01 -1.06131132e-02 9.83454113e-01 1.31885617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.618040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.73, Y:83.81, Z:13.19 [[ 9.71388637e-01 -1.56893373e-01 -1.78293537e-01 1.10734480e+02] [ 1.55343944e-01 9.87599444e-01 -2.27067484e-02 8.38099716e+01] [ 1.79645136e-01 -5.63974382e-03 9.83715314e-01 1.31917929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:83.82, Z:13.19 [[ 9.71679058e-01 -1.61012830e-01 -1.72958597e-01 1.10763078e+02] [ 1.57767919e-01 9.86943232e-01 -3.24397895e-02 8.38228737e+01] [ 1.75923539e-01 4.23374625e-03 9.84394730e-01 1.31907174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:83.82, Z:13.20 [[ 9.71831986e-01 -1.56439519e-01 -1.76264768e-01 1.10787918e+02] [ 1.55590337e-01 9.87644351e-01 -1.87158310e-02 8.38193889e+01] [ 1.77014798e-01 -9.23645144e-03 9.84164849e-01 1.32009792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.81, Y:83.83, Z:13.20 [[ 9.72821269e-01 -1.55190616e-01 -1.71856486e-01 1.10812177e+02] [ 1.53340655e-01 9.87880181e-01 -2.40705733e-02 8.38310237e+01] [ 1.73509143e-01 -2.93622032e-03 9.84827881e-01 1.32004397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:83.83, Z:13.21 [[ 9.72498479e-01 -1.51771666e-01 -1.76669380e-01 1.10841643e+02] [ 1.50791457e-01 9.88382203e-01 -1.90409405e-02 8.38323790e+01] [ 1.77506746e-01 -8.12294750e-03 9.84086060e-01 1.32115340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.87, Y:83.85, Z:13.21 [[ 9.72769181e-01 -1.55038379e-01 -1.72288193e-01 1.10868436e+02] [ 1.50821998e-01 9.87853935e-01 -3.73808586e-02 8.38499721e+01] [ 1.75991037e-01 1.03780978e-02 9.84337061e-01 1.32071089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.90, Y:83.85, Z:13.22 [[ 9.72522119e-01 -1.55072513e-01 -1.73646893e-01 1.10901971e+02] [ 1.52263434e-01 9.87900604e-01 -2.94659599e-02 8.38537798e+01] [ 1.76115231e-01 2.21622547e-03 9.84367062e-01 1.32155968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.93, Y:83.85, Z:13.22 [[ 9.73185064e-01 -1.50346237e-01 -1.74088596e-01 1.10926413e+02] [ 1.50288007e-01 9.88548795e-01 -1.35939246e-02 8.38497662e+01] [ 1.74138868e-01 -1.29340238e-02 9.84636159e-01 1.32244243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.95, Y:83.86, Z:13.23 [[ 9.72625199e-01 -1.50347948e-01 -1.77188365e-01 1.10950954e+02] [ 1.48739462e-01 9.88622606e-01 -2.24034573e-02 8.38578362e+01] [ 1.78540737e-01 -4.56473484e-03 9.83921932e-01 1.32302908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:83.86, Z:13.24 [[ 9.72843442e-01 -1.49240378e-01 -1.76926388e-01 1.10978870e+02] [ 1.49816680e-01 9.88661446e-01 -1.01739096e-02 8.38578303e+01] [ 1.76438657e-01 -1.66089029e-02 9.84171502e-01 1.32405703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.01, Y:83.88, Z:13.24 [[ 9.72397116e-01 -1.54817951e-01 -1.74571620e-01 1.11007490e+02] [ 1.51235222e-01 9.87922333e-01 -3.37249423e-02 8.38767894e+01] [ 1.77684428e-01 6.39265903e-03 9.84066755e-01 1.32383180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:83.88, Z:13.24 [[ 9.72173204e-01 -1.59253654e-01 -1.71806683e-01 1.11033093e+02] [ 1.56448100e-01 9.87235406e-01 -2.98369956e-02 8.38840175e+01] [ 1.74365291e-01 2.12789865e-03 9.84678738e-01 1.32377266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.07, Y:83.88, Z:13.26 [[ 9.71864291e-01 -1.52682772e-01 -1.79353762e-01 1.11065663e+02] [ 1.53441331e-01 9.88109959e-01 -9.71943144e-03 8.38753137e+01] [ 1.78705228e-01 -1.80743116e-02 9.83736632e-01 1.32571763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.09, Y:83.89, Z:13.26 [[ 9.72024574e-01 -1.54343325e-01 -1.77049050e-01 1.11092034e+02] [ 1.53251774e-01 9.87986627e-01 -1.99077678e-02 8.38854322e+01] [ 1.77994725e-01 -7.78224144e-03 9.84000668e-01 1.32582718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:83.90, Z:13.26 [[ 9.71565752e-01 -1.59856920e-01 -1.74658966e-01 1.11118927e+02] [ 1.56140974e-01 9.87117858e-01 -3.49045837e-02 8.38998430e+01] [ 1.77988724e-01 6.64067701e-03 9.84010120e-01 1.32573985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.15, Y:83.89, Z:13.27 [[ 9.71458616e-01 -1.54152953e-01 -1.80291496e-01 1.11146149e+02] [ 1.54743439e-01 9.87894871e-01 -1.08716423e-02 8.38904545e+01] [ 1.79784940e-01 -1.73375756e-02 9.83553142e-01 1.32716561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.17, Y:83.92, Z:13.26 [[ 9.71836719e-01 -1.61545423e-01 -1.71570590e-01 1.11170286e+02] [ 1.56884966e-01 9.86787138e-01 -4.04753253e-02 8.39162080e+01] [ 1.75842255e-01 1.24185613e-02 9.84340023e-01 1.32615036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.21, Y:83.88, Z:13.30 [[ 9.70837094e-01 -1.44658003e-01 -1.91178971e-01 1.11206213e+02] [ 1.50688667e-01 9.88429656e-01 1.73130315e-02 8.38827037e+01] [ 1.86462496e-01 -4.56166375e-02 9.81402496e-01 1.33019064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:83.93, Z:13.27 [[ 9.71786480e-01 -1.62465376e-01 -1.70985492e-01 1.11225893e+02] [ 1.54813245e-01 9.86282743e-01 -5.72643808e-02 8.39340787e+01] [ 1.77943519e-01 2.91779323e-02 9.83608028e-01 1.32715709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:83.91, Z:13.29 [[ 9.71851007e-01 -1.52605923e-01 -1.79491093e-01 1.11255897e+02] [ 1.53665950e-01 9.88089924e-01 -8.06706519e-03 8.39110875e+01] [ 1.78584423e-01 -1.97416839e-02 9.83726522e-01 1.32930092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.218040942 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:111.29, Y:83.91, Z:13.31 [[ 9.70171236e-01 -1.48306263e-01 -1.91762938e-01 1.11286406e+02] [ 1.49167754e-01 9.88761148e-01 -1.00186529e-02 8.39109414e+01] [ 1.91093572e-01 -1.88850380e-02 9.81390138e-01 1.33095881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.31, Y:83.94, Z:13.30 [[ 9.71490535e-01 -1.58520651e-01 -1.76287674e-01 1.11310789e+02] [ 1.54165739e-01 9.87305495e-01 -3.82202226e-02 8.39352934e+01] [ 1.80108484e-01 9.95306501e-03 9.83596396e-01 1.32977612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:83.93, Z:13.30 [[ 9.71852436e-01 -1.57350717e-01 -1.75338514e-01 1.11336929e+02] [ 1.56090380e-01 9.87518565e-01 -2.10446543e-02 8.39312765e+01] [ 1.76461429e-01 -6.91635666e-03 9.84283256e-01 1.33032961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:111.36, Y:83.94, Z:13.31 [[ 9.71714236e-01 -1.58831585e-01 -1.74768335e-01 1.11363459e+02] [ 1.55957542e-01 9.87303587e-01 -3.01475106e-02 8.39406208e+01] [ 1.77337781e-01 2.03832536e-03 9.84147934e-01 1.33057876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.338040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.39, Y:83.95, Z:13.31 [[ 9.71940227e-01 -1.60448123e-01 -1.72013359e-01 1.11390325e+02] [ 1.57529858e-01 9.87040799e-01 -3.05745884e-02 8.39459466e+01] [ 1.74689839e-01 2.61943241e-03 9.84620028e-01 1.33084510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:83.94, Z:13.32 [[ 9.71648609e-01 -1.55541007e-01 -1.78061721e-01 1.11418575e+02] [ 1.56414541e-01 9.87648558e-01 -9.20961741e-03 8.39366033e+01] [ 1.77294875e-01 -1.89029304e-02 9.83976222e-01 1.33231296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.398040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:111.45, Y:83.95, Z:13.32 [[ 9.71775860e-01 -1.60418292e-01 -1.72967190e-01 1.11445524e+02] [ 1.57120565e-01 9.87038480e-01 -3.26828155e-02 8.39537070e+01] [ 1.75968194e-01 4.58366850e-03 9.84385181e-01 1.33207835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:83.93, Z:13.35 [[ 9.70695987e-01 -1.49841086e-01 -1.87874824e-01 1.11478545e+02] [ 1.52390548e-01 9.88319958e-01 -8.83796598e-04 8.39347263e+01] [ 1.85812867e-01 -2.77724495e-02 9.82192583e-01 1.33484733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:83.98, Z:13.32 [[ 9.71839834e-01 -1.65060757e-01 -1.68173374e-01 1.11500555e+02] [ 1.56102673e-01 9.85582901e-01 -6.52556549e-02 8.39795313e+01] [ 1.76519950e-01 3.71657315e-02 9.83595148e-01 1.33216751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:83.96, Z:13.34 [[ 9.71648391e-01 -1.55869006e-01 -1.77775860e-01 1.11530638e+02] [ 1.55086185e-01 9.87729977e-01 -1.83784636e-02 8.39564914e+01] [ 1.78459179e-01 -9.71317533e-03 9.83899373e-01 1.33417854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:83.96, Z:13.35 [[ 9.71901531e-01 -1.54397733e-01 -1.77675981e-01 1.11557744e+02] [ 1.54520210e-01 9.87900999e-01 -1.32333393e-02 8.39567977e+01] [ 1.77569476e-01 -1.45930271e-02 9.84000063e-01 1.33498403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54804094199997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.58, Y:83.97, Z:13.35 [[ 9.71358479e-01 -1.59217611e-01 -1.76387236e-01 1.11584429e+02] [ 1.54759864e-01 9.87188440e-01 -3.88377291e-02 8.39728700e+01] [ 1.80311091e-01 1.04276928e-02 9.83554357e-01 1.33489211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57804094199997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.61, Y:83.97, Z:13.36 [[ 9.71621784e-01 -1.57370485e-01 -1.76594562e-01 1.11612681e+02] [ 1.56794219e-01 9.87479724e-01 -1.73022569e-02 8.39654804e+01] [ 1.77106414e-01 -1.08777568e-02 9.84131593e-01 1.33577728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60804094199997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:111.64, Y:83.97, Z:13.37 [[ 9.71212038e-01 -1.56597212e-01 -1.79511810e-01 1.11643602e+02] [ 1.54283837e-01 9.87661248e-01 -2.68655196e-02 8.39711853e+01] [ 1.81503924e-01 -1.60365484e-03 9.83388913e-01 1.33654106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63804094199998 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:111.67, Y:83.97, Z:13.37 [[ 9.71805145e-01 -1.56554811e-01 -1.76310381e-01 1.11668337e+02] [ 1.55315246e-01 9.87643921e-01 -2.08964012e-02 8.39719695e+01] [ 1.77403308e-01 -7.07645997e-03 9.84112793e-01 1.33673568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.69, Y:83.98, Z:13.37 [[ 9.71234116e-01 -1.59913025e-01 -1.76442954e-01 1.11694986e+02] [ 1.55587720e-01 9.87084198e-01 -3.81739146e-02 8.39844090e+01] [ 1.80268558e-01 9.62345137e-03 9.83570351e-01 1.33675000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69804094199998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:111.73, Y:83.97, Z:13.38 [[ 9.71458134e-01 -1.51624914e-01 -1.82425271e-01 1.11727044e+02] [ 1.50583504e-01 9.88402400e-01 -1.96291834e-02 8.39724869e+01] [ 1.83285849e-01 -8.40130660e-03 9.83023762e-01 1.33843549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.76, Y:83.97, Z:13.39 [[ 9.71633892e-01 -1.46672386e-01 -1.85512239e-01 1.11755926e+02] [ 1.46710984e-01 9.89085959e-01 -1.35960457e-02 8.39706623e+01] [ 1.85481715e-01 -1.40063044e-02 9.82547890e-01 1.33946099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:83.98, Z:13.40 [[ 9.71871606e-01 -1.45281902e-01 -1.85361137e-01 1.11785775e+02] [ 1.43842566e-01 9.89372122e-01 -2.12631298e-02 8.39771987e+01] [ 1.86480289e-01 -5.99778952e-03 9.82440394e-01 1.33988904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:84.00, Z:13.39 [[ 9.72642207e-01 -1.52539448e-01 -1.75210883e-01 1.11806324e+02] [ 1.46705762e-01 9.88116694e-01 -4.58565064e-02 8.39990257e+01] [ 1.80123724e-01 1.88975276e-02 9.83462418e-01 1.33864458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:83.97, Z:13.42 [[ 9.72328540e-01 -1.37344560e-01 -1.88980640e-01 1.11841310e+02] [ 1.39735167e-01 9.90188679e-01 -6.80164133e-04 8.39720205e+01] [ 1.87219907e-01 -2.57458983e-02 9.81980578e-01 1.34156098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:84.01, Z:13.39 [[ 9.73709396e-01 -1.46763324e-01 -1.74214062e-01 1.11861381e+02] [ 1.40095621e-01 9.88872657e-01 -5.00408278e-02 8.40063318e+01] [ 1.79619680e-01 2.43185971e-02 9.83435497e-01 1.33947398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:83.98, Z:13.42 [[ 9.74121413e-01 -1.30756146e-01 -1.84364595e-01 1.11895659e+02] [ 1.33174015e-01 9.91092395e-01 7.38960391e-04 8.39766660e+01] [ 1.82625725e-01 -2.52724106e-02 9.82857645e-01 1.34235318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:84.00, Z:13.42 [[ 9.73926497e-01 -1.37296701e-01 -1.80601201e-01 1.11923156e+02] [ 1.33443854e-01 9.90494331e-01 -3.33724185e-02 8.39984687e+01] [ 1.83466388e-01 8.40216250e-03 9.82990075e-01 1.34161973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.95, Y:84.01, Z:13.41 [[ 9.74176481e-01 -1.43058364e-01 -1.74683967e-01 1.11945631e+02] [ 1.37779659e-01 9.89570103e-01 -4.20449374e-02 8.40107835e+01] [ 1.78876911e-01 1.68912918e-02 9.83726453e-01 1.34106612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.97, Y:84.00, Z:13.42 [[ 9.74878461e-01 -1.41030590e-01 -1.72401739e-01 1.11973542e+02] [ 1.38564353e-01 9.90003659e-01 -2.63187395e-02 8.40019400e+01] [ 1.74390100e-01 1.76883683e-03 9.84675055e-01 1.34184164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.00, Y:84.00, Z:13.42 [[ 9.74612538e-01 -1.42074196e-01 -1.73047172e-01 1.12001156e+02] [ 1.39603218e-01 9.89854715e-01 -2.64307493e-02 8.40037789e+01] [ 1.75046687e-01 1.60179755e-03 9.84558831e-01 1.34243942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:84.00, Z:13.43 [[ 9.74509376e-01 -1.41590284e-01 -1.74022031e-01 1.12032104e+02] [ 1.38956941e-01 9.89922413e-01 -2.72870816e-02 8.40022926e+01] [ 1.76131895e-01 2.40994774e-03 9.84363626e-01 1.34294924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:84.01, Z:13.43 [[ 9.74085945e-01 -1.45241721e-01 -1.73382275e-01 1.12055691e+02] [ 1.42926486e-01 9.89396127e-01 -2.58326034e-02 8.40065858e+01] [ 1.75295723e-01 3.82256695e-04 9.84515751e-01 1.34322652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:84.01, Z:13.44 [[ 9.73112705e-01 -1.46714829e-01 -1.77556816e-01 1.12084258e+02] [ 1.44007766e-01 9.89177220e-01 -2.81103229e-02 8.40083376e+01] [ 1.79759359e-01 1.78495192e-03 9.83708995e-01 1.34377569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.11, Y:84.01, Z:13.44 [[ 9.73252710e-01 -1.50873359e-01 -1.73252392e-01 1.12112079e+02] [ 1.47925272e-01 9.88547071e-01 -2.98797906e-02 8.40081236e+01] [ 1.75776209e-01 3.45218007e-03 9.84424099e-01 1.34399390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:84.00, Z:13.45 [[ 9.72975290e-01 -1.46765556e-01 -1.78266535e-01 1.12144385e+02] [ 1.47151849e-01 9.89051326e-01 -1.11269065e-02 8.39957625e+01] [ 1.77947799e-01 -1.54060451e-02 9.83919323e-01 1.34544086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:84.00, Z:13.45 [[ 9.72032936e-01 -1.53397358e-01 -1.77823568e-01 1.12174208e+02] [ 1.50666724e-01 9.88163805e-01 -2.88415025e-02 8.40033591e+01] [ 1.80143024e-01 1.24279589e-03 9.83639643e-01 1.34539191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:84.01, Z:13.45 [[ 9.71803405e-01 -1.59015363e-01 -1.74104152e-01 1.12196291e+02] [ 1.55063282e-01 9.87242520e-01 -3.61605480e-02 8.40130615e+01] [ 1.77633105e-01 8.14378237e-03 9.84063087e-01 1.34526239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:84.01, Z:13.46 [[ 9.71754919e-01 -1.57794025e-01 -1.75480546e-01 1.12224366e+02] [ 1.55401357e-01 9.87471827e-01 -2.73826428e-02 8.40127356e+01] [ 1.77602913e-01 -6.60697227e-04 9.84102011e-01 1.34601776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.26, Y:84.01, Z:13.47 [[ 9.71709372e-01 -1.56239926e-01 -1.77115730e-01 1.12256616e+02] [ 1.54325741e-01 9.87713244e-01 -2.46193587e-02 8.40085475e+01] [ 1.78786079e-01 -3.41065480e-03 9.83882059e-01 1.34650944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:84.00, Z:13.48 [[ 9.72239848e-01 -1.53820813e-01 -1.76320264e-01 1.12283176e+02] [ 1.54306234e-01 9.87961402e-01 -1.10387555e-02 8.40027752e+01] [ 1.75895606e-01 -1.64749981e-02 9.84270954e-01 1.34759004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:84.01, Z:13.48 [[ 9.70883807e-01 -1.58319141e-01 -1.79776760e-01 1.12313023e+02] [ 1.55751757e-01 9.87387901e-01 -2.83993661e-02 8.40118728e+01] [ 1.82005561e-01 -4.28061416e-04 9.83297408e-01 1.34774123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:84.02, Z:13.48 [[ 9.70461429e-01 -1.62438104e-01 -1.78377344e-01 1.12339101e+02] [ 1.58280883e-01 9.86685866e-01 -3.73920216e-02 8.40150149e+01] [ 1.82076293e-01 8.05379133e-03 9.83251423e-01 1.34762771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:84.02, Z:13.48 [[ 9.70613204e-01 -1.64920520e-01 -1.75246198e-01 1.12364633e+02] [ 1.62123948e-01 9.86306396e-01 -3.02575451e-02 8.40172433e+01] [ 1.77836536e-01 9.56767278e-04 9.84059577e-01 1.34801438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41804094199998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:112.39, Y:84.02, Z:13.48 [[ 9.70393658e-01 -1.65014522e-01 -1.76369940e-01 1.12391940e+02] [ 1.62662611e-01 9.86289673e-01 -2.78128635e-02 8.40151947e+01] [ 1.78541377e-01 -1.69936870e-03 9.83930937e-01 1.34840210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:83.99, Z:13.51 [[ 9.70727672e-01 -1.53625307e-01 -1.84626790e-01 1.12424889e+02] [ 1.57195348e-01 9.87556019e-01 4.76787312e-03 8.39947882e+01] [ 1.81596832e-01 -3.36507789e-02 9.82797139e-01 1.35097044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.45, Y:84.04, Z:13.48 [[ 9.70903910e-01 -1.68118832e-01 -1.70533446e-01 1.12447184e+02] [ 1.60371651e-01 9.85331648e-01 -5.83307486e-02 8.40384197e+01] [ 1.77838499e-01 2.92848216e-02 9.83623845e-01 1.34834515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50804094199998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:112.47, Y:84.03, Z:13.50 [[ 9.72239074e-01 -1.58915489e-01 -1.71747056e-01 1.12473224e+02] [ 1.56476357e-01 9.87292185e-01 -2.77360925e-02 8.40272086e+01] [ 1.73972220e-01 9.17592763e-05 9.84750556e-01 1.34954109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.50, Y:84.03, Z:13.50 [[ 9.71902445e-01 -1.57355214e-01 -1.75057061e-01 1.12501800e+02] [ 1.54878256e-01 9.87542065e-01 -2.78099992e-02 8.40321807e+01] [ 1.77252259e-01 -8.39261279e-05 9.84165448e-01 1.35013990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.53, Y:84.04, Z:13.51 [[ 9.72560680e-01 -1.53255089e-01 -1.75038859e-01 1.12528232e+02] [ 1.50712743e-01 9.88186439e-01 -2.78070373e-02 8.40385696e+01] [ 1.77232596e-01 6.63444501e-04 9.84168769e-01 1.35059805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.56, Y:84.03, Z:13.53 [[ 9.72236893e-01 -1.45262923e-01 -1.83450559e-01 1.12561467e+02] [ 1.46338423e-01 9.89204340e-01 -7.73560267e-03 8.40277162e+01] [ 1.82593785e-01 -1.93250272e-02 9.82998501e-01 1.35250591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:84.05, Z:13.52 [[ 9.72672833e-01 -1.51885074e-01 -1.75608894e-01 1.12586772e+02] [ 1.47255514e-01 9.88322274e-01 -3.91777594e-02 8.40507019e+01] [ 1.79508698e-01 1.22477642e-02 9.83680141e-01 1.35150697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:84.04, Z:13.53 [[ 9.72257802e-01 -1.47786640e-01 -1.81311542e-01 1.12617103e+02] [ 1.47389270e-01 9.88953324e-01 -1.57393215e-02 8.40408866e+01] [ 1.81634713e-01 -1.14206977e-02 9.83299750e-01 1.35332950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.64, Y:84.06, Z:13.53 [[ 9.71860428e-01 -1.54754548e-01 -1.77590368e-01 1.12642475e+02] [ 1.51755267e-01 9.87949456e-01 -3.04337080e-02 8.40554833e+01] [ 1.80160062e-01 2.62704283e-03 9.83633799e-01 1.35285040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.67, Y:84.06, Z:13.53 [[ 9.71476749e-01 -1.56194735e-01 -1.78426821e-01 1.12669578e+02] [ 1.53852360e-01 9.87725498e-01 -2.69776247e-02 8.40580143e+01] [ 1.80450484e-01 -1.24325228e-03 9.83583284e-01 1.35337150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:84.07, Z:13.53 [[ 9.71622924e-01 -1.62285426e-01 -1.72082348e-01 1.12692992e+02] [ 1.57938408e-01 9.86688267e-01 -3.87520774e-02 8.40720602e+01] [ 1.76080531e-01 1.04739947e-02 9.84320040e-01 1.35287992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:84.07, Z:13.54 [[ 9.70970402e-01 -1.63803047e-01 -1.74313055e-01 1.12719523e+02] [ 1.61423130e-01 9.86492445e-01 -2.78429374e-02 8.40692672e+01] [ 1.76519270e-01 -1.10349076e-03 9.84296566e-01 1.35366001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:84.06, Z:13.55 [[ 9.70198028e-01 -1.61218227e-01 -1.80899057e-01 1.12751163e+02] [ 1.61265655e-01 9.86803849e-01 -1.45448313e-02 8.40624448e+01] [ 1.80856778e-01 -1.50614383e-02 9.83394112e-01 1.35517623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.78, Y:84.07, Z:13.55 [[ 9.69626675e-01 -1.65918509e-01 -1.79708540e-01 1.12777889e+02] [ 1.63793062e-01 9.86133119e-01 -2.67077752e-02 8.40721298e+01] [ 1.81647857e-01 -3.53844074e-03 9.83357278e-01 1.35520215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:84.09, Z:13.55 [[ 9.70013023e-01 -1.70560668e-01 -1.73158293e-01 1.12802171e+02] [ 1.66028034e-01 9.85291457e-01 -4.04405372e-02 8.40878237e+01] [ 1.77508952e-01 1.04787168e-02 9.84063397e-01 1.35457463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:84.09, Z:13.55 [[ 9.70029814e-01 -1.68661431e-01 -1.74915639e-01 1.12828372e+02] [ 1.66324755e-01 9.85672229e-01 -2.80416143e-02 8.40874952e+01] [ 1.77139027e-01 -1.89159897e-03 9.84184021e-01 1.35532843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.86, Y:84.09, Z:13.56 [[ 9.70007571e-01 -1.68971280e-01 -1.74739861e-01 1.12855584e+02] [ 1.66640533e-01 9.85619095e-01 -2.80344846e-02 8.40927444e+01] [ 1.76963966e-01 -1.92508122e-03 9.84215448e-01 1.35579964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.88, Y:84.10, Z:13.56 [[ 9.69988282e-01 -1.69610814e-01 -1.74226588e-01 1.12883102e+02] [ 1.67296012e-01 9.85509112e-01 -2.79970540e-02 8.40974223e+01] [ 1.76450493e-01 -1.99059909e-03 9.84307503e-01 1.35630086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.91, Y:84.10, Z:13.57 [[ 9.69961948e-01 -1.71393372e-01 -1.72621353e-01 1.12910731e+02] [ 1.69141481e-01 9.85200109e-01 -2.77831701e-02 8.41013839e+01] [ 1.74828427e-01 -2.24881358e-03 9.84596346e-01 1.35682560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:84.10, Z:13.58 [[ 9.71660081e-01 -1.63116348e-01 -1.71084024e-01 1.12927499e+02] [ 1.63375070e-01 9.86482760e-01 -1.26629676e-02 8.40952138e+01] [ 1.70836977e-01 -1.56467643e-02 9.85175064e-01 1.35759585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.97, Y:84.11, Z:13.58 [[ 9.69275514e-01 -1.74191472e-01 -1.73672997e-01 1.12969315e+02] [ 1.70067981e-01 9.84681326e-01 -3.84651640e-02 8.41131830e+01] [ 1.77712860e-01 7.74712582e-03 9.84051890e-01 1.35784028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.00, Y:84.12, Z:13.58 [[ 9.69366061e-01 -1.75598780e-01 -1.71739655e-01 1.12996858e+02] [ 1.72534215e-01 9.84459584e-01 -3.27302933e-02 8.41173616e+01] [ 1.74818149e-01 2.09666885e-03 9.84598506e-01 1.35807971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:84.11, Z:13.60 [[ 9.69046427e-01 -1.69917031e-01 -1.79101158e-01 1.13026156e+02] [ 1.70937975e-01 9.85232731e-01 -9.83235722e-03 8.41079869e+01] [ 1.78127008e-01 -2.10871786e-02 9.83781531e-01 1.35992329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:84.13, Z:13.59 [[ 9.69514031e-01 -1.75427141e-01 -1.71078527e-01 1.13052642e+02] [ 1.71363139e-01 9.84460945e-01 -3.83578282e-02 8.41310131e+01] [ 1.75149133e-01 7.87189918e-03 9.84510444e-01 1.35889614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:84.13, Z:13.60 [[ 9.69673818e-01 -1.72682892e-01 -1.72954634e-01 1.13079560e+02] [ 1.70512763e-01 9.84973258e-01 -2.74422762e-02 8.41293484e+01] [ 1.75094501e-01 -2.88091583e-03 9.84547417e-01 1.35970239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:84.14, Z:13.60 [[ 9.70350076e-01 -1.71941200e-01 -1.69873347e-01 1.13103540e+02] [ 1.69129484e-01 9.85106293e-01 -3.09969184e-02 8.41371529e+01] [ 1.72672951e-01 1.34727045e-03 9.84978293e-01 1.35991471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.13, Y:84.13, Z:13.61 [[ 9.70967294e-01 -1.66419677e-01 -1.71834240e-01 1.13134777e+02] [ 1.65442495e-01 9.86014693e-01 -2.00949215e-02 8.41326762e+01] [ 1.72775275e-01 -8.91717376e-03 9.84920905e-01 1.36086196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:84.15, Z:13.61 [[ 9.71062272e-01 -1.67539965e-01 -1.70201130e-01 1.13158252e+02] [ 1.64036462e-01 9.85849233e-01 -3.45445805e-02 8.41457403e+01] [ 1.73580252e-01 5.62574753e-03 9.84803659e-01 1.36078596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:84.14, Z:13.62 [[ 9.71682315e-01 -1.63494024e-01 -1.70596552e-01 1.13185831e+02] [ 1.61695520e-01 9.86537015e-01 -2.44801527e-02 8.41441857e+01] [ 1.72302172e-01 -3.79776674e-03 9.85036821e-01 1.36156369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:84.15, Z:13.62 [[ 9.71980938e-01 -1.62165256e-01 -1.70163116e-01 1.13213945e+02] [ 1.60388222e-01 9.86756528e-01 -2.42316322e-02 8.41484345e+01] [ 1.71839094e-01 -3.73947502e-03 9.85117933e-01 1.36205676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:84.16, Z:13.62 [[ 9.72027735e-01 -1.62227863e-01 -1.69835815e-01 1.13240734e+02] [ 1.58376733e-01 9.86719518e-01 -3.60749679e-02 8.41579900e+01] [ 1.73432678e-01 8.16782790e-03 9.84811857e-01 