+ python -m lidar_slam --no-model /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 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 0.001858064 Adjusted end_distance from 9.223372036854776e+18 to 263.171858064 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001858064 meters Centerline goodness : 0.268585 Centerline is valid? [0, False] SLAMing on 0.031858064 meters Centerline goodness : 0.271493 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99998852e-01 7.09111335e-04 -1.33875312e-03 5.08088508e-03] [-7.07285708e-04 9.99998820e-01 1.36365822e-03 6.25329326e-03] [ 1.33971852e-03 -1.36270977e-03 9.99998174e-01 -1.10746504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061858064 meters Centerline goodness : 0.258979 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99997043e-01 -9.85898876e-04 -2.22319260e-03 8.73251180e-03] [ 9.84373399e-04 9.99999279e-01 -6.87154982e-04 1.43607539e-02] [ 2.22386847e-03 6.84964498e-04 9.99997293e-01 -2.09686033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091858064 meters Centerline goodness : 0.251290 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.00 [[ 9.99991242e-01 -1.29807938e-03 -3.97876112e-03 1.62023782e-02] [ 1.29626556e-03 9.99999055e-01 -4.58421891e-04 2.76364256e-02] [ 3.97935242e-03 4.53260345e-04 9.99991980e-01 -3.61987943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121858064 meters Centerline goodness : 0.262117 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.00 [[ 9.99985992e-01 -4.23020522e-04 -5.27605231e-03 2.13370795e-02] [ 4.29967066e-04 9.99999042e-01 1.31555291e-03 3.34479388e-02] [ 5.27549075e-03 -1.31780302e-03 9.99985216e-01 -4.64146119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.151858064 meters Centerline goodness : 0.253561 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 9.99979230e-01 2.75229218e-04 -6.43918889e-03 2.65293287e-02] [-2.57265341e-04 9.99996074e-01 2.79043515e-03 3.91337035e-02] [ 6.43993161e-03 -2.78872062e-03 9.99975375e-01 -6.05550706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18185806399999999 meters Centerline goodness : 0.250304 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 9.99970173e-01 7.55667064e-04 -7.68651527e-03 3.19298189e-02] [-7.22783258e-04 9.99990580e-01 4.27999486e-03 4.47573219e-02] [ 7.68967711e-03 -4.27431151e-03 9.99961299e-01 -7.21194267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21185806399999998 meters Centerline goodness : 0.793027 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:-0.01 [[ 9.99962619e-01 3.06117993e-04 -8.64103770e-03 3.79931800e-02] [-2.65404947e-04 9.99988862e-01 4.71234573e-03 5.66847531e-02] [ 8.64238399e-03 -4.70987620e-03 9.99951562e-01 -8.30852932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24185806399999998 meters Centerline goodness : 0.099224 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.01 [[ 9.99989401e-01 7.21665813e-04 -4.54727073e-03 5.58011471e-02] [-7.25252049e-04 9.99999427e-01 -7.87057256e-04 6.51840047e-02] [ 4.54670013e-03 7.90346831e-04 9.99989351e-01 -1.06552304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.271858064 meters Centerline goodness : 0.787525 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.01 [[ 9.99985422e-01 -7.13245630e-04 -5.35220604e-03 6.03181921e-02] [ 7.06951957e-04 9.99999057e-01 -1.17770246e-03 7.12992445e-02] [ 5.35304098e-03 1.17390154e-03 9.99984983e-01 -1.16458212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.301858064 meters Centerline goodness : 0.815180 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-0.01 [[ 9.99972205e-01 -2.86468569e-03 -6.88350553e-03 6.92696372e-02] [ 2.86030719e-03 9.99995701e-01 -6.45846028e-04 8.07920208e-02] [ 6.88532608e-03 6.26139136e-04 9.99976100e-01 -1.33732732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33185806399999995 meters Centerline goodness : 0.808678 Centerline is valid? [False, False] Translation: X:0.07, Y:0.09, Z:-0.01 [[ 0.99995856 -0.00499896 -0.00760872 0.07312219] [ 0.0049869 0.99998628 -0.00160304 0.08556584] [ 0.00761663 0.00156503 0.99996977 -0.01375273] [ 0. 0. 0. 1. ]] SLAMing on 0.361858064 meters Centerline goodness : 0.788750 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.01 [[ 9.99945155e-01 -5.87406244e-03 -8.67073196e-03 7.91259118e-02] [ 5.87490023e-03 9.99982740e-01 7.11552682e-05 8.86443867e-02] [ 8.67016433e-03 -1.22091051e-04 9.99962406e-01 -1.48851658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.391858064 meters Centerline goodness : 0.790998 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.02 [[ 0.99992774 -0.0072172 -0.00961411 0.08543011] [ 0.00723062 0.99997293 0.00136191 0.09174402] [ 0.00960402 -0.00143132 0.99995286 -0.01639639] [ 0. 0. 0. 1. ]] SLAMing on 0.421858064 meters Centerline goodness : 0.407089 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.02 [[ 9.99855501e-01 -1.26775756e-02 -1.13250621e-02 9.44658482e-02] [ 1.26724988e-02 9.99919565e-01 -5.19929705e-04 9.90105030e-02] [ 1.13307426e-02 3.76337739e-04 9.99935734e-01 -1.72542785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45185806399999995 meters Centerline goodness : 0.367581 Centerline is valid? [False, False] Translation: X:0.10, Y:0.10, Z:-0.02 [[ 9.99819798e-01 -1.42398103e-02 -1.25538290e-02 1.01647771e-01] [ 1.42492806e-02 9.99898253e-01 6.65246913e-04 1.01437364e-01] [ 1.25430787e-02 -8.44010067e-04 9.99920976e-01 -1.91206013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.481858064 meters Centerline goodness : 0.093931 Centerline is valid? [False, False] Translation: X:0.11, Y:0.10, Z:-0.02 [[ 0.99979271 -0.01522649 -0.01351641 0.1077525 ] [ 0.0152575 0.99988119 0.00219453 0.10352511] [ 0.01348139 -0.0024003 0.99990624 -0.02063229] [ 0. 0. 0. 1. ]] SLAMing on 0.511858064 meters Centerline goodness : 0.491623 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.02 [[ 0.99981482 -0.01424014 -0.01294352 0.13058801] [ 0.01428599 0.99989197 0.00345693 0.10479534] [ 0.0128929 -0.0036412 0.99991025 -0.02010185] [ 0. 0. 0. 1. ]] SLAMing on 0.541858064 meters Centerline goodness : 0.343572 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.02 [[ 0.99971535 -0.0185494 -0.0150048 0.14420876] [ 0.01862441 0.99981467 0.00487512 0.1128939 ] [ 0.01491159 -0.00515319 0.99987554 -0.02224753] [ 0. 0. 0. 1. ]] SLAMing on 0.5718580639999999 meters Centerline goodness : 0.124962 Centerline is valid? [False, False] Translation: X:0.15, Y:0.12, Z:-0.02 [[ 0.99968506 -0.01916397 -0.01620269 0.1511488 ] [ 0.01927852 0.99979004 0.0069437 0.11547446] [ 0.01606622 -0.00725388 0.99984462 -0.02381601] [ 0. 0. 0. 1. ]] SLAMing on 0.601858064 meters Centerline goodness : 0.081072 Centerline is valid? [False, False] Translation: X:0.16, Y:0.12, Z:-0.03 [[ 0.99955701 -0.02363621 -0.01808614 0.16483286] [ 0.02378507 0.9996846 0.0080602 0.12153437] [ 0.01788992 -0.00848681 0.99980394 -0.02641889] [ 0. 0. 0. 1. ]] SLAMing on 0.631858064 meters Centerline goodness : 0.077278 Centerline is valid? [False, False] Translation: X:0.19, Y:0.12, Z:-0.03 [[ 0.99956535 -0.0232174 -0.01816766 0.18711042] [ 0.02333435 0.99970817 0.00625214 0.12379468] [ 0.0180172 -0.00667336 0.99981541 -0.02653825] [ 0. 0. 0. 1. ]] SLAMing on 0.6618580639999999 meters Centerline goodness : 0.075783 Centerline is valid? [False, False] Translation: X:0.21, Y:0.13, Z:-0.03 [[ 0.99960425 -0.02294938 -0.01626842 0.20743875] [ 0.02301288 0.99972822 0.00372668 0.12698194] [ 0.01617847 -0.00409958 0.99986072 -0.02691096] [ 0. 0. 0. 1. ]] SLAMing on 0.6918580639999999 meters Centerline goodness : 0.074472 Centerline is valid? [False, False] Translation: X:0.21, Y:0.13, Z:-0.03 [[ 0.99954457 -0.02502155 -0.01686953 0.21180065] [ 0.02507828 0.9996805 0.00315921 0.13018202] [ 0.01678509 -0.00358083 0.99985271 -0.02759211] [ 0. 0. 0. 1. ]] SLAMing on 0.721858064 meters Centerline goodness : 0.071581 Centerline is valid? [False, False] Translation: X:0.24, Y:0.14, Z:-0.03 [[ 0.99951087 -0.02747082 -0.01494589 0.24042422] [ 0.02749717 0.99962066 0.00156062 0.13672682] [ 0.01489735 -0.00197082 0.99988709 -0.03033832] [ 0. 0. 0. 1. ]] SLAMing on 0.751858064 meters Centerline goodness : 0.071969 Centerline is valid? [False, False] Translation: X:0.26, Y:0.14, Z:-0.03 [[ 9.99523692e-01 -2.67410184e-02 -1.54047622e-02 2.62241670e-01] [ 2.67521591e-02 9.99641963e-01 5.17549335e-04 1.38433220e-01] [ 1.53854069e-02 -9.29413471e-04 9.99881206e-01 -3.02653971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.781858064 meters Centerline goodness : 0.071969 Centerline is valid? [False, False] Translation: X:0.26, Y:0.14, Z:-0.03 [[ 9.99523692e-01 -2.67410184e-02 -1.54047622e-02 2.62241670e-01] [ 2.67521591e-02 9.99641963e-01 5.17549335e-04 1.38433220e-01] [ 1.53854069e-02 -9.29413471e-04 9.99881206e-01 -3.02653971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8118580639999999 meters Centerline goodness : 0.133707 Centerline is valid? [False, False] Translation: X:0.28, Y:0.14, Z:-0.03 [[ 9.99520909e-01 -2.64402345e-02 -1.60893129e-02 2.84578504e-01] [ 2.64289016e-02 9.99650275e-01 -9.16631154e-04 1.40502178e-01] [ 1.61079220e-02 4.90969137e-04 9.99870138e-01 -3.04837063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.841858064 meters Centerline goodness : 0.125621 Centerline is valid? [False, False] Translation: X:0.31, Y:0.14, Z:-0.03 [[ 9.99520823e-01 -2.60112724e-02 -1.67790809e-02 3.07381049e-01] [ 2.59911805e-02 9.99661172e-01 -1.41443255e-03 1.41952844e-01] [ 1.68101868e-02 9.77646663e-04 9.99858221e-01 -3.02654645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.871858064 meters Centerline goodness : 0.086739 Centerline is valid? [False, False] Translation: X:0.34, Y:0.15, Z:-0.03 [[ 0.99941941 -0.0298205 -0.01647996 0.34339999] [ 0.029842 0.99955407 0.00106038 0.14600724] [ 0.01644099 -0.00155156 0.99986363 -0.03270114] [ 0. 0. 0. 1. ]] SLAMing on 0.9018580639999999 meters Centerline goodness : 0.153375 Centerline is valid? [False, False] Translation: X:0.35, Y:0.15, Z:-0.03 [[ 0.99928634 -0.03298448 -0.01840754 0.35382765] [ 0.03304575 0.99944924 0.00303383 0.1477566 ] [ 0.01829733 -0.00363996 0.99982596 -0.03367345] [ 0. 0. 0. 1. ]] SLAMing on 0.9318580639999999 meters Centerline goodness : 0.178250 Centerline is valid? [False, False] Translation: X:0.38, Y:0.15, Z:-0.03 [[ 9.99255198e-01 -3.41263756e-02 -1.80122109e-02 3.75884746e-01] [ 3.41390122e-02 9.99417016e-01 3.94445948e-04 1.49821305e-01] [ 1.79882490e-02 -1.00907125e-03 9.99837689e-01 -3.40872200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.961858064 meters Centerline goodness : 0.531475 Centerline is valid? [False, False] Translation: X:0.41, Y:0.15, Z:-0.04 [[ 0.99907159 -0.04077453 -0.01390679 0.41305897] [ 0.0408175 0.99916264 0.00282041 0.15071396] [ 0.01378014 -0.00338543 0.99989932 -0.03699099] [ 0. 0. 0. 1. ]] SLAMing on 0.991858064 meters Centerline goodness : 0.534792 Centerline is valid? [False, False] Translation: X:0.44, Y:0.15, Z:-0.04 [[ 0.99901489 -0.04216911 -0.01382059 0.43561666] [ 0.04219074 0.99910876 0.00127681 0.15145139] [ 0.01375443 -0.00185865 0.99990368 -0.03724538] [ 0. 0. 0. 1. ]] SLAMing on 1.0218580640000001 meters Centerline goodness : 0.521177 Centerline is valid? [False, False] Translation: X:0.46, Y:0.15, Z:-0.04 [[ 0.99897545 -0.04294008 -0.01428954 0.45928801] [ 0.04296806 0.99907507 0.00165706 0.15067303] [ 0.01420517 -0.00226936 0.99989653 -0.03731317] [ 0. 0. 0. 1. ]] SLAMing on 1.0518580640000001 meters Centerline goodness : 0.543801 Centerline is valid? [False, False] Translation: X:0.50, Y:0.15, Z:-0.04 [[ 0.99862009 -0.05062801 -0.01395404 0.50025756] [ 0.05071435 0.99869574 0.00590493 0.15097239] [ 0.01363688 -0.00660445 0.9998852 -0.03931132] [ 0. 0. 0. 1. ]] SLAMing on 1.0818580640000002 meters Centerline goodness : 0.550488 Centerline is valid? [False, False] Translation: X:0.52, Y:0.15, Z:-0.04 [[ 0.99854303 -0.05151446 -0.01606509 0.52307873] [ 0.05158474 0.99866065 0.00399086 0.15169223] [ 0.01583798 -0.00481376 0.99986298 -0.03960229] [ 0. 0. 0. 1. ]] SLAMing on 1.111858064 meters Centerline goodness : 0.547827 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.04 [[ 0.99847941 -0.05229362 -0.0174427 0.54595959] [ 0.0523492 0.99862507 0.00274452 0.15193061] [ 0.01727519 -0.00365346 0.9998441 -0.0399036 ] [ 0. 0. 0. 1. ]] SLAMing on 1.141858064 meters Centerline goodness : 0.583696 Centerline is valid? [False, False] Translation: X:0.59, Y:0.15, Z:-0.04 [[ 0.99805575 -0.06036633 -0.0155124 0.58518914] [ 0.0604681 0.99815102 0.00617683 0.15227999] [ 0.01511084 -0.00710283 0.9998606 -0.04142319] [ 0. 0. 0. 1. ]] SLAMing on 1.171858064 meters Centerline goodness : 0.593464 Centerline is valid? [False, False] Translation: X:0.61, Y:0.15, Z:-0.04 [[ 0.99801872 -0.06128576 -0.0142372 0.60600223] [ 0.06134744 0.99810871 0.00393588 0.15316384] [ 0.01396906 -0.0048015 0.9998909 -0.04189493] [ 0. 0. 0. 1. ]] SLAMing on 1.201858064 meters Centerline goodness : 0.589187 Centerline is valid? [False, False] Translation: X:0.63, Y:0.15, Z:-0.04 [[ 0.99802531 -0.06122541 -0.01403287 0.62793175] [ 0.06127515 0.99811597 0.00314194 0.15330402] [ 0.01381407 -0.00399561 0.9998966 -0.04271238] [ 0. 0. 0. 1. ]] SLAMing on 1.231858064 meters Centerline goodness : 0.610467 Centerline is valid? [False, False] Translation: X:0.65, Y:0.15, Z:-0.04 [[ 0.99800636 -0.06103456 -0.01606518 0.65015208] [ 0.06105888 0.99813364 0.00102691 0.15467965] [ 0.01597251 -0.00200579 0.99987042 -0.04286696] [ 0. 0. 0. 1. ]] SLAMing on 1.2618580640000001 meters Centerline goodness : 0.692435 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.05 [[ 9.97941783e-01 -6.20101972e-02 -1.63381126e-02 6.77188310e-01] [ 6.20222632e-02 9.98074739e-01 2.32368027e-04 1.58319090e-01] [ 1.62922483e-02 -1.24521648e-03 9.99866497e-01 -4.54438514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2918580640000001 meters Centerline goodness : 0.652977 Centerline is valid? [False, False] Translation: X:0.69, Y:0.16, Z:-0.05 [[ 0.99819384 -0.05757761 -0.01714282 0.69389563] [ 0.05751504 0.99833613 -0.00412165 0.16108034] [ 0.01735161 0.00312824 0.99984456 -0.04862115] [ 0. 0. 0. 1. ]] SLAMing on 1.321858064 meters Centerline goodness : 0.768737 Centerline is valid? [False, False] Translation: X:0.71, Y:0.16, Z:-0.05 [[ 0.99843818 -0.05284463 -0.01812876 0.70996468] [ 0.05269577 0.99857364 -0.00859309 0.16379441] [ 0.018557 0.00762436 0.99979873 -0.05149294] [ 0. 0. 0. 1. ]] SLAMing on 1.351858064 meters Centerline goodness : 0.781323 Centerline is valid? [False, False] Translation: X:0.74, Y:0.17, Z:-0.05 [[ 0.99856332 -0.05017279 -0.01881481 0.73582455] [ 0.05004679 0.99872157 -0.00710927 0.16748406] [ 0.01914744 0.00615743 0.99979771 -0.05382319] [ 0. 0. 0. 1. ]] SLAMing on 1.381858064 meters Centerline goodness : 0.789350 Centerline is valid? [False, False] Translation: X:0.75, Y:0.17, Z:-0.06 [[ 0.99879146 -0.04496268 -0.01984891 0.75129211] [ 0.04473593 0.99893005 -0.01172426 0.17051514] [ 0.02035483 0.01082213 0.99973425 -0.05661381] [ 0. 0. 0. 1. ]] SLAMing on 1.411858064 meters Centerline goodness : 0.809536 Centerline is valid? [False, False] Translation: X:0.76, Y:0.17, Z:-0.06 [[ 0.99884842 -0.04315131 -0.0209715 0.75619485] [ 0.04295372 0.99902916 -0.00978302 0.1721758 ] [ 0.0213733 0.00887094 0.99973221 -0.05901512] [ 0. 0. 0. 1. ]] SLAMing on 1.441858064 meters Centerline goodness : 0.818572 Centerline is valid? [False, False] Translation: X:0.76, Y:0.17, Z:-0.06 [[ 0.99891105 -0.04112728 -0.02202846 0.76082171] [ 0.04096793 0.99913127 -0.00763729 0.17361828] [ 0.02232342 0.00672651 0.99972817 -0.06137611] [ 0. 0. 0. 1. ]] SLAMing on 1.471858064 meters Centerline goodness : 0.853154 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.06 [[ 0.99906572 -0.03858908 -0.01945692 0.78244897] [ 0.03844113 0.99922946 -0.00792192 0.17892627] [ 0.01974763 0.00716658 0.99977931 -0.06283392] [ 0. 0. 0. 1. ]] SLAMing on 1.501858064 meters Centerline goodness : 0.861643 Centerline is valid? [False, False] Translation: X:0.80, Y:0.18, Z:-0.06 [[ 0.99922534 -0.03327777 -0.0210075 0.79664936] [ 0.03301308 0.99937265 -0.01282322 0.18227376] [ 0.02142104 0.01211976 0.99969708 -0.06432122] [ 0. 0. 0. 1. ]] SLAMing on 1.5318580640000001 meters Centerline goodness : 0.844546 Centerline is valid? [False, False] Translation: X:0.81, Y:0.18, Z:-0.06 [[ 0.99915083 -0.0334741 -0.02402305 0.80833909] [ 0.03333745 0.99942574 -0.00606662 0.18350462] [ 0.02421233 0.0052606 0.999693 -0.06355593] [ 0. 0. 0. 1. ]] SLAMing on 1.5618580640000002 meters Centerline goodness : 0.875727 Centerline is valid? [False, False] Translation: X:0.81, Y:0.19, Z:-0.07 [[ 0.99917771 -0.03228996 -0.02452083 0.81325021] [ 0.03218154 0.9994705 -0.00480336 0.18891058] [ 0.02466294 0.00401029 0.99968778 -0.06603643] [ 0. 0. 0. 1. ]] SLAMing on 1.591858064 meters Centerline goodness : 0.889973 Centerline is valid? [False, False] Translation: X:0.82, Y:0.19, Z:-0.07 [[ 0.99920423 -0.03060958 -0.02557257 0.81754947] [ 0.03054622 0.99952925 -0.00286493 0.1903435 ] [ 0.02564822 0.00208151 0.99966886 -0.06801401] [ 0. 0. 0. 1. ]] SLAMing on 1.621858064 meters Centerline goodness : 0.878194 Centerline is valid? [False, False] Translation: X:0.83, Y:0.20, Z:-0.07 [[ 0.99938033 -0.02820592 -0.02105656 0.83127052] [ 0.02798991 0.99955323 -0.01048368 0.1961957 ] [ 0.02134286 0.00988782 0.99972332 -0.07218734] [ 0. 0. 0. 1. ]] SLAMing on 1.651858064 meters Centerline goodness : 0.657451 Centerline is valid? [False, False] Translation: X:0.85, Y:0.20, Z:-0.08 [[ 0.99938501 -0.02970922 -0.01862675 0.84745466] [ 0.02965452 0.99955507 -0.00320596 0.19866147] [ 0.01871371 0.00265162 0.99982137 -0.07657106] [ 0. 0. 0. 1. ]] SLAMing on 1.681858064 meters Centerline goodness : 0.900115 Centerline is valid? [False, False] Translation: X:0.85, Y:0.20, Z:-0.08 [[ 9.99412730e-01 -2.80230453e-02 -1.97206750e-02 8.51747497e-01] [ 2.80027679e-02 9.99606995e-01 -1.30367553e-03 2.00445555e-01] [ 1.97494576e-02 7.50676430e-04 9.99804679e-01 -7.85210800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.711858064 meters Centerline goodness : 0.896995 Centerline is valid? [False, False] Translation: X:0.87, Y:0.21, Z:-0.08 [[ 0.99956389 -0.0256381 -0.01465341 0.86544433] [ 0.02552152 0.99964155 -0.00808856 0.2062117 ] [ 0.01485553 0.00771106 0.99985992 -0.08258947] [ 0. 0. 0. 1. ]] SLAMing on 1.741858064 meters Centerline goodness : 0.909975 Centerline is valid? [False, False] Translation: X:0.88, Y:0.21, Z:-0.09 [[ 0.99967011 -0.02274753 -0.01192531 0.88157515] [ 0.02256997 0.99963545 -0.014818 0.21201272] [ 0.01225803 0.01454395 0.99981909 -0.0868417 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7718580640000001 meters Centerline goodness : 0.909845 Centerline is valid? [False, False] Translation: X:0.89, Y:0.22, Z:-0.09 [[ 0.99967031 -0.02213912 -0.01300538 0.88773513] [ 0.02195945 0.99966363 -0.01379918 0.21656482] [ 0.01330651 0.01350904 0.99982021 -0.08933122] [ 0. 0. 0. 1. ]] SLAMing on 1.801858064 meters Centerline goodness : 0.912728 Centerline is valid? [False, False] Translation: X:0.89, Y:0.22, Z:-0.09 [[ 0.99963266 -0.02306776 -0.01422736 0.89131043] [ 0.02285479 0.99962695 -0.01495399 0.2188724 ] [ 0.01456701 0.01462333 0.99978696 -0.0904429 ] [ 0. 0. 0. 1. ]] SLAMing on 1.831858064 meters Centerline goodness : 0.920220 Centerline is valid? [False, False] Translation: X:0.89, Y:0.22, Z:-0.09 [[ 0.99959546 -0.02399117 -0.01527543 0.89436512] [ 0.02374674 0.99959018 -0.01598664 0.2209189 ] [ 0.01565271 0.01561743 0.99975551 -0.09122524] [ 0. 0. 0. 1. ]] SLAMing on 1.861858064 meters Centerline goodness : 0.928336 Centerline is valid? [False, False] Translation: X:0.90, Y:0.22, Z:-0.09 [[ 0.99958049 -0.02378597 -0.01652517 0.90004963] [ 0.02353526 0.99960739 -0.01520377 0.22396206] [ 0.01688032 0.01480846 0.99974785 -0.09329367] [ 0. 0. 0. 1. ]] SLAMing on 1.891858064 meters Centerline goodness : 0.926408 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.09 [[ 0.99956289 -0.02551332 -0.01493622 0.91091259] [ 0.02542028 0.99965645 -0.00638647 0.22266177] [ 0.01509403 0.006004 0.99986805 -0.09381366] [ 0. 0. 0. 1. ]] SLAMing on 1.921858064 meters Centerline goodness : 0.928634 Centerline is valid? [False, False] Translation: X:0.92, Y:0.23, Z:-0.10 [[ 0.9996858 -0.02376887 -0.007959 0.92346391] [ 0.02366836 0.9996418 -0.01249361 0.22761973] [ 0.00825311 0.01230131 0.99989028 -0.0979138 ] [ 0. 0. 0. 1. ]] SLAMing on 1.951858064 meters Centerline goodness : 0.935933 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.10 [[ 0.99972735 -0.02153405 -0.00902805 0.92671896] [ 0.021446 0.99972257 -0.0097397 0.22847453] [ 0.00923528 0.00954343 0.99991181 -0.09881055] [ 0. 0. 0. 1. ]] SLAMing on 1.981858064 meters Centerline goodness : 0.938251 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.10 [[ 0.99976414 -0.02088297 -0.00596379 0.9472714 ] [ 0.02081602 0.99972197 -0.01107577 0.23292493] [ 0.00619343 0.01094902 0.99992088 -0.09934116] [ 0. 0. 0. 1. ]] SLAMing on 2.0118580639999997 meters Centerline goodness : 0.942443 Centerline is valid? [False, False] Translation: X:0.95, Y:0.24, Z:-0.10 [[ 0.99974604 -0.02143568 -0.00695395 0.94972094] [ 0.02135135 0.99970021 -0.01198353 0.23512773] [ 0.00720874 0.01183201 0.99990401 -0.09973122] [ 0. 0. 0. 1. ]] SLAMing on 2.041858064 meters Centerline goodness : 0.940073 Centerline is valid? [False, False] Translation: X:0.95, Y:0.24, Z:-0.10 [[ 0.99976634 -0.01999372 -0.0082163 0.95380199] [ 0.01990761 0.9997474 -0.0104321 0.23567508] [ 0.0084228 0.0102661 0.99991183 -0.10135812] [ 0. 0. 0. 1. ]] SLAMing on 2.0718580639999997 meters Centerline goodness : 0.951449 Centerline is valid? [False, True] Translation: X:0.97, Y:0.24, Z:-0.10 [[ 0.9998549 -0.01354222 -0.01033423 0.96917786] [ 0.01339513 0.99980984 -0.01417263 0.23985344] [ 0.01052419 0.01403215 0.99984616 -0.10278122] [ 0. 0. 0. 1. ]] SLAMing on 2.101858064 meters Centerline goodness : 0.952954 Centerline is valid? [True, True] Translation: X:1.01, Y:0.24, Z:-0.10 [[ 0.99978961 -0.017076 -0.01136446 1.00985088] [ 0.01702568 0.99984488 -0.00451051 0.23835084] [ 0.01143972 0.00431607 0.99992525 -0.10085665] [ 0. 0. 0. 1. ]] SLAMing on 2.1318580639999998 meters Centerline goodness : 0.955117 Centerline is valid? [True, True] Translation: X:1.04, Y:0.25, Z:-0.11 [[ 0.9997637 -0.02097386 -0.00571327 1.04004954] [ 0.02085593 0.99958297 -0.01997307 0.25412468] [ 0.0061298 0.0198492 0.99978419 -0.11172257] [ 0. 0. 0. 1. ]] SLAMing on 2.161858064 meters Centerline goodness : 0.959208 Centerline is valid? [True, True] Translation: X:1.07, Y:0.25, Z:-0.11 [[ 0.99980286 -0.01790331 -0.00858504 1.07146832] [ 0.01787555 0.99983478 -0.00329959 0.2452488 ] [ 0.0086427 0.00314548 0.9999577 -0.10637764] [ 0. 0. 0. 1. ]] SLAMing on 2.191858064 meters Centerline goodness : 0.957254 Centerline is valid? [True, True] Translation: X:1.06, Y:0.26, Z:-0.11 [[ 0.99962952 -0.02411866 -0.01261365 1.06384527] [ 0.02402379 0.99968235 -0.0076194 0.25959329] [ 0.01279341 0.00731355 0.99989141 -0.10730461] [ 0. 0. 0. 1. ]] SLAMing on 2.2218580639999996 meters Centerline goodness : 0.963223 Centerline is valid? [True, True] Translation: X:1.13, Y:0.25, Z:-0.10 [[ 0.99978369 -0.01713906 -0.01178262 1.13134636] [ 0.01720248 0.99983797 0.00530208 0.2452297 ] [ 0.01168984 -0.00550363 0.99991653 -0.10375431] [ 0. 0. 0. 1. ]] SLAMing on 2.251858064 meters Centerline goodness : 0.963369 Centerline is valid? [True, True] Translation: X:1.15, Y:0.26, Z:-0.10 [[ 9.99722847e-01 -1.79990454e-02 -1.51744108e-02 1.15446760e+00] [ 1.79984316e-02 9.99837999e-01 -1.77024596e-04 2.55859748e-01] [ 1.51751388e-02 -9.61400614e-05 9.99884846e-01 -1.04635124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2818580639999997 meters Centerline goodness : 0.964695 Centerline is valid? [True, True] Translation: X:1.15, Y:0.27, Z:-0.11 [[ 0.99966739 -0.02352502 -0.01056831 1.15299181] [ 0.0233718 0.99962321 -0.01439416 0.27353027] [ 0.01090295 0.01414237 0.99984055 -0.10521487] [ 0. 0. 0. 1. ]] SLAMing on 2.311858064 meters Centerline goodness : 0.966776 Centerline is valid? [True, True] Translation: X:1.22, Y:0.25, Z:-0.10 [[ 0.9996376 -0.01563177 -0.02191596 1.21551869] [ 0.01589599 0.99980243 0.0119343 0.25404626] [ 0.02172508 -0.01227835 0.99968858 -0.09903551] [ 0. 0. 0. 1. ]] SLAMing on 2.3418580639999997 meters Centerline goodness : 0.969232 Centerline is valid? [True, True] Translation: X:1.25, Y:0.26, Z:-0.09 [[ 0.99947429 -0.0164651 -0.02792934 1.24922811] [ 0.01668241 0.99983221 0.0075658 0.25873997] [ 0.02780008 -0.00802775 0.99958127 -0.09050901] [ 0. 0. 0. 1. ]] SLAMing on 2.371858064 meters Centerline goodness : 0.969028 Centerline is valid? [True, True] Translation: X:1.28, Y:0.27, Z:-0.09 [[ 0.99940091 -0.01563031 -0.03087917 1.27688534] [ 0.01551086 0.99987128 -0.0041038 0.26609918] [ 0.03093934 0.00362238 0.9995147 -0.08827942] [ 0. 0. 0. 1. ]] SLAMing on 2.401858064 meters Centerline goodness : 0.969450 Centerline is valid? [True, True] Translation: X:1.30, Y:0.27, Z:-0.09 [[ 0.99932292 -0.01406558 -0.03399808 1.30349478] [ 0.01400124 0.99989971 -0.00212971 0.26613923] [ 0.03402463 0.00165225 0.99941963 -0.08628833] [ 0. 0. 0. 1. ]] SLAMing on 2.4318580639999996 meters Centerline goodness : 0.970869 Centerline is valid? [True, True] Translation: X:1.33, Y:0.27, Z:-0.08 [[ 0.99912312 -0.01133877 -0.04030413 1.32998327] [ 0.01082774 0.99985849 -0.01287494 0.27396616] [ 0.04044441 0.01242725 0.99910451 -0.08470737] [ 0. 0. 0. 1. ]] SLAMing on 2.461858064 meters Centerline goodness : 0.973215 Centerline is valid? [True, True] Translation: X:1.37, Y:0.26, Z:-0.08 [[ 0.99924308 -0.01333286 -0.03654453 1.36686701] [ 0.01390274 0.99978499 0.01538474 0.26218745] [ 0.03633155 -0.01588117 0.99921359 -0.0793726 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4918580639999997 meters Centerline goodness : 0.974500 Centerline is valid? [True, True] Translation: X:1.40, Y:0.28, Z:-0.08 [[ 0.99919641 -0.01256332 -0.03806169 1.39656645] [ 0.01225322 0.9998899 -0.0083697 0.27526357] [ 0.03816265 0.00789659 0.99924034 -0.08010879] [ 0. 0. 0. 1. ]] SLAMing on 2.521858064 meters Centerline goodness : 0.975395 Centerline is valid? [True, True] Translation: X:1.43, Y:0.27, Z:-0.08 [[ 0.99906899 -0.01036483 -0.04187755 1.42619179] [ 0.01027588 0.99994447 -0.00233888 0.27398669] [ 0.04189947 0.00190637 0.99912001 -0.07716545] [ 0. 0. 0. 1. ]] SLAMing on 2.5518580639999997 meters Centerline goodness : 0.976638 Centerline is valid? [True, True] Translation: X:1.46, Y:0.28, Z:-0.08 [[ 9.99138915e-01 -6.60184241e-03 -4.09614913e-02 1.45652653e+00] [ 6.54480743e-03 9.99977418e-01 -1.52634887e-03 2.78001124e-01] [ 4.09706430e-02 1.25694948e-03 9.99159560e-01 -7.58364263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.581858064 meters Centerline goodness : 0.979962 Centerline is valid? [True, True] Translation: X:1.49, Y:0.28, Z:-0.07 [[ 0.9990935 -0.00923802 -0.04155534 1.49444106] [ 0.00944133 0.99994439 0.00469896 0.27745002] [ 0.04150962 -0.00508704 0.99912515 -0.06905343] [ 0. 0. 0. 1. ]] SLAMing on 2.6118580639999998 meters Centerline goodness : 0.978496 Centerline is valid? [True, True] Translation: X:1.51, Y:0.28, Z:-0.07 [[ 9.98918616e-01 -6.32399331e-04 -4.64886897e-02 1.51284166e+00] [ 5.62225840e-04 9.99998683e-01 -1.52253463e-03 2.83202767e-01] [ 4.64895913e-02 1.49475104e-03 9.98917656e-01 -6.85221591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6418580639999996 meters Centerline goodness : 0.979649 Centerline is valid? [True, True] Translation: X:1.55, Y:0.30, Z:-0.07 [[ 9.98774416e-01 2.17358626e-04 -4.94936163e-02 1.55320400e+00] [-1.16530323e-03 9.99816425e-01 -1.91248164e-02 2.95768012e-01] [ 4.94803736e-02 1.91590524e-02 9.98591319e-01 -6.80128564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.671858064 meters Centerline goodness : 0.979649 Centerline is valid? [True, True] Translation: X:1.58, Y:0.29, Z:-0.07 [[ 9.98647384e-01 -2.35941231e-04 -5.19937204e-02 1.58468483e+00] [ 1.35507484e-04 9.99998118e-01 -1.93516816e-03 2.88555273e-01] [ 5.19940792e-02 1.92550509e-03 9.98645537e-01 -6.56411681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7018580639999996 meters Centerline goodness : 0.980359 Centerline is valid? [True, True] Translation: X:1.61, Y:0.29, Z:-0.06 [[ 0.99858685 0.00346473 -0.05303107 1.61158779] [-0.00363538 0.99998852 -0.00312184 0.29042356] [ 0.05301965 0.00331022 0.99858798 -0.06354741] [ 0. 0. 0. 1. ]] SLAMing on 2.731858064 meters Centerline goodness : 0.980753 Centerline is valid? [True, True] Translation: X:1.64, Y:0.29, Z:-0.06 [[ 0.99846026 0.00863534 -0.05479539 1.63503767] [-0.00834791 0.99995018 0.00547217 0.28800624] [ 0.05483992 -0.00500632 0.99848261 -0.06411046] [ 0. 0. 0. 1. ]] SLAMing on 2.7618580639999997 meters Centerline goodness : 0.981511 Centerline is valid? [True, True] Translation: X:1.67, Y:0.30, Z:-0.06 [[ 0.99824002 0.0082998 -0.05871952 1.66892465] [-0.00872792 0.99993714 -0.00703816 0.2977227 ] [ 0.05865741 0.00753827 0.99824971 -0.05730125] [ 0. 0. 0. 1. ]] SLAMing on 2.791858064 meters Centerline goodness : 0.988067 Centerline is valid? [True, True] Translation: X:1.69, Y:0.23, Z:-0.05 [[ 0.99979022 0.0180709 -0.00964138 1.69393085] [-0.0162964 0.9869817 0.16000483 0.23034018] [ 0.01240729 -0.15981415 0.98706915 -0.05002661] [ 0. 0. 0. 1. ]] SLAMing on 2.8218580639999997 meters Centerline goodness : 0.988886 Centerline is valid? [True, True] Translation: X:1.72, Y:0.31, Z:-0.06 [[ 9.99772044e-01 2.06776001e-02 -5.31950785e-03 1.72217644e+00] [-2.06787330e-02 9.99786160e-01 -1.58055280e-04 3.09441374e-01] [ 5.31510213e-03 2.68019934e-04 9.99985839e-01 -6.07642438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.851858064 meters Centerline goodness : 0.989688 Centerline is valid? [True, True] Translation: X:1.79, Y:0.35, Z:-0.07 [[ 0.99979042 0.01463727 -0.01431281 1.78882636] [-0.01602252 0.99465362 -0.10201689 0.35257435] [ 0.01274304 0.10222484 0.9946797 -0.06928671] [ 0. 0. 0. 1. ]] SLAMing on 2.8818580639999998 meters Centerline goodness : 0.989798 Centerline is valid? [True, True] Translation: X:1.78, Y:0.26, Z:-0.06 [[ 0.99968625 0.02390126 -0.00749171 1.78180534] [-0.02299792 0.99435886 0.10354496 0.26267988] [ 0.0099243 -0.10334018 0.99459656 -0.05576117] [ 0. 0. 0. 1. ]] SLAMing on 2.9118580639999996 meters Centerline goodness : 0.990460 Centerline is valid? [True, True] Translation: X:1.81, Y:0.31, Z:-0.06 [[ 9.99643274e-01 2.65991260e-02 -2.41045979e-03 1.81007034e+00] [-2.65993768e-02 9.99646171e-01 -7.20144930e-05 3.14936239e-01] [ 2.40769138e-03 1.36105532e-04 9.99997092e-01 -6.08421676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.941858064 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:1.85, Y:0.32, Z:-0.07 [[ 9.99472659e-01 3.24190311e-02 1.84662556e-03 1.85012758e+00] [-3.23752857e-02 9.99272414e-01 -2.01614430e-02 3.16646778e-01] [-2.49889643e-03 2.00910260e-02 9.99795032e-01 -6.88281187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9718580639999996 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:1.92, Y:0.34, Z:-0.07 [[ 0.99989022 0.01049185 -0.01046245 1.92458511] [-0.01085387 0.9993225 -0.03516737 0.3357104 ] [ 0.01008639 0.03527707 0.99932667 -0.06889409] [ 0. 0. 0. 1. ]] SLAMing on 3.001858064 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:1.96, Y:0.31, Z:-0.06 [[ 0.99984578 0.00272425 -0.01734899 1.96108196] [-0.00253079 0.99993448 0.0111634 0.31344174] [ 0.01737827 -0.01111777 0.99978717 -0.05811868] [ 0. 0. 0. 1. ]] SLAMing on 3.0318580639999997 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:1.97, Y:0.33, Z:-0.06 [[ 9.99862280e-01 -2.53817487e-03 -1.64005910e-02 1.97210199e+00] [ 2.51944149e-03 9.99996150e-01 -1.16279859e-03 3.29095772e-01] [ 1.64034792e-02 1.12131812e-03 9.99864825e-01 -5.98148258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.061858064 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:2.01, Y:0.33, Z:-0.07 [[ 0.9999306 -0.00539342 -0.0104741 2.01015213] [ 0.00527018 0.99991698 -0.01175827 0.33454779] [ 0.01053665 0.01170225 0.99987601 -0.06974271] [ 0. 0. 0. 1. ]] SLAMing on 3.0918580639999997 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:2.03, Y:0.33, Z:-0.06 [[ 0.99975882 -0.01257199 -0.01800683 2.03415397] [ 0.01272821 0.99988212 0.0085874 0.32936196] [ 0.01789675 -0.00881452 0.99980099 -0.06130479] [ 0. 0. 0. 1. ]] SLAMing on 3.121858064 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:2.01, Y:0.31, Z:-0.06 [[ 9.99990034e-01 1.77503539e-03 -4.09654914e-03 2.00708865e+00] [-1.58855202e-03 9.98981901e-01 4.50847861e-02 3.10768795e-01] [ 4.17240554e-03 -4.50778292e-02 9.98974765e-01 -5.81596576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.151858064 meters Centerline goodness : 0.992693 Centerline is valid? [True, True] Translation: X:2.04, Y:0.33, Z:-0.06 [[ 9.99986810e-01 5.10888686e-03 -5.28002642e-04 2.04387898e+00] [-5.11485690e-03 9.99914884e-01 -1.20026364e-02 3.31192524e-01] [ 4.66637589e-04 1.20051788e-02 9.99927826e-01 -6.44995993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1818580639999996 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:2.11, Y:0.36, Z:-0.07 [[ 0.99977698 -0.01621226 -0.01353323 2.10841406] [ 0.01548371 0.99851106 -0.05230594 0.3629698 ] [ 0.01436108 0.05208473 0.9985394 -0.06632259] [ 0. 0. 0. 1. ]] SLAMing on 3.211858064 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:2.09, Y:0.30, Z:-0.06 [[ 0.9999731 -0.00551974 -0.00483079 2.09161981] [ 0.00583326 0.99770271 0.0674928 0.30405321] [ 0.00444715 -0.06751916 0.99770807 -0.05742769] [ 0. 0. 0. 1. ]] SLAMing on 3.2418580639999997 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:2.12, Y:0.34, Z:-0.06 [[ 9.99978396e-01 -6.14645275e-03 -2.32992090e-03 2.11956070e+00] [ 6.14625360e-03 9.99981107e-01 -9.26261251e-05 3.38270727e-01] [ 2.33044620e-03 7.83038393e-05 9.99997281e-01 -6.05111275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.271858064 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:2.20, Y:0.38, Z:-0.06 [[ 0.99989992 -0.00654092 -0.01254477 2.19691982] [ 0.00541323 0.99611369 -0.08791027 0.38311844] [ 0.01307103 0.08783357 0.9960494 -0.06371943] [ 0. 0. 0. 1. ]] SLAMing on 3.3018580639999997 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:2.18, Y:0.30, Z:-0.06 [[ 0.99996415 -0.00718961 -0.00447356 2.17684117] [ 0.00756189 0.99594206 0.08967851 0.29874517] [ 0.00381066 -0.08970912 0.99596072 -0.0601579 ] [ 0. 0. 0. 1. ]] SLAMing on 3.331858064 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:2.20, Y:0.35, Z:-0.06 [[ 9.99983041e-01 -5.81829164e-03 2.54515483e-04 2.20428368e+00] [ 5.81828931e-03 9.99983074e-01 9.90529088e-06 3.46992001e-01] [-2.54568806e-04 -8.42427818e-06 9.99999968e-01 -6.37461919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3618580639999998 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:2.23, Y:0.35, Z:-0.06 [[ 9.99983397e-01 -5.52119466e-03 1.64982559e-03 2.23472789e+00] [ 5.52109462e-03 9.99984757e-01 6.51864690e-05 3.50313438e-01] [-1.65016035e-03 -5.60765435e-05 9.99998637e-01 -6.38252070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3918580639999996 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:2.27, Y:0.35, Z:-0.06 [[ 9.99985885e-01 -4.90011142e-03 2.05418919e-03 2.26590963e+00] [ 4.89995454e-03 9.99987992e-01 8.13990548e-05 3.53273297e-01] [-2.05456338e-03 -7.13324721e-05 9.99997887e-01 -6.41382828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421858064 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:2.30, Y:0.36, Z:-0.06 [[ 9.99987948e-01 -3.85097377e-03 3.04517287e-03 2.29731494e+00] [ 3.85062487e-03 9.99992579e-01 1.20426958e-04 3.57987107e-01] [-3.04561403e-03 -1.08699689e-04 9.99995356e-01 -6.40671389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4518580639999996 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:2.36, Y:0.41, Z:-0.06 [[ 9.99966139e-01 -9.12443036e-04 -8.17857310e-03 2.35587424e+00] [ 1.14125887e-04 9.95276159e-01 -9.70842674e-02 4.11461246e-01] [ 8.22852268e-03 9.70800466e-02 9.95242561e-01 -6.10634042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481858064 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:2.39, Y:0.35, Z:-0.07 [[ 0.99983594 -0.01309016 -0.01251976 2.39175265] [ 0.0134321 0.99952797 0.02763015 0.35269522] [ 0.01215217 -0.02779378 0.99953981 -0.06556411] [ 0. 0. 0. 1. ]] SLAMing on 3.5118580639999997 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:2.42, Y:0.37, Z:-0.06 [[ 9.99888771e-01 2.92464543e-03 -1.46250793e-02 2.42158169e+00] [-2.91279513e-03 9.99995412e-01 8.31508378e-04 3.69526157e-01] [ 1.46274441e-02 -7.88816030e-04 9.99892702e-01 -5.68072879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.541858064 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:2.43, Y:0.36, Z:-0.06 [[ 0.99998726 -0.00409917 -0.0029459 2.42907982] [ 0.00421025 0.99924015 0.03874776 0.35509204] [ 0.00278483 -0.03875967 0.99924468 -0.06392383] [ 0. 0. 0. 1. ]] SLAMing on 3.5718580639999997 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:2.46, Y:0.37, Z:-0.06 [[ 9.99960751e-01 -8.56511362e-03 -2.26604030e-03 2.45709549e+00] [ 8.59213360e-03 9.99888714e-01 1.21956889e-02 3.74617595e-01] [ 2.16133066e-03 -1.22146804e-02 9.99923062e-01 -6.41214710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6018580639999995 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:2.49, Y:0.39, Z:-0.07 [[ 9.99997936e-01 5.20680171e-04 1.96379608e-03 2.48969060e+00] [-4.84212925e-04 9.99828285e-01 -1.85247529e-02 3.89131292e-01] [-1.97310434e-03 1.85237638e-02 9.99826473e-01 -6.65406142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6318580639999998 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:2.52, Y:0.38, Z:-0.06 [[ 9.99933602e-01 -9.48162985e-04 -1.14844922e-02 2.51683625e+00] [ 1.15582496e-03 9.99835716e-01 1.80888276e-02 3.82916610e-01] [ 1.14654544e-02 -1.81009006e-02 9.99770424e-01 -6.30985267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6618580639999996 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:2.56, Y:0.42, Z:-0.06 [[ 9.99950075e-01 -1.89278641e-04 -9.99061760e-03 2.55994212e+00] [-4.01631089e-04 9.98251316e-01 -5.91113296e-02 4.24079293e-01] [ 9.98433568e-03 5.91123910e-02 9.98201402e-01 -6.22975580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.691858064 meters Centerline goodness : 0.995795 Centerline is valid? [True, True] Translation: X:2.58, Y:0.37, Z:-0.06 [[ 9.99967501e-01 1.49184763e-03 -7.92277323e-03 2.57714359e+00] [-1.02213560e-03 9.98259657e-01 5.89628031e-02 3.69905224e-01] [ 7.99694841e-03 -5.89527888e-02 9.98228740e-01 -6.34754424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7218580639999996 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:2.60, Y:0.40, Z:-0.06 [[ 9.99955887e-01 -1.54936072e-03 -9.26409493e-03 2.60398331e+00] [ 1.54499143e-03 9.99998692e-01 -4.78774717e-04 4.01304840e-01] [ 9.26482460e-03 4.64440650e-04 9.99956973e-01 -6.06704119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.751858064 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:2.63, Y:0.40, Z:-0.07 [[ 9.99997331e-01 -1.21392457e-03 -1.96577820e-03 2.63051993e+00] [ 1.21372581e-03 9.99999258e-01 -1.02301315e-04 4.04014068e-01] [ 1.96590093e-03 9.99151266e-05 9.99998063e-01 -6.67457017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7818580639999997 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:2.66, Y:0.41, Z:-0.07 [[ 9.99996435e-01 -1.67855725e-03 -2.07679007e-03 2.65987084e+00] [ 1.67833697e-03 9.99998586e-01 -1.07805692e-04 4.06815132e-01] [ 2.07696809e-03 1.04319754e-04 9.99997838e-01 -6.69051676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.811858064 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:2.69, Y:0.41, Z:-0.07 [[ 9.99996553e-01 -1.89047937e-03 -1.82193053e-03 2.68912753e+00] [ 1.89031018e-03 9.99998209e-01 -9.45793723e-05 4.09527602e-01] [ 1.82210607e-03 9.11350325e-05 9.99998336e-01 -6.71638935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8418580639999997 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:2.72, Y:0.41, Z:-0.07 [[ 9.99985395e-01 -4.18300814e-03 -3.42240192e-03 2.71857429e+00] [ 4.18242446e-03 9.99991238e-01 -1.77685548e-04 4.13461949e-01] [ 3.42311519e-03 1.63369015e-04 9.99994128e-01 -6.70971461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8718580639999995 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:2.75, Y:0.42, Z:-0.07 [[ 9.99985648e-01 -4.88536806e-03 -2.19935767e-03 2.74694809e+00] [ 4.88512676e-03 9.99988061e-01 -1.15069896e-04 4.16049017e-01] [ 2.19989357e-03 1.04324104e-04 9.99997575e-01 -6.75987258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.901858064 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] Translation: X:2.78, Y:0.42, Z:-0.07 [[ 9.99973771e-01 -6.83175686e-03 -2.40510859e-03 2.77672430e+00] [ 6.83147476e-03 9.99976657e-01 -1.25486865e-04 4.19162947e-01] [ 2.40590974e-03 1.09053135e-04 9.99997100e-01 -6.78820765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9318580639999996 meters Centerline goodness : 0.997632 Centerline is valid? [True, True] Translation: X:2.81, Y:0.42, Z:-0.07 [[ 9.99954938e-01 -8.91272407e-03 -3.26872529e-03 2.80625073e+00] [ 8.91221412e-03 9.99960271e-01 -1.70542466e-04 4.22309997e-01] [ 3.27011543e-03 1.41403202e-04 9.99994643e-01 -6.77448227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.961858064 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:2.83, Y:0.43, Z:-0.07 [[ 9.99930269e-01 -1.11573654e-02 -3.86925127e-03 2.83431269e+00] [ 1.11566667e-02 9.99937742e-01 -2.02102359e-04 4.26002629e-01] [ 3.87126530e-03 1.58920319e-04 9.99992494e-01 -6.80823813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9918580639999997 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:2.86, Y:0.43, Z:-0.07 [[ 9.99920782e-01 -1.19344613e-02 -3.99979667e-03 2.86261031e+00] [ 1.19337201e-02 9.99928769e-01 -2.09142336e-04 4.28374439e-01] [ 4.00200776e-03 1.61393314e-04 9.99991979e-01 -6.80242690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.021858064 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:2.89, Y:0.43, Z:-0.07 [[ 9.99913345e-01 -1.27022434e-02 -3.45755288e-03 2.89137674e+00] [ 1.27016908e-02 9.99919314e-01 -1.81741848e-04 4.30582715e-01] [ 3.45958243e-03 1.37809332e-04 9.99994006e-01 -6.83293209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.051858064 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:2.92, Y:0.43, Z:-0.07 [[ 9.99881526e-01 -1.50206682e-02 -3.36364858e-03 2.92024416e+00] [ 1.50201587e-02 9.99887175e-01 -1.76660904e-04 4.34166101e-01] [ 3.36592264e-03 1.26117438e-04 9.99994327e-01 -6.73991717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081858064 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:2.95, Y:0.44, Z:-0.07 [[ 9.99864759e-01 -1.62050971e-02 -2.80314355e-03 2.94981601e+00] [ 1.62047478e-02 9.99868684e-01 -1.47281489e-04 4.37166757e-01] [ 2.80516216e-03 1.01837337e-04 9.99996060e-01 -6.73276090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.111858064 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:2.98, Y:0.44, Z:-0.07 [[ 9.99856849e-01 -1.66942578e-02 -2.75365549e-03 2.97983439e+00] [ 1.66939224e-02 9.99860636e-01 -1.44757372e-04 4.39670134e-01] [ 2.75568835e-03 9.87673388e-05 9.99996198e-01 -6.67353974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141858064 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:3.01, Y:0.44, Z:-0.07 [[ 9.99837313e-01 -1.79486481e-02 -1.78692971e-03 3.00921806e+00] [ 1.79485089e-02 9.99838908e-01 -9.38885322e-05 4.42908275e-01] [ 1.78832703e-03 6.18005338e-05 9.99998399e-01 -6.65000165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.171858064 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:3.04, Y:0.45, Z:-0.07 [[ 9.99835583e-01 -1.80985722e-02 -1.11724162e-03 3.03996239e+00] [ 1.80985179e-02 9.99836207e-01 -5.87059316e-05 4.45144083e-01] [ 1.11812112e-03 3.84758619e-05 9.99999374e-01 -6.65692889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2018580640000005 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:3.07, Y:0.45, Z:-0.07 [[ 9.99829638e-01 -1.83444334e-02 -2.04356162e-03 3.07081275e+00] [ 1.83442522e-02 9.99831724e-01 -1.07379806e-04 4.47436615e-01] [ 2.04518756e-03 6.98739033e-05 9.99997906e-01 -6.59929961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.231858064 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:3.10, Y:0.45, Z:-0.07 [[ 9.99867704e-01 -1.62337059e-02 -1.02058746e-03 3.10058126e+00] [ 1.62336596e-02 9.99868224e-01 -5.36703927e-05 4.49585675e-01] [ 1.02132424e-03 3.70954229e-05 9.99999478e-01 -6.73534080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.261858064 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:3.13, Y:0.45, Z:-0.07 [[ 9.99879176e-01 -1.54923397e-02 -1.27297401e-03 3.13112216e+00] [ 1.54922670e-02 9.99879985e-01 -6.69066978e-05 4.53027422e-01] [ 1.27385777e-03 4.71773606e-05 9.99999188e-01 -6.53150064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.291858064 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:3.16, Y:0.46, Z:-0.07 [[ 9.99902906e-01 -1.39162182e-02 -7.19374741e-04 3.16104198e+00] [ 1.39161946e-02 9.99903164e-01 -3.78098752e-05 4.56660125e-01] [ 7.19831250e-04 2.77952452e-05 9.99999741e-01 -6.52717012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.321858064000001 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:3.19, Y:0.46, Z:-0.07 [[ 9.99950152e-01 -9.87025358e-03 -1.50693189e-03 3.19170212e+00] [ 9.87014541e-03 9.99951286e-01 -7.92033739e-05 4.60382669e-01] [ 1.50764024e-03 6.43257890e-05 9.99998861e-01 -6.52943310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.351858064 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:3.22, Y:0.46, Z:-0.07 [[ 9.99965025e-01 -8.16643037e-03 -1.80492691e-03 3.22201985e+00] [ 8.16627241e-03 9.99966651e-01 -9.48658015e-05 4.61880401e-01] [ 1.80564144e-03 8.01229587e-05 9.99998367e-01 -6.53757520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381858064 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:3.25, Y:0.46, Z:-0.07 [[ 9.99966467e-01 -8.05334736e-03 -1.48605362e-03 3.25154067e+00] [ 8.05324009e-03 9.99967569e-01 -7.81548426e-05 4.64131753e-01] [ 1.48663484e-03 6.61846752e-05 9.99998893e-01 -6.57747660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4118580640000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:3.28, Y:0.47, Z:-0.07 [[ 9.99975599e-01 -6.98448876e-03 -1.37985446e-04 3.28096647e+00] [ 6.98448782e-03 9.99975608e-01 -7.28415198e-06 4.66021434e-01] [ 1.38032957e-04 6.32021658e-06 9.99999990e-01 -6.60045759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.441858064 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:3.31, Y:0.47, Z:-0.07 [[ 9.99980729e-01 -5.92092871e-03 1.86675542e-03 3.31109398e+00] [ 5.92075575e-03 9.99982467e-01 9.81661603e-05 4.68914503e-01] [-1.86730392e-03 -8.71116657e-05 9.99998253e-01 -6.73554488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.471858064 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:3.34, Y:0.47, Z:-0.07 [[ 9.99978554e-01 -6.34512315e-03 1.62206206e-03 3.34232458e+00] [ 6.34499309e-03 9.99979867e-01 8.53149975e-05 4.71969075e-01] [-1.62257074e-03 -7.50211952e-05 9.99998681e-01 -6.65121452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501858064 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.37, Y:0.48, Z:-0.07 [[ 9.99977393e-01 -6.56589855e-03 1.44986203e-03 3.37362319e+00] [ 6.56579492e-03 9.99978442e-01 7.62249015e-05 4.75071930e-01] [-1.45033126e-03 -6.67036815e-05 9.99998946e-01 -6.65527786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.531858064000001 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:3.40, Y:0.48, Z:-0.07 [[ 9.99960277e-01 -8.90318600e-03 4.21871515e-04 3.40480772e+00] [ 8.90317729e-03 9.99960366e-01 2.25251830e-05 4.79837632e-01] [-4.22055340e-04 -1.87682913e-05 9.99999911e-01 -6.78203623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561858064 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.44, Y:0.49, Z:-0.07 [[ 9.99949199e-01 -9.75753130e-03 -2.52799262e-03 3.43597412e+00] [ 9.73169429e-03 9.99902255e-01 -1.00386521e-02 4.86593247e-01] [ 2.62569798e-03 1.00135405e-02 9.99946416e-01 -6.84766470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.591858064 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:3.47, Y:0.48, Z:-0.07 [[ 9.99913471e-01 -1.30220528e-02 -1.86448710e-03 3.46612290e+00] [ 1.30395980e-02 9.99867645e-01 9.72944619e-03 4.78880655e-01] [ 1.73754296e-03 -9.75291647e-03 9.99950930e-01 -6.98872899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.621858064 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:3.50, Y:0.49, Z:-0.07 [[ 9.99914262e-01 -1.30247204e-02 -1.35076327e-03 3.49683172e+00] [ 1.30246366e-02 9.99915173e-01 -7.08586165e-05 4.85218489e-01] [ 1.35157161e-03 5.32593405e-05 9.99999085e-01 -6.94072626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.651858064 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:3.53, Y:0.49, Z:-0.07 [[ 9.99872850e-01 -1.57684172e-02 -2.37489234e-03 3.52727172e+00] [ 1.57681659e-02 9.99875667e-01 -1.24513553e-04 4.87345162e-01] [ 2.37656045e-03 8.70500248e-05 9.99997172e-01 -6.94430709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681858064 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:3.56, Y:0.49, Z:-0.07 [[ 9.99774941e-01 -2.10471455e-02 -2.66163881e-03 3.55643929e+00] [ 2.10468483e-02 9.99778481e-01 -1.39628625e-04 4.91098538e-01] [ 2.66398799e-03 8.35780922e-05 9.99996448e-01 -6.92308494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.711858064 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:3.59, Y:0.49, Z:-0.07 [[ 9.99717198e-01 -2.36825538e-02 -2.15900128e-03 3.58709126e+00] [ 2.36823644e-02 9.99719527e-01 -1.13232284e-04 4.93391103e-01] [ 2.16107737e-03 6.20700060e-05 9.99997663e-01 -6.95851737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7418580640000005 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:3.62, Y:0.49, Z:-0.07 [[ 9.99575188e-01 -2.91027856e-02 -1.57230033e-03 3.61716805e+00] [ 2.91026918e-02 9.99576424e-01 -8.24618117e-05 4.94356128e-01] [ 1.57403421e-03 3.66686088e-05 9.99998761e-01 -6.99508623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:0.50, Z:-0.07 [[ 9.99506199e-01 -3.13624975e-02 -1.93679129e-03 3.64773970e+00] [ 3.13623596e-02 9.99508075e-01 -1.01510200e-04 4.95265768e-01] [ 1.93902215e-03 4.07177288e-05 9.99998119e-01 -6.98666535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:0.50, Z:-0.07 [[ 9.99429142e-01 -3.37109597e-02 -2.22734776e-03 3.67903717e+00] [ 3.37107834e-02 9.99431623e-01 -1.16632959e-04 4.96704024e-01] [ 2.23001360e-03 4.14807396e-05 9.99997513e-01 -6.99047604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.831858064 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:3.71, Y:0.50, Z:-0.07 [[ 9.99326237e-01 -3.66379264e-02 -2.17595673e-03 3.70993155e+00] [ 3.66377653e-02 9.99328605e-01 -1.13858331e-04 4.97623404e-01] [ 2.17866734e-03 3.40594257e-05 9.99997626e-01 -7.02819414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.861858064 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:3.74, Y:0.50, Z:-0.07 [[ 9.99322793e-01 -3.67263077e-02 -2.26585965e-03 3.74141315e+00] [ 3.67261334e-02 9.99325361e-01 -1.18483898e-04 4.98788767e-01] [ 2.26868249e-03 3.51873962e-05 9.99997426e-01 -7.00123004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.891858064 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:3.77, Y:0.50, Z:-0.07 [[ 9.99353171e-01 -3.58953198e-02 -2.18321508e-03 3.77246250e+00] [ 3.58951563e-02 9.99355555e-01 -1.14082028e-04 5.00770403e-01] [ 2.18590313e-03 3.56413904e-05 9.99997610e-01 -6.99720593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.921858064 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:3.80, Y:0.50, Z:-0.07 [[ 9.99496406e-01 -3.15128840e-02 -3.72469894e-03 3.80166420e+00] [ 3.15123766e-02 9.99503343e-01 -1.94853924e-04 5.03303014e-01] [ 3.72898945e-03 7.73816811e-05 9.99993044e-01 -7.04043430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9518580640000005 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:3.83, Y:0.50, Z:-0.07 [[ 9.99560592e-01 -2.92383182e-02 -4.87272836e-03 3.83217796e+00] [ 2.92374230e-02 9.99572463e-01 -2.54865735e-04 5.04561033e-01] [ 4.87809693e-03 1.12287724e-04 9.99988096e-01 -7.07523905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.981858064 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:3.86, Y:0.51, Z:-0.07 [[ 9.99633047e-01 -2.65524583e-02 -5.36075149e-03 3.86170337e+00] [ 2.65513349e-02 9.99647412e-01 -2.80647882e-04 5.05644566e-01] [ 5.36631324e-03 1.38209790e-04 9.99985592e-01 -7.11349587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.011858064 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:3.89, Y:0.51, Z:-0.07 [[ 9.99756914e-01 -2.15789018e-02 -4.52371317e-03 3.89069725e+00] [ 2.15780501e-02 9.99767139e-01 -2.36994494e-04 5.08157501e-01] [ 4.52777385e-03 1.39323974e-04 9.99989740e-01 -7.07635110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041858064 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:3.92, Y:0.51, Z:-0.07 [[ 9.99797926e-01 -1.97246210e-02 -3.87892712e-03 3.92075317e+00] [ 1.97239803e-02 9.99805443e-01 -2.03359336e-04 5.10703119e-01] [ 3.88218364e-03 1.26810361e-04 9.99992456e-01 -7.06339903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.071858064 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:3.95, Y:0.51, Z:-0.07 [[ 9.99812776e-01 -1.90205966e-02 -3.55382692e-03 3.94987831e+00] [ 1.90200529e-02 9.99819085e-01 -1.86723448e-04 5.13142885e-01] [ 3.55673558e-03 1.19094513e-04 9.99993668e-01 -7.05328908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101858064 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:3.98, Y:0.52, Z:-0.07 [[ 9.99821410e-01 -1.86239423e-02 -3.20874226e-03 3.97972533e+00] [ 1.86234975e-02 9.99826553e-01 -1.68436715e-04 5.15568351e-01] [ 3.21132267e-03 1.08648630e-04 9.99994838e-01 -7.08886400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.131858064 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:4.01, Y:0.52, Z:-0.07 [[ 9.99835420e-01 -1.78057418e-02 -3.47681613e-03 4.00877140e+00] [ 1.78052144e-02 9.99841458e-01 -1.82601572e-04 5.17354365e-01] [ 3.47951626e-03 1.20666063e-04 9.99993939e-01 -7.16146894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1618580640000005 meters Centerline goodness : 0.996377 Centerline is valid? [True, True] Translation: X:4.04, Y:0.52, Z:-0.07 [[ 9.99835280e-01 -1.76059402e-02 -4.40960482e-03 4.03819918e+00] [ 1.76050891e-02 9.99844992e-01 -2.31763001e-04 5.18725507e-01] [ 4.41300170e-03 1.54093339e-04 9.99990251e-01 -7.21291203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.191858064 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:4.07, Y:0.52, Z:-0.07 [[ 9.99836003e-01 -1.72966510e-02 -5.36594388e-03 4.06670422e+00] [ 1.72953781e-02 9.99850384e-01 -2.83536352e-04 5.20817414e-01] [ 5.37004527e-03 1.90683824e-04 9.99985563e-01 -7.26457631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221858064 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:4.10, Y:0.52, Z:-0.07 [[ 9.99874391e-01 -1.47767543e-02 -5.73142482e-03 4.09572419e+00] [ 1.47752612e-02 9.99890794e-01 -3.02774181e-04 5.22040626e-01] [ 5.73527294e-03 2.18052851e-04 9.99983529e-01 -7.32187821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.251858064 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:4.12, Y:0.52, Z:-0.07 [[ 9.99889252e-01 -1.39256947e-02 -5.24970761e-03 4.12477559e+00] [ 1.39244289e-02 9.99903012e-01 -2.77587499e-04 5.22773652e-01] [ 5.25306405e-03 2.04457577e-04 9.99986182e-01 -7.32160059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.281858064 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:4.15, Y:0.52, Z:-0.07 [[ 9.99920723e-01 -1.20308918e-02 -3.71563955e-03 4.15356335e+00] [ 1.20302398e-02 9.99927614e-01 -1.97762027e-04 5.22166987e-01] [ 3.71774985e-03 1.53046314e-04 9.99993077e-01 -7.30121316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.311858064 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:4.18, Y:0.52, Z:-0.07 [[ 9.99933937e-01 -1.08784420e-02 -3.71236155e-03 4.18312426e+00] [ 1.08777843e-02 9.99940816e-01 -1.97306751e-04 5.23170598e-01] [ 3.71428822e-03 1.56911448e-04 9.99993090e-01 -7.24313714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.341858064 meters Centerline goodness : 0.992165 Centerline is valid? [True, True] Translation: X:4.21, Y:0.52, Z:-0.07 [[ 9.99943822e-01 -9.88845517e-03 -3.81715885e-03 4.21178907e+00] [ 9.88775177e-03 9.99951094e-01 -2.03099707e-04 5.24017894e-01] [ 3.81898051e-03 1.65345178e-04 9.99992694e-01 -7.24422916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.371858064 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:4.24, Y:0.52, Z:-0.07 [[ 9.99966665e-01 -7.46670665e-03 -3.30426205e-03 4.24109616e+00] [ 7.46616610e-03 9.99972112e-01 -1.75897824e-04 