1.36218985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:84.16, Z:13.63 [[ 9.72200692e-01 -1.60193038e-01 -1.70774722e-01 1.13266959e+02] [ 1.57671722e-01 9.87085522e-01 -2.83160813e-02 8.41563864e+01] [ 1.73105294e-01 6.02569412e-04 9.84903139e-01 1.36296147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:84.16, Z:13.64 [[ 9.72355531e-01 -1.59869937e-01 -1.70194960e-01 1.13294274e+02] [ 1.57357040e-01 9.87137853e-01 -2.82421904e-02 8.41579141e+01] [ 1.72520964e-01 6.80075067e-04 9.85005611e-01 1.36355395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:84.16, Z:13.64 [[ 9.72298398e-01 -1.60333264e-01 -1.70085478e-01 1.13321276e+02] [ 1.57821854e-01 9.87062726e-01 -2.82743294e-02 8.41620095e+01] [ 1.72418351e-01 6.47879710e-04 9.85023600e-01 1.36403775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.35, Y:84.17, Z:13.64 [[ 9.72195306e-01 -1.61204775e-01 -1.69850842e-01 1.13348668e+02] [ 1.58704783e-01 9.86920831e-01 -2.82854351e-02 8.41667075e+01] [ 1.72189081e-01 5.42826219e-04 9.85063767e-01 1.36449585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.38, Y:84.17, Z:13.65 [[ 9.71992060e-01 -1.63761264e-01 -1.68563588e-01 1.13376018e+02] [ 1.61328881e-01 9.86499989e-01 -2.81205077e-02 8.41722981e+01] [ 1.70893027e-01 1.38735148e-04 9.85289579e-01 1.36497577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:84.18, Z:13.65 [[ 9.71806833e-01 -1.65306194e-01 -1.68122994e-01 1.13403247e+02] [ 1.62901012e-01 9.86242290e-01 -2.80963494e-02 8.41774255e+01] [ 1.70454507e-01 -8.31815130e-05 9.85365543e-01 1.36544412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.558040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.43, Y:84.18, Z:13.66 [[ 9.71212071e-01 -1.68296987e-01 -1.68591925e-01 1.13430616e+02] [ 1.65914388e-01 9.85736177e-01 -2.82241968e-02 8.41824723e+01] [ 1.70937207e-01 -5.60145391e-04 9.85281766e-01 1.36597821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:84.19, Z:13.66 [[ 9.70872731e-01 -1.69974841e-01 -1.68862942e-01 1.13457294e+02] [ 1.67434622e-01 9.85448391e-01 -2.92765513e-02 8.41879255e+01] [ 1.71381991e-01 1.50302436e-04 9.85204644e-01 1.36645325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:84.19, Z:13.67 [[ 9.70325046e-01 -1.72603610e-01 -1.69343730e-01 1.13484007e+02] [ 1.70380219e-01 9.84989361e-01 -2.76864427e-02 8.41927900e+01] [ 1.71580553e-01 -1.98797309e-03 9.85168088e-01 1.36705052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:84.20, Z:13.67 [[ 9.70526955e-01 -1.71365965e-01 -1.69443604e-01 1.13513342e+02] [ 1.69180980e-01 9.85205177e-01 -2.73597461e-02 8.41967948e+01] [ 1.71625246e-01 -2.11326408e-03 9.85160042e-01 1.36740746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.54, Y:84.21, Z:13.68 [[ 9.69465981e-01 -1.75446824e-01 -1.71330450e-01 1.13538320e+02] [ 1.72427478e-01 9.84487011e-01 -3.24667647e-02 8.42083695e+01] [ 1.74368793e-01 1.93334651e-03 9.84678519e-01 1.36786033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:84.21, Z:13.68 [[ 9.69313189e-01 -1.75448989e-01 -1.72190573e-01 1.13566468e+02] [ 1.73560762e-01 9.84477753e-01 -2.60809353e-02 8.42110157e+01] [ 1.74093662e-01 -4.60493244e-03 9.84718331e-01 1.36849335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.59, Y:84.22, Z:13.69 [[ 9.68963902e-01 -1.76658302e-01 -1.72918479e-01 1.13592036e+02] [ 1.74245124e-01 9.84270455e-01 -2.91600508e-02 8.42181167e+01] [ 1.75349915e-01 -1.87516530e-03 9.84504388e-01 1.36887434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.62, Y:84.22, Z:13.69 [[ 9.68613684e-01 -1.77896470e-01 -1.73609843e-01 1.13618598e+02] [ 1.75479500e-01 9.84047000e-01 -2.92992787e-02 8.42237332e+01] [ 1.76052484e-01 -2.08528614e-03 9.84378573e-01 1.36934522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:84.23, Z:13.69 [[ 9.68799196e-01 -1.79073708e-01 -1.71349713e-01 1.13649418e+02] [ 1.75389662e-01 9.83821191e-01 -3.65284867e-02 8.42322197e+01] [ 1.75118770e-01 5.33580038e-03 9.84532857e-01 1.36939660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:84.23, Z:13.71 [[ 9.68058215e-01 -1.79354226e-01 -1.75200899e-01 1.13673037e+02] [ 1.78516875e-01 9.83719931e-01 -2.06597068e-02 8.42309288e+01] [ 1.76054022e-01 -1.12765181e-02 9.84315916e-01 1.37066827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:84.24, Z:13.71 [[ 9.67852206e-01 -1.81703538e-01 -1.73913575e-01 1.13699770e+02] [ 1.79320930e-01 9.83349699e-01 -2.94511894e-02 8.42415169e+01] [ 1.76369247e-01 -2.68194545e-03 9.84320423e-01 1.37089253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:84.29, Z:13.68 [[ 9.68738307e-01 -1.96421242e-01 -1.51541373e-01 1.13723827e+02] [ 1.85097702e-01 9.78979606e-01 -8.56607995e-02 8.42851564e+01] [ 1.65181514e-01 5.49329381e-02 9.84732167e-01 1.36782361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.76, Y:84.22, Z:13.74 [[ 9.67567932e-01 -1.74460901e-01 -1.82690152e-01 1.13756981e+02] [ 1.82170830e-01 9.82918454e-01 2.61744499e-02 8.42229934e+01] [ 1.75003103e-01 -5.86063750e-02 9.82822063e-01 1.37400226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:84.27, Z:13.71 [[ 9.67990720e-01 -1.90952930e-01 -1.62883226e-01 1.13779495e+02] [ 1.84502405e-01 9.81347833e-01 -5.39934518e-02 8.42741836e+01] [ 1.70155309e-01 2.22128133e-02 9.85166870e-01 1.37074688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:84.27, Z:13.72 [[ 9.67632556e-01 -1.89732193e-01 -1.66399912e-01 1.13809833e+02] [ 1.87158251e-01 9.81835381e-01 -3.11620538e-02 8.42677414e+01] [ 1.69289766e-01 -9.89698837e-04 9.85565825e-01 1.37194837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.84, Y:84.28, Z:13.72 [[ 9.67283553e-01 -1.93046526e-01 -1.64607314e-01 1.13838229e+02] [ 1.89224604e-01 9.81169197e-01 -3.87434668e-02 8.42788445e+01] [ 1.68986917e-01 6.32816454e-03 9.85597979e-01 1.37199671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:84.28, Z:13.72 [[ 9.67119330e-01 -1.92350028e-01 -1.66378090e-01 1.13864673e+02] [ 1.89298776e-01 9.81325171e-01 -3.41596574e-02 8.42831967e+01] [ 1.69841619e-01 1.54129613e-03 9.85470166e-01 1.37248070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:84.29, Z:13.73 [[ 9.66895418e-01 -1.93038844e-01 -1.66880961e-01 1.13894124e+02] [ 1.90708057e-01 9.81187167e-01 -3.00363203e-02 8.42874065e+01] [ 1.69539634e-01 -2.78356335e-03 9.85519439e-01 1.37311467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:84.29, Z:13.74 [[ 9.67196637e-01 -1.90349168e-01 -1.68219677e-01 1.13919887e+02] [ 1.88646870e-01 9.81695595e-01 -2.61938533e-02 8.42906354e+01] [ 1.70126494e-01 -6.39950865e-03 9.85401452e-01 1.37378694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:84.30, Z:13.74 [[ 9.67271948e-01 -1.91706137e-01 -1.66233979e-01 1.13946692e+02] [ 1.88296357e-01 9.81445396e-01 -3.61858711e-02 8.43029713e+01] [ 1.70086627e-01 3.70032532e-03 9.85422167e-01 1.37376339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:84.30, Z:13.74 [[ 9.67199542e-01 -1.90656992e-01 -1.67853978e-01 1.13975688e+02] [ 1.88159263e-01 9.81655100e-01 -3.08116358e-02 8.43047838e+01] [ 1.70649167e-01 -1.78228074e-03 9.85330242e-01 1.37448139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:84.31, Z:13.75 [[ 9.67162566e-01 -1.90381647e-01 -1.68378740e-01 1.14006178e+02] [ 1.87916969e-01 9.81708029e-01 -3.06032281e-02 8.43105091e+01] [ 1.71125054e-01 -2.04292582e-03 9.85247199e-01 1.37511148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:84.31, Z:13.76 [[ 9.67326741e-01 -1.87439289e-01 -1.70720500e-01 1.14033070e+02] [ 1.85485766e-01 9.82262972e-01 -2.74678854e-02 8.43145377e+01] [ 1.72840987e-01 -5.09580271e-03 9.84936559e-01 1.37576707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:84.32, Z:13.77 [[ 9.67275704e-01 -1.84204344e-01 -1.74489177e-01 1.14063510e+02] [ 1.82594359e-01 9.82860759e-01 -2.53777042e-02 8.43171069e+01] [ 1.76173248e-01 -7.31350265e-03 9.84332007e-01 1.37673294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:84.33, Z:13.76 [[ 9.67584961e-01 -1.86805445e-01 -1.69950198e-01 1.14087273e+02] [ 1.83268416e-01 9.82388446e-01 -3.64091779e-02 8.43313496e+01] [ 1.73758543e-01 4.08246938e-03 9.84779824e-01 1.37645338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:84.32, Z:13.78 [[ 9.67813009e-01 -1.78658437e-01 -1.77254458e-01 1.14115114e+02] [ 1.79634240e-01 9.83675706e-01 -1.06604356e-02 8.43197020e+01] [ 1.76265481e-01 -2.15236616e-02 9.84107318e-01 1.37831052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.338040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.14, Y:84.32, Z:13.80 [[ 9.66952589e-01 -1.78562523e-01 -1.81983834e-01 1.14138766e+02] [ 1.80338482e-01 9.83580557e-01 -6.87898380e-03 8.43228880e+01] [ 1.80224089e-01 -2.61670370e-02 9.83277460e-01 1.37985408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:84.34, Z:13.80 [[ 9.67050808e-01 -1.83297551e-01 -1.76676947e-01 1.14166572e+02] [ 1.80293293e-01 9.83057474e-01 -3.30504489e-02 8.43437015e+01] [ 1.79741659e-01 1.07794655e-04 9.83713843e-01 1.37952418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.20, Y:84.36, Z:13.79 [[ 9.68403706e-01 -1.82496580e-01 -1.69968410e-01 1.14201142e+02] [ 1.76910868e-01 9.83076191e-01 -4.75788570e-02 8.43554730e+01] [ 1.75774875e-01 1.60062826e-02 9.84300255e-01 1.37886123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.23, Y:84.35, Z:13.80 [[ 9.69012389e-01 -1.76606417e-01 -1.72699636e-01 1.14229983e+02] [ 1.74638048e-01 9.84271999e-01 -2.66492689e-02 8.43495857e+01] [ 1.74689848e-01 -4.33645572e-03 9.84613961e-01 1.38004769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:84.35, Z:13.82 [[ 9.68407559e-01 -1.75278774e-01 -1.77381372e-01 1.14249863e+02] [ 1.76356559e-01 9.84277587e-01 -9.79777955e-03 8.43479016e+01] [ 1.76309852e-01 -2.17941248e-02 9.84093416e-01 1.38163590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.28, Y:84.37, Z:13.80 [[ 9.69609319e-01 -1.76987158e-01 -1.68918068e-01 1.14280315e+02] [ 1.70008746e-01 9.83904556e-01 -5.50350015e-02 8.43739204e+01] [ 1.75939745e-01 2.46449014e-02 9.84092391e-01 1.38022166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.31, Y:84.36, Z:13.81 [[ 9.70701998e-01 -1.68238656e-01 -1.71561609e-01 1.14307460e+02] [ 1.65680077e-01 9.85746292e-01 -2.92294359e-02 8.43644136e+01] [ 1.74033740e-01 -5.12687245e-05 9.84739689e-01 1.38143942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:84.36, Z:13.83 [[ 9.71005481e-01 -1.62624902e-01 -1.75218425e-01 1.14331402e+02] [ 1.64832331e-01 9.86319614e-01 -1.98057634e-03 8.43586445e+01] [ 1.73143461e-01 -2.69585110e-02 9.84527593e-01 1.38337566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.36, Y:84.38, Z:13.83 [[ 9.71585683e-01 -1.64522106e-01 -1.70157975e-01 1.14356161e+02] [ 1.61875695e-01 9.86372860e-01 -2.94081540e-02 8.43791125e+01] [ 1.72677500e-01 1.02810077e-03 9.84977880e-01 1.38292629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.39, Y:84.39, Z:13.82 [[ 9.73092113e-01 -1.63710634e-01 -1.62143668e-01 1.14389165e+02] [ 1.57854202e-01 9.86272863e-01 -4.84550357e-02 8.43941683e+01] [ 1.67850504e-01 2.15561539e-02 9.85576755e-01 1.38207177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:84.39, Z:13.83 [[ 9.73066338e-01 -1.55688243e-01 -1.70009039e-01 1.14415744e+02] [ 1.53297916e-01 9.87806166e-01 -2.71795240e-02 8.43870969e+01] [ 1.72167509e-01 3.85448523e-04 9.85067612e-01 1.38336787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:84.39, Z:13.84 [[ 9.73767296e-01 -1.53041294e-01 -1.68391260e-01 1.14446190e+02] [ 1.52099030e-01 9.88191021e-01 -1.85577997e-02 8.43889401e+01] [ 1.69242841e-01 -7.54116880e-03 9.85545530e-01 1.38414505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:84.40, Z:13.84 [[ 9.73989655e-01 -1.54177211e-01 -1.66052821e-01 1.14472787e+02] [ 1.51706578e-01 9.88041865e-01 -2.75388355e-02 8.43997267e+01] [ 1.68313000e-01 1.63123557e-03 9.85732252e-01 1.38430178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:84.40, Z:13.85 [[ 9.73903884e-01 -1.52602750e-01 -1.67998887e-01 1.14499821e+02] [ 1.51175074e-01 9.88276803e-01 -2.13320872e-02 8.44000670e+01] [ 1.69284738e-01 -4.62184157e-03 9.85556348e-01 1.38519114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:84.41, Z:13.86 [[ 9.73243438e-01 -1.55345878e-01 -1.69307024e-01 1.14519373e+02] [ 1.54377700e-01 9.87830171e-01 -1.89493706e-02 8.44068927e+01] [ 1.70190293e-01 -7.69487842e-03 9.85381171e-01 1.38600705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.55, Y:84.42, Z:13.85 [[ 9.73291764e-01 -1.56445445e-01 -1.68011799e-01 1.14552840e+02] [ 1.51087555e-01 9.87527516e-01 -4.42939636e-02 8.44225524e+01] [ 1.72845863e-01 1.77264581e-02 9.84789358e-01 1.38542582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:84.43, Z:13.86 [[ 9.73228441e-01 -1.59620579e-01 -1.65371315e-01 1.14576931e+02] [ 1.55133053e-01 9.87091899e-01 -3.97909464e-02 8.44262593e+01] [ 1.69588139e-01 1.30711237e-02 9.85428338e-01 1.38564576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:84.43, Z:13.86 [[ 9.72562583e-01 -1.62234466e-01 -1.66739319e-01 1.14607203e+02] [ 1.59374772e-01 9.86747457e-01 -3.04817523e-02 8.44267796e+01] [ 1.69474790e-01 3.07137081e-03 9.85529737e-01 1.38637864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:84.42, Z:13.89 [[ 9.71658607e-01 -1.60896235e-01 -1.73181849e-01 1.14631325e+02] [ 1.63469296e-01 9.86548238e-01 6.03127747e-04 8.44161871e+01] [ 1.70755207e-01 -2.88959491e-02 9.84889681e-01 1.38863834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:84.44, Z:13.88 [[ 9.71278251e-01 -1.68567159e-01 -1.67939491e-01 1.14657710e+02] [ 1.65966398e-01 9.85689856e-01 -2.95069765e-02 8.44372330e+01] [ 1.70510160e-01 7.87172196e-04 9.85355604e-01 1.38816761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:84.45, Z:13.88 [[ 9.70525647e-01 -1.73464678e-01 -1.67302043e-01 1.14688022e+02] [ 1.67939064e-01 9.84688746e-01 -4.67391007e-02 8.44481668e+01] [ 1.72848022e-01 1.72649474e-02 9.84797179e-01 1.38773249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:84.44, Z:13.89 [[ 9.69706557e-01 -1.73227060e-01 -1.72225370e-01 1.14719580e+02] [ 1.71585145e-01 9.84864824e-01 -2.44911543e-02 8.44414539e+01] [ 1.73861240e-01 -5.80208223e-03 9.84753068e-01 1.38914427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:84.44, Z:13.90 [[ 9.68354446e-01 -1.75968890e-01 -1.76987619e-01 1.14748964e+02] [ 1.77149112e-01 9.84140667e-01 -9.23799306e-03 8.44386375e+01] [ 1.75806313e-01 -2.24075479e-02 9.84169722e-01 1.39035788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:84.46, Z:13.89 [[ 9.68150414e-01 -1.85363387e-01 -1.68300890e-01 1.14770823e+02] [ 1.81147748e-01 9.82633845e-01 -4.02022292e-02 8.44622248e+01] [ 1.72830172e-01 8.43447764e-03 9.84915525e-01 1.38934367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:84.47, Z:13.90 [[ 9.67529471e-01 -1.90262081e-01 -1.66394298e-01 1.14800907e+02] [ 1.86606192e-01 9.81719478e-01 -3.74832573e-02 8.44683633e+01] [ 1.70484166e-01 5.21594963e-03 9.85346611e-01 1.38959119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:84.47, Z:13.91 [[ 9.66389685e-01 -1.93001021e-01 -1.69828096e-01 1.14828098e+02] [ 1.91687766e-01 9.81156219e-01 -2.42543681e-02 8.44664111e+01] [ 1.71309010e-01 -9.11479707e-03 9.85175184e-01 1.39063902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:84.47, Z:13.91 [[ 9.65816821e-01 -1.94822097e-01 -1.71003562e-01 1.14855016e+02] [ 1.93873638e-01 9.80770886e-01 -2.23938021e-02 8.44707033e+01] [ 1.72078122e-01 -1.15247720e-02 9.85015888e-01 1.39135801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:84.49, Z:13.90 [[ 9.64966683e-01 -2.04055635e-01 -1.64926039e-01 1.14878846e+02] [ 1.98729234e-01 9.78860817e-01 -4.83548665e-02 8.44943020e+01] [ 1.71306720e-01 1.38852098e-02 9.85119896e-01 1.39046842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.91, Y:84.49, Z:13.92 [[ 9.64562844e-01 -2.00453756e-01 -1.71571594e-01 1.14907084e+02] [ 1.99809254e-01 9.79605480e-01 -2.11982371e-02 8.44853044e+01] [ 1.72321740e-01 -1.38345604e-02 9.84943563e-01 1.39191237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:84.50, Z:13.92 [[ 9.64177247e-01 -2.04688925e-01 -1.68714789e-01 1.14932163e+02] [ 2.03241592e-01 9.78783567e-01 -2.59920126e-02 8.44967332e+01] [ 1.70455540e-01 -9.22895520e-03 9.85322148e-01 1.39168796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:84.51, Z:13.92 [[ 9.64767195e-01 -2.02845858e-01 -1.67564369e-01 1.14962435e+02] [ 1.99326691e-01 9.79206051e-01 -3.77409557e-02 8.45088587e+01] [ 1.71735641e-01 3.01118486e-03 9.85138469e-01 1.39176329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:84.51, Z:13.92 [[ 9.64054846e-01 -2.07075629e-01 -1.66487053e-01 1.14985954e+02] [ 2.04508230e-01 9.78321460e-01 -3.26114328e-02 8.45139569e+01] [ 1.69630889e-01 -2.60876268e-03 9.85504214e-01 1.39220295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:84.52, Z:13.93 [[ 9.64677599e-01 -2.00779607e-01 -1.70542312e-01 1.15018681e+02] [ 1.98928394e-01 9.79612401e-01 -2.80541956e-02 8.45155284e+01] [ 1.72698074e-01 -6.86245418e-03 9.84950903e-01 1.39342316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:84.52, Z:13.95 [[ 9.64130894e-01 -2.00015072e-01 -1.74486646e-01 1.15048892e+02] [ 1.98932269e-01 9.79722836e-01 -2.38561894e-02 8.45178079e+01] [ 1.75720149e-01 -1.17105352e-02 9.84370506e-01 1.39480619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35804094199997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.07, Y:84.54, Z:13.94 [[ 9.64610198e-01 -2.04331687e-01 -1.66660516e-01 1.15073423e+02] [ 2.00053043e-01 9.78873624e-01 -4.22517246e-02 8.45382997e+01] [ 1.71772949e-01 7.41550107e-03 9.85108656e-01 1.39421990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:84.52, Z:13.96 [[ 9.65325563e-01 -1.94033390e-01 -1.74635625e-01 1.15106195e+02] [ 1.97773095e-01 9.80239246e-01 4.10156855e-03 8.45167848e+01] [ 1.70388852e-01 -3.84975769e-02 9.84624586e-01 1.39602092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:84.56, Z:13.95 [[ 9.65047922e-01 -2.04680961e-01 -1.63671049e-01 1.15127923e+02] [ 1.98075390e-01 9.78592287e-01 -5.58862797e-02 8.45575053e+01] [ 1.71606084e-01 2.15137312e-02 9.84930714e-01 1.39508922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:84.56, Z:13.95 [[ 9.64825212e-01 -2.02842079e-01 -1.67234571e-01 1.15150311e+02] [ 1.98206367e-01 9.79165966e-01 -4.41389556e-02 8.45578346e+01] [ 1.72703638e-01 9.43942030e-03 9.84928602e-01 1.39542402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:84.55, Z:13.97 [[ 9.65643298e-01 -1.98759289e-01 -1.67414949e-01 1.15178563e+02] [ 1.99928296e-01 9.79759335e-01 -1.00161310e-02 8.45476227e+01] [ 1.66017158e-01 -2.37989757e-02 9.85835641e-01 1.39663845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:84.57, Z:13.97 [[ 9.66075833e-01 -2.00371873e-01 -1.62937406e-01 1.15205813e+02] [ 1.98339279e-01 9.79709687e-01 -2.88176943e-02 8.45662884e+01] [ 1.65405611e-01 -4.47680971e-03 9.86215464e-01 1.39656413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:84.57, Z:13.97 [[ 9.66087019e-01 -2.00288159e-01 -1.62974001e-01 1.15233870e+02] [ 1.97696933e-01 9.79736329e-01 -3.21348475e-02 8.45746200e+01] [ 1.66107779e-01 -1.17440115e-03 9.86106904e-01 1.39695091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.26, Y:84.58, Z:13.98 [[ 9.66455411e-01 -1.98248758e-01 -1.63283094e-01 1.15263616e+02] [ 1.95258369e-01 9.80150884e-01 -3.43280346e-02 8.45815451e+01] [ 1.66847559e-01 1.29412420e-03 9.85981855e-01 1.39765307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:84.59, Z:13.98 [[ 9.66855291e-01 -1.95614203e-01 -1.64091225e-01 1.15297044e+02] [ 1.91921449e-01 9.80665716e-01 -3.82218754e-02 8.45896338e+01] [ 1.68395380e-01 5.46239689e-03 9.85704397e-01 1.39847184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.33, Y:84.58, Z:13.99 [[ 9.66716417e-01 -1.93185028e-01 -1.67746576e-01 1.15325433e+02] [ 1.93223803e-01 9.81020142e-01 -1.62493979e-02 8.45842436e+01] [ 1.67701910e-01 -1.67040716e-02 9.85696223e-01 1.39922660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65804094199999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.35, Y:84.60, Z:14.00 [[ 9.66659556e-01 -1.95316053e-01 -1.65592698e-01 1.15351461e+02] [ 1.91648950e-01 9.80727619e-01 -3.80002209e-02 8.46009802e+01] [ 1.69823386e-01 4.99761005e-03 9.85461842e-01 1.39961491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:84.60, Z:14.00 [[ 9.66519329e-01 -1.94560769e-01 -1.67291645e-01 1.15376943e+02] [ 1.92562804e-01 9.80878141e-01 -2.82424932e-02 8.46012015e+01] [ 1.69587599e-01 -4.91723272e-03 9.85502850e-01 1.40030675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:84.61, Z:14.01 [[ 9.65913345e-01 -1.95971361e-01 -1.69134964e-01 1.15405951e+02] [ 1.93728548e-01 9.80601641e-01 -2.98273532e-02 8.46081713e+01] [ 1.71699330e-01 -3.95563254e-03 9.85141458e-01 1.40094584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.748040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.43, Y:84.61, Z:14.01 [[ 9.65800024e-01 -1.97006520e-01 -1.68578601e-01 1.15434130e+02] [ 1.94733371e-01 9.80394901e-01 -3.00791065e-02 8.46139119e+01] [ 1.71199381e-01 -3.77747737e-03 9.85229163e-01 1.40139104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:84.62, Z:14.02 [[ 9.65450759e-01 -1.97648261e-01 -1.69823427e-01 1.15461794e+02] [ 1.95421101e-01 9.80263491e-01 -2.99011955e-02 8.46184727e+01] [ 1.72381624e-01 -4.31894913e-03 9.85020773e-01 1.40202879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.49, Y:84.62, Z:14.02 [[ 9.65434695e-01 -1.98893915e-01 -1.68454918e-01 1.15485054e+02] [ 1.97353164e-01 9.79987288e-01 -2.60123968e-02 8.46228802e+01] [ 1.70257386e-01 -8.13184071e-03 9.85366072e-01 1.40208191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.838040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.51, Y:84.64, Z:14.02 [[ 9.65575252e-01 -2.00284741e-01 -1.65983296e-01 1.15513706e+02] [ 1.96147969e-01 9.79711643e-01 -4.11226240e-02 8.46360658e+01] [ 1.70852002e-01 7.14970160e-03 9.85270762e-01 1.40242786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:115.54, Y:84.62, Z:14.04 [[ 9.65574660e-01 -1.92933328e-01 -1.74477238e-01 1.15540963e+02] [ 1.95487975e-01 9.80702677e-01 -2.59057340e-03 8.46197064e+01] [ 1.71610103e-01 -3.16068100e-02 9.84657800e-01 1.40388385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.57, Y:84.65, Z:14.04 [[ 9.66026214e-01 -1.95909435e-01 -1.68561109e-01 1.15568107e+02] [ 1.90890878e-01 9.80549619e-01 -4.56411874e-02 8.46464399e+01] [ 1.74224071e-01 1.19138052e-02 9.84633960e-01 1.40382116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928040942 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:115.60, Y:84.64, Z:14.04 [[ 9.67639436e-01 -1.87704174e-01 -1.68644789e-01 1.15600379e+02] [ 1.86031753e-01 9.82204749e-01 -2.58073220e-02 8.46405242e+01] [ 1.70487855e-01 -6.40110323e-03 9.85338986e-01 1.40395807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:84.65, Z:14.06 [[ 9.66406552e-01 -1.90124727e-01 -1.72947864e-01 1.15622826e+02] [ 1.87569773e-01 9.81757169e-01 -3.11519090e-02 8.46465058e+01] [ 1.75715553e-01 -2.33438253e-03 9.84438213e-01 1.40560298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.65, Y:84.65, Z:14.07 [[ 9.66157380e-01 -1.86122282e-01 -1.78601269e-01 1.15652190e+02] [ 1.84673242e-01 9.82485646e-01 -2.48545549e-02 8.46450193e+01] [ 1.80099169e-01 -8.96946370e-03 9.83607563e-01 1.40696372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.68, Y:84.65, Z:14.07 [[ 9.66425832e-01 -1.84881216e-01 -1.78437796e-01 1.15679218e+02] [ 1.82611733e-01 9.82751207e-01 -2.92064968e-02 8.46506639e+01] [ 1.80759692e-01 -4.35892218e-03 9.83517632e-01 1.40748277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:84.66, Z:14.08 [[ 9.66326911e-01 -1.85587256e-01 -1.78240490e-01 1.15706789e+02] [ 1.83014272e-01 9.82623958e-01 -3.09181617e-02 8.46570231e+01] [ 1.80881393e-01 -2.74350186e-03 9.83501090e-01 1.40796237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.73, Y:84.66, Z:14.09 [[ 9.65460715e-01 -1.85190123e-01 -1.83276363e-01 1.15730805e+02] [ 1.83807035e-01 9.82653028e-01 -2.46576477e-02 8.46595587e+01] [ 1.84663426e-01 -9.88149473e-03 9.82752143e-01 1.40888256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:84.67, Z:14.09 [[ 9.66228160e-01 -1.83343040e-01 -1.81075877e-01 1.15762012e+02] [ 1.79211313e-01 9.83034742e-01 -3.90640739e-02 8.46675764e+01] [ 1.85166004e-01 5.29396262e-03 9.82692996e-01 1.40906982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:84.67, Z:14.10 [[ 9.66022722e-01 -1.82131882e-01 -1.83379600e-01 1.15791972e+02] [ 1.79191066e-01 9.83273193e-01 -3.26249817e-02 8.46675623e+01] [ 1.86254294e-01 -1.34351233e-03 9.82500653e-01 1.40987136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:84.66, Z:14.11 [[ 9.65765757e-01 -1.77763195e-01 -1.88935832e-01 1.15819215e+02] [ 1.77526417e-01 9.83945592e-01 -1.83150944e-02 8.46611189e+01] [ 1.89158328e-01 -1.58530101e-02 