5.23228493e-01] [ 3.30548328e-03 1.51221791e-04 9.99994525e-01 -7.27399105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401858064 meters Centerline goodness : 0.990466 Centerline is valid? [True, True] Translation: X:4.27, Y:0.52, Z:-0.07 [[ 9.99974673e-01 -6.34580360e-03 -3.22241234e-03 4.27052467e+00] [ 6.34528334e-03 9.99979854e-01 -1.71647024e-04 5.22998071e-01] [ 3.22343666e-03 1.51195557e-04 9.99994793e-01 -7.30565874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.431858064 meters Centerline goodness : 0.991398 Centerline is valid? [True, True] Translation: X:4.30, Y:0.52, Z:-0.07 [[ 9.99981242e-01 -5.32084249e-03 -3.03400148e-03 4.29907822e+00] [ 5.32037603e-03 9.99985834e-01 -1.61794161e-04 5.22889339e-01] [ 3.03481938e-03 1.45649097e-04 9.99995384e-01 -7.32220188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461858064 meters Centerline goodness : 0.991214 Centerline is valid? [True, True] Translation: X:4.33, Y:0.52, Z:-0.07 [[ 9.99984842e-01 -4.53101144e-03 -3.12825600e-03 4.32884971e+00] [ 4.53051149e-03 9.99989723e-01 -1.66886284e-04 5.22684431e-01] [ 3.12898001e-03 1.52711154e-04 9.99995093e-01 -7.35305995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4918580640000005 meters Centerline goodness : 0.991185 Centerline is valid? [True, True] Translation: X:4.36, Y:0.52, Z:-0.07 [[ 9.99988104e-01 -4.21212892e-03 -2.45963621e-03 4.35783523e+00] [ 4.21181832e-03 9.99991122e-01 -1.31445932e-04 5.21103678e-01] [ 2.46016804e-03 1.21084827e-04 9.99996966e-01 -7.37597499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.521858064 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:4.39, Y:0.52, Z:-0.07 [[ 9.99987041e-01 -4.83209304e-03 -1.60247480e-03 4.38711323e+00] [ 4.83196194e-03 9.99988322e-01 -8.56705369e-05 5.21543873e-01] [ 1.60287005e-03 7.79263295e-05 9.99998712e-01 -7.37505449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.551858064 meters Centerline goodness : 0.990586 Centerline is valid? [True, True] Translation: X:4.42, Y:0.52, Z:-0.07 [[ 9.99980911e-01 -5.98382523e-03 -1.54009120e-03 4.41651486e+00] [ 5.98370552e-03 9.99982094e-01 -8.23302853e-05 5.21228559e-01] [ 1.54055628e-03 7.31132614e-05 9.99998811e-01 -7.41427884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581858064 meters Centerline goodness : 0.990643 Centerline is valid? [True, True] Translation: X:4.45, Y:0.52, Z:-0.07 [[ 9.99952058e-01 -9.53793180e-03 -2.21552947e-03 4.44609724e+00] [ 9.53769256e-03 9.99954508e-01 -1.18523667e-04 5.19211313e-01] [ 2.21655915e-03 9.73869455e-05 9.99997539e-01 -7.37273417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.611858064 meters Centerline goodness : 0.989626 Centerline is valid? [True, True] Translation: X:4.48, Y:0.52, Z:-0.07 [[ 9.99927629e-01 -1.17073072e-02 -2.77034568e-03 4.47609565e+00] [ 1.17069413e-02 9.99931460e-01 -1.48275015e-04 5.18224903e-01] [ 2.77189170e-03 1.15832010e-04 9.99996152e-01 -7.44490769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641858064 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:4.51, Y:0.52, Z:-0.07 [[ 9.99889698e-01 -1.45796597e-02 -2.83296082e-03 4.50512583e+00] [ 1.45792879e-02 9.99893705e-01 -1.51845487e-04 5.17273647e-01] [ 2.83487355e-03 1.10526187e-04 9.99995976e-01 -7.45245293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.671858064 meters Centerline goodness : 0.992653 Centerline is valid? [True, True] Translation: X:4.53, Y:0.52, Z:-0.07 [[ 9.99843836e-01 -1.74211073e-02 -2.96783455e-03 4.53493077e+00] [ 1.74207117e-02 9.99848235e-01 -1.59104939e-04 5.15789392e-01] [ 2.97015592e-03 1.07378302e-04 9.99995583e-01 -7.45761151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7018580640000005 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:4.57, Y:0.51, Z:-0.07 [[ 9.99755105e-01 -2.20144342e-02 -2.25726605e-03 4.56530525e+00] [ 2.20142168e-02 9.99757650e-01 -1.21104307e-04 5.11767052e-01] [ 2.25938505e-03 7.13827052e-05 9.99997445e-01 -7.46613045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.731858064 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:4.60, Y:0.51, Z:-0.07 [[ 9.99716629e-01 -2.37343369e-02 -1.82854100e-03 4.59520011e+00] [ 2.37341970e-02 9.99718299e-01 -9.81748217e-05 5.11824744e-01] [ 1.83035602e-03 5.47480494e-05 9.99998323e-01 -7.41880996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761858064 meters Centerline goodness : 0.991449 Centerline is valid? [True, True] Translation: X:4.62, Y:0.51, Z:-0.07 [[ 9.99697688e-01 -2.45754729e-02 -7.60626414e-04 4.62499438e+00] [ 2.45754490e-02 9.99697977e-01 -4.08012640e-05 5.11998734e-01] [ 7.61399398e-04 2.20961936e-05 9.99999710e-01 -7.37424052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.791858064 meters Centerline goodness : 0.991294 Centerline is valid? [True, True] Translation: X:4.66, Y:0.51, Z:-0.07 [[ 9.99722034e-01 -2.35735621e-02 3.75560445e-04 4.65574725e+00] [ 2.35735562e-02 9.99722105e-01 2.01492303e-05 5.09002320e-01] [-3.75931067e-04 -1.12903342e-05 9.99999929e-01 -7.30131888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.821858064 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:4.69, Y:0.51, Z:-0.07 [[ 9.99756553e-01 -2.20260945e-02 1.29823158e-03 4.68624368e+00] [ 2.20260226e-02 9.99757395e-01 6.96625031e-05 5.07697764e-01] [-1.29945102e-03 -4.10506658e-05 9.99999155e-01 -7.26240429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.851858064 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:4.72, Y:0.50, Z:-0.07 [[ 9.99833601e-01 -1.81727818e-02 1.58773028e-03 4.71717194e+00] [ 1.81726694e-02 9.99834860e-01 8.51645079e-05 5.03613157e-01] [-1.58901575e-03 -5.62970391e-05 9.99998736e-01 -7.23082256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881858064 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:4.75, Y:0.50, Z:-0.07 [[ 9.99871297e-01 -1.60097745e-02 1.03772063e-03 4.74863526e+00] [ 1.60097253e-02 9.99871835e-01 5.56736272e-05 5.02426991e-01] [-1.03847895e-03 -3.90528396e-05 9.99999460e-01 -7.23076935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9118580640000005 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:4.78, Y:0.50, Z:-0.07 [[ 9.99903266e-01 -1.39032647e-02 3.97148987e-04 4.77910448e+00] [ 1.39032573e-02 9.99903345e-01 2.13347744e-05 5.00897557e-01] [-3.97407223e-04 -1.58110461e-05 9.99999921e-01 -7.25227421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941858064 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:4.81, Y:0.50, Z:-0.07 [[ 9.99936617e-01 -1.12443232e-02 -5.71481262e-04 4.81020227e+00] [ 1.12443075e-02 9.99936780e-01 -3.06044212e-05 4.96417882e-01] [ 5.71789259e-04 2.41765704e-05 9.99999836e-01 -7.35879569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.971858064 meters Centerline goodness : 0.992381 Centerline is valid? [True, True] Translation: X:4.84, Y:0.49, Z:-0.07 [[ 9.99945906e-01 -1.03932472e-02 -4.06295817e-04 4.84047761e+00] [ 1.03932392e-02 9.99945989e-01 -2.17582783e-05 4.94762088e-01] [ 4.06500012e-04 1.75343717e-05 9.99999917e-01 -7.39041101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001858064 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:4.87, Y:0.49, Z:-0.07 [[ 9.99950588e-01 -9.92197966e-03 -6.12731424e-04 4.87119912e+00] [ 9.92196142e-03 9.99950776e-01 -3.28134829e-05 4.92994487e-01] [ 6.13026837e-04 2.67323640e-05 9.99999812e-01 -7.38047846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.031858064 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:4.90, Y:0.49, Z:-0.07 [[ 9.99947491e-01 -1.02239670e-02 -6.96851827e-04 4.90107343e+00] [ 1.02239434e-02 9.99947733e-01 -3.73655470e-05 4.90647727e-01] [ 6.97197429e-04 3.02390114e-05 9.99999757e-01 -7.41372814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061858064 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:4.93, Y:0.48, Z:-0.07 [[ 9.99937909e-01 -1.11420594e-02 -1.80932793e-04 4.93080222e+00] [ 1.11420578e-02 9.99937925e-01 -9.76791676e-06 4.84579133e-01] [ 1.81030397e-04 7.75134662e-06 9.99999984e-01 -7.41350626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.091858064 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:4.96, Y:0.48, Z:-0.07 [[ 9.99930113e-01 -1.18188253e-02 -2.90572354e-04 4.96067106e+00] [ 1.18188212e-02 9.99930155e-01 -1.56152376e-05 4.82672156e-01] [ 2.90736613e-04 1.21799236e-05 9.99999958e-01 -7.41563197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121858064 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:4.99, Y:0.48, Z:-0.07 [[ 9.99916993e-01 -1.28577314e-02 -8.28759199e-04 4.99042350e+00] [ 1.28576989e-02 9.99917335e-01 -4.45360599e-05 4.80740077e-01] [ 8.29263322e-04 3.38764268e-05 9.99999656e-01 -7.44070854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.151858064 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:5.02, Y:0.48, Z:-0.07 [[ 9.99903233e-01 -1.38202887e-02 -1.58853196e-03 5.01991089e+00] [ 1.38201705e-02 9.99904493e-01 -8.53612108e-05 4.78262923e-01] [ 1.58955996e-03 6.33991681e-05 9.99998735e-01 -7.39284939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181858064 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:5.05, Y:0.47, Z:-0.07 [[ 9.99888489e-01 -1.48611573e-02 -1.46838041e-03 5.04976459e+00] [ 1.48610574e-02 9.99889565e-01 -7.89633336e-05 4.72327304e-01] [ 1.46939174e-03 5.71328428e-05 9.99998919e-01 -7.39395491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.211858064 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:5.08, Y:0.47, Z:-0.07 [[ 9.99893319e-01 -1.45965718e-02 -5.38900377e-04 5.07878329e+00] [ 1.45965583e-02 9.99893464e-01 -2.90879122e-05 4.70326815e-01] [ 5.39267549e-04 2.12187183e-05 9.99999854e-01 -7.35044500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2418580640000005 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:5.11, Y:0.46, Z:-0.07 [[ 9.99919634e-01 -1.26777500e-02 1.21629575e-05 5.10752874e+00] [ 1.26777500e-02 9.99919634e-01 5.50309141e-07 4.64634662e-01] [-1.21689567e-05 -3.96065976e-07 1.00000000e+00 -7.29834158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.271858064 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:5.14, Y:0.46, Z:-0.07 [[ 9.99942783e-01 -1.06955575e-02 1.89577744e-04 5.13680940e+00] [ 1.06955557e-02 9.99942801e-01 1.01744405e-05 4.62750729e-01] [-1.89675722e-04 -8.14621900e-06 9.99999982e-01 -7.31475670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301858064 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:5.17, Y:0.46, Z:-0.07 [[ 9.99965632e-01 -8.29011568e-03 9.16541547e-05 5.16670971e+00] [ 8.29011527e-03 9.99965636e-01 4.87091572e-06 4.61081766e-01] [-9.16913855e-05 -4.11092481e-06 9.99999996e-01 -7.28296079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.331858064 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:5.20, Y:0.46, Z:-0.07 [[ 9.99985091e-01 -5.45523863e-03 -2.41024760e-04 5.19750036e+00] [ 5.45523565e-03 9.99985120e-01 -1.29875206e-05 4.59098234e-01] [ 2.41092024e-04 1.16724801e-05 9.99999971e-01 -7.26923717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.361858064 meters Centerline goodness : 0.996833 Centerline is valid? [True, True] Translation: X:5.23, Y:0.45, Z:-0.07 [[ 9.99999903e-01 -1.57502941e-04 -4.11501224e-04 5.22755090e+00] [ 1.57493813e-04 9.99999987e-01 -2.22160074e-05 4.52316446e-01] [ 4.11504718e-04 2.21511964e-05 9.99999915e-01 -7.22518382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.391858064 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:5.26, Y:0.45, Z:-0.07 [[ 9.99996578e-01 2.60420658e-03 -2.47387321e-04 5.25838473e+00] [-2.60420996e-03 9.99996609e-01 -1.33347411e-05 4.49501299e-01] [ 2.47351755e-04 1.39789440e-05 9.99999969e-01 -7.22015011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421858064 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:5.29, Y:0.45, Z:-0.07 [[ 9.99990194e-01 4.40373914e-03 -4.67416937e-04 5.28905591e+00] [-4.40375137e-03 9.99990303e-01 -2.51521771e-05 4.47170140e-01] [ 4.67301641e-04 2.72103185e-05 9.99999890e-01 -7.20253978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4518580640000005 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:5.32, Y:0.44, Z:-0.07 [[ 9.99982134e-01 5.93156127e-03 -7.40476407e-04 5.31933802e+00] [-5.93159244e-03 9.99982407e-01 -3.99004972e-05 4.44662832e-01] [ 7.40226708e-04 4.42919886e-05 9.99999725e-01 -7.22515019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.481858064 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:5.35, Y:0.45, Z:-0.07 [[ 9.99982032e-01 5.94878799e-03 -7.40478939e-04 5.35029251e+00] [-5.94881912e-03 9.99982305e-01 -3.98535102e-05 4.46331476e-01] [ 7.40228756e-04 4.42577694e-05 9.99999725e-01 -7.23131883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.511858064 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:5.38, Y:0.44, Z:-0.07 [[ 9.99977482e-01 6.57494022e-03 -1.34338711e-03 5.38122419e+00] [-6.57504328e-03 9.99978382e-01 -7.23079391e-05 4.38053863e-01] [ 1.34288265e-03 8.11391394e-05 9.99999095e-01 -7.22775717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541858064 meters Centerline goodness : 0.995966 Centerline is valid? [True, True] Translation: X:5.41, Y:0.43, Z:-0.07 [[ 9.99985393e-01 5.28168686e-03 -1.14758592e-03 5.41226808e+00] [-5.28176125e-03 9.99986049e-01 -6.17980394e-05 4.34588376e-01] [ 1.14724351e-03 6.78584115e-05 9.99999340e-01 -7.32810830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.571858064 meters Centerline goodness : 0.996529 Centerline is valid? [True, True] Translation: X:5.44, Y:0.43, Z:-0.07 [[ 9.99989005e-01 4.57259147e-03 -1.03949204e-03 5.44305673e+00] [-4.57265212e-03 9.99989544e-01 -5.59771335e-05 4.31400631e-01] [ 1.03922521e-03 6.07297535e-05 9.99999458e-01 -7.29773433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601858064 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:5.47, Y:0.42, Z:-0.07 [[ 9.99996326e-01 2.65961682e-03 -5.24332673e-04 5.47436676e+00] [-2.65963199e-03 9.99996463e-01 -2.82355601e-05 4.23197096e-01] [ 5.24255723e-04 2.96299883e-05 9.99999862e-01 -7.19379581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.631858064 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:5.51, Y:0.42, Z:-0.07 [[ 9.99999633e-01 7.51614743e-04 -4.11120256e-04 5.50534198e+00] [-7.51623908e-04 9.99999717e-01 -2.21390184e-05 4.20147757e-01] [ 4.11103500e-04 2.24480181e-05 9.99999915e-01 -7.20865999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6618580640000005 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:5.53, Y:0.42, Z:-0.07 [[ 9.99999947e-01 2.62652854e-04 1.91770009e-04 5.53478587e+00] [-2.62654833e-04 9.99999965e-01 1.02953021e-05 4.17113755e-01] [-1.91767298e-04 -1.03456709e-05 9.99999982e-01 -7.12988147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.691858064 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:5.57, Y:0.41, Z:-0.07 [[ 9.99999624e-01 -7.22272119e-04 4.79043036e-04 5.56563380e+00] [ 7.22259839e-04 9.99999739e-01 2.58051247e-05 4.14665002e-01] [-4.79061549e-04 -2.54591214e-05 9.99999885e-01 -7.10279102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721858064 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:5.60, Y:0.41, Z:-0.07 [[ 9.99994159e-01 -3.34450560e-03 -7.05063326e-04 5.59606233e+00] [ 3.34447981e-03 9.99994406e-01 -3.77620388e-05 4.08255716e-01] [ 7.05185677e-04 3.54037481e-05 9.99999751e-01 -7.19508378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.751858064 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:5.63, Y:0.41, Z:-0.07 [[ 9.99991680e-01 -3.88701912e-03 -1.23719144e-03 5.62587390e+00] [ 3.88693962e-03 9.99992444e-01 -6.66563810e-05 4.05744638e-01] [ 1.23744119e-03 6.18469380e-05 9.99999232e-01 -7.20237148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.781858064 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:5.66, Y:0.40, Z:-0.07 [[ 9.99992455e-01 -3.79725616e-03 -8.18710766e-04 5.65575348e+00] [ 3.79722128e-03 9.99992790e-01 -4.41607098e-05 4.02771656e-01] [ 8.18872552e-04 4.10515507e-05 9.99999664e-01 -7.15321952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.811858064 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:5.69, Y:0.40, Z:-0.07 [[ 9.99990598e-01 -4.32878059e-03 -2.54308048e-04 5.68561064e+00] [ 4.32877723e-03 9.99990631e-01 -1.37770415e-05 3.95521864e-01] [ 2.54365303e-04 1.26760691e-05 9.99999968e-01 -7.07214687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841858064 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:5.72, Y:0.39, Z:-0.07 [[ 9.99992822e-01 -3.72398058e-03 -6.99053710e-04 5.71558782e+00] [ 3.72395511e-03 9.99993065e-01 -3.77216126e-05 3.93265458e-01] [ 6.99189337e-04 3.51180972e-05 9.99999755e-01 -7.04095923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.871858064 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:5.75, Y:0.39, Z:-0.07 [[ 9.99992119e-01 -3.22153228e-03 -2.32022013e-03 5.74582313e+00] [ 3.22125036e-03 9.99994804e-01 -1.25228503e-04 3.86888309e-01] [ 2.32061150e-03 1.17753506e-04 9.99997300e-01 -7.03035097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901858064 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:5.77, Y:0.38, Z:-0.07 [[ 9.99987807e-01 -3.74093536e-03 -3.22367198e-03 5.77447724e+00] [ 3.74039002e-03 9.99992989e-01 -1.75180079e-04 3.83547356e-01] [ 3.22430472e-03 1.63120152e-04 9.99994789e-01 -7.02728428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.931858064 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:5.80, Y:0.38, Z:-0.07 [[ 9.99983042e-01 -4.46473372e-03 -3.73920441e-03 5.80260988e+00] [ 4.46400436e-03 9.99990016e-01 -2.03380565e-04 3.80144928e-01] [ 3.74007511e-03 1.86685291e-04 9.99992988e-01 -7.02238824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961858064 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] Translation: X:5.83, Y:0.38, Z:-0.07 [[ 9.99978932e-01 -5.32999099e-03 -3.70505316e-03 5.83107877e+00] [ 5.32927589e-03 9.99985779e-01 -2.02852388e-04 3.76906680e-01] [ 3.70608167e-03 1.83102863e-04 9.99993116e-01 -6.99758832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.991858064 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:5.86, Y:0.37, Z:-0.07 [[ 9.99977008e-01 -6.05585181e-03 -3.05135270e-03 5.86000774e+00] [ 6.05536727e-03 9.99981652e-01 -1.68009248e-04 3.69585609e-01] [ 3.05231415e-03 1.49528323e-04 9.99995330e-01 -6.79556366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.021858064 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:5.89, Y:0.37, Z:-0.07 [[ 9.99973977e-01 -6.68776956e-03 -2.70523392e-03 5.88838178e+00] [ 6.68739125e-03 9.99977628e-01 -1.48865174e-04 3.66898119e-01] [ 2.70616898e-03 1.30770342e-04 9.99996330e-01 -6.77120382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.051858064 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:5.92, Y:0.36, Z:-0.07 [[ 9.99969289e-01 -7.35768577e-03 -2.69934923e-03 5.91612495e+00] [ 7.35730850e-03 9.99972923e-01 -1.49665607e-04 3.64537426e-01] [ 2.70037733e-03 1.29801065e-04 9.99996346e-01 -6.76737849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081858064 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:5.94, Y:0.36, Z:-0.07 [[ 9.99966106e-01 -7.86268790e-03 -2.44231765e-03 5.94414372e+00] [ 7.86238085e-03 9.99969082e-01 -1.35296416e-04 3.58247434e-01] [ 2.44330593e-03 1.16089399e-04 9.99997008e-01 -6.69702209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.111858064 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:5.97, Y:0.36, Z:-0.07 [[ 9.99967483e-01 -7.96574186e-03 -1.25698179e-03 5.97252526e+00] [ 7.96565961e-03 9.99968271e-01 -7.04310184e-05 3.55929771e-01] [ 1.25750294e-03 6.04160392e-05 9.99999208e-01 -6.66542975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141858064 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:6.00, Y:0.35, Z:-0.07 [[ 9.99966198e-01 -8.20778556e-03 -4.85413154e-04 6.00006889e+00] [ 8.20777332e-03 9.99966315e-01 -2.71981284e-05 3.53687374e-01] [ 4.85620040e-04 2.32130479e-05 9.99999882e-01 -6.57776403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.171858064 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:6.03, Y:0.35, Z:-0.07 [[ 9.99963058e-01 -8.59167473e-03 -2.56714388e-04 6.02944973e+00] [ 8.59167121e-03 9.99963091e-01 -1.48249137e-05 3.51053059e-01] [ 2.56832284e-04 1.26187604e-05 9.99999967e-01 -6.51954877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201858064 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:6.06, Y:0.34, Z:-0.06 [[ 9.99963374e-01 -8.55683938e-03 -1.77045123e-04 6.05886595e+00] [ 8.55683767e-03 9.99963390e-01 -1.04296809e-05 3.43800658e-01] [ 1.77127887e-04 8.91435251e-06 9.99999984e-01 -6.35812565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.231858064 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:6.09, Y:0.34, Z:-0.06 [[ 9.99968559e-01 -7.92953505e-03 5.03971761e-05 6.08838761e+00] [ 7.92953494e-03 9.99968561e-01 2.35472120e-06 3.41959950e-01] [-5.04142635e-05 -1.95502099e-06 9.99999999e-01 -6.28278324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261858064 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:6.12, Y:0.34, Z:-0.06 [[ 9.99972593e-01 -7.40249984e-03 1.26531847e-04 6.11706175e+00] [ 7.40249901e-03 9.99972601e-01 7.04081194e-06 3.40769989e-01] [-1.26580500e-04 -6.10396709e-06 9.99999992e-01 -6.26654800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.291858064 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:6.15, Y:0.34, Z:-0.06 [[ 9.99985128e-01 -5.45245130e-03 -1.20489408e-04 6.14625769e+00] [ 5.45245051e-03 9.99985135e-01 -6.90844422e-06 3.35174636e-01] [ 1.20525285e-04 6.25137896e-06 9.99999993e-01 -6.24966790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.321858064 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:6.18, Y:0.33, Z:-0.06 [[ 9.99988440e-01 -4.79577820e-03 -3.47422230e-04 6.17570519e+00] [ 4.79577164e-03 9.99988500e-01 -1.97140990e-05 3.33096495e-01] [ 3.47512779e-04 1.80477134e-05 9.99999939e-01 -6.23253534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.351858064 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:6.21, Y:0.33, Z:-0.06 [[ 9.99993956e-01 -3.44353521e-03 -4.78786219e-04 6.20539747e+00] [ 3.44352259e-03 9.99994071e-01 -2.71612082e-05 3.31376152e-01] [ 4.78876910e-04 2.55123328e-05 9.99999885e-01 -6.18048912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381858064 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:6.23, Y:0.33, Z:-0.06 [[ 9.99997428e-01 -2.03513385e-03 -1.00126666e-03 6.23433451e+00] [ 2.03507799e-03 9.99997928e-01 -5.68115169e-05 3.26502610e-01] [ 1.00138020e-03 5.47737150e-05 9.99999497e-01 -6.11948748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4118580640000005 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:6.26, Y:0.33, Z:-0.06 [[ 9.99998299e-01 -1.58196136e-03 -9.48279049e-04 6.26387954e+00] [ 1.58191105e-03 9.99998747e-01 -5.38074277e-05 3.25303685e-01] [ 9.48362983e-04 5.23072431e-05 9.99999549e-01 -6.07547332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441858064 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:6.29, Y:0.32, Z:-0.06 [[ 9.99997054e-01 -2.14710066e-03 -1.13228752e-03 6.29391997e+00] [ 2.14702926e-03 9.99997693e-01 -6.42742292e-05 3.24412662e-01] [ 1.13242292e-03 6.18429854e-05 9.99999357e-01 -6.15294140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.471858064 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:6.32, Y:0.32, Z:-0.06 [[ 9.99994798e-01 -2.46823023e-03 -2.07631029e-03 6.32225582e+00] [ 2.46799065e-03 9.99996948e-01 -1.17944803e-04 3.23238589e-01] [ 2.07659507e-03 1.12819875e-04 9.99997838e-01 -6.13885371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501858064 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:6.35, Y:0.32, Z:-0.06 [[ 9.99984542e-01 -4.50611399e-03 -3.25738025e-03 6.35185543e+00] [ 4.50553441e-03 9.99989833e-01 -1.85242963e-04 3.18769120e-01] [ 3.25818186e-03 1.70563860e-04 9.99994678e-01 -6.22667121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.531858064 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:6.38, Y:0.32, Z:-0.06 [[ 9.99979133e-01 -5.45391780e-03 -3.46237024e-03 6.37970704e+00] [ 5.45326386e-03 9.99985111e-01 -1.98281989e-04 3.17163408e-01] [ 3.46340010e-03 1.79396633e-04 9.99993986e-01 -6.21058359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561858064 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:6.41, Y:0.32, Z:-0.06 [[ 9.99969431e-01 -6.33288108e-03 -4.58605469e-03 6.40729505e+00] [ 6.33174274e-03 9.99979920e-01 -2.62694349e-04 3.15844622e-01] [ 4.58762622e-03 2.33648600e-04 9.99989449e-01 -6.22741669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.591858064 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:6.44, Y:0.31, Z:-0.06 [[ 9.99960145e-01 -7.73390545e-03 -4.46047349e-03 6.43503963e+00] [ 7.73283567e-03 9.99970068e-01 -2.57031953e-04 3.14801865e-01] [ 4.46232784e-03 2.22529601e-04 9.99990019e-01 -6.26882461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621858064 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:6.46, Y:0.31, Z:-0.06 [[ 9.99939805e-01 -9.73747717e-03 -5.05647506e-03 6.46192136e+00] [ 9.73612685e-03 9.99952560e-01 -2.91595292e-04 3.11402007e-01] [ 5.05907458e-03 2.42347256e-04 9.99987173e-01 -6.30624912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.651858064 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:6.49, Y:0.31, Z:-0.06 [[ 9.99932240e-01 -1.05607791e-02 -4.89751718e-03 6.48979332e+00] [ 1.05595139e-02 9.99944206e-01 -2.84126402e-04 3.10595234e-01] [ 4.90024453e-03 2.32391748e-04 9.99987967e-01 -6.33822178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681858064 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:6.52, Y:0.31, Z:-0.06 [[ 9.99921681e-01 -1.13892720e-02 -5.18809224e-03 6.51731334e+00] [ 1.13878619e-02 9.99935111e-01 -3.01264116e-04 3.09606172e-01] [ 5.19118676e-03 2.42159244e-04 9.99986496e-01 -6.33077032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.711858064 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:6.55, Y:0.30, Z:-0.06 [[ 9.99910236e-01 -1.27271082e-02 -4.18808065e-03 6.54556652e+00] [ 1.27261947e-02 9.99918989e-01 -2.44695806e-04 3.04931749e-01] [ 4.19085564e-03 1.91375512e-04 9.99991200e-01 -6.21018773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741858064 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:6.57, Y:0.30, Z:-0.06 [[ 9.99894842e-01 -1.38963712e-02 -4.14676339e-03 6.57350174e+00] [ 1.38954809e-02 9.99903424e-01 -2.43417568e-04 3.03696228e-01] [ 4.14974553e-03 1.85770699e-04 9.99991373e-01 -6.15698799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.771858064 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:6.60, Y:0.30, Z:-0.06 [[ 9.99886419e-01 -1.46851314e-02 -3.39057018e-03 6.60090465e+00] [ 1.46845402e-02 9.99892156e-01 -1.99221865e-04 3.03033618e-01] [ 3.39313013e-03 1.49410273e-04 9.99994232e-01 -6.18600558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801858064 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:6.63, Y:0.30, Z:-0.06 [[ 9.99870611e-01 -1.57176928e-02 -3.42271064e-03 6.62926589e+00] [ 1.57170921e-02 9.99876458e-01 -2.02332452e-04 3.00428497e-01] [ 3.42546799e-03 1.48511214e-04 9.99994122e-01 -6.15735009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.831858064 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:6.66, Y:0.30, Z:-0.06 [[ 9.99852579e-01 -1.68492081e-02 -3.30511257e-03 6.65721640e+00] [ 1.68486512e-02 9.99858032e-01 -1.96283731e-04 2.99659004e-01] [ 3.30795057e-03 1.40568106e-04 9.99994519e-01 -6.18030842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.861858064 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:6.68, Y:0.30, Z:-0.06 [[ 9.99850435e-01 -1.70825194e-02 -2.70107001e-03 6.68496880e+00] [ 1.70821461e-02 9.99854076e-01 -1.61223736e-04 2.98505407e-01] [ 2.70342997e-03 1.15059549e-04 9.99996339e-01 -6.11173885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.891858064 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:6.71, Y:0.29, Z:-0.06 [[ 9.99839657e-01 -1.78078302e-02 -1.88211302e-03 6.71233634e+00] [ 1.78076501e-02 9.99841425e-01 -1.12418704e-04 2.94516930e-01] [ 1.88381650e-03 7.88846679e-05 9.99998223e-01 -5.91548955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921858064 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:6.74, Y:0.29, Z:-0.06 [[ 9.99813062e-01 -1.92894755e-02 -1.32589939e-03 6.74076846e+00] [ 1.92893865e-02 9.99813939e-01 -7.99005269e-05 2.93539986e-01] [ 1.32719393e-03 5.43098046e-05 9.99999118e-01 -5.90082342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.951858064 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:6.77, Y:0.29, Z:-0.06 [[ 9.99795292e-01 -2.02067776e-02 -1.02932844e-03 6.76841197e+00] [ 2.02067245e-02 9.99795821e-01 -6.19670932e-05 2.90072998e-01] [ 1.03037043e-03 4.11550518e-05 9.99999468e-01 -5.75381270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.981858064 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:6.80, Y:0.29, Z:-0.06 [[ 9.99789317e-01 -2.05149549e-02 -6.76525523e-04 6.79676256e+00] [ 2.05149316e-02 9.99789546e-01 -4.12646432e-05 2.90060857e-01] [ 6.77229688e-04 2.73770746e-05 9.99999770e-01 -5.74306564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.011858064 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:6.82, Y:0.29, Z:-0.06 [[ 9.99785999e-01 -2.06846327e-02 -3.18625978e-04 6.82470815e+00] [ 2.06846275e-02 9.99786050e-01 -1.97845155e-05 2.90629927e-01] [ 3.18967044e-04 1.31896220e-05 9.99999949e-01 -5.72493259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041858064 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:6.85, Y:0.29, Z:-0.06 [[ 9.99780626e-01 -2.09433880e-02 -2.72730956e-04 6.85288716e+00] [ 2.09433841e-02 9.99780663e-01 -1.70747941e-05 2.90727817e-01] [ 2.73028740e-04 1.13591392e-05 9.99999963e-01 -5.79525554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.071858064 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:6.88, Y:0.29, Z:-0.06 [[ 9.99778519e-01 -2.10354229e-02 -6.51450805e-04 6.88041838e+00] [ 2.10354014e-02 9.99778731e-01 -3.98678740e-05 2.87921049e-01] [ 6.52145297e-04 2.61555148e-05 9.99999787e-01 -5.70553930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101858064 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:6.91, Y:0.29, Z:-0.06 [[ 9.99765625e-01 -2.16374410e-02 -7.18810720e-04 6.90858294e+00] [ 2.16374146e-02 9.99765883e-01 -4.44277128e-05 2.87194257e-01] [ 7.19603736e-04 2.88640945e-05 9.99999741e-01 -5.67574601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.131858064 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:6.94, Y:0.29, Z:-0.06 [[ 9.99730963e-01 -2.31901735e-02 -4.65860104e-04 6.93701644e+00] [ 2.31901625e-02 9.99731072e-01 -2.91442891e-05 2.87238457e-01] [ 4.66410682e-04 1.83330767e-05 9.99999891e-01 -5.68691107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161858064 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:6.96, Y:0.29, Z:-0.06 [[ 9.99684348e-01 -2.51120413e-02 -7.67930135e-04 6.96405808e+00] [ 2.51120123e-02 9.99684643e-01 -4.74696836e-05 2.87120819e-01] [ 7.68880023e-04 2.81704287e-05 9.99999704e-01 -5.73377741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.191858064 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:6.99, Y:0.29, Z:-0.06 [[ 9.99514708e-01 -3.11133881e-02 -1.51841109e-03 6.99232570e+00] [ 3.11132807e-02 9.99515860e-01 -9.42594895e-05 2.85411029e-01] [ 1.52060870e-03 4.69709957e-05 9.99998843e-01 -5.88749087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:7.02, Y:0.29, Z:-0.06 [[ 9.99403398e-01 -3.44674787e-02 -2.20033357e-03 7.02077741e+00] [ 3.44672608e-02 9.99405818e-01 -1.36910606e-04 2.85019775e-01] [ 2.20374514e-03 6.09894540e-05 9.99997570e-01 -5.92053638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.251858064 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:7.05, Y:0.28, Z:-0.06 [[ 9.99252650e-01 -3.86244493e-02 -1.51408513e-03 7.04919575e+00] [ 3.86243500e-02 9.99253797e-01 -9.48003593e-05 2.84693981e-01] [ 1.51661693e-03 3.62489563e-05 9.99998849e-01 -5.99073193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:7.08, Y:0.28, Z:-0.06 [[ 9.98918067e-01 -4.65033143e-02 -3.70113262e-04 7.07680662e+00] [ 4.65033088e-02 9.98918136e-01 -2.33153799e-05 2.81200730e-01] [ 3.70797092e-04 6.07866290e-06 9.99999931e-01 -5.91557085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.311858064 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:7.10, Y:0.28, Z:-0.06 [[ 9.98708804e-01 -5.07991664e-02 4.10718163e-04 7.10474217e+00] [ 5.07991604e-02 9.98708889e-01 2.52356197e-05 2.80800929e-01] [-4.11469829e-04 -4.33889775e-06 9.99999915e-01 -5.90399146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.13, Y:0.28, Z:-0.06 [[ 9.98294805e-01 -5.83585189e-02 1.32863231e-03 7.13313040e+00] [ 5.83584601e-02 9.98295689e-01 8.30188687e-05 2.80273082e-01] [-1.33121276e-03 -5.34036986e-06 9.99999114e-01 -5.87159778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.371858064 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:7.16, Y:0.28, Z:-0.06 [[ 9.98097254e-01 -6.16320595e-02 1.83318004e-03 7.15975856e+00] [ 6.16319517e-02 9.98098938e-01 1.15300202e-04 2.81063795e-01] [-1.83680124e-03 -2.09835065e-06 9.99998313e-01 -5.90371489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:7.19, Y:0.28, Z:-0.06 [[ 9.97677027e-01 -6.80500738e-02 3.12041950e-03 7.18810381e+00] [ 6.80497906e-02 9.97681907e-01 1.96989460e-04 2.80788802e-01] [-3.12659122e-03 1.58120344e-05 9.99995112e-01 -5.87559966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.431858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:7.22, Y:0.28, Z:-0.06 [[ 9.97659414e-01 -6.83078109e-02 3.12036622e-03 7.21661825e+00] [ 6.83075262e-02 9.97664294e-01 1.97830537e-04 2.82670526e-01] [-3.12659133e-03 1.57769997e-05 9.99995112e-01 -5.88126664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461858064 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:7.24, Y:0.28, Z:-0.06 [[ 9.97472305e-01 -7.09637036e-02 3.62689761e-03 7.24379801e+00] [ 7.09633337e-02 9.97478898e-01 2.30740053e-04 2.83369280e-01] [-3.63412800e-03 2.72199333e-05 9.99993396e-01 -5.85461037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.491858064 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:7.27, Y:0.28, Z:-0.06 [[ 9.97296613e-01 -7.33863715e-02 3.72905396e-03 7.27146174e+00] [ 7.33859948e-02 9.97303584e-01 2.37957151e-04 2.84921218e-01] [-3.73646169e-03 3.63464732e-05 9.99993019e-01 -5.77750093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521858064 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:7.30, Y:0.29, Z:-0.06 [[ 9.97186844e-01 -7.48641556e-02 3.70903332e-03 7.29920839e+00] [ 7.48637894e-02 9.97193741e-01 2.37680410e-04 2.86630986e-01] [-3.71641856e-03 4.06605120e-05 9.99993093e-01 -5.79019430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.551858064 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:7.33, Y:0.29, Z:-0.06 [[ 9.97097330e-01 -7.60589638e-02 3.45667396e-03 7.32675545e+00] [ 7.60586498e-02 9.97103321e-01 2.22402602e-04 2.89182689e-01] [-3.46357679e-03 4.11529128e-05 9.99994001e-01 -5.82609535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581858064 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:7.36, Y:0.29, Z:-0.06 [[ 9.97102199e-01 -7.60403659e-02 2.25096792e-03 7.35512574e+00] [ 7.60402317e-02 9.97104740e-01 1.45244991e-04 2.93210231e-01] [-2.25549526e-03 2.63400224e-05 9.99997456e-01 -5.93246967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.611858064 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:7.38, Y:0.30, Z:-0.06 [[ 9.97166502e-01 -7.52099253e-02 1.56003584e-03 7.38220718e+00] [ 7.52098594e-02 9.97167723e-01 1.00979492e-04 2.96307364e-01] [-1.56321205e-03 1.66367091e-05 9.99998778e-01 -5.97313296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641858064000001 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:7.41, Y:0.30, Z:-0.06 [[ 9.97258744e-01 -7.39841120e-02 1.16147501e-03 7.41062482e+00] [ 7.39840747e-02 9.97259420e-01 7.51208387e-05 2.99289241e-01] [-1.16384965e-03 1.10157408e-05 9.99999323e-01 -6.01415069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.671858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.44, Y:0.30, Z:-0.06 [[ 9.97530142e-01 -7.02391827e-02 -2.69865203e-04 7.43851442e+00] [ 7.02391804e-02 9.97530179e-01 -1.82149927e-05 3.03833172e-01] [ 2.70478090e-04 -7.85106384e-07 9.99999963e-01 -5.96364451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701858064 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:7.47, Y:0.31, Z:-0.06 [[ 9.97674182e-01 -6.81588287e-02 -7.74879610e-04 7.46645124e+00] [ 6.81588092e-02 9.97674483e-01 -5.14843007e-05 3.07044718e-01] [ 7.76586724e-04 -1.45031392e-06 9.99999698e-01 -6.00047733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.731858064 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:7.49, Y:0.31, Z:-0.06 [[ 9.97990855e-01 -6.33499596e-02 -1.01789172e-03 7.49353320e+00] [ 6.33499240e-02 9.97991374e-01 -6.72618539e-05 3.11972298e-01] [ 1.02010819e-03 2.64335196e-06 9.99999480e-01 -6.06512547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:7.52, Y:0.32, Z:-0.06 [[ 9.98146425e-01 -6.08527796e-02 -8.08417513e-04 7.52117167e+00] [ 6.08527558e-02 9.98146752e-01 -5.40066027e-05 3.15325000e-01] [ 8.10205767e-04 4.71206390e-06 9.99999672e-01 -6.12020717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.791858064 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:7.55, Y:0.32, Z:-0.06 [[ 9.98290282e-01 -5.84498451e-02 -3.59607100e-04 7.54953446e+00] [ 5.84498401e-02 9.98290346e-01 -2.44281945e-05 3.18383618e-01] [ 3.60420120e-04 3.36745173e-06 9.99999935e-01 -6.14834024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821858064 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:7.58, Y:0.32, Z:-0.06 [[ 9.98503568e-01 -5.46791752e-02 9.01822484e-04 7.57777937e+00] [ 5.46791437e-02 9.98503975e-01 5.95710395e-05 3.21996892e-01] [-9.03730630e-04 -1.01710143e-05 9.99999592e-01 -6.07636826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.851858064 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:7.60, Y:0.32, Z:-0.06 [[ 9.98572050e-01 -5.33807675e-02 2.08669531e-03 7.60468444e+00] [ 5.33805933e-02 9.98574230e-01 1.39156417e-04 3.24717564e-01] [-2.09114844e-03 -2.75686747e-05 9.99997813e-01 -6.06274822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881858064 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:7.63, Y:0.33, Z:-0.06 [[ 9.98604931e-01 -5.27069045e-02 3.18957296e-03 7.63300256e+00] [ 5.27064917e-02 9.98610024e-01 2.13421958e-04 3.27724910e-01] [-3.19638834e-03 -4.50130192e-05 9.99994891e-01 -6.02900852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.911858064 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:7.66, Y:0.33, Z:-0.06 [[ 9.98682294e-01 -5.11318049e-02 4.38348178e-03 7.65948698e+00] [ 5.11310044e-02 9.98691911e-01 2.94554008e-04 3.30855901e-01] [-4.39280887e-03 -7.00340467e-05 9.99990349e-01 -5.97859964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941858064 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:7.69, Y:0.33, Z:-0.06 [[ 9.98696196e-01 -5.07564729e-02 5.44865105e-03 7.68730679e+00] [ 5.07552226e-02 9.98711055e-01 3.67590466e-04 3.33653330e-01] [-5.46028564e-03 -9.05637030e-05 9.99985088e-01 -6.01024594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.971858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.71, Y:0.34, Z:-0.06 [[ 9.98725260e-01 -5.01326214e-02 5.88013776e-03 7.71400063e+00] [ 5.01311480e-02 9.98742564e-01 3.97786829e-04 3.36719066e-01] [-5.89268596e-03 -1.02501698e-04 9.99982633e-01 -6.00814945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.74, Y:0.34, Z:-0.06 [[ 9.98739746e-01 -4.97612684e-02 6.53720252e-03 7.74195009e+00] [ 4.97594292e-02 9.98761134e-01 4.43789803e-04 3.39608721e-01] [-6.55118734e-03 -1.17943050e-04 9.99978534e-01 -6.02566290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.031858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.77, Y:0.34, Z:-0.06 [[ 9.98789432e-01 -4.88980667e-02 5.35252783e-03 7.76858115e+00] [ 4.88968167e-02 9.98803769e-01 3.64235912e-04 3.43169602e-01] [-5.36393540e-03 -1.02073408e-04 9.99985609e-01 -6.10689848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061858064 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:7.80, Y:0.35, Z:-0.06 [[ 9.98778338e-01 -4.92183570e-02 4.40281781e-03 7.79655241e+00] [ 4.92175104e-02 9.98788039e-01 3.00477108e-04 3.46095414e-01] [-4.41227076e-03 -8.34142950e-05 9.99990262e-01 -6.15458687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.091858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.82, Y:0.35, Z:-0.06 [[ 9.98768645e-01 -4.95061434e-02 3.21475892e-03 7.82410136e+00] [ 4.95056912e-02 9.98773817e-01 2.20135392e-04 3.48581166e-01] [-3.22171510e-03 -6.07154645e-05 9.99994808e-01 -6.21701137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.85, Y:0.35, Z:-0.06 [[ 9.98666530e-01 -5.16097208e-02 1.26427194e-03 7.85201542e+00] [ 5.16096526e-02 9.98667330e-01 8.65828121e-05 3.52109748e-01] [-1.26705560e-03 -2.12187210e-05 9.99999197e-01 -6.32372203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.151858064 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:7.88, Y:0.35, Z:-0.06 [[ 9.98586688e-01 -5.31467068e-02 -2.34203476e-04 7.87914088e+00] [ 5.31467044e-02 9.98586715e-01 -1.64170964e-05 3.54606518e-01] [ 2.34744995e-04 3.94675104e-06 9.99999972e-01 -6.40327584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:7.91, Y:0.36, Z:-0.06 [[ 9.98447613e-01 -5.56706764e-02 -1.77194994e-03 7.90673961e+00] [ 5.56705450e-02 9.98449185e-01 -1.23412838e-04 3.57165669e-01] [ 1.77607245e-03 2.45758342e-05 9.99998422e-01 -6.46286831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.211858064 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:7.93, Y:0.36, Z:-0.06 [[ 9.98167466e-01 -6.04165262e-02 -3.39893061e-03 7.93360854e+00] [ 6.04160705e-02 9.98173253e-01 -2.36687735e-04 3.59808393e-01] [ 3.40702147e-03 3.09039657e-05 9.99994196e-01 -6.44272877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241858064 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:7.96, Y:0.36, Z:-0.06 [[ 9.97991732e-01 -6.32689782e-02 -3.08845872e-03 7.96193117e+00] [ 6.32686122e-02 9.97996511e-01 -2.16172468e-04 3.62580799e-01] [ 3.09594804e-03 2.03358388e-05 9.99995207e-01 -6.38773859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.271858064 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:7.99, Y:0.37, Z:-0.06 [[ 9.97827929e-01 -6.58137116e-02 -2.82484990e-03 7.98883406e+00] [ 6.58134145e-02 9.97831927e-01 -1.98136534e-04 3.65588798e-01] [ 2.83176552e-03 1.17931501e-05 9.99995990e-01 -6.33155097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301858064 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:8.02, Y:0.37, Z:-0.06 [[ 9.97519913e-01 -7.03725466e-02 -1.31478256e-03 8.01699573e+00] [ 7.03724852e-02 9.97520779e-01 -9.29700402e-05 3.71105794e-01] [ 1.31806547e-03 2.14949835e-07 9.99999131e-01 -6.25402899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.331858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.04, Y:0.38, Z:-0.06 [[ 9.97373368e-01 -7.24310247e-02 -3.32972215e-04 8.04339619e+00] [ 7.24310207e-02 9.97373424e-01 -2.38466149e-05 3.75031803e-01] [ 3.33824873e-04 -3.33538730e-07 9.99999944e-01 -6.21405868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.07, Y:0.38, Z:-0.06 [[ 9.97230115e-01 -7.43779261e-02 1.48764502e-04 8.07124821e+00] [ 7.43779254e-02 9.97230126e-01 9.98244159e-06 3.78689338e-01] [-1.49094917e-04 1.11000370e-06 9.99999989e-01 -6.11446739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:0.38, Z:-0.06 [[ 9.97027557e-01 -7.70446607e-02 4.14420140e-04 8.09911407e+00] [ 7.70446554e-02 9.97027643e-01 2.88820436e-05 3.84017274e-01] [-4.15413542e-04 3.13266347e-06 9.99999914e-01 -5.97095095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:0.39, Z:-0.06 [[ 9.96977245e-01 -7.76919607e-02 5.76976125e-04 8.12702221e+00] [ 7.76919502e-02 9.96977412e-01 4.05873371e-05 3.88111083e-01] [-5.78385473e-04 4.36174889e-06 9.99999833e-01 -5.98130523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.15, Y:0.39, Z:-0.06 [[ 9.96974517e-01 -7.77288256e-02 -2.03669892e-04 8.15397415e+00] [ 7.77288242e-02 9.96974538e-01 -1.49414428e-05 3.92520608e-01] [ 2.04215078e-04 -9.34783564e-07 9.99999979e-01 -5.99810872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.18, Y:0.40, Z:-0.06 [[ 9.97135486e-01 -7.56256114e-02 -1.26066462e-03 8.18033018e+00] [ 7.56255574e-02 9.97136283e-01 -9.05295356e-05 3.99516068e-01] [ 1.26390078e-03 -5.06825177e-06 9.99999201e-01 -6.05382723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.21, Y:0.40, Z:-0.06 [[ 9.97237671e-01 -7.42510811e-02 -1.95029137e-03 8.20824824e+00] [ 7.42509478e-02 9.97239579e-01 -1.40757183e-04 4.04568148e-01] [ 1.95535912e-03 -4.44261740e-06 9.99998088e-01 -6.10844358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.24, Y:0.41, Z:-0.06 [[ 9.97476715e-01 -7.09428537e-02 -2.70466878e-03 8.23546692e+00] [ 7.09425837e-02 9.97480382e-01 -1.95783011e-04 4.11682823e-01] [ 2.71174345e-03 3.41280381e-06 9.99996323e-01 -6.15232976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:0.42, Z:-0.06 [[ 9.97568199e-01 -6.96407553e-02 -2.80245567e-03 8.26182158e+00] [ 6.96404602e-02 9.97572135e-01 -2.02866542e-04 4.15859614e-01] [ 2.80977947e-03 7.20890823e-06 9.99996053e-01 -6.12810727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:0.42, Z:-0.06 [[ 9.97642680e-01 -6.85727697e-02 -2.61882825e-03 8.28953985e+00] [ 6.85725055e-02 9.97646117e-01 -1.90639425e-04 4.19728593e-01] [ 2.62573650e-03 1.06104122e-05 9.99996553e-01 -6.06377348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:0.42, Z:-0.06 [[ 9.97792048e-01 -6.63711426e-02 -2.42898435e-03 8.31767009e+00] [ 6.63709070e-02 9.97795005e-01 -1.77551024e-04 4.24983353e-01] [ 2.43541271e-03 1.59451061e-05 9.99997034e-01 -6.02027087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.34, Y:0.43, Z:-0.06 [[ 9.97872496e-01 -6.51556186e-02 -2.28629136e-03 8.34463518e+00] [ 6.51554068e-02 9.97875115e-01 -1.67115943e-04 4.28601568e-01] [ 2.29232180e-03 1.77961601e-05 9.99997372e-01 -6.07490946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.37, Y:0.43, Z:-0.06 [[ 9.97906921e-01 -6.46253283e-02 -2.31178405e-03 8.37203343e+00] [ 6.46251080e-02 9.97909598e-01 -1.69938512e-04 4.32301402e-01] [ 2.31793382e-03 2.01835235e-05 9.99997313e-01 -6.11154162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.40, Y:0.44, Z:-0.06 [[ 9.97958048e-01 -6.38426700e-02 -1.96172282e-03 8.39914906e+00] [ 6.38425098e-02 9.97959976e-01 -1.44213584e-04 4.35716106e-01] [ 1.96692784e-03 1.86777980e-05 9.99998065e-01 -6.18616306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.43, Y:0.44, Z:-0.06 [[ 9.97974677e-01 -6.36051952e-02 -9.60529718e-04 8.42670341e+00] [ 6.36051561e-02 9.97975139e-01 -7.13172227e-05 4.39846161e-01] [ 9.63120925e-04 1.00781397e-05 9.99999536e-01 -6.18725094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:0.44, Z:-0.06 [[ 9.97954213e-01 -6.39298680e-02 -6.00736536e-04 8.45373898e+00] [ 6.39298527e-02 9.97954394e-01 -4.47475236e-05 4.42157231e-01] [ 6.02368369e-04 6.25098147e-06 9.99999819e-01 -6.19382463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:0.44, Z:-0.06 [[ 9.97934691e-01 -6.42312675e-02 -8.34300499e-04 8.48151068e+00] [ 6.42312377e-02 9.97935040e-01 -6.24285858e-05 4.43982409e-01] [ 8.36587569e-04 8.71149790e-06 9.99999650e-01 -6.15200131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:0.45, Z:-0.06 [[ 9.97908165e-01 -6.46407015e-02 -9.34979910e-04 8.50828231e+00] [ 6.46406644e-02 9.97908603e-01 -6.98930010e-05 4.45796499e-01] [ 9.37542428e-04 9.30907380e-06 9.99999560e-01 -6.14427938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.54, Y:0.45, Z:-0.06 [[ 9.97902981e-01 -6.47185229e-02 -1.07348574e-03 8.53560305e+00] [ 6.47184741e-02 9.97903559e-01 -8.01793104e-05 4.47877814e-01] [ 1.07642433e-03 1.05368139e-05 9.99999421e-01 -6.17105866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.56, Y:0.45, Z:-0.06 [[ 9.97934567e-01 -6.42230607e-02 -1.41338619e-03 8.56220760e+00] [ 6.42229754e-02 9.97935568e-01 -1.05659393e-04 4.50006630e-01] [ 1.41725412e-03 1.46692940e-05 9.99998996e-01 -6.20563560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.59, Y:0.45, Z:-0.06 [[ 9.98054673e-01 -6.23202861e-02 -1.74686678e-03 8.58977934e+00] [ 6.23201517e-02 9.98056202e-01 -1.31353781e-04 4.51719919e-01] [ 1.75165723e-03 2.22332520e-05 9.99998466e-01 -6.19681431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.62, Y:0.45, Z:-0.06 [[ 9.98165813e-01 -6.05142620e-02 -1.74206141e-03 8.61687869e+00] [ 6.05141257e-02 9.98167332e-01 -1.30888865e-04 4.53695868e-01] [ 1.74678944e-03 2.52294666e-05 9.99998474e-01 -6.18126286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.64, Y:0.46, Z:-0.06 [[ 9.98284399e-01 -5.85058276e-02 -2.30809960e-03 8.64360052e+00] [ 5.85055819e-02 9.98287066e-01 -1.73915647e-04 4.56163241e-01] [ 2.31432106e-03 3.85805668e-05 9.99997321e-01 -6.19262350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.67, Y:0.46, Z:-0.06 [[ 9.98554287e-01 -5.36184944e-02 -3.79367609e-03 8.67141430e+00] [ 5.36177914e-02 9.98561490e-01 -2.86828296e-04 4.60646849e-01] [ 3.80359815e-03 8.30050918e-05 9.99992763e-01 -6.31198885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.70, Y:0.46, Z:-0.06 [[ 9.98665244e-01 -5.15329817e-02 -3.47591748e-03 8.69847579e+00] [ 5.15323772e-02 9.98671290e-01 -2.63329370e-04 4.63501368e-01] [ 3.48486914e-03 8.38555985e-05 9.99993924e-01 -6.41247322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.73, Y:0.47, Z:-0.06 [[ 9.98730959e-01 -5.02505285e-02 -3.36981902e-03 8.72624594e+00] [ 5.02499493e-02 9.98736640e-01 -2.56393319e-04 4.65766527e-01] [ 3.37844563e-03 8.67347098e-05 9.99994289e-01 -6.41142905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.75, Y:0.47, Z:-0.06 [[ 9.98803938e-01 -4.87989658e-02 -3.05859269e-03 8.75343936e+00] [ 4.87984815e-02 9.98808617e-01 -2.32818609e-04 4.67923437e-01] [ 3.06631005e-03 8.32854645e-05 9.99995295e-01 -6.42955418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.78, Y:0.47, Z:-0.06 [[ 9.98803432e-01 -4.87810288e-02 -3.48086402e-03 8.78133723e+00] [ 4.87803972e-02 9.98809492e-01 -2.66167140e-04 4.70311801e-01] [ 3.48970394e-03 9.60507232e-05 9.99993906e-01 -6.43037844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.81, Y:0.47, Z:-0.06 [[ 9.98795781e-01 -4.89287914e-02 -3.60028690e-03 8.80894149e+00] [ 4.89281129e-02 9.98802264e-01 -2.76344587e-04 4.72397646e-01] [ 3.60949591e-03 9.98565639e-05 9.99993481e-01 -6.42600502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.84, Y:0.47, Z:-0.06 [[ 9.98751385e-01 -4.98229688e-02 -3.65268871e-03 8.83554027e+00] [ 4.98222759e-02 9.98758060e-01 -2.80489283e-04 4.73375568e-01] [ 3.66212710e-03 9.81537950e-05 9.99993290e-01 -6.42818480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:0.47, Z:-0.06 [[ 9.98700312e-01 -5.08091565e-02 -4.01447653e-03 8.86376062e+00] [ 5.08083223e-02 9.98708375e-01 -3.09587088e-04 4.74631092e-01] [ 4.02502119e-03 1.05215904e-04 9.99991894e-01 -6.42372735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.89, Y:0.48, Z:-0.06 [[ 9.98635711e-01 -5.20376589e-02 -4.33584647e-03 8.89145917e+00] [ 5.20366922e-02 9.98645117e-01 -3.35543330e-04 4.75575666e-01] [ 4.34743279e-03 1.09462444e-04 9.99990544e-01 -6.42434403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.92, Y:0.48, Z:-0.06 [[ 9.98626823e-01 -5.22079355e-02 -4.33580507e-03 8.91990633e+00] [ 5.22069681e-02 9.98636230e-01 -3.36078000e-04 4.77863649e-01] [ 4.34743796e-03 1.09257269e-04 9.99990544e-01 -6.43000751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.95, Y:0.48, Z:-0.06 [[ 9.98571280e-01 -5.32595259e-02 -4.33834018e-03 8.94783569e+00] [ 5.32585610e-02 9.98580699e-01 -3.37718802e-04 4.78972777e-01] [ 4.35016951e-03 1.06182542e-04 9.99990532e-01 -6.39983396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.351858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.97, Y:0.48, Z:-0.06 [[ 9.98535283e-01 -5.39156534e-02 -4.51553219e-03 8.97457918e+00] [ 5.39146118e-02 9.98545488e-01 -3.52175360e-04 4.80813028e-01] [ 4.52795206e-03 1.08206358e-04 9.99989743e-01 -6.38393571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:0.48, Z:-0.06 [[ 9.98502893e-01 -5.45461055e-02 -4.08592907e-03 9.00239101e+00] [ 5.45452524e-02 9.98511248e-01 -3.20013973e-04 4.83208672e-01] [ 4.09730165e-03 9.66668459e-05 9.99991601e-01 -6.45062190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.03, Y:0.48, Z:-0.06 [[ 9.98435296e-01 -5.57850182e-02 -3.87197363e-03 9.03087611e+00] [ 5.57842572e-02 9.98442800e-01 -3.04357883e-04 4.84672350e-01] [ 3.88292280e-03 8.78864806e-05 9.99992458e-01 -6.41305492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:0.49, Z:-0.06 [[ 9.98194351e-01 -5.99663901e-02 -3.47425595e-03 9.05833500e+00] [ 5.99658021e-02 9.98200395e-01 -2.73257776e-04 4.85137195e-01] [ 3.48438994e-03 6.44278231e-05 9.99993927e-01 -6.33551411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.08, Y:0.51, Z:-0.09 [[ 9.97662739e-01 -6.76682937e-02 9.49005636e-03 9.07947992e+00] [ 6.79829781e-02 9.96958633e-01 -3.81024674e-02 5.11252313e-01] [-6.88286466e-03 3.86585743e-02 9.99228773e-01 -8.99082774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:0.47, Z:-0.05 [[ 9.97771366e-01 -6.64049852e-02 -6.53298600e-03 9.11774590e+00] [ 6.66084293e-02 9.97033284e-01 3.85739280e-02 4.69710608e-01] [ 3.95210337e-03 -3.89231127e-02 9.99234393e-01 -5.13883630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:0.49, Z:-0.06 [[ 9.97248522e-01 -7.40814708e-02 -2.70572128e-03 9.14307813e+00] [ 7.40811637e-02 9.97252193e-01 -2.13664884e-04 4.87131479e-01] [ 2.71411509e-03 1.26340089e-05 9.99996317e-01 -6.29996245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561858063999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:0.49, Z:-0.06 [[ 9.96915329e-01 -7.83932050e-02 -3.78577766e-03 9.17229733e+00] [ 7.83624930e-02 9.96895391e-01 -7.67460209e-03 4.91582435e-01] [ 4.37566095e-03 7.35426549e-03 9.99963384e-01 -6.48839657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:0.49, Z:-0.06 [[ 9.96662757e-01 -8.15935638e-02 -2.41654639e-03 9.20000338e+00] [ 8.16089414e-02 9.96638764e-01 7.15232263e-03 4.85615788e-01] [ 1.82484031e-03 -7.32566538e-03 9.99971502e-01 -5.96689771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.23, Y:0.49, Z:-0.06 [[ 9.96172607e-01 -8.73985890e-02 -1.27446403e-03 9.22753772e+00] [ 8.73985303e-02 9.96173422e-01 -1.01770927e-04 4.88516117e-01] [ 1.27848183e-03 -1.00048732e-05 9.99999183e-01 -6.06800922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:0.49, Z:-0.06 [[ 9.96040997e-01 -8.88939549e-02 -4.43760692e-04 9.25466979e+00] [ 8.88939479e-02 9.96041096e-01 -3.55282535e-05 4.90013872e-01] [ 4.45162133e-04 -4.06004275e-06 9.99999901e-01 -6.07704704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.28, Y:0.49, Z:-0.06 [[ 9.95975601e-01 -8.96246977e-02 -1.21833721e-04 9.28266901e+00] [ 8.96246972e-02 9.95975609e-01 -1.01696985e-05 4.92208199e-01] [ 1.22254871e-04 -7.90538775e-07 9.99999993e-01 -6.04392812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.31, Y:0.50, Z:-0.06 [[ 9.96146672e-01 -8.77027049e-02 2.09859822e-04 9.31120857e+00] [ 8.77026476e-02 9.96133972e-01 -5.03541588e-03 4.96954589e-01] [ 2.32571094e-04 5.03441803e-03 9.99987300e-01 -6.14396833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.34, Y:0.50, Z:-0.06 [[ 9.96340693e-01 -8.54683540e-02 6.19246898e-04 9.33917339e+00] [ 8.54643098e-02 9.96329130e-01 4.91090810e-03 4.95311797e-01] [-1.03670096e-03 -4.84001407e-03 9.99987750e-01 -5.83784278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.771858064 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:9.37, Y:0.50, Z:-0.06 [[ 9.96505378e-01 -8.35262195e-02 6.34384420e-04 9.36740335e+00] [ 8.35262041e-02 9.96505580e-01 5.07461410e-05 5.00537720e-01] [-6.36406247e-04 2.41892014e-06 9.99999797e-01 -6.02121204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.40, Y:0.51, Z:-0.06 [[ 9.96829545e-01 -7.95436455e-02 -1.91506683e-03 9.39618941e+00] [ 7.95240398e-02 9.96794536e-01 -8.75103885e-03 5.08663788e-01] [ 2.60501769e-03 8.57100022e-03 9.99959875e-01 -6.33799629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.42, Y:0.50, Z:-0.06 [[ 9.96961853e-01 -7.78681584e-02 -1.90115867e-03 9.42447741e+00] [ 7.78811952e-02 9.96929107e-01 8.17766212e-03 5.04456107e-01] [ 1.25854093e-03 -8.30088169e-03 9.99964755e-01 -5.85703998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.45, Y:0.51, Z:-0.06 [[ 9.97083810e-01 -7.62955984e-02 -1.69057758e-03 9.45134259e+00] [ 7.62954752e-02 9.97085243e-01 -1.37333085e-04 5.11531493e-01] [ 1.69612787e-03 7.94917581e-06 9.99998562e-01 -6.16612169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.48, Y:0.52, Z:-0.06 [[ 9.97189921e-01 -7.48999155e-02 -1.50468625e-03 9.47897650e+00] [ 7.48998153e-02 9.97191056e-01 -1.22875254e-04 5.15608545e-01] [ 1.50966302e-03 9.82924281e-06 9.99998860e-01 -6.19917506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.51, Y:0.52, Z:-0.06 [[ 9.97179436e-01 -7.50367526e-02 -1.63035074e-03 9.50730406e+00] [ 7.50366344e-02 9.97180769e-01 -1.33593878e-04 5.19167608e-01] [ 1.63577886e-03 1.08810349e-05 9.99998662e-01 -6.16418391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.53, Y:0.52, Z:-0.06 [[ 9.97155869e-01 -7.53506982e-02 -1.56356116e-03 9.53367675e+00] [ 7.53505899e-02 9.97157095e-01 -1.28133595e-04 5.22517307e-01] [ 1.56877106e-03 9.95391049e-06 9.99998769e-01 -6.20608270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:0.53, Z:-0.06 [[ 9.97036073e-01 -7.69225969e-02 -1.40811861e-03 9.56131309e+00] [ 7.69225098e-02 9.97037068e-01 -1.16011095e-04 5.25248001e-01] [ 1.41287032e-03 7.35122902e-06 9.99999002e-01 -6.17016168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.59, Y:0.53, Z:-0.06 [[ 9.96986707e-01 -7.75666747e-02 -9.57943542e-04 9.58809774e+00] [ 7.75666347e-02 9.96987167e-01 -7.89559564e-05 5.27358054e-01] [ 9.61181769e-04 4.41358215e-06 9.99999538e-01 -6.14854850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:0.53, Z:-0.06 [[ 9.96950853e-01 -7.80277330e-02 -8.17992395e-04 9.61498682e+00] [ 7.80277038e-02 9.96951189e-01 -6.75394376e-05 5.30489555e-01] [ 8.20768440e-04 3.50743165e-06 9.99999663e-01 -6.15445889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:0.54, Z:-0.06 [[ 9.96969240e-01 -7.77946768e-02 -5.67869066e-04 9.64316982e+00] [ 7.77946625e-02 9.96969402e-01 -4.72817341e-05 5.35666536e-01] [ 5.69826350e-04 2.96125217e-06 9.99999838e-01 -6.31153943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:0.54, Z:-0.06 [[ 9.97008563e-01 -7.72880409e-02 -6.95973061e-04 9.67060842e+00] [ 7.72880192e-02 9.97008806e-01 -5.80729137e-05 5.38651002e-01] [ 6.98379612e-04 4.10881290e-06 9.99999756e-01 -6.33486693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:0.54, Z:-0.06 [[ 9.97063506e-01 -7.65788750e-02 -2.01543508e-04 9.69885030e+00] [ 7.65788731e-02 9.97063527e-01 -1.71243710e-05 5.41344193e-01] [ 2.02263046e-04 1.64011068e-06 9.99999980e-01 -6.35647150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161858064 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:9.73, Y:0.54, Z:-0.06 [[ 9.97190280e-01 -7.49101947e-02 -8.91855050e-05 9.72552833e+00] [ 7.49101943e-02 9.97190284e-01 -7.58583767e-06 5.44122353e-01] [ 8.95031756e-05 8.83620089e-07 9.99999996e-01 -6.35555250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.75, Y:0.55, Z:-0.06 [[ 9.97235561e-01 -7.43038281e-02 -4.19659004e-04 9.75333591e+00] [ 7.43038198e-02 9.97235650e-01 -3.54551957e-05 5.46005911e-01] [ 4.21133376e-04 4.17491502e-06 9.99999911e-01 -6.34438078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.78, Y:0.55, Z:-0.06 [[ 9.97254941e-01 -7.40386930e-02 -9.24865081e-04 9.78121016e+00] [ 7.40386526e-02 9.97255369e-01 -7.79845685e-05 5.47631835e-01] [ 9.28100543e-04 9.29473184e-06 9.99999569e-01 -6.34504588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.81, Y:0.55, Z:-0.06 [[ 9.97294665e-01 -7.35044954e-02 -6.62820535e-04 9.80870132e+00] [ 7.35044745e-02 9.97294886e-01 -5.58731057e-05 5.48845337e-01] [ 6.65134454e-04 7.00167522e-06 9.99999779e-01 -6.30028149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281858064 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:9.84, Y:0.55, Z:-0.07 [[ 9.97319071e-01 -7.31604902e-02 -1.48743929e-03 9.83597100e+00] [ 7.31491638e-02 9.97299095e-01 -6.61173206e-03 5.54255309e-01] [ 1.96713942e-03 6.48520154e-03 9.99977036e-01 -6.54198186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311858063999999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:9.86, Y:0.55, Z:-0.06 [[ 9.97265320e-01 -7.38971697e-02 -1.04437587e-03 9.86419976e+00] [ 7.39023336e-02 9.97245270e-01 6.34959328e-03 5.50548745e-01] [ 5.72281921e-04 -6.40941099e-03 9.99979296e-01 -6.17460395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341858064 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:9.89, Y:0.55, Z:-0.06 [[ 9.97240910e-01 -7.42091864e-02 -1.88773160e-03 9.89171669e+00] [ 7.42090160e-02 9.97242697e-01 -1.60259799e-04 5.54684777e-01] [ 1.89441930e-03 1.97309227e-05 9.99998205e-01 -6.36503728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.92, Y:0.56, Z:-0.06 [[ 9.97215688e-01 -7.45490735e-02 -1.81880344e-03 9.91962521e+00] [ 7.45489149e-02 9.97217346e-01 -1.54927663e-04 5.56210429e-01] [ 1.82529205e-03 1.89064734e-05 9.99998334e-01 -6.35184996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401858064 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:9.95, Y:0.56, Z:-0.06 [[ 9.97187757e-01 -7.49286084e-02 -1.51016878e-03 9.94794855e+00] [ 7.49284988e-02 9.97188901e-01 -1.29118314e-04 5.57885244e-01] [ 1.51559820e-03 1.56005217e-05 9.99998851e-01 -6.41051757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431858064 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:9.97, Y:0.56, Z:-0.07 [[ 9.97149373e-01 -7.54246119e-02 -2.06274032e-03 9.97477090e+00] [ 7.54244086e-02 9.97151507e-01 -1.76295340e-04 5.59327693e-01] [ 2.07016163e-03 2.02118187e-05 9.99997857e-01 -6.50753807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461858064 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:10.00, Y:0.56, Z:-0.07 [[ 9.97134105e-01 -7.55974405e-02 -2.93317986e-03 1.00031391e+01] [ 7.55970274e-02 9.97138419e-01 -2.51615371e-04 5.60976792e-01] [ 2.94380781e-03 2.91545899e-05 9.99995667e-01 -6.51260178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.491858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.03, Y:0.56, Z:-0.06 [[ 9.97107955e-01 -7.58939594e-02 -3.97896618e-03 1.00314683e+01] [ 7.58931975e-02 9.97115894e-01 -3.42352118e-04 5.61993402e-01] [ 3.99347288e-03 3.93855535e-05 9.99992025e-01 -6.48800716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.06, Y:0.56, Z:-0.06 [[ 9.97085740e-01 -7.61444133e-02 -4.69632418e-03 1.00582024e+01] [ 7.61433511e-02 9.97096799e-01 -4.04807219e-04 5.62941831e-01] [ 4.71351361e-03 4.60336447e-05 9.99988890e-01 -6.45765747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.551858064 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:10.09, Y:0.56, Z:-0.06 [[ 9.97131692e-01 -7.54991797e-02 -5.31624330e-03 1.00853360e+01] [ 7.54978068e-02 9.97145862e-01 -4.58747641e-04 5.63649732e-01] [ 5.33570508e-03 5.60671017e-05 9.99985763e-01 -6.44498624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581858064 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:10.11, Y:0.57, Z:-0.07 [[ 9.97132928e-01 -7.53694654e-02 -6.73556198e-03 1.01126917e+01] [ 7.53061739e-02 9.97117994e-01 -9.20256060e-03 5.69449422e-01] [ 7.40974212e-03 8.66894680e-03 9.99934970e-01 -6.70019181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.611858064 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:10.14, Y:0.56, Z:-0.06 [[ 9.97145427e-01 -7.53179588e-02 -5.31066105e-03 1.01421100e+01] [ 7.53579093e-02 9.97126253e-01 7.77315501e-03 5.61931627e-01] [ 4.70994138e-03 -8.15116628e-03 9.99955686e-01 -6.06415700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641858064 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:10.17, Y:0.57, Z:-0.06 [[ 9.97165025e-01 -7.51255037e-02 -4.25100269e-03 1.01698666e+01] [ 7.51246076e-02 9.97174085e-01 -3.70303216e-04 5.66947327e-01] [ 4.26680893e-03 4.98985069e-05 9.99990896e-01 -6.28260789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.671858064 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:10.20, Y:0.57, Z:-0.06 [[ 9.97221465e-01 -7.43700348e-02 -4.29508300e-03 1.01965998e+01] [ 7.43691115e-02 9.97230713e-01 -3.74523443e-04 5.68133510e-01] [ 4.31104201e-03 5.40613097e-05 9.99990706e-01 -6.26007475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701858064 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:10.22, Y:0.57, Z:-0.06 [[ 9.97279929e-01 -7.35815211e-02 -4.30143303e-03 1.02243800e+01] [ 7.35805818e-02 9.97289204e-01 -3.76436705e-04 5.68872995e-01] [ 4.31747151e-03 5.89108254e-05 9.99990678e-01 -6.23041819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.731858064 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:10.25, Y:0.57, Z:-0.06 [[ 9.97448870e-01 -7.12500936e-02 -4.37900020e-03 1.02518216e+01] [ 7.12490959e-02 9.97458480e-01 -3.83614188e-04 5.68164404e-01] [ 4.39520343e-03 7.06357333e-05 9.99990339e-01 -6.12641079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761858064 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:10.28, Y:0.57, Z:-0.06 [[ 9.97551855e-01 -6.98287639e-02 -3.77363244e-03 1.02798698e+01] [ 6.98280083e-02 9.97558990e-01 -3.31778539e-04 5.70215296e-01] [ 3.78758866e-03 6.74610593e-05 9.99992825e-01 -6.08449084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.791858064 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:10.31, Y:0.57, Z:-0.06 [[ 9.97791314e-01 -6.63634979e-02 -2.89494920e-03 1.03069170e+01] [ 6.63630379e-02 9.97795511e-01 -2.54789228e-04 5.71533029e-01] [ 2.90547602e-03 6.21088553e-05 9.99995777e-01 -6.03123977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821858064 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:10.34, Y:0.57, Z:-0.06 [[ 9.97848683e-01 -6.54904946e-02 -3.00011056e-03 1.03354203e+01] [ 6.54899936e-02 9.97853191e-01 -2.65052888e-04 5.73155306e-01] [ 3.01102834e-03 6.80054537e-05 9.99995465e-01 -5.98490012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.851858064 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.36, Y:0.57, Z:-0.06 [[ 9.97894400e-01 -6.48061912e-02 -2.63145770e-03 1.03632649e+01] [ 6.48069997e-02 9.97897792e-01 2.23080966e-04 5.74266450e-01] [ 2.61146880e-03 -3.93148125e-04 9.99996513e-01 -5.90326525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:10.39, Y:0.57, Z:-0.06 [[ 9.97929548e-01 -6.42666785e-02 -2.53213612e-03 1.03917216e+01] [ 6.42651544e-02 9.97932628e-01 -6.78825241e-04 5.73530821e-01] [ 2.57052709e-03 5.14691647e-04 9.99996564e-01 -5.83650303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.911858064 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:10.42, Y:0.57, Z:-0.06 [[ 9.97893688e-01 -6.48190366e-02 -2.58465870e-03 1.04193050e+01] [ 6.48186595e-02 9.97897033e-01 -2.29479373e-04 5.74082634e-01] [ 2.59409788e-03 6.14619056e-05 9.99996633e-01 -5.77086916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941858064 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:10.45, Y:0.58, Z:-0.06 [[ 9.97832729e-01 -6.57514296e-02 -2.56798128e-03 1.04470615e+01] [ 6.57510582e-02 9.97836032e-01 -2.28872866e-04 5.75158339e-01] [ 2.57747297e-03 5.95293505e-05 9.99996677e-01 -5.77916626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971858064 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:10.47, Y:0.58, Z:-0.06 [[ 9.97773426e-01 -6.66081367e-02 -3.39810301e-03 1.04746408e+01] [ 6.66074883e-02 9.97779209e-01 -3.03734850e-04 5.76663241e-01] [ 3.41078774e-03 7.67194557e-05 9.99994180e-01 -5.79335315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001858064 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:10.50, Y:0.58, Z:-0.06 [[ 9.97616278e-01 -6.89163989e-02 -3.50602223e-03 1.05012566e+01] [ 6.89157209e-02 9.97622436e-01 -3.13964807e-04 5.77220428e-01] [ 3.51932376e-03 7.15963527e-05 9.99993805e-01 -5.92417899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.031858064 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:10.53, Y:0.58, Z:-0.06 [[ 9.97484487e-01 -7.07841546e-02 -3.78169233e-03 1.05296602e+01] [ 7.07833750e-02 9.97491653e-01 -3.39746640e-04 5.78367760e-01] [ 3.79625521e-03 7.12110566e-05 9.99992792e-01 -5.91575522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061858063999999 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:10.56, Y:0.58, Z:-0.06 [[ 9.97364769e-01 -7.24313068e-02 -4.15017371e-03 1.05579881e+01] [ 7.24303775e-02 9.97373401e-01 -3.73981063e-04 5.78270902e-01] [ 4.16636081e-03 7.23968882e-05 9.99991318e-01 -5.88992025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.091858064 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:10.59, Y:0.58, Z:-0.06 [[ 9.97130052e-01 -7.55587991e-02 -4.74625210e-03 1.05863527e+01] [ 7.55576129e-02 9.97141346e-01 -4.28989259e-04 5.76615805e-01] [ 4.76509812e-03 6.91426026e-05 9.99988644e-01 -5.78551142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121858064 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:10.61, Y:0.58, Z:-0.06 [[ 9.97041123e-01 -7.67105553e-02 -4.94880524e-03 1.06149213e+01] [ 7.67092729e-02 9.97053402e-01 -4.48719808e-04 5.77912227e-01] [ 4.96864464e-03 6.77728493e-05 9.99987654e-01 -5.81388240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.151858064 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:10.64, Y:0.58, Z:-0.06 [[ 9.96964093e-01 -7.77201169e-02 -4.70955727e-03 1.06421211e+01] [ 7.77189645e-02 9.96975215e-01 -4.27481312e-04 5.79625144e-01] [ 4.72853577e-03 6.01616048e-05 9.99988819e-01 -5.84990355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181858064 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:10.67, Y:0.58, Z:-0.06 [[ 9.96861357e-01 -7.90110298e-02 -4.96917976e-03 1.06699147e+01] [ 7.90097551e-02 9.96873740e-01 -4.52614888e-04 5.79421997e-01] [ 4.98940638e-03 5.85806157e-05 9.99987551e-01 -5.90059991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.211858064 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:10.70, Y:0.58, Z:-0.06 [[ 9.96840221e-01 -7.92772532e-02 -4.96906022e-03 1.06983649e+01] [ 7.92759753e-02 9.96852604e-01 -4.53925770e-04 5.82080370e-01] [ 4.98940660e-03 5.85643694e-05 9.99987551e-01 -5.90315075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241858064 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:10.73, Y:0.59, Z:-0.06 [[ 9.96768403e-01 -8.01218814e-02 -5.76492721e-03 1.07262235e+01] [ 8.00741087e-02 9.96756092e-01 -8.08890134e-03 5.87002852e-01] [ 6.39432431e-03 7.60113987e-03 9.99950666e-01 -6.19049724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.271858064 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:10.75, Y:0.58, Z:-0.06 [[ 9.96652396e-01 -8.15659444e-02 -5.56755088e-03 1.07533832e+01] [ 8.16045723e-02 9.96639465e-01 7.10426220e-03 5.79862453e-01] [ 4.96937507e-03 -7.53481755e-03 9.99959265e-01 -5.68831666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:10.78, Y:0.59, Z:-0.06 [[ 9.96553149e-01 -8.27881568e-02 -5.28606373e-03 1.07817077e+01] [ 8.27778392e-02 9.96565723e-01 -2.14205274e-03 5.85354169e-01] [ 5.44524652e-03 1.69710047e-03 9.99983734e-01 -5.98295021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.331858064 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:10.81, Y:0.59, Z:-0.06 [[ 9.96458472e-01 -8.39154140e-02 -5.35884687e-03 1.08088146e+01] [ 8.39227254e-02 9.96471597e-01 1.15398018e-03 5.85087762e-01] [ 5.24310198e-03 -1.59962236e-03 9.99984975e-01 -5.84134302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361858064 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:10.84, Y:0.59, Z:-0.06 [[ 9.96341479e-01 -8.52830082e-02 -5.51953329e-03 1.08372659e+01] [ 8.52814920e-02 9.96356767e-01 -5.09908350e-04 5.87469680e-01] [ 5.54291086e-03 3.73288057e-05 9.99984637e-01 -5.91289342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391858064 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:10.87, Y:0.59, Z:-0.06 [[ 9.96160765e-01 -8.73545209e-02 -5.73745481e-03 1.08650610e+01] [ 8.73529074e-02 9.96177287e-01 -5.31700306e-04 5.86801448e-01] [ 5.76196859e-03 2.84756250e-05 9.99983399e-01 -5.83172938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:10.89, Y:0.59, Z:-0.06 [[ 9.96017373e-01 -8.89554914e-02 -6.02604617e-03 1.08936150e+01] [ 8.89537301e-02 9.96035602e-01 -5.60208726e-04 5.87958027e-01] [ 6.05199017e-03 2.19383383e-05 9.99981686e-01 -5.82341218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.451858064 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:10.92, Y:0.59, Z:-0.06 [[ 9.95820371e-01 -9.10785906e-02 -6.81749430e-03 1.09212309e+01] [ 9.10763815e-02 9.95843708e-01 -6.34449059e-04 5.87693786e-01] [ 6.84694353e-03 1.08845856e-05 9.99976559e-01 -5.82087085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481858064 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:10.95, Y:0.59, Z:-0.06 [[ 9.95704638e-01 -9.23124456e-02 -7.11940907e-03 1.09487362e+01] [ 9.23100575e-02 9.95730090e-01 -6.64005452e-04 5.88681442e-01] [ 7.15030580e-03 3.96024738e-06 9.99974436e-01 -5.81997640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.511858064 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:10.98, Y:0.58, Z:-0.04 [[ 0.99577842 -0.09075245 -0.01375981 10.98284554] [ 0.0910003 0.99567706 0.01860481 0.57710336] [ 0.0120119 -0.01977842 0.99973223 -0.04365562] [ 0. 0. 0. 1. ]] SLAMing on 12.541858064 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:11.01, Y:0.58, Z:-0.05 [[ 9.95766531e-01 -9.08702199e-02 -1.38426619e-02 1.10139434e+01] [ 9.09580321e-02 9.95837540e-01 5.85059492e-03 5.82446715e-01] [ 1.32533975e-02 -7.08492789e-03 9.99887069e-01 -4.64338795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571858064 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:11.03, Y:0.60, Z:-0.07 [[ 9.95380568e-01 -9.58569285e-02 -5.38284269e-03 1.10339593e+01] [ 9.56899945e-02 9.95082802e-01 -2.55664203e-02 6.03388533e-01] [ 7.80709271e-03 2.49332338e-02 9.99658633e-01 -6.65381269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601858064 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:11.07, Y:0.58, Z:-0.04 [[ 0.99547829 -0.09360346 -0.01616692 11.0698986 ] [ 0.09397428 0.9952867 0.02394211 0.57605257] [ 0.01384965 -0.02535313 0.99958262 -0.03999126] [ 0. 0. 0. 1. ]] SLAMing on 12.631858064 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:11.10, Y:0.59, Z:-0.05 [[ 9.95475120e-01 -9.39827971e-02 -1.40185393e-02 1.10970803e+01] [ 9.39647144e-02 9.95573629e-01 -1.94450234e-03 5.88948943e-01] [ 1.41392378e-02 6.18455659e-04 9.99899845e-01 -5.03239665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:11.12, Y:0.61, Z:-0.07 [[ 9.95256087e-01 -9.70561979e-02 -6.73909483e-03 1.11180097e+01] [ 9.68591400e-02 9.94980658e-01 -2.51355643e-02 6.05854809e-01] [ 9.14483131e-03 2.43635804e-02 9.99661337e-01 -6.73706953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.691858064 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:11.15, Y:0.58, Z:-0.04 [[ 0.99550165 -0.09354555 -0.01502333 11.15150269] [ 0.09380268 0.99543816 0.01743353 0.58454144] [ 0.01332397 -0.01876434 0.99973515 -0.04294405] [ 0. 0. 0. 1. ]] SLAMing on 12.721858064 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:11.18, Y:0.60, Z:-0.05 [[ 9.95714443e-01 -9.14364719e-02 -1.38607267e-02 1.11787178e+01] [ 9.13129208e-02 9.95778819e-01 -9.30023284e-03 5.97241573e-01] [ 1.46525985e-02 7.99471272e-03 9.99860683e-01 -5.19955824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.751858064 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:11.20, Y:0.60, Z:-0.06 [[ 9.95604514e-01 -9.33355596e-02 -7.75406742e-03 1.12047007e+01] [ 9.32234342e-02 9.95550340e-01 -1.37445447e-02 6.04235377e-01] [ 9.00241922e-03 1.29612699e-02 9.99875473e-01 -5.96994415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781858064 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:11.23, Y:0.60, Z:-0.05 [[ 9.95713063e-01 -9.21036410e-02 -8.50975480e-03 1.12321611e+01] [ 9.21293372e-02 9.95743448e-01 2.67779743e-03 5.97222170e-01] [ 8.22689769e-03 -3.45031595e-03 9.99960206e-01 -5.37340181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.811858063999999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:11.26, Y:0.60, Z:-0.06 [[ 9.95748131e-01 -9.16398491e-02 -9.37007566e-03 1.12583204e+01] [ 9.15861025e-02 9.95779003e-01 -6.01353052e-03 6.02982265e-01] [ 9.88160363e-03 5.12979307e-03 9.99938018e-01 -5.70458741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:11.29, Y:0.60, Z:-0.05 [[ 9.95691287e-01 -9.22679123e-02 -9.24621251e-03 1.12875681e+01] [ 9.23194833e-02 9.95715256e-01 5.31431291e-03 5.99134796e-01] [ 8.71625430e-03 -6.14502062e-03 9.99943131e-01 -5.28093454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.871858064 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:11.32, Y:0.59, Z:-0.04 [[ 9.95957483e-01 -8.86112160e-02 -1.47222300e-02 1.13213552e+01] [ 8.87442497e-02 9.96016957e-01 8.64175045e-03 5.93561629e-01] [ 1.38978347e-02 -9.91332929e-03 9.99854277e-01 -4.47339299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901858064 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:11.34, Y:0.61, Z:-0.06 [[ 9.95648815e-01 -9.28823394e-02 -7.50385323e-03 1.13438139e+01] [ 9.28013329e-02 9.95629219e-01 -1.05057759e-02 6.09013988e-01] [ 8.44685657e-03 9.76369576e-03 9.99916657e-01 -5.78305752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.931858064 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:11.37, Y:0.61, Z:-0.05 [[ 9.95605906e-01 -9.32420302e-02 -8.64895799e-03 1.13719262e+01] [ 9.32383802e-02 9.95643472e-01 -8.25165851e-04 6.05495554e-01] [ 8.68821870e-03 1.51251620e-05 9.99962257e-01 -5.33494315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961858064 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:11.40, Y:0.61, Z:-0.05 [[ 9.95597977e-01 -9.33086081e-02 -8.84146327e-03 1.13986998e+01] [ 9.33047805e-02 9.95637235e-01 -8.45321340e-04 6.07406823e-01] [ 8.88176580e-03 1.66494263e-05 9.99960556e-01 -5.30323727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.991858064 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:11.43, Y:0.61, Z:-0.05 [[ 9.95570703e-01 -9.36016650e-02 -8.81497193e-03 1.14272220e+01] [ 9.35978500e-02 9.95609727e-01 -8.45238526e-04 6.09358651e-01] [ 8.85538753e-03 1.64322935e-05 9.99960790e-01 -5.24695460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021858064 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:11.46, Y:0.61, Z:-0.05 [[ 9.95545029e-01 -9.38987024e-02 -8.55157603e-03 1.14555710e+01] [ 9.38951021e-02 9.95581756e-01 -8.22417970e-04 6.11367163e-01] [ 8.59101707e-03 1.58030165e-05 9.99963096e-01 -5.21900001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:11.48, Y:0.61, Z:-0.05 [[ 9.95538216e-01 -9.39754955e-02 -8.50097497e-03 1.14837596e+01] [ 9.39572858e-02 9.95573046e-01 -2.51755193e-03 6.14570041e-01] [ 8.69992974e-03 1.70759062e-03 9.99960697e-01 -5.25200209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:11.51, Y:0.61, Z:-0.05 [[ 9.95274623e-01 -9.66939904e-02 -8.87111727e-03 1.15130403e+01] [ 9.67048011e-02 9.95312788e-01 7.96886142e-04 6.14799345e-01] [ 8.75248236e-03 -1.65100019e-03 9.99960333e-01 -5.09635237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.111858064 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:11.54, Y:0.62, Z:-0.05 [[ 9.95126874e-01 -9.82104486e-02 -8.78710475e-03 1.15409127e+01] [ 9.82067667e-02 9.95165668e-01 -8.50569779e-04 6.17334266e-01] [ 8.82815981e-03 -1.65283015e-05 9.99961031e-01 -5.20017794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141858064 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:11.57, Y:0.62, Z:-0.05 [[ 9.94934347e-01 -1.00091806e-01 -9.34211884e-03 1.15680304e+01] [ 1.00087716e-01 9.94978205e-01 -9.05545152e-04 6.19438423e-01] [ 9.38584229e-03 -3.40733609e-05 9.99955951e-01 -5.17726117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.171858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:11.60, Y:0.62, Z:-0.05 [[ 9.94771043e-01 -1.01589804e-01 -1.04920679e-02 1.15973591e+01] [ 1.01612885e-01 9.94822581e-01 1.68938542e-03 6.17768841e-01] [ 1.02661217e-02 -2.74668099e-03 9.99943530e-01 -4.98240354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:11.62, Y:0.62, Z:-0.05 [[ 9.94690094e-01 -1.02331217e-01 -1.09516815e-02 1.16249704e+01] [ 1.02343501e-01 9.94748957e-01 5.65723851e-04 6.19122678e-01] [ 1.08362826e-02 -1.68355334e-03 9.99939869e-01 -5.00511727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231858063999999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:11.65, Y:0.62, Z:-0.05 [[ 9.94536840e-01 -1.03808153e-01 -1.09700041e-02 1.16533034e+01] [ 1.03768673e-01 9.94592966e-01 -4.11033852e-03 6.21887276e-01] [ 1.13373756e-02 2.94954032e-03 9.99931380e-01 -5.17656838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261858064 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:11.68, Y:0.62, Z:-0.05 [[ 9.94456108e-01 -1.04749643e-01 -9.19569969e-03 1.16788076e+01] [ 1.04763923e-01 9.94496529e-01 1.08383107e-03 6.23673588e-01] [ 9.03156050e-03 -2.04120000e-03 9.99957131e-01 -5.15292108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.291858064 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:11.71, Y:0.63, Z:-0.06 [[ 9.94437553e-01 -1.05099773e-01 -6.92749746e-03 1.17071196e+01] [ 1.04983112e-01 9.94353621e-01 -1.54732571e-02 6.33998021e-01] [ 8.51461800e-03 1.46599177e-02 9.99856284e-01 -6.03044888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:11.73, Y:0.64, Z:-0.07 [[ 9.94309063e-01 -1.06516759e-01 -1.91492675e-03 1.17311072e+01] [ 1.06471326e-01 9.94180165e-01 -1.64212142e-02 6.39167846e-01] [ 3.65291672e-03 1.61238773e-02 9.99863329e-01 -6.73356419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.351858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:11.76, Y:0.63, Z:-0.06 [[ 9.94390074e-01 -1.05741743e-01 -2.65804214e-03 1.17615934e+01] [ 1.05746360e-01 9.94391748e-01 1.66076759e-03 6.33044149e-01] [ 2.46752271e-03 -1.93252909e-03 9.99995088e-01 -6.01769933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381858064 meters Centerline goodness : 0.996591 Centerline is valid? [True, True] Translation: X:11.79, Y:0.63, Z:-0.05 [[ 9.94724503e-01 -1.02375487e-01 -6.51335039e-03 1.17949250e+01] [ 1.02475423e-01 9.94581381e-01 1.75118468e-02 6.25068395e-01] [ 4.68527318e-03 -1.80869214e-02 9.99825441e-01 -4.92995164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.411858064 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:11.82, Y:0.63, Z:-0.06 [[ 9.95225207e-01 -9.75795146e-02 -2.24197130e-03 1.18165498e+01] [ 9.75787432e-02 9.95227705e-01 -4.51185913e-04 6.31526161e-01] [ 2.27529845e-03 2.30262851e-04 9.99997385e-01 -5.69851787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:11.85, Y:0.63, Z:-0.05 [[ 9.95013620e-01 -9.95737836e-02 -5.74081248e-03 1.18479167e+01] [ 9.96008612e-02 9.95016650e-01 4.64062405e-03 6.32962149e-01] [ 5.25011951e-03 -5.18927400e-03 9.99972753e-01 -5.10832162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.471858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:11.88, Y:0.64, Z:-0.05 [[ 9.95086211e-01 -9.88679583e-02 -5.34415635e-03 1.18754323e+01] [ 9.88665347e-02 9.95100561e-01 -5.30562243e-04 6.37687143e-01] [ 5.37042858e-03 -4.03046729e-07 9.99985579e-01 -5.33688933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501858064 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:11.90, Y:0.64, Z:-0.05 [[ 9.95230449e-01 -9.74086057e-02 -5.28365646e-03 1.19038278e+01] [ 9.74071854e-02 9.95244474e-01 -5.26093940e-04 6.39812099e-01] [ 5.30977597e-03 8.91860363e-06 9.99985903e-01 -5.41209683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.531858064 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:11.93, Y:0.65, Z:-0.07 [[ 9.95177859e-01 -9.80564556e-02 2.44153552e-03 1.19318731e+01] [ 9.80867149e-02 9.94909042e-01 -2.31299446e-02 6.53189637e-01] [-1.61065372e-04 2.32578910e-02 9.99729486e-01 -7.07861174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561858063999999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:11.96, Y:0.63, Z:-0.05 [[ 9.95347310e-01 -9.60528237e-02 -7.58861417e-03 1.19613551e+01] [ 9.62012858e-02 9.95107330e-01 2.25103195e-02 6.34195025e-01] [ 5.38930583e-03 -2.31356204e-02 9.99717809e-01 -4.52115435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.591858064 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:11.99, Y:0.65, Z:-0.05 [[ 9.95470455e-01 -9.49489827e-02 -4.82316888e-03 1.19869958e+01] [ 9.49477583e-02 9.95482140e-01 -4.82734771e-04 6.46530790e-01] [ 4.84721365e-03 2.25991298e-05 9.99988252e-01 -5.47115395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:12.01, Y:0.65, Z:-0.05 [[ 9.95704925e-01 -9.24713399e-02 -4.55568439e-03 1.20149181e+01] [ 9.24702144e-02 9.95715346e-01 -4.57515496e-04 6.47477902e-01] [ 4.57847193e-03 3.42853206e-05 9.99989518e-01 -5.46639861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.651858064 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:12.04, Y:0.65, Z:-0.05 [[ 9.95789324e-01 -9.15589520e-02 -4.53660404e-03 1.20427223e+01] [ 9.15578206e-02 9.95799657e-01 -4.56884047e-04 6.49448227e-01] [ 4.55938057e-03 3.95986769e-05 9.99989605e-01 -5.49657463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:12.07, Y:0.65, Z:-0.06 [[ 9.95817482e-01 -9.12497962e-02 -4.58445069e-03 1.20709986e+01] [ 9.12431203e-02 9.95827287e-01 -1.64528613e-03 6.52575053e-01] [ 4.71545312e-03 1.22010510e-03 9.99988138e-01 -5.61226083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.711858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:12.10, Y:0.65, Z:-0.06 [[ 9.95820239e-01 -9.12123812e-02 -4.72796428e-03 1.20986981e+01] [ 9.12166671e-02 9.95830825e-01 6.98487023e-04 6.54237287e-01] [ 4.64454190e-03 -1.12683666e-03 9.99988579e-01 -5.60189984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741858064 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:12.13, Y:0.66, Z:-0.06 [[ 9.95646554e-01 -9.31454207e-02 -3.44529053e-03 1.21256471e+01] [ 9.31447727e-02 9.95652515e-01 -3.48399589e-04 6.55754639e-01] [ 3.46276400e-03 2.59720469e-05 9.99994004e-01 -5.72344876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.771858064 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:12.15, Y:0.66, Z:-0.06 [[ 9.95476790e-01 -9.49457507e-02 -3.35634328e-03 1.21539059e+01] [ 9.49451414e-02 9.95482448e-01 -3.40762241e-04 6.56865654e-01] [ 3.37353475e-03 2.05524144e-05 9.99994309e-01 -5.65575909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:12.18, Y:0.66, Z:-0.06 [[ 9.95253620e-01 -9.72641528e-02 -3.14898705e-03 1.21819867e+01] [ 9.72636251e-02 9.95258602e-01 -3.20645767e-04 6.58412832e-01] [ 3.16524378e-03 1.28419647e-05 9.99994991e-01 -5.65772823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:12.21, Y:0.66, Z:-0.06 [[ 9.94932947e-01 -1.00471013e-01 -3.74261850e-03 1.22090236e+01] [ 1.00470289e-01 9.94939986e-01 -3.81447752e-04 6.58919492e-01] [ 3.76200524e-03 3.49297481e-06 9.99992924e-01 -5.59961090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861858064 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:12.24, Y:0.66, Z:-0.06 [[ 9.94799208e-01 -1.01762841e-01 -4.34280383e-03 1.22360581e+01] [ 1.01761877e-01 9.94808687e-01 -4.42884330e-04 6.61061874e-01] [ 4.36532815e-03 -1.35088804e-06 9.99990472e-01 -5.55720331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.891858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:12.26, Y:0.66, Z:-0.06 [[ 9.94651068e-01 -1.03137216e-01 -5.65391795e-03 1.22641506e+01] [ 1.03135594e-01 9.94667138e-01 -5.78466410e-04 6.63642009e-01] [ 5.68342779e-03 -7.74795338e-06 9.99983849e-01 -5.66929558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:12.29, Y:0.67, Z:-0.06 [[ 9.94559706e-01 -1.03940988e-01 -6.87470337e-03 1.22924114e+01] [ 1.03938597e-01 9.94583466e-01 -7.05156385e-04 6.66905653e-01] [ 6.91076095e-03 -1.32268946e-05 9.99976120e-01 -5.74497482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.951858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:12.32, Y:0.67, Z:-0.06 [[ 9.94505253e-01 -1.04406905e-01 -7.64851529e-03 1.23194382e+01] [ 1.04403950e-01 9.94534664e-01 -7.85681506e-04 6.69357649e-01] [ 7.68874416e-03 -1.71708219e-05 9.99970441e-01 -5.77210336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981858063999999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:12.35, Y:0.67, Z:-0.06 [[ 9.94466299e-01 -1.04794246e-01 -7.41261484e-03 1.23475414e+01] [ 1.04791464e-01 9.94493924e-01 -7.63686969e-04 6.70123200e-01] [ 7.45183042e-03 -1.73178114e-05 9.99972235e-01 -5.63303292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.011858064 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:12.38, Y:0.67, Z:-0.06 [[ 9.94422486e-01 -1.05271984e-01 -6.45971334e-03 1.23759596e+01] [ 1.05269869e-01 9.94443467e-01 -6.67456940e-04 6.72815593e-01] [ 6.49408424e-03 -1.62789896e-05 9.99978913e-01 -5.58045282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:12.40, Y:0.68, Z:-0.06 [[ 9.94380054e-01 -1.05741622e-01 -5.19785634e-03 1.24034573e+01] [ 1.05740251e-01 9.94393639e-01 -5.38673356e-04 6.76100016e-01] [ 5.22567548e-03 -1.39765925e-05 9.99986346e-01 -5.55565167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:12.43, Y:0.68, Z:-0.06 [[ 9.94347888e-01 -1.06090603e-01 -4.13065470e-03 1.24311268e+01] [ 1.06089734e-01 9.94356467e-01 -4.29379574e-04 6.79284003e-01] [ 4.15289635e-03 -1.12673860e-05 9.99991377e-01 -5.52975947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:12.46, Y:0.68, Z:-0.06 [[ 9.94329545e-01 -1.06262385e-01 -4.13060809e-03 1.24595265e+01] [ 1.06261517e-01 9.94338124e-01 -4.29827695e-04 6.82315093e-01] [ 4.15289562e-03 -1.15343039e-05 9.99991377e-01 -5.53698533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.131858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:12.49, Y:0.69, Z:-0.05 [[ 9.94298532e-01 -1.06602393e-01 -2.52161888e-03 1.24866374e+01] [ 1.06602069e-01 9.94301730e-01 -2.63089032e-04 6.85476536e-01] [ 2.53529593e-03 -7.22075053e-06 9.99996786e-01 -5.45800778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:12.51, Y:0.69, Z:-0.05 [[ 9.94306693e-01 -1.06533402e-01 -2.19880597e-03 1.25144951e+01] [ 1.06533154e-01 9.94309124e-01 -2.30299801e-04 6.88660304e-01] [ 2.21082746e-03 -5.25710045e-06 9.99997556e-01 -5.43628735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.191858064 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:12.54, Y:0.69, Z:-0.05 [[ 9.94303985e-01 -1.06563002e-01 -1.97764627e-03 1.25423140e+01] [ 1.06562800e-01 9.94305952e-01 -2.07746900e-04 6.92293628e-01] [ 1.98852359e-03 -4.17995375e-06 9.99998023e-01 -5.47560033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221858064 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:12.57, Y:0.69, Z:-0.05 [[ 9.94555693e-01 -1.04206086e-01 2.55077694e-04 1.25693785e+01] [ 1.04182566e-01 9.94377606e-01 1.89517902e-02 6.86891505e-01] [-2.22853543e-03 -1.88220362e-02 9.99820366e-01 -4.84706773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.251858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:12.60, Y:0.71, Z:-0.06 [[ 9.94653610e-01 -1.03248734e-01 -1.97340551e-03 1.25968902e+01] [ 1.03193138e-01 9.94480512e-01 -1.89654213e-02 7.07081607e-01] [ 3.92066905e-03 1.86603828e-02 9.99818193e-01 -6.19006169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:12.63, Y:0.70, Z:-0.05 [[ 9.94758870e-01 -1.02143669e-01 -4.63264758e-03 1.26259690e+01] [ 1.02142500e-01 9.94769657e-01 -4.88966235e-04 7.02271946e-01] [ 4.65836205e-03 1.32132948e-05 9.99989150e-01 -5.44416590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.311858063999999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:12.65, Y:0.71, Z:-0.06 [[ 9.95062236e-01 -9.90813880e-02 -5.83312962e-03 1.26536967e+01] [ 9.90794723e-02 9.95079332e-01 -6.17185870e-04 7.07881244e-01] [ 5.86557836e-03 3.61949468e-05 9.99982797e-01 -5.61907743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:12.68, Y:0.71, Z:-0.06 [[ 9.95171304e-01 -9.79635699e-02 -6.10038447e-03 1.26803928e+01] [ 9.79614480e-02 9.95190000e-01 -6.46383611e-04 7.11615431e-01] [ 6.13436367e-03 4.56599250e-05 9.99981184e-01 -5.71362212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371858064 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:12.71, Y:0.71, Z:-0.06 [[ 9.95271569e-01 -9.69025603e-02 -6.66314953e-03 1.27080270e+01] [ 9.68999910e-02 9.95293871e-01 -7.08114222e-04 7.13896484e-01] [ 6.70040997e-03 5.91068233e-05 9.99977550e-01 -5.68574005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401858063999999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:12.74, Y:0.72, Z:-0.06 [[ 9.95329609e-01 -9.62941566e-02 -6.81212575e-03 1.27361479e+01] [ 9.62914436e-02 9.95352918e-01 -7.25887019e-04 7.15521824e-01] [ 6.85036792e-03 6.65474209e-05 9.99976534e-01 -5.59690402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.431858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:12.76, Y:0.72, Z:-0.05 [[ 9.95407961e-01 -9.55021355e-02 -6.50646056e-03 1.27633139e+01] [ 9.54996408e-02 9.95429223e-01 -6.93742461e-04 7.17196153e-01] [ 6.54297487e-03 6.91921215e-05 9.99978592e-01 -5.49922285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461858064 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:12.79, Y:0.72, Z:-0.06 [[ 9.95350769e-01 -9.61757632e-02 -5.20272345e-03 1.27913898e+01] [ 9.61741674e-02 9.95364365e-01 -5.56628225e-04 7.20954028e-01] [ 5.23213967e-03 5.36727357e-05 9.99986311e-01 -5.57966925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.491858064 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:12.82, Y:0.72, Z:-0.06 [[ 9.95316936e-01 -9.65648220e-02 -4.40807301e-03 1.28192422e+01] [ 9.65636740e-02 9.95326697e-01 -4.73008968e-04 7.24000046e-01] [ 4.43314878e-03 4.51341111e-05 9.99990173e-01 -5.60606476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521858064 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:12.85, Y:0.73, Z:-0.06 [[ 9.95220911e-01 -9.76200789e-02 -2.37866112e-03 1.28465669e+01] [ 9.76197472e-02 9.95223754e-01 -2.55460210e-04 7.26217466e-01] [ 2.39223810e-03 2.20350453e-05 9.99997138e-01 -5.56296270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.551858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:12.88, Y:0.73, Z:-0.06 [[ 9.95137992e-01 -9.84752946e-02 -1.73003657e-03 1.28750181e+01] [ 9.84751187e-02 9.95139496e-01 -1.86778596e-04 7.28821078e-01] [ 1.74002080e-03 1.55049199e-05 9.99998486e-01 -5.53285182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581858064 meters Centerline goodness : 0.996737 Centerline is valid? [True, True] Translation: X:12.90, Y:0.73, Z:-0.05 [[ 9.95186275e-01 -9.80013786e-02 -8.90109695e-05 1.29013527e+01] [ 9.80007274e-02 9.95175429e-01 4.66088164e-03 7.28823968e-01] [-3.68191297e-04 -4.64716858e-03 9.99989134e-01 -5.35017444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.611858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:12.93, Y:0.74, Z:-0.06 [[ 9.95024415e-01 -9.96313665e-02 5.83371764e-05 1.29296236e+01] [ 9.96306228e-02 9.95014358e-01 -4.49064236e-03 7.35915473e-01] [ 3.89362506e-04 4.47411095e-03 9.99989915e-01 -5.69176094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:12.96, Y:0.74, Z:-0.05 [[ 9.94993472e-01 -9.99333047e-02 -1.15149318e-03 1.29568554e+01] [ 9.99332272e-02 9.94994138e-01 -1.24720750e-04 7.37282469e-01] [ 1.15819273e-03 9.02390183e-06 9.99999329e-01 -5.48439760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.671858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:12.98, Y:0.74, Z:-0.06 [[ 9.94937618e-01 -1.00473334e-01 -2.06044496e-03 1.29844388e+01] [ 1.00473086e-01 9.94939751e-01 -2.23925161e-04 7.40888608e-01] [ 2.07251711e-03 1.57723026e-05 9.99997852e-01 -5.50651958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:13.01, Y:0.74, Z:-0.06 [[ 9.94758241e-01 -1.02207776e-01 -3.10034777e-03 1.30109514e+01] [ 1.02207224e-01 9.94763072e-01 -3.36508606e-04 7.44221499e-01] [ 3.11850527e-03 1.78667700e-05 9.99995137e-01 -5.65378681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.731858063999999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:13.04, Y:0.75, Z:-0.06 [[ 9.94618370e-01 -1.03536513e-01 -3.80641074e-03 1.30389936e+01] [ 1.03528866e-01 9.94624116e-01 -2.15457768e-03 7.47690796e-01] [ 4.00902538e-03 1.74890915e-03 9.99990434e-01 -5.74658323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:13.07, Y:0.75, Z:-0.06 [[ 9.94444145e-01 -1.05190816e-01 -3.96673447e-03 1.30666465e+01] [ 1.05196666e-01 9.94450594e-01 1.29557925e-03 7.48730973e-01] [ 3.80843841e-03 -1.70566844e-03 9.99991293e-01 -5.62515601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.791858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:13.09, Y:0.75, Z:-0.06 [[ 9.94079595e-01 -1.08575052e-01 -4.14928253e-03 1.30944515e+01] [ 1.08574105e-01 9.94088255e-01 -4.53531319e-04 7.51556806e-01] [ 4.17399521e-03 3.41593064e-07 9.99991289e-01 -5.77479335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821858064 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:13.12, Y:0.76, Z:-0.07 [[ 9.93875378e-01 -1.10506666e-01 -9.39281424e-05 1.31226077e+01] [ 1.10497371e-01 9.93802108e-01 -1.21532134e-02 7.59097971e-01] [ 1.43635709e-03 1.20684008e-02 9.99926143e-01 -6.71037471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.851858064 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:13.15, Y:0.75, Z:-0.05 [[ 9.93608253e-01 -1.12711897e-01 -6.21831545e-03 1.31501018e+01] [ 1.12777138e-01 9.93555030e-01 1.13894021e-02 7.50579131e-01] [ 4.89451747e-03 -1.20178878e-02 9.99915803e-01 -5.30463024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:13.18, Y:0.76, Z:-0.06 [[ 9.93438002e-01 -1.14246312e-01 -5.35879911e-03 1.31765114e+01] [ 1.14244805e-01 9.93452454e-01 -5.87577024e-04 7.58177741e-01] [ 5.39084063e-03 -2.84936127e-05 9.99985469e-01 -5.81209913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.911858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:13.20, Y:0.76, Z:-0.06 [[ 9.93256517e-01 -1.15833162e-01 -4.91634552e-03 1.32044217e+01] [ 1.15831903e-01 9.93268683e-01 -5.40966921e-04 7.60391954e-01] [ 4.94591395e-03 -3.21507383e-05 9.99987768e-01 -5.89895817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:13.23, Y:0.76, Z:-0.06 [[ 9.93228093e-01 -1.16092292e-01 -4.53152500e-03 1.32329093e+01] [ 1.16101413e-01 9.93235727e-01 1.80369847e-03 7.62060231e-01] [ 4.29147704e-03 -2.31760045e-03 9.99988106e-01 -5.79210235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.971858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:13.26, Y:0.77, Z:-0.06 [[ 9.93342536e-01 -1.15122100e-01 -4.18416964e-03 1.32590816e+01] [ 1.15111265e-01 9.93348812e-01 -2.74495732e-03 7.66960381e-01] [ 4.47234519e-03 2.24503780e-03 9.99987479e-01 -6.00731589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:13.29, Y:0.77, Z:-0.06 [[ 9.93530832e-01 -1.13506588e-01 -3.56933404e-03 1.32859061e+01] [ 1.13505904e-01 9.93537244e-01 -3.94290110e-04 7.68863245e-01] [ 3.59102083e-03 -1.34011075e-05 9.99993552e-01 -5.95650182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.031858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:13.31, Y:0.77, Z:-0.06 [[ 9.93598278e-01 -1.12929633e-01 -3.05934811e-03 1.33139995e+01] [ 1.12929124e-01 9.93602988e-01 -3.39275929e-04 7.71339135e-01] [ 3.07809173e-03 -8.38552129e-06 9.99995263e-01 -5.95186746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061858063999999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:13.34, Y:0.77, Z:-0.06 [[ 9.93618117e-01 -1.12770508e-01 -2.41861654e-03 1.33422393e+01] [ 1.12770187e-01 9.93621061e-01 -2.69066873e-04 7.74295901e-01] [ 2.43353114e-03 -5.39811941e-06 9.99997039e-01 -5.96469022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.091858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:13.36, Y:0.80, Z:-0.09 [[ 9.93119267e-01 -1.16665519e-01 1.01626268e-02 1.33623642e+01] [ 1.16947818e-01 9.92552813e-01 -3.40899036e-02 7.97938144e-01] [-6.10982754e-03 3.50438371e-02 9.99367099e-01 -8.53068424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121858064 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:13.40, Y:0.76, Z:-0.04 [[ 9.93768724e-01 -1.11336991e-01 -5.27231161e-03 1.34012758e+01] [ 1.11453534e-01 9.93157624e-01 3.48718229e-02 7.64086610e-01] [ 1.35371264e-03 -3.52421447e-02 9.99377886e-01 -4.40097819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.151858063999999 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:13.43, Y:0.78, Z:-0.06 [[ 9.93781957e-01 -1.11338261e-01 -1.10157553e-03 1.34275201e+01] [ 1.11338193e-01 9.93782568e-01 -1.23201630e-04 7.82579579e-01] [ 1.10844361e-03 -2.11870927e-07 9.99999386e-01 -5.86524231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:13.45, Y:0.79, Z:-0.06 [[ 9.93819678e-01 -1.11001819e-01 -1.02159835e-03 1.34541877e+01] [ 1.11001760e-01 9.93820203e-01 -1.14053708e-04 7.85337980e-01] [ 1.02794525e-03 -5.03950356e-08 9.99999472e-01 -5.86373671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.211858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:13.48, Y:0.79, Z:-0.06 [[ 9.94065961e-01 -1.08777700e-01 -5.25663466e-04 1.34790167e+01] [ 1.08777521e-01 9.94066056e-01 -3.58011981e-04 7.88195883e-01] [ 5.61487928e-04 2.98707156e-04 9.99999798e-01 -5.95471339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:13.50, Y:0.81, Z:-0.09 [[ 9.93532069e-01 -1.13159612e-01 9.43032111e-03 1.35032570e+01] [ 1.13447000e-01 9.92753984e-01 -3.96144497e-02 8.13805680e-01] [-4.87923310e-03 4.04280678e-02 9.99170538e-01 -8.56586339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.271858064 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:13.54, Y:0.77, Z:-0.04 [[ 9.94042225e-01 -1.08778484e-01 -6.87726631e-03 1.35399651e+01] [ 1.08984730e-01 9.92855781e-01 4.85770237e-02 7.72861312e-01] [ 1.54399861e-03 -4.90371297e-02 9.98795763e-01 -3.92585843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:13.56, Y:0.82, Z:-0.09 [[ 9.93567677e-01 -1.13034905e-01 6.81033484e-03 1.35624212e+01] [ 1.13218290e-01 9.92754456e-01 -4.02518076e-02 8.20169112e-01] [-2.21113103e-03 4.07639495e-02 9.99166358e-01 -8.60376687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.331858064 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:13.60, Y:0.78, Z:-0.04 [[ 9.93759308e-01 -1.10904205e-01 -1.19455459e-02 1.35999862e+01] [ 1.11262128e-01 9.93163789e-01 3.53047872e-02 7.82547286e-01] [ 7.94843425e-03 -3.64135477e-02 9.99305197e-01 -4.17891310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361858064 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:13.63, Y:0.80, Z:-0.06 [[ 9.93647940e-01 -1.12308207e-01 -7.11598175e-03 1.36260758e+01] [ 1.12336829e-01 9.93663080e-01 3.75773566e-03 7.99407920e-01] [ 6.64886379e-03 -4.53325312e-03 9.99967621e-01 -5.61017489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.391858064 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:13.65, Y:0.81, Z:-0.06 [[ 9.93405997e-01 -1.14460081e-01 -6.58901864e-03 1.36534280e+01] [ 1.14443506e-01 9.93425695e-01 -2.84115882e-03 8.05243595e-01] [ 6.87089969e-03 2.06835381e-03 9.99974256e-01 -5.89218164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421858064 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:13.68, Y:0.81, Z:-0.06 [[ 9.93071654e-01 -1.17351909e-01 -6.10078707e-03 1.36826016e+01] [ 1.17364122e-01 9.93087525e-01 1.68266078e-03 8.06283777e-01] [ 5.86115207e-03 -2.38701624e-03 9.99979974e-01 -5.68942815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.451858064 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:13.71, Y:0.81, Z:-0.06 [[ 9.92494601e-01 -1.22173605e-01 -5.29889938e-03 1.37108044e+01] [ 1.22146776e-01 9.92498829e-01 -5.12254729e-03 8.12421518e-01] [ 5.88499149e-03 4.43685705e-03 9.99972840e-01 -5.93897045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481858063999999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:13.74, Y:0.81, Z:-0.06 [[ 9.92290990e-01 -1.23796670e-01 -5.74249462e-03 1.37391424e+01] [ 1.23795253e-01 9.92307599e-01 -6.02919128e-04 8.14037104e-01] [ 5.77296043e-03 -1.12622357e-04 9.99983330e-01 -5.74911628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.511858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:13.77, Y:0.82, Z:-0.06 [[ 9.91979658e-01 -1.26250086e-01 -6.10522714e-03 1.37673417e+01] [ 1.26248030e-01 9.91998444e-01 -7.22628283e-04 8.18170960e-01] [ 6.14760771e-03 -5.39403394e-05 9.99981102e-01 -5.79040396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541858064 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:13.79, Y:0.82, Z:-0.06 [[ 9.91755630e-01 -1.27919137e-01 -7.58056476e-03 1.37938371e+01] [ 1.27895336e-01 9.91781326e-01 -3.54746818e-03 8.23011442e-01] [ 7.97205164e-03 2.54870266e-03 9.99964975e-01 -5.89022275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.571858064 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:13.82, Y:0.83, Z:-0.06 [[ 9.91578803e-01 -1.29200514e-01 -8.87152880e-03 1.38227407e+01] [ 1.29179296e-01 9.91616934e-01 -2.92688430e-03 8.26704284e-01] [ 9.17531314e-03 1.75621859e-03 9.99956364e-01 -5.83770335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601858064 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:13.85, Y:0.83, Z:-0.06 [[ 9.91478218e-01 -1.29998192e-01 -8.45058552e-03 1.38504594e+01] [ 1.30032406e-01 9.91503094e-01 3.63154565e-03 8.28043296e-01] [ 7.90668732e-03 -4.69944838e-03 9.99957699e-01 -5.59443163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.631858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:13.88, Y:0.83, Z:-0.05 [[ 9.91281064e-01 -1.31632796e-01 -5.88728820e-03 1.38774955e+01] [ 1.31710441e-01 9.91164060e-01 1.56896821e-02 8.27837917e-01] [ 3.76999176e-03 -1.63283021e-02 9.99859577e-01 -5.11401591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:13.90, Y:0.85, Z:-0.06 [[ 9.91079232e-01 -1.33123193e-01 -6.33811298e-03 1.39047893e+01] [ 1.32998528e-01 9.90967793e-01 -1.71529696e-02 8.46952510e-01] [ 8.56432391e-03 1.61569923e-02 9.99832788e-01 -6.40412133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.691858064 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:13.93, Y:0.84, Z:-0.06 [[ 9.91040869e-01 -1.33368998e-01 -7.12083805e-03 1.39329228e+01] [ 1.33394836e-01 9.91057533e-01 3.28388800e-03 8.41482624e-01] [ 6.61919134e-03 -4.20435024e-03 9.99969254e-01 -5.53859803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721858064 meters Centerline goodness : 0.996682 Centerline is valid? [True, True] Translation: X:13.96, Y:0.85, Z:-0.06 [[ 9.90702618e-01 -1.35839228e-01 -7.48509269e-03 1.39623119e+01] [ 1.35804835e-01 9.90723351e-01 -4.92837852e-03 8.50334455e-01] [ 8.08512324e-03 3.86604573e-03 9.99959841e-01 -5.73230130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.751858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:13.99, Y:0.85, Z:-0.05 [[ 9.90709002e-01 -1.35869320e-01 -5.93305317e-03 1.39902810e+01] [ 1.35871320e-01 9.90726491e-01 -6.66079475e-05 8.53779784e-01] [ 5.88708293e-03 -7.40142671e-04 9.99982397e-01 -5.43599085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781858064 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:14.02, Y:0.86, Z:-0.05 [[ 9.90778037e-01 -1.35396845e-01 -5.15520117e-03 1.40173849e+01] [ 1.35395647e-01 9.90791441e-01 -5.82212718e-04 8.58679341e-01] [ 5.18655896e-03 -1.21148225e-04 9.99986542e-01 -5.47455804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.811858063999999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:14.05, Y:0.87, Z:-0.06 [[ 9.90880106e-01 -1.34627097e-01 -5.67098750e-03 1.40451508e+01] [ 1.34605224e-01 9.90890912e-01 -4.07850762e-03 8.65282651e-01] [ 6.16840762e-03 3.27796753e-03 9.99975603e-01 -5.60817761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:14.07, Y:0.87, Z:-0.05 [[ 9.91113138e-01 -1.32898809e-01 -5.71435916e-03 1.40723580e+01] [ 1.32916124e-01 9.91123437e-01 2.76348250e-03 8.68816827e-01] [ 5.29637176e-03 -3.49845428e-03 9.99979854e-01 -5.42313418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.871858064 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:14.10, Y:0.88, Z:-0.06 [[ 9.91205441e-01 -1.32215518e-01 -5.55248279e-03 1.40999473e+01] [ 1.32214060e-01 9.91220987e-01 -6.30453237e-04 8.75325367e-01] [ 5.58709318e-03 -1.09207614e-04 9.99984386e-01 -5.58283186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901858063999999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:14.12, Y:0.88, Z:-0.06 [[ 9.91484031e-01 -1.30106225e-01 -5.63800418e-03 1.41241401e+01] [ 1.30072599e-01 9.91486497e-01 -5.97028482e-03 8.82295759e-01] [ 6.36677623e-03 5.18609221e-03 9.99966284e-01 -5.80907815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.931858064 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:14.15, Y:0.88, Z:-0.05 [[ 9.91486970e-01 -1.30127008e-01 -4.53317390e-03 1.41544691e+01] [ 1.30147150e-01 9.91484598e-01 4.47343846e-03 8.82776596e-01] [ 3.91245693e-03 -5.02533561e-03 9.99979719e-01 -5.37084136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961858064 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:14.18, Y:0.89, Z:-0.06 [[ 9.91900932e-01 -1.26990113e-01 -2.46019155e-03 1.41810098e+01] [ 1.26989809e-01 9.91903982e-01 -2.80215180e-04 8.91827746e-01] [ 2.47585835e-03 -3.44735560e-05 9.99996934e-01 -5.50162448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.991858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:14.21, Y:0.90, Z:-0.05 [[ 9.92085994e-01 -1.25535753e-01 -2.48103917e-03 1.42088463e+01] [ 1.25535438e-01 9.92089096e-01 -2.82904078e-04 8.97577285e-01] [ 2.49692649e-03 -3.07931663e-05 9.99996882e-01 -5.46489560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:14.24, Y:0.90, Z:-0.05 [[ 9.92063972e-01 -1.25709669e-01 -2.48095937e-03 1.42372110e+01] [ 1.25709353e-01 9.92067073e-01 -2.83602174e-04 9.00899980e-01] [ 2.49692964e-03 -3.05282984e-05 9.99996882e-01 -5.45777002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.051858064 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:14.26, Y:0.91, Z:-0.06 [[ 9.92308521e-01 -1.23755984e-01 -2.87317862e-03 1.42648094e+01] [ 1.23755550e-01 9.92312680e-01 -3.29059555e-04 9.06662925e-01] [ 2.89181466e-03 -2.90431986e-05 9.99995818e-01 -5.50572190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081858064 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:14.29, Y:0.91, Z:-0.06 [[ 9.92525459e-01 -1.21973796e-01 -3.95052182e-03 1.42927626e+01] [ 1.21972956e-01 9.92533320e-01 -4.53847157e-04 9.12594472e-01] [ 3.97638200e-03 -3.14019658e-05 9.99992094e-01 -5.54025088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.111858064 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.32, Y:0.92, Z:-0.06 [[ 9.92808535e-01 -1.19710019e-01 -8.51169581e-04 1.43185485e+01] [ 1.19696070e-01 9.92762399e-01 -9.78112023e-03 9.23051899e-01] [ 2.01590724e-03 9.60889799e-03 9.99951801e-01 -6.38705341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141858064 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.35, Y:0.92, Z:-0.05 [[ 9.92971741e-01 -1.18180257e-01 -6.36780034e-03 1.43477870e+01] [ 1.18219832e-01 9.92967817e-01 6.24392187e-03 9.19211047e-01] [ 5.58511250e-03 -6.95283825e-03 9.99960231e-01 -5.27409526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.171858064 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:14.37, Y:0.94, Z:-0.07 [[ 9.92770997e-01 -1.20023603e-01 2.87924327e-04 1.43746725e+01] [ 1.20012206e-01 9.92637458e-01 -1.63691079e-02 9.35856679e-01] [ 1.67887484e-03 1.62853300e-02 9.99865976e-01 -6.67939813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:14.40, Y:0.93, Z:-0.06 [[ 9.92824297e-01 -1.19578734e-01 -9.17591139e-04 1.44016873e+01] [ 1.19581018e-01 9.92819698e-01 3.07055628e-03 9.34510347e-01] [ 5.43829325e-04 -3.15824937e-03 9.99994865e-01 -6.14415477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.231858064 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:14.43, Y:0.95, Z:-0.07 [[ 9.92585716e-01 -1.21470684e-01 4.29771993e-03 1.44273498e+01] [ 1.21519601e-01 9.92490421e-01 -1.39911130e-02 9.49738233e-01] [-2.56593580e-03 1.44096361e-02 9.99892883e-01 -7.44841219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:14.46, Y:0.94, Z:-0.06 [[ 9.92658618e-01 -1.20945742e-01 -9.98215321e-04 1.44595055e+01] [ 1.20949857e-01 9.92627029e-01 7.91914867e-03 9.42418154e-01] [ 3.30681961e-05 -7.98174518e-03 9.99968145e-01 -6.34507583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.291858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:14.49, Y:0.94, Z:-0.05 [[ 9.92971403e-01 -1.18167971e-01 -6.64256418e-03 1.44878574e+01] [ 1.18302336e-01 9.92635620e-01 2.60592260e-02 9.35962821e-01] [ 3.51427996e-03 -2.66618970e-02 9.99638331e-01 -4.98682304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321858064 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:14.52, Y:0.95, Z:-0.06 [[ 9.92849613e-01 -1.19308694e-01 -3.88351095e-03 1.45164622e+01] [ 1.19281554e-01 9.92838543e-01 -6.59836948e-03 9.54911106e-01] [ 4.64294220e-03 6.08795736e-03 9.99970690e-01 -6.19313242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.351858063999998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:14.54, Y:0.95, Z:-0.06 [[ 9.92931588e-01 -1.18630212e-01 -3.70587576e-03 1.45430611e+01] [ 1.18638941e-01 9.92934954e-01 2.23119955e-03 9.54653214e-01] [ 3.41500590e-03 -2.65508969e-03 9.99990644e-01 -5.86628378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381858064 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:14.57, Y:0.96, Z:-0.06 [[ 9.93020739e-01 -1.17862456e-01 -4.27230177e-03 1.45698217e+01] [ 1.17829057e-01 9.93006535e-01 -7.37114966e-03 9.64079780e-01] [ 5.11120539e-03 6.81630319e-03 9.99963706e-01 -6.19988958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.411858064 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:14.60, Y:0.96, Z:-0.06 [[ 9.92973130e-01 -1.18279795e-01 -3.77544222e-03 1.45993933e+01] [ 1.18303329e-01 9.92954376e-01 6.77719964e-03 9.62685994e-01] [ 2.94723609e-03 -7.17622452e-03 9.99969907e-01 -5.75482627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441858063999998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:14.63, Y:0.97, Z:-0.06 [[ 9.92982871e-01 -1.18197951e-01 -3.77663602e-03 1.46263167e+01] [ 1.18181439e-01 9.92982568e-01 -4.33220966e-03 9.72569187e-01] [ 4.26219204e-03 3.85548171e-03 9.99983484e-01 -6.15642712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.471858064 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:14.65, Y:0.99, Z:-0.08 [[ 9.92736023e-01 -1.20075852e-01 7.54845574e-03 1.46532200e+01] [ 1.20261329e-01 9.92192158e-01 -3.30444348e-02 9.93328899e-01] [-3.52167991e-03 3.37121881e-02 9.99425378e-01 -8.29805710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501858064 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:14.69, Y:0.96, Z:-0.05 [[ 9.93041052e-01 -1.17482101e-01 -8.21131733e-03 1.46850981e+01] [ 1.17702308e-01 9.92406845e-01 3.57046376e-02 9.62081936e-01] [ 3.95431167e-03 -3.64226619e-02 9.99328651e-01 -4.50806429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.531858064 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:14.70, Y:1.01, Z:-0.10 [[ 9.92055413e-01 -1.24685999e-01 1.67170063e-02 1.47017306e+01] [ 1.25421131e-01 9.90611108e-01 -5.43982730e-02 1.01477931e+00] [-9.77734917e-03 5.60627671e-02 9.98379372e-01 -9.71989384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561858064 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:14.74, Y:0.97, Z:-0.05 [[ 9.92672327e-01 -1.20730696e-01 -5.07437948e-03 1.47392196e+01] [ 1.20834737e-01 9.91502858e-01 4.81772626e-02 9.65630428e-01] [-7.85212701e-04 -4.84373967e-02 9.98825912e-01 -4.66385208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.591858064 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:14.76, Y:1.01, Z:-0.09 [[ 9.92118609e-01 -1.24825520e-01 1.09204044e-02 1.47617076e+01] [ 1.25153725e-01 9.91414519e-01 -3.78655013e-02 1.01367880e+00] [-6.10006662e-03 3.89337978e-02 9.99223173e-01 -8.86340665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621858064 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:14.80, Y:0.98, Z:-0.05 [[ 9.92719654e-01 -1.20169925e-01 -8.17782072e-03 1.47978009e+01] [ 1.20406546e-01 9.91867375e-01 4.12477269e-02 9.75840771e-01] [ 3.15457732e-03 -4.19320924e-02 9.99115483e-01 -4.64955452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.651858064 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:14.82, Y:1.00, Z:-0.06 [[ 9.92635427e-01 -1.21109162e-01 -2.73476717e-03 1.48245488e+01] [ 1.21120439e-01 9.92627961e-01 4.42377024e-03 9.96267832e-01] [ 2.17884725e-03 -4.72242726e-03 9.99986476e-01 -6.06636739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681858064 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:14.84, Y:1.03, Z:-0.10 [[ 9.91909105e-01 -1.26243380e-01 1.33766822e-02 1.48440383e+01] [ 1.26746983e-01 9.90767219e-01 -4.81198433e-02 1.03014668e+00] [-7.17836653e-03 4.94259648e-02 9.98751994e-01 -9.57013535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.711858064 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:14.88, Y:0.98, Z:-0.04 [[ 9.92374230e-01 -1.22910439e-01 -9.29576821e-03 1.48828038e+01] [ 1.23219677e-01 9.91176185e-01 4.88536747e-02 9.81842914e-01] [ 3.20911746e-03 -4.96265494e-02 9.98762688e-01 -4.20816496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741858064 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:14.90, Y:1.05, Z:-0.11 [[ 9.91170296e-01 -1.30994242e-01 2.05414754e-02 1.48953929e+01] [ 1.32068294e-01 9.89109181e-01 -6.49691712e-02 1.04787718e+00] [-1.18071746e-02 6.71083903e-02 9.97675826e-01 -1.06172051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.771858064 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:14.94, Y:0.97, Z:-0.02 [[ 9.92106328e-01 -1.24429120e-01 -1.55701304e-02 1.49447535e+01] [ 1.25292421e-01 9.88718559e-01 8.20817891e-02 9.70738860e-01] [ 5.18111211e-03 -8.33846817e-02 9.96503964e-01 -2.08677753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801858064 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:14.97, Y:1.02, Z:-0.06 [[ 9.91740051e-01 -1.28096705e-01 -6.55015175e-03 1.49696482e+01] [ 1.28027000e-01 9.91718852e-01 -1.01393541e-02 1.01565670e+00] [ 7.79472683e-03 9.21700729e-03 9.99927142e-01 -5.62184449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.831858064 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:14.99, Y:1.04, Z:-0.08 [[ 9.90535691e-01 -1.36789287e-01 1.13020459e-02 1.49916837e+01] [ 1.37075833e-01 9.90091034e-01 -3.04952595e-02 1.03587658e+00] [-7.01862948e-03 3.17558803e-02 9.99471012e-01 -8.23370367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:15.03, Y:1.00, Z:-0.04 [[ 9.91220817e-01 -1.31656384e-01 -1.21609077e-02 1.50292296e+01] [ 1.31953336e-01 9.90856048e-01 2.81533118e-02 1.00383753e+00] [ 8.34314574e-03 -2.95108211e-02 9.99529641e-01 -3.92821422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.891858064 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:15.05, Y:1.02, Z:-0.05 [[ 9.90750216e-01 -1.35448941e-01 -8.22151995e-03 1.50541168e+01] [ 1.35445657e-01 9.90784314e-01 -9.57584774e-04 1.02030794e+00] [ 8.27545685e-03 -1.64841846e-04 9.99965744e-01 -4.92741264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921858064 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:15.08, Y:1.02, Z:-0.05 [[ 9.90547448e-01 -1.36891173e-01 -8.74987083e-03 1.50816859e+01] [ 1.36887497e-01 9.90586075e-01 -1.02052840e-03 1.02405091e+00] [ 8.80720154e-03 -1.86866116e-04 9.99961198e-01 -4.91854949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.951858064 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:15.11, Y:1.03, Z:-0.05 [[ 9.90417460e-01 -1.37818886e-01 -8.90000818e-03 1.51081776e+01] [ 1.37815101e-01 9.90457428e-01 -1.04013999e-03 1.02795365e+00] [ 8.95843014e-03 -1.96382721e-04 9.99959853e-01 -4.90387654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981858064 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:15.14, Y:1.04, Z:-0.06 [[ 9.90088891e-01 -1.40428478e-01 -1.95731695e-03 1.51357515e+01] [ 1.40366817e-01 9.89918248e-01 -1.89477728e-02 1.04184763e+00] [ 4.59839065e-03 1.84852370e-02 9.99818559e-01 -6.27943155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.011858064 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:15.17, Y:1.03, Z:-0.05 [[ 9.90225611e-01 -1.39169131e-01 -9.23002314e-03 1.51664382e+01] [ 1.39275396e-01 9.90179881e-01 1.20899379e-02 1.02991736e+00] [ 7.45683708e-03 -1.32572812e-02 9.99884313e-01 -4.58300386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041858064 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:15.19, Y:1.05, Z:-0.07 [[ 9.90071830e-01 -1.40561935e-01 3.37633356e-04 1.51911852e+01] [ 1.40531478e-01 9.89801250e-01 -2.33321709e-02 1.05257096e+00] [ 2.94542519e-03 2.31479733e-02 9.99727711e-01 -6.63943191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.071858064 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:15.22, Y:1.03, Z:-0.04 [[ 9.90484567e-01 -1.37093484e-01 -1.20705612e-02 1.52221322e+01] [ 1.37378222e-01 9.90144326e-01 2.72293669e-02 1.03245786e+00] [ 8.21862891e-03 -2.86285000e-02 9.99556333e-01 -3.79762610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101858063999998 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:15.25, Y:1.05, Z:-0.05 [[ 9.90594899e-01 -1.36541421e-01 -8.84226965e-03 1.52470374e+01] [ 1.36537595e-01 9.90634346e-01 -1.03777557e-03 1.04867455e+00] [ 8.90115537e-03 -1.79287043e-04 9.99960368e-01 -4.77930688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.131858064 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:15.28, Y:1.05, Z:-0.05 [[ 9.90682389e-01 -1.35916388e-01 -8.66826025e-03 1.52750788e+01] [ 1.35912675e-01 9.90720297e-01 -1.01872378e-03 1.05288809e+00] [ 8.72628263e-03 -1.68894724e-04 9.99961911e-01 -4.75719067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161858064 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:15.30, Y:1.06, Z:-0.05 [[ 9.90791128e-01 -1.35105186e-01 -8.91789650e-03 1.53026866e+01] [ 1.35101200e-01 9.90831248e-01 -1.05062221e-03 1.05715619e+00] [ 8.97807503e-03 -1.63871355e-04 9.99959683e-01 -4.66608101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.191858063999998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:15.33, Y:1.06, Z:-0.05 [[ 9.90956494e-01 -1.33855614e-01 -9.37557571e-03 1.53312635e+01] [ 1.33848498e-01 9.91000838e-01 -1.38519363e-03 1.06269499e+00] [ 9.47661933e-03 1.17759896e-04 9.99955089e-01 -4.63370965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:15.36, Y:1.07, Z:-0.05 [[ 9.91150198e-01 -1.32329232e-01 -1.05004714e-02 1.53584989e+01] [ 1.32312959e-01 9.91205476e-01 -2.23260804e-03 1.06768266e+00] [ 1.07035641e-02 8.23501460e-04 9.99942376e-01 -4.61760925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.251858064 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:15.38, Y:1.07, Z:-0.05 [[ 9.91328719e-01 -1.30962634e-01 -1.07777659e-02 1.53846949e+01] [ 1.30970708e-01 9.91386237e-01 4.37478884e-05 1.07130955e+00] [ 1.06791994e-02 -1.45494017e-03 9.99941917e-01 -4.53960749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281858064 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:15.40, Y:1.12, Z:-0.09 [[ 9.90192408e-01 -1.39020954e-01 1.38625363e-02 1.53996260e+01] [ 1.39659146e-01 9.87631936e-01 -7.12634675e-02 1.12178346e+00] [-3.78396837e-03 7.25005745e-02 9.97361192e-01 -9.42606176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.311858064 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:15.45, Y:1.05, Z:-0.01 [[ 9.91829275e-01 -1.25233216e-01 -2.43172967e-02 1.54495977e+01] [ 1.26676322e-01 9.89357329e-01 7.15904018e-02 1.04642559e+00] [ 1.50929994e-02 -7.40858820e-02 9.97137645e-01 -1.38810512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:15.45, Y:1.15, Z:-0.10 [[ 9.90339902e-01 -1.37598647e-01 1.71315788e-02 1.54531888e+01] [ 1.38625218e-01 9.85305939e-01 -9.97760230e-02 1.14724222e+00] [-3.15080058e-03 1.01187046e-01 9.94862430e-01 -1.03520804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.371858064 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:15.51, Y:1.05, Z:-0.00 [[ 9.92199894e-01 -1.21526390e-01 -2.77616221e-02 1.55100934e+01] [ 1.23621910e-01 9.87889966e-01 9.37605332e-02 1.04596887e+00] [ 1.60310487e-02 -9.64611359e-02 9.95207644e-01 -1.99160932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:15.53, Y:1.09, Z:-0.04 [[ 9.92392673e-01 -1.22201946e-01 -1.49487802e-02 1.55337084e+01] [ 1.22267709e-01 9.92490758e-01 3.56396694e-03 1.09076204e+00] [ 1.44010025e-02 -5.36460780e-03 9.99881909e-01 -3.53601371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.431858064 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:15.56, Y:1.10, Z:-0.04 [[ 9.92462342e-01 -1.21600185e-01 -1.52280986e-02 1.55604387e+01] [ 1.21480363e-01 9.92556888e-01 -8.56415105e-03 1.10087303e+00] [ 1.61561565e-02 6.64968246e-03 9.99847369e-01 -3.95272658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461858064 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:15.59, Y:1.10, Z:-0.04 [[ 9.92340740e-01 -1.22463017e-01 -1.62069671e-02 1.55897354e+01] [ 1.22371609e-01 9.92462935e-01 -6.52015257e-03 1.10440136e+00] [ 1.68832917e-02 4.48694038e-03 9.99847399e-01 -3.81661063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.491858064 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:15.62, Y:1.10, Z:-0.04 [[ 9.92233546e-01 -1.23364903e-01 -1.59276638e-02 1.56192039e+01] [ 1.23399328e-01 9.92356379e-01 1.19314650e-03 1.10480964e+00] [ 1.56587264e-02 -3.14934299e-03 9.99872435e-01 -3.57867239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521858064 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:15.65, Y:1.11, Z:-0.04 [[ 9.91860886e-01 -1.26214645e-01 -1.67882745e-02 1.56477049e+01] [ 1.26160839e-01 9.92000779e-01 -4.23060415e-03 1.11074492e+00] [ 1.71879456e-02 2.07814799e-03 9.99850117e-01 -3.77197841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.551858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:15.68, Y:1.11, Z:-0.03 [[ 9.91701136e-01 -1.27502373e-01 -1.64924646e-02 1.56757657e+01] [ 1.27603878e-01 9.91811307e-01 5.25186481e-03 1.11014043e+00] [ 1.56877876e-02 -7.31278275e-03 9.99850197e-01 -3.46717673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:15.70, Y:1.12, Z:-0.04 [[ 9.91628600e-01 -1.28137729e-01 -1.59198620e-02 1.57020068e+01] [ 1.28124141e-01 9.91756366e-01 -1.87472939e-03 1.11693987e+00] [ 1.60288480e-02 -1.80683366e-04 9.99871513e-01 -3.75596772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.611858064 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:15.73, Y:1.12, Z:-0.04 [[ 9.91638926e-01 -1.27949313e-01 -1.67694473e-02 1.57295817e+01] [ 1.27934162e-01 9.91780691e-01 -1.97759533e-03 1.12247806e+00] [ 1.68846459e-02 -1.84324674e-04 9.99857427e-01 -3.87951385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641858064 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:15.76, Y:1.13, Z:-0.04 [[ 9.91771482e-01 -1.26931647e-01 -1.66638702e-02 1.57561184e+01] [ 1.26916476e-01 9.91911453e-01 -1.96911799e-03 1.12645319e+00] [ 1.67790271e-02 -1.62004602e-04 9.99859209e-01 -3.89495623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.671858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:15.78, Y:1.13, Z:-0.04 [[ 9.92023055e-01 -1.24857146e-01 -1.73479392e-02 1.57819988e+01] [ 1.24690279e-01 9.92141280e-01 -1.03929765e-02 1.13374166e+00] [ 1.85092440e-02 8.14695295e-03 9.99795497e-01 -4.12928959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701858064 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:15.82, Y:1.11, Z:-0.01 [[ 9.92824417e-01 -1.16505620e-01 -2.69465614e-02 1.58211993e+01] [ 1.17348709e-01 9.92569779e-01 3.21638681e-02 1.11266035e+00] [ 2.29990711e-02 -3.50952178e-02 9.99119296e-01 -1.35694738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.731858064 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:15.85, Y:1.13, Z:-0.02 [[ 9.93111984e-01 -1.14632005e-01 -2.42505746e-02 1.58507073e+01] [ 1.14869013e-01 9.93343312e-01 8.61245986e-03 1.12669496e+00] [ 2.31018826e-02 -1.13387767e-02 9.99668813e-01 -1.96988383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761858064 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:15.87, Y:1.16, Z:-0.05 [[ 9.92923845e-01 -1.18338202e-01 -9.91507861e-03 1.58678246e+01] [ 1.17889939e-01 9.92314085e-01 -3.76127452e-02 1.15934533e+00] [ 1.42898968e-02 3.61777036e-02 9.99243200e-01 -4.80950601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.791858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:15.90, Y:1.13, Z:-0.02 [[ 0.99362051 -0.10925125 -0.02797232 15.90468177] [ 0.10986443 0.99371601 0.02140798 1.13022425] [ 0.02545769 -0.02434457 0.99937943 -0.01754895] [ 0. 0. 0. 1. ]] SLAMing on 17.821858064 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:15.93, Y:1.16, Z:-0.04 [[ 0.99366082 -0.11113618 -0.01693858 15.9251354 ] [ 0.11066642 0.99350358 -0.02652516 1.15945904] [ 0.01977645 0.02448248 0.99950463 -0.04308434] [ 0. 0. 0. 1. ]] SLAMing on 17.851858063999998 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:15.96, Y:1.13, Z:-0.02 [[ 0.99407456 -0.10435206 -0.03043718 15.96239041] [ 0.10500579 0.99425551 0.02073056 1.13438533] [ 0.02809906 -0.0238038 0.99932168 -0.0166421 ] [ 0. 0. 0. 1. ]] SLAMing on 17.881858064 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:15.99, Y:1.14, Z:-0.02 [[ 9.94697616e-01 -9.82461821e-02 -3.04029774e-02 1.59875514e+01] [ 9.82597212e-02 9.95160249e-01 -1.05201983e-03 1.14463572e+00] [ 3.03591915e-02 -1.94094647e-03 9.99537169e-01 -2.11795116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.911858064 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:16.02, Y:1.15, Z:-0.02 [[ 9.94661556e-01 -9.88073020e-02 -2.97574486e-02 1.60157069e+01] [ 9.87652491e-02 9.95106583e-01 -2.88332190e-03 1.14919938e+00] [ 2.98967263e-02 -7.10723755e-05 9.99552990e-01 -2.18172082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941858063999998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:16.04, Y:1.16, Z:-0.03 [[ 9.94833189e-01 -9.69825038e-02 -3.00220075e-02 1.60420437e+01] [ 9.66145060e-02 9.95230615e-01 -1.34781089e-02 1.15730107e+00] [ 3.11859617e-02 1.05079087e-02 9.99458363e-01 -2.52743918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.971858064 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:16.07, Y:1.15, Z:-0.02 [[ 9.94961263e-01 -9.59295194e-02 -2.91481042e-02 1.60706279e+01] [ 9.60436320e-02 9.95373891e-01 2.53719333e-03 1.15442231e+00] [ 2.87698702e-02 -5.32389887e-03 9.99571884e-01 -2.00866449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001858064 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:16.09, Y:1.18, Z:-0.04 [[ 0.9949016 -0.09928223 -0.01771567 16.09050792] [ 0.0988581 0.99482643 -0.02339755 1.17652646] [ 0.01994698 0.02152692 0.99956926 -0.03922645] [ 0. 0. 0. 1. ]] SLAMing on 18.031858063999998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:16.12, Y:1.17, Z:-0.03 [[ 9.95044736e-01 -9.72143650e-02 -2.08647957e-02 1.61193141e+01] [ 9.70481725e-02 9.95240448e-01 -8.83760941e-03 1.17229855e+00] [ 2.16246312e-02 6.76892643e-03 9.99743246e-01 -3.32965148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061858064 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:16.15, Y:1.17, Z:-0.03 [[ 9.94979143e-01 -9.79905854e-02 -2.03555971e-02 1.61505321e+01] [ 9.80567016e-02 9.95178233e-01 2.27334513e-03 1.17009073e+00] [ 2.00346807e-02 -4.25793370e-03 9.99790219e-01 -2.97265113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.091858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:16.18, Y:1.17, Z:-0.03 [[ 9.95030676e-01 -9.76373858e-02 -1.95165246e-02 1.61768722e+01] [ 9.77154976e-02 9.95209601e-01 3.08732540e-03 1.17219337e+00] [ 1.91215943e-02 -4.97905039e-03 9.99804768e-01 -2.94799743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121858064 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:16.21, Y:1.18, Z:-0.03 [[ 9.94908342e-01 -9.88412273e-02 -1.96927020e-02 1.62055242e+01] [ 9.87050487e-02 9.95086371e-01 -7.77352844e-03 1.17984297e+00] [ 2.03642844e-02 5.79017919e-03 9.99775860e-01 -3.28787711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.151858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:16.23, Y:1.18, Z:-0.03 [[ 9.94813599e-01 -9.98414501e-02 -1.94316126e-02 1.62332240e+01] [ 9.98142212e-02 9.95003272e-01 -2.36855238e-03 1.17854299e+00] [ 1.95709978e-02 4.16716843e-04 9.99808383e-01 -3.12503746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:16.26, Y:1.18, Z:-0.03 [[ 9.94774600e-01 -1.00332174e-01 -1.88931225e-02 1.62613043e+01] [ 1.00306455e-01 9.94953916e-01 -2.30644190e-03 1.17978445e+00] [ 1.90291965e-02 3.99287677e-04 9.99818849e-01 -3.03983921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.211858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:16.29, Y:1.18, Z:-0.03 [[ 9.95000353e-01 -9.76130431e-02 -2.11184937e-02 1.62930078e+01] [ 9.76646329e-02 9.95218365e-01 1.42297445e-03 1.17536762e+00] [ 2.08786119e-02 -3.47839001e-03 9.99775967e-01 -2.56182548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:16.32, Y:1.18, Z:-0.03 [[ 9.94678876e-01 -1.00175118e-01 -2.40599175e-02 1.63235757e+01] [ 1.00031092e-01 9.94958837e-01 -7.11992477e-03 1.17860121e+00] [ 2.46518668e-02 4.67529896e-03 9.99685164e-01 -2.60516048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.271858064 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:16.34, Y:1.18, Z:-0.03 [[ 9.94363289e-01 -1.04028292e-01 -2.04881200e-02 1.63449148e+01] [ 1.03905179e-01 9.94562663e-01 -6.98741241e-03 1.18496935e+00] [ 2.11036078e-02 4.81920460e-03 9.99765679e-01 -3.01630712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301858064 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:16.37, Y:1.18, Z:-0.03 [[ 9.94111243e-01 -1.06377368e-01 -2.06565163e-02 1.63741435e+01] [ 1.06467353e-01 9.94310711e-01 3.30338562e-03 1.18173905e+00] [ 2.01875899e-02 -5.48317739e-03 9.99781174e-01 -2.68532429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.331858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:16.41, Y:1.17, Z:-0.02 [[ 9.93997938e-01 -1.06708719e-01 -2.41111650e-02 1.64075811e+01] [ 1.07101184e-01 9.94125498e-01 1.56150771e-02 1.16920661e+00] [ 2.23032590e-02 -1.81036888e-02 9.99587325e-01 -1.70206848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361858064 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:16.43, Y:1.19, Z:-0.03 [[ 0.99347309 -0.11245154 -0.01912758 16.42952139] [ 0.11205361 0.99348566 -0.02074185 1.1905451 ] [ 0.02133543 0.01846315 0.99960188 -0.03370476] [ 0. 0. 0. 1. ]] SLAMing on 18.391858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:16.46, Y:1.19, Z:-0.04 [[ 9.93099471e-01 -1.15564330e-01 -1.99581377e-02 1.64577408e+01] [ 1.15197218e-01 9.93167355e-01 -1.86602742e-02 1.19121939e+00] [ 2.19782329e-02 1.62323865e-02 9.99626664e-01 -3.54502300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421858064 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:16.49, Y:1.18, Z:-0.02 [[ 9.92876983e-01 -1.16796214e-01 -2.35359598e-02 1.64883051e+01] [ 1.17116877e-01 9.93036472e-01 1.27358887e-02 1.17784751e+00] [ 2.18845629e-02 -1.54016289e-02 9.99641864e-01 -2.02268715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.451858064 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:16.52, Y:1.18, Z:-0.03 [[ 9.92426292e-01 -1.20836851e-01 -2.21022949e-02 1.65163165e+01] [ 1.20805775e-01 9.92672380e-01 -2.74073686e-03 1.18364880e+00] [ 2.22715196e-02 4.98944526e-05 9.99751958e-01 -2.52579413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:16.54, Y:1.19, Z:-0.03 [[ 9.92120215e-01 -1.23078103e-01 -2.34362873e-02 1.65447820e+01] [ 1.22865183e-01 9.92369674e-01 -1.03235685e-02 1.18829590e+00] [ 2.45280660e-02 7.36271729e-03 9.99672028e-01 -2.65756593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.511858064 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:16.57, Y:1.19, Z:-0.02 [[ 9.92099732e-01 -1.23257789e-01 -2.33589247e-02 1.65727841e+01] [ 1.23261953e-01 9.92373360e-01 -1.26698587e-03 1.18508726e+00] [ 2.33369405e-02 -1.62229035e-03 9.99726340e-01 -2.29635237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541858064 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:16.59, Y:1.21, Z:-0.06 [[ 9.91203244e-01 -1.32307884e-01 -3.27913640e-03 1.65923920e+01] [ 1.31965045e-01 9.89912633e-01 -5.15577983e-02 1.21483620e+00] [ 1.00675617e-02 5.06715256e-02 9.98664629e-01 -5.89877487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.571858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:16.64, Y:1.16, Z:0.01 [[ 9.91879455e-01 -1.23385267e-01 -3.08419026e-02 1.66370586e+01] [ 1.24974139e-01 9.90556076e-01 5.63925946e-02 1.15814173e+00] [ 2.35926187e-02 -5.97890962e-02 9.97932188e-01 6.01192495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601858063999998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:16.66, Y:1.18, Z:-0.02 [[ 9.91816059e-01 -1.25632443e-01 -2.27463037e-02 1.66632054e+01] [ 1.25662406e-01 9.92073055e-01 -1.12969815e-04 1.18354129e+00] [ 2.25801876e-02 -2.74630997e-03 9.99741263e-01 -1.67103082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.631858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:16.69, Y:1.19, Z:-0.02 [[ 9.91855658e-01 -1.25365764e-01 -2.24895371e-02 1.66913233e+01] [ 1.25275023e-01 9.92107331e-01 -5.40487086e-03 1.18804777e+00] [ 2.29896204e-02 2.54347447e-03 9.99732468e-01 -1.80850447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:16.72, Y:1.19, Z:-0.02 [[ 9.91943636e-01 -1.24657015e-01 -2.25488533e-02 1.67185247e+01] [ 1.24626008e-01 9.92199892e-01 -2.78069751e-03 1.18844544e+00] [ 2.27196032e-02 -5.18783743e-05 9.99741875e-01 -1.65646967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.691858063999998 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:16.75, Y:1.19, Z:-0.02 [[ 9.92061407e-01 -1.23602116e-01 -2.31663748e-02 1.67459955e+01] [ 1.23395001e-01 9.92305502e-01 -1.01716964e-02 1.19422362e+00] [ 2.42453644e-02 7.23233265e-03 9.99679877e-01 -1.85219568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:16.77, Y:1.19, Z:-0.01 [[ 9.92514969e-01 -1.19805666e-01 -2.36778086e-02 1.67744242e+01] [ 1.19934044e-01 9.92773506e-01 4.07312725e-03 1.18933262e+00] [ 2.30187173e-02 -6.88241511e-03 9.99711344e-01 -1.32843355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.751858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:16.80, Y:1.20, Z:-0.02 [[ 9.92637542e-01 -1.18740778e-01 -2.39026764e-02 1.68021495e+01] [ 1.18560986e-01 9.92907701e-01 -8.80854009e-03 1.19770065e+00] [ 2.47790844e-02 5.90976270e-03 9.99675483e-01 -1.79960456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781858063999998 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:16.83, Y:1.19, Z:-0.01 [[ 9.92978159e-01 -1.15925268e-01 -2.35734584e-02 1.68306677e+01] [ 1.16026524e-01 9.93241677e-01 2.96929365e-03 1.19408581e+00] [ 2.30699252e-02 -5.68359018e-03 9.99717698e-01 -1.27079579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.811858064 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:16.86, Y:1.20, Z:-0.02 [[ 9.93054367e-01 -1.15192430e-01 -2.39526321e-02 1.68586812e+01] [ 1.15096746e-01 9.93339932e-01 -5.34033136e-03 1.19994439e+00] [ 2.44082717e-02 2.54636937e-03 9.99698831e-01 -1.57028471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:16.89, Y:1.20, Z:-0.01 [[ 9.92995029e-01 -1.15536286e-01 -2.47434477e-02 1.68878525e+01] [ 1.15552065e-01 9.93301106e-01 -7.95949493e-04 1.19994934e+00] [ 2.46696550e-02 -2.06878258e-03 9.99693517e-01 -1.31814192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.871858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:16.92, Y:1.20, Z:-0.01 [[ 9.92957751e-01 -1.15828049e-01 -2.48750606e-02 1.69155724e+01] [ 1.15786512e-01 9.93269259e-01 -3.10854567e-03 1.20231284e+00] [ 2.50676898e-02 2.06458006e-04 9.99685735e-01 -1.36128778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901858064 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:16.95, Y:1.18, Z:0.01 [[ 9.93151496e-01 -1.11330313e-01 -3.54354032e-02 1.69537874e+01] [ 1.12136605e-01 9.93457194e-01 2.16376070e-02 1.18438780e+00] [ 3.27946347e-02 -2.54630276e-02 9.99137701e-01 8.14302997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.931858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:16.97, Y:1.21, Z:-0.02 [[ 0.99283868 -0.1173897 -0.02215888 16.97193092] [ 0.11675089 0.99276056 -0.028208 1.21468203] [ 0.02530979 0.02541892 0.99935644 -0.02214492] [ 0. 0. 0. 1. ]] SLAMing on 18.961858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:17.00, Y:1.21, Z:-0.01 [[ 9.92775525e-01 -1.17470328e-01 -2.44433860e-02 1.70004242e+01] [ 1.17430371e-01 9.93076377e-01 -3.06869781e-03 1.20518454e+00] [ 2.46346301e-02 1.76132205e-04 9.99696506e-01 -1.12887682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.991858064 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:17.03, Y:1.21, Z:-0.01 [[ 9.92670135e-01 -1.18527369e-01 -2.36064683e-02 1.70283671e+01] [ 1.18490310e-01 9.92950775e-01 -2.96746071e-03 1.20782154e+00] [ 2.37917862e-02 1.48571887e-04 9.99716924e-01 -1.07832380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021858064 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:17.07, Y:1.20, Z:0.01 [[ 9.92782488e-01 -1.15301245e-01 -3.29932493e-02 1.70662669e+01] [ 1.15773504e-01 9.93193494e-01 1.27741621e-02 1.19554525e+00] [ 3.12958037e-02 -1.65017085e-02 9.99373937e-01 8.01462978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.051858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:17.09, Y:1.20, Z:0.01 [[ 9.92955308e-01 -1.15011648e-01 -2.84969515e-02 1.70916478e+01] [ 1.15335785e-01 9.93276233e-01 9.99906736e-03 1.19855040e+00] [ 2.71553354e-02 -1.32153453e-02 9.99543867e-01 8.56526837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081858064 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:17.12, Y:1.21, Z:-0.00 [[ 9.92386170e-01 -1.20512301e-01 -2.54258544e-02 1.71213487e+01] [ 1.20239359e-01 9.92672290e-01 -1.20092254e-02 1.20944836e+00] [ 2.66868005e-02 8.86060076e-03 9.99604574e-01 -7.82751973e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.111858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:17.15, Y:1.21, Z:0.00 [[ 9.91966124e-01 -1.24170530e-01 -2.41844719e-02 1.71514811e+01] [ 1.24125502e-01 9.92260838e-01 -3.36006184e-03 1.20816972e+00] [ 2.44145250e-02 3.31157809e-04 9.99701866e-01 2.30710558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141858064 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:17.18, Y:1.21, Z:0.01 [[ 9.91681172e-01 -1.25798047e-01 -2.72636157e-02 1.71810745e+01] [ 1.25883100e-01 9.92044067e-01 1.41925492e-03 1.20738072e+00] [ 2.68681687e-02 -4.83947686e-03 9.99627271e-01 7.15342091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.171858064 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:17.20, Y:1.22, Z:-0.00 [[ 9.91067001e-01 -1.30398070e-01 -2.79739506e-02 1.72045767e+01] [ 1.30013933e-01 9.91396490e-01 -1.51451595e-02 1.21719705e+00] [ 2.97081760e-02 1.13728645e-02 9.99493913e-01 -1.89184067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201858064 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:17.23, Y:1.21, Z:0.00 [[ 9.90669552e-01 -1.33441846e-01 -2.76968050e-02 1.72345630e+01] [ 1.33530821e-01 9.91043700e-01 1.37983384e-03 1.21466674e+00] [ 2.72646166e-02 -5.06533648e-03 9.99615418e-01 3.75794926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.231858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.26, Y:1.23, Z:-0.01 [[ 9.90302355e-01 -1.36921758e-01 -2.35303703e-02 1.72610968e+01] [ 1.36668142e-01 9.90543284e-01 -1.20756627e-02 1.22611870e+00] [ 2.49612712e-02 8.74270527e-03 9.99650189e-01 -5.93129984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:17.29, Y:1.22, Z:0.00 [[ 9.89939249e-01 -1.38564523e-01 -2.86383706e-02 1.72920291e+01] [ 1.38696566e-01 9.90331332e-01 2.66727334e-03 1.22258017e+00] [ 2.79918863e-02 -6.61248224e-03 9.99586279e-01 4.18359784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.291858064 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:17.31, Y:1.24, Z:-0.01 [[ 9.89446754e-01 -1.43183569e-01 -2.22168325e-02 1.73109301e+01] [ 1.42930827e-01 9.89652686e-01 -1.25832956e-02 1.23827270e+00] [ 2.37886692e-02 9.27503071e-03 9.99673983e-01 -7.80968136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321858064 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:17.34, Y:1.24, Z:-0.00 [[ 9.89259245e-01 -1.44148669e-01 -2.42344337e-02 1.73388623e+01] [ 1.44113418e-01 9.89555990e-01 -3.20400989e-03 1.23783653e+00] [ 2.44431828e-02 -3.22910682e-04 9.99701169e-01 -3.07015795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351858063999998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:17.37, Y:1.25, Z:-0.01 [[ 9.89229095e-01 -1.44966473e-01 -2.02612615e-02 1.73692475e+01] [ 1.44600159e-01 9.89316959e-01 -1.85134767e-02 1.24784377e+00] [ 2.27286431e-02 1.53842882e-02 9.99623295e-01 -1.37225125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381858064 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:17.40, Y:1.25, Z:-0.01 [[ 9.88809364e-01 -1.47498978e-01 -2.23627525e-02 1.73969134e+01] [ 1.47339434e-01 9.89048332e-01 -8.63070187e-03 1.24940954e+00] [ 2.33908627e-02 5.23920355e-03 9.99712668e-01 -1.22423990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411858064 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:17.43, Y:1.25, Z:-0.01 [[ 9.88628124e-01 -1.48268979e-01 -2.51145688e-02 1.74268674e+01] [ 1.48248531e-01 9.88946493e-01 -2.68447915e-03 1.25116011e+00] [ 2.52349897e-02 -1.06924634e-03 9.99680975e-01 -8.09349564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441858063999998 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:17.46, Y:1.25, Z:-0.01 [[ 9.88478475e-01 -1.48985084e-01 -2.67160693e-02 1.74553382e+01] [ 1.49037352e-01 9.88831566e-01 -3.51766337e-05 1.25428753e+00] [ 2.64229334e-02 -3.94692088e-03 9.99643062e-01 -5.78017161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.471858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:17.48, Y:1.26, Z:-0.00 [[ 9.88191647e-01 -1.50991321e-01 -2.60555171e-02 1.74827975e+01] [ 1.51051792e-01 9.88525785e-01 3.57149148e-04 1.25847095e+00] [ 2.57026241e-02 -4.28866436e-03 9.99660434e-01 -3.09389868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:17.51, Y:1.26, Z:-0.00 [[ 9.88026040e-01 -1.52265641e-01 -2.48941521e-02 1.75110505e+01] [ 1.52273037e-01 9.88337155e-01 -1.60938904e-03 1.26391331e+00] [ 2.48488701e-02 -2.20058988e-03 9.99688797e-01 -2.81929936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.531858063999998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:17.54, Y:1.27, Z:0.01 [[ 9.87666849e-01 -1.54149288e-01 -2.74261191e-02 1.75358982e+01] [ 1.54394107e-01 9.87984317e-01 7.03205084e-03 1.26636521e+00] [ 2.60125899e-02 -1.11797547e-02 9.99599099e-01 6.07341017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:17.56, Y:1.28, Z:0.00 [[ 9.87564390e-01 -1.55143716e-01 -2.54362463e-02 1.75615436e+01] [ 1.55107531e-01 9.87891737e-01 -3.40144333e-03 1.27614907e+00] [ 2.56559701e-02 -5.86209067e-04 9.99670660e-01 2.70752085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.591858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:17.59, Y:1.28, Z:-0.01 [[ 9.88128210e-01 -1.52291113e-01 -2.02498955e-02 1.75911991e+01] [ 1.52081737e-01 9.88300838e-01 -1.15151180e-02 1.28156414e+00] [ 2.17666388e-02 8.29877365e-03 9.99728635e-01 -5.15912000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621858064 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:17.62, Y:1.29, Z:-0.00 [[ 9.88196592e-01 -1.51503727e-01 -2.26741170e-02 1.76222581e+01] [ 1.51268155e-01 9.88422605e-01 -1.17770224e-02 1.28727142e+00] [ 2.41958726e-02 8.20814152e-03 9.99673540e-01 -4.12318807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.651858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:17.65, Y:1.28, Z:0.01 [[ 9.88199885e-01 -1.50314387e-01 -2.94376010e-02 1.76458638e+01] [ 1.50752229e-01 9.88482727e-01 1.32537931e-02 1.28366857e+00] [ 2.71063243e-02 -1.75351808e-02 9.99478746e-01 1.18390787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:17.67, Y:1.30, Z:0.00 [[ 9.88618820e-01 -1.47987370e-01 -2.70659825e-02 1.76729386e+01] [ 1.47942783e-01 9.88989173e-01 -3.65354997e-03 1.29761592e+00] [ 2.73086429e-02 -3.92248525e-04 9.99626973e-01 3.80359800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.711858064 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:17.70, Y:1.31, Z:-0.01 [[ 9.89638868e-01 -1.41652263e-01 -2.34424377e-02 1.77049382e+01] [ 1.41287535e-01 9.89830197e-01 -1.65533366e-02 1.30803826e+00] [ 2.55488504e-02 1.30697011e-02 9.99588135e-01 -6.74083952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:17.73, Y:1.30, Z:0.01 [[ 9.89870069e-01 -1.38885117e-01 -2.94647409e-02 1.77280847e+01] [ 1.39222330e-01 9.90213545e-01 9.70967245e-03 1.30293620e+00] [ 2.78278565e-02 -1.37134640e-02 9.99518660e-01 9.02270378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.771858064 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:17.75, Y:1.31, Z:0.00 [[ 9.90281568e-01 -1.36221035e-01 -2.80400701e-02 1.77547011e+01] [ 1.36167908e-01 9.90678468e-01 -3.80443862e-03 1.31275737e+00] [ 2.82969382e-02 -5.06922298e-05 9.99599560e-01 4.13399637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:17.78, Y:1.32, Z:0.00 [[ 9.90656411e-01 -1.33414289e-01 -2.82931757e-02 1.77817364e+01] [ 1.33358885e-01 9.91060355e-01 -3.84467160e-03 1.31661390e+00] [ 2.85531789e-02 3.56021985e-05 9.99592274e-01 4.98176487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.831858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:17.81, Y:1.32, Z:0.01 [[ 9.90633414e-01 -1.33585057e-01 -2.82926119e-02 1.78100224e+01] [ 1.33529605e-01 9.91037351e-01 -3.84881768e-03 1.32054578e+00] [ 2.85531796e-02 3.48661154e-05 9.99592274e-01 5.39757833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:17.84, Y:1.33, Z:0.00 [[ 9.91103314e-01 -1.29742461e-01 -2.96835777e-02 1.78405942e+01] [ 1.29523035e-01 9.91533664e-01 -9.20740559e-03 1.32815984e+00] [ 3.06268580e-02 5.28078312e-03 9.99516938e-01 3.88418542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.891858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:17.87, Y:1.33, Z:0.01 [[ 9.91518728e-01 -1.26660349e-01 -2.91164710e-02 1.78660924e+01] [ 1.26752616e-01 9.91933458e-01 1.33789318e-03 1.32775644e+00] [ 2.87121438e-02 -5.01713503e-03 9.99575130e-01 8.10481173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:17.89, Y:1.33, Z:0.01 [[ 9.91657543e-01 -1.25883583e-01 -2.77243702e-02 1.78940517e+01] [ 1.25826878e-01 9.92044985e-01 -3.78742124e-03 1.33384846e+00] [ 2.79805966e-02 2.67353883e-04 9.99608431e-01 6.67593059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.951858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:17.92, Y:1.34, Z:0.01 [[ 9.91769020e-01 -1.25418984e-01 -2.57738279e-02 1.79225228e+01] [ 1.25369641e-01 9.92103829e-01 -3.52794701e-03 1.33636084e+00] [ 2.60127848e-02 2.67653011e-04 9.99661574e-01 9.07704684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:17.95, Y:1.34, Z:0.01 [[ 9.91752126e-01 -1.25853617e-01 -2.42608128e-02 1.79505324e+01] [ 1.25809865e-01 9.92048792e-01 -3.32747610e-03 1.33965833e+00] [ 2.44866849e-02 2.47781904e-04 9.99700125e-01 9.84757073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.011858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:17.98, Y:1.34, Z:0.01 [[ 9.91689876e-01 -1.26580553e-01 -2.29902805e-02 1.79786174e+01] [ 1.26618905e-01 9.91951414e-01 2.14310524e-04 1.34198583e+00] [ 2.27781137e-02 -3.12353372e-03 9.99735666e-01 1.20474221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041858064 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:18.01, Y:1.35, Z:0.01 [[ 9.91590160e-01 -1.27229585e-01 -2.36978314e-02 1.80057690e+01] [ 1.27106436e-01 9.91866868e-01 -6.63856728e-03 1.34952737e+00] [ 2.43497160e-02 3.57059111e-03 9.99697125e-01 8.70110428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.071858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:18.03, Y:1.35, Z:0.01 [[ 9.91460784e-01 -1.28039115e-01 -2.47284989e-02 1.80340523e+01] [ 1.27993958e-01 9.91769096e-01 -3.40690078e-03 1.35231316e+00] [ 2.49611776e-02 2.12710081e-04 9.99688399e-01 9.44166220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101858063999998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:18.06, Y:1.36, Z:0.01 [[ 9.91307659e-01 -1.29129129e-01 -2.51950832e-02 1.80612229e+01] [ 1.29082463e-01 9.91627768e-01 -3.47669786e-03 1.35567373e+00] [ 2.54330870e-02 1.94233818e-04 9.99676508e-01 9.62423234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.131858064 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:18.09, Y:1.36, Z:0.01 [[ 9.90747439e-01 -1.33319899e-01 -2.54030660e-02 1.80895025e+01] [ 1.33273713e-01 9.91073053e-01 -3.51014922e-03 1.35724046e+00] [ 2.56442669e-02 9.21104071e-05 9.99671127e-01 1.08933088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161858064 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:18.12, Y:1.36, Z:0.01 [[ 9.90385121e-01 -1.36001845e-01 -2.53142149e-02 1.81175657e+01] [ 1.35956679e-01 9.90708583e-01 -3.50488414e-03 1.35941025e+00] [ 2.55556807e-02 2.95485004e-05 9.99673400e-01 1.20559816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.191858063999998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:18.14, Y:1.36, Z:0.01 [[ 9.89906569e-01 -1.39410663e-01 -2.54882615e-02 1.81448158e+01] [ 1.39365860e-01 9.90234651e-01 -3.53452011e-03 1.36199620e+00] [ 2.57321095e-02 -5.33488003e-05 9.99668873e-01 1.28701008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221858064 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:18.17, Y:1.36, Z:0.02 [[ 9.88998072e-01 -1.45663017e-01 -2.57895218e-02 1.81729794e+01] [ 1.45844002e-01 9.89293554e-01 5.27163684e-03 1.36029067e+00] [ 2.47455251e-02 -8.97488575e-03 9.99653495e-01 1.73027866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.251858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:18.20, Y:1.37, Z:0.01 [[ 9.88582506e-01 -1.48548919e-01 -2.52556476e-02 1.82000260e+01] [ 1.48370478e-01 9.88892617e-01 -8.80874293e-03 1.37042922e+00] [ 2.62836527e-02 4.96097665e-03 9.99642215e-01 1.12988470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281858063999998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:18.23, Y:1.38, Z:0.01 [[ 9.88142322e-01 -1.51688168e-01 -2.37792211e-02 1.82315236e+01] [ 1.51440230e-01 9.88394632e-01 -1.19125197e-02 1.37546273e+00] [ 2.53102427e-02 8.17013422e-03 9.99646258e-01 5.69733237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311858064 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:18.26, Y:1.39, Z:-0.01 [[ 9.86987897e-01 -1.59927173e-01 -1.66790202e-02 1.82566678e+01] [ 1.59512531e-01 9.86909364e-01 -2.37835969e-02 1.38736667e+00] [ 2.02643247e-02 2.08136096e-02 9.99577986e-01 -6.78944078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:18.29, Y:1.36, Z:0.03 [[ 0.98675989 -0.15913308 -0.03133006 18.28843179] [ 0.16028431 0.98632007 0.03849242 1.36111654] [ 0.02477605 -0.04300449 0.99876762 0.0315658 ] [ 0. 0. 0. 1. ]] SLAMing on 20.371858064 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:18.31, Y:1.41, Z:-0.02 [[ 9.85975330e-01 -1.66487367e-01 -1.16019363e-02 1.83115559e+01] [ 1.65603459e-01 9.84619979e-01 -5.56685832e-02 1.41054492e+00] [ 2.06916142e-02 5.29665289e-02 9.98381893e-01 -2.33434922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401858064 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:18.35, Y:1.37, Z:0.03 [[ 0.98582981 -0.16485147 -0.03104144 18.34546956] [ 0.16584775 0.98560452 0.03283682 1.37277845] [ 0.02518138 -0.03751967 0.99897856 0.02907271] [ 0. 0. 0. 1. ]] SLAMing on 20.431858064 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:18.37, Y:1.40, Z:0.01 [[ 9.85799046e-01 -1.66316035e-01 -2.32210468e-02 1.83706793e+01] [ 1.66285524e-01 9.86072283e-01 -3.25225635e-03 1.39563521e+00] [ 2.34385330e-02 -6.55252739e-04 9.99725065e-01 1.41490435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.40, Y:1.40, Z:0.02 [[ 9.85995786e-01 -1.65425924e-01 -2.11322800e-02 1.83969050e+01] [ 1.65478403e-01 9.86213131e-01 7.47170816e-04 1.39948472e+00] [ 2.07173306e-02 -4.23364323e-03 9.99776409e-01 1.66317765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.491858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.42, Y:1.41, Z:0.02 [[ 9.85961244e-01 -1.65703162e-01 -2.05642117e-02 1.84249639e+01] [ 1.65678479e-01 9.86175528e-01 -2.91011462e-03 1.40514917e+00] [ 2.07621375e-02 -5.37787085e-04 9.99784299e-01 1.54847851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:18.45, Y:1.43, Z:-0.01 [[ 9.85811329e-01 -1.67853439e-01 -1.11658280e-03 1.84489349e+01] [ 1.67724932e-01 9.85276987e-01 -3.31301423e-02 1.42863324e+00] [ 6.66115164e-03 3.24727908e-02 9.99450422e-01 -1.38364674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.551858064 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:18.48, Y:1.42, Z:0.01 [[ 9.86131507e-01 -1.65420073e-01 -1.34480566e-02 1.84839879e+01] [ 1.65379412e-01 9.86221542e-01 -4.08910502e-03 1.41818137e+00] [ 1.39391832e-02 1.80836360e-03 9.99901210e-01 5.89164047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581858064 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:18.51, Y:1.43, Z:0.00 [[ 9.86392507e-01 -1.64058285e-01 -1.07099036e-02 1.85120623e+01] [ 1.63988418e-01 9.86436636e-01 -7.11075972e-03 1.42859972e+00] [ 1.17312203e-02 5.25769996e-03 9.99917364e-01 4.56954969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.611858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:18.54, Y:1.43, Z:0.01 [[ 9.86846462e-01 -1.60851161e-01 -1.61544089e-02 1.85417874e+01] [ 1.60948001e-01 9.86950840e-01 4.87649017e-03 1.42747370e+00] [ 1.51592184e-02 -7.41236690e-03 9.99857617e-01 1.29794320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641858064 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:18.57, Y:1.43, Z:0.02 [[ 9.87464277e-01 -1.56587052e-01 -1.98694897e-02 1.85674158e+01] [ 1.56732212e-01 9.87623140e-01 5.96212376e-03 1.43092437e+00] [ 1.86899764e-02 -9.00157330e-03 9.99784805e-01 1.60446812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.671858064 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:18.59, Y:1.44, Z:0.02 [[ 9.88002130e-01 -1.52249399e-01 -2.59212723e-02 1.85912006e+01] [ 1.52652372e-01 9.88175923e-01 1.43387217e-02 1.43761094e+00] [ 2.34317155e-02 -1.81236313e-02 9.99561148e-01 2.45690766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701858064 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:18.62, Y:1.45, Z:0.02 [[ 9.88416711e-01 -1.49838282e-01 -2.41017648e-02 1.86179744e+01] [ 1.49800350e-01 9.88710482e-01 -3.38195207e-03 1.45185606e+00] [ 2.43364133e-02 -2.67674854e-04 9.99703790e-01 1.71919200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.731858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:18.65, Y:1.47, Z:0.00 [[ 9.88966189e-01 -1.47017912e-01 -1.82101838e-02 1.86493208e+01] [ 1.46624782e-01 9.88962407e-01 -2.13197525e-02 1.46561634e+00] [ 2.11435727e-02 1.84144501e-02 9.99606851e-01 3.71284667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761858064 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:18.68, Y:1.47, Z:0.00 [[ 9.89513559e-01 -1.43577589e-01 -1.57604703e-02 1.86759773e+01] [ 1.43393135e-01 9.89589687e-01 -1.22743808e-02 1.47108027e+00] [ 1.73587249e-02 9.88572295e-03 9.99800454e-01 4.52894308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.791858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:18.70, Y:1.47, Z:0.01 [[ 9.89757126e-01 -1.41952395e-01 -1.51772559e-02 1.87041853e+01] [ 1.41873255e-01 9.89865570e-01 -6.17523986e-03 1.47393346e+00] [ 1.59000332e-02 3.95874095e-03 9.99865750e-01 6.83532842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821858064 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:18.73, Y:1.46, Z:0.04 [[ 0.99013662 -0.13703577 -0.02916622 18.73355048] [ 0.13793471 0.98994254 0.03142905 1.46001607] [ 0.02456598 -0.03514209 0.99908035 0.037447 ] [ 0. 0. 0. 1. ]] SLAMing on 20.851858063999998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:18.76, Y:1.48, Z:0.02 [[ 9.90625788e-01 -1.34778131e-01 -2.22576526e-02 1.87583323e+01] [ 1.34741285e-01 9.90875794e-01 -3.15382276e-03 1.48211279e+00] [ 2.24796355e-02 1.25233463e-04 9.99747293e-01 2.33694698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881858064 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:18.79, Y:1.49, Z:0.02 [[ 9.90764983e-01 -1.33933515e-01 -2.11319941e-02 1.87855380e+01] [ 1.33900049e-01 9.90990310e-01 -2.99716058e-03 1.48738855e+00] [ 2.13430216e-02 1.39906714e-04 9.99772202e-01 2.35741771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.911858064 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:18.81, Y:1.49, Z:0.02 [[ 9.90879337e-01 -1.33164122e-01 -2.06265913e-02 1.88128725e+01] [ 1.33131959e-01 9.91093987e-01 -2.93083290e-03 1.49207077e+00] [ 2.08331724e-02 1.58043255e-04 9.99782953e-01 2.35418550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941858063999998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:18.84, Y:1.50, Z:0.02 [[ 9.91190879e-01 -1.30738000e-01 -2.11711416e-02 1.88399773e+01] [ 1.30703440e-01 9.91416929e-01 -3.01398321e-03 1.49627251e+00] [ 2.13834703e-02 2.20291641e-04 9.99771323e-01 2.36479788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.971858064 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:18.86, Y:1.52, Z:-0.01 [[ 9.91304627e-01 -1.31123068e-01 -1.10397826e-02 1.88638978e+01] [ 1.30531393e-01 9.90490975e-01 -4.34647331e-02 1.52052059e+00] [ 1.66340342e-02 4.16457528e-02 9.98993964e-01 -5.63531441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001858064 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:18.90, Y:1.49, Z:0.04 [[ 0.9914722 -0.12688287 -0.02972559 18.89887281] [ 0.12790914 0.99114592 0.03562315 1.48703644] [ 0.02494243 -0.03912154 0.99892311 0.0391078 ] [ 0. 0. 0. 1. ]] SLAMing on 21.031858063999998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:18.92, Y:1.51, Z:0.02 [[ 9.91693494e-01 -1.26250116e-01 -2.45951587e-02 1.89232012e+01] [ 1.26235275e-01 9.91997976e-01 -2.16135688e-03 1.50809434e+00] [ 2.46712192e-02 -9.61373056e-04 9.99695157e-01 2.44708600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061858064 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:18.95, Y:1.51, Z:0.02 [[ 9.92007223e-01 -1.23524765e-01 -2.57546604e-02 1.89517051e+01] [ 1.23435566e-01 9.92339836e-01 -5.03101669e-03 1.51366135e+00] [ 2.61788307e-02 1.81176380e-03 9.99655634e-01 2.33877055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.091858064 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:18.98, Y:1.52, Z:0.02 [[ 9.92086140e-01 -1.22861716e-01 -2.58860826e-02 1.89799538e+01] [ 1.22806980e-01 9.92423678e-01 -3.69982015e-03 1.51736145e+00] [ 2.61445275e-02 4.91548676e-04 9.99658053e-01 2.41917319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121858063999998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:19.01, Y:1.52, Z:0.02 [[ 9.92097321e-01 -1.22710284e-01 -2.61742649e-02 1.90079787e+01] [ 1.22654064e-01 9.92442405e-01 -3.74877526e-03 1.52171548e+00] [ 2.64364637e-02 5.08769936e-04 9.99650366e-01 2.43679156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.151858064 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:19.04, Y:1.52, Z:0.02 [[ 9.91966884e-01 -1.23311675e-01 -2.82122674e-02 1.90350597e+01] [ 1.23246391e-01 9.92367846e-01 -4.04795847e-03 1.52444051e+00] [ 2.84961076e-02 5.38380602e-04 9.99593758e-01 2.45763042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:19.06, Y:1.53, Z:0.03 [[ 9.91805127e-01 -1.24524577e-01 -2.85695485e-02 1.90621760e+01] [ 1.24458026e-01 9.92216391e-01 -4.10287295e-03 1.52711750e+00] [ 2.88580828e-02 5.13540814e-04 9.99583387e-01 2.51197188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.211858064 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:19.09, Y:1.53, Z:0.03 [[ 9.91565655e-01 -1.26287046e-01 -2.91398868e-02 1.90904227e+01] [ 1.26218420e-01 9.91993626e-01 -4.18992697e-03 1.52999099e+00] [ 2.94357155e-02 4.76597209e-04 9.99566562e-01 2.57947570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:19.12, Y:1.53, Z:0.03 [[ 9.91135380e-01 -1.29520484e-01 -2.95821481e-02 1.91170407e+01] [ 1.29450999e-01 9.91576669e-01 -4.26019335e-03 1.53232796e+00] [ 2.98847502e-02 3.92989740e-04 9.99553274e-01 2.56616320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.271858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:19.15, Y:1.54, Z:0.03 [[ 9.90918080e-01 -1.31010810e-01 -3.02907130e-02 1.91453742e+01] [ 1.30938484e-01 9.91380874e-01 -4.36769004e-03 1.53554663e+00] [ 3.06018482e-02 3.61802984e-04 9.99531588e-01 2.61112621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:19.17, Y:1.54, Z:0.03 [[ 9.90785999e-01 -1.31943888e-01 -3.05600225e-02 1.91734737e+01] [ 1.31870440e-01 9.91257127e-01 -4.41537927e-03 1.53866485e+00] [ 3.08754224e-02 3.44732341e-04 9.99523181e-01 2.58348420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:19.20, Y:1.54, Z:0.03 [[ 9.90604068e-01 -1.33145010e-01 -3.12407938e-02 1.92008372e+01] [ 1.33068616e-01 9.91096516e-01 -4.52108490e-03 1.54052666e+00] [ 3.15646018e-02 3.21435875e-04 9.99501662e-01 2.66084003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:19.23, Y:1.54, Z:0.03 [[ 9.90469273e-01 -1.34281338e-01 -3.06454191e-02 1.92285110e+01] [ 1.34208199e-01 9.90943208e-01 -4.44055000e-03 1.54287110e+00] [ 3.09641529e-02 2.85361821e-04 9.99520455e-01 2.71351740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.391858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:19.26, Y:1.54, Z:0.03 [[ 9.89972181e-01 -1.38124158e-01 -2.96107871e-02 1.92561815e+01] [ 1.38057393e-01 9.90414908e-01 -4.29732072e-03 1.54299954e+00] [ 2.99205287e-02 1.66239908e-04 9.99552267e-01 2.83456126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421858064 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:19.28, Y:1.55, Z:0.03 [[ 9.89681056e-01 -1.40235778e-01 -2.94165434e-02 1.92841021e+01] [ 1.40093945e-01 9.90114599e-01 -6.83861117e-03 1.54630591e+00] [ 3.00847671e-02 2.64696432e-03 9.99543846e-01 2.78626689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.451858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:19.31, Y:1.55, Z:0.03 [[ 9.89418090e-01 -1.42155554e-01 -2.90455221e-02 1.93135800e+01] [ 1.42165967e-01 9.89841346e-01 -1.71680601e-03 1.54607903e+00] [ 2.89945122e-02 -2.43064581e-03 9.99576615e-01 3.02322779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:19.34, Y:1.55, Z:0.03 [[ 9.89173964e-01 -1.43900533e-01 -2.87663993e-02 1.93420186e+01] [ 1.43839525e-01 9.89592157e-01 -4.18979058e-03 1.54838512e+00] [ 2.90699162e-02 6.68652627e-06 9.99577381e-01 3.02944526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.511858064 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:19.37, Y:1.56, Z:0.02 [[ 0.9888074 -0.14595191 -0.03095099 19.3673388 ] [ 0.145001 0.9889449 -0.03102747 1.55836468] [ 0.03513734 0.02619227 0.9990392 0.02385091] [ 0. 0. 0. 1. ]] SLAMing on 21.541858064 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:19.40, Y:1.54, Z:0.04 [[ 9.88833603e-01 -1.45323057e-01 -3.30047560e-02 1.93999940e+01] [ 1.45934205e-01 9.89149616e-01 1.69187747e-02 1.54011406e+00] [ 3.01879537e-02 -2.15463758e-02 9.99311984e-01 4.26903980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.571858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:19.43, Y:1.56, Z:0.02 [[ 9.88798655e-01 -1.47320628e-01 -2.39552082e-02 1.94263345e+01] [ 1.46912977e-01 9.88986016e-01 -1.79788087e-02 1.56093275e+00] [ 2.63400153e-02 1.42580909e-02 9.99551355e-01 2.32365853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601858063999998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:19.45, Y:1.56, Z:0.03 [[ 9.89383911e-01 -1.43235520e-01 -2.45573292e-02 1.94542129e+01] [ 1.43059097e-01 9.89674976e-01 -8.80553640e-03 1.55930592e+00] [ 2.55650397e-02 5.19890670e-03 9.99659642e-01 2.59735438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.631858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:19.48, Y:1.55, Z:0.04 [[ 9.90139161e-01 -1.37092188e-01 -2.88127297e-02 1.94840523e+01] [ 1.37378465e-01 9.90484742e-01 8.19351577e-03 1.55099291e+00] [ 2.74153021e-02 -1.20709694e-02 9.99551246e-01 3.74154302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:19.51, Y:1.57, Z:0.02 [[ 9.90812124e-01 -1.33209566e-01 -2.33783159e-02 1.95122998e+01] [ 1.32807275e-01 9.90978464e-01 -1.79975607e-02 1.56803851e+00] [ 2.55648548e-02 1.47273909e-02 9.99564676e-01 2.39789453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.691858063999998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:19.54, Y:1.55, Z:0.05 [[ 0.9909494 -0.12960275 -0.03496302 19.54215617] [ 0.13037152 0.99124959 0.02067636 1.55344611] [ 0.03197736 -0.02504741 0.9991747 0.04886406] [ 0. 0. 0. 1. ]] SLAMing on 21.721858064 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:19.57, Y:1.57, Z:0.04 [[ 9.90959640e-01 -1.30469034e-01 -3.12541532e-02 1.95690082e+01] [ 1.30388879e-01 9.91452268e-01 -4.59788138e-03 1.56896350e+00] [ 3.15868822e-02 4.81120875e-04 9.99500894e-01 3.87727586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.751858064 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:19.60, Y:1.58, Z:0.02 [[ 0.99101349 -0.13155316 -0.02420791 19.59797529] [ 0.13092683 0.9910546 -0.02586386 1.58261366] [ 0.02739384 0.02246197 0.99937232 0.02367425] [ 0. 0. 0. 