9.81818623e-01 1.41127544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:84.67, Z:14.11 [[ 9.65569865e-01 -1.83402195e-01 -1.84495177e-01 1.15846076e+02] [ 1.79790082e-01 9.83036225e-01 -3.62671612e-02 8.46721682e+01] [ 1.88016919e-01 1.84807494e-03 9.82164051e-01 1.41121671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:84.68, Z:14.11 [[ 9.65528672e-01 -1.87452609e-01 -1.80598735e-01 1.15871490e+02] [ 1.82832365e-01 9.82244383e-01 -4.20511310e-02 8.46807420e+01] [ 1.85274688e-01 7.58227873e-03 9.82657519e-01 1.41121619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:84.66, Z:14.13 [[ 9.64212126e-01 -1.84705184e-01 -1.90207704e-01 1.15902103e+02] [ 1.87769201e-01 9.82211250e-01 -1.94613350e-03 8.46615009e+01] [ 1.87183607e-01 -3.38386630e-02 9.81741943e-01 1.41261179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.93, Y:84.69, Z:14.12 [[ 9.65227203e-01 -1.93206136e-01 -1.76090418e-01 1.15927544e+02] [ 1.85599174e-01 9.80861610e-01 -5.88510720e-02 8.46932892e+01] [ 1.84090719e-01 2.41224196e-02 9.82613208e-01 1.41205171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.95, Y:84.69, Z:14.13 [[ 9.65409187e-01 -1.91732628e-01 -1.76702293e-01 1.15954332e+02] [ 1.87861589e-01 9.81438989e-01 -3.85426371e-02 8.46861723e+01] [ 1.80812401e-01 4.01384240e-03 9.83509413e-01 1.41280074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:84.68, Z:14.13 [[ 9.64293874e-01 -1.94406383e-01 -1.79842941e-01 1.15979022e+02] [ 1.94114365e-01 9.80787164e-01 -1.93946560e-02 8.46777099e+01] [ 1.80158093e-01 -1.62079504e-02 9.83504125e-01 1.41323687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.01, Y:84.70, Z:14.13 [[ 9.64389682e-01 -2.01334687e-01 -1.71513513e-01 1.16007221e+02] [ 1.94632374e-01 9.79321050e-01 -5.52133997e-02 8.46971019e+01] [ 1.79083166e-01 1.98651508e-02 9.83633364e-01 1.41301633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40804094199999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:116.04, Y:84.70, Z:14.14 [[ 9.63290441e-01 -2.02938884e-01 -1.75747931e-01 1.16036967e+02] [ 1.96993164e-01 9.79086371e-01 -5.08288383e-02 8.46991476e+01] [ 1.82387552e-01 1.43417930e-02 9.83122115e-01 1.41357555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.438040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.06, Y:84.68, Z:14.15 [[ 9.63551192e-01 -1.97205144e-01 -1.80773979e-01 1.16063440e+02] [ 1.97935611e-01 9.80112552e-01 -1.41731851e-02 8.46811465e+01] [ 1.79973871e-01 -2.21250186e-02 9.83422539e-01 1.41543237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:84.70, Z:14.15 [[ 9.62869971e-01 -2.04947789e-01 -1.75720868e-01 1.16092636e+02] [ 2.00347783e-01 9.78748608e-01 -4.37255961e-02 8.46971874e+01] [ 1.80948020e-01 6.89677716e-03 9.83468479e-01 1.41523003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:84.69, Z:14.16 [[ 9.63022237e-01 -2.02345141e-01 -1.77889332e-01 1.16119391e+02] [ 2.00203793e-01 9.79291840e-01 -3.00987152e-02 8.46924878e+01] [ 1.80295900e-01 -6.62838702e-03 9.83590084e-01 1.41626816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:84.69, Z:14.17 [[ 9.61995487e-01 -2.01932206e-01 -1.83815306e-01 1.16153400e+02] [ 2.01820973e-01 9.79228029e-01 -1.95131222e-02 8.46889710e+01] [ 1.83937428e-01 -1.83262486e-02 9.82767099e-01 1.41711064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:84.70, Z:14.18 [[ 9.62654965e-01 -2.01620346e-01 -1.80678319e-01 1.16176839e+02] [ 1.97529864e-01 9.79458050e-01 -4.05447987e-02 8.47006787e+01] [ 1.85141490e-01 3.34128802e-03 9.82706194e-01 1.41756790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.20, Y:84.70, Z:14.18 [[ 9.62821394e-01 -2.00449695e-01 -1.81093578e-01 1.16203416e+02] [ 1.97052468e-01 9.79703950e-01 -3.67490957e-02 8.47022785e+01] [ 1.84784438e-01 -3.02120894e-04 9.82779029e-01 1.41808277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.618040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.23, Y:84.71, Z:14.19 [[ 9.62499557e-01 -2.00615008e-01 -1.82614954e-01 1.16233591e+02] [ 1.96111329e-01 9.79656487e-01 -4.25853808e-02 8.47076748e+01] [ 1.87443191e-01 5.17554885e-03 9.82261810e-01 1.41853312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:84.70, Z:14.20 [[ 9.62590703e-01 -1.96354168e-01 -1.86719520e-01 1.16260341e+02] [ 1.94762106e-01 9.80478323e-01 -2.70181371e-02 8.47018509e+01] [ 1.88379566e-01 -1.03584793e-02 9.82041670e-01 1.41977327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.678040942 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:116.29, Y:84.71, Z:14.20 [[ 9.61882704e-01 -1.97649973e-01 -1.88987175e-01 1.16290088e+02] [ 1.94257756e-01 9.80271344e-01 -3.64968073e-02 8.47072780e+01] [ 1.92472305e-01 -1.60657685e-03 9.81301091e-01 1.42006368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:84.71, Z:14.20 [[ 9.62404337e-01 -1.99459203e-01 -1.84374399e-01 1.16316767e+02] [ 1.95522785e-01 9.79904200e-01 -3.94790973e-02 8.47130304e+01] [ 1.88543717e-01 1.94545847e-03 9.82062871e-01 1.42040292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:84.69, Z:14.23 [[ 9.61266760e-01 -1.89738155e-01 -1.99914105e-01 1.16348936e+02] [ 1.93378886e-01 9.81123240e-01 -1.33966539e-03 8.46892935e+01] [ 1.96394560e-01 -3.73713911e-02 9.79812511e-01 1.42347872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:84.72, Z:14.21 [[ 9.61007599e-01 -2.04218110e-01 -1.86438617e-01 1.16375632e+02] [ 1.98518518e-01 9.78874039e-01 -4.89490964e-02 8.47240181e+01] [ 1.92496214e-01 1.00289356e-02 9.81246466e-01 1.42097084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:84.71, Z:14.23 [[ 9.61988100e-01 -1.97405469e-01 -1.88706059e-01 1.16398344e+02] [ 1.94875451e-01 9.80303961e-01 -3.20577861e-02 8.47102762e+01] [ 1.91317680e-01 -5.93496972e-03 9.81510225e-01 1.42290379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:84.71, Z:14.23 [[ 9.61358804e-01 -1.94534098e-01 -1.94796649e-01 1.16423697e+02] [ 1.91814916e-01 9.80879060e-01 -3.29136290e-02 8.47106850e+01] [ 1.97474777e-01 -5.72309586e-03 9.80291262e-01 1.42318106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:84.72, Z:14.23 [[ 9.61080302e-01 -1.97738056e-01 -1.92936036e-01 1.16449870e+02] [ 1.93999387e-01 9.80254684e-01 -3.82752070e-02 8.47189276e+01] [ 1.96694918e-01 -6.43925224e-04 9.80464530e-01 1.42317205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88804094199998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:116.48, Y:84.72, Z:14.25 [[ 9.60948997e-01 -1.97009562e-01 -1.94330278e-01 1.16483829e+02] [ 1.92711935e-01 9.80399686e-01 -4.09703088e-02 8.47233005e+01] [ 1.98592886e-01 1.92061311e-03 9.80080189e-01 1.42453681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:84.73, Z:14.25 [[ 9.62116812e-01 -1.97991332e-01 -1.87431783e-01 1.16505964e+02] [ 1.95398173e-01 9.80188618e-01 -3.24010285e-02 8.47273529e+01] [ 1.90133623e-01 -5.45025379e-03 9.81743093e-01 1.42452558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:84.74, Z:14.25 [[ 9.62806200e-01 -1.95785902e-01 -1.86204461e-01 1.16534261e+02] [ 1.91273056e-01 9.80634427e-01 -4.20801497e-02 8.47350260e+01] [ 1.90837205e-01 4.89913270e-03 9.81609474e-01 1.42523896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:116.56, Y:84.75, Z:14.25 [[ 9.62524988e-01 -1.98595178e-01 -1.84677024e-01 1.16563533e+02] [ 1.92458660e-01 9.79991082e-01 -5.07655673e-02 8.47454612e+01] [ 1.91063633e-01 1.33204345e-02 9.81487266e-01 1.42529700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.59, Y:84.74, Z:14.27 [[ 9.62748606e-01 -1.94493683e-01 -1.87849219e-01 1.16589906e+02] [ 1.92395777e-01 9.80873366e-01 -2.95178626e-02 8.47405124e+01] [ 1.89997334e-01 -7.72311556e-03 9.81754229e-01 1.42665459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.62, Y:84.75, Z:14.27 [[ 9.62047638e-01 -1.98710620e-01 -1.87025219e-01 1.16618225e+02] [ 1.94435850e-01 9.80053001e-01 -4.11195282e-02 8.47520218e+01] [ 1.91465514e-01 3.19453754e-03 9.81494143e-01 1.42677520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:84.75, Z:14.28 [[ 9.61278069e-01 -1.97570952e-01 -1.92120256e-01 1.16646809e+02] [ 1.95995597e-01 9.80222884e-01 -2.73646290e-02 8.47492122e+01] [ 1.93727127e-01 -1.13497065e-02 9.80989798e-01 1.42814108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:84.76, Z:14.29 [[ 9.60784662e-01 -2.00037463e-01 -1.92036055e-01 1.16673192e+02] [ 1.97595924e-01 9.79761672e-01 -3.19830869e-02 8.47572055e+01] [ 1.94547382e-01 -7.21668229e-03 9.80866574e-01 1.42856824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.70, Y:84.77, Z:14.29 [[ 9.60557580e-01 -2.04242085e-01 -1.88717529e-01 1.16697957e+02] [ 2.00420933e-01 9.78920409e-01 -3.93227861e-02 8.47677007e+01] [ 1.92770809e-01 -5.11430643e-05 9.81243809e-01 1.42857663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:84.78, Z:14.29 [[ 9.59683541e-01 -2.08880860e-01 -1.88085853e-01 1.16723421e+02] [ 2.03759176e-01 9.77921488e-01 -4.63870839e-02 8.47775970e+01] [ 1.93622571e-01 6.19270249e-03 9.81056548e-01 1.42868930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:84.78, Z:14.29 [[ 9.58508305e-01 -2.10526745e-01 -1.92198646e-01 1.16745771e+02] [ 2.07026082e-01 9.77583405e-01 -3.83521576e-02 8.47775842e+01] [ 1.95964362e-01 -3.02927123e-03 9.80606339e-01 1.42944475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:84.79, Z:14.30 [[ 9.57876025e-01 -2.16541482e-01 -1.88635383e-01 1.16777041e+02] [ 2.11983534e-01 9.76270447e-01 -4.42605443e-02 8.47899357e+01] [ 1.93743394e-01 2.40851902e-03 9.81049283e-01 1.42961139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.248040942 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:116.80, Y:84.79, Z:14.30 [[ 9.58055512e-01 -2.14203563e-01 -1.90385055e-01 1.16799903e+02] [ 2.11204109e-01 9.76773142e-01 -3.61531842e-02 8.47908286e+01] [ 1.93707149e-01 -5.57334845e-03 9.81043566e-01 1.43026147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.278040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.83, Y:84.80, Z:14.31 [[ 9.58249001e-01 -2.15228181e-01 -1.88243679e-01 1.16829187e+02] [ 2.12058407e-01 9.76553867e-01 -3.70644922e-02 8.47978841e+01] [ 1.91807416e-01 -4.40164201e-03 9.81422713e-01 1.43097582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:84.81, Z:14.31 [[ 9.57640585e-01 -2.17203621e-01 -1.89069027e-01 1.16856625e+02] [ 2.12455124e-01 9.76121088e-01 -4.52817977e-02 8.48073104e+01] [ 1.94389635e-01 3.19500355e-03 9.80919192e-01 1.43118281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.338040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.88, Y:84.80, Z:14.33 [[ 9.57803616e-01 -2.12779114e-01 -1.93228576e-01 1.16882672e+02] [ 2.13219580e-01 9.76824145e-01 -1.87616763e-02 8.47987736e+01] [ 1.92742431e-01 -2.32301143e-02 9.80974371e-01 1.43276023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.91, Y:84.82, Z:14.32 [[ 9.58881728e-01 -2.15399497e-01 -1.84794179e-01 1.16908785e+02] [ 2.10207416e-01 9.76503141e-01 -4.74811225e-02 8.48204828e+01] [ 1.90679506e-01 6.68367385e-03 9.81629591e-01 1.43230132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.398040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.94, Y:84.83, Z:14.33 [[ 9.58842221e-01 -2.15657450e-01 -1.84698294e-01 1.16937627e+02] [ 2.10669681e-01 9.76452829e-01 -4.64559923e-02 8.48272844e+01] [ 1.90367752e-01 5.63363617e-03 9.81696685e-01 1.43265390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428040942 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:116.97, Y:84.84, Z:14.33 [[ 9.57696095e-01 -2.18802883e-01 -1.86931777e-01 1.16967820e+02] [ 2.11999085e-01 9.75670044e-01 -5.58959152e-02 8.48387918e+01] [ 1.94613922e-01 1.39019342e-02 9.80781402e-01 1.43299240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.458040942 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:117.00, Y:84.81, Z:14.36 [[ 9.59199002e-01 -1.97018372e-01 -2.02783224e-01 1.16998610e+02] [ 2.02460395e-01 9.79270566e-01 6.24072979e-03 8.48057006e+01] [ 1.97350104e-01 -4.70416734e-02 9.79203767e-01 1.43595893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:84.83, Z:14.35 [[ 9.58133662e-01 -2.04688641e-01 -2.00206009e-01 1.17022221e+02] [ 2.00573523e-01 9.78826608e-01 -4.08501429e-02 8.48338394e+01] [ 2.04328529e-01 -1.01612770e-03 9.78901844e-01 1.43539942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51804094199997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.05, Y:84.85, Z:14.35 [[ 9.60390150e-01 -2.08805767e-01 -1.84528892e-01 1.17051088e+02] [ 2.02937791e-01 9.77896305e-01 -5.03494711e-02 8.48497154e+01] [ 1.90963382e-01 1.09072502e-02 9.81536560e-01 1.43469269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54804094199997 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:117.07, Y:84.86, Z:14.36 [[ 9.57877668e-01 -2.13393165e-01 -1.92181502e-01 1.17072498e+02] [ 2.07997698e-01 9.76947555e-01 -4.80669593e-02 8.48562586e+01] [ 1.98008409e-01 6.06895670e-03 9.80181533e-01 1.43646414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57804094199997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:117.11, Y:84.85, Z:14.38 [[ 9.58615056e-01 -2.07548115e-01 -1.94887032e-01 1.17105876e+02] [ 2.06425724e-01 9.78109249e-01 -2.62815015e-02 8.48506211e+01] [ 1.96075485e-01 -1.50358537e-02 9.80473522e-01 1.43776722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60804094199997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:117.13, Y:84.87, Z:14.37 [[ 9.58088574e-01 -2.14437602e-01 -1.89954730e-01 1.17132204e+02] [ 2.08661721e-01 9.76701515e-01 -5.01441596e-02 8.48702249e+01] [ 1.96281866e-01 8.40626547e-03 9.80511481e-01 1.43718510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.16, Y:84.87, Z:14.39 [[ 9.57782599e-01 -2.11361966e-01 -1.94881019e-01 1.17159479e+02] [ 2.08944330e-01 9.77366461e-01 -3.31220208e-02 8.48659685e+01] [ 1.97470907e-01 -8.99558874e-03 9.80267474e-01 1.43873032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.18, Y:84.88, Z:14.38 [[ 9.57677670e-01 -2.18189370e-01 -1.87741522e-01 1.17184571e+02] [ 2.12988227e-01 9.75889852e-01 -4.76970837e-02 8.48813838e+01] [ 1.93622043e-01 5.69169795e-03 9.81059687e-01 1.43806380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.21, Y:84.88, Z:14.39 [[ 9.57154435e-01 -2.18022028e-01 -1.90582746e-01 1.17212823e+02] [ 2.14504153e-01 9.75937916e-01 -3.91555005e-02 8.48823321e+01] [ 1.94533689e-01 -3.40292950e-03 9.80889935e-01 1.43899395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:84.88, Z:14.39 [[ 9.57643338e-01 -2.13354603e-01 -1.93388341e-01 1.17239745e+02] [ 2.13183833e-01 9.76765679e-01 -2.19422529e-02 8.48767773e+01] [ 1.93576575e-01 -2.02144155e-02 9.80876897e-01 1.43942631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.26, Y:84.91, Z:14.39 [[ 9.56213408e-01 -2.28368955e-01 -1.83039718e-01 1.17263270e+02] [ 2.18568875e-01 9.73138477e-01 -7.23128742e-02 8.49128646e+01] [ 1.94637008e-01 2.91397547e-02 9.80442405e-01 1.43851534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.30, Y:84.90, Z:14.40 [[ 9.55536019e-01 -2.24956458e-01 -1.90644978e-01 1.17296327e+02] [ 2.20372022e-01 9.74368107e-01 -4.51991669e-02 8.49036499e+01] [ 1.95926231e-01 1.17661275e-03 9.80617932e-01 1.44017181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:84.90, Z:14.41 [[ 9.55742160e-01 -2.20833644e-01 -1.94395024e-01 1.17328360e+02] [ 2.20306964e-01 9.75120265e-01 -2.46030365e-02 8.48985113e+01] [ 1.94991706e-01 -1.93124184e-02 9.80614738e-01 1.44137180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84804094199998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.35, Y:84.92, Z:14.41 [[ 9.55272687e-01 -2.26761450e-01 -1.89824492e-01 1.17353427e+02] [ 2.20522310e-01 9.73905012e-01 -5.36557361e-02 8.49201444e+01] [ 1.97038077e-01 9.39532370e-03 9.80350817e-01 1.44109062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.38, Y:84.92, Z:14.42 [[ 9.55488530e-01 -2.23493789e-01 -1.92593340e-01 1.17380929e+02] [ 2.19743814e-01 9.74699957e-01 -4.08980530e-02 8.49187181e+01] [ 1.96861181e-01 -3.24357454e-03 9.80426007e-01 1.44206972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90804094199999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.41, Y:84.92, Z:14.43 [[ 9.55556382e-01 -2.20427820e-01 -1.95764085e-01 1.17408176e+02] [ 2.19526705e-01 9.75244690e-01 -2.65672674e-02 8.49161344e+01] [ 1.96774049e-01 -1.75889226e-02 9.80291081e-01 1.44309452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.938040942 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:117.44, Y:84.92, Z:14.45 [[ 9.54760216e-01 -2.13232852e-01 -2.07279232e-01 1.17440595e+02] [ 2.12586107e-01 9.76805428e-01 -2.56574194e-02 8.49155825e+01] [ 2.07942484e-01 -1.95680017e-02 9.77945304e-01 1.44518964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.968040942 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:117.47, Y:84.93, Z:14.45 [[ 9.54580572e-01 -2.16568547e-01 -2.04631367e-01 1.17466772e+02] [ 2.13132551e-01 9.76246272e-01 -3.89580745e-02 8.49283397e+01] [ 2.08207703e-01 -6.42498419e-03 9.78063532e-01 1.44524900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:84.95, Z:14.44 [[ 9.55863179e-01 -2.23836403e-01 -1.90323009e-01 1.17487265e+02] [ 2.15928155e-01 9.74464540e-01 -6.15945780e-02 8.49511178e+01] [ 1.99250132e-01 1.77798931e-02 9.79787355e-01 1.44390411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:84.94, Z:14.45 [[ 9.56133986e-01 -2.16935217e-01 -1.96842354e-01 1.17515898e+02] [ 2.14545166e-01 9.76134200e-01 -3.36510895e-02 8.49410325e+01] [ 1.99444660e-01 -1.00566251e-02 9.79857486e-01 1.44523182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.058040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:117.55, Y:84.93, Z:14.48 [[ 9.55080631e-01 -2.08905821e-01 -2.10188836e-01 1.17546743e+02] [ 2.10469104e-01 9.77482924e-01 -1.51621223e-02 8.49313261e+01] [ 2.08623453e-01 -2.97572065e-02 9.77543228e-01 1.44813322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.57, Y:84.97, Z:14.46 [[ 9.55916139e-01 -2.24449009e-01 -1.89332980e-01 1.17567826e+02] [ 2.15486843e-01 9.74209962e-01 -6.69355635e-02 8.49704513e+01] [ 1.99473697e-01 2.31860191e-02 9.79628834e-01 1.44552175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.118040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.61, Y:84.96, Z:14.47 [[ 9.54490314e-01 -2.21829405e-01 -1.99348827e-01 1.17606196e+02] [ 2.20762437e-01 9.74929817e-01 -2.78531525e-02 8.49588703e+01] [ 2.00529764e-01 -1.74231686e-02 9.79532668e-01 1.44715165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.62, Y:84.96, Z:14.48 [[ 9.56048810e-01 -2.14179470e-01 -2.00244420e-01 1.17619457e+02] [ 2.11634409e-01 9.76747192e-01 -3.42899493e-02 8.49600535e+01] [ 2.02932378e-01 -9.59574418e-03 9.79145736e-01 1.44758149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.178040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.65, Y:85.00, Z:14.47 [[ 9.55657546e-01 -2.28862584e-01 -1.85312096e-01 1.17649359e+02] [ 2.18272243e-01 9.72928412e-01 -7.59442820e-02 8.49952697e+01] [ 1.97676208e-01 3.21282391e-02 9.79740727e-01 1.44681394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:84.98, Z:14.48 [[ 9.55838421e-01 -2.22301431e-01 -1.92236798e-01 1.17677112e+02] [ 2.18828732e-01 9.74967976e-01 -3.93882276e-02 8.49821595e+01] [ 1.96180782e-01 -4.41815359e-03 9.80557791e-01 1.44846580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23804094199997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.71, Y:84.99, Z:14.49 [[ 9.54863490e-01 -2.25106513e-01 -1.93811181e-01 1.17706074e+02] [ 2.19668485e-01 9.74323348e-01 -4.93940320e-02 8.49935832e+01] [ 1.99953677e-01 4.59034942e-03 9.79794599e-01 1.44889382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:84.99, Z:14.50 [[ 9.55147390e-01 -2.23307638e-01 -1.94492064e-01 1.17730648e+02] [ 2.20193019e-01 9.74724671e-01 -3.77736589e-02 8.49938717e+01] [ 1.98011360e-01 -6.74638318e-03 9.80176508e-01 1.44995465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:85.00, Z:14.51 [[ 9.54515802e-01 -2.24570960e-01 -1.96131251e-01 1.17756985e+02] [ 2.22152121e-01 9.74400056e-01 -3.45393534e-02 8.49983203e+01] [ 1.98866838e-01 -1.06026147e-02 9.79969166e-01 1.45078104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:85.00, Z:14.51 [[ 9.54809256e-01 -2.25288756e-01 -1.93866607e-01 1.17782141e+02] [ 2.22692779e-01 9.74246712e-01 -3.53733069e-02 8.50045074e+01] [ 1.96843113e-01 -9.39793261e-03 9.80389957e-01 1.45102508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35804094199997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.81, Y:85.02, Z:14.51 [[ 9.53710880e-01 -2.30213300e-01 -1.93487454e-01 1.17810656e+02] [ 2.24307968e-01 9.73119260e-01 -5.22000103e-02 8.50192843e+01] [ 2.00303504e-01 6.38294027e-03 9.79713103e-01 1.45133267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:85.01, Z:14.53 [[ 9.53994701e-01 -2.25386472e-01 -1.97724679e-01 1.17837825e+02] [ 2.23148019e-01 9.74197383e-01 -3.38292803e-02 8.50132861e+01] [ 2.00247527e-01 -1.18489163e-02 9.79673686e-01 1.45287550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.86, Y:85.03, Z:14.52 [[ 9.53947419e-01 -2.31317762e-01 -1.90987996e-01 1.17861867e+02] [ 2.25266894e-01 9.72848210e-01 -5.31148474e-02 8.50317272e+01] [ 1.98088738e-01 7.64549893e-03 9.80154273e-01 1.45235094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.89, Y:85.04, Z:14.53 [[ 9.52883340e-01 -2.35047242e-01 -1.91744971e-01 1.17889852e+02] [ 2.28515043e-01 9.71938744e-01 -5.58207274e-02 8.50416166e+01] [ 1.99484874e-01 9.37403085e-03 9.79856067e-01 1.45269858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.92, Y:85.03, Z:14.55 [[ 9.53074169e-01 -2.27302152e-01 -1.99958395e-01 1.17920085e+02] [ 2.26603602e-01 9.73621403e-01 -2.66865515e-02 8.50304022e+01] [ 2.00749683e-01 -1.98770296e-02 9.79440896e-01 1.45479337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:85.05, Z:14.55 [[ 9.52908866e-01 -2.31175830e-01 -1.96271316e-01 1.17948031e+02] [ 2.26533846e-01 9.72911840e-01 -4.60973740e-02 8.50463055e+01] [ 2.01611286e-01 -5.35499676e-04 9.79465468e-01 1.45468505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:85.05, Z:14.56 [[ 9.52913632e-01 -2.29073755e-01 -1.98697822e-01 1.17973157e+02] [ 2.25468947e-01 9.73391613e-01 -4.08964661e-02 8.50481726e+01] [ 2.02779100e-01 -5.82938849e-03 9.79207156e-01 1.45565198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.00, Y:85.04, Z:14.59 [[ 9.51800405e-01 -2.21662542e-01 -2.11994590e-01 1.17998907e+02] [ 2.24771319e-01 9.74363907e-01 -9.63490551e-03 8.50374221e+01] [ 2.08695574e-01 -3.84797966e-02 9.77223343e-01 1.45888526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.02, Y:85.08, Z:14.55 [[ 9.53610267e-01 -2.36136288e-01 -1.86727372e-01 1.18022905e+02] [ 2.24487600e-01 9.71058295e-01 -8.15543047e-02 8.50849939e+01] [ 2.00581094e-01 3.58530428e-02 9.79020829e-01 1.45513228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62804094199998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:118.05, Y:85.06, Z:14.58 [[ 9.53788069e-01 -2.21619650e-01 -2.02911437e-01 1.18050561e+02] [ 2.20805634e-01 9.74945839e-01 -2.69347883e-02 8.50610465e+01] [ 2.03796939e-01 -1.91139086e-02 9.78826576e-01 1.45841662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65804094199999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:118.08, Y:85.08, Z:14.58 [[ 9.53407876e-01 -2.25917315e-01 -1.99936963e-01 1.18078757e+02] [ 2.20778874e-01 9.74145233e-01 -4.79348958e-02 8.50786721e+01] [ 2.05596962e-01 1.55964952e-03 9.78635508e-01 1.45832062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.11, Y:85.10, Z:14.57 [[ 9.53948854e-01 -2.30635775e-01 -1.91803865e-01 1.18108133e+02] [ 2.23906487e-01 9.72980087e-01 -5.63527739e-02 8.50967415e+01] [ 1.99618307e-01 1.08115346e-02 9.79814086e-01 1.45698214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.718040942 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:118.14, Y:85.07, Z:14.61 [[ 9.54484727e-01 -2.13888170e-01 -2.07871973e-01 1.18139509e+02] [ 2.14448131e-01 9.76528325e-01 -2.01104127e-02 8.50741937e+01] [ 2.07294250e-01 -2.53826744e-02 9.77949290e-01 1.46076829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.748040942 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:118.17, Y:85.10, Z:14.60 [[ 9.54467907e-01 -2.20963517e-01 -2.00414919e-01 1.18165120e+02] [ 2.15052217e-01 9.75265668e-01 -5.10824851e-02 8.50972440e+01] [ 2.06745155e-01 5.65692008e-03 9.78378475e-01 1.46001253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.778040942 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:118.19, Y:85.10, Z:14.61 [[ 9.54453497e-01 -2.21677621e-01 -1.99693650e-01 1.18190306e+02] [ 2.17311069e-01 9.75118728e-01 -4.38105583e-02 8.51012848e+01] [ 2.04436838e-01 -1.58049989e-03 9.78878481e-01 1.46061333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808040942 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.22, Y:85.11, Z:14.61 [[ 9.54328159e-01 -2.21076573e-01 -2.00955005e-01 1.18216652e+02] [ 2.17083489e-01 9.75249950e-01 -4.19796949e-02 8.51056368e+01] [ 2.05262086e-01 -3.56160874e-03 9.78700563e-01 1.46128258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.838040942 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:118.24, Y:85.12, Z:14.61 [[ 9.54260906e-01 -2.24173645e-01 -1.97818857e-01 1.18241257e+02] [ 2.18935417e-01 9.74545368e-01 -4.82556531e-02 8.51181686e+01] [ 2.03601097e-01 2.73892914e-03 9.79050097e-01 1.46085252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868040942 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:118.27, Y:85.13, Z:14.61 [[ 9.53970594e-01 -2.26423682e-01 -1.96653048e-01 1.18268903e+02] [ 2.20137326e-01 9.73997690e-01 -5.35542544e-02 8.51282432e+01] [ 2.03665566e-01 7.79850766e-03 9.79009459e-01 1.46128646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.898040942 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:118.30, Y:85.11, Z:14.64 [[ 9.53273310e-01 -2.17060328e-01 -2.10130460e-01 1.18298238e+02] [ 2.17460767e-01 9.75832538e-01 -2.14865834e-02 8.51148471e+01] [ 2.09716025e-01 -2.52125446e-02 9.77437219e-01 1.46402109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928040942 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:118.32, Y:85.15, Z:14.62 [[ 9.53806262e-01 -2.30577158e-01 -1.92581900e-01 1.18321739e+02] [ 2.20973059e-01 9.72746972e-01 -7.02441141e-02 8.51501835e+01] [ 2.03530149e-01 2.44438642e-02 9.78763493e-01 1.46159930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.958040942 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.35, Y:85.13, Z:14.65 [[ 9.52989479e-01 -2.18541255e-01 -2.09882761e-01 1.18353386e+02] [ 2.17877640e-01 9.75614317e-01 -2.65713965e-02 8.51282016e+01] [ 2.10571573e-01 -2.04064995e-02 9.77365432e-01 1.46504320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98804094199997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.38, Y:85.15, Z:14.65 [[ 9.53045260e-01 -2.23355167e-01 -2.04492547e-01 1.18379588e+02] [ 2.17529570e-01 9.74729067e-01 -5.08343589e-02 8.51469130e+01] [ 2.10678947e-01 3.96426879e-03 9.77547270e-01 1.46450466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01804094199997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:118.40, Y:85.14, Z:14.67 [[ 9.53049612e-01 -2.17154292e-01 -2.11046086e-01 1.18404132e+02] [ 2.18284937e-01 9.75715059e-01 -1.82156358e-02 8.51375603e+01] [ 2.09876447e-01 -2.87077768e-02 9.77306370e-01 1.46662981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04804094199997 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:118.42, Y:85.21, Z:14.60 [[ 9.53071878e-01 -2.48374583e-01 -1.73101305e-01 1.18419305e+02] [ 2.30424044e-01 9.65986761e-01 -1.17364123e-01 8.52136178e+01] [ 1.96363834e-01 7.19697423e-02 9.77886293e-01 1.46028911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07804094199997 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:118.45, Y:85.19, Z:14.62 [[ 9.53643942e-01 -2.39116059e-01 -1.82720392e-01 1.18450194e+02] [ 2.30980813e-01 9.70791423e-01 -6.48989764e-02 8.51917648e+01] [ 1.92901777e-01 1.96856110e-02 9.81020581e-01 1.46212522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.49, Y:85.13, Z:14.71 [[ 9.53313115e-01 -2.03496773e-01 -2.23121420e-01 1.18490752e+02] [ 2.17276843e-01 9.75339036e-01 3.87883793e-02 8.51252328e+01] [ 2.09725720e-01 -8.54565884e-02 9.74018631e-01 1.47060230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13804094199998 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:118.50, Y:85.24, Z:14.62 [[ 9.52806111e-01 -2.50233164e-01 -1.71883326e-01 1.18502633e+02] [ 2.30818472e-01 9.64903744e-01 -1.25234168e-01 8.52377103e+01] [ 1.97188607e-01 7.96500340e-02 9.77124621e-01 1.46163226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16804094199998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.55, Y:85.16, Z:14.70 [[ 9.52279522e-01 -2.12602378e-01 -2.19006713e-01 1.18549481e+02] [ 2.18865952e-01 9.75744761e-01 4.45606346e-03 8.51551017e+01] [ 2.12747283e-01 -5.21765306e-02 9.75713177e-01 1.47003415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19804094199998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:118.57, Y:85.19, Z:14.69 [[ 9.52287558e-01 -2.21915441e-01 -2.09527909e-01 1.18571381e+02] [ 2.17612262e-01 9.75057686e-01 -4.36739310e-02 8.51879736e+01] [ 2.13993718e-01 -4.00570110e-03 9.76826823e-01 1.46858583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22804094199998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:118.59, Y:85.22, Z:14.66 [[ 9.52472190e-01 -2.33629585e-01 -1.95483872e-01 1.18593637e+02] [ 2.24081285e-01 9.72058249e-01 -6.99309537e-02 8.52187688e+01] [ 2.06359650e-01 2.28030113e-02 9.78210467e-01 1.46646667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:85.19, Z:14.71 [[ 9.51733363e-01 -2.16464656e-01 -2.17592872e-01 1.18625193e+02] [ 2.15873984e-01 9.76053973e-01 -2.67780603e-02 8.51920732e+01] [ 2.18178891e-01 -2.14870669e-02 9.75672218e-01 1.47054601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28804094199998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:118.65, Y:85.23, Z:14.68 [[ 9.53074145e-01 -2.31063934e-01 -1.95599419e-01 1.18648526e+02] [ 2.21897894e-01 9.72706118e-01 -6.78537619e-02 8.52319892e+01] [ 2.05939308e-01 2.12665670e-02 9.78333652e-01 1.46776929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31804094199998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:118.68, Y:85.22, Z:14.70 [[ 9.53129868e-01 -2.23235633e-01 -2.04228566e-01 1.18679647e+02] [ 2.19694010e-01 9.74742185e-01 -4.01523939e-02 8.52215801e+01] [ 2.08033644e-01 -6.59734677e-03 9.78099421e-01 1.46977048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34804094199998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:118.71, Y:85.23, Z:14.71 [[ 9.52373214e-01 -2.23198419e-01 -2.07768445e-01 1.18706406e+02] [ 2.19254551e-01 9.74757879e-01 -4.21250497e-02 8.52269951e+01] [ 2.11926173e-01 -5.43540816e-03 9.77270563e-01 1.47050964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37804094199998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.74, Y:85.23, Z:14.72 [[ 9.51799896e-01 -2.23516894e-01 -2.10040845e-01 1.18735610e+02] [ 2.20152041e-01 9.74662367e-01 -3.95771387e-02 8.52310921e+01] [ 2.13565066e-01 -8.57140405e-03 9.76891239e-01 1.47151128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40804094199999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.76, Y:85.23, Z:14.73 [[ 9.52315161e-01 -2.20932920e-01 -2.10438778e-01 1.18763231e+02] [ 2.20815990e-01 9.75011298e-01 -2.43570984e-02 8.52288041e+01] [ 2.10561471e-01 -2.32726130e-02 9.77303562e-01 1.47259126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.438040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.79, Y:85.25, Z:14.72 [[ 9.51249442e-01 -2.29335082e-01 -2.06227834e-01 1.18789464e+02] [ 2.22139864e-01 9.73305081e-01 -5.77156752e-02 8.52529596e+01] [ 2.13958828e-01 9.09058066e-03 9.76800379e-01 1.47203582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:85.24, Z:14.74 [[ 9.52156673e-01 -2.23209023e-01 -2.08747221e-01 1.18817753e+02] [ 2.21189892e-01 9.74662909e-01 -3.32752901e-02 8.52434200e+01] [ 2.10885518e-01 -1.44894857e-02 9.77403373e-01 1.47373164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.498040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.84, Y:85.28, Z:14.72 [[ 9.52255094e-01 -2.37406394e-01 -1.91959478e-01 1.18840271e+02] [ 2.27403737e-01 9.71068913e-01 -7.28883102e-02 8.52781346e+01] [ 2.03710033e-01 2.57559620e-02 9.78692420e-01 1.47170213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.528040942 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.87, Y:85.26, Z:14.75 [[ 9.51164347e-01 -2.25002510e-01 -2.11329732e-01 1.18872480e+02] [ 2.23114634e-01 9.74231552e-01 -3.30566832e-02 8.52551445e+01] [ 2.13321930e-01 -1.57084173e-02 9.76855670e-01 1.47487210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:85.27, Z:14.75 [[ 9.50708455e-01 -2.29077747e-01 -2.08989998e-01 1.18899018e+02] [ 2.24997715e-01 9.73391209e-01 -4.34232985e-02 8.52670195e+01] [ 2.13376338e-01 -5.73937493e-03 9.76953222e-01 1.47502775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:85.28, Z:14.75 [[ 9.49061570e-01 -2.35381863e-01 -2.09469604e-01 1.18926924e+02] [ 2.27315692e-01 9.71836604e-01 -6.21384791e-02 8.52834786e+01] [ 2.18196500e-01 1.13575145e-02 9.75838765e-01 1.47507310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.618040942 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.95, Y:85.27, Z:14.77 [[ 9.49424420e-01 -2.27136140e-01 -2.16800473e-01 1.18949900e+02] [ 2.28565905e-01 9.73346868e-01 -1.88016145e-02 8.52685168e+01] [ 2.15292588e-01 -3.17024846e-02 9.76034863e-01 1.47709122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648040942 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:118.98, Y:85.30, Z:14.76 [[ 9.49266874e-01 -2.37134007e-01 -2.06542647e-01 1.18979956e+02] [ 2.28254119e-01 9.71350636e-01 -6.61664561e-02 8.52989630e+01] [ 2.16315648e-01 1.56654151e-02 9.76197795e-01 1.47609184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:85.28, Z:14.78 [[ 9.50404516e-01 -2.28993096e-01 -2.10460014e-01 1.19006388e+02] [ 2.28220444e-01 9.73198382e-01 -2.82902641e-02 8.52847576e+01] [ 2.11297620e-01 -2.11440832e-02 9.77193043e-01 1.47800256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:85.31, Z:14.77 [[ 9.49129180e-01 -2.37077344e-01 -2.07239315e-01 1.19031918e+02] [ 2.28105018e-01 9.71361171e-01 -6.65250086e-02 8.53139388e+01] [ 2.17075796e-01 1.58684990e-02 9.76025763e-01 1.47716647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:85.31, Z:14.78 [[ 9.49813250e-01 -2.34944321e-01 -2.06533185e-01 1.19056139e+02] [ 2.30612824e-01 9.71997274e-01 -4.51555699e-02 8.53142889e+01] [ 2.11358737e-01 -4.73984236e-03 9.77397063e-01 1.47777543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:85.31, Z:14.80 [[ 9.50377665e-01 -2.27882256e-01 -2.11782839e-01 1.19088641e+02] [ 2.26519303e-01 9.73512903e-01 -3.10102087e-02 8.53092470e+01] [ 2.13240003e-01 -1.85014915e-02 9.76824650e-01 1.47958405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:85.32, Z:14.80 [[ 9.50476442e-01 -2.29972295e-01 -2.09062854e-01 1.19113478e+02] [ 2.25278716e-01 9.73192349e-01 -4.63265738e-02 8.53245167e+01] [ 2.14112199e-01 -3.06509442e-03 9.76804265e-01 1.47957679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:85.35, Z:14.78 [[ 9.49460767e-01 -2.39026949e-01 -2.03446233e-01 1.19132194e+02] [ 2.28373679e-01 9.70705271e-01 -7.46775730e-02 8.53525179e+01] [ 2.15336283e-01 2.44416612e-02 9.76234035e-01 1.47833865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:85.35, Z:14.80 [[ 9.49560052e-01 -2.33830598e-01 -2.08947266e-01 1.19161395e+02] [ 2.27915303e-01 9.72275209e-01 -5.23023194e-02 8.53456975e+01] [ 2.15384130e-01 2.04191360e-03 9.76527269e-01 1.47975891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:85.35, Z:14.81 [[ 9.50671565e-01 -2.30382566e-01 -2.07719638e-01 1.19188344e+02] [ 2.27121071e-01 9.73054867e-01 -3.97523002e-02 8.53466015e+01] [ 2.11280842e-01 -9.38612527e-03 9.77380328e-01 1.48076098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:85.34, Z:14.83 [[ 9.51134558e-01 -2.23349718e-01 -2.13208712e-01 1.19221559e+02] [ 2.21344544e-01 9.74618515e-01 -3.35461241e-02 8.53426975e+01] [ 2.15289676e-01 -1.52857072e-02 9.76430593e-01 1.48263204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:85.37, Z:14.82 [[ 9.50333413e-01 -2.30757497e-01 -2.08847748e-01 1.19237647e+02] [ 2.22538948e-01 9.72927262e-01 -6.23615162e-02 8.53689015e+01] [ 2.17584055e-01 1.27874744e-02 9.75957816e-01 1.48174649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:85.37, Z:14.82 [[ 9.51048602e-01 -2.29780515e-01 -2.06657861e-01 1.19267033e+02] [ 2.24408224e-01 9.73242286e-01 -4.94004267e-02 8.53713834e+01] [ 2.12479424e-01 6.06483307e-04 9.77165353e-01 1.48246059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:85.39, Z:14.82 [[ 9.51430890e-01 -2.31835942e-01 -2.02561985e-01 1.19291671e+02] [ 2.23406749e-01 9.72631387e-01 -6.38561689e-02 8.53878072e+01] [ 2.11822299e-01 1.55010173e-02 9.77185260e-01 1.48227951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:85.36, Z:14.85 [[ 9.51412819e-01 -2.19045858e-01 -2.16408316e-01 1.19328885e+02] [ 2.18995997e-01 9.75417699e-01 -2.45166569e-02 8.53649175e+01] [ 2.16458774e-01 -2.40670933e-02 9.75995069e-01 1.48542722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.34, Y:85.43, Z:14.82 [[ 9.51503378e-01 -2.44894841e-01 -1.86193013e-01 1.19341542e+02] [ 2.30134399e-01 9.68264716e-01 -9.74761360e-02 8.54252330e+01] [ 2.04155528e-01 4.98994554e-02 9.77665876e-01 1.48150127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:85.36, Z:14.88 [[ 9.51634718e-01 -2.12598375e-01 -2.21795612e-01 1.19383793e+02] [ 2.18242030e-01 9.75894202e-01 9.61116098e-04 8.53629307e+01] [ 2.16244720e-01 -4.93197562e-02 9.75092705e-01 1.48782230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.41, Y:85.40, Z:14.87 [[ 9.51257516e-01 -2.24067389e-01 -2.11903149e-01 1.19408387e+02] [ 2.19197977e-01 9.74571160e-01 -4.65113048e-02 8.53959150e+01] [ 2.16936364e-01 -2.20451326e-03 9.76183258e-01 1.48682787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15804094199999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.42, Y:85.45, Z:14.84 [[ 9.51092135e-01 -2.43506172e-01 -1.90074972e-01 1.19420142e+02] [ 2.26904685e-01 9.68236608e-01 -1.05033968e-01 8.54462452e+01] [ 2.09613966e-01 5.67680796e-02 9.76134914e-01 1.48363273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:85.41, Z:14.87 [[ 9.51471930e-01 -2.26012121e-01 -2.08853268e-01 1.19455054e+02] [ 2.23604475e-01 9.74037340e-01 -3.53878283e-02 8.54097727e+01] [ 2.11428959e-01 -1.30300001e-02 9.77306510e-01 1.48708211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:85.40, Z:14.90 [[ 9.50105257e-01 -2.22196317e-01 -2.18926465e-01 1.19490523e+02] [ 2.25072359e-01 9.74267638e-01 -1.20417105e-02 8.53999762e+01] [ 2.15968593e-01 -3.78334034e-02 9.75667054e-01 1.48997719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:85.44, Z:14.88 [[ 9.49793005e-01 -2.37201845e-01 -2.04030715e-01 1.19513667e+02] [ 2.28859287e-01 9.71359424e-01 -6.39085064e-02 8.54384730e+01] [ 2.13346373e-01 1.40055284e-02 9.76876231e-01 1.48822082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:85.44, Z:14.89 [[ 9.50372750e-01 -2.31662825e-01 -2.07663120e-01 1.19534553e+02] [ 2.25928560e-01 9.72794486e-01 -5.12559538e-02 8.54360044e+01] [ 2.13887638e-01 1.79523197e-03 9.76856620e-01 1.48900059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:119.57, Y:85.44, Z:14.91 [[ 9.48943584e-01 -2.34929955e-01 -2.10508884e-01 1.19570650e+02] [ 2.30655654e-01 9.71994643e-01 -4.49931346e-02 8.54398863e+01] [ 2.15183743e-01 -5.85911799e-03 9.76556003e-01 1.49054572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.59, Y:85.45, Z:14.91 [[ 9.48179973e-01 -2.33651235e-01 -2.15317995e-01 1.19591730e+02] [ 2.28128493e-01 9.72319703e-01 -5.05151949e-02 8.54475162e+01] [ 2.21160866e-01 -1.22267353e-03 9.75236575e-01 1.49102173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.62, Y:85.45, Z:14.93 [[ 9.47508983e-01 -2.34623241e-01 -2.17206496e-01 1.19621641e+02] [ 2.33452365e-01 9.71860729e-01 -3.14120459e-02 8.54480248e+01] [ 2.18464459e-01 -2.09441746e-02 9.75620122e-01 1.49277747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.398040942 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:119.65, Y:85.49, Z:14.90 [[ 9.47678948e-01 -2.50103675e-01 -1.98375310e-01 1.19645542e+02] [ 2.38027387e-01 9.67710191e-01 -8.29454638e-02 8.54895345e+01] [ 2.12714775e-01 3.13869132e-02 9.76610099e-01 1.49048521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428040942 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:119.68, Y:85.45, Z:14.95 [[ 9.46782585e-01 -2.30427563e-01 -2.24735122e-01 1.19675960e+02] [ 2.33777375e-01 9.72216518e-01 -1.19657984e-02 8.54533355e+01] [ 2.21248448e-01 -4.12089775e-02 9.74346419e-01 1.49501619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.458040942 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:119.69, Y:85.47, Z:14.95 [[ 9.45702727e-01 -2.33534080e-01 -2.26071195e-01 1.19693493e+02] [ 2.31296983e-01 9.72189980e-01 -3.67198708e-02 8.54719685e+01] [ 2.28359492e-01 -1.75635033e-02 9.73418443e-01 1.49534715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48804094199997 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:119.73, Y:85.50, Z:14.95 [[ 9.46390370e-01 -2.41568170e-01 -2.14452992e-01 1.19725556e+02] [ 2.33055502e-01 9.70320545e-01 -6.45226540e-02 8.54960371e+01] [ 2.23674763e-01 1.10841689e-02 9.74600811e-01 1.49487389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51804094199997 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:119.75, Y:85.50, Z:14.94 [[ 9.48586815e-01 -2.39396316e-01 -2.07056654e-01 1.19751970e+02] [ 2.30933194e-01 9.70830047e-01 -6.44893735e-02 8.55046792e+01] [ 2.16455339e-01 1.33575151e-02 9.76201139e-01 1.49443947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54804094199997 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:119.77, Y:85.48, Z:14.99 [[ 9.46790624e-01 -2.22727220e-01 -2.32336177e-01 1.19773888e+02] [ 2.26904238e-01 9.73876009e-01 -8.94346417e-03 8.54799566e+01] [ 2.28258582e-01 -4.42504753e-02 9.72594425e-01 1.49862758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57804094199997 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:119.80, Y:85.55, Z:14.94 [[ 9.49207686e-01 -2.45533302e-01 -1.96769324e-01 1.19802254e+02] [ 2.26538633e-01 9.67285604e-01 -1.14187600e-01 8.55510872e+01] [ 2.18368993e-01 6.38118937e-02 9.73777708e-01 1.49439068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60804094199997 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:119.83, Y:85.49, Z:15.00 [[ 9.46235102e-01 -2.18002535e-01 -2.38985409e-01 1.19830793e+02] [ 2.24391916e-01 9.74498863e-01 -4.84195206e-04 8.54905149e+01] [ 2.32996565e-01 -5.31682313e-02 9.71023038e-01 1.50044717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63804094199998 meters Centerline goodness : 0.993101 Centerline is valid? [True, True] Translation: X:119.86, Y:85.56, Z:14.96 [[ 9.49446914e-01 -2.43872417e-01 -1.97678533e-01 1.19857464e+02] [ 2.25099902e-01 9.67785549e-01 -1.12788139e-01 8.55646830e+01] [ 2.18816344e-01 6.25889325e-02 9.73756660e-01 1.49588612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66804094199998 meters Centerline goodness : 0.995380 Centerline is valid? [True, True] Translation: X:119.90, Y:85.51, Z:15.01 [[ 9.49307800e-01 -2.12091186e-01 -2.32017305e-01 1.19896939e+02] [ 2.14941182e-01 9.76537378e-01 -1.32301755e-02 8.55083118e+01] [ 2.29379575e-01 -3.73105651e-02 9.72621680e-01 1.50136123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69804094199998 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:119.92, Y:85.54, Z:15.01 [[ 9.48629494e-01 -2.22553800e-01 -2.24881948e-01 1.19924052e+02] [ 2.15480253e-01 9.74909930e-01 -5.58470160e-02 8.55392324e+01] [ 2.31668609e-01 4.52050755e-03 9.72784262e-01 1.50064654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72804094199998 meters Centerline goodness : 0.998051 Centerline is valid? [True, True] Translation: X:119.94, Y:85.52, Z:15.04 [[ 9.47295941e-01 -2.10553392e-01 -2.41449104e-01 1.19943101e+02] [ 2.15939878e-01 9.76397436e-01 -4.24446407e-03 8.55174809e+01] [ 2.36643972e-01 -4.81177264e-02 9.70404202e-01 1.50413528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75804094199998 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:119.98, Y:85.57, Z:15.01 [[ 9.48372546e-01 -2.30005731e-01 -2.18373254e-01 1.19978824e+02] [ 2.14656293e-01 9.72354514e-01 -9.19204865e-02 8.55712777e+01] [ 2.33478458e-01 4.02996725e-02 9.71526503e-01 1.50136645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78804094199998 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:120.01, Y:85.55, Z:15.04 [[ 9.48696897e-01 -2.18386697e-01 -2.28651368e-01 1.20006808e+02] [ 2.14883822e-01 9.75802718e-01 -4.04227514e-02 8.55487501e+01] [ 2.31946417e-01 -1.07845409e-02 9.72668779e-01 1.50363090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81804094199998 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:120.03, Y:85.56, Z:15.04 [[ 9.47718338e-01 -2.22226152e-01 -2.29009802e-01 1.20034210e+02] [ 2.16556062e-01 9.74992498e-01 -4.99309627e-02 8.55604870e+01] [ 2.34378805e-01 -2.27297200e-03 9.72142690e-01 1.50419851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84804094199998 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:120.06, Y:85.57, Z:15.05 [[ 9.47212353e-01 -2.22476342e-01 -2.30852843e-01 1.20062056e+02] [ 2.17202987e-01 9.74928399e-01 -4.83474746e-02 8.55669811e+01] [ 2.35821162e-01 -4.34660199e-03 9.71786750e-01 1.50494125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87804094199998 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:120.08, Y:85.56, Z:15.07 [[ 9.46096418e-01 -2.17434423e-01 -2.40049662e-01 1.20080154e+02] [ 2.17998402e-01 9.75640601e-01 -2.45380233e-02 8.55612691e+01] [ 2.39537607e-01 -2.91151066e-02 9.70450434e-01 1.50708932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90804094199999 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:120.11, Y:85.59, Z:15.06 [[ 9.47272991e-01 -2.24300560e-01 -2.28829934e-01 1.20114071e+02] [ 2.14879310e-01 9.74433402e-01 -6.56233701e-02 8.55877630e+01] [ 2.37698890e-01 1.29924278e-02 9.71251993e-01 1.50600601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.938040942 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:120.14, Y:85.58, Z:15.08 [[ 9.46966740e-01 -2.15597898e-01 -2.38267789e-01 1.20143755e+02] [ 2.12467303e-01 9.76387066e-01 -3.90633180e-02 8.55767142e+01] [ 2.41063556e-01 -1.36324515e-02 9.70413581e-01 1.50794398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.968040942 meters Centerline goodness : 0.986814 Centerline is valid? [True, True] Translation: X:120.17, Y:85.61, Z:15.06 [[ 9.46355733e-01 -2.28614782e-01 -2.28355225e-01 1.20168415e+02] [ 2.20346212e-01 9.73485596e-01 -6.14275255e-02 8.56058764e+01] [ 2.36343763e-01 7.81508199e-03 9.71638076e-01 1.50625777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.998040942 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:120.19, Y:85.61, Z:15.07 [[ 9.45734241e-01 -2.27310219e-01 -2.32199933e-01 1.20192246e+02] [ 2.19499419e-01 9.73808987e-01 -5.92963901e-02 8.56102832e+01] [ 2.39597057e-01 5.11087610e-03 9.70858965e-01 1.50727811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.028040942 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:120.22, Y:85.59, Z:15.11 [[ 9.42155066e-01 -2.18390956e-01 -2.54262114e-01 1.20216750e+02] [ 2.24738036e-01 9.74410229e-01 -4.18584609e-03 8.55887889e+01] [ 2.48669756e-01 -5.31986520e-02 9.67126288e-01 1.51088435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.058040942 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:120.25, Y:85.64, Z:15.08 [[ 9.44250478e-01 -2.38069144e-01 -2.27407382e-01 1.20246563e+02] [ 2.21558034e-01 9.70415228e-01 -9.59495814e-02 8.56446382e+01] [ 2.43522221e-01 4.02165055e-02 9.69061175e-01 1.50819724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088040942 meters Centerline goodness : 0.983329 Centerline is valid? [True, True] Translation: X:120.28, Y:85.61, Z:15.10 [[ 9.45484831e-01 -2.19458809e-01 -2.40616426e-01 1.20282044e+02] [ 2.19550618e-01 9.75233701e-01 -2.67722712e-02 8.56123225e+01] [ 2.40532659e-01 -2.75147087e-02 9.70250989e-01 1.51032830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.118040942 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:120.30, Y:85.64, Z:15.11 [[ 9.41895851e-01 -2.37824832e-01 -2.37216262e-01 1.20297871e+02] [ 2.29784273e-01 9.71302348e-01 -6.14079502e-02 8.56416995e+01] [ 2.45013048e-01 3.33132729e-03 9.69514058e-01 1.51109844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148040942 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:120.32, Y:85.64, Z:15.12 [[ 9.41197616e-01 -2.36165596e-01 -2.41604759e-01 1.20323130e+02] [ 2.31991581e-01 9.71629189e-01 -4.60068076e-02 8.56406830e+01] [ 2.45615461e-01 -1.27487724e-02 9.69283505e-01 1.51236212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.178040942 meters Centerline goodness : 0.987291 Centerline is valid? [True, True] Translation: X:120.35, Y:85.70, Z:15.09 [[ 9.41812992e-01 -2.58287475e-01 -2.15118267e-01 1.20348246e+02] [ 2.38056885e-01 9.64344262e-01 -1.15624666e-01 8.56966365e+01] [ 2.37312470e-01 5.76864281e-02 9.69719066e-01 1.50903704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208040942 meters Centerline goodness : 0.988894 Centerline is