1. ]] SLAMing on 21.781858063999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:19.63, Y:1.56, Z:0.05 [[ 9.90970906e-01 -1.29508944e-01 -3.47001136e-02 1.96293852e+01] [ 1.30227995e-01 9.91295778e-01 1.93222640e-02 1.56247494e+00] [ 3.18956701e-02 -2.36667276e-02 9.99210965e-01 5.17915293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.811858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:19.65, Y:1.58, Z:0.04 [[ 9.91210211e-01 -1.28523030e-01 -3.13711432e-02 1.96536547e+01] [ 1.28331340e-01 9.91698615e-01 -8.05760270e-03 1.57709132e+00] [ 3.21463068e-02 3.96087723e-03 9.99475326e-01 4.13186516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:19.68, Y:1.58, Z:0.04 [[ 9.91302554e-01 -1.27791045e-01 -3.14435337e-02 1.96811387e+01] [ 1.27706888e-01 9.91800918e-01 -4.67860109e-03 1.57895173e+00] [ 3.17836089e-02 6.22353368e-04 9.99494580e-01 4.38649395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.871858063999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:19.71, Y:1.58, Z:0.04 [[ 9.91417708e-01 -1.27057106e-01 -3.07801773e-02 1.97078395e+01] [ 1.26975996e-01 9.91895200e-01 -4.58355376e-03 1.58240631e+00] [ 3.11130832e-02 6.35872690e-04 9.99515669e-01 4.47434142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:19.74, Y:1.59, Z:0.04 [[ 9.91335329e-01 -1.27751395e-01 -3.05588885e-02 1.97397942e+01] [ 1.27562867e-01 9.91797824e-01 -8.04932339e-03 1.58836720e+00] [ 3.13365514e-02 4.08139923e-03 9.99500557e-01 4.44922499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.931858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:19.76, Y:1.59, Z:0.05 [[ 9.91636703e-01 -1.25258761e-01 -3.10948880e-02 1.97634032e+01] [ 1.25291876e-01 9.92119527e-01 -8.88889158e-04 1.58869482e+00] [ 3.09611867e-02 -3.01448175e-03 9.99516042e-01 4.75660162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:19.79, Y:1.59, Z:0.05 [[ 9.91631730e-01 -1.25301560e-01 -3.10810381e-02 1.97909953e+01] [ 1.25217499e-01 9.92118446e-01 -4.64410509e-03 1.59453629e+00] [ 3.14179848e-02 7.13352105e-04 9.99506079e-01 4.54798253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.991858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:19.82, Y:1.60, Z:0.04 [[ 9.91614484e-01 -1.25304346e-01 -3.16154328e-02 1.98179575e+01] [ 1.25217134e-01 9.92118080e-01 -4.73133885e-03 1.59689349e+00] [ 3.19590998e-02 7.32870244e-04 9.99488909e-01 4.46772186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021858064 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:19.85, Y:1.60, Z:0.05 [[ 9.91530976e-01 -1.25867036e-01 -3.19970648e-02 1.98460890e+01] [ 1.25777828e-01 9.92046853e-01 -4.79370230e-03 1.60011253e+00] [ 3.23459566e-02 7.28583001e-04 9.99476467e-01 4.55974567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.051858064 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:19.88, Y:1.61, Z:0.04 [[ 9.90934704e-01 -1.29944244e-01 -3.41014171e-02 1.98793841e+01] [ 1.29250104e-01 9.91371588e-01 -2.18354179e-02 1.61285623e+00] [ 3.66445629e-02 1.72298617e-02 9.99179818e-01 4.11640150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:19.90, Y:1.60, Z:0.06 [[ 9.91355781e-01 -1.26636677e-01 -3.43054870e-02 1.99043369e+01] [ 1.27113457e-01 9.91814568e-01 1.20843230e-02 1.59873123e+00] [ 3.24943632e-02 -1.63405525e-02 9.99338332e-01 5.51653658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.111858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:19.92, Y:1.64, Z:0.02 [[ 9.90724552e-01 -1.35147755e-01 -1.41402439e-02 1.99203514e+01] [ 1.34419963e-01 9.89960749e-01 -4.36919784e-02 1.63537351e+00] [ 1.99031593e-02 4.13859846e-02 9.98944976e-01 1.60656565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:1.59, Z:0.07 [[ 0.99108557 -0.12747203 -0.03873331 19.96240576] [ 0.1288529 0.99102719 0.03552517 1.59453546] [ 0.0338573 -0.04019938 0.99861789 0.06761377] [ 0. 0. 0. 1. ]] SLAMing on 22.171858064 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:19.99, Y:1.61, Z:0.05 [[ 9.90885537e-01 -1.30470232e-01 -3.35167173e-02 1.99881850e+01] [ 1.30374396e-01 9.91452031e-01 -5.03847203e-03 1.61443354e+00] [ 3.38875881e-02 6.22827287e-04 9.99425457e-01 4.99127908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201858064 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:20.01, Y:1.64, Z:0.03 [[ 0.99018721 -0.13803019 -0.02183942 20.0067556 ] [ 0.13729881 0.99001111 -0.03204741 1.63741812] [ 0.02604478 0.02873441 0.99924772 0.02614706] [ 0. 0. 0. 1. ]] SLAMing on 22.231858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:20.05, Y:1.61, Z:0.06 [[ 0.99044014 -0.13184866 -0.04054945 20.04611405] [ 0.13281072 0.99089692 0.0220137 1.60805793] [ 0.03727785 -0.02718865 0.998935 0.06185419] [ 0. 0. 0. 1. ]] SLAMing on 22.261858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:20.07, Y:1.62, Z:0.05 [[ 9.90333311e-01 -1.33530468e-01 -3.75439384e-02 2.00717981e+01] [ 1.33411630e-01 9.91044526e-01 -5.66422471e-03 1.62356821e+00] [ 3.79640612e-02 6.00672381e-04 9.99278925e-01 5.02269185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.291858064 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:20.10, Y:1.63, Z:0.05 [[ 9.90165857e-01 -1.34784308e-01 -3.74801957e-02 2.01001524e+01] [ 1.34666452e-01 9.90874804e-01 -5.66304308e-03 1.62727008e+00] [ 3.79014709e-02 5.60026942e-04 9.99281324e-01 5.07899077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321858064 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:20.13, Y:1.63, Z:0.05 [[ 9.89970645e-01 -1.36274049e-01 -3.72492315e-02 2.01280998e+01] [ 1.36158291e-01 9.90671047e-01 -5.63889219e-03 1.63176287e+00] [ 3.76701699e-02 5.10546045e-04 9.99290097e-01 5.15533702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351858063999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:20.15, Y:1.65, Z:0.04 [[ 9.89212856e-01 -1.44098973e-01 -2.63326986e-02 2.01492248e+01] [ 1.43576699e-01 9.89421404e-01 -2.07609250e-02 1.64857304e+00] [ 2.90457636e-02 1.67562119e-02 9.99437628e-01 3.80466635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:20.18, Y:1.63, Z:0.06 [[ 9.89415004e-01 -1.40462282e-01 -3.64458010e-02 2.01847963e+01] [ 1.40940469e-01 9.89958197e-01 1.08881507e-02 1.63294302e+00] [ 3.45504449e-02 -1.59095879e-02 9.99276314e-01 6.17779715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.411858064 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:20.21, Y:1.65, Z:0.04 [[ 9.88856566e-01 -1.46472838e-01 -2.66157633e-02 2.02071270e+01] [ 1.46065255e-01 9.89134459e-01 -1.66722415e-02 1.65276411e+00] [ 2.87685991e-02 1.25988173e-02 9.99506697e-01 4.49972535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441858063999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:20.24, Y:1.64, Z:0.07 [[ 9.88518292e-01 -1.46809897e-01 -3.57552746e-02 2.02408358e+01] [ 1.47144979e-01 9.89090775e-01 6.91335163e-03 1.64046566e+00] [ 3.43502638e-02 -1.20951837e-02 9.99336663e-01 6.51240462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.471858064 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:20.26, Y:1.65, Z:0.05 [[ 9.87828635e-01 -1.52392690e-01 -3.11617680e-02 2.02639996e+01] [ 1.52173567e-01 9.88310026e-01 -9.30040774e-03 1.65410174e+00] [ 3.22148019e-02 4.44521171e-03 9.99471083e-01 5.47332284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:1.65, Z:0.06 [[ 9.87606170e-01 -1.52711066e-01 -3.62406328e-02 2.02951740e+01] [ 1.52767692e-01 9.88261377e-01 -1.21777624e-03 1.65198053e+00] [ 3.60011855e-02 -4.33371450e-03 9.99342351e-01 6.28575689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.531858063999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:20.32, Y:1.66, Z:0.06 [[ 9.86648182e-01 -1.58788720e-01 -3.62147412e-02 2.03225417e+01] [ 1.58693034e-01 9.87312540e-01 -5.51986912e-03 1.65951415e+00] [ 3.66317611e-02 -3.00858336e-04 9.99328787e-01 5.98709220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561858064 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:20.35, Y:1.66, Z:0.06 [[ 9.86032799e-01 -1.62489013e-01 -3.65601023e-02 2.03498860e+01] [ 1.62393647e-01 9.86710258e-01 -5.58294216e-03 1.66481365e+00] [ 3.69813948e-02 -4.32164284e-04 9.99315861e-01 6.01969037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.591858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:20.38, Y:1.67, Z:0.06 [[ 9.85492124e-01 -1.65714355e-01 -3.66609696e-02 2.03773931e+01] [ 1.65620308e-01 9.86173644e-01 -5.60869821e-03 1.66932850e+00] [ 3.70835238e-02 -5.44473174e-04 9.99312021e-01 6.10754762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621858063999998 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:20.40, Y:1.67, Z:0.06 [[ 9.84337613e-01 -1.72504209e-01 -3.63560352e-02 2.04047032e+01] [ 1.72415968e-01 9.85008469e-01 -5.57224134e-03 1.67496668e+00] [ 3.67722377e-02 -7.83394259e-04 9.99323365e-01 6.19389867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:1.68, Z:0.06 [[ 9.83820625e-01 -1.75549912e-01 -3.57659907e-02 2.04326387e+01] [ 1.75466158e-01 9.84470145e-01 -5.49185930e-03 1.67994468e+00] [ 3.61746455e-02 -8.72716526e-04 9.99345102e-01 6.27511401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681858064 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:20.46, Y:1.69, Z:0.06 [[ 9.83263331e-01 -1.78719272e-01 -3.53927186e-02 2.04605439e+01] [ 1.78638950e-01 9.83899630e-01 -5.44452523e-03 1.68502426e+00] [ 3.57959243e-02 -9.69116074e-04 9.99358651e-01 6.40329753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.711858064 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:20.49, Y:1.69, Z:0.06 [[ 9.82367535e-01 -1.83610632e-01 -3.52301282e-02 2.04875411e+01] [ 1.83344628e-01 9.82990838e-01 -1.06658421e-02 1.69393086e+00] [ 3.65892553e-02 4.01852227e-03 9.99322309e-01 6.34152902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741858064 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:20.51, Y:1.70, Z:0.07 [[ 9.82172070e-01 -1.84805220e-01 -3.44246383e-02 2.05148221e+01] [ 1.84827426e-01 9.82767648e-01 -2.56375685e-03 1.69681283e+00] [ 3.43052165e-02 -3.84456691e-03 9.99404008e-01 6.74047772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.771858064 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:20.54, Y:1.72, Z:0.04 [[ 9.81459109e-01 -1.90630517e-01 -1.99505014e-02 2.05370124e+01] [ 1.89879314e-01 9.81201365e-01 -3.44924325e-02 1.72412864e+00] [ 2.61507695e-02 3.00647245e-02 9.99205809e-01 4.12152451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801858064 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:20.57, Y:1.72, Z:0.06 [[ 9.81599432e-01 -1.89315483e-01 -2.49440081e-02 2.05666564e+01] [ 1.89395646e-01 9.81900470e-01 8.69817421e-04 1.71742431e+00] [ 2.43278634e-02 -5.57809881e-03 9.99688471e-01 5.73702127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.831858064 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:20.60, Y:1.72, Z:0.06 [[ 9.81960818e-01 -1.86621194e-01 -3.04217253e-02 2.05959220e+01] [ 1.86720836e-01 9.82412914e-01 4.42876133e-04 1.72327454e+00] [ 2.98040458e-02 -6.11525699e-03 9.99537054e-01 6.22396667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:20.62, Y:1.73, Z:0.06 [[ 9.82244722e-01 -1.84958998e-01 -3.13922821e-02 2.06237765e+01] [ 1.84985356e-01 9.82739059e-01 -2.08784679e-03 1.73114906e+00] [ 3.12365878e-02 -3.75633598e-03 9.99504960e-01 6.29116672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.891858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:20.65, Y:1.74, Z:0.06 [[ 9.83005023e-01 -1.80817925e-01 -3.17175609e-02 2.06505769e+01] [ 1.80798478e-01 9.83513921e-01 -3.50386287e-03 1.74164504e+00] [ 3.18282239e-02 -2.29017195e-03 9.99490730e-01 6.43885397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:20.68, Y:1.75, Z:0.07 [[ 9.83562183e-01 -1.77767405e-01 -3.16888189e-02 2.06788666e+01] [ 1.77718421e-01 9.84071640e-01 -4.37830129e-03 1.74874433e+00] [ 3.19623873e-02 -1.32535530e-03 9.99488194e-01 6.64009928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.951858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:20.70, Y:1.76, Z:0.07 [[ 9.84423418e-01 -1.73226062e-01 -3.00543825e-02 2.07047186e+01] [ 1.73189003e-01 9.84881076e-01 -3.85167474e-03 1.75976309e+00] [ 3.02672031e-02 -1.41340974e-03 9.99540844e-01 6.75945097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981858064 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:20.73, Y:1.77, Z:0.07 [[ 9.84722213e-01 -1.71304247e-01 -3.12572827e-02 2.07321235e+01] [ 1.71407287e-01 9.85200055e-01 6.27339676e-04 1.76533767e+00] [ 3.06872107e-02 -5.97548134e-03 9.99511175e-01 7.15002037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.011858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:20.76, Y:1.77, Z:0.08 [[ 9.85324692e-01 -1.67183701e-01 -3.44218211e-02 2.07608462e+01] [ 1.67469750e-01 9.85861416e-01 5.58132558e-03 1.76831629e+00] [ 3.30020386e-02 -1.12640317e-02 9.99391809e-01 8.07037946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041858064 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:20.79, Y:1.78, Z:0.08 [[ 9.85631933e-01 -1.65827139e-01 -3.21100069e-02 2.07889357e+01] [ 1.65748325e-01 9.86154797e-01 -5.11948563e-03 1.77955912e+00] [ 3.25143870e-02 -2.76251340e-04 9.99471229e-01 7.76010165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.071858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:20.81, Y:1.79, Z:0.08 [[ 9.86226913e-01 -1.62554546e-01 -3.05367846e-02 2.08130747e+01] [ 1.62493334e-01 9.86699416e-01 -4.49214506e-03 1.78759162e+00] [ 3.08608461e-02 -5.31749589e-04 9.99523549e-01 7.59971573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101858063999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:20.84, Y:1.79, Z:0.08 [[ 9.86357575e-01 -1.61426408e-01 -3.22528879e-02 2.08417914e+01] [ 1.61334963e-01 9.86884740e-01 -5.43502599e-03 1.79404861e+00] [ 3.27072396e-02 1.57360579e-04 9.99464963e-01 7.89487148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.131858064 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:20.87, Y:1.80, Z:0.08 [[ 9.86602814e-01 -1.59659313e-01 -3.35230021e-02 2.08692193e+01] [ 1.59329656e-01 9.87148781e-01 -1.23022716e-02 1.80378743e+00] [ 3.50563629e-02 6.79624738e-03 9.99362228e-01 7.66676659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:20.90, Y:1.81, Z:0.08 [[ 9.87163315e-01 -1.55825720e-01 -3.50276243e-02 2.08978731e+01] [ 1.55969074e-01 9.87760973e-01 1.38128174e-03 1.80624145e+00] [ 3.43836811e-02 -6.82677680e-03 9.99385390e-01 8.18327316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.191858063999998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:20.92, Y:1.82, Z:0.08 [[ 9.87439125e-01 -1.54229515e-01 -3.43107926e-02 2.09248118e+01] [ 1.54137094e-01 9.88035048e-01 -5.33852646e-03 1.81517476e+00] [ 3.47236239e-02 -1.70959600e-05 9.99396953e-01 7.96667139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221858064 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:20.95, Y:1.82, Z:0.08 [[ 9.87657136e-01 -1.52713369e-01 -3.48138994e-02 2.09516281e+01] [ 1.52404993e-01 9.88252819e-01 -1.13615222e-02 1.82366433e+00] [ 3.61399905e-02 5.91547641e-03 9.99329229e-01 7.77687944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.251858064 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:20.98, Y:1.83, Z:0.08 [[ 9.88207087e-01 -1.49206315e-01 -3.44126132e-02 2.09798202e+01] [ 1.49311180e-01 9.88790138e-01 4.83368883e-04 1.82567026e+00] [ 3.39547309e-02 -5.61585645e-03 9.99407594e-01 8.31180291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281858063999998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:21.01, Y:1.84, Z:0.08 [[ 9.88361544e-01 -1.48396696e-01 -3.34645877e-02 2.10061134e+01] [ 1.48120250e-01 9.88912467e-01 -1.06077428e-02 1.83590220e+00] [ 3.46677020e-02 5.52750199e-03 9.99383609e-01 8.00909210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.311858064 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:21.03, Y:1.84, Z:0.09 [[ 9.88423426e-01 -1.47906277e-01 -3.38062815e-02 2.10348151e+01] [ 1.47992636e-01 9.88988461e-01 5.28522323e-05 1.83586497e+00] [ 3.34262051e-02 -5.05532109e-03 9.99428403e-01 8.55768412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:21.06, Y:1.84, Z:0.08 [[ 9.88363188e-01 -1.48111352e-01 -3.46588386e-02 2.10623382e+01] [ 1.48011904e-01 9.88970662e-01 -5.43193014e-03 1.84316812e+00] [ 3.50811051e-02 2.38799089e-04 9.99384440e-01 8.41871658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.371858063999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:21.09, Y:1.85, Z:0.08 [[ 9.88325410e-01 -1.48285270e-01 -3.49908992e-02 2.10898191e+01] [ 1.48183656e-01 9.88944598e-01 -5.49412133e-03 1.84794470e+00] [ 3.54187580e-02 2.44900358e-04 9.99372529e-01 8.46201763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:21.12, Y:1.85, Z:0.08 [[ 9.88382360e-01 -1.47734041e-01 -3.57066413e-02 2.11161860e+01] [ 1.47608600e-01 9.89026804e-01 -6.13863540e-03 1.85295982e+00] [ 3.62217107e-02 7.96711609e-04 9.99343461e-01 8.49215091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.431858064 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:21.15, Y:1.86, Z:0.09 [[ 9.88269721e-01 -1.48586104e-01 -3.52863678e-02 2.11454586e+01] [ 1.48496615e-01 9.88899464e-01 -5.15809534e-03 1.85839618e+00] [ 3.56610915e-02 -1.42316719e-04 9.99363931e-01 8.62224906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461858064 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:21.17, Y:1.86, Z:0.09 [[ 9.88240222e-01 -1.48932500e-01 -3.46464201e-02 2.11716552e+01] [ 1.48832310e-01 9.88847334e-01 -5.46753010e-03 1.86403134e+00] [ 3.50743131e-02 2.46726401e-04 9.99384677e-01 8.64291504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.491858064 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:21.19, Y:1.89, Z:0.07 [[ 0.98786147 -0.15374815 -0.02216341 21.19339231] [ 0.15299581 0.98769603 -0.03238562 1.88687668] [ 0.02686994 0.02860159 0.99922968 0.06641094] [ 0. 0. 0. 1. ]] SLAMing on 23.521858064 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:21.23, Y:1.86, Z:0.10 [[ 0.98820414 -0.1485126 -0.037371 21.22921283] [ 0.14941702 0.98851403 0.02268405 1.86235854] [ 0.03357289 -0.02800034 0.99904396 0.09949773] [ 0. 0. 0. 1. ]] SLAMing on 23.551858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:21.26, Y:1.88, Z:0.09 [[ 9.88077432e-01 -1.50465965e-01 -3.26033978e-02 2.12554533e+01] [ 1.50377742e-01 9.88615171e-01 -5.15537328e-03 1.87926903e+00] [ 3.30079219e-02 1.91082651e-04 9.99455072e-01 9.01137598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581858064 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:21.28, Y:1.88, Z:0.09 [[ 9.87866516e-01 -1.51887995e-01 -3.24003595e-02 2.12826653e+01] [ 1.51801331e-01 9.88397700e-01 -5.13245030e-03 1.88376672e+00] [ 3.28039985e-02 1.51758086e-04 9.99461792e-01 9.10005772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.611858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:21.31, Y:1.89, Z:0.09 [[ 9.87335886e-01 -1.55316105e-01 -3.23226701e-02 2.13098682e+01] [ 1.55231388e-01 9.87864821e-01 -5.12939675e-03 1.88824429e+00] [ 3.27271067e-02 4.69445355e-05 9.99464324e-01 9.24419517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:21.34, Y:1.89, Z:0.09 [[ 9.87294760e-01 -1.55577620e-01 -3.23212287e-02 2.13380717e+01] [ 1.55492747e-01 9.87823669e-01 -5.13846433e-03 1.89280239e+00] [ 3.27271048e-02 4.74622745e-05 9.99464324e-01 9.32767668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671858064 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:21.37, Y:1.90, Z:0.09 [[ 9.86958755e-01 -1.57674232e-01 -3.24230287e-02 2.13662552e+01] [ 1.57589662e-01 9.87491183e-01 -5.16353665e-03 1.89709878e+00] [ 3.28316116e-02 -1.33364300e-05 9.99460897e-01 9.45512266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:21.39, Y:1.90, Z:0.10 [[ 9.86446765e-01 -1.61025925e-01 -3.15187558e-02 2.13930430e+01] [ 1.60947446e-01 9.86950170e-01 -5.02799538e-03 1.90129615e+00] [ 3.19170790e-02 -1.13013480e-04 9.99490514e-01 9.64768681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.731858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:21.42, Y:1.91, Z:0.10 [[ 9.86262302e-01 -1.62224892e-01 -3.11408887e-02 2.14205911e+01] [ 1.62148749e-01 9.86753801e-01 -4.97194316e-03 1.90674937e+00] [ 3.15349632e-02 -1.45816031e-04 9.99502639e-01 9.71331828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761858064 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:21.44, Y:1.94, Z:0.07 [[ 9.85436550e-01 -1.69558078e-01 -1.28399388e-02 2.14383275e+01] [ 1.68788822e-01 9.84528657e-01 -4.70495240e-02 1.93950549e+00] [ 2.06189146e-02 4.41970825e-02 9.98810031e-01 6.58004697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.791858064 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:21.48, Y:1.90, Z:0.11 [[ 0.9860418 -0.16196174 -0.03859999 21.47902662] [ 0.16321366 0.98607707 0.03183266 1.90241132] [ 0.03290689 -0.03768838 0.99874758 0.11145621] [ 0. 0. 0. 1. ]] SLAMing on 23.821858064 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:21.50, Y:1.93, Z:0.09 [[ 9.85940944e-01 -1.64950524e-01 -2.66791806e-02 2.15016271e+01] [ 1.64594566e-01 9.86246572e-01 -1.50442007e-02 1.93050733e+00] [ 2.87937992e-02 1.04414452e-02 9.99530837e-01 8.88113039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.851858063999998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:21.53, Y:1.92, Z:0.11 [[ 9.86278703e-01 -1.61278416e-01 -3.52646039e-02 2.15328451e+01] [ 1.61739340e-01 9.86776424e-01 1.06148364e-02 1.92250214e+00] [ 3.30863358e-02 -1.61728609e-02 9.99321636e-01 1.05302765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881858064 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:21.56, Y:1.94, Z:0.10 [[ 9.86268426e-01 -1.61806903e-01 -3.30623218e-02 2.15593142e+01] [ 1.61719779e-01 9.86822433e-01 -5.31026830e-03 1.93525349e+00] [ 3.34858789e-02 -1.09481416e-04 9.99439185e-01 9.99679536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.911858064 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:21.59, Y:1.94, Z:0.10 [[ 9.86261259e-01 -1.61770609e-01 -3.34514306e-02 2.15860136e+01] [ 1.61681074e-01 9.86828384e-01 -5.38240467e-03 1.94067757e+00] [ 3.38815361e-02 -1.00006015e-04 9.99425851e-01 1.00784373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941858063999998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:21.61, Y:1.95, Z:0.10 [[ 9.86292536e-01 -1.61565919e-01 -3.35184670e-02 2.16121684e+01] [ 1.61475688e-01 9.86861919e-01 -5.39963934e-03 1.94603119e+00] [ 3.39504964e-02 -8.67935316e-05 9.99423512e-01 1.01702921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.971858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:21.64, Y:1.95, Z:0.10 [[ 9.86456796e-01 -1.60647983e-01 -3.30940275e-02 2.16401695e+01] [ 1.60559349e-01 9.87011764e-01 -5.33594896e-03 1.95146719e+00] [ 3.35214039e-02 -4.98723845e-05 9.99437999e-01 1.04142954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001858064 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:21.67, Y:1.96, Z:0.11 [[ 9.86582808e-01 -1.59936850e-01 -3.27805777e-02 2.16669754e+01] [ 1.59849199e-01 9.87127248e-01 -5.29429557e-03 1.95589264e+00] [ 3.32053544e-02 -1.66881027e-05 9.99448550e-01 1.06147482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.031858063999998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:21.69, Y:1.98, Z:0.09 [[ 9.86389936e-01 -1.63264643e-01 -1.94820469e-02 2.16906525e+01] [ 1.62520108e-01 9.86080590e-01 -3.51039216e-02 1.97813870e+00] [ 2.49420976e-02 3.14599306e-02 9.99193757e-01 8.51607816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061858064 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:21.72, Y:1.97, Z:0.09 [[ 9.86717193e-01 -1.60878752e-01 -2.25212879e-02 2.17206905e+01] [ 1.60672142e-01 9.86949693e-01 -1.07129318e-02 1.97454763e+00] [ 2.39508613e-02 6.95209045e-03 9.99688964e-01 9.19249302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.091858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:21.75, Y:1.96, Z:0.12 [[ 0.98720446 -0.15447689 -0.03955063 21.75451352] [ 0.15576714 0.98727799 0.0319182 1.95762963] [ 0.03411684 -0.03767047 0.99870765 0.1222407 ] [ 0. 0. 0. 1. ]] SLAMing on 24.121858063999998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:21.78, Y:1.98, Z:0.11 [[ 9.87390276e-01 -1.54636858e-01 -3.38804612e-02 2.17789788e+01] [ 1.54539612e-01 9.87971361e-01 -5.48624849e-03 1.97966138e+00] [ 3.43213016e-02 1.81195062e-04 9.99410834e-01 1.08787113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:21.81, Y:1.99, Z:0.11 [[ 9.87589095e-01 -1.53090160e-01 -3.50882061e-02 2.18064755e+01] [ 1.52984688e-01 9.88212194e-01 -5.68717697e-03 1.98539311e+00] [ 3.55452440e-02 2.48635697e-04 9.99368037e-01 1.09685322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:21.83, Y:2.02, Z:0.08 [[ 9.87122229e-01 -1.59252447e-01 -1.51116898e-02 2.18274375e+01] [ 1.58298948e-01 9.86065550e-01 -5.11485480e-02 2.01791324e+00] [ 2.30466481e-02 4.80977042e-02 9.98576719e-01 7.61817398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211858064 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:21.87, Y:1.98, Z:0.13 [[ 0.98750571 -0.15147569 -0.0434463 21.86608221] [ 0.15325807 0.9873301 0.04112458 1.97574184] [ 0.03666647 -0.04726925 0.99820899 0.12864017] [ 0. 0. 0. 1. ]] SLAMing on 24.241858064 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:21.89, Y:2.00, Z:0.11 [[ 9.87278097e-01 -1.55008301e-01 -3.54173181e-02 2.18908652e+01] [ 1.54901387e-01 9.87913147e-01 -5.75968146e-03 2.00163139e+00] [ 3.58820326e-02 2.00215672e-04 9.99356012e-01 1.12644963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.271858064 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:21.92, Y:2.01, Z:0.11 [[ 9.86975610e-01 -1.56837200e-01 -3.57943860e-02 2.19189350e+01] [ 1.56728820e-01 9.87624459e-01 -5.83140290e-03 2.00644544e+00] [ 3.62659920e-02 1.45440546e-04 9.99342162e-01 1.13703609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:21.95, Y:2.01, Z:0.11 [[ 9.86658602e-01 -1.58752327e-01 -3.60901978e-02 2.19470404e+01] [ 1.58643039e-01 9.87318435e-01 -5.89022874e-03 2.01115008e+00] [ 3.65676051e-02 8.61861915e-05 9.99331178e-01 1.14452726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.331858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:21.97, Y:2.04, Z:0.09 [[ 9.85653314e-01 -1.67509289e-01 -2.06925693e-02 2.19718183e+01] [ 1.66381167e-01 9.84907270e-01 -4.76967229e-02 2.03821506e+00] [ 2.83699061e-02 4.35695791e-02 9.98647505e-01 8.57218532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:22.01, Y:2.00, Z:0.13 [[ 0.98540728 -0.16446601 -0.04385687 22.00581463] [ 0.1661034 0.98542418 0.03672672 2.00016306] [ 0.03717732 -0.04347555 0.99836252 0.13192193] [ 0. 0. 0. 1. ]] SLAMing on 24.391858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:22.03, Y:2.02, Z:0.12 [[ 9.85013320e-01 -1.68498380e-01 -3.68382272e-02 2.20311881e+01] [ 1.68390363e-01 9.85701897e-01 -6.03781394e-03 2.02324617e+00] [ 3.73288723e-02 -2.55875312e-04 9.99303002e-01 1.17442646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421858064 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:22.05, Y:2.05, Z:0.08 [[ 9.83984334e-01 -1.77225712e-01 -1.91279029e-02 2.20548298e+01] [ 1.76091212e-01 9.83096366e-01 -5.01340257e-02 2.05441625e+00] [ 2.76896102e-02 4.59628403e-02 9.98559314e-01 8.32801361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.451858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:22.09, Y:2.01, Z:0.13 [[ 0.98405727 -0.17171024 -0.04633445 22.09299161] [ 0.17351436 0.98409047 0.0381932 2.01410021] [ 0.03903913 -0.04562399 0.99819557 0.13488139] [ 0. 0. 0. 1. ]] SLAMing on 24.481858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:22.12, Y:2.04, Z:0.12 [[ 9.83845902e-01 -1.74533471e-01 -3.98159298e-02 2.21182701e+01] [ 1.74411601e-01 9.84651110e-01 -6.54101858e-03 2.03736437e+00] [ 4.03464262e-02 -5.09005745e-04 9.99185622e-01 1.19820079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:22.14, Y:2.04, Z:0.12 [[ 9.83686376e-01 -1.75427426e-01 -3.98287889e-02 2.21446963e+01] [ 1.75305792e-01 9.84492220e-01 -6.55349491e-03 2.04095855e+00] [ 4.03607955e-02 -5.35633705e-04 9.99185028e-01 1.20415690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541858064 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:22.17, Y:2.05, Z:0.12 [[ 9.83638226e-01 -1.75730955e-01 -3.96796147e-02 2.21719608e+01] [ 1.75610218e-01 9.84438083e-01 -6.53536923e-03 2.04613322e+00] [ 4.02105905e-02 -5.39706795e-04 9.99191081e-01 1.20800889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.571858064 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:22.20, Y:2.05, Z:0.12 [[ 9.83634954e-01 -1.75847223e-01 -3.92432260e-02 2.21992118e+01] [ 1.75728772e-01 9.84417328e-01 -6.47476577e-03 2.05138330e+00] [ 3.97702813e-02 -5.27357971e-04 9.99208710e-01 1.21030465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601858063999998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:22.23, Y:2.05, Z:0.12 [[ 9.83881295e-01 -1.74490994e-01 -3.91214789e-02 2.22260513e+01] [ 1.74371778e-01 9.84658662e-01 -6.46547173e-03 2.05497956e+00] [ 3.96494696e-02 -4.60425109e-04 9.99213545e-01 1.22262220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.631858064 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:22.25, Y:2.06, Z:0.12 [[ 9.83986953e-01 -1.73699914e-01 -3.99751928e-02 2.22539489e+01] [ 1.73574420e-01 9.84798536e-01 -6.61550379e-03 2.05883889e+00] [ 4.05166237e-02 -4.29101478e-04 9.99178772e-01 1.24143524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661858064 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:22.28, Y:2.06, Z:0.13 [[ 9.84133613e-01 -1.72846290e-01 -4.00648452e-02 2.22812552e+01] [ 1.72719053e-01 9.84948736e-01 -6.64194465e-03 2.06292163e+00] [ 4.06098541e-02 -3.83401156e-04 9.99175006e-01 1.25236161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691858063999998 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:22.31, Y:2.07, Z:0.13 [[ 9.84502420e-01 -1.70722709e-01 -4.01091118e-02 2.23085011e+01] [ 1.70592958e-01 9.85319073e-01 -6.66085957e-03 2.06802460e+00] [ 4.06574328e-02 -2.84699637e-04 9.99173104e-01 1.25699056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721858064 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:22.34, Y:2.07, Z:0.13 [[ 9.84638466e-01 -1.69925462e-01 -4.01550659e-02 2.23364963e+01] [ 1.69794278e-01 9.85456889e-01 -6.68009289e-03 2.07337546e+00] [ 4.07062042e-02 -2.40624022e-04 9.99171130e-01 1.26121456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.751858064 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:22.36, Y:2.08, Z:0.13 [[ 9.84992260e-01 -1.68055932e-01 -3.93376636e-02 2.23628803e+01] [ 1.67928154e-01 9.85777450e-01 -6.55393896e-03 2.07803258e+00] [ 3.98796100e-02 -1.50322062e-04 9.99204481e-01 1.26132303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781858063999998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:22.39, Y:2.08, Z:0.13 [[ 9.85076717e-01 -1.67747960e-01 -3.85289879e-02 2.23897427e+01] [ 1.67624963e-01 9.85829907e-01 -6.42392741e-03 2.08152016e+00] [ 3.90606293e-02 -1.30358868e-04 9.99236834e-01 1.27675912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.811858064 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:22.41, Y:2.12, Z:0.09 [[ 9.84168963e-01 -1.76657321e-01 -1.42703652e-02 2.24072515e+01] [ 1.75573616e-01 9.82781779e-01 -5.75663192e-02 2.11800853e+00] [ 2.41941666e-02 5.41494850e-02 9.98239688e-01 8.73391716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:22.45, Y:2.06, Z:0.15 [[ 0.98512783 -0.16531099 -0.04685539 22.45120309] [ 0.16746619 0.98477844 0.04654558 2.06493968] [ 0.03844768 -0.05370004 0.99781666 0.15158101] [ 0. 0. 0. 1. ]] SLAMing on 24.871858063999998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:22.47, Y:2.12, Z:0.10 [[ 9.84221596e-01 -1.76232910e-01 -1.58054094e-02 2.24666606e+01] [ 1.75247146e-01 9.83234620e-01 -5.03797479e-02 2.11998554e+00] [ 2.44189953e-02 4.68149830e-02 9.98605062e-01 9.69145341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901858064 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:22.51, Y:2.08, Z:0.15 [[ 0.98523107 -0.16519179 -0.04507125 22.50797088] [ 0.16699719 0.98515619 0.03973944 2.07514099] [ 0.03783759 -0.04667931 0.99819305 0.15132236] [ 0. 0. 0. 1. ]] SLAMing on 24.931858064 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:22.52, Y:2.13, Z:0.10 [[ 9.84298592e-01 -1.75845506e-01 -1.53179653e-02 2.25236461e+01] [ 1.74847654e-01 9.83229482e-01 -5.18467367e-02 2.12871214e+00] [ 2.41780907e-02 4.83543596e-02 9.98537569e-01 9.76130066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961858064 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:22.57, Y:2.08, Z:0.16 [[ 0.98553839 -0.1625842 -0.04775411 22.56681257] [ 0.16457997 0.98549759 0.0413272 2.07941911] [ 0.04034241 -0.04858891 0.99800381 0.15540096] [ 0. 0. 0. 1. ]] SLAMing on 24.991858064 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:22.59, Y:2.10, Z:0.14 [[ 9.85725061e-01 -1.63603050e-01 -3.97510552e-02 2.25906752e+01] [ 1.63468834e-01 9.86526250e-01 -6.62565888e-03 2.10313403e+00] [ 4.02994374e-02 3.30193777e-05 9.99187647e-01 1.39135669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:22.62, Y:2.11, Z:0.14 [[ 9.85979369e-01 -1.62510210e-01 -3.78829157e-02 2.26180068e+01] [ 1.62387341e-01 9.86706859e-01 -6.31868982e-03 2.10536811e+00] [ 3.84061844e-02 7.83918388e-05 9.99262207e-01 1.41240411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.051858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:22.65, Y:2.11, Z:0.14 [[ 9.85950419e-01 -1.62799218e-01 -3.73923347e-02 2.26454564e+01] [ 1.62679530e-01 9.86659216e-01 -6.24188783e-03 2.10991988e+00] [ 3.79096661e-02 7.12244931e-05 9.99281168e-01 1.42474177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081858064 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:22.67, Y:2.11, Z:0.14 [[ 9.85937334e-01 -1.62884065e-01 -3.73678318e-02 2.26733423e+01] [ 1.62764206e-01 9.86645212e-01 -6.24804745e-03 2.11464456e+00] [ 3.78864998e-02 7.80377803e-05 9.99282046e-01 1.43010816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.111858064 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:22.70, Y:2.12, Z:0.14 [[ 9.85860771e-01 -1.63204152e-01 -3.79861036e-02 2.26999800e+01] [ 1.63080139e-01 9.86592316e-01 -6.36155503e-03 2.11918252e+00] [ 3.85150302e-02 7.68284911e-05 9.99258018e-01 1.42830329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141858064 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:22.73, Y:2.12, Z:0.14 [[ 9.85774322e-01 -1.63470586e-01 -3.90685805e-02 2.27284056e+01] [ 1.63339296e-01 9.86548205e-01 -6.55077445e-03 2.12225330e+00] [ 3.96138969e-02 7.61507994e-05 9.99215059e-01 1.42752613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.171858064 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:22.76, Y:2.13, Z:0.14 [[ 9.85715884e-01 -1.63966480e-01 -3.84602280e-02 2.27562994e+01] [ 1.63839211e-01 9.86465909e-01 -6.45940735e-03 2.12628872e+00] [ 3.89988301e-02 6.58470063e-05 9.99239254e-01 1.43323866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:22.78, Y:2.13, Z:0.14 [[ 9.85671116e-01 -1.64243615e-01 -3.84250752e-02 2.27833969e+01] [ 1.64116365e-01 9.86419804e-01 -6.46436364e-03 2.13012602e+00] [ 3.89649856e-02 6.55528434e-05 9.99240574e-01 1.44284655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.231858064 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:22.81, Y:2.13, Z:0.14 [[ 9.85573003e-01 -1.64604727e-01 -3.93845128e-02 2.28108748e+01] [ 1.64470987e-01 9.86359610e-01 -6.63433728e-03 2.13399367e+00] [ 3.99393359e-02 6.10140380e-05 9.99202105e-01 1.44733437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261858064 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:22.82, Y:2.19, Z:0.09 [[ 9.83461954e-01 -1.81093581e-01 -2.77500701e-03 2.28169591e+01] [ 1.80251329e-01 9.80152537e-01 -8.25255248e-02 2.19006200e+00] [ 1.76647730e-02 8.06605151e-02 9.96585088e-01 8.55428688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.291858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:22.87, Y:2.11, Z:0.17 [[ 0.98527537 -0.16228102 -0.05382675 22.87347383] [ 0.16534369 0.98450671 0.05837809 2.11352441] [ 0.04351914 -0.06641841 0.99684235 0.17274406] [ 0. 0. 0. 1. ]] SLAMing on 25.321858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:22.89, Y:2.17, Z:0.12 [[ 9.84392821e-01 -1.74613964e-01 -2.19257459e-02 2.28869498e+01] [ 1.73725657e-01 9.84083074e-01 -3.74152173e-02 2.16653798e+00] [ 2.81099748e-02 3.30222067e-02 9.99059239e-01 1.18885132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.351858063999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:22.93, Y:2.13, Z:0.17 [[ 0.9853543 -0.16309985 -0.04975279 22.92927173] [ 0.16499097 0.9856159 0.03659604 2.12754987] [ 0.04306833 -0.04426883 0.99809087 0.16821812] [ 0. 0. 0. 1. ]] SLAMing on 25.381858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:22.95, Y:2.15, Z:0.15 [[ 9.85353831e-01 -1.65021116e-01 -4.29634700e-02 2.29544129e+01] [ 1.64862182e-01 9.86290033e-01 -7.24102958e-03 2.15057400e+00] [ 4.35693650e-02 5.19248339e-05 9.99050403e-01 1.52311993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411858064 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:22.98, Y:2.15, Z:0.15 [[ 9.85328774e-01 -1.64985270e-01 -4.36699872e-02 2.29811555e+01] [ 1.64820508e-01 9.86296029e-01 -7.37183120e-03 2.15447196e+00] [ 4.42877785e-02 6.59679317e-05 9.99018813e-01 1.52132154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441858063999998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:23.01, Y:2.16, Z:0.15 [[ 9.85199445e-01 -1.65705613e-01 -4.38600380e-02 2.30090310e+01] [ 1.65539817e-01 9.86175262e-01 -7.41085291e-03 2.15831471e+00] [ 4.44817044e-02 4.05855029e-05 9.99010198e-01 1.53367746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471858064 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:23.04, Y:2.16, Z:0.16 [[ 9.85056305e-01 -1.66473744e-01 -4.41652428e-02 2.30369649e+01] [ 1.66305828e-01 9.86045888e-01 -7.47523879e-03 2.16149053e+00] [ 4.47933870e-02 1.85938288e-05 9.98996272e-01 1.55073087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:23.07, Y:2.16, Z:0.16 [[ 9.84671368e-01 -1.68959920e-01 -4.32994609e-02 2.30650003e+01] [ 1.68800388e-01 9.85622919e-01 -7.34096848e-03 2.16281452e+00] [ 4.39172705e-02 -8.05243360e-05 9.99035168e-01 1.57370619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.531858063999998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:23.09, Y:2.17, Z:0.16 [[ 9.84626090e-01 -1.69224113e-01 -4.32973791e-02 2.30931540e+01] [ 1.69064298e-01 9.85577594e-01 -7.35322867e-03 2.16766516e+00] [ 4.39172703e-02 -7.98601950e-05 9.99035168e-01 1.58401817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561858064 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:23.12, Y:2.17, Z:0.16 [[ 9.84306502e-01 -1.70993238e-01 -4.36121742e-02 2.31194518e+01] [ 1.70832341e-01 9.85272191e-01 -7.41761570e-03 2.17126109e+00] [ 4.42382246e-02 -1.49162471e-04 9.99020999e-01 1.59746886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.591858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:23.15, Y:2.18, Z:0.16 [[ 9.83957328e-01 -1.73068263e-01 -4.33053451e-02 2.31475517e+01] [ 1.72911336e-01 9.84909804e-01 -7.37213913e-03 2.17525999e+00] [ 4.39277423e-02 -2.34114750e-04 9.99034683e-01 1.60661836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621858063999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.17, Y:2.18, Z:0.16 [[ 9.83628030e-01 -1.75042531e-01 -4.28487073e-02 2.31749873e+01] [ 1.74890236e-01 9.84560825e-01 -7.30665601e-03 2.17881808e+00] [ 4.34661341e-02 -3.06788867e-04 9.99054854e-01 1.61817933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.651858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.19, Y:2.20, Z:0.14 [[ 0.98224016 -0.18589323 -0.0254555 23.1943242 ] [ 0.18476125 0.98191504 -0.04130532 2.20341036] [ 0.03267352 0.03586855 0.99882225 0.13634576] [ 0. 0. 0. 1. ]] SLAMing on 25.681858064 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:23.23, Y:2.19, Z:0.15 [[ 9.81771539e-01 -1.87198302e-01 -3.28852611e-02 2.32264823e+01] [ 1.87158175e-01 9.82320284e-01 -4.32167060e-03 2.18981001e+00] [ 3.31128684e-02 -1.91185225e-03 9.99449790e-01 1.51144484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711858063999998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:23.26, Y:2.18, Z:0.18 [[ 0.98228876 -0.18150672 -0.04651987 23.26181988] [ 0.18290833 0.98273534 0.02785322 2.17553225] [ 0.04066117 -0.03586878 0.99852897 0.17786002] [ 0. 0. 0. 1. ]] SLAMing on 25.741858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:23.29, Y:2.20, Z:0.16 [[ 9.82198085e-01 -1.83561228e-01 -3.99023479e-02 2.32862176e+01] [ 1.83433969e-01 9.83008106e-01 -6.85879158e-03 2.19578105e+00] [ 4.04833396e-02 -5.82754081e-04 9.99180044e-01 1.64293643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.771858064 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:23.31, Y:2.20, Z:0.17 [[ 9.82053745e-01 -1.84343661e-01 -3.98479153e-02 2.33135238e+01] [ 1.84217052e-01 9.82861662e-01 -6.85786084e-03 2.20049762e+00] [ 4.04291914e-02 -6.05877578e-04 9.99182222e-01 1.65075189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.34, Y:2.20, Z:0.17 [[ 9.81872080e-01 -1.84953637e-01 -4.14652954e-02 2.33402908e+01] [ 1.84816593e-01 9.82747036e-01 -7.14780231e-03 2.20430392e+00] [ 4.20719082e-02 -6.45247080e-04 9.99114377e-01 1.66800324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:23.35, Y:2.26, Z:0.11 [[ 9.79965530e-01 -1.99100047e-01 -5.17030672e-03 2.33486475e+01] [ 1.97911516e-01 9.76369557e-01 -8.67958512e-02 2.26030426e+00] [ 2.23291882e-02 8.40336790e-02 9.96212702e-01 1.08139946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:23.40, Y:2.20, Z:0.18 [[ 0.98121347 -0.18850475 -0.04106199 23.39623941] [ 0.19023724 0.98077855 0.04339608 2.1960768 ] [ 0.03209235 -0.05039234 0.99821375 0.17616445] [ 0. 0. 0. 1. ]] SLAMing on 25.891858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:23.42, Y:2.22, Z:0.16 [[ 9.80933212e-01 -1.91346731e-01 -3.40067995e-02 2.34205427e+01] [ 1.91300338e-01 9.81520566e-01 -4.64308223e-03 2.22344472e+00] [ 3.42668117e-02 -1.95095868e-03 9.99410816e-01 1.57676051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:23.45, Y:2.24, Z:0.14 [[ 9.80435819e-01 -1.94518472e-01 -3.01358488e-02 2.34464559e+01] [ 1.93685433e-01 9.80650071e-01 -2.84849166e-02 2.24164696e+00] [ 3.50935647e-02 2.20907576e-02 9.99139850e-01 1.44330246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:23.48, Y:2.24, Z:0.15 [[ 9.80285899e-01 -1.94573750e-01 -3.43600222e-02 2.34776646e+01] [ 1.94352455e-01 9.80883808e-01 -9.69937042e-03 2.23682009e+00] [ 3.55904324e-02 2.83020140e-03 9.99362452e-01 1.52748606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.51, Y:2.24, Z:0.16 [[ 9.79947377e-01 -1.96069522e-01 -3.54947905e-02 2.35058185e+01] [ 1.95940804e-01 9.80589997e-01 -7.10345177e-03 2.23953783e+00] [ 3.61986069e-02 6.13115913e-06 9.99344616e-01 1.55773953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.011858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.53, Y:2.24, Z:0.16 [[ 9.80071207e-01 -1.95285437e-01 -3.63871905e-02 2.35349659e+01] [ 1.95236799e-01 9.80743794e-01 -4.91971807e-03 2.24291331e+00] [ 3.66472605e-02 -2.28244459e-03 9.99325657e-01 1.59580352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:23.56, Y:2.25, Z:0.16 [[ 9.80098332e-01 -1.95193885e-01 -3.61470257e-02 2.35628260e+01] [ 1.94868819e-01 9.80751661e-01 -1.23418905e-02 2.25169337e+00] [ 3.78603170e-02 5.05233804e-03 9.99270269e-01 1.58290302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.59, Y:2.25, Z:0.17 [[ 9.80649744e-01 -1.91619504e-01 -4.01004345e-02 2.35942919e+01] [ 1.91737584e-01 9.81445801e-01 -9.16338358e-04 2.25109453e+00] [ 3.95319914e-02 -6.79015344e-03 9.99195234e-01 1.66142912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101858063999998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:23.62, Y:2.26, Z:0.16 [[ 9.80970608e-01 -1.90392342e-01 -3.80449923e-02 2.36189044e+01] [ 1.90144677e-01 9.81704549e-01 -1.00588478e-02 2.26115234e+00] [ 3.92640696e-02 2.63338130e-03 9.99225399e-01 1.62866198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.65, Y:2.26, Z:0.18 [[ 9.81896795e-01 -1.84300579e-01 -4.37261964e-02 2.36518085e+01] [ 1.84750219e-01 9.82764409e-01 6.44002855e-03 2.25871345e+00] [ 4.17856485e-02 -1.44018677e-02 9.99022795e-01 1.76415041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.68, Y:2.27, Z:0.17 [[ 9.82282892e-01 -1.82669631e-01 -4.18584133e-02 2.36798117e+01] [ 1.82598562e-01 9.83171903e-01 -5.54740914e-03 2.26914711e+00] [ 4.21673590e-02 -2.19416098e-03 9.99108152e-01 1.74094906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.191858063999998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:23.70, Y:2.29, Z:0.16 [[ 9.82292998e-01 -1.84496672e-01 -3.25798152e-02 2.37016156e+01] [ 1.83732739e-01 9.82656015e-01 -2.50885712e-02 2.28602764e+00] [ 3.66435092e-02 1.86583491e-02 9.99154202e-01 1.61132300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.74, Y:2.27, Z:0.19 [[ 9.83132806e-01 -1.76091020e-01 -4.94149714e-02 2.37393830e+01] [ 1.77116802e-01 9.84039955e-01 1.71757400e-02 2.26933035e+00] [ 4.56018127e-02 -2.56382552e-02 9.98630640e-01 1.90211713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.251858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:23.77, Y:2.28, Z:0.19 [[ 9.83395390e-01 -1.74628338e-01 -4.93806678e-02 2.37652283e+01] [ 1.74999769e-01 9.84563052e-01 3.26760777e-03 2.28000580e+00] [ 4.80477641e-02 -1.18549559e-02 9.98774685e-01 1.89709973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281858063999998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:23.80, Y:2.29, Z:0.19 [[ 9.83410268e-01 -1.74034232e-01 -5.11500902e-02 2.37958136e+01] [ 1.74143179e-01 9.84717531e-01 -2.35325258e-03 2.28602513e+00] [ 5.07779371e-02 -6.59322656e-03 9.98688205e-01 1.91934141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.311858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:23.83, Y:2.29, Z:0.20 [[ 9.83433232e-01 -1.73245404e-01 -5.33395502e-02 2.38252685e+01] [ 1.73436583e-01 9.84844470e-01 -1.05885552e-03 2.28871947e+00] [ 5.27146029e-02 -8.20971561e-03 9.98575872e-01 1.96500053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341858064 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:23.85, Y:2.30, Z:0.19 [[ 9.82993059e-01 -1.76819985e-01 -4.95917267e-02 2.38506227e+01] [ 1.76312214e-01 9.84227962e-01 -1.44679521e-02 2.30216715e+00] [ 5.13677871e-02 5.47826934e-03 9.98664778e-01 1.90722670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.371858063999998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:23.87, Y:2.30, Z:0.20 [[ 9.82310910e-01 -1.79626351e-01 -5.29117181e-02 2.38742098e+01] [ 1.79878944e-01 9.83688754e-01 1.18754179e-05 2.30384731e+00] [ 5.20465290e-02 -9.52936936e-03 9.98599194e-01 2.00547100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:23.90, Y:2.31, Z:0.20 [[ 9.82057606e-01 -1.81439866e-01 -5.14046146e-02 2.39009230e+01] [ 1.81220882e-01 9.83401889e-01 -8.92841338e-03 2.31326732e+00] [ 5.21713652e-02 -5.47373326e-04 9.98637997e-01 1.98292227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.431858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:23.93, Y:2.32, Z:0.19 [[ 9.82037379e-01 -1.82025392e-01 -4.96924918e-02 2.39329600e+01] [ 1.81452422e-01 9.83272052e-01 -1.58458481e-02 2.31870084e+00] [ 5.17455851e-02 6.54439207e-03 9.98638856e-01 1.94788735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461858063999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.96, Y:2.32, Z:0.20 [[ 9.81374560e-01 -1.84538897e-01 -5.33794810e-02 2.39568480e+01] [ 1.84722633e-01 9.82789529e-01 -1.51374000e-03 2.31977907e+00] [ 5.27401389e-02 -8.37485237e-03 9.98573152e-01 2.03891864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:23.99, Y:2.33, Z:0.19 [[ 9.81402462e-01 -1.85019303e-01 -5.11572663e-02 2.39854911e+01] [ 1.84094202e-01 9.82656036e-01 -2.22809429e-02 2.33066581e+00] [ 5.43924010e-02 1.24488161e-02 9.98442033e-01 1.94126029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:24.02, Y:2.31, Z:0.22 [[ 9.81248079e-01 -1.81862563e-01 -6.38609025e-02 2.40235392e+01] [ 1.83540037e-01 9.82778933e-01 2.14154972e-02 2.31166660e+00] [ 5.88664724e-02 -3.27349479e-02 9.97729002e-01 2.22516313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:2.34, Z:0.20 [[ 9.80004309e-01 -1.92071885e-01 -5.19610029e-02 2.40442196e+01] [ 1.91193768e-01 9.81318571e-01 -2.14197388e-02 2.33937397e+00] [ 5.51044267e-02 1.10568164e-02 9.98419375e-01 2.02510407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:24.07, Y:2.35, Z:0.20 [[ 9.79586774e-01 -1.94375247e-01 -5.12641791e-02 2.40676266e+01] [ 1.93452675e-01 9.80853161e-01 -2.24307530e-02 2.34748945e+00] [ 5.46426153e-02 1.20556764e-02 9.98433195e-01 2.00926356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.611858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.10, Y:2.34, Z:0.22 [[ 9.79271621e-01 -1.93849397e-01 -5.87324782e-02 2.41014234e+01] [ 1.94685162e-01 9.80826274e-01 8.80386417e-03 2.33723717e+00] [ 5.58997340e-02 -2.00557164e-02 9.98234936e-01 2.17060737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:24.12, Y:2.36, Z:0.20 [[ 9.78884346e-01 -1.98046213e-01 -5.06274008e-02 2.41228745e+01] [ 1.97155053e-01 9.80123674e-01 -2.20786944e-02 2.35921012e+00] [ 5.39937159e-02 1.16310404e-02 9.98473534e-01 2.01309644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.671858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.15, Y:2.36, Z:0.21 [[ 9.78707522e-01 -1.98215657e-01 -5.33117197e-02 2.41510589e+01] [ 1.97994780e-01 9.80157557e-01 -9.44621026e-03 2.35804272e+00] [ 5.41262717e-02 -1.31036515e-03 9.98533239e-01 2.07950834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:24.18, Y:2.36, Z:0.21 [[ 9.78632729e-01 -1.98615853e-01 -5.31951574e-02 2.41785617e+01] [ 1.98395701e-01 9.80076535e-01 -9.44091004e-03 2.36238155e+00] [ 5.40104400e-02 -1.31450698e-03 9.98539506e-01 2.09830564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.731858064 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:24.20, Y:2.37, Z:0.21 [[ 9.78696926e-01 -1.98660755e-01 -5.18288684e-02 2.42049032e+01] [ 1.98451131e-01 9.80067493e-01 -9.21178073e-03 2.36675203e+00] [ 5.26258084e-02 -1.26995606e-03 9.98613495e-01 2.11936832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761858064 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:24.23, Y:2.37, Z:0.21 [[ 9.78767200e-01 -1.98493267e-01 -5.11389459e-02 2.42326264e+01] [ 1.98288577e-01 9.80101471e-01 -9.09654341e-03 2.37243083e+00] [ 5.19269587e-02 -1.23687048e-03 9.98650119e-01 2.13661581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.791858064 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:24.26, Y:2.38, Z:0.22 [[ 9.78862616e-01 -1.98070890e-01 -5.09499961e-02 2.42602685e+01] [ 1.97866405e-01 9.80186968e-01 -9.07711064e-03 2.37861382e+00] [ 5.17384336e-02 -1.19604829e-03 9.98659954e-01 2.15321835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:24.29, Y:2.38, Z:0.22 [[ 9.79472697e-01 -1.95076200e-01 -5.07790556e-02 2.42870307e+01] [ 1.94868384e-01 9.80787557e-01 -9.05979942e-03 2.38478158e+00] [ 5.15708172e-02 -1.02140635e-03 9.98668818e-01 2.16538905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.851858063999998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.31, Y:2.39, Z:0.22 [[ 9.79739467e-01 -1.93636952e-01 -5.11400860e-02 2.43148460e+01] [ 1.93423824e-01 9.81072799e-01 -9.13163176e-03 2.38988838e+00] [ 5.19403686e-02 -9.45090965e-04 9.98649741e-01 2.17802689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:24.34, Y:2.40, Z:0.22 [[ 9.80064434e-01 -1.91978577e-01 -5.11657228e-02 2.43420913e+01] [ 1.91762204e-01 9.81398754e-01 -9.15105328e-03 2.39503238e+00] [ 5.19707828e-02 -8.43029936e-04 9.98648250e-01 2.19008308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.911858064 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:24.38, Y:2.39, Z:0.23 [[ 9.81006466e-01 -1.85649620e-01 -5.62186173e-02 2.43750593e+01] [ 1.86021412e-01 9.82544682e-01 1.40809834e-03 2.39351686e+00] [ 5.49758906e-02 -1.18392201e-02 9.98417490e-01 2.28422638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941858063999998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:24.39, Y:2.42, Z:0.21 [[ 9.81131356e-01 -1.86855176e-01 -4.96629105e-02 2.43948272e+01] [ 1.85648472e-01 9.82219140e-01 -2.79321705e-02 2.41550504e+00] [ 5.39991319e-02 1.81852849e-02 9.98375375e-01 2.13527751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.971858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:24.42, Y:2.41, Z:0.22 [[ 9.81549233e-01 -1.83878562e-01 -5.24383235e-02 2.44242233e+01] [ 1.84097375e-01 9.82907783e-01 -6.68075554e-04 2.41056767e+00] [ 5.16648810e-02 -8.99800866e-03 9.98623941e-01 2.23838851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:24.45, Y:2.42, Z:0.22 [[ 9.82630003e-01 -1.77704941e-01 -5.34717778e-02 2.44526085e+01] [ 1.77424542e-01 9.84083761e-01 -9.98412540e-03 2.42056842e+00] [ 5.43949366e-02 3.23495522e-04 9.98519447e-01 2.21208381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.031858063999998 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:24.48, Y:2.43, Z:0.22 [[ 9.82928439e-01 -1.76160745e-01 -5.30949772e-02 2.44781839e+01] [ 1.75931872e-01 9.84361285e-01 -8.99100156e-03 2.42540256e+00] [ 5.38485015e-02 -5.03587589e-04 9.98548990e-01 2.22089253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061858064 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:24.50, Y:2.43, Z:0.22 [[ 9.83444824e-01 -1.73429293e-01 -5.25219827e-02 2.45045901e+01] [ 1.73170206e-01 9.84846297e-01 -9.47897677e-03 2.42962112e+00] [ 5.33700124e-02 2.26808086e-04 9.98574780e-01 2.23579189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.091858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:24.53, Y:2.43, Z:0.22 [[ 9.83528345e-01 -1.73051327e-01 -5.22037682e-02 2.45324054e+01] [ 1.72794422e-01 9.84912775e-01 -9.42942166e-03 2.43470539e+00] [ 5.30479321e-02 2.53583546e-04 9.98591935e-01 2.24839964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121858063999998 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:24.56, Y:2.44, Z:0.23 [[ 9.83631898e-01 -1.72398226e-01 -5.24131724e-02 2.45616408e+01] [ 1.72088020e-01 9.85026581e-01 -1.04090126e-02 2.43951252e+00] [ 5.34228634e-02 1.21895772e-03 9.98571235e-01 2.25482761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:24.59, Y:2.44, Z:0.23 [[ 9.83488215e-01 -1.73363180e-01 -5.19243623e-02 2.45873304e+01] [ 1.73170450e-01 9.84857547e-01 -8.22234744e-03 2.44409311e+00] [ 5.25635524e-02 -9.05183372e-04 9.98617171e-01 2.27291841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181858064 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:24.62, Y:2.45, Z:0.23 [[ 9.83362784e-01 -1.74000446e-01 -5.21678051e-02 2.46152284e+01] [ 1.73743248e-01 9.84745545e-01 -9.46024956e-03 2.44734083e+00] [ 5.30181013e-02 2.39053439e-04 9.98593523e-01 2.29383054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.211858063999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:24.64, Y:2.45, Z:0.23 [[ 9.83275025e-01 -1.74539590e-01 -5.20207286e-02 2.46433837e+01] [ 1.74283789e-01 9.84650131e-01 -9.44879658e-03 2.45125287e+00] [ 5.28714063e-02 2.24396004e-04 9.98601304e-01 2.30593261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241858064 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:24.67, Y:2.46, Z:0.23 [[ 9.83190777e-01 -1.75076189e-01 -5.18094975e-02 2.46711957e+01] [ 1.74822411e-01 9.84554866e-01 -9.42551826e-03 2.45541009e+00] [ 5.26594767e-02 2.09621349e-04 9.98612505e-01 2.31935741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.271858064 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:24.70, Y:2.46, Z:0.23 [[ 9.83021998e-01 -1.76094660e-01 -5.15598854e-02 2.46983138e+01] [ 1.75844007e-01 9.84373223e-01 -9.39376264e-03 2.45921656e+00] [ 5.24083620e-02 1.67778494e-04 9.98625723e-01 2.32666843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:24.73, Y:2.46, Z:0.23 [[ 9.82823300e-01 -1.77090539e-01 -5.19355638e-02 2.47262257e+01] [ 1.76837189e-01 9.84194557e-01 -9.47009827e-03 2.46389687e+00] [ 5.27917641e-02 1.23294102e-04 9.98605535e-01 2.33155138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.331858064 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:24.75, Y:2.47, Z:0.23 [[ 9.82653736e-01 -1.77740444e-01 -5.29147435e-02 2.47539401e+01] [ 1.77477549e-01 9.84077397e-01 -9.66417382e-03 2.46584686e+00] [ 5.37899175e-02 1.05357525e-04 9.98552269e-01 2.33878421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361858064 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:24.78, Y:2.47, Z:0.24 [[ 9.82606535e-01 -1.78054856e-01 -5.27339127e-02 2.47810118e+01] [ 1.77793435e-01 9.84020558e-01 -9.64554255e-03 2.46825511e+00] [ 5.36086899e-02 1.02029655e-04 9.98562015e-01 2.35476203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.391858064 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:24.81, Y:2.47, Z:0.24 [[ 9.82600473e-01 -1.78637761e-01 -5.08415184e-02 2.48102160e+01] [ 1.78286018e-01 9.83912571e-01 -1.14082570e-02 2.47170869e+00] [ 5.20615546e-02 2.14542692e-03 9.98641573e-01 2.35247291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:24.84, Y:2.47, Z:0.24 [[ 9.82655830e-01 -1.78221902e-01 -5.12296156e-02 2.48374655e+01] [ 1.78086710e-01 9.83988248e-01 -7.22851501e-03 2.47156746e+00] [ 5.16976194e-02 -2.02017127e-03 9.98660741e-01 2.39532389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.451858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:24.87, Y:2.48, Z:0.24 [[ 9.82611575e-01 -1.78575982e-01 -5.08439860e-02 2.48654087e+01] [ 1.78332071e-01 9.83926119e-01 -9.33081771e-03 2.47772383e+00] [ 5.16929857e-02 1.01456185e-04 9.98663019e-01 2.39980806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:24.89, Y:2.48, Z:0.24 [[ 9.82564329e-01 -1.78836464e-01 -5.08415124e-02 2.48934835e+01] [ 1.78592204e-01 9.83878808e-01 -9.34427771e-03 2.48295942e+00] [ 5.16929842e-02 1.01456182e-04 9.98663019e-01 2.41251439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.511858064 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:24.92, Y:2.49, Z:0.24 [[ 9.82379576e-01 -1.79268252e-01 -5.28513325e-02 2.49222180e+01] [ 1.78132026e-01 9.83675713e-01 -2.55161454e-02 2.49235426e+00] [ 5.65628070e-02 1.56520251e-02 9.98276346e-01 2.35019409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:24.95, Y:2.49, Z:0.24 [[ 9.82528501e-01 -1.77166683e-01 -5.70062314e-02 2.49518640e+01] [ 1.77262628e-01 9.84157678e-01 -3.40958257e-03 2.48537532e+00] [ 5.67071847e-02 -6.75506233e-03 9.98368000e-01 2.44717910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.571858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:24.98, Y:2.50, Z:0.23 [[ 9.82660781e-01 -1.79250834e-01 -4.74017666e-02 2.49785221e+01] [ 1.78410637e-01 9.83722656e-01 -2.14331807e-02 2.49602765e+00] [ 5.04721073e-02 1.26045667e-02 9.98645929e-01 2.30606731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601858063999998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:25.01, Y:2.48, Z:0.25 [[ 9.82761832e-01 -1.75338693e-01 -5.86133491e-02 2.50098741e+01] [ 1.76223322e-01 9.84296946e-01 1.02402405e-02 2.48145233e+00] [ 5.58974301e-02 -2.03927566e-02 9.98228237e-01 2.53691396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.631858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:25.04, Y:2.49, Z:0.25 [[ 9.82830489e-01 -1.76328470e-01 -5.43369262e-02 2.50355445e+01] [ 1.76042671e-01 9.84331336e-01 -1.00398441e-02 2.49281015e+00] [ 5.52558496e-02 3.01847246e-04 9.98472183e-01 2.46861201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:25.06, Y:2.49, Z:0.25 [[ 9.82666292e-01 -1.77363960e-01 -5.39350056e-02 2.50644656e+01] [ 1.77083305e-01 9.84145295e-01 -9.97703057e-03 2.49291560e+00] [ 5.48494477e-02 2.53102552e-04 9.98494604e-01 2.48280590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.691858063999998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:25.09, Y:2.49, Z:0.25 [[ 9.82462751e-01 -1.78543076e-01 -5.37523373e-02 2.50914397e+01] [ 1.78265322e-01 9.83932076e-01 -9.95714797e-03 2.49499141e+00] [ 5.46664286e-02 2.00349247e-04 9.98504653e-01 2.49668711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.12, Y:2.51, Z:0.24 [[ 9.82043566e-01 -1.83170971e-01 -4.51533962e-02 2.51166647e+01] [ 1.82114974e-01 9.82919531e-01 -2.65203957e-02 2.50695491e+00] [ 4.92399216e-02 1.78210744e-02 9.98627978e-01 2.36748002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.751858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:25.15, Y:2.49, Z:0.26 [[ 9.81942851e-01 -1.81038284e-01 -5.48942271e-02 2.51493096e+01] [ 1.81715695e-01 9.83321979e-01 7.56918296e-03 2.48811433e+00] [ 5.26083881e-02 -1.74076477e-02 9.98463485e-01 2.61294723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:2.50, Z:0.26 [[ 9.81763325e-01 -1.83068849e-01 -5.12500693e-02 2.51764597e+01] [ 1.82821305e-01 9.83100094e-01 -9.51706780e-03 2.49807743e+00] [ 5.21262266e-02 -2.60964448e-05 9.98640504e-01 2.55302175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.811858064 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:25.20, Y:2.50, Z:0.26 [[ 9.81592581e-01 -1.83902141e-01 -5.15364670e-02 2.52030787e+01] [ 1.83652245e-01 9.82944555e-01 -9.58404132e-03 2.50076167e+00] [ 5.24200153e-02 -5.71639861e-05 9.98625124e-01 2.56632899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.23, Y:2.50, Z:0.26 [[ 9.81398095e-01 -1.84824866e-01 -5.19379337e-02 2.52311185e+01] [ 1.84571946e-01 9.82771468e-01 -9.66632093e-03 2.50284287e+00] [ 5.28296959e-02 -9.97765416e-05 9.98603532e-01 2.57525561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.871858063999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:25.26, Y:2.51, Z:0.26 [[ 9.81462992e-01 -1.84509480e-01 -5.18328800e-02 2.52579345e+01] [ 1.84256412e-01 9.82830732e-01 -9.66062248e-03 2.50612843e+00] [ 5.27254238e-02 -6.89970748e-05 9.98609045e-01 2.58778484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:25.29, Y:2.51, Z:0.26 [[ 9.81488172e-01 -1.84280969e-01 -5.21679277e-02 2.52860451e+01] [ 1.84023885e-01 9.82873604e-01 -9.73076357e-03 2.50983697e+00] [ 5.30676737e-02 -4.95153631e-05 9.98590917e-01 2.60100224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.931858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.31, Y:2.51, Z:0.26 [[ 9.81544394e-01 -1.83943380e-01 -5.23013868e-02 2.53136242e+01] [ 1.83683720e-01 9.82936841e-01 -9.77027741e-03 2.51346175e+00] [ 5.32061377e-02 -1.69522558e-05 9.98583550e-01 2.61270415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961858063999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:25.34, Y:2.52, Z:0.26 [[ 9.81672368e-01 -1.83170436e-01 -5.26113467e-02 2.53402350e+01] [ 1.82905810e-01 9.83081171e-01 -9.84249913e-03 2.51579268e+00] [ 5.35240792e-02 3.91884304e-05 9.98566558e-01 2.63024387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.991858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:25.37, Y:2.52, Z:0.26 [[ 9.81702026e-01 -1.82875240e-01 -5.30827535e-02 2.53680780e+01] [ 1.82604821e-01 9.83136126e-01 -9.94169851e-03 2.52021657e+00] [ 5.40056632e-02 6.66188692e-05 9.98540627e-01 2.64362441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021858064 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:25.40, Y:2.52, Z:0.27 [[ 9.81758114e-01 -1.82501017e-01 -5.33327759e-02 2.53958380e+01] [ 1.82226670e-01 9.83205659e-01 -1.00036247e-02 2.52493883e+00] [ 5.42627588e-02 1.02485574e-04 9.98526686e-01 2.65376755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:2.53, Z:0.27 [[ 9.82065382e-01 -1.80515693e-01 -5.44212247e-02 2.54228215e+01] [ 1.80226168e-01 9.83572077e-01 -1.02223801e-02 2.52823415e+00] [ 5.53724970e-02 2.30916827e-04 9.98465740e-01 2.66806838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.45, Y:2.53, Z:0.27 [[ 9.81816493e-01 -1.81695355e-01 -5.49833697e-02 2.54529365e+01] [ 1.81259255e-01 9.83351274e-01 -1.28590270e-02 2.53417553e+00] [ 5.64043921e-02 2.65896011e-03 9.98404464e-01 2.67711725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.111858064 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:25.48, Y:2.53, Z:0.28 [[ 9.82252249e-01 -1.79822791e-01 -5.33318269e-02 2.54808114e+01] [ 1.80326066e-01 9.83595466e-01 4.74017003e-03 2.53105375e+00] [ 5.16045525e-02 -1.42731612e-02 9.98565595e-01 2.75792488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.51, Y:2.55, Z:0.27 [[ 9.82476991e-01 -1.79285942e-01 -5.09461709e-02 2.55061486e+01] [ 1.78384062e-01 9.83720141e-01 -2.17672091e-02 2.54649075e+00] [ 5.40193290e-02 1.22977973e-02 9.98464159e-01 2.67579386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.171858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:25.53, Y:2.55, Z:0.27 [[ 9.82539962e-01 -1.78389996e-01 -5.28415813e-02 2.55344606e+01] [ 1.78111869e-01 9.83959789e-01 -9.96476076e-03 2.54634816e+00] [ 5.37716048e-02 3.79062854e-04 9.98553189e-01 2.74399326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201858064 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:25.56, Y:2.55, Z:0.28 [[ 9.82586062e-01 -1.78155075e-01 -5.27768933e-02 2.55608112e+01] [ 1.77876541e-01 9.84002340e-01 -9.96650060e-03 2.55179904e+00] [ 5.37081692e-02 4.05173369e-04 9.98556592e-01 2.75619730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.59, Y:2.56, Z:0.28 [[ 9.82863214e-01 -1.76677011e-01 -5.25845573e-02 2.55877213e+01] [ 1.76397969e-01 9.84268760e-01 -9.93804524e-03 2.55804422e+00] [ 5.35131611e-02 4.91929957e-04 9.98567023e-01 2.76688232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:25.61, Y:2.56, Z:0.28 [[ 9.82986376e-01 -1.76016192e-01 -5.24984232e-02 2.56138546e+01] [ 1.75736334e-01 9.84387122e-01 -9.93650144e-03 2.56355330e+00] [ 5.34277569e-02 5.41565101e-04 9.98571571e-01 2.77850350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:2.57, Z:0.28 [[ 9.83045237e-01 -1.75667970e-01 -5.25625915e-02 2.56414853e+01] [ 1.75386327e-01 9.84449306e-01 -9.95989200e-03 2.56927845e+00] [ 5.34948408e-02 5.72264534e-04 9.98567962e-01 2.79844835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.67, Y:2.57, Z:0.28 [[ 9.83102006e-01 -1.75318624e-01 -5.26671202e-02 2.56679031e+01] [ 1.75034598e-01 9.84511560e-01 -9.99385427e-03 2.57450466e+00] [ 5.36034974e-02 6.06409947e-04 9.98562115e-01 2.81891811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.351858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.69, Y:2.58, Z:0.28 [[ 9.83013710e-01 -1.75638870e-01 -5.32450331e-02 2.56947413e+01] [ 1.75348596e-01 9.84454480e-01 -1.01117157e-02 2.58128118e+00] [ 5.41933217e-02 6.03513321e-04 9.98530280e-01 2.84125329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:2.59, Z:0.29 [[ 9.82886973e-01 -1.76127549e-01 -5.39655915e-02 2.57219551e+01] [ 1.75829218e-01 9.84367170e-01 -1.02644925e-02 2.58744827e+00] [ 5.49298165e-02 6.00108173e-04 9.98490038e-01 2.85534000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:2.59, Z:0.29 [[ 9.82687981e-01 -1.76356973e-01 -5.67675080e-02 2.57487412e+01] [ 1.76026212e-01 9.84326071e-01 -1.08147006e-02 2.59450104e+00] [ 5.77849860e-02 6.34906884e-04 9.98328850e-01 2.86768091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:2.60, Z:0.29 [[ 9.82532391e-01 -1.76866166e-01 -5.78658747e-02 2.57751240e+01] [ 1.76522455e-01 9.84234708e-01 -1.10391391e-02 2.60090845e+00] [ 5.89060525e-02 6.31685495e-04 9.98263331e-01 2.86944436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:2.61, Z:0.29 [[ 9.82279069e-01 -1.77818950e-01 -5.92304909e-02 2.58011843e+01] [ 1.77460085e-01 9.84063040e-01 -1.13071675e-02 2.60715096e+00] [ 6.02971656e-02 5.95746010e-04 9.98180293e-01 2.87523839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:2.61, Z:0.29 [[ 9.82028217e-01 -1.79045020e-01 -5.96947400e-02 2.58276895e+01] [ 1.78682238e-01 9.83840738e-01 -1.14044368e-02 2.61211808e+00] [ 6.07720246e-02 5.33088991e-04 9.98151530e-01 2.89007702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.531858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:2.62, Z:0.29 [[ 9.81700455e-01 -1.80698244e-01 -6.01029151e-02 2.58550788e+01] [ 1.80332761e-01 9.83538482e-01 -1.14956684e-02 2.61720034e+00] [ 6.11907769e-02 4.46778260e-04 9.98125989e-01 2.91277995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:2.62, Z:0.29 [[ 9.81103231e-01 -1.84147931e-01 -5.93800414e-02 2.58822402e+01] [ 1.83796472e-01 9.82898509e-01 -1.13744353e-02 2.62321652e+00] [ 6.04591328e-02 2.45653059e-04 9.98170643e-01 2.93624485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.591858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:25.91, Y:2.63, Z:0.30 [[ 9.80821449e-01 -1.85745294e-01 -5.90590441e-02 2.59090547e+01] [ 1.85399642e-01 9.82597914e-01 -1.13275300e-02 2.62863627e+00] [ 6.01353289e-02 1.60758782e-04 9.98190221e-01 2.95628275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621858063999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.93, Y:2.65, Z:0.27 [[ 0.98016228 -0.19325457 -0.04398373 25.9314013 ] [ 0.19153295 0.98064989 -0.04050828 2.65150939] [ 0.05096105 0.03128035 0.99821065 0.27128412] [ 0. 0. 0. 1. ]] SLAMing on 28.651858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.96, Y:2.64, Z:0.29 [[ 9.80097834e-01 -1.91670150e-01 -5.16796726e-02 2.59614164e+01] [ 1.91481076e-01 9.81458350e-01 -8.63165071e-03 2.64117877e+00] [ 5.23758759e-02 -1.43581717e-03 9.98626410e-01 2.87443632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:26.00, Y:2.63, Z:0.31 [[ 9.80265467e-01 -1.86327520e-01 -6.60429308e-02 2.59963803e+01] [ 1.87846197e-01 9.82042020e-01 1.75292994e-02 2.63014325e+00] [ 6.15907423e-02 -2.95892803e-02 9.97662796e-01 3.14941291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.711858063999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:26.02, Y:2.65, Z:0.30 [[ 9.80230805e-01 -1.88433786e-01 -6.03347138e-02 2.60218564e+01] [ 1.88077626e-01 9.82085897e-01 -1.15800767e-02 2.64844252e+00] [ 6.14359492e-02 3.53815632e-06 9.98111028e-01 3.02570092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741858064 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:26.05, Y:2.65, Z:0.30 [[ 9.80126737e-01 -1.89187461e-01 -5.96630814e-02 2.60493386e+01] [ 1.88839582e-01 9.81940988e-01 -1.14677150e-02 2.65473685e+00] [ 6.07551729e-02 -2.69372258e-05 9.98152698e-01 3.03229065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.771858064 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:26.07, Y:2.70, Z:0.26 [[ 0.9794278 -0.19906326 -0.03309081 26.06605775] [ 0.19668341 0.97837076 -0.0640804 2.69676379] [ 0.04513113 0.05625372 0.99739596 0.25791944] [ 0. 0. 0. 1. ]] SLAMing on 28.801858063999997 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:26.11, Y:2.65, Z:0.33 [[ 0.98009457 -0.18635321 -0.06846248 26.1085597 ] [ 0.18967478 0.98078404 0.04567424 2.64665516] [ 0.05863537 -0.05775068 0.99660762 0.32780645] [ 0. 0. 0. 1. ]] SLAMing on 28.831858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:26.13, Y:2.68, Z:0.30 [[ 9.80069926e-01 -1.90104002e-01 -5.76490095e-02 2.61319800e+01] [ 1.89582489e-01 9.81758684e-01 -1.44349230e-02 2.67907970e+00] [ 5.93415523e-02 3.21799122e-03 9.98232550e-01 3.01358326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.16, Y:2.68, Z:0.30 [[ 9.80086053e-01 -1.89851051e-01 -5.82057374e-02 2.61600600e+01] [ 1.89516853e-01 9.81812904e-01 -1.12598547e-02 2.68320317e+00] [ 5.92848393e-02 4.65836198e-06 9.98241107e-01 3.04808351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.891858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:26.19, Y:2.69, Z:0.31 [[ 9.80085106e-01 -1.89943390e-01 -5.79197196e-02 2.61871897e+01] [ 1.89611701e-01 9.81795044e-01 -1.12202615e-02 2.68854360e+00] [ 5.89965082e-02 1.45546287e-05 9.98258189e-01 3.06762353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.21, Y:2.70, Z:0.31 [[ 9.80150900e-01 -1.89951746e-01 -5.67674785e-02 2.62129243e+01] [ 1.89632324e-01 9.81793427e-01 -1.10112931e-02 2.69543053e+00] [ 5.78255516e-02 2.77800210e-05 9.98326702e-01 3.08598556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.951858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:26.24, Y:2.70, Z:0.31 [[ 9.80145424e-01 -1.90173087e-01 -5.61172476e-02 2.62400528e+01] [ 1.89860814e-01 9.81750577e-01 -1.08938140e-02 2.70259157e+00] [ 5.71648505e-02 2.30556387e-05 9.98364753e-01 3.09190334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.27, Y:2.71, Z:0.31 [[ 9.80148878e-01 -1.90205133e-01 -5.59480541e-02 2.62664296e+01] [ 1.89893960e-01 9.81744369e-01 -1.08755717e-02 2.70989125e+00] [ 5.69952766e-02 3.54818473e-05 9.98374447e-01 3.09997725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.011858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:26.29, Y:2.72, Z:0.31 [[ 9.80084577e-01 -1.90496724e-01 -5.60822670e-02 2.62934277e+01] [ 1.90184029e-01 9.81687831e-01 -1.09104382e-02 2.71699138e+00] [ 5.71336817e-02 2.72006931e-05 9.98366537e-01 3.10484498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:26.32, Y:2.72, Z:0.31 [[ 9.79990221e-01 -1.90841811e-01 -5.65559011e-02 2.63204831e+01] [ 1.90523430e-01 9.81620804e-01 -1.10190816e-02 2.72335189e+00] [ 5.76193506e-02 2.33679180e-05 9.98338625e-01 3.11331557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.071858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:26.35, Y:2.73, Z:0.31 [[ 9.79638581e-01 -1.92642346e-01 -5.65435881e-02 2.63481455e+01] [ 1.92326143e-01 9.81269037e-01 -1.10332575e-02 2.72918050e+00] [ 5.76099448e-02 -6.62054241e-05 9.98339166e-01 3.12915085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101858063999998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:26.38, Y:2.73, Z:0.31 [[ 9.79333310e-01 -1.94384595e-01 -5.58649853e-02 2.63757147e+01] [ 1.94077847e-01 9.80925383e-01 -1.09170895e-02 2.73484522e+00] [ 5.69214961e-02 -1.50686641e-04 9.98378646e-01 3.14126107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.131858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:26.40, Y:2.74, Z:0.32 [[ 9.78633234e-01 -1.98214273e-01 -5.46634760e-02 2.64017265e+01] [ 1.97925753e-01 9.80158650e-01 -1.06966230e-02 2.74109558e+00] [ 5.56991022e-02 -3.51238871e-04 9.98447538e-01 3.15017371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:26.43, Y:2.75, Z:0.32 [[ 9.78236871e-01 -2.00440577e-01 -5.36302154e-02 2.64278117e+01] [ 2.00165842e-01 9.79705753e-01 -1.05011569e-02 2.74681065e+00] [ 5.46466885e-02 -4.62318365e-04 9.98505646e-01 3.15987071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.191858063999998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:26.46, Y:2.76, Z:0.32 [[ 9.77636816e-01 -2.03508688e-01 -5.30138680e-02 2.64555799e+01] [ 2.02976923e-01 9.79064203e-01 -1.52857887e-02 2.75542973e+00] [ 5.50147712e-02 4.18335800e-03 9.98476777e-01 3.15663597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221858064 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:26.48, Y:2.76, Z:0.32 [[ 9.77199949e-01 -2.05957689e-01 -5.15915718e-02 2.64825097e+01] [ 2.05966692e-01 9.78545188e-01 -5.19978415e-03 2.75750863e+00] [ 5.15556199e-02 -5.54491655e-03 9.98654731e-01 3.20401791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.251858064 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:26.51, Y:2.77, Z:0.32 [[ 9.76968189e-01 -2.07368411e-01 -5.03140070e-02 2.65093482e+01] [ 2.07134600e-01 9.78262614e-01 -9.87495331e-03 2.76509654e+00] [ 5.12680654e-02 -7.74256472e-04 9.98684628e-01 3.19954831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281858063999998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:26.54, Y:2.77, Z:0.32 [[ 9.76737700e-01 -2.08478490e-01 -5.02014395e-02 2.65369803e+01] [ 2.08246456e-01 9.78026611e-01 -9.86718268e-03 2.77112748e+00] [ 5.11554391e-02 -8.16622544e-04 9.98690370e-01 3.20937750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.311858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:26.56, Y:2.78, Z:0.32 [[ 9.76540977e-01 -2.09355967e-01 -5.03765673e-02 2.65639223e+01] [ 2.09122737e-01 9.77839125e-01 -9.91598963e-03 2.77970914e+00] [ 5.13361501e-02 -8.51515455e-04 9.98681068e-01 3.20102451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:26.59, Y:2.79, Z:0.32 [[ 9.76486899e-01 -2.09608711e-01 -5.03738465e-02 2.65919274e+01] [ 2.09375105e-01 9.77784979e-01 -9.92979335e-03 2.78531237e+00] [ 5.13361616e-02 -8.50716273e-04 9.98681068e-01 3.21431513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.371858063999998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:26.62, Y:2.79, Z:0.32 [[ 9.76435805e-01 -2.09846746e-01 -5.03732332e-02 2.66180912e+01] [ 2.09612801e-01 9.77733921e-01 -9.94253561e-03 2.79225679e+00] [ 5.13380276e-02 -8.50626750e-04 9.98680972e-01 3.21460526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401858064 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:26.65, Y:2.80, Z:0.32 [[ 9.76168251e-01 -2.10936260e-01 -5.10043096e-02 2.66471820e+01] [ 2.10373242e-01 9.77486458e-01 -1.62272172e-02 2.80200041e+00] [ 5.32789305e-02 5.11055229e-03 9.98566592e-01 3.20659815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.431858064 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:26.67, Y:2.81, Z:0.32 [[ 9.77017575e-01 -2.07488021e-01 -4.88403429e-02 2.66742584e+01] [ 2.06434595e-01 9.78121208e-01 -2.57616005e-02 2.80893167e+00] [ 5.31169987e-02 1.50872000e-02 9.98474317e-01 3.15866924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461858063999998 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:26.70, Y:2.81, Z:0.33 [[ 9.76334414e-01 -2.09510937e-01 -5.36309624e-02 2.67037784e+01] [ 2.09814690e-01 9.77741170e-01 3.41922360e-05 2.80779824e+00] [ 5.24300362e-02 -1.12859468e-02 9.98560824e-01 3.30151714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.491858064 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:26.73, Y:2.82, Z:0.33 [[ 9.76337065e-01 -2.10027479e-01 -5.15207991e-02 2.67298042e+01] [ 2.09449974e-01 9.77681417e-01 -1.64242462e-02 2.82187833e+00] [ 5.38204709e-02 5.24457028e-03 9.98536855e-01 3.25608450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:26.76, Y:2.83, Z:0.32 [[ 9.76317538e-01 -2.11059942e-01 -4.75159558e-02 2.67552749e+01] [ 2.10539802e-01 9.77458328e-01 -1.57546450e-02 2.83025917e+00] [ 4.97700412e-02 5.37753632e-03 9.98746227e-01 3.22976469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.551858063999997 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:26.79, Y:2.82, Z:0.35 [[ 9.77367180e-01 -2.02625837e-01 -6.07961007e-02 2.67902484e+01] [ 2.04125963e-01 9.78750266e-01 1.95066057e-02 2.81837441e+00] [ 5.55516575e-02 -3.14751788e-02 9.97959582e-01 3.50136804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:2.84, Z:0.34 [[ 9.77491490e-01 -2.03777710e-01 -5.46354526e-02 2.68159525e+01] [ 2.03498060e-01 9.79016957e-01 -1.06929013e-02 2.83920114e+00] [ 5.56680095e-02 -6.65988656e-04 9.98449112e-01 3.38381228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.611858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:26.84, Y:2.85, Z:0.33 [[ 9.77312051e-01 -2.04248528e-01 -5.60686468e-02 2.68436580e+01] [ 2.03210742e-01 9.78848485e-01 -2.36862462e-02 2.85157682e+00] [ 5.97205909e-02 1.17551026e-02 9.98145915e-01 3.34754022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641858064 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:26.87, Y:2.85, Z:0.34 [[ 9.77826298e-01 -2.01933941e-01 -5.54834670e-02 2.68699447e+01] [ 2.01538750e-01 9.79398381e-01 -1.26863902e-02 2.85325019e+00] [ 5.69022305e-02 1.22301740e-03 9.98379006e-01 3.37105244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.671858064 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:26.90, Y:2.86, Z:0.34 [[ 9.77652364e-01 -2.02229773e-01 -5.74366938e-02 2.68995498e+01] [ 2.02552478e-01 9.79271388e-01 -2.07553596e-04 2.85609581e+00] [ 5.62880844e-02 -1.14310294e-02 9.98349129e-01 3.43775612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701858064 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:26.93, Y:2.87, Z:0.34 [[ 9.77439102e-01 -2.03703951e-01 -5.58345893e-02 2.69264142e+01] [ 2.03008234e-01 9.79013014e-01 -1.79213882e-02 2.87139810e+00] [ 5.83134471e-02 6.18218426e-03 9.98279181e-01 3.37979972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.731858064 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:26.95, Y:2.88, Z:0.34 [[ 9.77244859e-01 -2.04531538e-01 -5.62079686e-02 2.69543651e+01] [ 2.03853060e-01 9.78843069e-01 -1.76117937e-02 2.88051860e+00] [ 5.86209477e-02 5.75286848e-03 9.98263737e-01 3.37652711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761858064 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:26.99, Y:2.88, Z:0.35 [[ 9.77096035e-01 -2.03058126e-01 -6.36453845e-02 2.69866788e+01] [ 2.03406293e-01 9.79093878e-01 -1.02890433e-03 2.87807897e+00] [ 6.25237336e-02 -1.19405334e-02 9.97972047e-01 3.50849597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.791858064 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:27.01, Y:2.89, Z:0.35 [[ 9.77132567e-01 -2.05288857e-01 -5.53934209e-02 2.70083488e+01] [ 2.05496802e-01 9.78655790e-01 -1.97696522e-03 2.88881470e+00] [ 5.46169410e-02 -9.45141376e-03 9.98462649e-01 3.45013447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:27.03, Y:2.90, Z:0.34 [[ 9.77391835e-01 -2.04648497e-01 -5.31431461e-02 2.70346570e+01] [ 2.04146971e-01 9.78828998e-01 -1.47582742e-02 2.90077472e+00] [ 5.50383111e-02 3.57560441e-03 9.98477841e-01 3.43936159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.851858063999998 meters Centerline goodness : 0.995944 Centerline is valid? [True, True] Translation: X:27.06, Y:2.90, Z:0.35 [[ 9.77411643e-01 -2.02554287e-01 -6.03178374e-02 2.70632272e+01] [ 2.01908294e-01 9.79262338e-01 -1.66827473e-02 2.90376363e+00] [ 6.24461485e-02 4.12723979e-03 9.98039801e-01 3.51610433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881858064 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:27.09, Y:2.92, Z:0.34 [[ 9.76750666e-01 -2.06673419e-01 -5.69581840e-02 2.70886877e+01] [ 2.05307179e-01 9.78269600e-01 -2.89405040e-02 2.92087834e+00] [ 6.17016928e-02 1.65737324e-02 9.97957019e-01 3.43420651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.911858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:27.12, Y:2.91, Z:0.37 [[ 9.76370367e-01 -2.05079190e-01 -6.81427430e-02 2.71189663e+01] [ 2.06679518e-01 9.78256560e-01 1.72534082e-02 2.90905261e+00] [ 6.31227703e-02 -3.09294258e-02 9.97526384e-01 3.68989262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941858063999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:27.14, Y:2.93, Z:0.36 [[ 9.76369478e-01 -2.06782252e-01 -6.27992170e-02 2.71443011e+01] [ 2.06545260e-01 9.78382688e-01 -1.03136297e-02 2.92808389e+00] [ 6.35743423e-02 -2.90096742e-03 9.97972889e-01 3.59737492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.971858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:27.17, Y:2.93, Z:0.36 [[ 9.76296673e-01 -2.07262338e-01 -6.23468429e-02 2.71725553e+01] [ 2.07281993e-01 9.78261438e-01 -6.22377371e-03 2.93294463e+00] [ 6.22814660e-02 -6.84712825e-03 9.98035138e-01 3.63038091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.19, Y:2.96, Z:0.34 [[ 0.97598616 -0.21241292 -0.04828841 27.19261904] [ 0.21009372 0.97645559 -0.04893975 2.96430192] [ 0.05754692 0.03761942 0.99763377 0.33724211] [ 0. 0. 0. 1. ]] SLAMing on 30.031858063999998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:27.23, Y:2.94, Z:0.37 [[ 9.75541493e-01 -2.09154582e-01 -6.76251107e-02 2.72303756e+01] [ 2.10382371e-01 9.77551599e-01 1.14947788e-02 2.94117237e+00] [ 6.37028495e-02 -2.54407648e-02 9.97644583e-01 3.74229657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:27.26, Y:2.96, Z:0.37 [[ 9.75511434e-01 -2.11834136e-01 -5.91924059e-02 2.72557319e+01] [ 2.11815448e-01 9.77286975e-01 -6.66219162e-03 2.95838360e+00] [ 5.92592469e-02 -6.03882186e-03 9.98224361e-01 3.65916853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.091858064 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:27.28, Y:2.97, Z:0.36 [[ 9.75516984e-01 -2.12852880e-01 -5.53196599e-02 2.72801773e+01] [ 2.12200489e-01 9.77069818e-01 -1.74792170e-02 2.97170109e+00] [ 5.77716717e-02 5.31241415e-03 9.98315688e-01 3.59242857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121858063999998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:27.31, Y:2.98, Z:0.36 [[ 9.75209476e-01 -2.13465894e-01 -5.82991385e-02 2.73075144e+01] [ 2.13127716e-01 9.76950271e-01 -1.20309626e-02 2.97678768e+00] [ 5.95235594e-02 -6.92453456e-04 9.98226661e-01 3.62439336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.151858064 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:27.34, Y:2.99, Z:0.36 [[ 9.75196121e-01 -2.14253376e-01 -5.55699313e-02 2.73354525e+01] [ 2.13620272e-01 9.76765995e-01 -1.71630768e-02 2.98509046e+00] [ 5.79560664e-02 4.86650204e-03 9.98307273e-01 3.56410943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181858064 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:27.36, Y:2.99, Z:0.37 [[ 9.74488252e-01 -2.16602981e-01 -5.87860088e-02 2.73616513e+01] [ 2.16585767e-01 9.76240321e-01 -6.74102856e-03 2.98794139e+00] [ 5.88493990e-02 -6.16315969e-03 9.98247847e-01 3.68556585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.211858063999998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:27.39, Y:2.99, Z:0.38 [[ 9.74473967e-01 -2.15507404e-01 -6.29050624e-02 2.73907640e+01] [ 2.15891025e-01 9.76417203e-01 -7.14607335e-04 2.99058171e+00] [ 6.15755883e-02 -1.28842722e-02 9.98019260e-01 3.76400726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:27.42, Y:3.01, Z:0.37 [[ 9.74345870e-01 -2.17945264e-01 -5.61247519e-02 2.74163701e+01] [ 2.17077008e-01 9.75924197e-01 -2.12022349e-02 3.00821650e+00] [ 5.93944301e-02 8.47491676e-03 9.98198616e-01 3.66004336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.271858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:27.45, Y:3.01, Z:0.38 [[ 9.74562247e-01 -2.15479341e-01 -6.16204589e-02 2.74459087e+01] [ 2.16023347e-01 9.76385657e-01 2.22750152e-03 3.00542693e+00] [ 5.96853517e-02 -1.54822966e-02 9.98097168e-01 3.79909259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301858063999997 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:27.47, Y:3.03, Z:0.36 [[ 9.74339587e-01 -2.20478159e-01 -4.52962590e-02 2.74673518e+01] [ 2.19043641e-01 9.75102448e-01 -3.45702134e-02 3.03269315e+00] [ 5.17904701e-02 2.37612700e-02 9.98375255e-01 3.56212583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.331858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.50, Y:3.01, Z:0.39 [[ 9.74626370e-01 -2.14491486e-01 -6.40065715e-02 2.75030130e+01] [ 2.15543116e-01 9.76443911e-01 9.92239786e-03 3.01442611e+00] [ 6.03705572e-02 -2.34668064e-02 9.97900148e-01 3.86533247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361858064 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:27.52, Y:3.05, Z:0.35 [[ 0.97457556 -0.21934479 -0.04572029 27.52191654] [ 0.21702149 0.97484361 -0.05080956 3.05211909] [ 0.05571495 0.03959547 0.99766129 0.35348201] [ 0. 0. 0. 1. ]] SLAMing on 30.391858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:27.55, Y:3.04, Z:0.38 [[ 9.75307430e-01 -2.13950912e-01 -5.47761356e-02 2.75527503e+01] [ 2.14332069e-01 9.76760220e-01 1.11214661e-03 3.03867103e+00] [ 5.32652055e-02 -1.28249673e-02 9.98498041e-01 3.75111656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421858064 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:27.58, Y:3.05, Z:0.37 [[ 9.75898461e-01 -2.11191467e-01 -5.49577910e-02 2.75781384e+01] [ 2.11084800e-01 9.77436592e-01 -7.80484598e-03 3.04926567e+00] [ 5.53660728e-02 -3.98401713e-03 9.98458174e-01 3.74606878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.451858064 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:27.61, Y:3.05, Z:0.39 [[ 9.76852746e-01 -2.04783860e-01 -6.18246122e-02 2.76069093e+01] [ 2.05353855e-01 9.78683369e-01 2.94250336e-03 3.05239854e+00] [ 5.99041425e-02 -1.55703149e-02 9.98082691e-01 3.86259884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481858064 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:27.63, Y:3.07, Z:0.38 [[ 9.77547337e-01 -2.02634906e-01 -5.77953231e-02 2.76341297e+01] [ 2.01964926e-01 9.79240507e-01 -1.72683912e-02 3.06744222e+00] [ 6.00947003e-02 5.20804166e-03 9.98179094e-01 3.78463249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.511858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:27.65, Y:3.09, Z:0.36 [[ 0.97715147 -0.20787217 -0.04431889 27.65371813] [ 0.20614909 0.97768281 -0.04048302 3.0910098 ] [ 0.05174511 0.03042175 0.99819685 0.36049006] [ 0. 0. 0. 1. ]] SLAMing on 30.541858064 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:27.69, Y:3.08, Z:0.38 [[ 9.77154645e-01 -2.06516192e-01 -5.01982277e-02 2.76869008e+01] [ 2.06974351e-01 9.78337986e-01 4.05020629e-03 3.07808663e+00] [ 4.82743998e-02 -1.43474235e-02 9.98731062e-01 3.77008405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.571858064 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:27.71, Y:3.09, Z:0.38 [[ 9.77374772e-01 -2.05512022e-01 -5.00336271e-02 2.77132066e+01] [ 2.05221487e-01 9.78654503e-01 -1.09318645e-02 3.09096579e+00] [ 5.12122640e-02 4.16553195e-04 9.98687704e-01 3.75979701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601858063999998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:27.74, Y:3.09, Z:0.38 [[ 9.77456174e-01 -2.05097039e-01 -5.01461033e-02 2.77415525e+01] [ 2.05191325e-01 9.78716264e-01 -3.31590722e-03 3.09427711e+00] [ 4.97588896e-02 -7.04839142e-03 9.98736388e-01 3.81688418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.631858064 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:27.77, Y:3.09, Z:0.39 [[ 9.77986663e-01 -1.99449108e-01 -6.13362827e-02 2.77748064e+01] [ 1.99605290e-01 9.79869650e-01 -3.63268273e-03 3.09452143e+00] [ 6.08260972e-02 -8.69033126e-03 9.98110547e-01 3.91765887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661858064 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:27.79, Y:3.12, Z:0.37 [[ 0.97733392 -0.20669778 -0.04576497 27.79298766] [ 0.20499259 0.97797397 -0.03930591 3.12131832] [ 0.0528814 0.02903352 0.99817865 0.37029476] [ 0. 0. 0. 1. ]] SLAMing on 30.691858063999998 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:27.82, Y:3.12, Z:0.38 [[ 9.77458579e-01 -2.04851594e-01 -5.10935515e-02 2.78226716e+01] [ 2.04289049e-01 9.78778933e-01 -1.60556827e-02 3.11515848e+00] [ 5.32983241e-02 5.25591174e-03 9.98564802e-01 3.79222267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:27.86, Y:3.10, Z:0.41 [[ 9.78149858e-01 -1.96406733e-01 -6.81707443e-02 2.78597320e+01] [ 1.98126873e-01 9.79984462e-01 1.93957940e-02 3.09911054e+00] [ 6.29968056e-02 -3.24784495e-02 9.97485114e-01 4.06176349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.751858064 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:27.89, Y:3.12, Z:0.40 [[ 9.78457013e-01 -1.97011780e-01 -6.17108762e-02 2.78859011e+01] [ 1.96983322e-01 9.80384590e-01 -6.60500604e-03 3.11661747e+00] [ 6.18016561e-02 -5.69329892e-03 9.98072213e-01 3.98066969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781858063999998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:27.91, Y:3.13, Z:0.39 [[ 9.79163637e-01 -1.93217789e-01 -6.24936647e-02 2.79119099e+01] [ 1.92419490e-01 9.81136339e-01 -1.86070983e-02 3.12739729e+00] [ 6.49100278e-02 6.19439490e-03 9.97871894e-01 3.94590094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.811858064 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:27.94, Y:3.13, Z:0.40 [[ 9.79536937e-01 -1.91134903e-01 -6.30463167e-02 2.79386105e+01] [ 1.90692484e-01 9.81563507e-01 -1.30176468e-02 3.12976311e+00] [ 6.43720904e-02 7.28807197e-04 9.97925700e-01 3.97498185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841858064 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:27.97, Y:3.13, Z:0.40 [[ 9.79835870e-01 -1.89453632e-01 -6.34743152e-02 2.79662266e+01] [ 1.89000969e-01 9.81889296e-01 -1.31165518e-02 3.13416150e+00] [ 6.48097291e-02 8.55360896e-04 9.97897273e-01 3.99674681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.871858063999998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:27.99, Y:3.14, Z:0.40 [[ 9.80065234e-01 -1.88150457e-01 -6.38086357e-02 2.79936921e+01] [ 1.87689022e-01 9.82139743e-01 -1.32044175e-02 3.13869825e+00] [ 6.51534142e-02 9.65010067e-04 9.97874792e-01 4.01634106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901858064 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:28.02, Y:3.14, Z:0.40 [[ 9.80553044e-01 -1.85519248e-01 -6.40182448e-02 2.80224303e+01] [ 1.85276767e-01 9.82637951e-01 -9.75590501e-03 3.14063498e+00] [ 6.47166650e-02 -2.29491107e-03 9.97901041e-01 4.04535771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.931858064 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:28.05, Y:3.15, Z:0.40 [[ 9.81032210e-01 -1.83064998e-01 -6.37417325e-02 2.80473438e+01] [ 1.82383288e-01 9.83090662e-01 -1.64038535e-02 3.14817139e+00] [ 6.56668734e-02 4.46728195e-03 9.97831602e-01 4.03537772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961858063999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.08, Y:3.15, Z:0.41 [[ 9.81272545e-01 -1.81559945e-01 -6.43442217e-02 2.80754327e+01] [ 1.81074345e-01 9.83378813e-01 -1.33488266e-02 3.15188451e+00] [ 6.56983566e-02 1.44774920e-03 9.97838479e-01 4.06192328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.991858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:28.10, Y:3.16, Z:0.41 [[ 9.81824135e-01 -1.78916819e-01 -6.33256725e-02 2.81019472e+01] [ 1.78439980e-01 9.83862880e-01 -1.31532280e-02 3.15532584e+00] [ 6.46571122e-02 1.61432498e-03 9.97906234e-01 4.07719028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021858064 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:28.13, Y:3.16, Z:0.41 [[ 9.82031143e-01 -1.77935371e-01 -6.28795537e-02 2.81288650e+01] [ 1.77462726e-01 9.84040751e-01 -1.30683557e-02 3.15965934e+00] [ 6.42013659e-02 1.67475531e-03 9.97935559e-01 4.09422177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.051858063999997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.15, Y:3.18, Z:0.40 [[ 9.82074264e-01 -1.80861288e-01 -5.30974050e-02 2.81530581e+01] [ 1.79293910e-01 9.83242921e-01 -3.29704660e-02 3.17675140e+00] [ 5.81707285e-02 2.28594048e-02 9.98044896e-01 3.96793478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081858064 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:28.19, Y:3.16, Z:0.42 [[ 9.82145343e-01 -1.76175112e-01 -6.59761743e-02 2.81852447e+01] [ 1.77065974e-01 9.84167584e-01 7.86173895e-03 3.16017972e+00] [ 6.35465693e-02 -1.94035058e-02 9.97790227e-01 4.20142008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.111858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.21, Y:3.17, Z:0.41 [[ 9.82154670e-01 -1.77679803e-01 -6.16611071e-02 2.82113857e+01] [ 1.77223109e-01 9.84086911e-01 -1.28422114e-02 3.17177277e+00] [ 6.29616900e-02 1.68526479e-03 9.98014522e-01 4.13596740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:28.24, Y:3.18, Z:0.42 [[ 9.82054384e-01 -1.78158108e-01 -6.18779107e-02 2.82397397e+01] [ 1.77698004e-01 9.84000443e-01 -1.29053132e-02 3.17528300e+00] [ 6.31870778e-02 1.67813816e-03 9.98000289e-01 4.15777174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.171858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.27, Y:3.18, Z:0.42 [[ 9.82040486e-01 -1.78217615e-01 -6.19271040e-02 2.82666231e+01] [ 1.77755896e-01 9.83989645e-01 -1.29313517e-02 3.17815170e+00] [ 6.32402237e-02 1.69120298e-03 9.97996901e-01 4.17977717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.29, Y:3.18, Z:0.42 [[ 9.82055888e-01 -1.78652812e-01 -6.04103062e-02 2.82935789e+01] [ 1.78213828e-01 9.83910828e-01 -1.26219679e-02 3.18003621e+00] [ 6.16933045e-02 1.62952599e-03 9.98093824e-01 4.19321157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.32, Y:3.18, Z:0.42 [[ 9.82069017e-01 -1.78870120e-01 -5.95476802e-02 2.83211121e+01] [ 1.78443458e-01 9.83871392e-01 -1.24505832e-02 3.18465783e+00] [ 6.08142963e-02 1.60143803e-03 9.98147813e-01 4.20828598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.35, Y:3.19, Z:0.42 [[ 9.82022309e-01 -1.79127519e-01 -5.95442422e-02 2.83490337e+01] [ 1.78700334e-01 9.83824560e-01 -1.24670056e-02 3.19058987e+00] [ 6.08142717e-02 1.60230166e-03 9.98147813e-01 4.22259596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.291858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.38, Y:3.20, Z:0.42 [[ 9.82060916e-01 -1.79192402e-01 -5.87063836e-02 2.83754807e+01] [ 1.78776416e-01 9.83812764e-01 -1.23060224e-02 3.19512444e+00] [ 5.99612353e-02 1.58994679e-03 9.98199440e-01 4.23087877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:28.40, Y:3.20, Z:0.42 [[ 9.81951466e-01 -1.79672321e-01 -5.90692501e-02 2.84032473e+01] [ 1.79251487e-01 9.83725248e-01 -1.23911772e-02 3.19961463e+00] [ 6.03342643e-02 1.57928370e-03 9.98176980e-01 4.24137641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.351858063999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.43, Y:3.20, Z:0.43 [[ 9.81545889e-01 -1.81481843e-01 -6.02661519e-02 2.84309713e+01] [ 1.81046190e-01 9.83393131e-01 -1.26580795e-02 3.20111529e+00] [ 6.15625314e-02 1.51352871e-03 9.98102081e-01 4.25286560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.46, Y:3.20, Z:0.43 [[ 9.81248363e-01 -1.83142689e-01 -6.00866458e-02 2.84594893e+01] [ 1.82712173e-01 9.83085325e-01 -1.26295770e-02 3.20393614e+00] [ 6.13833144e-02 1.41419006e-03 9.98113265e-01 4.27181730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.411858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:28.49, Y:3.21, Z:0.43 [[ 9.80830735e-01 -1.85355144e-01 -6.01210513e-02 2.84873435e+01] [ 1.84927240e-01 9.82670748e-01 -1.26537615e-02 3.20686008e+00] [ 6.14246382e-02 1.29317809e-03 9.98110886e-01 4.29435755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441858063999998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:28.52, Y:3.21, Z:0.43 [[ 9.79798393e-01 -1.90873420e-01 -5.96862415e-02 2.85156222e+01] [ 1.90460875e-01 9.81614192e-01 -1.25790917e-02 3.20980411e+00] [ 6.09898760e-02 9.57080019e-04 9.98137926e-01 4.30344725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.54, Y:3.21, Z:0.43 [[ 9.79231099e-01 -1.93642856e-01 -6.00741114e-02 2.85421231e+01] [ 1.93229139e-01 9.81071759e-01 -1.26769250e-02 3.21475014e+00] [ 6.13918101e-02 8.05570397e-04 9.98113419e-01 4.31169684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.57, Y:3.22, Z:0.43 [[ 9.78275685e-01 -1.98676248e-01 -5.91982465e-02 2.85696423e+01] [ 1.98283160e-01 9.80065052e-01 -1.25012624e-02 3.21796906e+00] [ 6.05018364e-02 4.91665638e-04 9.98167965e-01 4.31907897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.531858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.59, Y:3.26, Z:0.39 [[ 0.97703104 -0.21092283 -0.03036285 28.58623784] [ 0.20850925 0.97564905 -0.06806485 3.25624649] [ 0.04397991 0.06017054 0.99721877 0.38978563] [ 0. 0. 0. 1. ]] SLAMing on 31.561858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:28.62, Y:3.23, Z:0.41 [[ 9.76726178e-01 -2.10153207e-01 -4.29138890e-02 2.86196612e+01] [ 2.09820267e-01 9.77664213e-01 -1.21714147e-02 3.23279868e+00] [ 4.45132354e-02 2.88393570e-03 9.99004632e-01 4.14077133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.591858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.66, Y:3.21, Z:0.46 [[ 0.97680183 -0.20325432 -0.06742305 28.65740023] [ 0.20635392 0.97754705 0.04265942 3.20653947] [ 0.05723849 -0.05558281 0.99681207 0.45876204] [ 0. 0. 0. 1. ]] SLAMing on 31.621858063999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:3.24, Z:0.44 [[ 9.76300375e-01 -2.09130369e-01 -5.56961881e-02 2.86800689e+01] [ 2.08739056e-01 9.77887365e-01 -1.28182369e-02 3.23548549e+00] [ 5.71452813e-02 8.88479769e-04 9.98365478e-01 4.36439428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:3.24, Z:0.44 [[ 9.76087734e-01 -2.10042713e-01 -5.59892338e-02 2.87080615e+01] [ 2.09757652e-01 9.77691679e-01 -1.09867742e-02 3.24118670e+00] [ 5.70478999e-02 -1.02011467e-03 9.98370921e-01 4.37844199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.73, Y:3.25, Z:0.44 [[ 9.76014463e-01 -2.10436662e-01 -5.57869135e-02 2.87339663e+01] [ 2.10100532e-01 9.77607487e-01 -1.18898523e-02 3.24749443e+00] [ 5.70397651e-02 -1.16192428e-04 9.98371900e-01 4.37824417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.711858063999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.76, Y:3.25, Z:0.44 [[ 9.75971867e-01 -2.10523239e-01 -5.62039215e-02 2.87610680e+01] [ 2.10181787e-01 9.77588846e-01 -1.19859878e-02 3.25118543e+00] [ 5.74676557e-02 -1.15053784e-04 9.98347362e-01 4.39382127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:28.79, Y:3.27, Z:0.42 [[ 9.75779160e-01 -2.13682141e-01 -4.68505425e-02 2.87856187e+01] [ 2.12132340e-01 9.76580147e-01 -3.59317076e-02 3.26931424e+00] [ 5.34312739e-02 2.51228962e-02 9.98255448e-01 4.22089216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.771858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:28.82, Y:3.25, Z:0.45 [[ 9.75932263e-01 -2.08800809e-01 -6.29161295e-02 2.88199274e+01] [ 2.09910711e-01 9.77652852e-01 1.15062456e-02 3.24984397e+00] [ 5.91076200e-02 -2.44360858e-02 9.97952487e-01 4.53582730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801858063999997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:28.85, Y:3.27, Z:0.44 [[ 9.76076858e-01 -2.09716077e-01 -5.73858379e-02 2.88452580e+01] [ 2.09357841e-01 9.77762325e-01 -1.22527688e-02 3.26540403e+00] [ 5.86793129e-02 -5.45310783e-05 9.98276883e-01 4.44709211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.87, Y:3.29, Z:0.42 [[ 0.97637574 -0.21127442 -0.04531586 28.87117933] [ 0.20956399 0.9769883 -0.03970886 3.2863544 ] [ 0.05266253 0.02927419 0.99818319 0.42393245] [ 0. 0. 0. 1. ]] SLAMing on 31.861858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:28.90, Y:3.27, Z:0.46 [[ 9.76441484e-01 -2.06229092e-01 -6.34947977e-02 2.89034324e+01] [ 2.07623021e-01 9.78075960e-01 1.61275166e-02 3.26553631e+00] [ 5.87767721e-02 -2.89305580e-02 9.97851850e-01 4.57482843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.891858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.93, Y:3.28, Z:0.45 [[ 9.76642972e-01 -2.06992831e-01 -5.76409047e-02 2.89291143e+01] [ 2.06624350e-01 9.78342448e-01 -1.23463431e-02 3.28395804e+00] [ 5.89481484e-02 1.47954730e-04 9.98261035e-01 4.46360055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:28.95, Y:3.31, Z:0.42 [[ 0.97658249 -0.21067582 -0.0436159 28.95271722] [ 0.20896812 0.97707805 -0.04063006 3.30637024] [ 0.05117591 0.03056427 0.99822184 0.42380083] [ 0. 0. 0. 1. ]] SLAMing on 31.951858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.99, Y:3.28, Z:0.46 [[ 9.77033472e-01 -2.03264129e-01 -6.39475449e-02 2.89877274e+01] [ 2.04711922e-01 9.78676393e-01 1.68981541e-02 3.28091625e+00] [ 5.91491640e-02 -2.96008870e-02 9.97810184e-01 4.61264100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.01, Y:3.31, Z:0.43 [[ 9.77224473e-01 -2.06695150e-01 -4.80566833e-02 2.90118468e+01] [ 2.05222680e-01 9.78130178e-01 -3.38379350e-02 3.31113085e+00] [ 5.39998293e-02 2.32049368e-02 9.98271280e-01 4.33892609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.011858063999995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:29.03, Y:3.32, Z:0.42 [[ 9.76958205e-01 -2.09622378e-01 -4.01388157e-02 2.90349761e+01] [ 2.08160657e-01 9.77367280e-01 -3.77139316e-02 3.32338805e+00] [ 4.71360492e-02 2.84896127e-02 9.98482115e-01 4.24192792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.08, Y:3.29, Z:0.48 [[ 0.97768619 -0.19767015 -0.07110709 29.07560479] [ 0.20091349 0.9787202 0.04171986 3.28625679] [ 0.06134717 -0.0550753 0.99659582 0.4805923 ] [ 0. 0. 0. 1. ]] SLAMing on 32.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.09, Y:3.34, Z:0.42 [[ 0.97760807 -0.20689369 -0.03843771 29.09242664] [ 0.20458752 0.9772143 -0.05653455 3.34207297] [ 0.04925852 0.04740476 0.99766046 0.42409533] [ 0. 0. 0. 1. ]] SLAMing on 32.101858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.12, Y:3.33, Z:0.44 [[ 9.77637823e-01 -2.05223678e-01 -4.59078290e-02 2.91236597e+01] [ 2.04538930e-01 9.78670168e-01 -1.91971007e-02 3.33111911e+00] [ 4.88683223e-02 9.37787353e-03 9.98761204e-01 4.39285050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.15, Y:3.33, Z:0.45 [[ 9.78062301e-01 -2.01932179e-01 -5.11618100e-02 2.91540335e+01] [ 2.01940032e-01 9.79384768e-01 -5.06956627e-03 3.32798344e+00] [ 5.11308060e-02 -5.37326589e-03 9.98677510e-01 4.50052748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.19, Y:3.31, Z:0.49 [[ 0.97853884 -0.19309494 -0.07194494 29.189673 ] [ 0.19595563 0.97998718 0.03502158 3.30999385] [ 0.06374263 -0.04836799 0.99679357 0.4876305 ] [ 0. 0. 0. 1. ]] SLAMing on 32.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.21, Y:3.34, Z:0.47 [[ 9.78694210e-01 -1.95585909e-01 -6.24803546e-02 2.92142486e+01] [ 1.95133495e-01 9.80686207e-01 -1.33222958e-02 3.33643394e+00] [ 6.38792753e-02 8.46443814e-04 9.97957274e-01 4.68510578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.24, Y:3.34, Z:0.47 [[ 9.78646007e-01 -1.95520813e-01 -6.34318852e-02 2.92413008e+01] [ 1.95053219e-01 9.80699157e-01 -1.35427503e-02 3.34140915e+00] [ 6.48554859e-02 8.80965133e-04 9.97894278e-01 4.69858681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.27, Y:3.34, Z:0.47 [[ 9.78496737e-01 -1.95478345e-01 -6.58206030e-02 2.92691295e+01] [ 1.94974029e-01 9.80707579e-01 -1.40631266e-02 3.34478290e+00] [ 6.72998010e-02 9.27415363e-04 9.97732367e-01 4.71639314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.30, Y:3.35, Z:0.47 [[ 9.78370651e-01 -1.95739492e-01 -6.69097894e-02 2.92958843e+01] [ 1.95217713e-01 9.80655477e-01 -1.43136523e-02 3.34974748e+00] [ 6.84171985e-02 9.42081191e-04 9.97656353e-01 4.72810227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.32, Y:3.36, Z:0.47 [[ 9.78199953e-01 -1.96333544e-01 -6.76608617e-02 2.93237949e+01] [ 1.95800657e-01 9.80536736e-01 -1.44848693e-02 3.35521491e+00] [ 6.91878263e-02 9.21057318e-04 9.97603226e-01 4.73874890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.35, Y:3.37, Z:0.47 [[ 9.77516931e-01 -1.98994423e-01 -6.97271085e-02 2.93508939e+01] [ 1.97044532e-01 9.79809051e-01 -3.38773631e-02 3.36713745e+00] [ 7.50606583e-02 1.93763505e-02 9.96990699e-01 4.68095674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.371858063999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.38, Y:3.36, Z:0.48 [[ 9.77503769e-01 -1.97944343e-01 -7.28314433e-02 2.93807036e+01] [ 1.98659429e-01 9.80065039e-01 2.63635851e-03 3.35579116e+00] [ 7.08576991e-02 -1.70457033e-02 9.97340780e-01 4.84951015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:3.39, Z:0.45 [[ 0.97730455 -0.20485868 -0.05393278 29.40141737] [ 0.2024314 0.97815721 -0.04722294 3.38723586] [ 0.06242876 0.03523351 0.99742732 0.45150738] [ 0. 0. 0. 1. ]] SLAMing on 32.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:3.36, Z:0.50 [[ 9.76340433e-01 -2.02990527e-01 -7.45265421e-02 2.94383222e+01] [ 2.04885004e-01 9.78608526e-01 1.86410529e-02 3.35674959e+00] [ 6.91483523e-02 -3.34693845e-02 9.97044786e-01 4.95783922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.46, Y:3.38, Z:0.48 [[ 9.75925785e-01 -2.07682850e-01 -6.66085286e-02 2.94633722e+01] [ 2.07103785e-01 9.78195226e-01 -1.55602916e-02 3.37601258e+00] [ 6.83877504e-02 1.39081138e-03 9.97657848e-01 4.82808880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:3.38, Z:0.49 [[ 9.75370007e-01 -2.10547467e-01 -6.57503845e-02 2.94906543e+01] [ 2.10149806e-01 9.77582957e-01 -1.29854437e-02 3.37943202e+00] [ 6.70105076e-02 -1.15181819e-03 9.97751605e-01 4.86007709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52185806399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.52, Y:3.38, Z:0.49 [[ 9.74638212e-01 -2.14401100e-01 -6.41289595e-02 2.95175295e+01] [ 2.13955599e-01 9.76745670e-01 -1.38165941e-02 3.38368396e+00] [ 6.55999765e-02 -2.54569344e-04 9.97845969e-01 4.88026573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.54, Y:3.41, Z:0.46 [[ 0.97438917 -0.21945644 -0.04903681 29.54348354] [ 0.21721425 0.97498183 -0.04720585 3.40673158] [ 0.05816963 0.03534537 0.99768081 0.46437298] [ 0. 0. 0. 1. ]] SLAMing on 32.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:3.38, Z:0.51 [[ 9.74216013e-01 -2.13827433e-01 -7.19790895e-02 2.95755013e+01] [ 2.15798538e-01 9.76217798e-01 2.07316626e-02 3.37913674e+00] [ 6.58342701e-02 -3.57301000e-02 9.97190658e-01 5.07983226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.60, Y:3.40, Z:0.49 [[ 9.74470466e-01 -2.14707595e-01 -6.56350451e-02 2.96000642e+01] [ 2.14239701e-01 9.76678342e-01 -1.41691942e-02 3.40088460e+00] [ 6.71465607e-02 -2.54171178e-04 9.97743091e-01 4.93168589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:3.41, Z:0.49 [[ 9.74652383e-01 -2.13687067e-01 -6.62613716e-02 2.96277031e+01] [ 2.13206492e-01 9.76902149e-01 -1.43241769e-02 3.40807179e+00] [ 6.77917676e-02 -1.66261431e-04 9.97699478e-01 4.93870209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.671858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.65, Y:3.41, Z:0.50 [[ 9.74885712e-01 -2.12396124e-01 -6.69756276e-02 2.96544929e+01] [ 2.11900698e-01 9.77183649e-01 -1.44986643e-02 3.41471723e+00] [ 6.85269482e-02 -5.76415363e-05 9.97649264e-01 4.95345518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:3.42, Z:0.50 [[ 9.75075861e-01 -2.11347606e-01 -6.75222614e-02 2.96813822e+01] [ 2.10840139e-01 9.77410962e-01 -1.46371932e-02 3.42108326e+00] [ 6.90905342e-02 3.59707868e-05 9.97610393e-01 4.96995060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:3.43, Z:0.50 [[ 9.75545169e-01 -2.09414509e-01 -6.67621689e-02 2.97090040e+01] [ 2.08912541e-01 9.77826941e-01 -1.44921719e-02 3.42818511e+00] [ 6.83167185e-02 1.90313972e-04 9.97663666e-01 4.99072213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761858063999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.74, Y:3.43, Z:0.50 [[ 9.75764495e-01 -2.08586683e-01 -6.61456458e-02 2.97357265e+01] [ 2.08022034e-01 9.78003077e-01 -1.53888125e-02 3.43490786e+00] [ 6.79005465e-02 1.25610509e-03 9.97691304e-01 5.00617063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.791858063999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.76, Y:3.44, Z:0.50 [[ 9.75870567e-01 -2.08364577e-01 -6.52751084e-02 2.97633158e+01] [ 2.07598082e-01 9.78041358e-01 -1.83885697e-02 3.44321401e+00] [ 6.76732821e-02 4.39387665e-03 9.97697860e-01 5.02237046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.79, Y:3.45, Z:0.51 [[ 9.76122767e-01 -2.07068462e-01 -6.56277110e-02 2.97895891e+01] [ 2.06932850e-01 9.78314374e-01 -8.93199801e-03 3.44544917e+00] [ 6.60540681e-02 -4.86180267e-03 9.97804201e-01 5.08148721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.82, Y:3.45, Z:0.51 [[ 9.76187214e-01 -2.07092835e-01 -6.45839041e-02 2.98168113e+01] [ 2.06614517e-01 9.78321217e-01 -1.40726221e-02 3.45397984e+00] [ 6.60981428e-02 3.93541668e-04 9.97813049e-01 5.07702407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.84, Y:3.46, Z:0.51 [[ 9.76187348e-01 -2.07036111e-01 -6.47634903e-02 2.98444210e+01] [ 2.06553748e-01 9.78333213e-01 -1.41306077e-02 3.46020988e+00] [ 6.62858195e-02 4.16978790e-04 9.97800589e-01 5.09523960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.87, Y:3.47, Z:0.51 [[ 9.76145566e-01 -2.07290648e-01 -6.45787954e-02 2.98717056e+01] [ 2.06810356e-01 9.78279313e-01 -1.41089634e-02 3.46631362e+00] [ 6.61007558e-02 4.16838337e-04 9.97812866e-01 5.11943722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.90, Y:3.47, Z:0.51 [[ 9.76144962e-01 -2.07631378e-01 -6.34840492e-02 2.98985728e+01] [ 2.07166790e-01 9.78207057e-01 -1.38879129e-02 3.47256872e+00] [ 6.49841114e-02 4.04829567e-04 9.97886217e-01 5.13641283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.971858063999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.93, Y:3.48, Z:0.52 [[ 9.76097734e-01 -2.08574640e-01 -6.10723681e-02 2.99254641e+01] [ 2.08145478e-01 9.78006390e-01 -1.33776018e-02 3.48038313e+00] [ 6.25193948e-02 3.45909502e-04 9.98043689e-01 5.15400879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.95, Y:3.49, Z:0.52 [[ 9.76082806e-01 -2.08743797e-01 -6.07320642e-02 2.99518749e+01] [ 2.08318667e-01 9.77970298e-01 -1.33202188e-02 3.48639030e+00] [ 6.21746680e-02 3.50013863e-04 9.98065222e-01 5.17428828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:3.49, Z:0.52 [[ 9.76036645e-01 -2.08909895e-01 -6.09025675e-02 2.99793136e+01] [ 2.08482153e-01 9.77934831e-01 -1.33662968e-02 3.49241126e+00] [ 6.23510938e-02 3.48897071e-04 9.98054217e-01 5.19453280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:3.50, Z:0.52 [[ 9.76002937e-01 -2.08989100e-01 -6.11704442e-02 3.00063799e+01] [ 2.08556603e-01 9.77917903e-01 -1.34431783e-02 3.49881271e+00] [ 6.26291502e-02 3.63081458e-04 9.98036802e-01 5.21172170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.03, Y:3.51, Z:0.52 [[ 9.76224889e-01 -2.07575167e-01 -6.24300812e-02 3.00326586e+01] [ 2.07120620e-01 9.78218952e-01 -1.37378989e-02 3.50557344e+00] [ 6.39219353e-02 4.80721752e-04 9.97954786e-01 5.22715853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121858063999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:30.06, Y:3.51, Z:0.52 [[ 9.76252084e-01 -2.07232074e-01 -6.31406005e-02 3.00603491e+01] [ 2.06765782e-01 9.78291674e-01 -1.39036760e-02 3.51216218e+00] [ 6.46512113e-02 5.18177062e-04 9.97907788e-01 5.24151303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.151858063999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:30.09, Y:3.52, Z:0.53 [[ 9.76215382e-01 -2.07406056e-01 -6.31368029e-02 3.00881792e+01] [ 2.06939014e-01 9.78254800e-01 -1.39209007e-02 3.51838628e+00] [ 6.46511596e-02 5.24329631e-04 9.97907788e-01 5.25782519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:3.53, Z:0.53 [[ 9.75926622e-01 -2.08422856e-01 -6.42428362e-02 3.01157723e+01] [ 2.07778078e-01 9.78034555e-01 -1.66337144e-02 3.52567159e+00] [ 6.62985599e-02 2.88503167e-03 9.97795659e-01 5.26491540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.14, Y:3.53, Z:0.53 [[ 9.75770253e-01 -2.08758923e-01 -6.55143144e-02 3.01427561e+01] [ 2.08309982e-01 9.77967089e-01 -1.36866639e-02 3.53053114e+00] [ 6.69280565e-02 -2.92246197e-04 9.97757761e-01 5.29342294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.17, Y:3.54, Z:0.53 [[ 9.75674427e-01 -2.09259397e-01 -6.53445992e-02 3.01693582e+01] [ 2.08888815e-01 9.77859128e-01 -1.25295112e-02 3.53663432e+00] [ 6.65197307e-02 -1.42503222e-03 9.97784092e-01 5.30659001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.20, Y:3.54, Z:0.53 [[ 9.75316990e-01 -2.11120934e-01 -6.46894193e-02 3.01968484e+01] [ 2.10635425e-01 9.77459891e-01 -1.43135730e-02 3.54448666e+00] [ 6.62532076e-02 3.34387631e-04 9.97802786e-01 5.30748231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.22, Y:3.57, Z:0.51 [[ 0.97498897 -0.21677063 -0.0490612 30.22218608] [ 0.21458195 0.97561069 -0.04624252 3.56795796] [ 0.05788865 0.0345583 0.99772473 0.50538211] [ 0. 0. 0. 