valid? [True, True] Translation: X:120.38, Y:85.68, Z:15.11 [[ 9.41372846e-01 -2.52350396e-01 -2.23911686e-01 1.20378748e+02] [ 2.42147351e-01 9.67535815e-01 -7.23816806e-02 8.56815072e+01] [ 2.34908122e-01 1.39185268e-02 9.71917923e-01 1.51093566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23804094199997 meters Centerline goodness : 0.987501 Centerline is valid? [True, True] Translation: X:120.41, Y:85.65, Z:15.14 [[ 9.41408235e-01 -2.35393128e-01 -2.41538010e-01 1.20414318e+02] [ 2.37419964e-01 9.71177651e-01 -2.11123537e-02 8.56526267e+01] [ 2.39546020e-01 -3.74706019e-02 9.70161666e-01 1.51423079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26804094199997 meters Centerline goodness : 0.985386 Centerline is valid? [True, True] Translation: X:120.45, Y:85.63, Z:15.17 [[ 9.41595764e-01 -2.18543404e-01 -2.56195623e-01 1.20446391e+02] [ 2.29226463e-01 9.73296387e-01 1.22217618e-02 8.56339215e+01] [ 2.46683289e-01 -7.02347758e-02 9.66547687e-01 1.51741100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29804094199997 meters Centerline goodness : 0.993055 Centerline is valid? [True, True] Translation: X:120.46, Y:85.72, Z:15.14 [[ 9.40162971e-01 -2.56129035e-01 -2.24703149e-01 1.20461309e+02] [ 2.37292995e-01 9.65456095e-01 -1.07640903e-01 8.57172981e+01] [ 2.44510985e-01 4.78795077e-02 9.68463696e-01 1.51389674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32804094199997 meters Centerline goodness : 0.987813 Centerline is valid? [True, True] Translation: X:120.49, Y:85.71, Z:15.14 [[ 9.41707949e-01 -2.47598433e-01 -2.27774351e-01 1.20488444e+02] [ 2.39334306e-01 9.68847454e-01 -6.36686837e-02 8.57089584e+01] [ 2.36442866e-01 5.44308931e-03 9.71630148e-01 1.51406751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35804094199997 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:120.51, Y:85.72, Z:15.15 [[ 9.41817279e-01 -2.48249701e-01 -2.26610456e-01 1.20511887e+02] [ 2.39167133e-01 9.68653867e-01 -6.71473630e-02 8.57195014e+01] [ 2.36176407e-01 9.04277374e-03 9.71668119e-01 1.51496641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38804094199998 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:120.53, Y:85.76, Z:15.13 [[ 9.41916573e-01 -2.62007370e-01 -2.10107846e-01 1.20527477e+02] [ 2.46640441e-01 9.64264634e-01 -9.67585090e-02 8.57560471e+01] [ 2.27951008e-01 3.93173513e-02 9.72878453e-01 1.51300250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41804094199998 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:120.57, Y:85.73, Z:15.16 [[ 9.42829405e-01 -2.47251140e-01 -2.23471669e-01 1.20565734e+02] [ 2.41506979e-01 9.68943663e-01 -5.31277367e-02 8.57342948e+01] [ 2.29667351e-01 -3.87957524e-03 9.73261453e-01 1.51603774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44804094199998 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:120.59, Y:85.75, Z:15.17 [[ 9.42662715e-01 -2.49792381e-01 -2.21338593e-01 1.20590365e+02] [ 2.42176497e-01 9.68290153e-01 -6.13573470e-02 8.57473563e+01] [ 2.29646578e-01 4.23627808e-03 9.73264868e-01 1.51657303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47804094199998 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:120.62, Y:85.75, Z:15.17 [[ 9.43025613e-01 -2.45807139e-01 -2.24235465e-01 1.20618661e+02] [ 2.40304274e-01 9.69306405e-01 -5.19514099e-02 8.57517483e+01] [ 2.30122900e-01 -4.89323052e-03 9.73149273e-01 1.51684625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50804094199998 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:120.65, Y:85.74, Z:15.20 [[ 9.41367421e-01 -2.34276415e-01 -2.42779612e-01 1.20654114e+02] [ 2.30879805e-01 9.72041781e-01 -4.27702213e-02 8.57435310e+01] [ 2.46011981e-01 -1.57904165e-02 9.69138157e-01 1.52031386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53804094199998 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:120.67, Y:85.78, Z:15.18 [[ 9.42188388e-01 -2.54731039e-01 -2.17699655e-01 1.20667175e+02] [ 2.42793586e-01 9.66740998e-01 -8.03935192e-02 8.57839582e+01] [ 2.30937906e-01 2.28897603e-02 9.72699204e-01 1.51827118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56804094199998 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:120.71, Y:85.75, Z:15.23 [[ 9.41640402e-01 -2.28274872e-01 -2.47394292e-01 1.20709581e+02] [ 2.28975539e-01 9.73075772e-01 -2.63390421e-02 8.57471973e+01] [ 2.46745933e-01 -3.18453351e-02 9.68556823e-01 1.52288990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59804094199998 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:120.74, Y:85.77, Z:15.23 [[ 9.40520862e-01 -2.37815644e-01 -2.42619514e-01 1.20736485e+02] [ 2.30774242e-01 9.71308384e-01 -5.74741086e-02 8.57709479e+01] [ 2.49326610e-01 -1.93473618e-03 9.68417523e-01 1.52299804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62804094199998 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:120.76, Y:85.78, Z:15.24 [[ 9.39240978e-01 -2.41420544e-01 -2.44013331e-01 1.20764563e+02] [ 2.31549633e-01 9.70386557e-01 -6.88091341e-02 8.57831728e+01] [ 2.53399194e-01 8.12716111e-03 9.67327658e-01 1.52367626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65804094199999 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:120.79, Y:85.77, Z:15.25 [[ 9.39689035e-01 -2.35150987e-01 -2.48371759e-01 1.20793447e+02] [ 2.32024673e-01 9.71793060e-01 -4.22232193e-02 8.57719575e+01] [ 2.51294783e-01 -1.79516800e-02 9.67744114e-01 1.52527130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.688040942 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:120.82, Y:85.78, Z:15.26 [[ 9.40083827e-01 -2.36372968e-01 -2.45703516e-01 1.20821956e+02] [ 2.29997591e-01 9.71649367e-01 -5.47596129e-02 8.57840442e+01] [ 2.51681358e-01 -5.03259026e-03 9.67797069e-01 1.52612100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.718040942 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:120.85, Y:85.79, Z:15.27 [[ 9.40540829e-01 -2.33410413e-01 -2.46784376e-01 1.20848874e+02] [ 2.28161854e-01 9.72334692e-01 -5.00740888e-02 8.57858092e+01] [ 2.51644824e-01 -9.21005588e-03 9.67775830e-01 1.52717005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.748040942 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:120.88, Y:85.78, Z:15.29 [[ 9.40814748e-01 -2.25672104e-01 -2.52863031e-01 1.20879579e+02] [ 2.25075301e-01 9.73826141e-01 -3.16821010e-02 8.57768981e+01] [ 2.53394396e-01 -2.71062349e-02 9.66983212e-01 1.52855145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.778040942 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:120.91, Y:85.79, Z:15.29 [[ 9.40387126e-01 -2.31687127e-01 -2.48984195e-01 1.20905588e+02] [ 2.25566631e-01 9.72771317e-01 -5.32509132e-02 8.57948952e+01] [ 2.54542234e-01 -6.08605288e-03 9.67042507e-01 1.52882736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808040942 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:120.93, Y:85.80, Z:15.29 [[ 9.40705847e-01 -2.22459716e-01 -2.56094092e-01 1.20925476e+02] [ 2.16592112e-01 9.74915013e-01 -5.12696336e-02 8.57952029e+01] [ 2.61075403e-01 -7.23831621e-03 9.65291273e-01 1.52939893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.838040942 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:120.96, Y:85.82, Z:15.30 [[ 9.40575844e-01 -2.33331419e-01 -2.46725616e-01 1.20959116e+02] [ 2.19421208e-01 9.72106267e-01 -8.28476874e-02 8.58229407e+01] [ 2.59174486e-01 2.37877007e-02 9.65537535e-01 1.53024908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868040942 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:120.98, Y:85.81, Z:15.31 [[ 9.42043867e-01 -2.16921982e-01 -2.55926172e-01 1.20982732e+02] [ 2.11718994e-01 9.76148270e-01 -4.80585376e-02 8.58064245e+01] [ 2.60246843e-01 -8.91118117e-03 9.65500995e-01 1.53075810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.898040942 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:121.02, Y:85.81, Z:15.33 [[ 9.41291786e-01 -2.19285610e-01 -2.56678000e-01 1.21016186e+02] [ 2.12781958e-01 9.75650163e-01 -5.32033625e-02 8.58149296e+01] [ 2.62094664e-01 -4.53655920e-03 9.65031506e-01 1.53280501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:85.86, Z:15.31 [[ 9.41985677e-01 -2.38507511e-01 -2.36171869e-01 1.21039705e+02] [ 2.20531909e-01 9.70218470e-01 -1.00208770e-01 8.58576907e+01] [ 2.53038853e-01 4.23117931e-02 9.66530419e-01 1.53066150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.958040942 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:121.08, Y:85.81, Z:15.35 [[ 9.41364910e-01 -2.09493956e-01 -2.64470013e-01 1.21075296e+02] [ 2.13727298e-01 9.76806778e-01 -1.30061558e-02 8.58051931e+01] [ 2.61060813e-01 -4.42809225e-02 9.64306202e-01 1.53508987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98804094199997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:121.10, Y:85.84, Z:15.35 [[ 9.40134361e-01 -2.23597995e-01 -2.57198987e-01 1.21100548e+02] [ 2.12968136e-01 9.74630684e-01 -6.88447668e-02 8.58394910e+01] [ 2.66067577e-01 9.94814195e-03 9.63903044e-01 1.53483811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01804094199997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.13, Y:85.83, Z:15.36 [[ 9.39687922e-01 -2.19685977e-01 -2.62153925e-01 1.21127093e+02] [ 2.13977768e-01 9.75532361e-01 -5.04987884e-02 8.58313397e+01] [ 2.66833514e-01 -8.64201043e-03 9.63703892e-01 1.53617832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04804094199997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.16, Y:85.82, Z:15.38 [[ 9.41150094e-01 -2.14600190e-01 -2.61119244e-01 1.21160076e+02] [ 2.15716447e-01 9.76142705e-01 -2.47352737e-02 8.58232939e+01] [ 2.60197840e-01 -3.30481105e-02 9.64989589e-01 1.53778870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07804094199997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:121.18, Y:85.85, Z:15.37 [[ 9.38682342e-01 -2.28925913e-01 -2.57814639e-01 1.21184678e+02] [ 2.17304939e-01 9.73362325e-01 -7.31050437e-02 8.58543857e+01] [ 2.67682695e-01 1.25980193e-02 9.63424758e-01 1.53730549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10804094199997 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:121.22, Y:85.83, Z:15.38 [[ 9.37946202e-01 -2.22107063e-01 -2.66318183e-01 1.21216374e+02] [ 2.22760249e-01 9.74466543e-01 -2.81571921e-02 8.58342391e+01] [ 2.65772071e-01 -3.29151735e-02 9.63473818e-01 1.53849383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13804094199998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:121.24, Y:85.87, Z:15.38 [[ 9.36598557e-01 -2.38644462e-01 -2.56577404e-01 1.21236345e+02] [ 2.22448051e-01 9.70703010e-01 -9.08434416e-02 8.58695175e+01] [ 2.70739743e-01 2.80086927e-02 9.62245034e-01 1.53827022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16804094199998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.26, Y:85.85, Z:15.40 [[ 9.37172949e-01 -2.28509018e-01 -2.63610493e-01 1.21264592e+02] [ 2.23532479e-01 9.73456744e-01 -4.91446744e-02 8.58510651e+01] [ 2.67843414e-01 -1.28684478e-02 9.63376515e-01 1.54009475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.30, Y:85.85, Z:15.41 [[ 9.37204476e-01 -2.28535567e-01 -2.63475358e-01 1.21296252e+02] [ 2.25041606e-01 9.73364494e-01 -4.37931122e-02 8.58536804e+01] [ 2.66465842e-01 -1.82498169e-02 9.63671572e-01 1.54125139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22804094199998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:121.32, Y:85.87, Z:15.41 [[ 9.35822872e-01 -2.35817387e-01 -2.61965096e-01 1.21325000e+02] [ 2.26948460e-01 9.71797257e-01 -6.40662808e-02 8.58678217e+01] [ 2.69684905e-01 5.02115606e-04 9.62948493e-01 1.54149872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:85.85, Z:15.43 [[ 9.37558436e-01 -2.27301601e-01 -2.63283425e-01 1.21354519e+02] [ 2.26847722e-01 9.73386235e-01 -3.25476415e-02 8.58547324e+01] [ 2.63674593e-01 -2.92099294e-02 9.64169326e-01 1.54332073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:85.86, Z:15.44 [[ 9.37451724e-01 -2.28795128e-01 -2.62368168e-01 1.21380619e+02] [ 2.24897812e-01 9.73332723e-01 -4.52148728e-02 8.58634411e+01] [ 2.65716466e-01 -1.66192663e-02 9.63907962e-01 1.54406573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31804094199998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.41, Y:85.87, Z:15.45 [[ 9.37596171e-01 -2.28065236e-01 -2.62487464e-01 1.21407060e+02] [ 2.24095989e-01 9.73509866e-01 -4.53820369e-02 8.58678350e+01] [ 2.65884201e-01 -1.62723639e-02 9.63867627e-01 1.54503667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34804094199998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:121.45, Y:85.87, Z:15.46 [[ 9.34241558e-01 -2.32672708e-01 -2.70288962e-01 1.21450648e+02] [ 2.31139481e-01 9.72179887e-01 -3.79579635e-02 8.58713862e+01] [ 2.71601274e-01 -2.70125433e-02 9.62030701e-01 1.54578883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37804094199998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.46, Y:85.88, Z:15.47 [[ 9.36888815e-01 -2.29792359e-01 -2.63504878e-01 1.21464169e+02] [ 2.23186754e-01 9.73213571e-01 -5.51635660e-02 8.58808937e+01] [ 2.69122690e-01 -7.12867045e-03 9.63079519e-01 1.54679021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40804094199999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.49, Y:85.88, Z:15.47 [[ 9.37519245e-01 -2.28615872e-01 -2.62283145e-01 1.21489487e+02] [ 2.24390430e-01 9.73395262e-01 -4.63745417e-02 8.58824623e+01] [ 2.65907127e-01 -1.53768022e-02 9.63876005e-01 1.54741646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.438040942 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:121.51, Y:85.90, Z:15.47 [[ 9.35673669e-01 -2.39639000e-01 -2.59013389e-01 1.21510750e+02] [ 2.26361399e-01 9.70720344e-01 -8.03898681e-02 8.59037827e+01] [ 2.70694114e-01 1.65880498e-02 9.62522485e-01 1.54732970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.468040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.54, Y:85.89, Z:15.49 [[ 9.35790824e-01 -2.31613950e-01 -2.65801639e-01 1.21542266e+02] [ 2.27015958e-01 9.72690525e-01 -4.83414768e-02 8.58906582e+01] [ 2.69739296e-01 -1.51037033e-02 9.62814930e-01 1.54921716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.498040942 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:121.57, Y:85.89, Z:15.50 [[ 9.35354333e-01 -2.31266044e-01 -2.67634617e-01 1.21569393e+02] [ 2.26881500e-01 9.72756356e-01 -4.76430171e-02 8.58933812e+01] [ 2.71361487e-01 -1.61582409e-02 9.62341859e-01 1.55047046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.528040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.59, Y:85.90, Z:15.52 [[ 9.34472804e-01 -2.32587058e-01 -2.69562310e-01 1.21588452e+02] [ 2.29374057e-01 9.72351401e-01 -4.38211625e-02 8.58972556e+01] [ 2.72301526e-01 -2.08809161e-02 9.61985378e-01 1.55172190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.558040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.63, Y:85.89, Z:15.54 [[ 9.34405129e-01 -2.24280615e-01 -2.76740423e-01 1.21626303e+02] [ 2.21916197e-01 9.74234136e-01 -4.02622727e-02 8.58923953e+01] [ 2.78640014e-01 -2.37919081e-02 9.60100874e-01 1.55371837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588040942 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:121.65, Y:85.89, Z:15.55 [[ 9.35049039e-01 -2.19258752e-01 -2.78583730e-01 1.21653033e+02] [ 2.21496597e-01 9.74869940e-01 -2.38297715e-02 8.58893898e+01] [ 2.76807790e-01 -3.94233433e-02 9.60116268e-01 1.55464940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.618040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.68, Y:85.93, Z:15.54 [[ 9.34617156e-01 -2.35494757e-01 -2.66520153e-01 1.21679499e+02] [ 2.21214465e-01 9.71700120e-01 -8.28434536e-02 8.59277440e+01] [ 2.78486864e-01 1.84687999e-02 9.60262449e-01 1.55400929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.71, Y:85.91, Z:15.56 [[ 9.35006348e-01 -2.24743323e-01 -2.74323840e-01 1.21708437e+02] [ 2.20473912e-01 9.74273232e-01 -4.67217743e-02 8.59126227e+01] [ 2.77766780e-01 -1.67960945e-02 9.60501695e-01 1.55602267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.678040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.72, Y:85.94, Z:15.55 [[ 9.35225460e-01 -2.36509443e-01 -2.63470342e-01 1.21721946e+02] [ 2.26702820e-01 9.71623302e-01 -6.74832576e-02 8.59367207e+01] [ 2.71954352e-01 3.38259099e-03 9.62304208e-01 1.55523777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:85.94, Z:15.56 [[ 9.35335264e-01 -2.33645830e-01 -2.65626752e-01 1.21748944e+02] [ 2.25875661e-01 9.72313607e-01 -5.98868463e-02 8.59378727e+01] [ 2.72264817e-01 -3.98433904e-03 9.62214111e-01 1.55629210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73804094199997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:121.78, Y:85.94, Z:15.58 [[ 9.35262182e-01 -2.27454603e-01 -2.71199288e-01 1.21781936e+02] [ 2.20163455e-01 9.73770289e-01 -5.74410828e-02 8.59364162e+01] [ 2.77151048e-01 -5.98569981e-03 9.60807716e-01 1.55753426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76804094199997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:121.81, Y:85.94, Z:15.59 [[ 9.34793165e-01 -2.24333021e-01 -2.75384157e-01 1.21810512e+02] [ 2.19241810e-01 9.74411235e-01 -4.95557583e-02 8.59364766e+01] [ 2.79454409e-01 -1.40513366e-02 9.60056141e-01 1.55890771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79804094199997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.83, Y:85.96, Z:15.59 [[ 9.34743455e-01 -2.33930238e-01 -2.67453393e-01 1.21827891e+02] [ 2.24570164e-01 9.72252664e-01 -6.55209745e-02 8.59570849e+01] [ 2.75359611e-01 1.18324981e-03 9.61340566e-01 1.55853300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.85, Y:85.96, Z:15.60 [[ 9.34425076e-01 -2.32554225e-01 -2.69756017e-01 1.21854544e+02] [ 2.24312727e-01 9.72578496e-01 -6.14399719e-02 8.59590539e+01] [ 2.76647027e-01 -3.09865726e-03 9.60966608e-01 1.55951569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:85.95, Z:15.62 [[ 9.34077109e-01 -2.23481678e-01 -2.78488589e-01 1.21889848e+02] [ 2.18825271e-01 9.74576897e-01 -4.81183208e-02 8.59509731e+01] [ 2.82162108e-01 -1.59941192e-02 9.59233409e-01 1.56152679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.91, Y:85.97, Z:15.61 [[ 9.33680919e-01 -2.35960526e-01 -2.69374408e-01 1.21908606e+02] [ 2.25464100e-01 9.71752804e-01 -6.97311015e-02 8.59739409e+01] [ 2.78219124e-01 4.37234030e-03 9.60507679e-01 1.56087685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.94, Y:85.97, Z:15.63 [[ 9.33315437e-01 -2.28744493e-01 -2.76763892e-01 1.21941425e+02] [ 2.21753980e-01 9.73450145e-01 -5.67449270e-02 8.59670814e+01] [ 2.82395940e-01 -8.41257814e-03 9.59261050e-01 1.56263738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:85.98, Z:15.63 [[ 9.33037841e-01 -2.34511450e-01 -2.72845684e-01 1.21961931e+02] [ 2.25625020e-01 9.72111555e-01 -6.39724565e-02 8.59815735e+01] [ 2.80238716e-01 -1.87209018e-03 9.59928517e-01 1.56268331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:85.99, Z:15.64 [[ 9.32706821e-01 -2.34110503e-01 -2.74317807e-01 1.21988064e+02] [ 2.25575612e-01 9.72204143e-01 -6.27275670e-02 8.59854878e+01] [ 2.81378091e-01 -3.37297771e-03 9.59591055e-01 1.56353135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:85.99, Z:15.64 [[ 9.32520196e-01 -2.33932817e-01 -2.75102748e-01 1.22014018e+02] [ 2.25315484e-01 9.72247354e-01 -6.29921820e-02 8.59908062e+01] [ 2.82203857e-01 -3.24342704e-03 9.59348979e-01 1.56433485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.04, Y:86.00, Z:15.65 [[ 9.32691037e-01 -2.33415395e-01 -2.74963056e-01 1.22039991e+02] [ 2.24759684e-01 9.72372493e-01 -6.30461664e-02 8.59951712e+01] [ 2.82082458e-01 -2.99801536e-03 9.59385480e-01 1.56510028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06804094199998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:122.06, Y:86.00, Z:15.66 [[ 9.32407619e-01 -2.33230167e-01 -2.76079195e-01 1.22064791e+02] [ 2.24484014e-01 9.72417181e-01 -6.33384072e-02 8.60005023e+01] [ 2.83236580e-01 -2.91815235e-03 9.59045632e-01 1.56592788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:86.01, Z:15.67 [[ 9.32274061e-01 -2.33102636e-01 -2.76637373e-01 1.22090779e+02] [ 2.24298190e-01 9.72448025e-01 -6.35229205e-02 8.60060544e+01] [ 2.83822827e-01 -2.82849096e-03 9.58872568e-01 1.56672377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12804094199998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:122.11, Y:86.03, Z:15.66 [[ 9.32954329e-01 -2.45085372e-01 -2.63684243e-01 1.22114479e+02] [ 2.28123276e-01 9.69119893e-01 -9.36290757e-02 8.60325658e+01] [ 2.78488762e-01 2.71991382e-02 9.60054278e-01 1.56561626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:86.00, Z:15.69 [[ 9.31962853e-01 -2.24275050e-01 -2.84861267e-01 1.22144998e+02] [ 2.23350298e-01 9.74066761e-01 -3.61744206e-02 8.60003281e+01] [ 2.85586912e-01 -2.99106327e-02 9.57885938e-01 1.56937083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.188040942 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:122.17, Y:86.06, Z:15.66 [[ 9.32894050e-01 -2.51694250e-01 -2.57601817e-01 1.22166185e+02] [ 2.30635491e-01 9.66864478e-01 -1.09454790e-01 8.60550858e+01] [ 2.76615187e-01 4.26976009e-02 9.60031746e-01 1.56637370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:86.00, Z:15.72 [[ 9.31730189e-01 -2.21017937e-01 -2.88149140e-01 1.22198818e+02] [ 2.24306504e-01 9.74270381e-01 -2.19958638e-02 8.60036355e+01] [ 2.85596653e-01 -4.41395158e-02 9.57332886e-01 1.57154232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:86.03, Z:15.71 [[ 9.31212067e-01 -2.34439325e-01 -2.79073985e-01 1.22223185e+02] [ 2.25487700e-01 9.72125789e-01 -6.42397630e-02 8.60321407e+01] [ 2.86355344e-01 -3.10690828e-03 9.58118450e-01 1.57096330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.278040942 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:122.25, Y:86.06, Z:15.70 [[ 9.31843957e-01 -2.47943594e-01 -2.64935491e-01 1.22248449e+02] [ 2.30206107e-01 9.68341106e-01 -9.65435184e-02 8.60612921e+01] [ 2.80485274e-01 2.89737263e-02 9.59420937e-01 1.56973785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308040942 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:122.28, Y:86.04, Z:15.72 [[ 9.30973967e-01 -2.37713179e-01 -2.77091893e-01 1.22277628e+02] [ 2.30606455e-01 9.71289212e-01 -5.84630622e-02 8.60438572e+01] [ 2.83033807e-01 -9.47159006e-03 9.59063164e-01 1.57198268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.338040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.30, Y:86.04, Z:15.74 [[ 9.29783562e-01 -2.31419566e-01 -2.86264760e-01 1.22303753e+02] [ 2.29480753e-01 9.72457867e-01 -4.07956091e-02 8.60371068e+01] [ 2.87821320e-01 -2.77611661e-02 9.57281675e-01 1.57427922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:86.06, Z:15.74 [[ 9.29380193e-01 -2.39420974e-01 -2.80944931e-01 1.22329508e+02] [ 2.30512217e-01 9.70905505e-01 -6.48584509e-02 8.60566450e+01] [ 2.88299454e-01 -4.48307947e-03 9.57529805e-01 1.57434262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:86.06, Z:15.76 [[ 9.29113670e-01 -2.38737125e-01 -2.82404626e-01 1.22359663e+02] [ 2.30120140e-01 9.71067537e-01 -6.38166056e-02 8.60603819e+01] [ 2.89469358e-01 -5.69411145e-03 9.57170344e-01 1.57550567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:86.08, Z:15.75 [[ 9.29501617e-01 -2.45210478e-01 -2.75496942e-01 1.22385238e+02] [ 2.33038100e-01 9.69444469e-01 -7.66202724e-02 8.60775122e+01] [ 2.85867080e-01 7.01738324e-03 9.58243585e-01 1.57528764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.458040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.41, Y:86.07, Z:15.77 [[ 9.29090184e-01 -2.36942864e-01 -2.83988573e-01 1.22409082e+02] [ 2.32184985e-01 9.71343169e-01 -5.08190921e-02 8.60696649e+01] [ 2.87891582e-01 -1.87223630e-02 9.57479979e-01 1.57726266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:86.08, Z:15.78 [[ 9.29087435e-01 -2.40978505e-01 -2.80581358e-01 1.22433277e+02] [ 2.32084882e-01 9.70519086e-01 -6.50331537e-02 8.60841992e+01] [ 2.87981155e-01 -4.69720541e-03 9.57624556e-01 1.57761621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:86.12, Z:15.76 [[ 9.30507263e-01 -2.55899782e-01 -2.62052543e-01 1.22458808e+02] [ 2.36077864e-01 9.66036037e-01 -1.05079098e-01 8.61207972e+01] [ 2.80041919e-01 3.59120598e-02 9.59315823e-01 1.57577284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.49, Y:86.08, Z:15.80 [[ 9.30405209e-01 -2.27015470e-01 -2.87767482e-01 1.22487529e+02] [ 2.29288396e-01 9.73004317e-01 -2.62570128e-02 8.60785814e+01] [ 2.85959750e-01 -4.15520827e-02 9.57340298e-01 1.58049000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:86.11, Z:15.80 [[ 9.30573025e-01 -2.37410818e-01 -2.78693290e-01 1.22511294e+02] [ 2.28447625e-01 9.71403217e-01 -6.47106895e-02 8.61072192e+01] [ 2.86086576e-01 -3.44879806e-03 9.58197567e-01 1.58005341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:86.13, Z:15.79 [[ 9.31585104e-01 -2.44062011e-01 -2.69412191e-01 1.22539823e+02] [ 2.28745481e-01 9.69558318e-01 -8.73623071e-02 8.61303391e+01] [ 2.82532651e-01 1.97586028e-02 9.59054169e-01 1.57945054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:86.11, Z:15.82 [[ 9.30838094e-01 -2.29744488e-01 -2.84179367e-01 1.22564685e+02] [ 2.27564401e-01 9.72893566e-01 -4.11406409e-02 8.61087411e+01] [ 2.85928113e-01 -2.63738315e-02 9.57888060e-01 1.58241330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:86.13, Z:15.83 [[ 9.30667096e-01 -2.36977964e-01 -2.78747557e-01 1.22590437e+02] [ 2.27949928e-01 9.71509844e-01 -6.48648837e-02 8.61284466e+01] [ 2.86177544e-01 -3.17287245e-03 9.58171355e-01 1.58251800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:86.14, Z:15.83 [[ 9.30438763e-01 -2.37668017e-01 -2.78922250e-01 1.22616272e+02] [ 2.28635913e-01 9.71340804e-01 -6.49820061e-02 8.61350014e+01] [ 2.86372707e-01 -3.30986579e-03 9.58112581e-01 1.58333201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:86.14, Z:15.84 [[ 9.29969534e-01 -2.39974346e-01 -2.78512082e-01 1.22641868e+02] [ 2.31046083e-01 9.70771272e-01 -6.49680331e-02 8.61407302e+01] [ 2.85962190e-01 -3.93083439e-03 9.58232839e-01 1.58406216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:86.15, Z:15.85 [[ 9.29593570e-01 -2.41697476e-01 -2.78277064e-01 1.22667462e+02] [ 2.32843644e-01 9.70341673e-01 -6.49682675e-02 8.61465985e+01] [ 2.85726498e-01 -4.40096183e-03 9.58301101e-01 1.58484171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:86.17, Z:15.83 [[ 9.29843123e-01 -2.54113298e-01 -2.66116890e-01 1.22695273e+02] [ 2.36992560e-01 9.66840678e-01 -9.51505600e-02 8.61729480e+01] [ 2.81471657e-01 2.54073707e-02 9.59233117e-01 1.58346203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81804094199998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.72, Y:86.14, Z:15.87 [[ 9.28888480e-01 -2.36479718e-01 -2.85032517e-01 1.22722017e+02] [ 2.36542408e-01 9.71000123e-01 -3.47339931e-02 8.61413202e+01] [ 2.84980494e-01 -3.51582719e-02 9.57888310e-01 1.58736518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:86.16, Z:15.87 [[ 9.28522452e-01 -2.46206901e-01 -2.77899654e-01 1.22746546e+02] [ 2.37528468e-01 9.69200989e-01 -6.50359071e-02 8.61648592e+01] [ 2.85352909e-01 -5.62177921e-03 9.58406027e-01 1.58718639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:86.17, Z:15.88 [[ 9.28679569e-01 -2.46624370e-01 -2.77003028e-01 1.22772470e+02] [ 2.38011448e-01 9.69094402e-01 -6.48582349e-02 8.61719431e+01] [ 2.84437705e-01 -5.69737416e-03 9.58677595e-01 1.58791440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:86.18, Z:15.89 [[ 9.28944990e-01 -2.46359803e-01 -2.76347702e-01 1.22797153e+02] [ 2.37751149e-01 9.69162753e-01 -6.47915878e-02 8.61783378e+01] [ 2.83787943e-01 -5.51416278e-03 9.58871210e-01 1.58866284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:86.19, Z:15.89 [[ 9.29467507e-01 -2.45228722e-01 -2.75595770e-01 1.22823385e+02] [ 2.36608608e-01 9.69451743e-01 -6.46504809e-02 8.61857628e+01] [ 2.83030954e-01 -5.11781012e-03 9.59097121e-01 1.58940474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:86.19, Z:15.90 [[ 9.29684572e-01 -2.44574398e-01 -2.75445021e-01 1.22849498e+02] [ 2.35910450e-01 9.69618505e-01 -6.47009581e-02 8.61929174e+01] [ 2.82900788e-01 -4.82887637e-03 9.59137022e-01 1.59019617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:86.25, Z:15.87 [[ 9.31850154e-01 -2.69824498e-01 -2.42590253e-01 1.22875340e+02] [ 2.42850377e-01 9.60548799e-01 -1.35534862e-01 8.62512270e+01] [ 2.69590402e-01 6.73850480e-02 9.60614527e-01 1.58687486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:86.22, Z:15.90 [[ 9.32816065e-01 -2.49215454e-01 -2.60280321e-01 1.22908821e+02] [ 2.40659980e-01 9.68445535e-01 -6.47766936e-02 8.62161372e+01] [ 2.68210668e-01 -2.21431623e-03 9.63357740e-01 1.58968065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:86.18, Z:15.95 [[ 9.30212212e-01 -2.23766859e-01 -2.90918604e-01 1.22933770e+02] [ 2.35173621e-01 9.71943533e-01 4.37449951e-03 8.61761856e+01] [ 2.81777587e-01 -7.24855944e-02 9.56737806e-01 1.59492538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:86.22, Z:15.94 [[ 9.29552412e-01 -2.46014103e-01 -2.74607672e-01 1.22957122e+02] [ 2.37412061e-01 9.69253003e-01 -6.46848434e-02 8.62216446e+01] [ 2.82077695e-01 -5.06722126e-03 9.59378183e-01 1.59350645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:86.23, Z:15.94 [[ 9.29324767e-01 -2.47077591e-01 -2.74423288e-01 1.22983214e+02] [ 2.38515866e-01 9.68981049e-01 -6.46985953e-02 8.62278209e+01] [ 2.81896538e-01 -5.32830124e-03 9.59430014e-01 1.59429404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.01, Y:86.23, Z:15.95 [[ 9.29015707e-01 -2.47638642e-01 -2.74963487e-01 1.23009820e+02] [ 2.39041640e-01 9.68837281e-01 -6.49108387e-02 8.62336675e+01] [ 2.82469309e-01 -5.42453415e-03 9.59260999e-01 1.59513214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:86.24, Z:15.96 [[ 9.29039605e-01 -2.47730622e-01 -2.74799840e-01 1.23035117e+02] [ 2.39122134e-01 9.68814124e-01 -6.49599809e-02 8.62402962e+01] [ 2.82322543e-01 -5.36032923e-03 9.59304565e-01 1.59581944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208040942 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.04, Y:86.36, Z:15.88 [[ 0.92972939 -0.30594273 -0.20494463 123.03812301] [ 0.26512072 0.94237395 -0.20406455 86.35741788] [ 0.25556655 0.13538974 0.95726452 15.88037586] [ 0. 0. 0. 1. ]] SLAMing on 192.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:86.30, Z:15.92 [[ 9.32252605e-01 -2.74742930e-01 -2.35417508e-01 1.23081456e+02] [ 2.57459595e-01 9.60903371e-01 -1.01878699e-01 8.62984344e+01] [ 2.54203930e-01 3.43661863e-02 9.66539874e-01 1.59169175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.12, Y:86.18, Z:16.03 [[ 9.30343196e-01 -2.00053413e-01 -3.07311193e-01 1.23118913e+02] [ 2.32949420e-01 9.69670295e-01 7.39870755e-02 8.61818894e+01] [ 2.83189168e-01 -1.40421336e-01 9.48728488e-01 1.60307728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:86.27, Z:15.99 [[ 9.29486668e-01 -2.43862312e-01 -2.76741228e-01 1.23139929e+02] [ 2.33757118e-01 9.69809857e-01 -6.94726619e-02 8.62698991e+01] [ 2.85328135e-01 -1.16318852e-04 9.58429884e-01 1.59919309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:86.28, Z:16.00 [[ 9.29396740e-01 -2.45060941e-01 -2.75983397e-01 1.23170580e+02] [ 2.35644917e-01 9.69504545e-01 -6.73231743e-02 8.62771335e+01] [ 2.84065439e-01 -2.46414610e-03 9.58801729e-01 1.60024431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:86.28, Z:16.01 [[ 9.29507623e-01 -2.44066560e-01 -2.76490674e-01 1.23196417e+02] [ 2.35191376e-01 9.69749053e-01 -6.53589428e-02 8.62828038e+01] [ 2.84078502e-01 -4.27658671e-03 9.58791487e-01 1.60109788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:86.30, Z:16.01 [[ 9.29229286e-01 -2.44632395e-01 -2.76925848e-01 1.23219751e+02] [ 2.32579063e-01 9.69595361e-01 -7.61039764e-02 8.62957256e+01] [ 2.87123515e-01 6.31088938e-03 9.57872778e-01 1.60148450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:86.30, Z:16.03 [[ 9.29569635e-01 -2.41129372e-01 -2.78849279e-01 1.23245044e+02] [ 2.31798596e-01 9.70488853e-01 -6.64890768e-02 8.62966155e+01] [ 2.86652586e-01 -2.83064440e-03 9.58030418e-01 1.60256121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:86.30, Z:16.04 [[ 9.29449369e-01 -2.41773717e-01 -2.78692195e-01 1.23273755e+02] [ 2.34449698e-01 9.70284068e-01 -5.98512001e-02 8.62997808e+01] [ 2.84881044e-01 -9.71064066e-03 9.58513690e-01 1.60365060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:86.31, Z:16.04 [[ 9.29110957e-01 -2.44730375e-01 -2.77236133e-01 1.23299263e+02] [ 2.35776174e-01 9.69581676e-01 -6.57340769e-02 8.63095574e+01] [ 2.84890200e-01 -4.29142354e-03 9.58550550e-01 1.60426010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:86.32, Z:16.05 [[ 9.28760551e-01 -2.46252315e-01 -2.77062512e-01 1.23325669e+02] [ 2.37350965e-01 9.69194502e-01 -6.57764072e-02 8.63163238e+01] [ 2.84725056e-01 -4.67052247e-03 9.58597845e-01 1.60505788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.32, Y:86.44, Z:15.97 [[ 0.92805831 -0.30896825 -0.20795767 123.31622264] [ 0.2657385 0.94055964 -0.21149615 86.43994452] [ 0.26094219 0.1410184 0.95499895 15.96715826] [ 0. 0. 0. 1. ]] SLAMing on 192.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:86.26, Z:16.11 [[ 9.28180557e-01 -2.11248746e-01 -3.06357343e-01 1.23382652e+02] [ 2.39057476e-01 9.69399012e-01 5.58308003e-02 8.62579041e+01] [ 2.85188319e-01 -1.25058077e-01 9.50277907e-01 1.61104192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:86.34, Z:16.08 [[ 9.26071216e-01 -2.52281389e-01 -2.80617541e-01 1.23402226e+02] [ 2.41724044e-01 9.67653452e-01 -7.22238440e-02 8.63365760e+01] [ 2.89761264e-01 -9.47583904e-04 9.57098486e-01 1.60768871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:86.34, Z:16.09 [[ 9.25703807e-01 -2.52369784e-01 -2.81748034e-01 1.23431039e+02] [ 2.44432767e-01 9.67579128e-01 -6.35865754e-02 8.63393347e+01] [ 2.88660847e-01 -1.00061165e-02 9.57379127e-01 1.60885109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65804094199999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.43, Y:86.46, Z:16.01 [[ 0.92521373 -0.31267341 -0.21497649 123.42602205] [ 0.27156681 0.94133298 -0.20035891 86.46034176] [ 0.26501137 0.12699433 0.95584592 16.00586081] [ 0. 0. 0. 1. ]] SLAMing on 192.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:86.29, Z:16.14 [[ 9.26138102e-01 -2.12964906e-01 -3.11310400e-01 1.23488082e+02] [ 2.36886117e-01 9.70684931e-01 4.06906846e-02 8.62914714e+01] [ 2.93518626e-01 -1.11430305e-01 9.49436729e-01 1.61431403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:86.36, Z:16.12 [[ 9.25241705e-01 -2.46947497e-01 -2.88001252e-01 1.23509508e+02] [ 2.37910748e-01 9.69004021e-01 -6.65558636e-02 8.63595361e+01] [ 2.95510176e-01 -6.93833261e-03 9.55314396e-01 1.61182193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.748040942 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:123.50, Y:86.49, Z:16.04 [[ 0.92596158 -0.31015195 -0.21540874 123.50282431] [ 0.26662642 0.94094025 -0.20866671 86.48708703] [ 0.26740514 0.1357837 0.95396922 16.03555008] [ 0. 0. 0. 1. ]] SLAMing on 192.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:86.30, Z:16.18 [[ 9.27778846e-01 -1.98940652e-01 -3.15672347e-01 1.23564636e+02] [ 2.32062838e-01 9.70131137e-01 7.06570344e-02 8.62974325e+01] [ 2.92187017e-01 -1.38809923e-01 9.46233878e-01 1.61816146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:86.39, Z:16.14 [[ 9.25461118e-01 -2.48176623e-01 -2.86234315e-01 1.23585332e+02] [ 2.34088137e-01 9.68665033e-01 -8.30108297e-02 8.63916609e+01] [ 2.97866520e-01 9.81923779e-03 9.54557028e-01 1.61428908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:86.39, Z:16.16 [[ 9.25393332e-01 -2.44065873e-01 -2.89963843e-01 1.23612800e+02] [ 2.35475298e-01 9.69722446e-01 -6.47283640e-02 8.63885582e+01] [ 2.96982432e-01 -8.38012591e-03 9.54846170e-01 1.61570211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:86.40, Z:16.16 [[ 9.24604487e-01 -2.46960880e-01 -2.90029079e-01 1.23636629e+02] [ 2.35712534e-01 9.69025422e-01 -7.36840071e-02 8.64009709e+01] [ 2.99242617e-01 -2.34925544e-04 9.54177028e-01 1.61628997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.898040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.66, Y:86.40, Z:16.17 [[ 9.24495902e-01 -2.45566076e-01 -2.91555534e-01 1.23662223e+02] [ 2.37656170e-01 9.69315118e-01 -6.28311014e-02 8.64036049e+01] [ 2.98038374e-01 -1.12028757e-02 9.54488147e-01 1.61738631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:86.42, Z:16.18 [[ 9.23975989e-01 -2.48531853e-01 -2.90689335e-01 1.23686729e+02] [ 2.38635848e-01 9.68610586e-01 -6.96165562e-02 8.64152985e+01] [ 2.98866699e-01 -5.04486967e-03 9.54281534e-01 1.61807067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:86.42, Z:16.19 [[ 9.23769705e-01 -2.48687723e-01 -2.91211176e-01 1.23713038e+02] [ 2.40096768e-01 9.68537833e-01 -6.54828846e-02 8.64219506e+01] [ 2.98333831e-01 -9.42775736e-03 9.54415026e-01 1.61904924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:86.51, Z:16.14 [[ 9.24344453e-01 -2.89154452e-01 -2.48951873e-01 1.23725563e+02] [ 2.55105785e-01 9.53529672e-01 -1.60319068e-01 8.65072110e+01] [ 2.83739970e-01 8.46809783e-02 9.55154836e-01 1.61428650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.77, Y:86.40, Z:16.23 [[ 9.22427510e-01 -2.27190815e-01 -3.12268832e-01 1.23771178e+02] [ 2.41507666e-01 9.70370617e-01 7.41035628e-03 8.63981312e+01] [ 3.01332934e-01 -8.22508331e-02 9.49964875e-01 1.62342804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:86.45, Z:16.22 [[ 9.22093735e-01 -2.49894922e-01 -2.95458408e-01 1.23791072e+02] [ 2.41140420e-01 9.68220496e-01 -6.63352740e-02 8.64513924e+01] [ 3.02645735e-01 -1.00796242e-02 9.53049821e-01 1.62215636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:86.46, Z:16.23 [[ 9.21904762e-01 -2.51724093e-01 -2.94493787e-01 1.23818057e+02] [ 2.41444065e-01 9.67784628e-01 -7.13980232e-02 8.64637527e+01] [ 3.02979163e-01 -5.28159958e-03 9.52982545e-01 1.62302884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:86.47, Z:16.24 [[ 9.23321186e-01 -2.46897567e-01 -2.94142108e-01 1.23842625e+02] [ 2.39363417e-01 9.68951596e-01 -6.19512702e-02 8.64672357e+01] [ 3.00305083e-01 -1.32059399e-02 9.53751781e-01 1.62414903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:86.49, Z:16.25 [[ 9.23510391e-01 -2.47922845e-01 -2.92682116e-01 1.23867687e+02] [ 2.36623444e-01 9.68779347e-01 -7.39994747e-02 8.64869863e+01] [ 3.01890549e-01 -9.16166270e-04 9.53342151e-01 1.62482717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:86.49, Z:16.26 [[ 9.23851240e-01 -2.44435558e-01 -2.94533775e-01 1.23891956e+02] [ 2.34872705e-01 9.69644705e-01 -6.79996895e-02 8.64933201e+01] [ 3.02214658e-01 -6.35634687e-03 9.53218704e-01 1.62577807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:86.55, Z:16.23 [[ 9.26346308e-01 -2.66654357e-01 -2.66041297e-01 1.23910579e+02] [ 2.41569597e-01 9.62484147e-01 -1.23565353e-01 8.65514667e+01] [ 2.89009771e-01 5.01968191e-02 9.56009222e-01 1.62298604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:86.55, Z:16.24 [[ 9.26075064e-01 -2.60133971e-01 -2.73340984e-01 1.23939391e+02] [ 2.42544146e-01 9.65287722e-01 -9.69120784e-02 8.65473087e+01] [ 2.89062819e-01 2.34506037e-02 9.57022861e-01 1.62406061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.97, Y:86.55, Z:16.25 [[ 9.25953262e-01 -2.54215559e-01 -2.79257957e-01 1.23966444e+02] [ 2.42004120e-01 9.67136527e-01 -7.79804032e-02 8.65451101e+01] [ 2.89904402e-01 4.62463266e-03 9.57044435e-01 1.62529859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.00, Y:86.53, Z:16.28 [[ 9.24223102e-01 -2.40135403e-01 -2.96895008e-01 1.23997345e+02] [ 2.36545564e-01 9.70407657e-01 -4.85301487e-02 8.65333027e+01] [ 2.99762996e-01 -2.53765124e-02 9.53676139e-01 1.62798902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.03, Y:86.52, Z:16.31 [[ 9.21752765e-01 -2.24590895e-01 -3.16118284e-01 1.24028199e+02] [ 2.28904286e-01 9.73154465e-01 -2.39419047e-02 8.65176104e+01] [ 3.13009053e-01 -5.02923132e-02 9.48417638e-01 1.63146957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.05, Y:86.53, Z:16.33 [[ 9.19658743e-01 -2.26823759e-01 -3.20591296e-01 1.24054823e+02] [ 2.26495483e-01 9.73237138e-01 -3.88493230e-02 8.65302838e+01] [ 3.20823305e-01 -3.68843609e-02 9.46420599e-01 1.63314439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.08, Y:86.52, Z:16.36 [[ 9.16983804e-01 -2.15197555e-01 -3.35902837e-01 1.24084869e+02] [ 2.22155235e-01 9.74843766e-01 -1.80744014e-02 8.65231372e+01] [ 3.31342353e-01 -5.80486403e-02 9.41723208e-01 1.63627551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40804094199999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.11, Y:86.56, Z:16.35 [[ 9.18241759e-01 -2.33914815e-01 -3.19555836e-01 1.24109372e+02] [ 2.23418733e-01 9.72228837e-01 -6.96789580e-02 8.65620645e+01] [ 3.26980339e-01 -7.41263122e-03 9.45002069e-01 1.63545089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.438040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.12, Y:86.62, Z:16.32 [[ 9.21006035e-01 -2.61676157e-01 -2.88571434e-01 1.24122505e+02] [ 2.33930992e-01 9.63867641e-01 -1.27418450e-01 8.66197002e+01] [ 3.11487038e-01 4.98473596e-02 9.48942077e-01 1.63238982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.468040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:86.59, Z:16.34 [[ 9.21691568e-01 -2.43087242e-01 -3.02313161e-01 1.24151314e+02] [ 2.32899741e-01 9.69985939e-01 -6.98926898e-02 8.65938991e+01] [ 3.10229536e-01 -5.98915384e-03 9.50642817e-01 1.63418388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.498040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.18, Y:86.60, Z:16.35 [[ 9.21903692e-01 -2.42218975e-01 -3.02363277e-01 1.24176448e+02] [ 2.31961924e-01 9.70205252e-01 -6.99673832e-02 8.66028141e+01] [ 3.10301868e-01 -5.63357867e-03 9.50621383e-01 1.63501645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.528040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:86.61, Z:16.36 [[ 9.22460600e-01 -2.41159398e-01 -3.01510508e-01 1.24205891e+02] [ 2.31827724e-01 9.70451265e-01 -6.69346532e-02 8.66121448e+01] [ 3.08743174e-01 -8.15391453e-03 9.51110491e-01 1.63596730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.558040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:86.62, Z:16.37 [[ 9.22447566e-01 -2.40254514e-01 -3.02271824e-01 1.24226966e+02] [ 2.30078604e-01 9.70694197e-01 -6.94018174e-02 8.66208695e+01] [ 3.10087606e-01 -5.52674187e-03 9.50691923e-01 1.63665115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:86.63, Z:16.38 [[ 9.22379935e-01 -2.40722532e-01 -3.02105806e-01 1.24253259e+02] [ 2.30336700e-01 9.70581549e-01 -7.01174798e-02 8.66274930e+01] [ 3.10097179e-01 -4.91109794e-03 9.50692180e-01 1.63754155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.618040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.28, Y:86.63, Z:16.38 [[ 9.22604540e-01 -2.41435296e-01 -3.00848567e-01 1.24283111e+02] [ 2.31885475e-01 9.70388985e-01 -6.76338945e-02 8.66346919e+01] [ 3.08269345e-01 -7.36307468e-03 9.51270622e-01 1.63841571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:86.64, Z:16.39 [[ 9.22493184e-01 -2.40339549e-01 -3.02064937e-01 1.24305095e+02] [ 2.30378999e-01 9.70669287e-01 -6.87506571e-02 8.66416638e+01] [ 3.09728659e-01 -6.16740522e-03 9.50804986e-01 1.63912621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.678040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.33, Y:86.68, Z:16.37 [[ 9.24793644e-01 -2.60148098e-01 -2.77632281e-01 1.24329520e+02] [ 2.38201639e-01 9.64889216e-01 -1.10674205e-01 8.66829940e+01] [ 2.96676078e-01 3.62183370e-02 9.54291117e-01 1.63748569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:86.63, Z:16.42 [[ 9.23372043e-01 -2.25546597e-01 -3.10665099e-01 1.24361392e+02] [ 2.27550034e-01 9.73295172e-01 -3.02900921e-02 8.66335595e+01] [ 3.09200668e-01 -4.27228296e-02 9.50036687e-01 1.64150299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.38, Y:86.66, Z:16.42 [[ 9.23316728e-01 -2.37480123e-01 -3.01810222e-01 1.24383336e+02] [ 2.26817404e-01 9.71386399e-01 -7.04437970e-02 8.66633102e+01] [ 3.09903347e-01 -3.41387488e-03 9.50761937e-01 1.64151772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:86.67, Z:16.42 [[ 9.24115435e-01 -2.35494967e-01 -3.00919896e-01 1.24409253e+02] [ 2.24781114e-01 9.71871822e-01 -7.02752657e-02 8.66689196e+01] [ 3.09005038e-01 -2.69865152e-03 9.51056572e-01 1.64227243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:86.67, Z:16.43 [[ 9.24379550e-01 -2.34557796e-01 -3.00840634e-01 1.24434989e+02] [ 2.23771577e-01 9.72099476e-01 -7.03483471e-02 8.66745029e+01] [ 3.08947776e-01 -2.29100974e-03 9.51076244e-01 1.64313743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:86.68, Z:16.44 [[ 9.24414462e-01 -2.34020599e-01 -3.01151559e-01 1.24459778e+02] [ 2.23153504e-01 9.72229543e-01 -7.05140399e-02 8.66794974e+01] [ 3.09290180e-01 -2.01882737e-03 9.50965567e-01 1.64395115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:86.68, Z:16.45 [[ 9.24841079e-01 -2.32676503e-01 -3.00883073e-01 1.24486817e+02] [ 2.21747428e-01 9.72552985e-01 -7.04894983e-02 8.66837595e+01] [ 3.09025981e-01 -1.52846388e-03 9.51052368e-01 1.64478122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88804094199998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.51, Y:86.69, Z:16.46 [[ 9.25109092e-01 -2.32305360e-01 -3.00345447e-01 1.24512019e+02] [ 2.21367529e-01 9.72642025e-01 -7.04550120e-02 8.66892314e+01] [ 3.08495681e-01 -1.30815739e-03 9.51224844e-01 1.64558059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:86.69, Z:16.46 [[ 9.25370278e-01 -2.31680834e-01 -3.00023065e-01 1.24537611e+02] [ 2.20722399e-01 9.72791278e-01 -7.04184087e-02 8.66931614e+01] [ 3.08174416e-01 -1.05870824e-03 9.51329285e-01 1.64639402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:86.70, Z:16.47 [[ 9.24814003e-01 -2.34896808e-01 -2.99236610e-01 1.24569410e+02] [ 2.23788914e-01 9.72019852e-01 -7.13857812e-02 8.66996877e+01] [ 3.07632218e-01 -9.47266042e-04 9.51504872e-01 1.64739327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:86.70, Z:16.48 [[ 9.25221969e-01 -2.30570220e-01 -3.01333173e-01 1.24590676e+02] [ 2.21253134e-01 9.73034946e-01 -6.51923639e-02 8.66984357e+01] [ 3.08239125e-01 -6.35350148e-03 9.51287693e-01 1.64821331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:86.70, Z:16.49 [[ 9.24452749e-01 -2.34823713e-01 -3.00407954e-01 1.24616585e+02] [ 2.23946880e-01 9.72036023e-01 -7.06665692e-02 8.67030455e+01] [ 3.08601539e-01 -1.94751980e-03 9.51189412e-01 1.64892683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:86.71, Z:16.50 [[ 9.23863321e-01 -2.36884292e-01 -3.00603386e-01 1.24642590e+02] [ 2.26087204e-01 9.71534392e-01 -7.07495715e-02 8.67068434e+01] [ 3.08805990e-01 -2.59964497e-03 9.51121497e-01 1.64981335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:86.71, Z:16.51 [[ 9.23511692e-01 -2.38486188e-01 -3.00417198e-01 1.24668207e+02] [ 2.27757079e-01 9.71141119e-01 -7.07929423e-02 8.67109158e+01] [ 3.08630632e-01 -3.04403357e-03 9.51177095e-01 1.65070163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.69, Y:86.72, Z:16.51 [[ 9.22164546e-01 -2.42600216e-01 -3.01260162e-01 1.24694309e+02] [ 2.29564287e-01 9.70120901e-01 -7.85218126e-02 8.67195851e+01] [ 3.11308189e-01 3.25145754e-03 9.50303446e-01 1.65140189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:86.72, Z:16.53 [[ 9.22036637e-01 -2.41528272e-01 -3.02510387e-01 1.24726876e+02] [ 2.33204426e-01 9.70324373e-01 -6.39242313e-02 8.67181017e+01] [ 3.08972711e-01 -1.16062781e-02 9.51000083e-01 1.65276335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.75, Y:86.72, Z:16.53 [[ 9.23255531e-01 -2.38744478e-01 -3.00998834e-01 1.24747527e+02] [ 2.29263041e-01 9.71056080e-01 -6.69966273e-02 8.67216742e+01] [ 3.08281823e-01 -7.15290126e-03 9.51268182e-01 1.65347958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.188040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:86.73, Z:16.54 [[ 9.24139908e-01 -2.38154444e-01 -2.98743857e-01 1.24773517e+02] [ 2.28481338e-01 9.71209205e-01 -6.74459598e-02 8.67264364e+01] [ 3.06205339e-01 -5.92789291e-03 9.51947031e-01 1.65437264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.218040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:86.73, Z:16.55 [[ 9.23693627e-01 -2.39578884e-01 -2.98985018e-01 1.24799177e+02] [ 2.27873753e-01 9.70876882e-01 -7.39704837e-02 8.67347432e+01] [ 3.07999408e-01 1.95226255e-04 9.51386528e-01 1.65518141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.248040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:86.73, Z:16.56 [[ 9.24607015e-01 -2.35262070e-01 -2.99589095e-01 1.24825747e+02] [ 2.25567899e-01 9.71916042e-01 -6.70695913e-02 8.67346196e+01] [ 3.06954378e-01 -5.56466793e-03 9.51707962e-01 1.65621912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.278040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:86.74, Z:16.57 [[ 9.24349060e-01 -2.36536697e-01 -2.99381374e-01 1.24853596e+02] [ 2.25341842e-01 9.71622052e-01 -7.19141283e-02 8.67429854e+01] [ 3.07895875e-01 -9.89393375e-04 9.51419545e-01 1.65706908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.88, Y:86.75, Z:16.58 [[ 9.24858781e-01 -2.33550426e-01 -3.00150684e-01 1.24877051e+02] [ 2.22032129e-01 9.72344627e-01 -7.24407389e-02 8.67479400e+01] [ 3.08768471e-01 3.54357976e-04 9.51137165e-01 1.65785215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.338040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:86.75, Z:16.59 [[ 9.25335406e-01 -2.30345785e-01 -3.01156448e-01 1.24904321e+02] [ 2.18769671e-01 9.73108479e-01 -7.21090775e-02 8.67497198e+01] [ 3.09667915e-01 8.41185319e-04 9.50844401e-01 1.65876397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:86.75, Z:16.60 [[ 9.25277070e-01 -2.29350990e-01 -3.02093475e-01 1.24930665e+02] [ 2.17839060e-01 9.73343610e-01 -7.17520744e-02 8.67533296e+01] [ 3.10497163e-01 5.82790472e-04 9.50574128e-01 1.65973582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.398040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:86.76, Z:16.60 [[ 9.25436398e-01 -2.29492467e-01 -3.01497397e-01 1.24955445e+02] [ 2.17189651e-01 9.73305226e-01 -7.41996759e-02 8.67562016e+01] [ 3.10477259e-01 3.18496637e-03 9.50575472e-01 1.66046974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:86.76, Z:16.62 [[ 9.24942531e-01 -2.30829910e-01 -3.01991500e-01 1.24983852e+02] [ 2.19611595e-01 9.72993951e-01 -7.10880986e-02 8.67586481e+01] [ 3.10245163e-01 -5.68429175e-04 9.50656413e-01 1.66158455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.458040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:86.76, Z:16.62 [[ 9.24718210e-01 -2.32576168e-01 -3.01337947e-01 1.25010049e+02] [ 2.21209304e-01 9.72578154e-01 -7.18204572e-02 8.67635270e+01] [ 3.09778431e-01 -2.45072850e-04 9.50808742e-01 1.66249509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:86.77, Z:16.63 [[ 9.24037344e-01 -2.35077447e-01 -3.01485624e-01 1.25035724e+02] [ 2.23797097e-01 9.71976144e-01 -7.19530033e-02 8.67664165e+01] [ 3.09951363e-01 -9.84345349e-04 9.50751904e-01 1.66335980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:86.77, Z:16.64 [[ 9.23875524e-01 -2.35795831e-01 -3.01420542e-01 1.25061620e+02] [ 2.24526197e-01 9.71801964e-01 -7.20342216e-02 8.67700581e+01] [ 3.09906444e-01 -1.12615387e-03 9.50766390e-01 1.66428631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:86.79, Z:16.64 [[ 9.24371452e-01 -2.43855198e-01 -2.93380403e-01 1.25091683e+02] [ 2.25856182e-01 9.69586426e-01 -9.42928778e-02 8.67861652e+01] [ 3.07451465e-01 2.08998666e-02 9.51334217e-01 1.66396970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:86.77, Z:16.66 [[ 9.24831532e-01 -2.32057910e-01 -3.01389720e-01 1.25118125e+02] [ 2.24740651e-01 9.72615864e-01 -5.92454315e-02 8.67685827e+01] [ 3.06884793e-01 -1.29424786e-02 9.51658666e-01 1.66579287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:86.77, Z:16.67 [[ 9.22593525e-01 -2.34519647e-01 -3.06303318e-01 1.25141737e+02] [ 2.26789568e-01 9.72023525e-01 -6.11290374e-02 8.67734118e+01] [ 3.12069991e-01 -1.30691429e-02 9.49969220e-01 1.66736768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:86.78, Z:16.68 [[ 9.22063927e-01 -2.38673317e-01 -3.04685350e-01 1.25166615e+02] [ 2.27220028e-01 9.71098147e-01 -7.30715287e-02 8.67841797e+01] [ 3.13319603e-01 -1.85399299e-03 9.49645928e-01 1.66795336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:86.79, Z:16.69 [[ 9.21083329e-01 -2.39112147e-01 -3.07296084e-01 1.25193624e+02] [ 2.27458330e-01 9.70989991e-01 -7.37641194e-02 8.67861909e+01] [ 3.16019318e-01 -1.95415355e-03 9.48750743e-01 1.66881497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.22, Y:86.81, Z:16.68 [[ 9.21770758e-01 -2.47612711e-01 -2.98373280e-01 1.25224400e+02] [ 2.27605145e-01 9.68540613e-01 -1.00622951e-01 8.68068850e+01] [ 3.13902162e-01 2.48400001e-02 9.49130343e-01 1.66802865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:86.80, Z:16.70 [[ 9.21147861e-01 -2.39607578e-01 -3.06716201e-01 1.25254083e+02] [ 2.27304958e-01 9.70869816e-01 -7.57908746e-02 8.67954850e+01] [ 3.15941569e-01 9.64888264e-05 9.48778644e-01 1.66968669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.28, Y:86.78, Z:16.72 [[ 9.19312829e-01 -2.30719211e-01 -3.18798632e-01 1.25276392e+02] [ 2.28029743e-01 9.72553339e-01 -4.62864948e-02 8.67799412e+01] [ 3.20727858e-01 -3.01438017e-02 9.46691604e-01 1.67237891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:86.80, Z:16.72 [[ 9.19070454e-01 -2.40624385e-01 -3.12104801e-01 1.25300129e+02] [ 2.28535033e-01 9.70616074e-01 -7.53403954e-02 8.68005209e+01] [ 3.21062673e-01 -2.08374957e-03 9.47055657e-01 1.67247004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.33, Y:86.82, Z:16.72 [[ 9.20176631e-01 -2.50404969e-01 -3.00952355e-01 1.25332029e+02] [ 2.29195832e-01 9.67761080e-01 -1.04440234e-01 8.68199373e+01] [ 3.17402330e-01 2.71264376e-02 9.47902905e-01 1.67179283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:86.80, Z:16.74 [[ 9.19510854e-01 -2.41723457e-01 -3.09950899e-01 1.25361844e+02] [ 2.29739799e-01 9.70342981e-01 -7.51939140e-02 8.68028299e+01] [ 3.18934813e-01 -2.06643719e-03 9.47774401e-01 1.67359779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:86.80, Z:16.75 [[ 9.19186614e-01 -2.40871029e-01 -3.11572007e-01 1.25388180e+02] [ 2.30117801e-01 9.70538292e-01 -7.14228300e-02 8.68039329e+01] [ 3.19596255e-01 -6.04735602e-03 9.47534518e-01 1.67466111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:86.80, Z:16.76 [[ 9.18756257e-01 -2.39223587e-01 -3.14100328e-01 1.25413184e+02] [ 2.30205967e-01 9.70895332e-01 -6.60868164e-02 8.68034768e+01] [ 3.20768067e-01 -1.15900938e-02 9.47086858e-01 1.67583584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:86.80, Z:16.78 [[ 9.16954893e-01 -2.36460202e-01 -3.21372521e-01 1.25435040e+02] [ 2.32692468e-01 9.71228780e-01 -5.06840372e-02 8.67985677e+01] [ 3.24110999e-01 -2.83059891e-02 9.45595490e-01 1.67809075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.968040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:86.82, Z:16.78 [[ 9.17408993e-01 -2.49127840e-01 -3.10316063e-01 1.25470626e+02] [ 2.31848869e-01 9.68390374e-01 -9.20118812e-02 8.68212418e+01] [ 3.23429810e-01 1.24660989e-02 9.46170045e-01 1.67775301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.998040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:86.81, Z:16.79 [[ 9.17118890e-01 -2.44389035e-01 -3.14907830e-01 1.25498042e+02] [ 2.34305314e-01 9.69630962e-01 -7.01200282e-02 8.68125232e+01] [ 3.22480948e-01 -9.47617539e-03 9.46528521e-01 1.67926941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.028040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:86.82, Z:16.80 [[ 9.16456701e-01 -2.46763433e-01 -3.14984006e-01 1.25524674e+02] [ 2.36959471e-01 9.69016004e-01 -6.97007464e-02 8.68163056e+01] [ 3.22424138e-01 -1.07607272e-02 9.46534142e-01 1.68038707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:86.83, Z:16.80 [[ 9.16598431e-01 -2.53414762e-01 -3.09238217e-01 1.25547693e+02] [ 2.40799543e-01 9.67355515e-01 -7.89866272e-02 8.68321749e+01] [ 3.19159672e-01 -2.06540277e-03 9.47698706e-01 1.68045750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:86.82, Z:16.83 [[ 9.15038445e-01 -2.44583186e-01 -3.20754906e-01 1.25566284e+02] [ 2.43555948e-01 9.68888621e-01 -4.39925018e-02 8.68200644e+01] [ 3.21535605e-01 -3.78669347e-02 9.46140027e-01 1.68325441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:86.86, Z:16.82 [[ 9.16613620e-01 -2.58876125e-01 -3.04635230e-01 1.25599024e+02] [ 2.40816892e-01 9.65797798e-01 -9.61344763e-02 8.68573425e+01] [ 3.19102955e-01 1.47568610e-02 9.47605160e-01 1.68226537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:86.89, Z:16.80 [[ 9.18260432e-01 -2.77333455e-01 -2.82637461e-01 1.25614783e+02] [ 2.52936228e-01 9.59986234e-01 -1.20206888e-01 8.68923532e+01] [ 3.04665463e-01 3.88919756e-02 9.51665051e-01 1.68031847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.178040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.65, Y:86.84, Z:16.86 [[ 9.16817113e-01 -2.42845645e-01 -3.16973774e-01 1.25652320e+02] [ 2.44810155e-01 9.68965182e-01 -3.42704533e-02 8.68377247e+01] [ 3.15458981e-01 -4.61786607e-02 9.47814941e-01 1.68568584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208040942 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:125.67, Y:86.90, Z:16.83 [[ 9.16577652e-01 -2.77635734e-01 -2.87756505e-01 1.25667170e+02] [ 2.55077556e-01 9.60185378e-01 -1.13927520e-01 8.69031118e+01] [ 3.07929940e-01 3.10231929e-02 9.50903104e-01 1.68259576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:86.83, Z:16.90 [[ 9.13764315e-01 -2.33343646e-01 -3.32544011e-01 1.25695316e+02] [ 2.47248667e-01 9.68951923e-01 -5.16518960e-04 8.68316945e+01] [ 3.22339685e-01 -8.17490870e-02 9.43087596e-01 1.68989309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:86.91, Z:16.86 [[ 9.14550547e-01 -2.71027047e-01 -3.00235969e-01 1.25723545e+02] [ 2.48604986e-01 9.62188691e-01 -1.11303566e-01 8.69077668e+01] [ 3.19049931e-01 2.71525784e-02 9.47348869e-01 1.68628341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29804094199997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.75, Y:86.89, Z:16.89 [[ 9.14079600e-01 -2.57623822e-01 -3.13190757e-01 1.25752471e+02] [ 2.48987648e-01 9.66115865e-01 -6.80094536e-02 8.68889863e+01] [ 3.20099415e-01 -1.58145758e-02 9.47251954e-01 1.68866273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:86.92, Z:16.87 [[ 9.14985013e-01 -2.74229471e-01 -2.95974025e-01 1.25771652e+02] [ 2.56585886e-01 9.61570121e-01 -9.77066331e-02 8.69226688e+01] [ 3.11393817e-01 1.34573475e-02 9.50185661e-01 1.68742829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:86.89, Z:16.92 [[ 9.13491888e-01 -2.52118489e-01 -3.19325599e-01 1.25803862e+02] [ 2.51108032e-01 9.66909432e-01 -4.50655839e-02 8.68924663e+01] [ 3.20120800e-01 -3.90181776e-02 9.46572900e-01 1.69156109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38804094199998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.83, Y:86.92, Z:16.91 [[ 9.12772634e-01 -2.65350821e-01 -3.10539949e-01 1.25828957e+02] [ 2.52673895e-01 9.64141940e-01 -8.11555440e-02 8.69218693e+01] [ 3.20939279e-01 -4.38877886e-03 9.47089604e-01 1.69142335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:86.91, Z:16.93 [[ 9.12836528e-01 -2.56753469e-01 -3.17501386e-01 1.25850426e+02] [ 2.50110568e-01 9.66213249e-01 -6.22628489e-02 8.69149172e+01] [ 3.22760248e-01 -2.25746489e-02 9.46211503e-01 1.69322094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:86.92, Z:16.95 [[ 9.12431843e-01 -2.56596704e-01 -3.18788744e-01 1.25870938e+02] [ 2.51891167e-01 9.66095339e-01 -5.66624713e-02 8.69211409e+01] [ 3.22519723e-01 -2.85994256e-02 9.46130594e-01 1.69506720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:86.94, Z:16.95 [[ 9.12219556e-01 -2.64196328e-01 -3.13138599e-01 1.25896015e+02] [ 2.52044106e-01 9.64447459e-01 -7.94661358e-02 8.69409471e+01] [ 3.23000388e-01 -6.43417530e-03 9.46376960e-01 1.69536417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:86.96, Z:16.96 [[ 9.11658787e-01 -2.67437446e-01 -3.12018379e-01 1.25923775e+02] [ 2.52818969e-01 9.63575023e-01 -8.72109159e-02 8.69552716e+01] [ 3.23976582e-01 6.22432848e-04 9.46064896e-01 1.69624991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:86.98, Z:16.96 [[ 9.13456497e-01 -2.74190448e-01 -3.00693908e-01 1.25951295e+02] [ 2.53242321e-01 9.61425192e-01 -1.07377502e-01 8.69785463e+01] [ 3.18536583e-01 2.19362536e-02 9.47656713e-01 1.69556013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.98, Y:86.95, Z:16.99 [[ 9.13218101e-01 -2.54917743e-01 -3.17883068e-01 1.25977307e+02] [ 2.51052044e-01 9.66476520e-01 -5.38145733e-02 8.69535049e+01] [ 3.20944810e-01 -3.06607515e-02 9.46601472e-01 1.69875154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59804094199998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.00, Y:86.97, Z:16.99 [[ 9.13504299e-01 -2.61361064e-01 -3.11769610e-01 1.26001728e+02] [ 2.51067069e-01 9.65176693e-01 -7.34797738e-02 8.69731471e+01] [ 3.20117513e-01 -1.11509928e-02 9.47312215e-01 1.69911535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:87.00, Z:16.99 [[ 9.14790998e-01 -2.68847539e-01 -3.01460497e-01 1.26029474e+02] [ 2.51674584e-01 9.63117307e-01 -9.52100646e-02 8.69967835e+01] [ 3.15938814e-01 1.12273646e-02 9.48713135e-01 1.69874738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:86.99, Z:17.00 [[ 9.15402231e-01 -2.62450304e-01 -3.05218926e-01 1.26054577e+02] [ 2.51945184e-01 9.64902658e-01 -7.40708073e-02 8.69925835e+01] [ 3.13946459e-01 -9.09385622e-03 9.49397136e-01 1.70012643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:87.01, Z:17.00 [[ 9.14936904e-01 -2.67713956e-01 -3.02025991e-01 1.26078230e+02] [ 2.52032017e-01 9.63475080e-01 -9.05297318e-02 8.70126363e+01] [ 3.15230588e-01 6.70877301e-03 9.48991395e-01 1.70045590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.718040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.11, Y:87.00, Z:17.02 [[ 9.15037766e-01 -2.58869082e-01 -3.09342344e-01 1.26107092e+02] [ 2.50863230e-01 9.65761175e-01 -6.61286115e-02 8.70043334e+01] [ 3.15869478e-01 -1.70924425e-02 9.48648682e-01 1.70246510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.748040942 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:126.12, Y:87.01, Z:17.04 [[ 9.15524847e-01 -2.57563844e-01 -3.08990485e-01 1.26124857e+02] [ 2.49809330e-01 9.66101790e-01 -6.51354738e-02 8.70100965e+01] [ 3.15292804e-01 -1.75555615e-02 9.48832045e-01 1.70359407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.778040942 meters Centerline goodness : 0.997192 Centerline is valid? [True, True] Translation: X:126.15, Y:87.03, Z:17.04 [[ 9.14870781e-01 -2.62663274e-01 -3.06625927e-01 1.26147566e+02] [ 2.48920632e-01 9.64887484e-01 -8.38490487e-02 8.70323905e+01] [ 3.17883584e-01 3.85525337e-04 9.48129674e-01 1.70406101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.808040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.18, Y:87.03, Z:17.05 [[ 9.16029436e-01 -2.57025418e-01 -3.07941563e-01 1.26176195e+02] [ 2.49384767e-01 9.66244678e-01 -6.46410158e-02 8.70315382e+01] [ 3.14161281e-01 -1.75828617e-02 9.49206791e-01 1.70529483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.838040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.21, Y:87.05, Z:17.05 [[ 9.16536880e-01 -2.62215871e-01 -3.01998318e-01 1.26206476e+02] [ 2.46504946e-01 9.64977664e-01 -8.97408461e-02 8.70529660e+01] [ 3.14953106e-01 7.80671593e-03 9.49075127e-01 1.70540459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868040942 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:126.23, Y:87.05, Z:17.07 [[ 9.15528644e-01 -2.55205639e-01 -3.10929870e-01 1.26225783e+02] [ 2.47691529e-01 9.66713689e-01 -6.41369565e-02 8.70511584e+01] [ 3.16948275e-01 -1.82954740e-02 9.48266348e-01 1.70694513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.898040942 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:126.25, Y:87.07, Z:17.07 [[ 9.14936003e-01 -2.61423535e-01 -3.07489588e-01 1.26249383e+02] [ 2.48203988e-01 9.65223425e-01 -8.20884863e-02 8.70705729e+01] [ 3.18256015e-01 -1.21443049e-03 9.48004026e-01 1.70733393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:87.08, Z:17.08 [[ 9.13908754e-01 -2.62602276e-01 -3.09533253e-01 1.26276133e+02] [ 2.51992764e-01 9.64853660e-01 -7.45457053e-02 8.70774547e+01] [ 3.18230164e-01 -9.87216732e-03 9.47962079e-01 1.70835128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.958040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:87.08, Z:17.09 [[ 9.14228367e-01 -2.62812543e-01 -3.08408917e-01 1.26301808e+02] [ 2.53318366e-01 9.64758940e-01 -7.12038886e-02 8.70836665e+01] [ 3.16253535e-01 -1.30290280e-02 9.48585234e-01 1.70928267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98804094199997 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:126.33, Y:87.10, Z:17.10 [[ 9.13678039e-01 -2.67294828e-01 -3.06179549e-01 1.26326626e+02] [ 2.56228370e-01 9.63577509e-01 -7.65859447e-02 8.70967429e+01] [ 3.15498754e-01 -8.47699097e-03 9.48888127e-01 1.70999044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01804094199997 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:126.35, Y:87.11, Z:17.11 [[ 9.12944144e-01 -2.69966300e-01 -3.06024814e-01 1.26349372e+02] [ 2.55993506e-01 9.62869768e-01 -8.57270910e-02 8.71086311e+01] [ 3.17805468e-01 -7.63194091e-05 9.48155936e-01 1.71081705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04804094199997 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:126.38, Y:87.11, Z:17.12 [[ 9.13049544e-01 -2.67983302e-01 -3.07449962e-01 1.26376328e+02] [ 2.57791689e-01 9.63353854e-01 -7.41134041e-02 8.71110487e+01] [ 3.16044261e-01 -1.15888351e-02 9.48673666e-01 1.71193559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07804094199997 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:126.40, Y:87.13, Z:17.13 [[ 9.12455790e-01 -2.73013974e-01 -3.04774999e-01 1.26399826e+02] [ 2.59283912e-01 9.62009535e-01 -8.54956597e-02 8.71279827e+01] [ 3.16537965e-01 -1.01224439e-03 9.48579302e-01 1.71266308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10804094199997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:126.43, Y:87.16, Z:17.13 [[ 9.13032179e-01 -2.85357516e-01 -2.91450388e-01 1.26429209e+02] [ 2.61842461e-01 9.57917389e-01 -1.17612929e-01 8.71598781e+01] [ 3.12747128e-01 3.10703022e-02 9.49328115e-01 1.71261817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.46, Y:87.10, Z:17.18 [[ 9.11900661e-01 -2.45307934e-01 -3.29030700e-01 1.26460384e+02] [ 2.52872344e-01 9.67286077e-01 -2.03278665e-02 8.71039608e+01] [ 3.23253403e-01 -6.46657695e-02 9.44100406e-01 1.71776338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16804094199998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.48, Y:87.15, Z:17.17 [[ 9.11545547e-01 -2.63756233e-01 -3.15463731e-01 1.26482660e+02] [ 2.52228957e-01 9.64549126e-01 -7.76243306e-02 8.71450674e+01] [ 3.24754167e-01 -8.81097496e-03 9.45757420e-01 1.71740298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19804094199998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:126.51, Y:87.18, Z:17.16 [[ 9.13559290e-01 -2.75915436e-01 -2.98797751e-01 1.26509553e+02] [ 2.53204792e-01 9.60785080e-01 -1.13045845e-01 8.71775415e+01] [ 3.18271515e-01 2.76170596e-02 9.47597246e-01 1.71635417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22804094199998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:126.53, Y:87.17, Z:17.17 [[ 9.15673653e-01 -2.67150452e-01 -3.00287190e-01 1.26533936e+02] [ 2.53757584e-01 9.63654791e-01 -8.35256388e-02 8.71718438e+01] [ 3.11687102e-01 2.82074968e-04 9.50184756e-01 1.71718158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25804094199998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:126.56, Y:87.14, Z:17.21 [[ 9.14396443e-01 -2.45695858e-01 -3.21733881e-01 1.26561407e+02] [ 2.49042195e-01 9.67983111e-01 -3.14115018e-02 8.71429169e+01] [ 3.19150639e-01 -5.14027463e-02 9.46308949e-01 1.72119009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28804094199998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:126.58, Y:87.19, Z:17.21 [[ 9.13136892e-01 -2.65198965e-01 -3.09597361e-01 1.26582487e+02] [ 2.48188719e-01 9.64152835e-01 -9.38704967e-02 8.71875667e+01] [ 3.23393532e-01 8.87804093e-03 9.46222914e-01 1.72090638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31804094199998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:126.61, Y:87.21, Z:17.21 [[ 9.14718016e-01 -2.70487907e-01 -3.00211996e-01 1.26610712e+02] [ 2.49595231e-01 9.62457083e-01 -1.06670444e-01 8.72068730e+01] [ 3.17794227e-01 2.26418941e-02 9.47889326e-01 1.72064335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34804094199998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.64, Y:87.16, Z:17.25 [[ 9.14752861e-01 -2.40923700e-01 -3.24319248e-01 1.26640533e+02] [ 2.44735376e-01 9.69136505e-01 -2.96484605e-02 8.71636012e+01] [ 3.21452640e-01 -5.22513792e-02 9.45482942e-01 1.72489920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37804094199998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:126.66, Y:87.24, Z:17.22 [[ 9.16204722e-01 -2.79254404e-01 -2.87377601e-01 1.26658355e+02] [ 2.51321008e-01 9.59041213e-01 -1.30681682e-01 8.72400847e+01] [ 3.12100398e-01 4.75071457e-02 9.48860586e-01 1.72156129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40804094199999 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:126.69, Y:87.20, Z:17.25 [[ 9.15766726e-01 -2.50674858e-01 -3.13900333e-01 1.26687150e+02] [ 2.47306321e-01 9.67583290e-01 -5.12070295e-02 8.71965187e+01] [ 3.16561032e-01 -3.07358429e-02 9.48074059e-01 1.72475082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.438040942 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:126.71, Y:87.25, Z:17.24 [[ 9.16243614e-01 -2.72306047e-01 -2.93848696e-01 1.26711881e+02] [ 2.47590724e-01 9.61525609e-01 -1.19026623e-01 8.72462165e+01] [ 3.14954716e-01 3.63031717e-02 9.48412150e-01 1.72395207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.468040942 meters Centerline goodness : 0.996795 Centerline is valid? [True, True] Translation: X:126.74, Y:87.20, Z:17.27 [[ 9.18325653e-01 -2.42617125e-01 -3.12753778e-01 1.26741456e+02] [ 2.45051929e-01 9.68976966e-01 -3.21432842e-02 8.71994803e+01] [ 3.10849718e-01 -4.71229142e-02 9.49290200e-01 1.72687330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.498040942 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:126.77, Y:87.25, Z:17.26 [[ 9.17939788e-01 -2.67979881e-01 -2.92529193e-01 1.26767316e+02] [ 2.46756585e-01 9.63049400e-01 -1.07921459e-01 8.72525234e+01] [ 3.10640843e-01 2.68818964e-02 9.50147162e-01 1.72587202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.528040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.80, Y:87.24, Z:17.27 [[ 9.18387257e-01 -2.58776948e-01 -2.99331483e-01 1.26796456e+02] [ 2.45573496e-01 9.65936020e-01 -8.16165600e-02 8.72422039e+01] [ 3.10255546e-01 1.44772987e-03 9.50652092e-01 1.72738015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.558040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.81, Y:87.28, Z:17.26 [[ 9.18500826e-01 -2.81509991e-01 -2.77683915e-01 1.26810155e+02] [ 2.56411018e-01 9.58620594e-01 -1.23692949e-01 8.72838460e+01] [ 3.01014321e-01 4.24108604e-02 9.52676072e-01 1.72614855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588040942 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:126.84, Y:87.22, Z:17.30 [[ 9.20613320e-01 -2.40437357e-01 -3.07670264e-01 1.26844791e+02] [ 2.50278437e-01 9.68143305e-01 -7.69705467e-03 8.72180175e+01] [ 2.99719566e-01 -6.99172219e-02 9.51461909e-01 1.73021864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.618040942 meters Centerline goodness : 0.997564 Centerline is valid? [True, True] Translation: X:126.87, Y:87.26, Z:17.30 [[ 9.20811458e-01 -2.62521108e-01 -2.88424907e-01 1.26865005e+02] [ 2.50718557e-01 9.64926035e-01 -7.78328490e-02 8.72646951e+01] [ 2.98741467e-01 -6.44097212e-04 9.54333862e-01 1.72958877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648040942 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:126.89, Y:87.29, Z:17.29 [[ 9.21929240e-01 -2.69464188e-01 -2.78272398e-01 1.26892362e+02] [ 2.52503171e-01 9.62840960e-01 -9.58093646e-02 8.72850428e+01] [ 2.93749256e-01 1.80647918e-02 9.55711796e-01 1.72935173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.678040942 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:126.92, Y:87.26, Z:17.32 [[ 9.21209909e-01 -2.54207189e-01 -2.94535242e-01 1.26917337e+02] [ 2.48005533e-01 9.66967095e-01 -5.88888169e-02 8.72639704e+01] [ 2.99775848e-01 -1.87974081e-02 9.53824459e-01 1.73211307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708040942 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:126.94, Y:87.29, Z:17.31 [[ 9.22916523e-01 -2.65841670e-01 -2.78483929e-01 1.26944972e+02] [ 2.50392418e-01 9.63920090e-01 -9.03421161e-02 8.72915835e+01] [ 2.92452953e-01 1.36479673e-02 9.56182516e-01 1.73148068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73804094199997 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:126.97, Y:87.28, Z:17.34 [[ 9.22104250e-01 -2.55584712e-01 -2.90517138e-01 1.26969096e+02] [ 2.48420411e-01 9.66669523e-01 -6.19462072e-02 8.72787902e+01] [ 2.96666567e-01 -1.50495259e-02 9.54862535e-01 1.73369609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76804094199997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:127.00, Y:87.29, Z:17.34 [[ 9.23561465e-01 -2.56878364e-01 -2.84688823e-01 1.26995545e+02] [ 2.47908067e-01 9.66410693e-01 -6.77640234e-02 8.72879006e+01] [ 2.92533435e-01 -7.99241515e-03 9.56221894e-01 1.73440129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79804094199997 meters Centerline goodness : 0.996613 Centerline is valid? [True, True] Translation: X:127.02, Y:87.30, Z:17.35 [[ 9.24330948e-01 -2.57662310e-01 -2.81464799e-01 1.27022318e+02] [ 2.48395075e-01 9.66214206e-01 -6.87749561e-02 8.72953798e+01] [ 2.89676002e-01 -6.34364959e-03 9.57103742e-01 1.73525558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.05, Y:87.31, Z:17.36 [[ 9.24140325e-01 -2.60657653e-01 -2.79324626e-01 1.27047188e+02] [ 2.48783668e-01 9.65428265e-01 -7.78135667e-02 8.73060951e+01] [ 2.89950591e-01 2.41924970e-03 9.57038558e-01 1.73601059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85804094199997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.07, Y:87.32, Z:17.36 [[ 9.24391846e-01 -2.68054369e-01 -2.71379015e-01 1.27074812e+02] [ 2.50110389e-01 9.63105442e-01 -9.93614698e-02 8.73240347e+01] [ 2.88000882e-01 2.39742216e-02 9.57330000e-01 1.73620937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88804094199998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.11, Y:87.30, Z:17.39 [[ 9.25532433e-01 -2.49866598e-01 -2.84528381e-01 1.27106819e+02] [ 2.46405231e-01 9.67952021e-01 -4.85113120e-02 8.72960575e+01] [ 2.87531178e-01 -2.52104889e-02 9.57439425e-01 1.73894249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91804094199998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:127.13, Y:87.31, Z:17.40 [[ 9.25347664e-01 -2.56895813e-01 -2.78812197e-01 1.27132104e+02] [ 2.47374325e-01 9.66427655e-01 -6.94516433e-02 8.73132233e+01] [ 2.87293654e-01 -4.70406305e-03 9.57831002e-01 1.73953288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94804094199998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.16, Y:87.32, Z:17.40 [[ 9.25507884e-01 -2.60471945e-01 -2.74935489e-01 1.27160137e+02] [ 2.49860428e-01 9.65481239e-01 -7.35917367e-02 8.73205930e+01] [ 2.84613639e-01 -5.85766376e-04 9.58642130e-01 1.74021302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97804094199998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:127.19, Y:87.32, Z:17.41 [[ 9.25312941e-01 -2.58260107e-01 -2.77664688e-01 1.27186734e+02] [ 2.49727306e-01 9.66042503e-01 -6.63185963e-02 8.73194473e+01] [ 2.85363338e-01 -7.97499896e-03 9.58386229e-01 1.74146193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00804094199998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:127.22, Y:87.31, Z:17.44 [[ 9.24583640e-01 -2.50924866e-01 -2.86673691e-01 1.27216884e+02] [ 2.46894026e-01 9.67712600e-01 -5.07510029e-02 8.73112419e+01] [ 2.90152431e-01 -2.38544747e-02 9.56683088e-01 1.74354057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03804094199998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.23, Y:87.34, Z:17.43 [[ 9.25289380e-01 -2.69804664e-01 -2.66542690e-01 1.27233880e+02] [ 2.58630737e-01 9.62912576e-01 -7.68733538e-02 8.73378578e+01] [ 2.77398098e-01 2.19396565e-03 9.60752560e-01 1.74274514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06804094199998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:127.26, Y:87.34, Z:17.44 [[ 9.24120762e-01 -2.71870732e-01 -2.68490451e-01 1.27260820e+02] [ 2.60167159e-01 9.62328700e-01 -7.89716522e-02 8.73436766e+01] [ 2.79846148e-01 3.12694559e-03 9.60039768e-01 1.74377259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09804094199998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:127.29, Y:87.34, Z:17.45 [[ 9.24985962e-01 -2.68470025e-01 -2.68932735e-01 1.27287707e+02] [ 2.61072145e-01 9.63220949e-01 -6.36139853e-02 8.73408354e+01] [ 2.76120092e-01 -1.13688025e-02 9.61055901e-01 1.74501016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12804094199998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:127.31, Y:87.35, Z:17.46 [[ 9.25416089e-01 -2.71299132e-01 -2.64578613e-01 1.27313341e+02] [ 2.63177627e-01 9.62460225e-01 -6.63916582e-02 8.73471251e+01] [ 2.72658391e-01 -8.19126301e-03 9.62076039e-01 1.74575879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15804094199999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:127.35, Y:87.35, Z:17.47 [[ 9.27153375e-01 -2.69570461e-01 -2.60227564e-01 1.27347317e+02] [ 2.59395598e-01 9.62980528e-01 -7.33650210e-02 8.73530012e+01] [ 2.70371119e-01 5.18742360e-04 9.62756038e-01 1.74663858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.188040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.37, Y:87.36, Z:17.48 [[ 9.25649709e-01 -2.71300009e-01 -2.63759210e-01 1.27367913e+02] [ 2.64320507e-01 9.62419591e-01 -6.23153321e-02 8.73576797e+01] [ 2.70753181e-01 -1.20347990e-02 9.62573571e-01 1.74768218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.218040942 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:127.40, Y:87.37, Z:17.48 [[ 9.27951707e-01 -2.71425848e-01 -2.55408766e-01 1.27398354e+02] [ 2.60463313e-01 9.62449047e-01 -7.64898302e-02 8.73692430e+01] [ 2.66579241e-01 4.45425509e-03 9.63802712e-01 1.74814680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.248040942 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:127.43, Y:87.37, Z:17.49 [[ 9.28290683e-01 -2.68836339e-01 -2.56911329e-01 1.27426909e+02] [ 2.61817635e-01 9.63135252e-01 -6.18224331e-02 8.73682079e+01] [ 2.64060474e-01 -9.87472788e-03 9.64455575e-01 1.74949399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.278040942 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:127.45, Y:87.38, Z:17.50 [[ 9.27093100e-01 -2.75658935e-01 -2.53989242e-01 1.27446688e+02] [ 2.69296922e-01 9.61173209e-01 -6.02098919e-02 8.73789719e+01] [ 2.60725050e-01 -1.25783457e-02 9.65331152e-01 1.75016893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.308040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.47, Y:87.39, Z:17.51 [[ 9.26424454e-01 -2.77792318e-01 -2.54104623e-01 1.27472112e+02] [ 2.70610050e-01 9.60590120e-01 -6.35359911e-02 8.73876400e+01] [ 2.61740201e-01 -9.90196883e-03 9.65087570e-01 1.75110303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.338040942 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.50, Y:87.41, Z:17.51 [[ 9.28035435e-01 -2.83929476e-01 -2.41110524e-01 1.27501600e+02] [ 2.72272241e-01 9.58797010e-01 -8.10932876e-02 8.74068003e+01] [ 2.54200824e-01 9.60974186e-03 9.67103714e-01 1.75116407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368040942 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:127.53, Y:87.39, Z:17.53 [[ 9.29403664e-01 -2.72404416e-01 -2.49007355e-01 1.27526514e+02] [ 2.68664204e-01 9.61957430e-01 -4.95726599e-02 8.73949396e+01] [ 2.53038286e-01 -2.08263509e-02 9.67232076e-01 1.75303168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.398040942 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:127.55, Y:87.41, Z:17.54 [[ 9.28911615e-01 -2.77142837e-01 -2.45591243e-01 1.27551631e+02] [ 2.70039493e-01 9.60795929e-01 -6.28478737e-02 8.74099025e+01] [ 2.53380905e-01 -7.93921504e-03 9.67334010e-01 1.75365675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:87.42, Z:17.55 [[ 9.28852624e-01 -2.77474721e-01 -2.45439569e-01 1.27576402e+02] [ 2.70345653e-01 9.60700867e-01 -6.29846901e-02 8.74177776e+01] [ 2.53270666e-01 -7.85002592e-03 9.67363606e-01 1.75467063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.458040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.60, Y:87.43, Z:17.55 [[ 9.29500933e-01 -2.77556608e-01 -2.42879279e-01 1.27600383e+02] [ 2.70645111e-01 9.60675689e-01 -6.20761184e-02 8.74298296e+01] [ 2.50557856e-01 -8.03427946e-03 9.68068289e-01 1.75528544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48804094199997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.62, Y:87.47, Z:17.54 [[ 9.28005010e-01 -2.94789027e-01 -2.27829170e-01 1.27616402e+02] [ 2.78540715e-01 9.55076600e-01 -1.01211457e-01 8.74694761e+01] [ 2.47430336e-01 3.04650389e-02 9.68426616e-01 1.75397398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.65, Y:87.44, Z:17.57 [[ 9.30138374e-01 -2.73853046e-01 -2.44636700e-01 1.27650338e+02] [ 2.69975812e-01 9.61571708e-01 -4.99290512e-02 8.74435440e+01] [ 2.48908952e-01 -1.96050652e-02 9.68328444e-01 1.75666396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:87.44, Z:17.59 [[ 9.30600125e-01 -2.65748485e-01 -2.51716408e-01 1.27675715e+02] [ 2.63687832e-01 9.63669959e-01 -4.25316024e-02 8.74436618e+01] [ 2.53874249e-01 -2.67946393e-02 9.66866026e-01 1.75876060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.70, Y:87.46, Z:17.59 [[ 9.30243839e-01 -2.72400273e-01 -2.45854614e-01 1.27699227e+02] [ 2.64560060e-01 9.62173319e-01 -6.50421340e-02 8.74647044e+01] [ 2.54272245e-01 -4.53826692e-03 9.67122035e-01 1.75912419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:87.43, Z:17.64 [[ 9.29774340e-01 -2.42358502e-01 -2.77095710e-01 1.27730835e+02] [ 2.51394362e-01 9.67880063e-01 -3.00955772e-03 8.74262138e+01] [ 2.68924806e-01 -6.68620898e-02 9.60837608e-01 1.76387760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63804094199998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.75, Y:87.48, Z:17.62 [[ 9.28879842e-01 -2.69498795e-01 -2.54072111e-01 1.27751468e+02] [ 2.58183736e-01 9.62979289e-01 -7.75373955e-02 8.74791940e+01] [ 2.65562415e-01 6.42563679e-03 9.64072256e-01 1.76248528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:87.51, Z:17.61 [[ 9.30177622e-01 -2.84454757e-01 -2.32066978e-01 1.27774145e+02] [ 2.64748289e-01 9.57705695e-01 -1.12730413e-01 8.75142508e+01] [ 2.54318569e-01 4.34199724e-02 9.66145316e-01 1.76074070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69804094199998 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:127.80, Y:87.49, Z:17.63 [[ 9.31403590e-01 -2.67776402e-01 -2.46542390e-01 1.27803763e+02] [ 2.59667758e-01 9.63476282e-01 -6.54683783e-02 8.74919164e+01] [ 2.55068632e-01 -3.04162701e-03 9.66918167e-01 1.76265101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72804094199998 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:127.83, Y:87.50, Z:17.64 [[ 9.32762430e-01 -2.65481927e-01 -2.43872088e-01 1.27829102e+02] [ 2.59344168e-01 9.64068429e-01 -5.75557803e-02 8.74965796e+01] [ 2.50389400e-01 -9.56093424e-03 9.68098000e-01 1.76350069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75804094199998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:127.85, Y:87.50, Z:17.65 [[ 9.32472797e-01 -2.63709981e-01 -2.46883633e-01 1.27852014e+02] [ 2.58897588e-01 9.64484058e-01 -5.23692670e-02 8.74994417e+01] [ 2.51925627e-01 -1.50846601e-02 9.67629026e-01 1.76468337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78804094199998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:127.88, Y:87.47, Z:17.68 [[ 9.30385512e-01 -2.47293511e-01 -2.70608052e-01 1.27878263e+02] [ 2.54852935e-01 9.66951316e-01 -7.42515609e-03 8.74747050e+01] [ 2.63501005e-01 -6.20569988e-02 9.62660973e-01 1.76836953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81804094199998 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:127.90, Y:87.56, Z:17.66 [[ 9.26389240e-01 -2.92725546e-01 -2.36885480e-01 1.27901882e+02] [ 2.66449880e-01 9.54068330e-01 -1.36960149e-01 8.75637069e+01] [ 2.66096669e-01 6.37603001e-02 9.61835322e-01 1.76629414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84804094199998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:127.93, Y:87.52, Z:17.69 [[ 9.29262377e-01 -2.62654298e-01 -2.59777124e-01 1.27933122e+02] [ 2.60443130e-01 9.64506745e-01 -4.35444032e-02 8.75159269e+01] [ 2.61993913e-01 -2.71929914e-02 9.64686338e-01 1.76868059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87804094199998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:127.95, Y:87.52, Z:17.71 [[ 9.23857818e-01 -2.63471632e-01 -2.77613816e-01 1.27952541e+02] [ 2.63941592e-01 9.63851859e-01 -3.63927101e-02 8.75195643e+01] [ 2.77167039e-01 -3.96521428e-02 9.60003198e-01 1.77091764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:87.54, Z:17.71 [[ 9.24324083e-01 -2.72906842e-01 -2.66733659e-01 1.27975485e+02] [ 2.66997134e-01 9.61894520e-01 -5.89191284e-02 8.75433426e+01] [ 2.72649078e-01 -1.67567532e-02 9.61967614e-01 1.77108209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.938040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.01, Y:87.57, Z:17.70 [[ 9.25161393e-01 -2.83392303e-01 -2.52517720e-01 1.28006478e+02] [ 2.67674875e-01 9.58782984e-01 -9.53171052e-02 8.75733152e+01] [ 2.69121827e-01 2.05910567e-02 9.62886001e-01 1.77033881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.968040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.03, Y:87.60, Z:17.70 [[ 9.22206206e-01 -2.91258298e-01 -2.54370433e-01 1.28032456e+02] [ 2.68022956e-01 9.55596455e-01 -1.22470851e-01 8.76009984e+01] [ 2.78746136e-01 4.47662634e-02 9.59320892e-01 1.76951513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.998040942 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:128.06, Y:87.52, Z:17.77 [[ 9.21389205e-01 -2.41551618e-01 -3.04458123e-01 1.28055638e+02] [ 2.60627089e-01 9.65165608e-01 2.29971593e-02 8.75206790e+01] [ 2.88297508e-01 -1.00539369e-01 9.52248067e-01 1.77698079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.028040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.08, Y:87.65, Z:17.71 [[ 9.21170596e-01 -3.04502980e-01 -2.42327605e-01 1.28081289e+02] [ 2.67153855e-01 9.47596757e-01 -1.75183345e-01 8.76529540e+01] [ 2.82972703e-01 9.66349928e-02 9.54247414e-01 1.77050592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.058040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:87.60, Z:17.73 [[ 9.21790745e-01 -2.70711672e-01 -2.77519393e-01 1.28115306e+02] [ 2.60405327e-01 9.62652289e-01 -7.40920839e-02 8.76033250e+01] [ 2.87212271e-01 -3.97013119e-03 9.57858731e-01 1.77293135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.14, Y:87.61, Z:17.74 [[ 9.20834684e-01 -2.71498720e-01 -2.79914147e-01 1.28140478e+02] [ 2.61036392e-01 9.62429531e-01 -7.47622907e-02 8.76133171e+01] [ 2.89695508e-01 -4.22406861e-03 9.57109539e-01 1.77378320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.118040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.16, Y:87.62, Z:17.75 [[ 9.19665548e-01 -2.72332025e-01 -2.82932056e-01 1.28164815e+02] [ 2.61647858e-01 9.62193078e-01 -7.56629310e-02 8.76225630e+01] [ 2.92840705e-01 -4.44397532e-03 9.56150915e-01 1.77463865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148040942 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.18, Y:87.58, Z:17.81 [[ 9.14368522e-01 -2.42508600e-01 -3.24221815e-01 1.28179294e+02] [ 2.60555373e-01 9.65374789e-01 1.27441821e-02 8.75786488e+01] [ 3.09904993e-01 -9.61306149e-02 9.45895237e-01 1.78050333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.178040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:87.70, Z:17.75 [[ 9.17722065e-01 -3.05073439e-01 -2.54394197e-01 1.28206706e+02] [ 2.66723446e-01 9.47848640e-01 -1.74475097e-01 8.77033157e+01] [ 2.94354911e-01 9.22667491e-02 9.51231850e-01 1.77480118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:87.59, Z:17.83 [[ 9.14166654e-01 -2.41528341e-01 -3.25520183e-01 1.28232191e+02] [ 2.61556741e-01 9.65010377e-01 1.85214189e-02 8.75902325e+01] [ 3.09656907e-01 -1.02073662e-01 9.45353673e-01 1.78290320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:87.66, Z:17.82 [[ 9.12657491e-01 -2.76336427e-01 -3.01155247e-01 1.28255256e+02] [ 2.62414871e-01 9.61060965e-01 -8.66040220e-02 8.76576854e+01] [ 3.13360398e-01 1.21940851e-05 9.49634277e-01 1.78207251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:87.73, Z:17.78 [[ 9.17580339e-01 -3.05491417e-01 -2.54403845e-01 1.28284723e+02] [ 2.67471073e-01 9.47825989e-01 -1.73450628e-01 8.77276993e+01] [ 2.94118254e-01 9.11092167e-02 9.51416609e-01 1.77784268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:87.68, Z:17.80 [[ 9.19704245e-01 -2.74331041e-01 -2.80867553e-01 1.28319054e+02] [ 2.63876714e-01 9.61622445e-01 -7.51754763e-02 8.76773388e+01] [ 2.90711510e-01 -4.97520247e-03 9.56797818e-01 1.78014915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32804094199997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.33, Y:87.63, Z:17.87 [[ 9.16957828e-01 -2.39006800e-01 -3.19474712e-01 1.28333700e+02] [ 2.58531380e-01 9.65806126e-01 1.94949443e-02 8.76305657e+01] [ 3.03891210e-01 -1.00470280e-01 9.47394245e-01 1.78677825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35804094199997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.35, Y:87.69, Z:17.86 [[ 9.17104176e-01 -2.67897344e-01 -2.95213386e-01 1.28354934e+02] [ 2.59011094e-01 9.63364462e-01 -6.95856807e-02 8.76891469e+01] [ 3.03039904e-01 -1.26462238e-02 9.52893955e-01 1.78594297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:87.71, Z:17.86 [[ 9.18347948e-01 -2.72799194e-01 -2.86736196e-01 1.28379377e+02] [ 2.58991704e-01 9.62060278e-01 -8.58097782e-02 8.77082246e+01] [ 2.99266343e-01 4.54093777e-03 9.54158811e-01 1.78633175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:87.78, Z:17.83 [[ 9.22302208e-01 -3.00523680e-01 -2.42990031e-01 1.28409192e+02] [ 2.62596035e-01 9.48623459e-01 -1.76513044e-01 8.77789513e+01] [ 2.83552393e-01 9.89901513e-02 9.53833838e-01 1.78260740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:87.73, Z:17.85 [[ 9.23501172e-01 -2.69353695e-01 -2.73119339e-01 1.28446092e+02] [ 2.59276314e-01 9.63035534e-01 -7.30640308e-02 8.77250710e+01] [ 2.82703695e-01 -3.33865740e-03 9.59201477e-01 1.78488843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.47, Y:87.73, Z:17.86 [[ 9.23085531e-01 -2.70325056e-01 -2.73564375e-01 1.28471013e+02] [ 2.60232233e-01 9.62762523e-01 -7.32632822e-02 8.77336680e+01] [ 2.83182429e-01 -3.56199243e-03 9.59059448e-01 1.78571389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.50, Y:87.74, Z:17.87 [[ 9.21851020e-01 -2.71253869e-01 -2.76788793e-01 1.28495960e+02] [ 2.60930727e-01 9.62500318e-01 -7.42178837e-02 8.77427921e+01] [ 2.86541190e-01 -3.80486940e-03 9.58060368e-01 1.78674381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:87.75, Z:17.88 [[ 9.21401112e-01 -2.71271309e-01 -2.78265821e-01 1.28520483e+02] [ 2.60808106e-01 9.62495664e-01 -7.47076277e-02 8.77507860e+01] [ 2.88095682e-01 -3.73829040e-03 9.57594331e-01 1.78768002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:87.76, Z:17.89 [[ 9.20980087e-01 -2.71337732e-01 -2.79591694e-01 1.28545607e+02] [ 2.60757730e-01 9.62477014e-01 -7.51225952e-02 8.77594696e+01] [ 2.89484173e-01 -3.71928120e-03 9.57175574e-01 1.78862015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:87.77, Z:17.90 [[ 9.19723374e-01 -2.72592068e-01 -2.82493326e-01 1.28570640e+02] [ 2.61816376e-01 9.62121105e-01 -7.59945079e-02 8.77697593e+01] [ 2.92508291e-01 -4.06745351e-03 9.56254336e-01 1.78957242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62804094199998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:87.78, Z:17.90 [[ 9.18494859e-01 -2.73585712e-01 -2.85513663e-01 1.28595686e+02] [ 2.62591490e-01 9.61837833e-01 -7.69005399e-02 8.77781803e+01] [ 2.95656732e-01 -4.34070747e-03 9.55284385e-01 1.79044927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65804094199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:87.79, Z:17.91 [[ 9.18045128e-01 -2.74470124e-01 -2.86110634e-01 1.28619850e+02] [ 2.63440978e-01 9.61584915e-01 -7.71576520e-02 8.77869336e+01] [ 2.96297139e-01 -4.53905850e-03 9.55085024e-01 1.79124461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.688040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.64, Y:87.70, Z:18.00 [[ 9.13958956e-01 -2.16333190e-01 -3.43335082e-01 1.28635418e+02] [ 2.62656216e-01 9.60288011e-01 9.41203905e-02 8.77005774e+01] [ 3.09339198e-01 -1.76201267e-01 9.34485085e-01 1.80005089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.718040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:87.81, Z:17.97 [[ 9.15597424e-01 -2.77870838e-01 -2.90635777e-01 1.28654332e+02] [ 2.63324168e-01 9.60606315e-01 -8.88588175e-02 8.78114048e+01] [ 3.03877837e-01 4.82748018e-03 9.52698775e-01 1.79680951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.748040942 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.68, Y:87.83, Z:17.97 [[ 9.16844158e-01 -2.82246935e-01 -2.82371135e-01 1.28677140e+02] [ 2.63008531e-01 9.59095729e-01 -1.04699069e-01 8.78348159e+01] [ 3.00371941e-01 2.17267126e-02 9.53574668e-01 1.79661272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.778040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:87.81, Z:17.99 [[ 9.16391781e-01 -2.61183116e-01 -3.03330652e-01 1.28708356e+02] [ 2.58147455e-01 9.64767690e-01 -5.08251474e-02 8.78097663e+01] [ 3.05918283e-01 -3.17282886e-02 9.51528938e-01 1.79929434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.808040942 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.73, Y:87.85, Z:17.99 [[ 9.17858002e-01 -2.79926897e-01 -2.81385181e-01 1.28729307e+02] [ 2.59925445e-01 9.59697097e-01 -1.06865545e-01 8.78526200e+01] [ 2.99959082e-01 2.49482266e-02 9.53625784e-01 1.79855053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.838040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:87.88, Z:17.98 [[ 9.19603370e-01 -2.86222108e-01 -2.69084648e-01 1.28752194e+02] [ 2.62519299e-01 9.57297487e-01 -1.21099708e-01 8.78762184e+01] [ 2.92255471e-01 4.07237863e-02 9.55472822e-01 1.79801413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868040942 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:87.89, Z:17.98 [[ 9.22395291e-01 -2.84870228e-01 -2.60836886e-01 1.28781147e+02] [ 2.63342648e-01 9.57842462e-01 -1.14841052e-01 8.78852893e+01] [ 2.82555442e-01 3.72393693e-02 9.58527856e-01 1.79756640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.898040942 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:128.82, Y:87.84, Z:18.01 [[ 9.21401947e-01 -2.56374699e-01 -2.92045316e-01 1.28815828e+02] [ 2.58507668e-01 9.65480204e-01 -3.19649986e-02 8.78428264e+01] [ 2.90158988e-01 -4.60433417e-02 9.55870165e-01 1.80083752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928040942 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:128.84, Y:87.87, Z:18.02 [[ 9.20257823e-01 -2.63852861e-01 -2.88976136e-01 1.28841965e+02] [ 2.55941171e-01 9.64466659e-01 -6.55605075e-02 8.78704272e+01] [ 2.96006176e-01 -1.36283209e-02 9.55088798e-01 1.80159615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.958040942 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:128.86, Y:87.94, Z:17.99 [[ 9.22264661e-01 -2.96315665e-01 -2.48243675e-01 1.28859934e+02] [ 2.65834710e-01 9.52400774e-01 -1.49213512e-01 8.79402091e+01] [ 2.80641769e-01 7.16225634e-02 9.57136566e-01 1.79854414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98804094199997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:128.92, Y:87.87, Z:18.03 [[ 9.20917139e-01 -2.50945488e-01 -2.98224722e-01 1.28915376e+02] [ 2.57505540e-01 9.66113346e-01 -1.77735767e-02 8.78670451e+01] [ 2.92579083e-01 -6.04265268e-02 9.54330192e-01 1.80331598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01804094199997 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:128.93, Y:87.94, Z:18.00 [[ 9.21445982e-01 -2.93224093e-01 -2.54866501e-01 1.28926741e+02] [ 2.71218560e-01 9.55207585e-01 -1.18401697e-01 8.79433842e+01] [ 2.78168645e-01 3.99762431e-02 9.59700008e-01 1.80047037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04804094199997 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:128.95, Y:87.94, Z:18.01 [[ 9.21420917e-01 -2.93021635e-01 -2.55189763e-01 1.28950156e+02] [ 2.79060928e-01 9.56032331e-01 -9.01508775e-02 8.79407852e+01] [ 2.70385822e-01 1.18534122e-02 9.62679076e-01 1.80061361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07804094199997 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:128.99, Y:87.93, Z:18.02 [[ 9.23089241e-01 -2.83832625e-01 -2.59509720e-01 1.28986653e+02] [ 2.76734271e-01 9.58792864e-01 -6.42992001e-02 8.79333498e+01] [ 2.67066278e-01 -1.24613334e-02 9.63597591e-01 1.80204344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10804094199997 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:129.00, Y:87.96, Z:18.01 [[ 9.23884553e-01 -2.96566446e-01 -2.41838117e-01 1.29003506e+02] [ 2.86205147e-01 9.55008636e-01 -7.77503689e-02 8.79638808e+01] [ 2.54015641e-01 2.61705092e-03 9.67196570e-01 1.80101939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13804094199998 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:129.03, Y:87.97, Z:18.02 [[ 9.24495388e-01 -2.95041606e-01 -2.41368449e-01 1.29029067e+02] [ 2.87911369e-01 9.55439386e-01 -6.51354303e-02 8.79722041e+01] [ 2.49830585e-01 -9.27531561e-03 9.68245138e-01 1.80156178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16804094199998 meters Centerline goodness : 0.319711 Centerline is valid? [True, False] Translation: X:128.33, Y:87.17, Z:17.74 [[ 7.20815936e-02 8.50673809e-01 -5.20728638e-01 1.28332561e+02] [-9.17258239e-01 -1.48505059e-01 -3.69572145e-01 8.71660910e+01] [-3.91716181e-01 5.04281983e-01 7.69583079e-01 1.77413859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5848.33 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%| | 0/6632 [00:00