1. ]] SLAMing on 33.331858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.26, Y:3.54, Z:0.55 [[ 9.74247177e-01 -2.13901344e-01 -7.13347911e-02 3.02551203e+01] [ 2.15765383e-01 9.76251549e-01 1.94476914e-02 3.53972481e+00] [ 6.54808130e-02 -3.43384370e-02 9.97262821e-01 5.49575934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.28, Y:3.56, Z:0.54 [[ 9.73968349e-01 -2.17688764e-01 -6.32238662e-02 3.02799725e+01] [ 2.17235971e-01 9.76018236e-01 -1.40333677e-02 3.55972510e+00] [ 6.47625528e-02 -6.64419995e-05 9.97900700e-01 5.37205860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.31, Y:3.57, Z:0.54 [[ 9.73502576e-01 -2.20308686e-01 -6.12928771e-02 3.03063783e+01] [ 2.19887280e-01 9.75430180e-01 -1.36215996e-02 3.56603036e+00] [ 6.27878788e-02 -2.16861730e-04 9.98026871e-01 5.39717178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:30.33, Y:3.57, Z:0.54 [[ 9.73300036e-01 -2.21352856e-01 -6.07449767e-02 3.03326728e+01] [ 2.20940507e-01 9.75193744e-01 -1.35075667e-02 3.57216848e+00] [ 6.22280597e-02 -2.74110749e-04 9.98061919e-01 5.41369682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.36, Y:3.58, Z:0.54 [[ 9.73070597e-01 -2.22348959e-01 -6.07828420e-02 3.03602165e+01] [ 2.21937508e-01 9.74967093e-01 -1.35244558e-02 3.57812773e+00] [ 6.22684194e-02 -3.29742207e-04 9.98059385e-01 5.43616574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481858063999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:30.39, Y:3.58, Z:0.55 [[ 9.72895301e-01 -2.23003712e-01 -6.11888721e-02 3.03875301e+01] [ 2.22586915e-01 9.74817530e-01 -1.36326136e-02 3.58375748e+00] [ 6.26881086e-02 -3.56736616e-04 9.98033103e-01 5.45934964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.511858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.42, Y:3.59, Z:0.55 [[ 9.72840015e-01 -2.23072311e-01 -6.18146351e-02 3.04154617e+01] [ 2.22645931e-01 9.74801838e-01 -1.37900578e-02 3.58826213e+00] [ 6.33332000e-02 -3.47256915e-04 9.97992377e-01 5.49190514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.44, Y:3.59, Z:0.55 [[ 9.72838345e-01 -2.23107247e-01 -6.17147539e-02 3.04424917e+01] [ 2.22681179e-01 9.74793848e-01 -1.37857246e-02 3.59400400e+00] [ 6.32348575e-02 -3.31432613e-04 9.97998619e-01 5.51044054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.47, Y:3.60, Z:0.55 [[ 9.72909344e-01 -2.22744863e-01 -6.19042395e-02 3.04699719e+01] [ 2.22134378e-01 9.74873670e-01 -1.66626794e-02 3.60186912e+00] [ 6.40603395e-02 2.46021675e-03 9.97942994e-01 5.51289560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.50, Y:3.61, Z:0.55 [[ 9.73075625e-01 -2.21801733e-01 -6.26723237e-02 3.04975284e+01] [ 2.21439500e-01 9.75090684e-01 -1.27555984e-02 3.60716916e+00] [ 6.39404128e-02 -1.46596614e-03 9.97952641e-01 5.53921098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.53, Y:3.61, Z:0.55 [[ 9.73784694e-01 -2.18749438e-01 -6.23863190e-02 3.05320159e+01] [ 2.18048724e-01 9.75773515e-01 -1.79109540e-02 3.61237948e+00] [ 6.47929289e-02 3.83815559e-03 9.97891349e-01 5.52884990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.56, Y:3.61, Z:0.56 [[ 9.74157392e-01 -2.15942746e-01 -6.62276872e-02 3.05612156e+01] [ 2.16020719e-01 9.76369928e-01 -6.06729014e-03 3.61256000e+00] [ 6.59729095e-02 -8.39605708e-03 9.97786090e-01 5.62537808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.691858063999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:30.59, Y:3.62, Z:0.57 [[ 9.74234021e-01 -2.15061062e-01 -6.79471217e-02 3.05945597e+01] [ 2.15058540e-01 9.76572828e-01 -7.43878426e-03 3.61742443e+00] [ 6.79551056e-02 -7.36549205e-03 9.97661192e-01 5.67393880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:3.63, Z:0.56 [[ 9.74439772e-01 -2.15194396e-01 -6.44864580e-02 3.06155372e+01] [ 2.14151577e-01 9.76535451e-01 -2.27511657e-02 3.63052950e+00] [ 6.78692357e-02 8.35976403e-03 9.97659201e-01 5.61668667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.64, Y:3.63, Z:0.57 [[ 9.74800257e-01 -2.12640543e-01 -6.74422637e-02 3.06435383e+01] [ 2.12562669e-01 9.77111228e-01 -8.41190049e-03 3.63135233e+00] [ 6.76873041e-02 -6.13578482e-03 9.97687717e-01 5.71104655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.66, Y:3.65, Z:0.57 [[ 9.74741729e-01 -2.14284022e-01 -6.29358412e-02 3.06646194e+01] [ 2.13624240e-01 9.76766040e-01 -1.71110030e-02 3.64693546e+00] [ 6.51402070e-02 3.23418739e-03 9.97870880e-01 5.65917145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.70, Y:3.65, Z:0.57 [[ 9.74977639e-01 -2.11974019e-01 -6.69747599e-02 3.07002183e+01] [ 2.11606500e-01 9.77273510e-01 -1.26164970e-02 3.64947192e+00] [ 6.81270282e-02 -1.87149214e-03 9.97674900e-01 5.73156539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:3.65, Z:0.58 [[ 9.75511917e-01 -2.09141127e-01 -6.80917639e-02 3.07290762e+01] [ 2.09041554e-01 9.77868375e-01 -8.66428817e-03 3.65383866e+00] [ 6.83968415e-02 -5.78189177e-03 9.97641439e-01 5.77548452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.871858063999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:30.75, Y:3.67, Z:0.57 [[ 9.75207259e-01 -2.12829609e-01 -6.06164974e-02 3.07469067e+01] [ 2.11975923e-01 9.77064929e-01 -2.02566636e-02 3.67017865e+00] [ 6.35374715e-02 6.90520745e-03 9.97955564e-01 5.70160430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.78, Y:3.67, Z:0.58 [[ 9.75467690e-01 -2.09593952e-01 -6.73287599e-02 3.07836340e+01] [ 2.09656315e-01 9.77755371e-01 -6.21799968e-03 3.66649301e+00] [ 6.71343118e-02 -8.05044195e-03 9.97711469e-01 5.82873148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.80, Y:3.68, Z:0.57 [[ 9.74802763e-01 -2.14398926e-01 -6.15846921e-02 3.08017988e+01] [ 2.13467579e-01 9.76715702e-01 -2.14016206e-02 3.68373054e+00] [ 6.47392203e-02 7.71602378e-03 9.97872385e-01 5.74677240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.82, Y:3.70, Z:0.57 [[ 9.74201456e-01 -2.18524019e-01 -5.63806346e-02 3.08249675e+01] [ 2.17167011e-01 9.75696369e-01 -2.92418355e-02 3.69555052e+00] [ 6.14004239e-02 1.62434249e-02 9.97981031e-01 5.65952811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.991858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:30.85, Y:3.70, Z:0.57 [[ 9.73695257e-01 -2.20316186e-01 -5.81233532e-02 3.08533815e+01] [ 2.19563925e-01 9.75411020e-01 -1.91056359e-02 3.69879026e+00] [ 6.09034401e-02 5.84127554e-03 9.98126570e-01 5.69454073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.89, Y:3.69, Z:0.59 [[ 9.73520824e-01 -2.17342748e-01 -7.08472722e-02 3.08884970e+01] [ 2.18098613e-01 9.75922064e-01 3.01999101e-03 3.69382049e+00] [ 6.84850429e-02 -1.83917159e-02 9.97482603e-01 5.89269839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.051858063999994 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:30.92, Y:3.70, Z:0.59 [[ 9.73889574e-01 -2.15670861e-01 -7.08884860e-02 3.09195796e+01] [ 2.15442420e-01 9.76455217e-01 -1.09440979e-02 3.70245337e+00] [ 7.15797550e-02 -4.61404407e-03 9.97424207e-01 5.88410182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.94, Y:3.72, Z:0.58 [[ 9.72865850e-01 -2.21426540e-01 -6.70993707e-02 3.09410093e+01] [ 2.20629126e-01 9.75169496e-01 -1.91636022e-02 3.71752699e+00] [ 6.96765896e-02 3.83953863e-03 9.97562244e-01 5.83159544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:3.72, Z:0.59 [[ 9.72031846e-01 -2.24725213e-01 -6.82104689e-02 3.09660899e+01] [ 2.24215112e-01 9.74422008e-01 -1.51437818e-02 3.72461415e+00] [ 6.98689717e-02 -5.73579780e-04 9.97556012e-01 5.85665941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.99, Y:3.75, Z:0.57 [[ 9.71415859e-01 -2.30666813e-01 -5.60718323e-02 3.09870891e+01] [ 2.28682084e-01 9.72693722e-01 -3.96412475e-02 3.74609990e+00] [ 6.36846394e-02 2.56855130e-02 9.97639475e-01 5.67615164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.171858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:31.02, Y:3.73, Z:0.59 [[ 9.71403173e-01 -2.26606995e-01 -7.08882564e-02 3.10205314e+01] [ 2.27331843e-01 9.73814812e-01 2.22358292e-03 3.73250345e+00] [ 6.85281546e-02 -1.82751535e-02 9.97481785e-01 5.94091875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:3.74, Z:0.59 [[ 9.71294803e-01 -2.27384128e-01 -6.98774988e-02 3.10481242e+01] [ 2.27220332e-01 9.73787953e-01 -1.03895594e-02 3.74483877e+00] [ 7.04082874e-02 -5.78626348e-03 9.97501475e-01 5.94467001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.08, Y:3.75, Z:0.60 [[ 9.70943624e-01 -2.29249655e-01 -6.86518312e-02 3.10759714e+01] [ 2.28739593e-01 9.73367294e-01 -1.53071918e-02 3.75393972e+00] [ 7.03326156e-02 -8.40971665e-04 9.97523241e-01 5.95084022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261858063999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:31.10, Y:3.77, Z:0.58 [[ 9.70803809e-01 -2.32424988e-01 -5.93176961e-02 3.10982156e+01] [ 2.30997891e-01 9.72492470e-01 -2.99728150e-02 3.77062752e+00] [ 6.46524440e-02 1.53954603e-02 9.97789077e-01 5.83942367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.291858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.13, Y:3.77, Z:0.60 [[ 9.70985347e-01 -2.29885599e-01 -6.58791877e-02 3.11265225e+01] [ 2.29678224e-01 9.73206612e-01 -1.08075767e-02 3.77088184e+00] [ 6.65985673e-02 -4.63701621e-03 9.97769076e-01 5.96949292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.15, Y:3.78, Z:0.59 [[ 9.71049912e-01 -2.30235671e-01 -6.36679274e-02 3.11531673e+01] [ 2.29579678e-01 9.73131918e-01 -1.75340125e-02 3.78290130e+00] [ 6.59942474e-02 2.40953903e-03 9.97817094e-01 5.94673222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:3.79, Z:0.59 [[ 9.71289887e-01 -2.29572287e-01 -6.23900660e-02 3.11807657e+01] [ 2.28880780e-01 9.73285984e-01 -1.81102811e-02 3.79173088e+00] [ 6.48809954e-02 3.31044588e-03 9.97887517e-01 5.94044952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.21, Y:3.80, Z:0.60 [[ 9.71669504e-01 -2.27139787e-01 -6.53138017e-02 3.12083432e+01] [ 2.26658106e-01 9.73862070e-01 -1.47909624e-02 3.79879088e+00] [ 6.69662501e-02 -4.31975426e-04 9.97755148e-01 5.98171891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:31.24, Y:3.80, Z:0.60 [[ 9.72230749e-01 -2.24554191e-01 -6.58998203e-02 3.12359744e+01] [ 2.24752245e-01 9.74405602e-01 -4.48890675e-03 3.80192671e+00] [ 6.52211569e-02 -1.04468794e-02 9.97816147e-01 6.04496590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.26, Y:3.82, Z:0.60 [[ 9.72422738e-01 -2.24902910e-01 -6.17470592e-02 3.12631380e+01] [ 2.23768548e-01 9.74326752e-01 -2.47995358e-02 3.81943885e+00] [ 6.57392994e-02 1.02985828e-02 9.97783686e-01 5.97090197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.471858063999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:31.29, Y:3.83, Z:0.60 [[ 9.72525205e-01 -2.24407727e-01 -6.19346292e-02 3.12890524e+01] [ 2.23605805e-01 9.74480990e-01 -1.96785295e-02 3.82585758e+00] [ 6.47701328e-02 5.28892333e-03 9.97886195e-01 5.99116199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.32, Y:3.83, Z:0.60 [[ 9.73202694e-01 -2.20929397e-01 -6.37708177e-02 3.13175927e+01] [ 2.20722764e-01 9.75281611e-01 -1.03556808e-02 3.83181257e+00] [ 6.44823802e-02 -3.99749463e-03 9.97910839e-01 6.04322106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.34, Y:3.84, Z:0.60 [[ 9.73473226e-01 -2.20370466e-01 -6.15364601e-02 3.13430368e+01] [ 2.19819227e-01 9.75414714e-01 -1.56730273e-02 3.84326778e+00] [ 6.34774410e-02 1.73037535e-03 9.97981774e-01 6.02685526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:31.37, Y:3.85, Z:0.60 [[ 9.73450201e-01 -2.20599297e-01 -6.10790984e-02 3.13713621e+01] [ 2.19838349e-01 9.75351385e-01 -1.89941314e-02 3.85317952e+00] [ 6.37636752e-02 5.06231287e-03 9.97952187e-01 6.02845853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.40, Y:3.85, Z:0.63 [[ 9.73571329e-01 -2.15660227e-01 -7.51633789e-02 3.14021372e+01] [ 2.16765506e-01 9.76200202e-01 6.77357201e-03 3.84606321e+00] [ 7.19137156e-02 -2.28873834e-02 9.97148226e-01 6.26286047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621858063999994 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.42, Y:3.88, Z:0.60 [[ 9.73423766e-01 -2.21373891e-01 -5.86495681e-02 3.14238395e+01] [ 2.19560051e-01 9.74940785e-01 -3.58308458e-02 3.87685443e+00] [ 6.51118697e-02 2.20014947e-02 9.97635394e-01 6.00482255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651858063999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:31.45, Y:3.88, Z:0.61 [[ 9.73143253e-01 -2.21181882e-01 -6.38027029e-02 3.14533543e+01] [ 2.20510385e-01 9.75228170e-01 -1.74696082e-02 3.87663897e+00] [ 6.60861540e-02 2.93127275e-03 9.97809615e-01 6.08903251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:31.48, Y:3.87, Z:0.63 [[ 9.72899061e-01 -2.17854510e-01 -7.75037417e-02 3.14834247e+01] [ 2.18873618e-01 9.75741394e-01 4.80330128e-03 3.87156610e+00] [ 7.45771881e-02 -2.16366516e-02 9.96980490e-01 6.30394307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.711858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.51, Y:3.89, Z:0.63 [[ 9.72725536e-01 -2.20418841e-01 -7.22534901e-02 3.15089959e+01] [ 2.20064913e-01 9.75399632e-01 -1.29225080e-02 3.88722108e+00] [ 7.33243920e-02 -3.33040446e-03 9.97302583e-01 6.25319522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:31.53, Y:3.91, Z:0.61 [[ 9.72074917e-01 -2.26362192e-01 -6.18911418e-02 3.15312219e+01] [ 2.24471962e-01 9.73813596e-01 -3.60474384e-02 3.90862475e+00] [ 6.84302126e-02 2.11479847e-02 9.97431736e-01 6.08674239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77185806399999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:31.56, Y:3.91, Z:0.61 [[ 9.71589497e-01 -2.28129778e-01 -6.30131296e-02 3.15584937e+01] [ 2.27070629e-01 9.73592709e-01 -2.35831776e-02 3.91228879e+00] [ 6.67291486e-02 8.60473667e-03 9.97734022e-01 6.11658670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801858063999994 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:31.58, Y:3.94, Z:0.58 [[ 0.97053482 -0.23682378 -0.04445968 31.5753499 ] [ 0.23392935 0.97028432 -0.06184976 3.94392321] [ 0.05778602 0.04962692 0.99709475 0.58399878] [ 0. 0. 0. 1. ]] SLAMing on 34.831858063999995 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:31.62, Y:3.91, Z:0.63 [[ 9.71141972e-01 -2.26565797e-01 -7.45064454e-02 3.16190783e+01] [ 2.28852495e-01 9.73174385e-01 2.36252528e-02 3.90734116e+00] [ 6.71550899e-02 -3.99944606e-02 9.96940639e-01 6.31283238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861858063999996 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:31.65, Y:3.91, Z:0.64 [[ 9.71260680e-01 -2.23359163e-01 -8.22397461e-02 3.16523276e+01] [ 2.25155752e-01 9.74234146e-01 1.31421233e-02 3.91366888e+00] [ 7.71853552e-02 -3.12811795e-02 9.96525920e-01 6.44912684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.891858064 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:31.68, Y:3.93, Z:0.64 [[ 9.71451009e-01 -2.24818682e-01 -7.57594626e-02 3.16775663e+01] [ 2.24394159e-01 9.74395282e-01 -1.41808193e-02 3.93271050e+00] [ 7.70077761e-02 -3.22400967e-03 9.97025280e-01 6.36638178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921858064 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:31.70, Y:3.94, Z:0.64 [[ 9.71501981e-01 -2.24780978e-01 -7.52157733e-02 3.17036951e+01] [ 2.24130104e-01 9.74409282e-01 -1.70952383e-02 3.94169448e+00] [ 7.71336320e-02 -2.50061252e-04 9.97020732e-01 6.36916830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95185806399999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:31.73, Y:3.95, Z:0.64 [[ 9.71604152e-01 -2.24360111e-01 -7.51525989e-02 3.17304021e+01] [ 2.23708228e-01 9.74506284e-01 -1.70918244e-02 3.94959517e+00] [ 7.70714036e-02 -2.05767157e-04 9.97025555e-01 6.38212537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981858063999994 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:31.75, Y:3.97, Z:0.62 [[ 9.71227134e-01 -2.30395719e-01 -6.02964908e-02 3.17507545e+01] [ 2.28148455e-01 9.72723660e-01 -4.19161571e-02 3.97357548e+00] [ 6.83091263e-02 2.69535579e-02 9.97300040e-01 6.18835041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.011858063999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:31.79, Y:3.95, Z:0.65 [[ 9.71957622e-01 -2.20916896e-01 -8.05860148e-02 3.17874759e+01] [ 2.22300027e-01 9.74941228e-01 8.50290924e-03 3.95311609e+00] [ 7.66881919e-02 -2.61787407e-02 9.96711390e-01 6.51549540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041858063999996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:31.81, Y:3.97, Z:0.64 [[ 9.72328059e-01 -2.21504455e-01 -7.42557926e-02 3.18126465e+01] [ 2.20856459e-01 9.75159357e-01 -1.69308026e-02 3.97147516e+00] [ 7.61614792e-02 6.24229659e-05 9.97095495e-01 6.44602987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.071858064 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:31.84, Y:3.98, Z:0.65 [[ 9.72268823e-01 -2.21765928e-01 -7.42509831e-02 3.18404269e+01] [ 2.21117084e-01 9.75099928e-01 -1.69518703e-02 3.97789543e+00] [ 7.61614755e-02 6.36141289e-05 9.97095495e-01 6.46561899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101858064 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:31.86, Y:4.00, Z:0.63 [[ 9.72067634e-01 -2.26405276e-01 -6.18479318e-02 3.18592589e+01] [ 2.24542948e-01 9.73811688e-01 -3.56547327e-02 3.99815855e+00] [ 6.83006585e-02 2.07712947e-02 9.97448532e-01 6.31430146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13185806399999 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:31.87, Y:4.03, Z:0.60 [[ 0.97139061 -0.23434946 -0.03847883 31.87343001] [ 0.23130069 0.97032591 -0.07048139 4.03109902] [ 0.05385428 0.05956478 0.99677066 0.59907995] [ 0. 0. 0. 1. ]] SLAMing on 35.16185806399999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:31.93, Y:3.96, Z:0.69 [[ 0.97286883 -0.2114308 -0.09393224 31.92793641] [ 0.21799222 0.97371228 0.066059 3.96481109] [ 0.07749606 -0.08474324 0.99338459 0.68529193] [ 0. 0. 0. 1. ]] SLAMing on 35.191858063999994 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:31.95, Y:4.01, Z:0.65 [[ 9.72426140e-01 -2.20610562e-01 -7.56199886e-02 3.19503259e+01] [ 2.19288007e-01 9.75327614e-01 -2.54718665e-02 4.01182303e+00] [ 7.93736258e-02 8.18695219e-03 9.96811317e-01 6.52078613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221858063999996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:31.96, Y:4.07, Z:0.60 [[ 0.97067353 -0.23719702 -0.03912117 31.95934653] [ 0.23285334 0.96812164 -0.09230288 4.06502086] [ 0.05976802 0.08048646 0.99496217 0.60301575] [ 0. 0. 0. 1. ]] SLAMing on 35.251858064 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:32.00, Y:4.04, Z:0.63 [[ 9.70703275e-01 -2.34086215e-01 -5.42106670e-02 3.19956567e+01] [ 2.33441569e-01 9.72203797e-01 -1.80225074e-02 4.03638662e+00] [ 5.69226369e-02 4.83948379e-03 9.98366863e-01 6.28851795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:32.04, Y:4.00, Z:0.69 [[ 0.97163055 -0.21675984 -0.09460042 32.04230446] [ 0.22313379 0.97275736 0.06288431 3.99571506] [ 0.07839246 -0.08220886 0.99352721 0.69263505] [ 0. 0. 0. 1. ]] SLAMing on 35.31185806399999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:32.05, Y:4.05, Z:0.65 [[ 9.71722946e-01 -2.27890601e-01 -6.18093012e-02 3.20545534e+01] [ 2.26113089e-01 9.73491183e-01 -3.44643007e-02 4.04907621e+00] [ 6.80249000e-02 1.95138598e-02 9.97492768e-01 6.46697532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34185806399999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:32.09, Y:4.04, Z:0.67 [[ 9.71520545e-01 -2.22995444e-01 -8.01302872e-02 3.20918310e+01] [ 2.23602641e-01 9.74679341e-01 -1.42883245e-03 4.03647198e+00] [ 7.84199586e-02 -1.65292038e-02 9.96783374e-01 6.73005567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.371858063999994 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:32.12, Y:4.05, Z:0.67 [[ 9.71398570e-01 -2.24847071e-01 -7.63453567e-02 3.21173289e+01] [ 2.24339022e-01 9.74391385e-01 -1.52785074e-02 4.04947520e+00] [ 7.78255854e-02 -2.28572243e-03 9.96964369e-01 6.70057574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401858063999995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:32.14, Y:4.08, Z:0.64 [[ 0.97077792 -0.23311966 -0.05696893 32.13642396] [ 0.23031019 0.97173753 -0.05180146 4.08040021] [ 0.06743479 0.03716719 0.99703117 0.64401412] [ 0. 0. 0. 1. ]] SLAMing on 35.431858064 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:32.17, Y:4.07, Z:0.66 [[ 9.70877502e-01 -2.30810601e-01 -6.42132560e-02 3.21663726e+01] [ 2.30405685e-01 9.72997614e-01 -1.37427721e-02 4.07031611e+00] [ 6.56513223e-02 -1.45255095e-03 9.97841568e-01 6.57295711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461858064 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:32.19, Y:4.08, Z:0.66 [[ 9.70582820e-01 -2.31484193e-01 -6.62122229e-02 3.21925730e+01] [ 2.30511672e-01 9.72819148e-01 -2.20742756e-02 4.08009292e+00] [ 6.95223641e-02 6.16222246e-03 9.97561360e-01 6.57341129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.491858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:32.23, Y:4.06, Z:0.69 [[ 9.71067617e-01 -2.22742071e-01 -8.61025721e-02 3.22294886e+01] [ 2.25468371e-01 9.73973502e-01 2.32299632e-02 4.06071785e+00] [ 7.86873336e-02 -4.19712717e-02 9.96015420e-01 6.91877130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52185806399999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:32.25, Y:4.08, Z:0.68 [[ 9.71145150e-01 -2.25681118e-01 -7.71046725e-02 3.22530094e+01] [ 2.24991538e-01 9.74201202e-01 -1.76302505e-02 4.08413444e+00] [ 7.90942792e-02 -2.26366643e-04 9.96867114e-01 6.79411733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.551858063999994 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:32.28, Y:4.09, Z:0.68 [[ 9.71213021e-01 -2.25538372e-01 -7.66662266e-02 3.22800742e+01] [ 2.24553570e-01 9.74227945e-01 -2.13449076e-02 4.09234141e+00] [ 7.95044761e-02 3.51477729e-03 9.96828313e-01 6.80272740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581858063999995 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:32.31, Y:4.10, Z:0.68 [[ 9.71227497e-01 -2.25335665e-01 -7.70777935e-02 3.23085378e+01] [ 2.24934305e-01 9.74273874e-01 -1.39634230e-02 4.09615689e+00] [ 7.82413377e-02 -3.77577951e-03 9.96927298e-01 6.84695638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.611858063999996 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:32.33, Y:4.12, Z:0.67 [[ 9.71387068e-01 -2.28606396e-01 -6.43916126e-02 3.23319629e+01] [ 2.26619223e-01 9.73290428e-01 -3.67351329e-02 4.11694209e+00] [ 7.10696265e-02 2.10916558e-02 9.97248339e-01 6.69551792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641858064 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:32.36, Y:4.12, Z:0.68 [[ 9.71731792e-01 -2.26100746e-01 -6.79395078e-02 3.23614804e+01] [ 2.25328309e-01 9.74099046e-01 -1.89262295e-02 4.11589124e+00] [ 7.04590443e-02 3.08252447e-03 9.97509910e-01 6.76901642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.671858064 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:32.39, Y:4.11, Z:0.70 [[ 9.72168384e-01 -2.20172559e-01 -8.00791883e-02 3.23925021e+01] [ 2.21328342e-01 9.75182428e-01 5.74438254e-03 4.10871749e+00] [ 7.68270618e-02 -2.33083010e-02 9.96771953e-01 6.97400572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70185806399999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:32.42, Y:4.12, Z:0.69 [[ 9.72532169e-01 -2.20369010e-01 -7.49578569e-02 3.24165547e+01] [ 2.19698291e-01 9.75416547e-01 -1.71819599e-02 4.12495976e+00] [ 7.69015054e-02 2.41895650e-04 9.97038665e-01 6.91215884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.731858063999994 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:32.44, Y:4.14, Z:0.69 [[ 9.72908014e-01 -2.18229891e-01 -7.63263408e-02 3.24413850e+01] [ 2.15985977e-01 9.75709760e-01 -3.66131252e-02 4.13933512e+00] [ 8.24624340e-02 1.91357836e-02 9.96410442e-01 6.85965657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761858063999995 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:32.47, Y:4.13, Z:0.70 [[ 9.73194020e-01 -2.15226174e-01 -8.10622802e-02 3.24732210e+01] [ 2.15892584e-01 9.76416961e-01 -5.56546329e-04 4.13090902e+00] [ 7.92703687e-02 -1.69591176e-02 9.96708883e-01 6.99925595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.791858063999996 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:32.50, Y:4.15, Z:0.70 [[ 9.73431501e-01 -2.15433955e-01 -7.75842971e-02 3.24988509e+01] [ 2.14697281e-01 9.76518174e-01 -1.78138603e-02 4.14503135e+00] [ 7.96001865e-02 6.83435159e-04 9.96826636e-01 6.95364043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821858064 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:32.53, Y:4.15, Z:0.70 [[ 9.73498343e-01 -2.15022487e-01 -7.78864987e-02 3.25256702e+01] [ 2.14276862e-01 9.76608815e-01 -1.79066549e-02 4.15141312e+00] [ 7.99149747e-02 7.42824370e-04 9.96801407e-01 6.96995424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.851858064 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:32.55, Y:4.16, Z:0.70 [[ 9.73634242e-01 -2.14700736e-01 -7.70711155e-02 3.25532627e+01] [ 2.13967846e-01 9.76679569e-01 -1.77420539e-02 4.15655809e+00] [ 7.90830159e-02 7.83530599e-04 9.96867726e-01 6.99412213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88185806399999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:32.58, Y:4.16, Z:0.70 [[ 9.73638038e-01 -2.14839580e-01 -7.66350204e-02 3.25798040e+01] [ 2.14113652e-01 9.76649032e-01 -1.76638813e-02 4.16190070e+00] [ 7.86404193e-02 7.89622601e-04 9.96902734e-01 7.01595779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91185806399999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:32.61, Y:4.17, Z:0.70 [[ 9.73514049e-01 -2.15509056e-01 -7.63298248e-02 3.26071863e+01] [ 2.14789713e-01 9.76501555e-01 -1.76094405e-02 4.16758427e+00] [ 7.83311865e-02 7.48176540e-04 9.96927111e-01 7.04040694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941858063999994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.63, Y:4.17, Z:0.71 [[ 9.73135886e-01 -2.17041860e-01 -7.68074049e-02 3.26346506e+01] [ 2.16316390e-01 9.76162080e-01 -1.77429696e-02 4.17185470e+00] [ 7.88274433e-02 6.51619849e-04 9.96888063e-01 7.06461255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.971858063999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.66, Y:4.18, Z:0.71 [[ 9.72861366e-01 -2.18117275e-01 -7.72374092e-02 3.26620711e+01] [ 2.17385178e-01 9.75922387e-01 -1.78655717e-02 4.17718959e+00] [ 7.92745066e-02 5.90456544e-04 9.96852649e-01 7.08207721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001858064 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:32.69, Y:4.19, Z:0.69 [[ 9.72381824e-01 -2.23363386e-01 -6.76933230e-02 3.26875363e+01] [ 2.21295947e-01 9.74514567e-01 -3.67350355e-02 4.19416031e+00] [ 7.41733912e-02 2.07402228e-02 9.97029664e-01 6.94364268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.031858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.72, Y:4.18, Z:0.72 [[ 9.72026915e-01 -2.19990155e-01 -8.22679029e-02 3.27194518e+01] [ 2.20858737e-01 9.75304658e-01 1.49772014e-03 4.18002534e+00] [ 7.99067852e-02 -1.96254094e-02 9.96609125e-01 7.18534180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.75, Y:4.19, Z:0.71 [[ 9.71234719e-01 -2.25529922e-01 -7.64158087e-02 3.27454916e+01] [ 2.24833054e-01 9.74236241e-01 -1.77156476e-02 4.19228224e+00] [ 7.84424588e-02 2.52523744e-05 9.96918643e-01 7.13607671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09185806399999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.77, Y:4.20, Z:0.72 [[ 9.70829447e-01 -2.27377907e-01 -7.60885862e-02 3.27734494e+01] [ 2.26690918e-01 9.73806591e-01 -1.76621301e-02 4.19746874e+00] [ 7.81115449e-02 -1.01675428e-04 9.96944620e-01 7.15985454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121858063999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.80, Y:4.20, Z:0.72 [[ 9.70500489e-01 -2.28977325e-01 -7.54863270e-02 3.28013448e+01] [ 2.28304306e-01 9.73431734e-01 -1.75442872e-02 4.20323568e+00] [ 7.74980302e-02 -2.07114199e-04 9.96992484e-01 7.17931193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:4.21, Z:0.72 [[ 9.70174250e-01 -2.30548067e-01 -7.48966806e-02 3.28278946e+01] [ 2.29888586e-01 9.73060889e-01 -1.74282854e-02 4.20817530e+00] [ 7.68970881e-02 -3.09418294e-04 9.97038987e-01 7.19164513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.86, Y:4.21, Z:0.72 [[ 9.70019356e-01 -2.31204222e-01 -7.48802779e-02 3.28551376e+01] [ 2.30546208e-01 9.72905177e-01 -1.74345080e-02 4.21455030e+00] [ 7.68823419e-02 -3.51553877e-04 9.97040110e-01 7.20602504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.211858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.88, Y:4.23, Z:0.72 [[ 9.69783839e-01 -2.32261890e-01 -7.46573538e-02 3.28814402e+01] [ 2.30827207e-01 9.72608234e-01 -2.74230512e-02 4.22534137e+00] [ 7.89816868e-02 9.36148345e-03 9.96832110e-01 7.18217108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.91, Y:4.22, Z:0.73 [[ 9.69875239e-01 -2.31615163e-01 -7.54747510e-02 3.29112551e+01] [ 2.31689196e-01 9.72757827e-01 -7.89466329e-03 4.22380619e+00] [ 7.52471785e-02 -9.82984596e-03 9.97116461e-01 7.26452008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:4.23, Z:0.73 [[ 9.69866659e-01 -2.32524188e-01 -7.27404050e-02 3.29376319e+01] [ 2.31902368e-01 9.72590538e-01 -1.69981316e-02 4.23379633e+00] [ 7.46991064e-02 -3.82751076e-04 9.97206045e-01 7.25227447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301858063999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.96, Y:4.24, Z:0.73 [[ 9.69910245e-01 -2.32515740e-01 -7.21841273e-02 3.29635502e+01] [ 2.31901807e-01 9.72592567e-01 -1.68893343e-02 4.23961355e+00] [ 7.41327818e-02 -3.58491177e-04 9.97248315e-01 7.27642471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:4.25, Z:0.73 [[ 9.70067484e-01 -2.31889272e-01 -7.20863467e-02 3.29892983e+01] [ 2.31274202e-01 9.72742144e-01 -1.68809302e-02 4.24589460e+00] [ 7.40359340e-02 -2.96070759e-04 9.97255530e-01 7.29657256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:4.25, Z:0.73 [[ 9.70582380e-01 -2.29960101e-01 -7.13315880e-02 3.30165157e+01] [ 2.29351993e-01 9.73200048e-01 -1.67131877e-02 4.25298034e+00] [ 7.32632711e-02 -1.38516355e-04 9.97312626e-01 7.31346938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.391858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.04, Y:4.26, Z:0.73 [[ 9.70856551e-01 -2.28822756e-01 -7.12580143e-02 3.30437985e+01] [ 2.28211333e-01 9.73468102e-01 -1.67165243e-02 4.25966851e+00] [ 7.31925251e-02 -3.25393565e-05 9.97317830e-01 7.33304510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:33.07, Y:4.27, Z:0.73 [[ 9.71204833e-01 -2.27455180e-01 -7.08894470e-02 3.30698589e+01] [ 2.26844936e-01 9.73788546e-01 -1.66505896e-02 4.26629885e+00] [ 7.28185944e-02 9.02210795e-05 9.97345198e-01 7.34755531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.10, Y:4.27, Z:0.74 [[ 9.71828642e-01 -2.24592165e-01 -7.14664262e-02 3.30957509e+01] [ 2.23963531e-01 9.74452800e-01 -1.67951588e-02 4.27382716e+00] [ 7.34127202e-02 3.16143165e-04 9.97301596e-01 7.36004376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481858063999994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:33.12, Y:4.28, Z:0.74 [[ 9.72056214e-01 -2.23727208e-01 -7.10834254e-02 3.31226689e+01] [ 2.23102350e-01 9.74651726e-01 -1.67139231e-02 4.28039517e+00] [ 7.30209425e-02 3.87993536e-04 9.97330332e-01 7.37822970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511858063999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.15, Y:4.29, Z:0.74 [[ 9.72200803e-01 -2.23067731e-01 -7.11785485e-02 3.31489638e+01] [ 2.22437947e-01 9.74802840e-01 -1.67565595e-02 4.28636142e+00] [ 7.31228990e-02 4.57930436e-04 9.97322832e-01 7.40066491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541858063999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.18, Y:4.29, Z:0.74 [[ 9.72250599e-01 -2.23010659e-01 -7.06754400e-02 3.31761419e+01] [ 2.22388627e-01 9.74815892e-01 -1.66515936e-02 4.29253138e+00] [ 7.26090250e-02 4.72107769e-04 9.97360369e-01 7.42398745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.20, Y:4.30, Z:0.74 [[ 9.72125503e-01 -2.23734337e-01 -7.01067267e-02 3.32034892e+01] [ 2.23122769e-01 9.74650070e-01 -1.65369705e-02 4.29808739e+00] [ 7.20294142e-02 4.33603750e-04 9.97402414e-01 7.44559035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.23, Y:4.30, Z:0.75 [[ 9.71985300e-01 -2.24521582e-01 -6.95315379e-02 3.32297198e+01] [ 2.23920519e-01 9.74469037e-01 -1.64224308e-02 4.30349622e+00] [ 7.14435209e-02 3.92823295e-04 9.97444569e-01 7.46832672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.26, Y:4.31, Z:0.75 [[ 9.71844778e-01 -2.25268998e-01 -6.90768147e-02 3.32563972e+01] [ 2.24676647e-01 9.74296544e-01 -1.63293586e-02 4.30951653e+00] [ 7.09798001e-02 3.49654760e-04 9.97477692e-01 7.48911140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.29, Y:4.30, Z:0.77 [[ 9.71921950e-01 -2.21377666e-01 -7.97474316e-02 3.32896045e+01] [ 2.22223617e-01 9.74994097e-01 1.78178826e-03 4.30400434e+00] [ 7.73588270e-02 -1.94535218e-02 9.96813509e-01 7.67106531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.31, Y:4.33, Z:0.75 [[ 9.71371000e-01 -2.28734719e-01 -6.41779420e-02 3.33102376e+01] [ 2.26882233e-01 9.73296632e-01 -3.49015619e-02 4.33076177e+00] [ 7.04473738e-02 1.93415303e-02 9.97327966e-01 7.45394581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721858063999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:33.34, Y:4.33, Z:0.75 [[ 9.71247715e-01 -2.27903980e-01 -6.88306034e-02 3.33396516e+01] [ 2.27320719e-01 9.73683595e-01 -1.62956236e-02 4.32810167e+00] [ 7.07330669e-02 1.80464927e-04 9.97495263e-01 7.53967268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:4.32, Z:0.78 [[ 9.71806866e-01 -2.21086172e-01 -8.19287534e-02 3.33778421e+01] [ 2.22149027e-01 9.75004608e-01 3.97800779e-03 4.31751917e+00] [ 7.90014295e-02 -2.20662481e-02 9.96630250e-01 7.75396554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.41, Y:4.33, Z:0.77 [[ 9.72120995e-01 -2.20865423e-01 -7.87352321e-02 3.34051849e+01] [ 2.20426971e-01 9.75298267e-01 -1.43262220e-02 4.33062192e+00] [ 7.99545025e-02 -3.42854750e-03 9.96792618e-01 7.71619524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81185806399999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.43, Y:4.35, Z:0.76 [[ 9.71580168e-01 -2.26358770e-01 -6.92364407e-02 3.34260013e+01] [ 2.24236839e-01 9.73827342e-01 -3.71234104e-02 4.35244126e+00] [ 7.58275485e-02 2.05430086e-02 9.96909308e-01 7.58118055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.45, Y:4.35, Z:0.76 [[ 9.71530818e-01 -2.25898586e-01 -7.13981746e-02 3.34538706e+01] [ 2.24721158e-01 9.74122062e-01 -2.42200310e-02 4.35428472e+00] [ 7.50218078e-02 7.48582605e-03 9.97153795e-01 7.61787661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.871858063999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:33.48, Y:4.36, Z:0.76 [[ 9.71744152e-01 -2.25221601e-01 -7.06295478e-02 3.34799353e+01] [ 2.24069695e-01 9.74279234e-01 -2.39320963e-02 4.36092000e+00] [ 7.42029268e-02 7.42993338e-03 9.97215484e-01 7.60162026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901858063999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.51, Y:4.37, Z:0.76 [[ 9.71710533e-01 -2.25989758e-01 -6.86095407e-02 3.35059112e+01] [ 2.24776266e-01 9.74089097e-01 -2.50212172e-02 4.36870011e+00] [ 7.24863444e-02 8.89158398e-03 9.97329770e-01 7.58676538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.54, Y:4.37, Z:0.77 [[ 9.71794653e-01 -2.23844674e-01 -7.42207102e-02 3.35363758e+01] [ 2.23608806e-01 9.74610184e-01 -1.15797429e-02 4.36784401e+00] [ 7.49283238e-02 -5.34327218e-03 9.97174606e-01 7.68115342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.56, Y:4.38, Z:0.77 [[ 9.71736114e-01 -2.24460193e-01 -7.31200884e-02 3.35627247e+01] [ 2.23799370e-01 9.74483191e-01 -1.72148943e-02 4.37691674e+00] [ 7.51183555e-02 3.64104736e-04 9.97174558e-01 7.68238667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.991858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.59, Y:4.39, Z:0.77 [[ 9.71758695e-01 -2.24893653e-01 -7.14694599e-02 3.35902656e+01] [ 2.23751325e-01 9.74357812e-01 -2.37107220e-02 4.38701106e+00] [ 7.49692174e-02 7.04971389e-03 9.97160929e-01 7.65749385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:4.38, Z:0.78 [[ 9.71612419e-01 -2.22109290e-01 -8.14663723e-02 3.36170742e+01] [ 2.23203720e-01 9.74761584e-01 4.46691241e-03 4.38062497e+00] [ 7.84181474e-02 -2.25237049e-02 9.96666081e-01 7.82745188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.64, Y:4.41, Z:0.76 [[ 9.71491147e-01 -2.26922624e-01 -6.86372653e-02 3.36434710e+01] [ 2.24727074e-01 9.73669621e-01 -3.82780744e-02 4.40588769e+00] [ 7.55161812e-02 2.17621586e-02 9.96907074e-01 7.63793408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.68, Y:4.40, Z:0.78 [[ 9.71012972e-01 -2.26563679e-01 -7.61754991e-02 3.36756047e+01] [ 2.26046057e-01 9.73993863e-01 -1.54640174e-02 4.39851385e+00] [ 7.76980533e-02 -2.20340966e-03 9.96974502e-01 7.76401178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.70, Y:4.40, Z:0.78 [[ 9.70859575e-01 -2.27595206e-01 -7.50473728e-02 3.37038458e+01] [ 2.26941346e-01 9.73755789e-01 -1.72420569e-02 4.40492556e+00] [ 7.70020233e-02 -2.91735753e-04 9.97030894e-01 7.77673694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.73, Y:4.41, Z:0.79 [[ 9.70788133e-01 -2.26660996e-01 -7.87095557e-02 3.37338695e+01] [ 2.26616375e-01 9.73936615e-01 -9.61708235e-03 4.40642936e+00] [ 7.88379357e-02 -8.50072474e-03 9.96851201e-01 7.87123914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:4.41, Z:0.79 [[ 9.70887985e-01 -2.26025401e-01 -7.93034658e-02 3.37618199e+01] [ 2.25799765e-01 9.74100813e-01 -1.19193719e-02 4.41071252e+00] [ 7.99436513e-02 -6.33432896e-03 9.96779258e-01 7.89203924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.78, Y:4.42, Z:0.79 [[ 9.70693432e-01 -2.27301814e-01 -7.80265706e-02 3.37819556e+01] [ 2.26693679e-01 9.73823214e-01 -1.66830091e-02 4.42084698e+00] [ 7.97761640e-02 -1.49404304e-03 9.96811683e-01 7.87595072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:4.43, Z:0.79 [[ 9.71029850e-01 -2.25829503e-01 -7.81157203e-02 3.38158692e+01] [ 2.24648237e-01 9.74151468e-01 -2.37083848e-02 4.42650476e+00] [ 8.14505964e-02 5.47299052e-03 9.96662353e-01 7.86957338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.84, Y:4.43, Z:0.79 [[ 9.70772416e-01 -2.26267158e-01 -8.00255594e-02 3.38374488e+01] [ 2.25954931e-01 9.74050268e-01 -1.30554833e-02 4.42751074e+00] [ 8.09029447e-02 -5.40826666e-03 9.96707311e-01 7.93264843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.86, Y:4.44, Z:0.79 [[ 9.70774885e-01 -2.26905346e-01 -7.81670392e-02 3.38644840e+01] [ 2.26116815e-01 9.73916575e-01 -1.89127306e-02 4.43506053e+00] [ 8.04195747e-02 6.85121962e-04 9.96760865e-01 7.93264118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:33.89, Y:4.44, Z:0.80 [[ 9.70714714e-01 -2.27310464e-01 -7.77360756e-02 3.38914839e+01] [ 2.26530115e-01 9.73822111e-01 -1.88309024e-02 4.44018297e+00] [ 7.99815704e-02 6.69871863e-04 9.96796117e-01 7.95421937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351858064 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:33.93, Y:4.44, Z:0.80 [[ 9.71026650e-01 -2.25367021e-01 -7.94792531e-02 3.39272393e+01] [ 2.24708271e-01 9.74273311e-01 -1.72542423e-02 4.44157078e+00] [ 8.13230522e-02 -1.10531641e-03 9.96687182e-01 7.99734831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.95, Y:4.45, Z:0.80 [[ 9.70179159e-01 -2.30037962e-01 -7.63867471e-02 3.39466846e+01] [ 2.29283797e-01 9.73181501e-01 -1.86200789e-02 4.44999053e+00] [ 7.86214942e-02 5.50569048e-04 9.96904387e-01 7.98912622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.97, Y:4.46, Z:0.80 [[ 9.70000982e-01 -2.30935999e-01 -7.59385283e-02 3.39745071e+01] [ 2.30199236e-01 9.72968860e-01 -1.84366319e-02 4.45519226e+00] [ 7.81435053e-02 4.02559904e-04 9.96942040e-01 8.00831544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.00, Y:4.47, Z:0.80 [[ 9.69091739e-01 -2.34505494e-01 -7.66053222e-02 3.40035453e+01] [ 2.32329059e-01 9.71959222e-01 -3.63108678e-02 4.46849175e+00] [ 8.29723474e-02 1.73909196e-02 9.96400093e-01 7.97065029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.03, Y:4.46, Z:0.81 [[ 9.69392824e-01 -2.32364717e-01 -7.92728899e-02 3.40325100e+01] [ 2.32968799e-01 9.72482776e-01 -1.67022214e-03 4.45727107e+00] [ 7.74796207e-02 -1.68490086e-02 9.96851553e-01 8.11656674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:4.47, Z:0.81 [[ 9.69322630e-01 -2.34024467e-01 -7.51411189e-02 3.40590735e+01] [ 2.33307898e-01 9.72230685e-01 -1.83008004e-02 4.47002923e+00] [ 7.73373365e-02 2.08363473e-04 9.97004961e-01 8.07113377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:4.48, Z:0.81 [[ 9.69282180e-01 -2.34050655e-01 -7.55800668e-02 3.40850670e+01] [ 2.33323978e-01 9.72224377e-01 -1.84304893e-02 4.47504345e+00] [ 7.77944514e-02 2.29703013e-04 9.96969393e-01 8.09509684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.11, Y:4.48, Z:0.81 [[ 9.69235072e-01 -2.34541160e-01 -7.46580114e-02 3.41135862e+01] [ 2.33433097e-01 9.72092203e-01 -2.33610350e-02 4.48136129e+00] [ 7.80535950e-02 5.21468362e-03 9.96935526e-01 8.07208306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.14, Y:4.48, Z:0.82 [[ 9.69596290e-01 -2.32173202e-01 -7.73216555e-02 3.41408456e+01] [ 2.31825435e-01 9.72662768e-01 -1.35686216e-02 4.48226860e+00] [ 7.83581658e-02 -4.76904124e-03 9.96913865e-01 8.15811594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.17, Y:4.49, Z:0.82 [[ 9.69507600e-01 -2.32618042e-01 -7.70964311e-02 3.41679139e+01] [ 2.31853862e-01 9.72568091e-01 -1.88439753e-02 4.49064809e+00] [ 7.93649774e-02 3.94271941e-04 9.96845547e-01 8.15153224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.651858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.19, Y:4.50, Z:0.82 [[ 9.70257564e-01 -2.29703075e-01 -7.63986677e-02 3.41942816e+01] [ 2.28941810e-01 9.73260538e-01 -1.86968612e-02 4.49556999e+00] [ 7.86505349e-02 6.49921788e-04 9.96902037e-01 8.16928784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:4.53, Z:0.79 [[ 0.96947909 -0.23872723 -0.05585348 34.2065604 ] [ 0.23542296 0.9700515 -0.05980058 4.52731174] [ 0.06845678 0.04482622 0.99664652 0.78713317] [ 0. 0. 0. 1. ]] SLAMing on 37.711858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.25, Y:4.49, Z:0.84 [[ 9.70785252e-01 -2.23199351e-01 -8.80797562e-02 3.42529168e+01] [ 2.25936357e-01 9.73886619e-01 2.23073086e-02 4.48835320e+00] [ 8.08007191e-02 -4.15560255e-02 9.95863615e-01 8.39280749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.26, Y:4.55, Z:0.78 [[ 0.97034618 -0.23632797 -0.05076783 34.26216053] [ 0.23255322 0.97001677 -0.07061492 4.54546926] [ 0.06593393 0.05671469 0.9962109 0.78274136] [ 0. 0. 0. 1. ]] SLAMing on 37.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.31, Y:4.49, Z:0.85 [[ 9.71560469e-01 -2.18120590e-01 -9.21610744e-02 3.43111531e+01] [ 2.21960869e-01 9.74477129e-01 3.35812023e-02 4.49360531e+00] [ 8.24841076e-02 -5.30823208e-02 9.95177692e-01 8.50026377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:4.56, Z:0.78 [[ 0.97054774 -0.23601576 -0.04830779 34.31721242] [ 0.23203009 0.96972908 -0.07607592 4.56005879] [ 0.06480059 0.06262645 0.99593113 0.78484449] [ 0. 0. 0. 1. ]] SLAMing on 37.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.37, Y:4.51, Z:0.85 [[ 9.71550787e-01 -2.19926932e-01 -8.78704326e-02 3.43675875e+01] [ 2.23579543e-01 9.74091575e-01 3.40263419e-02 4.50546482e+00] [ 7.81105391e-02 -5.27043504e-02 9.95550599e-01 8.51627758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.39, Y:4.53, Z:0.83 [[ 9.71545443e-01 -2.24530031e-01 -7.54037009e-02 3.43887615e+01] [ 2.23754175e-01 9.74466316e-01 -1.86940800e-02 4.53391843e+00] [ 7.76757490e-02 1.29025536e-03 9.96977840e-01 8.32588355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:4.54, Z:0.83 [[ 9.71434414e-01 -2.25016747e-01 -7.53833123e-02 3.44165423e+01] [ 2.24250573e-01 9.74354214e-01 -1.85888800e-02 4.53978240e+00] [ 7.76328573e-02 1.15312678e-03 9.96981349e-01 8.34821786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.43, Y:4.57, Z:0.81 [[ 0.97040087 -0.23522122 -0.05470941 34.43204294] [ 0.23235454 0.97113158 -0.05398912 4.57002146] [ 0.06582942 0.03967911 0.99704165 0.80572319] [ 0. 0. 0. 1. ]] SLAMing on 37.95185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.48, Y:4.53, Z:0.86 [[ 9.71014199e-01 -2.22893196e-01 -8.63136653e-02 3.44768960e+01] [ 2.25167645e-01 9.74163686e-01 1.74540458e-02 4.53267694e+00] [ 8.01932503e-02 -3.63831710e-02 9.96115108e-01 8.55770701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.50, Y:4.57, Z:0.83 [[ 9.70490172e-01 -2.31349001e-01 -6.80181341e-02 3.44962077e+01] [ 2.29516195e-01 9.72720032e-01 -3.37350662e-02 4.56519668e+00] [ 7.39671755e-02 1.71282868e-02 9.97113574e-01 8.27357935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.53, Y:4.56, Z:0.84 [[ 9.70267537e-01 -2.30291508e-01 -7.44763548e-02 3.45273915e+01] [ 2.29705659e-01 9.73121020e-01 -1.64557329e-02 4.56102656e+00] [ 7.62641219e-02 -1.14117671e-03 9.97086998e-01 8.38147323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.56, Y:4.56, Z:0.84 [[ 9.70111592e-01 -2.29931218e-01 -7.75573001e-02 3.45559062e+01] [ 2.29706385e-01 9.73186861e-01 -1.19294234e-02 4.56365141e+00] [ 7.82206922e-02 -6.24253512e-03 9.96916523e-01 8.44712229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.58, Y:4.57, Z:0.84 [[ 9.69890513e-01 -2.31557391e-01 -7.54557368e-02 3.45832795e+01] [ 2.30758352e-01 9.72820416e-01 -1.92619056e-02 4.57251637e+00] [ 7.78651179e-02 1.26989802e-03 9.96963094e-01 8.43561409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:4.57, Z:0.86 [[ 9.69307180e-01 -2.31368648e-01 -8.31392715e-02 3.46144634e+01] [ 2.31673618e-01 9.72774487e-01 -6.09359410e-03 4.56890234e+00] [ 8.22856288e-02 -1.33546113e-02 9.96519307e-01 8.56890586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:4.58, Z:0.85 [[ 9.68698649e-01 -2.35389107e-01 -7.88346144e-02 3.46399483e+01] [ 2.33708165e-01 9.71842558e-01 -3.00422356e-02 4.58465288e+00] [ 8.36864484e-02 1.06775799e-02 9.96434929e-01 8.47649470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:4.58, Z:0.85 [[ 9.68512595e-01 -2.35849657e-01 -7.97389009e-02 3.46694850e+01] [ 2.35119172e-01 9.71789251e-01 -1.85641169e-02 4.58352056e+00] [ 8.18677474e-02 -7.68563277e-04 9.96642906e-01 8.54128601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:4.58, Z:0.87 [[ 9.67690889e-01 -2.37442212e-01 -8.48265261e-02 3.46975676e+01] [ 2.37818837e-01 9.71292305e-01 -5.78441825e-03 4.58231667e+00] [ 8.37648171e-02 -1.45758169e-02 9.96378944e-01 8.65766169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:4.60, Z:0.85 [[ 9.67101658e-01 -2.42998745e-01 -7.52727896e-02 3.47232558e+01] [ 2.41052357e-01 9.69913415e-01 -3.40841431e-02 4.59961041e+00] [ 8.12904924e-02 1.48181480e-02 9.96580292e-01 8.51837399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:34.75, Y:4.60, Z:0.86 [[ 9.66738730e-01 -2.43357081e-01 -7.86991696e-02 3.47513173e+01] [ 2.42574555e-01 9.69936738e-01 -1.95015483e-02 4.59922243e+00] [ 8.10790557e-02 -2.37513993e-04 9.96707645e-01 8.59702887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.78, Y:4.61, Z:0.86 [[ 9.65889984e-01 -2.46925209e-01 -7.80030763e-02 3.47753454e+01] [ 2.46129273e-01 9.69034539e-01 -1.98102042e-02 4.60522247e+00] [ 8.04793139e-02 -6.43626098e-05 9.96756277e-01 8.60642199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.81, Y:4.61, Z:0.86 [[ 9.66096568e-01 -2.45865370e-01 -7.87885842e-02 3.48058202e+01] [ 2.45067532e-01 9.69303969e-01 -1.97919118e-02 4.61029485e+00] [ 8.12362331e-02 -1.87625809e-04 9.96694858e-01 8.63992174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.83, Y:4.62, Z:0.87 [[ 9.66086138e-01 -2.46032181e-01 -7.83947728e-02 3.48329769e+01] [ 2.45260663e-01 9.69261572e-01 -1.94733953e-02 4.61655153e+00] [ 8.07761226e-02 -4.14176687e-04 9.96732184e-01 8.66145353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.86, Y:4.62, Z:0.87 [[ 9.66519024e-01 -2.45567603e-01 -7.44145754e-02 3.48585837e+01] [ 2.44668557e-01 9.69376983e-01 -2.11083310e-02 4.62470670e+00] [ 7.73192989e-02 2.19469670e-03 9.97003967e-01 8.65504920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401858063999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:34.89, Y:4.63, Z:0.87 [[ 9.66393078e-01 -2.45901941e-01 -7.49443379e-02 3.48866683e+01] [ 2.45014196e-01 9.69292858e-01 -2.09618535e-02 4.63178661e+00] [ 7.77975719e-02 1.89496343e-03 9.96967375e-01 8.66960057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.91, Y:4.64, Z:0.87 [[ 9.67091026e-01 -2.41810904e-01 -7.91355434e-02 3.49139945e+01] [ 2.41352319e-01 9.70314501e-01 -1.54540556e-02 4.63638604e+00] [ 8.05233244e-02 -4.15406839e-03 9.96744068e-01 8.73552177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:4.65, Z:0.87 [[ 9.67314758e-01 -2.42053425e-01 -7.55797490e-02 3.49408247e+01] [ 2.40906583e-01 9.70249611e-01 -2.40771953e-02 4.64879675e+00] [ 7.91591897e-02 5.08256727e-03 9.96849031e-01 8.69002086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.96, Y:4.67, Z:0.85 [[ 9.67104782e-01 -2.45784992e-01 -6.55597347e-02 3.49600000e+01] [ 2.43486359e-01 9.69031738e-01 -4.11325095e-02 4.66790447e+00] [ 7.36392172e-02 2.38165455e-02 9.97000520e-01 8.54142109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.00, Y:4.65, Z:0.89 [[ 9.67793050e-01 -2.37646772e-01 -8.30699940e-02 3.49971355e+01] [ 2.38728971e-01 9.71080958e-01 3.20192984e-03 4.65070792e+00] [ 7.99067610e-02 -2.29300196e-02 9.96538571e-01 8.85671331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.02, Y:4.67, Z:0.88 [[ 9.68000015e-01 -2.38597390e-01 -7.77641116e-02 3.50235926e+01] [ 2.37750092e-01 9.71118078e-01 -2.01139811e-02 4.66824838e+00] [ 8.03172780e-02 9.81909247e-04 9.96768865e-01 8.78128564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581858063999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.05, Y:4.68, Z:0.88 [[ 9.68235251e-01 -2.37656360e-01 -7.77171359e-02 3.50487328e+01] [ 2.36609718e-01 9.71343208e-01 -2.25435734e-02 4.67573211e+00] [ 8.08476358e-02 3.43885286e-03 9.96720540e-01 8.79931403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:4.68, Z:0.89 [[ 9.68352731e-01 -2.36207223e-01 -8.06172172e-02 3.50786712e+01] [ 2.36135719e-01 9.71662734e-01 -1.05571408e-02 4.67707155e+00] [ 8.08264186e-02 -8.81356843e-03 9.96689225e-01 8.89561157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.10, Y:4.69, Z:0.88 [[ 9.68133357e-01 -2.38515260e-01 -7.63431298e-02 3.51032420e+01] [ 2.37230249e-01 9.71115732e-01 -2.56133615e-02 4.69230763e+00] [ 8.02471919e-02 6.68624997e-03 9.96752568e-01 8.82333040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.13, Y:4.70, Z:0.89 [[ 9.67915338e-01 -2.37992782e-01 -8.06184528e-02 3.51302639e+01] [ 2.37198973e-01 9.71266870e-01 -1.94245968e-02 4.69579686e+00] [ 8.29249461e-02 -3.21249000e-04 9.96555744e-01 8.89446977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:4.70, Z:0.90 [[ 9.67624284e-01 -2.38117830e-01 -8.36847910e-02 3.51609418e+01] [ 2.38433681e-01 9.71138048e-01 -6.34601253e-03 4.69705434e+00] [ 8.27805833e-02 -1.38127169e-02 9.96472069e-01 8.99854920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.18, Y:4.72, Z:0.89 [[ 9.67383530e-01 -2.42463378e-01 -7.33526798e-02 3.51846725e+01] [ 2.40659498e-01 9.70060672e-01 -3.26389221e-02 4.71766516e+00] [ 7.90702932e-02 1.39213366e-02 9.96771832e-01 8.85552976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.21, Y:4.72, Z:0.89 [[ 9.66695421e-01 -2.43363979e-01 -7.92081861e-02 3.52103177e+01] [ 2.42306821e-01 9.69930733e-01 -2.28424415e-02 4.72092280e+00] [ 8.23854815e-02 2.88899984e-03 9.96596351e-01 8.93238399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.24, Y:4.72, Z:0.90 [[ 9.66496834e-01 -2.43677680e-01 -8.06539407e-02 3.52377420e+01] [ 2.43549868e-01 9.69819365e-01 -1.15698812e-02 4.72299163e+00] [ 8.10390753e-02 -8.46100305e-03 9.96675012e-01 8.99948196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.26, Y:4.73, Z:0.90 [[ 9.66111558e-01 -2.45641885e-01 -7.93001994e-02 3.52646585e+01] [ 2.44832970e-01 9.69360632e-01 -1.99193811e-02 4.73357780e+00] [ 8.17635258e-02 -1.70959043e-04 9.96651743e-01 8.98240431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.851858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.29, Y:4.74, Z:0.90 [[ 9.65226581e-01 -2.48454699e-01 -8.12890532e-02 3.52912916e+01] [ 2.47612673e-01 9.68643435e-01 -2.04416183e-02 4.74000647e+00] [ 8.38189238e-02 -3.97406398e-04 9.96480923e-01 9.00184866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88185806399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.32, Y:4.75, Z:0.90 [[ 9.65165205e-01 -2.48693871e-01 -8.12864431e-02 3.53189115e+01] [ 2.47851818e-01 9.68582052e-01 -2.04519919e-02 4.74705467e+00] [ 8.38188750e-02 -4.07441797e-04 9.96480923e-01 9.02377996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91185806399999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:35.35, Y:4.76, Z:0.90 [[ 9.64607668e-01 -2.50658354e-01 -8.18684150e-02 3.53451283e+01] [ 2.49146177e-01 9.68050609e-01 -2.83584288e-02 4.75743435e+00] [ 8.63610461e-02 6.95755526e-03 9.96239611e-01 9.01436018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941858063999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.37, Y:4.78, Z:0.89 [[ 9.63656036e-01 -2.57051083e-01 -7.27446487e-02 3.53698061e+01] [ 2.54377016e-01 9.66100833e-01 -4.40626075e-02 4.77538071e+00] [ 8.16050067e-02 2.39566310e-02 9.96376788e-01 8.88576891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.40, Y:4.75, Z:0.93 [[ 9.63847180e-01 -2.49334994e-01 -9.39716716e-02 3.54036631e+01] [ 2.51621102e-01 9.67736783e-01 1.31278350e-02 4.75282631e+00] [ 8.76666145e-02 -3.62984824e-02 9.95488315e-01 9.26739273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.43, Y:4.77, Z:0.91 [[ 9.63536445e-01 -2.53790130e-01 -8.47826032e-02 3.54281277e+01] [ 2.53204992e-01 9.67249525e-01 -1.77647930e-02 4.77461836e+00] [ 8.65144618e-02 -4.35035283e-03 9.96241096e-01 9.14713419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:4.79, Z:0.91 [[ 9.61977387e-01 -2.59818318e-01 -8.42255839e-02 3.54560999e+01] [ 2.58369344e-01 9.65644362e-01 -2.78612200e-02 4.78714627e+00] [ 8.85708156e-02 5.04055471e-03 9.96057129e-01 9.13746401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06185806399999 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:35.48, Y:4.79, Z:0.92 [[ 9.62612967e-01 -2.57453835e-01 -8.42246891e-02 3.54793528e+01] [ 2.57176910e-01 9.66258409e-01 -1.43082132e-02 4.78567851e+00] [ 8.50665184e-02 -7.88737366e-03 9.96344055e-01 9.20577338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.51, Y:4.80, Z:0.92 [[ 9.61888612e-01 -2.60972049e-01 -8.16326415e-02 3.55062114e+01] [ 2.59637079e-01 9.65335701e-01 -2.67501633e-02 4.79816813e+00] [ 8.57839481e-02 4.53581681e-03 9.96303438e-01 9.18221070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121858063999994 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:35.53, Y:4.80, Z:0.92 [[ 9.61010480e-01 -2.63905509e-01 -8.25393197e-02 3.55349936e+01] [ 2.62960024e-01 9.64548504e-01 -2.23205750e-02 4.80357323e+00] [ 8.55037001e-02 -2.54235062e-04 9.96337821e-01 9.22882250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.56, Y:4.81, Z:0.93 [[ 9.60201092e-01 -2.67003622e-01 -8.19934635e-02 3.55620532e+01] [ 2.66216021e-01 9.63693340e-01 -2.05955202e-02 4.81157386e+00] [ 8.45156332e-02 -2.05213260e-03 9.96420040e-01 9.25783663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.59, Y:4.82, Z:0.93 [[ 9.60560305e-01 -2.65904568e-01 -8.13551557e-02 3.55882866e+01] [ 2.65682429e-01 9.63962641e-01 -1.37431316e-02 4.81660716e+00] [ 8.20776922e-02 -8.41352876e-03 9.96590420e-01 9.30190599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.211858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.61, Y:4.84, Z:0.91 [[ 9.60528704e-01 -2.70427749e-01 -6.52184178e-02 3.56098488e+01] [ 2.67750313e-01 9.62343373e-01 -4.69574529e-02 4.84356748e+00] [ 7.54611105e-02 2.76417296e-02 9.96765547e-01 9.06662399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.65, Y:4.83, Z:0.94 [[ 9.60583900e-01 -2.63900104e-01 -8.73802392e-02 3.56456538e+01] [ 2.64946523e-01 9.64263028e-01 3.91979939e-04 4.82748984e+00] [ 8.41540905e-02 -2.35276202e-02 9.96174955e-01 9.41171741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.67, Y:4.84, Z:0.93 [[ 9.61295943e-01 -2.63437501e-01 -8.06894891e-02 3.56705726e+01] [ 2.62659008e-01 9.64675015e-01 -2.03066940e-02 4.84452150e+00] [ 8.31886788e-02 -1.67307856e-03 9.96532410e-01 9.33454488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.70, Y:4.85, Z:0.94 [[ 9.60949125e-01 -2.64028369e-01 -8.28601199e-02 3.56989197e+01] [ 2.63390872e-01 9.64507330e-01 -1.87312050e-02 4.85219887e+00] [ 8.48647626e-02 -3.82486423e-03 9.96385138e-01 9.35898289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.331858063999995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:35.72, Y:4.86, Z:0.94 [[ 9.61207622e-01 -2.62877142e-01 -8.35195542e-02 3.57229087e+01] [ 2.61880633e-01 9.64829310e-01 -2.28678244e-02 4.86414117e+00] [ 8.65935421e-02 1.08573370e-04 9.96243719e-01 9.35487986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361858063999996 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:35.75, Y:4.87, Z:0.94 [[ 9.62130292e-01 -2.59461678e-01 -8.35759483e-02 3.57487046e+01] [ 2.59513272e-01 9.65683154e-01 -1.04359097e-02 4.86634796e+00] [ 8.34156039e-02 -1.16483630e-02 9.96446764e-01 9.41253273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.78, Y:4.89, Z:0.94 [[ 9.61754962e-01 -2.61659792e-01 -8.10033673e-02 3.57759394e+01] [ 2.59914887e-01 9.65115262e-01 -3.15718534e-02 4.88555577e+00] [ 8.64386707e-02 9.31040562e-03 9.96213668e-01 9.37351254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.80, Y:4.89, Z:0.95 [[ 9.62526130e-01 -2.58042193e-01 -8.34126781e-02 3.58033276e+01] [ 2.57856334e-01 9.66093367e-01 -1.31801570e-02 4.88693446e+00] [ 8.39854717e-02 -8.82224185e-03 9.96427924e-01 9.47367980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45185806399999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:35.82, Y:4.91, Z:0.93 [[ 9.62571943e-01 -2.61987280e-01 -6.94112402e-02 3.58234716e+01] [ 2.59064328e-01 9.64648092e-01 -4.83707839e-02 4.91388587e+00] [ 7.96299505e-02 2.85783831e-02 9.96414746e-01 9.25619808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.85, Y:4.91, Z:0.94 [[ 9.63009799e-01 -2.58302683e-01 -7.67583904e-02 3.58535366e+01] [ 2.57878799e-01 9.66052042e-01 -1.55556131e-02 4.90647426e+00] [ 7.81706563e-02 -4.81415374e-03 9.96928369e-01 9.42333672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.89, Y:4.91, Z:0.96 [[ 9.63751560e-01 -2.51404269e-01 -8.93242584e-02 3.58879709e+01] [ 2.52572106e-01 9.67576335e-01 1.83533066e-03 4.90532095e+00] [ 8.59666285e-02 -2.43296188e-02 9.96000908e-01 9.64249365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.91, Y:4.92, Z:0.96 [[ 9.64667179e-01 -2.50261421e-01 -8.23799471e-02 3.59127367e+01] [ 2.50093676e-01 9.68140738e-01 -1.25165840e-02 4.92066186e+00] [ 8.28878009e-02 -8.52836609e-03 9.96522393e-01 9.59652222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.94, Y:4.94, Z:0.96 [[ 9.64764724e-01 -2.50444944e-01 -8.06619936e-02 3.59392020e+01] [ 2.49168586e-01 9.68119537e-01 -2.56822516e-02 4.93635244e+00] [ 8.45224420e-02 4.67889549e-03 9.96410590e-01 9.56947650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.97, Y:4.95, Z:0.96 [[ 9.64890506e-01 -2.50220128e-01 -7.98511010e-02 3.59666965e+01] [ 2.48477707e-01 9.68134371e-01 -3.12196876e-02 4.94799185e+00] [ 8.51183896e-02 1.02823617e-02 9.96317787e-01 9.55622507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.00, Y:4.95, Z:0.97 [[ 9.65438115e-01 -2.45588467e-01 -8.72671199e-02 3.59970626e+01] [ 2.45526874e-01 9.69320297e-01 -1.16066954e-02 4.94706426e+00] [ 8.74402611e-02 -1.02208770e-02 9.96117330e-01 9.70565947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.02, Y:4.96, Z:0.97 [[ 9.65521674e-01 -2.45410344e-01 -8.68427384e-02 3.60245797e+01] [ 2.44832912e-01 9.69409047e-01 -1.74053028e-02 4.95750348e+00] [ 8.84575776e-02 -4.45676350e-03 9.96069975e-01 9.72479352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.05, Y:4.97, Z:0.97 [[ 9.65732678e-01 -2.46740710e-01 -8.04948213e-02 3.60469123e+01] [ 2.45233669e-01 9.69052143e-01 -2.82558125e-02 4.97377997e+00] [ 8.49755384e-02 7.54752115e-03 9.96354451e-01 9.65285372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721858063999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:36.08, Y:4.98, Z:0.97 [[ 9.64891015e-01 -2.47011178e-01 -8.92793747e-02 3.60799057e+01] [ 2.46433635e-01 9.68999677e-01 -1.76093451e-02 4.97567868e+00] [ 9.08613904e-02 -5.01034201e-03 9.95850945e-01 9.74988666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.10, Y:4.99, Z:0.97 [[ 9.65258869e-01 -2.47432775e-01 -8.39782011e-02 3.61023479e+01] [ 2.46160596e-01 9.68897646e-01 -2.53438980e-02 4.98777540e+00] [ 8.76371924e-02 3.79129826e-03 9.96145245e-01 9.72157208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.13, Y:4.99, Z:0.98 [[ 9.64871405e-01 -2.48175833e-01 -8.62086294e-02 3.61292677e+01] [ 2.47457257e-01 9.68710635e-01 -1.90948105e-02 4.99374613e+00] [ 8.82500866e-02 -2.90891436e-03 9.96094102e-01 9.76860609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.16, Y:5.00, Z:0.98 [[ 9.64539071e-01 -2.48114890e-01 -9.00187829e-02 3.61594468e+01] [ 2.47768662e-01 9.68700305e-01 -1.51792149e-02 4.99871200e+00] [ 9.09674117e-02 -7.66288754e-03 9.95824387e-01 9.84173231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.18, Y:5.02, Z:0.98 [[ 9.64021907e-01 -2.52669830e-01 -8.25815958e-02 3.61839515e+01] [ 2.50847027e-01 9.67500287e-01 -3.19212060e-02 5.01609490e+00] [ 8.79632434e-02 1.00573941e-02 9.96072947e-01 9.75888663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.21, Y:5.02, Z:0.98 [[ 9.63560618e-01 -2.53692589e-01 -8.47997999e-02 3.62104132e+01] [ 2.52800186e-01 9.67284447e-01 -2.12806228e-02 5.01926444e+00] [ 8.74242638e-02 -9.32235078e-04 9.96170733e-01 9.81224554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:5.02, Z:0.99 [[ 9.62410098e-01 -2.57198232e-01 -8.72689630e-02 3.62392784e+01] [ 2.56676239e-01 9.66341809e-01 -1.73440887e-02 5.02424292e+00] [ 8.87925165e-02 -5.70774311e-03 9.96033790e-01 9.88442898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.27, Y:5.04, Z:0.99 [[ 9.61988800e-01 -2.60162474e-01 -8.30243039e-02 3.62660185e+01] [ 2.59028616e-01 9.65562971e-01 -2.43377417e-02 5.03514896e+00] [ 8.64969606e-02 1.90696440e-03 9.96250289e-01 9.86568781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:5.04, Z:0.99 [[ 9.60906015e-01 -2.62917215e-01 -8.67995832e-02 3.62951529e+01] [ 2.62188705e-01 9.64811527e-01 -1.98947460e-02 5.03983623e+00] [ 8.89759096e-02 -3.64088919e-03 9.96027124e-01 9.93338596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:5.05, Z:0.99 [[ 9.60823472e-01 -2.64074996e-01 -8.41584933e-02 3.63195070e+01] [ 2.63146131e-01 9.64501760e-01 -2.21465337e-02 5.05024365e+00] [ 8.70193607e-02 -8.67072465e-04 9.96206243e-01 9.92252779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:5.06, Z:0.99 [[ 9.60748643e-01 -2.64464451e-01 -8.37890131e-02 3.63474518e+01] [ 2.63577967e-01 9.64394607e-01 -2.16724930e-02 5.05906998e+00] [ 8.65372763e-02 -1.26311950e-03 9.96247813e-01 9.93872874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051858063999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.37, Y:5.07, Z:1.00 [[ 9.60510035e-01 -2.64914700e-01 -8.50921519e-02 3.63732985e+01] [ 2.64165381e-01 9.64266802e-01 -2.01540569e-02 5.06577129e+00] [ 8.73906432e-02 -3.12022676e-03 9.96169232e-01 9.95524640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:5.07, Z:1.00 [[ 9.61298783e-01 -2.62241281e-01 -8.44639605e-02 3.63989506e+01] [ 2.62049144e-01 9.64959371e-01 -1.35520419e-02 5.07246439e+00] [ 8.50581950e-02 -9.10614710e-03 9.96334372e-01 1.00193440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.111858063999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.43, Y:5.09, Z:1.00 [[ 9.61202451e-01 -2.62738059e-01 -8.40152407e-02 3.64253400e+01] [ 2.61247053e-01 9.64851987e-01 -2.84713839e-02 5.08678905e+00] [ 8.85427881e-02 5.41802993e-03 9.96057639e-01 9.97989478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:36.45, Y:5.09, Z:1.00 [[ 9.61390048e-01 -2.61151713e-01 -8.67695649e-02 3.64517172e+01] [ 2.60495912e-01 9.65288018e-01 -1.89979352e-02 5.09109371e+00] [ 8.87189646e-02 -4.33869104e-03 9.96047248e-01 1.00344521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.171858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.48, Y:5.10, Z:1.01 [[ 9.61908410e-01 -2.59687965e-01 -8.54070903e-02 3.64789442e+01] [ 2.58480509e-01 9.65690370e-01 -2.50985172e-02 5.10339734e+00] [ 8.89945875e-02 2.06640664e-03 9.96029966e-01 1.00512936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:5.11, Z:1.01 [[ 9.62679208e-01 -2.56611315e-01 -8.60196207e-02 3.65043161e+01] [ 2.55985019e-01 9.66505186e-01 -1.84226678e-02 5.11114111e+00] [ 8.78658746e-02 -4.28461499e-03 9.96123100e-01 1.00937217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.53, Y:5.12, Z:1.01 [[ 9.62912031e-01 -2.56059348e-01 -8.50530997e-02 3.65306053e+01] [ 2.54688209e-01 9.66652249e-01 -2.67833247e-02 5.12412603e+00] [ 8.90748907e-02 4.12796400e-03 9.96016377e-01 1.00827828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.56, Y:5.13, Z:1.01 [[ 9.63208602e-01 -2.54377548e-01 -8.67251551e-02 3.65580320e+01] [ 2.53689132e-01 9.67098111e-01 -1.90543615e-02 5.12932184e+00] [ 8.87187354e-02 -3.64790444e-03 9.96050038e-01 1.01407939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.291858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.58, Y:5.14, Z:1.01 [[ 9.63182813e-01 -2.54881159e-01 -8.55246405e-02 3.65832150e+01] [ 2.53452613e-01 9.66961132e-01 -2.73485376e-02 5.14296642e+00] [ 8.96696302e-02 4.66519776e-03 9.95960638e-01 1.01475581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:36.61, Y:5.15, Z:1.02 [[ 9.63182056e-01 -2.54633197e-01 -8.62685454e-02 3.66098212e+01] [ 2.54068599e-01 9.67025192e-01 -1.76472219e-02 5.14690245e+00] [ 8.79174252e-02 -4.92064104e-03 9.96115613e-01 1.01927301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:5.16, Z:1.02 [[ 9.62548543e-01 -2.57961583e-01 -8.34033774e-02 3.66355898e+01] [ 2.57060594e-01 9.66154925e-01 -2.15525338e-02 5.15860465e+00] [ 8.61403096e-02 -6.94361748e-04 9.96282774e-01 1.02168896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.66, Y:5.17, Z:1.02 [[ 9.62001889e-01 -2.60092455e-01 -8.30919926e-02 3.66635303e+01] [ 2.59049487e-01 9.65583320e-01 -2.32855304e-02 5.16699158e+00] [ 8.62886328e-02 8.75786250e-04 9.96269795e-01 1.02344878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.69, Y:5.17, Z:1.03 [[ 9.61638314e-01 -2.61135871e-01 -8.40226788e-02 3.66915058e+01] [ 2.60341780e-01 9.65299565e-01 -2.04672315e-02 5.17256433e+00] [ 8.64517836e-02 -2.19253981e-03 9.96253623e-01 1.02846876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.72, Y:5.18, Z:1.03 [[ 9.61233232e-01 -2.62669986e-01 -8.38758173e-02 3.67184204e+01] [ 2.61923829e-01 9.64881767e-01 -1.99770581e-02 5.18033299e+00] [ 8.61776204e-02 -2.76646308e-03 9.96275948e-01 1.03249186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.74, Y:5.19, Z:1.03 [[ 9.61137034e-01 -2.62988027e-01 -8.39815444e-02 3.67423267e+01] [ 2.61757170e-01 9.64795679e-01 -2.55437354e-02 5.19093888e+00] [ 8.77427277e-02 2.56825871e-03 9.96139859e-01 1.03303458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.77, Y:5.20, Z:1.03 [[ 9.61186992e-01 -2.64738308e-01 -7.76736360e-02 3.67675578e+01] [ 2.63127504e-01 9.64279653e-01 -3.04740470e-02 5.20447037e+00] [ 8.29667544e-02 8.85318760e-03 9.96512990e-01 1.02720660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.80, Y:5.20, Z:1.04 [[ 9.61988178e-01 -2.58678812e-01 -8.75443788e-02 3.67967611e+01] [ 2.58790618e-01 9.65878869e-01 -1.02677435e-02 5.20370567e+00] [ 8.72133133e-02 -1.27782160e-02 9.96107703e-01 1.04109426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.82, Y:5.22, Z:1.03 [[ 9.62478538e-01 -2.59137573e-01 -8.05157270e-02 3.68208557e+01] [ 2.57345661e-01 9.65787135e-01 -3.20689964e-02 5.22261958e+00] [ 8.60713351e-02 1.01453478e-02 9.96237320e-01 1.03207305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:5.22, Z:1.05 [[ 9.62733409e-01 -2.55692398e-01 -8.81236726e-02 3.68516071e+01] [ 2.55645278e-01 9.66696020e-01 -1.20123572e-02 5.22069250e+00] [ 8.82602719e-02 -1.09637032e-02 9.96037109e-01 1.04503106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.88, Y:5.23, Z:1.04 [[ 9.63005514e-01 -2.55487616e-01 -8.57114786e-02 3.68776666e+01] [ 2.54501368e-01 9.66812304e-01 -2.24281523e-02 5.23342498e+00] [ 8.85970272e-02 -2.15254240e-04 9.96067528e-01 1.04325432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.90, Y:5.24, Z:1.05 [[ 9.63491696e-01 -2.52224837e-01 -8.98130509e-02 3.69047980e+01] [ 2.51795571e-01 9.67643750e-01 -1.62654007e-02 5.24015680e+00] [ 9.10095754e-02 -6.94295002e-03 9.95825814e-01 1.04880602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.93, Y:5.25, Z:1.05 [[ 9.63507682e-01 -2.51930728e-01 -9.04646660e-02 3.69324300e+01] [ 2.51266193e-01 9.67734481e-01 -1.88487414e-02 5.25000899e+00] [ 9.22943538e-02 -4.56980505e-03 9.95721281e-01 1.05115846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.711858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.96, Y:5.26, Z:1.06 [[ 9.63666565e-01 -2.50298302e-01 -9.32604447e-02 3.69611384e+01] [ 2.49933720e-01 9.68134694e-01 -1.57591025e-02 5.25612433e+00] [ 9.42331487e-02 -8.12240972e-03 9.95517022e-01 1.05710713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:5.27, Z:1.06 [[ 9.63837133e-01 -2.50464953e-01 -9.10235602e-02 3.69877917e+01] [ 2.49479975e-01 9.68124815e-01 -2.22280114e-02 5.26548229e+00] [ 9.36895052e-02 -1.28437272e-03 9.95600636e-01 1.05827270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.02, Y:5.27, Z:1.06 [[ 9.63759768e-01 -2.50918530e-01 -9.05924947e-02 3.70152014e+01] [ 2.49883275e-01 9.68007967e-01 -2.27799170e-02 5.27305813e+00] [ 9.34101600e-02 -6.83181675e-04 9.95627478e-01 1.06024814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.04, Y:5.28, Z:1.06 [[ 9.63823611e-01 -2.51280197e-01 -8.88949343e-02 3.70424176e+01] [ 2.50041563e-01 9.67912607e-01 -2.49880224e-02 5.28127514e+00] [ 9.23215228e-02 1.85661770e-03 9.95727518e-01 1.06159725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:5.29, Z:1.06 [[ 9.64219956e-01 -2.50966757e-01 -8.54140716e-02 3.70680369e+01] [ 2.49499735e-01 9.67981123e-01 -2.76120790e-02 5.29075816e+00] [ 8.96089229e-02 5.31332933e-03 9.95962855e-01 1.06129334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:5.30, Z:1.07 [[ 9.64439973e-01 -2.49334149e-01 -8.76813585e-02 3.70961431e+01] [ 2.48503790e-01 9.68415285e-01 -2.04377820e-02 5.29535630e+00] [ 9.00078047e-02 -2.07813590e-03 9.95938892e-01 1.06631859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.891858064 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:37.12, Y:5.30, Z:1.07 [[ 9.64333613e-01 -2.49128931e-01 -8.94173259e-02 3.71245690e+01] [ 2.48172068e-01 9.68469672e-01 -2.18430529e-02 5.30307767e+00] [ 9.20397047e-02 -1.12689249e-03 9.95754700e-01 1.06655021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.15, Y:5.32, Z:1.06 [[ 9.64919516e-01 -2.49658880e-01 -8.12451349e-02 3.71472805e+01] [ 2.47654543e-01 9.68250236e-01 -3.40397981e-02 5.31827143e+00] [ 8.71639590e-02 1.27249388e-02 9.96112705e-01 1.06040379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.18, Y:5.31, Z:1.07 [[ 9.65742539e-01 -2.44011909e-01 -8.83149831e-02 3.71785696e+01] [ 2.43462765e-01 9.69759429e-01 -1.71035604e-02 5.31364217e+00] [ 8.98177600e-02 -4.98377415e-03 9.95945748e-01 1.07234817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:5.32, Z:1.07 [[ 9.66100423e-01 -2.43625491e-01 -8.54200972e-02 3.72050156e+01] [ 2.42364670e-01 9.69863276e-01 -2.49918626e-02 5.32335032e+00] [ 8.89344701e-02 3.44183540e-03 9.96031533e-01 1.07110674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.011858063999995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.23, Y:5.33, Z:1.08 [[ 9.66312188e-01 -2.41612912e-01 -8.86789542e-02 3.72333413e+01] [ 2.40925584e-01 9.70366567e-01 -1.85361249e-02 5.32600417e+00] [ 9.05296595e-02 -3.45334536e-03 9.95887772e-01 1.07765609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:5.34, Z:1.07 [[ 9.66824748e-01 -2.42278074e-01 -8.09397382e-02 3.72587491e+01] [ 2.40228614e-01 9.70109679e-01 -3.43136175e-02 5.34094813e+00] [ 8.68338606e-02 1.37312134e-02 9.96128172e-01 1.06892310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.29, Y:5.34, Z:1.08 [[ 9.67180600e-01 -2.38621888e-01 -8.72999456e-02 3.72863367e+01] [ 2.38090407e-01 9.71101055e-01 -1.66041913e-02 5.33767863e+00] [ 8.87391928e-02 -4.72602785e-03 9.96043684e-01 1.07954667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101858064 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:37.31, Y:5.35, Z:1.08 [[ 9.67115087e-01 -2.39611447e-01 -8.52922209e-02 3.73114671e+01] [ 2.38140332e-01 9.70850513e-01 -2.71746687e-02 5.34904194e+00] [ 8.93173581e-02 5.96951425e-03 9.95985328e-01 1.07804906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.34, Y:5.35, Z:1.08 [[ 9.67128692e-01 -2.38997755e-01 -8.68456422e-02 3.73415287e+01] [ 2.38205903e-01 9.71018440e-01 -1.95227306e-02 5.35116010e+00] [ 8.89946088e-02 -1.80615168e-03 9.96030470e-01 1.08313148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:5.35, Z:1.09 [[ 9.67224874e-01 -2.39298136e-01 -8.49261134e-02 3.73675822e+01] [ 2.38317266e-01 9.70945880e-01 -2.16559005e-02 5.35471101e+00] [ 8.76408766e-02 7.06766422e-04 9.96151885e-01 1.08536225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.191858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.39, Y:5.37, Z:1.08 [[ 9.67107680e-01 -2.41546257e-01 -7.97379476e-02 3.73945244e+01] [ 2.39747456e-01 9.70322341e-01 -3.15549090e-02 5.36540958e+00] [ 8.49934821e-02 1.14000248e-02 9.96316289e-01 1.08099549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.42, Y:5.38, Z:1.07 [[ 9.66741184e-01 -2.45428984e-01 -7.19451015e-02 3.74172241e+01] [ 2.43157599e-01 9.69205371e-01 -3.89272418e-02 5.37703023e+00] [ 7.92834522e-02 2.01385697e-02 9.96648670e-01 1.07291946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.45, Y:5.36, Z:1.10 [[ 9.66810914e-01 -2.38536492e-01 -9.15259474e-02 3.74532268e+01] [ 2.39999387e-01 9.70759312e-01 5.16253312e-03 5.35874691e+00] [ 8.76182133e-02 -2.69573646e-02 9.95789310e-01 1.10307271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.48, Y:5.37, Z:1.10 [[ 9.66628724e-01 -2.42044458e-01 -8.39249061e-02 3.74784608e+01] [ 2.41013179e-01 9.70264165e-01 -2.23628790e-02 5.37323496e+00] [ 8.68421398e-02 1.38959278e-03 9.96221116e-01 1.09565393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31185806399999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.51, Y:5.38, Z:1.10 [[ 9.66306495e-01 -2.43263752e-01 -8.41100766e-02 3.75063460e+01] [ 2.42231463e-01 9.69959314e-01 -2.24242549e-02 5.37793764e+00] [ 8.70383606e-02 1.29459617e-03 9.96204120e-01 1.09785710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.53, Y:5.38, Z:1.10 [[ 9.65844750e-01 -2.44795209e-01 -8.49660228e-02 3.75342506e+01] [ 2.43745394e-01 9.69574072e-01 -2.26782245e-02 5.38107234e+00] [ 8.79323735e-02 1.19356741e-03 9.96125732e-01 1.10005931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:5.39, Z:1.10 [[ 9.65498804e-01 -2.46066437e-01 -8.52253906e-02 3.75616289e+01] [ 2.45012841e-01 9.69252333e-01 -2.27732933e-02 5.38651618e+00] [ 8.82086518e-02 1.10627237e-03 9.96101405e-01 1.10186098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401858063999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:37.59, Y:5.40, Z:1.09 [[ 9.65111111e-01 -2.50936960e-01 -7.47742362e-02 3.75864555e+01] [ 2.48402740e-01 9.67762805e-01 -4.16080660e-02 5.40275523e+00] [ 8.28047262e-02 2.15822816e-02 9.96332064e-01 1.08849506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:5.38, Z:1.11 [[ 9.64546100e-01 -2.47144976e-01 -9.25752756e-02 3.76197734e+01] [ 2.47865036e-01 9.68787043e-01 -3.81955458e-03 5.38489426e+00] [ 9.06297112e-02 -1.92620376e-02 9.95698363e-01 1.11410966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:5.40, Z:1.11 [[ 9.64320750e-01 -2.50547495e-01 -8.55069858e-02 3.76476011e+01] [ 2.49103210e-01 9.68091083e-01 -2.73357917e-02 5.40072101e+00] [ 8.96274646e-02 5.06040645e-03 9.95962504e-01 1.10550237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.491858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.67, Y:5.40, Z:1.11 [[ 9.63960219e-01 -2.50871474e-01 -8.85674836e-02 3.76733153e+01] [ 2.50178619e-01 9.68012856e-01 -1.90202477e-02 5.40226788e+00] [ 9.05061003e-02 -3.82292864e-03 9.95888564e-01 1.11252555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52185806399999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:37.70, Y:5.42, Z:1.10 [[ 9.63410808e-01 -2.57258931e-01 -7.52160732e-02 3.76989022e+01] [ 2.54621173e-01 9.66087086e-01 -4.29395038e-02 5.41916034e+00] [ 8.37118478e-02 2.22167773e-02 9.96242311e-01 1.09744276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.73, Y:5.41, Z:1.12 [[ 9.63273541e-01 -2.53939484e-01 -8.72858681e-02 3.77320295e+01] [ 2.54094630e-01 9.67132559e-01 -9.51481987e-03 5.40678268e+00] [ 8.68331935e-02 -1.30134961e-02 9.96137865e-01 1.11806682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.76, Y:5.42, Z:1.12 [[ 9.62781315e-01 -2.55993825e-01 -8.67139081e-02 3.77559518e+01] [ 2.55592958e-01 9.66653997e-01 -1.58836099e-02 5.41520159e+00] [ 8.78884519e-02 -6.87102143e-03 9.96106625e-01 1.11991124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.611858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:37.78, Y:5.42, Z:1.12 [[ 9.62496905e-01 -2.57804292e-01 -8.44787222e-02 3.77816223e+01] [ 2.56800375e-01 9.66197140e-01 -2.27300259e-02 5.42313256e+00] [ 8.74829981e-02 1.83412016e-04 9.96165996e-01 1.11935835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.81, Y:5.43, Z:1.11 [[ 9.62433565e-01 -2.60022277e-01 -7.81667992e-02 3.78116261e+01] [ 2.58305217e-01 9.65549460e-01 -3.15064404e-02 5.43010251e+00] [ 8.36662871e-02 1.01319637e-02 9.96442319e-01 1.11390088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.84, Y:5.43, Z:1.13 [[ 9.62133004e-01 -2.58847022e-01 -8.54300970e-02 3.78375395e+01] [ 2.58771687e-01 9.65862130e-01 -1.21474187e-02 5.42700321e+00] [ 8.56580186e-02 -1.04194578e-02 9.96270113e-01 1.12816766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.86, Y:5.44, Z:1.13 [[ 9.62283993e-01 -2.59541001e-01 -8.15351774e-02 3.78642669e+01] [ 2.58608289e-01 9.65732087e-01 -2.19838319e-02 5.43747336e+00] [ 8.44468428e-02 6.90168601e-05 9.96427983e-01 1.12626177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.89, Y:5.44, Z:1.13 [[ 9.62646914e-01 -2.58360247e-01 -8.09993970e-02 3.78915621e+01] [ 2.57433589e-01 9.66048624e-01 -2.18632683e-02 5.44288978e+00] [ 8.38979554e-02 1.94642214e-04 9.96474332e-01 1.12773978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.92, Y:5.45, Z:1.13 [[ 9.62771164e-01 -2.57808381e-01 -8.12805289e-02 3.79188182e+01] [ 2.56871208e-01 9.66196029e-01 -2.19639547e-02 5.44891110e+00] [ 8.41954159e-02 2.67634654e-04 9.96449226e-01 1.12974393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.791858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:5.45, Z:1.13 [[ 9.62842003e-01 -2.57466923e-01 -8.15233797e-02 3.79461084e+01] [ 2.56520819e-01 9.66287059e-01 -2.20542518e-02 5.45471477e+00] [ 8.44532271e-02 3.22315834e-04 9.96427393e-01 1.13187572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:37.97, Y:5.47, Z:1.12 [[ 9.63127508e-01 -2.59343577e-01 -7.15982707e-02 3.79730450e+01] [ 2.56909386e-01 9.65544144e-01 -4.14978650e-02 5.46927358e+00] [ 7.98934958e-02 2.15734676e-02 9.96569925e-01 1.11706308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.851858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:38.00, Y:5.46, Z:1.14 [[ 9.63075466e-01 -2.54333832e-01 -8.83173201e-02 3.80041026e+01] [ 2.55157130e-01 9.66897473e-01 -2.02868900e-03 5.45624203e+00] [ 8.59097579e-02 -2.05810133e-02 9.96090325e-01 1.14389916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:5.47, Z:1.14 [[ 9.63280855e-01 -2.55323164e-01 -8.30667021e-02 3.80284830e+01] [ 2.54329250e-01 9.66855608e-01 -2.25136672e-02 5.47168690e+00] [ 8.60617676e-02 5.60692551e-04 9.96289646e-01 1.13668029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:5.48, Z:1.14 [[ 9.63326200e-01 -2.55039248e-01 -8.34123113e-02 3.80554915e+01] [ 2.54034914e-01 9.66930515e-01 -2.26194835e-02 5.47823270e+00] [ 8.64227653e-02 6.00301761e-04 9.96258373e-01 1.13844888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.08, Y:5.48, Z:1.14 [[ 9.63652909e-01 -2.53658103e-01 -8.38489035e-02 3.80839128e+01] [ 2.52635766e-01 9.67293647e-01 -2.27633367e-02 5.48233172e+00] [ 8.68806165e-02 7.52723643e-04 9.96218446e-01 1.14065822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:5.50, Z:1.13 [[ 9.63434028e-01 -2.57294748e-01 -7.47949676e-02 3.81082153e+01] [ 2.55258132e-01 9.66210504e-01 -3.57847329e-02 5.49710349e+00] [ 8.14749072e-02 1.53842056e-02 9.96556655e-01 1.13009832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:5.49, Z:1.15 [[ 9.63914283e-01 -2.51554854e-01 -8.71172195e-02 3.81404390e+01] [ 2.51763022e-01 9.67749175e-01 -8.77013466e-03 5.48765838e+00] [ 8.65137872e-02 -1.34792363e-02 9.96159463e-01 1.15177296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.031858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.16, Y:5.51, Z:1.13 [[ 9.63654116e-01 -2.57027824e-01 -7.28521999e-02 3.81619748e+01] [ 2.54928442e-01 9.66253986e-01 -3.69421612e-02 5.51019271e+00] [ 7.98888919e-02 1.70273679e-02 9.96658333e-01 1.13358990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.20, Y:5.50, Z:1.16 [[ 9.64485468e-01 -2.49504591e-01 -8.66904902e-02 3.81961658e+01] [ 2.49830615e-01 9.68262463e-01 -7.24337866e-03 5.49886283e+00] [ 8.57464037e-02 -1.46718050e-02 9.96208960e-01 1.15729981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.22, Y:5.51, Z:1.15 [[ 9.64836771e-01 -2.49748034e-01 -8.19507487e-02 3.82209752e+01] [ 2.48752551e-01 9.68310193e-01 -2.23055709e-02 5.51232067e+00] [ 8.49245177e-02 1.13577715e-03 9.96386740e-01 1.15196742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.25, Y:5.52, Z:1.15 [[ 9.64930650e-01 -2.49347124e-01 -8.20661513e-02 3.82481250e+01] [ 2.48346407e-01 9.68413450e-01 -2.23484184e-02 5.51915776e+00] [ 8.50464786e-02 1.18384013e-03 9.96376282e-01 1.15401251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:5.52, Z:1.16 [[ 9.65160988e-01 -2.48404775e-01 -8.22151790e-02 3.82747081e+01] [ 2.47394928e-01 9.68655458e-01 -2.24132403e-02 5.52388520e+00] [ 8.52057378e-02 1.29276684e-03 9.96362540e-01 1.15579996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:5.53, Z:1.16 [[ 9.65168989e-01 -2.48555520e-01 -8.16638042e-02 3.83019265e+01] [ 2.47558306e-01 9.68616795e-01 -2.22797762e-02 5.53022503e+00] [ 8.46386937e-02 1.28719605e-03 9.96410876e-01 1.15763127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.32, Y:5.54, Z:1.15 [[ 9.64370580e-01 -2.54037684e-01 -7.38528296e-02 3.83225460e+01] [ 2.52277122e-01 9.67111824e-01 -3.24187136e-02 5.54488953e+00] [ 7.96595197e-02 1.26322743e-02 9.96742086e-01 1.14810262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:5.54, Z:1.17 [[ 9.64546636e-01 -2.49789932e-01 -8.51749730e-02 3.83570743e+01] [ 2.49668650e-01 9.68253898e-01 -1.22456078e-02 5.53670850e+00] [ 8.55298291e-02 -9.45406068e-03 9.96290755e-01 1.16590043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27185806399999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:38.37, Y:5.57, Z:1.13 [[ 9.63443068e-01 -2.60209893e-01 -6.37829572e-02 3.83724808e+01] [ 2.56964088e-01 9.64864487e-01 -5.48268029e-02 5.57012929e+00] [ 7.58083868e-02 3.64325737e-02 9.96456600e-01 1.13444074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.41, Y:5.54, Z:1.17 [[ 9.63314016e-01 -2.52943154e-01 -8.96987572e-02 3.84092815e+01] [ 2.54553803e-01 9.67034666e-01 6.80553426e-03 5.54362265e+00] [ 8.50203945e-02 -2.93890263e-02 9.95945690e-01 1.17437024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.44, Y:5.56, Z:1.17 [[ 9.63904534e-01 -2.51698622e-01 -8.68092928e-02 3.84400039e+01] [ 2.50987200e-01 9.67800084e-01 -1.91943513e-02 5.55837743e+00] [ 8.88452326e-02 -3.28649913e-03 9.96040021e-01 1.16966831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:5.57, Z:1.17 [[ 9.63309738e-01 -2.54257229e-01 -8.59512085e-02 3.84670906e+01] [ 2.53171171e-01 9.67136239e-01 -2.34915425e-02 5.56553293e+00] [ 8.90994231e-02 8.69263551e-04 9.96022358e-01 1.16978867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.49, Y:5.57, Z:1.17 [[ 9.62924658e-01 -2.55716266e-01 -8.59377340e-02 3.84931581e+01] [ 2.54634132e-01 9.66751579e-01 -2.35126060e-02 5.57178951e+00] [ 8.90929959e-02 7.58187848e-04 9.96023023e-01 1.17191800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.52, Y:5.58, Z:1.17 [[ 9.62444848e-01 -2.57672338e-01 -8.54685967e-02 3.85207726e+01] [ 2.56608602e-01 9.66232179e-01 -2.33966264e-02 5.57863803e+00] [ 8.86111718e-02 5.85985357e-04 9.96066121e-01 1.17378261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:5.59, Z:1.18 [[ 9.61781530e-01 -2.60041342e-01 -8.57600694e-02 3.85480138e+01] [ 2.58977401e-01 9.65597403e-01 -2.35023544e-02 5.58552787e+00] [ 8.89212841e-02 3.94210473e-04 9.96038578e-01 1.17614576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481858063999994 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:38.57, Y:5.59, Z:1.18 [[ 9.60677844e-01 -2.64061120e-01 -8.58475651e-02 3.85739341e+01] [ 2.63008813e-01 9.64505948e-01 -2.35508252e-02 5.59131711e+00] [ 8.90193444e-02 4.60897779e-05 9.96029896e-01 1.17792687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:5.60, Z:1.18 [[ 9.60108443e-01 -2.66232615e-01 -8.55100745e-02 3.86003289e+01] [ 2.65196187e-01 9.63908800e-01 -2.34693102e-02 5.59808794e+00] [ 8.86722091e-02 -1.43862855e-04 9.96060851e-01 1.18036968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:5.60, Z:1.18 [[ 9.59590894e-01 -2.68191946e-01 -8.51962183e-02 3.86269201e+01] [ 2.67169754e-01 9.63365446e-01 -2.33952876e-02 5.60499078e+00] [ 8.83495205e-02 -3.11947770e-04 9.96089486e-01 1.18318234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.571858064 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:38.65, Y:5.61, Z:1.19 [[ 9.58717731e-01 -2.71579049e-01 -8.42919494e-02 3.86526274e+01] [ 2.70589402e-01 9.62415954e-01 -2.31712756e-02 5.61234475e+00] [ 8.74167499e-02 -5.93795460e-04 9.96171652e-01 1.18532667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.67, Y:5.62, Z:1.18 [[ 9.57675589e-01 -2.75850943e-01 -8.22418630e-02 3.86743236e+01] [ 2.74769454e-01 9.61200105e-01 -2.44152594e-02 5.62351484e+00] [ 8.57858597e-02 7.84346192e-04 9.96313290e-01 1.18410911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.70, Y:5.63, Z:1.19 [[ 9.57202627e-01 -2.75849082e-01 -8.75809042e-02 3.87040585e+01] [ 2.75563876e-01 9.61156646e-01 -1.55708819e-02 5.62606078e+00] [ 8.84741816e-02 -9.22964436e-03 9.96035709e-01 1.19412414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66185806399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:38.73, Y:5.64, Z:1.19 [[ 9.56916723e-01 -2.78467519e-01 -8.22570708e-02 3.87319840e+01] [ 2.76825525e-01 9.60421145e-01 -3.09653527e-02 5.64051714e+00] [ 8.76242751e-02 6.86040697e-03 9.96129972e-01 1.18665213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691858063999994 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:38.76, Y:5.64, Z:1.19 [[ 9.56839851e-01 -2.78095272e-01 -8.43831661e-02 3.87601385e+01] [ 2.77122920e-01 9.60552836e-01 -2.32623307e-02 5.64457302e+00] [ 8.75236337e-02 -1.12618438e-03 9.96161807e-01 1.19242116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721858063999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:38.79, Y:5.65, Z:1.19 [[ 9.56523929e-01 -2.79007211e-01 -8.49526288e-02 3.87870139e+01] [ 2.78023117e-01 9.60288264e-01 -2.34434825e-02 5.65248875e+00] [ 8.81199131e-02 -1.19454267e-03 9.96109158e-01 1.19435133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.81, Y:5.66, Z:1.20 [[ 9.56442214e-01 -2.79125477e-01 -8.54825144e-02 3.88130181e+01] [ 2.78127249e-01 9.60253902e-01 -2.36151932e-02 5.66044226e+00] [ 8.86765200e-02 -1.18844891e-03 9.96059768e-01 1.19631539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:5.67, Z:1.20 [[ 9.56469904e-01 -2.78940722e-01 -8.57752617e-02 3.88397686e+01] [ 2.77933247e-01 9.60307624e-01 -2.37144799e-02 5.66865497e+00] [ 8.89855720e-02 -1.15761069e-03 9.96032242e-01 1.19861708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:5.67, Z:1.22 [[ 9.56532888e-01 -2.74138283e-01 -9.94637432e-02 3.88682147e+01] [ 2.75509103e-01 9.61298461e-01 4.83450613e-05 5.66526541e+00] [ 9.56010900e-02 -2.74494103e-02 9.95041186e-01 1.22155205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:5.70, Z:1.19 [[ 9.57183658e-01 -2.78457173e-01 -7.91267796e-02 3.88906354e+01] [ 2.75212872e-01 9.60106501e-01 -4.95316330e-02 5.69939779e+00] [ 8.97625740e-02 2.56341615e-02 9.95633251e-01 1.19170683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:5.69, Z:1.22 [[ 9.56838815e-01 -2.73888644e-01 -9.71827810e-02 3.89201156e+01] [ 2.74733903e-01 9.61508130e-01 -4.83723069e-03 5.68619093e+00] [ 9.47668966e-02 -2.20709546e-02 9.95254796e-01 1.22147304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901858063999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.94, Y:5.71, Z:1.20 [[ 9.57047460e-01 -2.77566375e-01 -8.37679354e-02 3.89425557e+01] [ 2.75294927e-01 9.60617198e-01 -3.77796427e-02 5.71258029e+00] [ 9.09552779e-02 1.30960234e-02 9.95768865e-01 1.20351561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:5.71, Z:1.21 [[ 9.57122636e-01 -2.76351591e-01 -8.68680450e-02 3.89708748e+01] [ 2.75375887e-01 9.61055175e-01 -2.32609331e-02 5.71317707e+00] [ 8.99131801e-02 -1.65779933e-03 9.95948227e-01 1.21279204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:5.71, Z:1.23 [[ 9.57449892e-01 -2.72197107e-01 -9.59084972e-02 3.90015730e+01] [ 2.72669302e-01 9.62071133e-01 -8.40160506e-03 5.71122280e+00] [ 9.45576891e-02 -1.81071871e-02 9.95354697e-01 1.23060103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:5.73, Z:1.22 [[ 9.57947758e-01 -2.74607790e-01 -8.32265224e-02 3.90247927e+01] [ 2.72714205e-01 9.61509972e-01 -3.35490008e-02 5.73373694e+00] [ 8.92359483e-02 9.44113524e-03 9.95965768e-01 1.21747801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:5.74, Z:1.22 [[ 9.58052101e-01 -2.74245420e-01 -8.32203117e-02 3.90517366e+01] [ 2.72950702e-01 9.61655241e-01 -2.67789508e-02 5.73972012e+00] [ 8.73732535e-02 2.94058762e-03 9.96171304e-01 1.22111677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:5.74, Z:1.23 [[ 9.58405016e-01 -2.72096264e-01 -8.61594325e-02 3.90798946e+01] [ 2.71586068e-01 9.62249248e-01 -1.78155293e-02 5.74403349e+00] [ 8.77543881e-02 -6.32520878e-03 9.96122060e-01 1.22884498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:5.75, Z:1.23 [[ 9.58839720e-01 -2.70123940e-01 -8.75182787e-02 3.91072814e+01] [ 2.69583730e-01 9.62805716e-01 -1.81594634e-02 5.75399102e+00] [ 8.91684048e-02 -6.18148923e-03 9.95997382e-01 1.23103021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.13, Y:5.77, Z:1.23 [[ 9.59134079e-01 -2.70323818e-01 -8.35873859e-02 3.91339848e+01] [ 2.68934477e-01 9.62760895e-01 -2.76713902e-02 5.76733372e+00] [ 8.79549023e-02 4.06104342e-03 9.96116180e-01 1.22655424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.16, Y:5.77, Z:1.23 [[ 9.59206337e-01 -2.69388387e-01 -8.57502149e-02 3.91624969e+01] [ 2.68124596e-01 9.63029353e-01 -2.61470103e-02 5.77415556e+00] [ 8.96236749e-02 2.08863620e-03 9.95973511e-01 1.23085776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:5.77, Z:1.24 [[ 9.59561292e-01 -2.66375083e-01 -9.10299009e-02 3.91902812e+01] [ 2.66424298e-01 9.63783179e-01 -1.18354540e-02 5.77437579e+00] [ 9.08857573e-02 -1.28957339e-02 9.95777826e-01 1.24257063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.21, Y:5.80, Z:1.23 [[ 9.59647495e-01 -2.69196843e-01 -8.13003397e-02 3.92147807e+01] [ 2.67255357e-01 9.63022491e-01 -3.40918754e-02 5.79528947e+00] [ 8.74714809e-02 1.09882315e-02 9.96106419e-01 1.23032786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:5.80, Z:1.24 [[ 9.59678388e-01 -2.66792710e-01 -8.85383583e-02 3.92445117e+01] [ 2.66432345e-01 9.63719433e-01 -1.60829230e-02 5.79524326e+00] [ 8.96169431e-02 -8.15504882e-03 9.95942919e-01 1.24296112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:5.81, Z:1.24 [[ 9.59603076e-01 -2.68172348e-01 -8.51206725e-02 3.92702350e+01] [ 2.67013538e-01 9.63370209e-01 -2.49321240e-02 5.80876831e+00] [ 8.86888263e-02 1.19657098e-03 9.96058663e-01 1.23986741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.291858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:5.82, Z:1.23 [[ 9.59063599e-01 -2.71665832e-01 -7.99667908e-02 3.92957931e+01] [ 2.69831997e-01 9.62337764e-01 -3.31167851e-02 5.82173673e+00] [ 8.59517617e-02 1.01835042e-02 9.96247254e-01 1.23417128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.32, Y:5.83, Z:1.24 [[ 9.58628652e-01 -2.72518155e-01 -8.22493930e-02 3.93243574e+01] [ 2.71468254e-01 9.62150461e-01 -2.39056021e-02 5.82502151e+00] [ 8.56510019e-02 5.88495979e-04 9.96325027e-01 1.24005997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.35, Y:5.84, Z:1.23 [[ 9.58160350e-01 -2.76396024e-01 -7.43907387e-02 3.93496775e+01] [ 2.74083849e-01 9.60878553e-01 -3.98804367e-02 5.84201040e+00] [ 8.25032595e-02 1.78225532e-02 9.96431417e-01 1.22923525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.38, Y:5.84, Z:1.24 [[ 9.57407085e-01 -2.77524788e-01 -7.96973388e-02 3.93788004e+01] [ 2.77281715e-01 9.60681884e-01 -1.43236598e-02 5.83863047e+00] [ 8.05389603e-02 -8.38504140e-03 9.96716192e-01 1.24174634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:5.85, Z:1.24 [[ 9.57006972e-01 -2.79592792e-01 -7.72368227e-02 3.94048510e+01] [ 2.78749091e-01 9.60118385e-01 -2.17170666e-02 5.84967481e+00] [ 8.02284287e-02 -7.46309979e-04 9.96776225e-01 1.24099844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:5.87, Z:1.23 [[ 9.56260105e-01 -2.83815964e-01 -7.08174360e-02 3.94272512e+01] [ 2.81935283e-01 9.58777081e-01 -3.54824760e-02 5.86506797e+00] [ 7.79686276e-02 1.39645423e-02 9.96858006e-01 1.23462877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:5.85, Z:1.26 [[ 9.56084750e-01 -2.79318162e-01 -8.87880346e-02 3.94622316e+01] [ 2.80636094e-01 9.59811068e-01 2.46910272e-03 5.85116485e+00] [ 8.45300731e-02 -2.72777987e-02 9.96047483e-01 1.26413544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:5.87, Z:1.26 [[ 9.56059608e-01 -2.81610203e-01 -8.15212787e-02 3.94871089e+01] [ 2.80667880e-01 9.59528508e-01 -2.30344078e-02 5.87034470e+00] [ 8.47087152e-02 -8.58137594e-04 9.96405388e-01 1.25538024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.52, Y:5.87, Z:1.26 [[ 9.56100844e-01 -2.80323979e-01 -8.53794018e-02 3.95164453e+01] [ 2.80078620e-01 9.59858534e-01 -1.50851217e-02 5.87348356e+00] [ 8.61808689e-02 -9.49004739e-03 9.96234308e-01 1.26386573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.54, Y:5.89, Z:1.25 [[ 9.56261342e-01 -2.82190373e-01 -7.70249270e-02 3.95406420e+01] [ 2.80406805e-01 9.59303829e-01 -3.32894516e-02 5.89214835e+00] [ 8.32842702e-02 1.02351020e-02 9.96473268e-01 1.25376469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.57, Y:5.89, Z:1.26 [[ 9.56357800e-01 -2.80400076e-01 -8.21921917e-02 3.95684349e+01] [ 2.79777961e-01 9.59872166e-01 -1.92280218e-02 5.89375483e+00] [ 8.42855359e-02 -4.60669519e-03 9.96430995e-01 1.26250823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:5.90, Z:1.26 [[ 9.56583351e-01 -2.80065304e-01 -8.06952230e-02 3.95935306e+01] [ 2.79091954e-01 9.59980929e-01 -2.33301801e-02 5.90394324e+00] [ 8.39998492e-02 -2.04125608e-04 9.96465746e-01 1.26161126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.61, Y:5.94, Z:1.23 [[ 0.95598805 -0.28757967 -0.05817885 39.6108962 ] [ 0.28386116 0.95668904 -0.06456715 5.93840945] [ 0.07422727 0.0452107 0.99621599 1.22905116] [ 0. 0. 0. 1. ]] SLAMing on 43.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.65, Y:5.91, Z:1.27 [[ 9.56475512e-01 -2.79789424e-01 -8.29003808e-02 3.96498105e+01] [ 2.80557843e-01 9.59833944e-01 -2.46898393e-03 5.91323215e+00] [ 8.02613951e-02 -2.08968294e-02 9.96554781e-01 1.26610516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:5.93, Z:1.26 [[ 9.56400454e-01 -2.82521407e-01 -7.40258497e-02 3.96743909e+01] [ 2.81208769e-01 9.59243576e-01 -2.78098848e-02 5.93437513e+00] [ 7.88657086e-02 5.78066835e-03 9.96868489e-01 1.25511424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.70, Y:5.96, Z:1.24 [[ 9.56375393e-01 -2.85315831e-01 -6.27772622e-02 3.96967615e+01] [ 2.82913530e-01 9.58112835e-01 -4.44941632e-02 5.95572065e+00] [ 7.28425898e-02 2.47925860e-02 9.97035248e-01 1.24160952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.73, Y:5.95, Z:1.25 [[ 9.56739360e-01 -2.82636113e-01 -6.90407486e-02 3.97259804e+01] [ 2.81735415e-01 9.59224624e-01 -2.26555958e-02 5.95450784e+00] [ 7.26288757e-02 2.22427626e-03 9.97356556e-01 1.25215432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.76, Y:5.96, Z:1.26 [[ 9.57256921e-01 -2.79284393e-01 -7.52290819e-02 3.97563911e+01] [ 2.79075973e-01 9.60174365e-01 -1.34829292e-02 5.95798690e+00] [ 7.59986077e-02 -8.08800194e-03 9.97075120e-01 1.26165690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:5.97, Z:1.26 [[ 9.57380948e-01 -2.80009102e-01 -7.08281175e-02 3.97819264e+01] [ 2.78846773e-01 9.59983574e-01 -2.60002743e-02 5.97394970e+00] [ 7.52741428e-02 5.14197524e-03 9.97149619e-01 1.25646665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.81, Y:5.97, Z:1.27 [[ 9.58183981e-01 -2.74252540e-01 -8.16639665e-02 3.98141882e+01] [ 2.74712137e-01 9.61509177e-01 -5.77445489e-03 5.97042929e+00] [ 8.01043122e-02 -1.69010926e-02 9.96643192e-01 1.27495582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.84, Y:5.98, Z:1.28 [[ 9.58655828e-01 -2.72713082e-01 -8.12808568e-02 3.98408088e+01] [ 2.72639244e-01 9.62038714e-01 -1.22211007e-02 5.98000653e+00] [ 8.15281850e-02 -1.04445220e-02 9.96616309e-01 1.27807332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.87, Y:5.99, Z:1.29 [[ 9.58248759e-01 -2.73025265e-01 -8.49501021e-02 3.98686093e+01] [ 2.73283006e-01 9.61893367e-01 -8.80622032e-03 5.98683835e+00] [ 8.41172603e-02 -1.47768696e-02 9.96346291e-01 1.28641742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.89, Y:6.00, Z:1.28 [[ 9.58265794e-01 -2.74161612e-01 -8.10066567e-02 3.98939112e+01] [ 2.73196267e-01 9.61683628e-01 -2.29869509e-02 6.00283181e+00] [ 8.42049150e-02 -1.03107508e-04 9.96448454e-01 1.28303201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.93, Y:6.01, Z:1.29 [[ 9.58956469e-01 -2.71220546e-01 -8.27158189e-02 3.99250239e+01] [ 2.70319253e-01 9.62516547e-01 -2.21223353e-02 6.00845427e+00] [ 8.56153763e-02 -1.14532186e-03 9.96327605e-01 1.28794306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.011858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.95, Y:6.02, Z:1.29 [[ 9.58333363e-01 -2.74164246e-01 -8.01943351e-02 3.99461643e+01] [ 2.73190011e-01 9.61682856e-01 -2.30933216e-02 6.01999697e+00] [ 8.34528804e-02 2.22809285e-04 9.96511699e-01 1.28789635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:6.03, Z:1.29 [[ 9.58471599e-01 -2.73685817e-01 -8.01764821e-02 3.99710342e+01] [ 2.72733749e-01 9.61819148e-01 -2.28085207e-02 6.02928802e+00] [ 8.33576443e-02 -5.51320734e-06 9.96519695e-01 1.29069912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:6.04, Z:1.29 [[ 9.58430455e-01 -2.73774632e-01 -8.03648792e-02 3.99975225e+01] [ 2.72817433e-01 9.61793871e-01 -2.28735126e-02 6.03792087e+00] [ 8.35566357e-02 -2.26893401e-06 9.96503030e-01 1.29289642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.02, Y:6.05, Z:1.30 [[ 9.58346783e-01 -2.73939596e-01 -8.07993917e-02 4.00232833e+01] [ 2.72970475e-01 9.61746899e-01 -2.30222072e-02 6.04619647e+00] [ 8.40152585e-02 7.40984735e-06 9.96464468e-01 1.29519054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.05, Y:6.05, Z:1.30 [[ 9.58305066e-01 -2.73992174e-01 -8.11152810e-02 4.00490728e+01] [ 2.73014200e-01 9.61731921e-01 -2.31291679e-02 6.05445597e+00] [ 8.43483661e-02 1.91752380e-05 9.96436327e-01 1.29714322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:6.06, Z:1.30 [[ 9.58112077e-01 -2.74518572e-01 -8.16137287e-02 4.00758269e+01] [ 2.73529422e-01 9.61581798e-01 -2.32830821e-02 6.06301276e+00] [ 8.48699144e-02 -1.59538522e-05 9.96392040e-01 1.29910131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.191858063999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:40.10, Y:6.07, Z:1.30 [[ 9.57903892e-01 -2.74963278e-01 -8.25550133e-02 4.01015904e+01] [ 2.73950751e-01 9.61454728e-01 -2.35752277e-02 6.07165181e+00] [ 8.58552297e-02 -3.32055617e-05 9.96307622e-01 1.30139707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.13, Y:6.08, Z:1.30 [[ 9.57768526e-01 -2.75345335e-01 -8.28516542e-02 4.01283286e+01] [ 2.74325913e-01 9.61345382e-01 -2.36717161e-02 6.07985725e+00] [ 8.61669517e-02 -5.63310290e-05 9.96280710e-01 1.30393842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.15, Y:6.09, Z:1.31 [[ 9.57650043e-01 -2.75779155e-01 -8.27783416e-02 4.01546687e+01] [ 2.74761087e-01 9.61221022e-01 -2.36747245e-02 6.08898053e+00] [ 8.60972776e-02 -7.21661220e-05 9.96286733e-01 1.30607084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:6.10, Z:1.31 [[ 9.57488641e-01 -2.76333699e-01 -8.27960740e-02 4.01817558e+01] [ 2.75315089e-01 9.61061745e-01 -2.37049464e-02 6.09752548e+00] [ 8.61226149e-02 -9.77915328e-05 9.96284541e-01 1.30827651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.21, Y:6.11, Z:1.31 [[ 9.57377196e-01 -2.76793916e-01 -8.25471542e-02 4.02079039e+01] [ 2.75781039e-01 9.60929297e-01 -2.36580635e-02 6.10548700e+00] [ 8.58703869e-02 -1.15249429e-04 9.96306310e-01 1.31027619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.24, Y:6.11, Z:1.31 [[ 9.57108643e-01 -2.77609342e-01 -8.29222440e-02 4.02351689e+01] [ 2.76588729e-01 9.60694032e-01 -2.37834235e-02 6.11319738e+00] [ 8.62654055e-02 -1.72037888e-04 9.96272177e-01 1.31337029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.26, Y:6.12, Z:1.32 [[ 9.56893317e-01 -2.78382656e-01 -8.28147146e-02 4.02615349e+01] [ 2.77365434e-01 9.60470223e-01 -2.37774313e-02 6.12119619e+00] [ 8.61602919e-02 -2.17474228e-04 9.96281264e-01 1.31566114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.29, Y:6.13, Z:1.32 [[ 9.56827481e-01 -2.78552413e-01 -8.30043652e-02 4.02870944e+01] [ 2.77529095e-01 9.60421006e-01 -2.38556654e-02 6.12936440e+00] [ 8.63641891e-02 -2.10370054e-04 9.96263611e-01 1.31779692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:6.14, Z:1.32 [[ 9.56760086e-01 -2.78565960e-01 -8.37325743e-02 4.03137923e+01] [ 2.77523550e-01 9.60417079e-01 -2.40772558e-02 6.13832168e+00] [ 8.71252983e-02 -2.01603948e-04 9.96197341e-01 1.31958172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:40.34, Y:6.15, Z:1.32 [[ 9.56713825e-01 -2.78552409e-01 -8.43042823e-02 4.03404031e+01] [ 2.77493407e-01 9.60421014e-01 -2.42669570e-02 6.14667858e+00] [ 8.77272236e-02 -1.77349274e-04 9.96144519e-01 1.32161930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.37, Y:6.15, Z:1.32 [[ 9.56644273e-01 -2.78641019e-01 -8.47992786e-02 4.03669716e+01] [ 2.77567624e-01 9.60395313e-01 -2.44347598e-02 6.15498779e+00] [ 8.82493561e-02 -1.62161278e-04 9.96098401e-01 1.32372514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.39, Y:6.16, Z:1.33 [[ 9.56627728e-01 -2.78774800e-01 -8.45458510e-02 4.03942449e+01] [ 2.77706098e-01 9.60356490e-01 -2.43871819e-02 6.16330681e+00] [ 8.79926885e-02 -1.49443956e-04 9.96121109e-01 1.32556136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.42, Y:6.17, Z:1.33 [[ 9.56504138e-01 -2.79148118e-01 -8.47122325e-02 4.04213988e+01] [ 2.78074389e-01 9.60248042e-01 -2.44608193e-02 6.17094322e+00] [ 8.81729471e-02 -1.59427417e-04 9.96105168e-01 1.32825447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.45, Y:6.18, Z:1.33 [[ 9.56430198e-01 -2.79403445e-01 -8.47053236e-02 4.04487531e+01] [ 2.78328598e-01 9.60173781e-01 -2.44847222e-02 6.17893252e+00] [ 8.81729466e-02 -1.57986290e-04 9.96105168e-01 1.33050447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.611858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.48, Y:6.19, Z:1.33 [[ 9.56272513e-01 -2.80086028e-01 -8.42300292e-02 4.04759728e+01] [ 2.79023737e-01 9.59974884e-01 -2.43716175e-02 6.18658276e+00] [ 8.76848621e-02 -1.96269574e-04 9.96148245e-01 1.33294821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.50, Y:6.19, Z:1.34 [[ 9.56100473e-01 -2.80741102e-01 -8.40018980e-02 4.05029585e+01] [ 2.79684846e-01 9.59783507e-01 -2.43311855e-02 6.19417828e+00] [ 8.74544001e-02 -2.31000010e-04 9.96168497e-01 1.33583067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.53, Y:6.20, Z:1.34 [[ 9.55999775e-01 -2.81274994e-01 -8.33595081e-02 4.05296763e+01] [ 2.80234693e-01 9.59627174e-01 -2.41703031e-02 6.20206085e+00] [ 8.67925511e-02 -2.53421800e-04 9.96226374e-01 1.33855978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.56, Y:6.21, Z:1.34 [[ 9.55890516e-01 -2.81567958e-01 -8.36230022e-02 4.05553957e+01] [ 2.80520063e-01 9.59541254e-01 -2.42708801e-02 6.21014421e+00] [ 8.70736226e-02 -2.57625767e-04 9.96201846e-01 1.34074778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.731858063999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.58, Y:6.22, Z:1.34 [[ 9.55688154e-01 -2.82181639e-01 -8.38670077e-02 4.05825969e+01] [ 2.81128870e-01 9.59360949e-01 -2.43542118e-02 6.21804387e+00] [ 8.73310435e-02 -3.02405382e-04 9.96179300e-01 1.34266675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:6.23, Z:1.35 [[ 9.55500321e-01 -2.82641926e-01 -8.44551867e-02 4.06100956e+01] [ 2.81573779e-01 9.59225436e-01 -2.45513581e-02 6.22516131e+00] [ 8.79508065e-02 -3.21535531e-04 9.96124767e-01 1.34523121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.791858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.64, Y:6.23, Z:1.35 [[ 9.55345578e-01 -2.83197012e-01 -8.43461843e-02 4.06372597e+01] [ 2.82131495e-01 9.59061693e-01 -2.45456251e-02 6.23292973e+00] [ 8.78444420e-02 -3.47160694e-04 9.96134144e-01 1.34742098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.66, Y:6.24, Z:1.35 [[ 9.55215675e-01 -2.83569449e-01 -8.45658468e-02 4.06631961e+01] [ 2.82497650e-01 9.58951635e-01 -2.46340901e-02 6.24042063e+00] [ 8.80800325e-02 -3.58783995e-04 9.96113336e-01 1.34952729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.69, Y:6.25, Z:1.35 [[ 9.55021883e-01 -2.84132986e-01 -8.48625290e-02 4.06890116e+01] [ 2.83054795e-01 9.58784796e-01 -2.47325058e-02 6.24731377e+00] [ 8.83922233e-02 -4.00661564e-04 9.96085666e-01 1.35172836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.72, Y:6.25, Z:1.35 [[ 9.55023696e-01 -2.84259185e-01 -8.44183370e-02 4.07161948e+01] [ 2.83191168e-01 9.58747392e-01 -2.46211472e-02 6.25491063e+00] [ 8.79346477e-02 -3.92748408e-04 9.96126168e-01 1.35347899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:40.74, Y:6.26, Z:1.36 [[ 9.54974169e-01 -2.84430120e-01 -8.44028572e-02 4.07436531e+01] [ 2.83360949e-01 9.58696698e-01 -2.46417027e-02 6.26251321e+00] [ 8.79255830e-02 -3.84284200e-04 9.96126972e-01 1.35585503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941858063999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:40.75, Y:6.33, Z:1.29 [[ 9.52949775e-01 -3.01342628e-01 -3.28534223e-02 4.07490517e+01] [ 2.95720681e-01 9.47999779e-01 -1.17667745e-01 6.32781313e+00] [ 6.66033447e-02 1.02416015e-01 9.92509423e-01 1.29067917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.971858063999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:40.81, Y:6.23, Z:1.40 [[ 0.95459871 -0.27553659 -0.11322936 40.8104781 ] [ 0.2844552 0.95599801 0.07178473 6.23444502] [ 0.08846772 -0.10073429 0.99097228 1.40341006] [ 0. 0. 0. 1. ]] SLAMing on 45.001858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:40.83, Y:6.28, Z:1.36 [[ 9.54679187e-01 -2.85058862e-01 -8.56101402e-02 4.08283775e+01] [ 2.83959078e-01 9.58509919e-01 -2.50195251e-02 6.28469248e+00] [ 8.91902059e-02 -4.24156613e-04 9.96014522e-01 1.36466593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.031858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:40.86, Y:6.30, Z:1.36 [[ 9.54850704e-01 -2.86343645e-01 -7.91672293e-02 4.08579330e+01] [ 2.84026455e-01 9.58007918e-01 -3.93675357e-02 6.29751296e+00] [ 8.71154762e-02 1.51045317e-02 9.96083705e-01 1.35658404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06185806399999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:40.88, Y:6.29, Z:1.38 [[ 9.54371596e-01 -2.84163403e-01 -9.17933366e-02 4.08840947e+01] [ 2.84470101e-01 9.58632731e-01 -1.00024151e-02 6.29079894e+00] [ 9.08384173e-02 -1.65664389e-02 9.95727842e-01 1.37587348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.91, Y:6.31, Z:1.37 [[ 9.54196742e-01 -2.85909593e-01 -8.81151634e-02 4.09097670e+01] [ 2.84742320e-01 9.58256486e-01 -2.58131213e-02 6.30500416e+00] [ 9.18171459e-02 -4.59319815e-04 9.95775778e-01 1.37219555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121858063999994 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:40.94, Y:6.31, Z:1.37 [[ 9.53812834e-01 -2.86951245e-01 -8.88822874e-02 4.09359684e+01] [ 2.85511720e-01 9.57942940e-01 -2.87816149e-02 6.31321514e+00] [ 9.34030799e-02 2.07533892e-03 9.95626214e-01 1.37276353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.96, Y:6.32, Z:1.38 [[ 9.53709327e-01 -2.87154641e-01 -8.93349434e-02 4.09633617e+01] [ 2.86210978e-01 9.57878964e-01 -2.34769462e-02 6.31829858e+00] [ 9.23135771e-02 -3.17845887e-03 9.95724912e-01 1.37709526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:40.99, Y:6.33, Z:1.38 [[ 9.53463361e-01 -2.88179482e-01 -8.86577978e-02 4.09905409e+01] [ 2.87001435e-01 9.57576213e-01 -2.60379098e-02 6.32667695e+00] [ 9.24001896e-02 -6.18722231e-04 9.95721759e-01 1.37878437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.02, Y:6.33, Z:1.38 [[ 9.53105847e-01 -2.89407498e-01 -8.85016655e-02 4.10166121e+01] [ 2.88236607e-01 9.57205721e-01 -2.60166624e-02 6.33140707e+00] [ 9.22437177e-02 -7.12786710e-04 9.95736204e-01 1.38258907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.04, Y:6.34, Z:1.39 [[ 9.52988829e-01 -2.90061181e-01 -8.76173611e-02 4.10426824e+01] [ 2.88915338e-01 9.57007804e-01 -2.57680045e-02 6.33836943e+00] [ 9.13247962e-02 -7.57379006e-04 9.95820871e-01 1.38531859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.07, Y:6.35, Z:1.39 [[ 9.52911118e-01 -2.90473875e-01 -8.70937899e-02 4.10692678e+01] [ 2.89342259e-01 9.56882605e-01 -2.56268860e-02 6.34607069e+00] [ 9.07824734e-02 -7.79769356e-04 9.95870441e-01 1.38789696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.10, Y:6.35, Z:1.39 [[ 9.52964760e-01 -2.90555590e-01 -8.62300186e-02 4.10955359e+01] [ 2.89444382e-01 9.56857815e-01 -2.53982405e-02 6.35448220e+00] [ 8.98894679e-02 -7.55166360e-04 9.95951461e-01 1.39009074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.12, Y:6.36, Z:1.39 [[ 9.53119109e-01 -2.90041900e-01 -8.62534638e-02 4.11216639e+01] [ 2.88925664e-01 9.57013705e-01 -2.54308834e-02 6.36319985e+00] [ 8.99217687e-02 -6.82178398e-04 9.95948598e-01 1.39243760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.15, Y:6.37, Z:1.39 [[ 9.54661029e-01 -2.85960515e-01 -8.27580961e-02 4.11493282e+01] [ 2.84497364e-01 9.58231543e-01 -2.92157437e-02 6.37276716e+00] [ 8.76559673e-02 4.34667173e-03 9.96141324e-01 1.38888598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.18, Y:6.38, Z:1.40 [[ 9.54752950e-01 -2.83208642e-01 -9.07726260e-02 4.11799626e+01] [ 2.82589933e-01 9.59035039e-01 -1.98676526e-02 6.37533840e+00] [ 9.26808198e-02 -6.68273031e-03 9.95673444e-01 1.39969348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:41.21, Y:6.38, Z:1.40 [[ 9.55454613e-01 -2.80075776e-01 -9.30808355e-02 4.12069927e+01] [ 2.79309646e-01 9.59961989e-01 -2.14266333e-02 6.38355341e+00] [ 9.53551449e-02 -5.52619957e-03 9.95427977e-01 1.40364675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45185806399999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:41.23, Y:6.40, Z:1.40 [[ 9.55165431e-01 -2.82799972e-01 -8.76537238e-02 4.12271947e+01] [ 2.81049169e-01 9.59160758e-01 -3.19688015e-02 6.39951771e+00] [ 9.31147884e-02 5.90048780e-03 9.95637896e-01 1.39881530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481858063999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:41.25, Y:6.41, Z:1.40 [[ 9.55421133e-01 -2.81396390e-01 -8.93673885e-02 4.12540563e+01] [ 2.80148984e-01 9.59591584e-01 -2.64676832e-02 6.40515139e+00] [ 9.32041044e-02 2.51600832e-04 9.95646991e-01 1.40310253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.29, Y:6.41, Z:1.41 [[ 9.56101823e-01 -2.78237834e-01 -9.19402643e-02 4.12857707e+01] [ 2.77171949e-01 9.60509847e-01 -2.44242619e-02 6.41003400e+00] [ 9.51052829e-02 -2.13118098e-03 9.95464938e-01 1.40745047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:6.42, Z:1.41 [[ 9.55869630e-01 -2.79783700e-01 -8.96344340e-02 4.13069529e+01] [ 2.78361638e-01 9.60060872e-01 -2.82474890e-02 6.42204900e+00] [ 9.39576999e-02 2.05012902e-03 9.95574079e-01 1.40602584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.33, Y:6.43, Z:1.41 [[ 9.55864084e-01 -2.79674525e-01 -9.00334038e-02 4.13330566e+01] [ 2.78394958e-01 9.60094749e-01 -2.67267596e-02 6.42910894e+00] [ 9.39153920e-02 4.82303836e-04 9.95580065e-01 1.40879496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.36, Y:6.43, Z:1.41 [[ 9.56659355e-01 -2.76930242e-01 -9.00695234e-02 4.13586635e+01] [ 2.76609507e-01 9.60844585e-01 -1.62746588e-02 6.43132933e+00] [ 9.10497590e-02 -9.34478184e-03 9.95802499e-01 1.41442876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.39, Y:6.45, Z:1.41 [[ 9.56105438e-01 -2.79886233e-01 -8.67530286e-02 4.13859535e+01] [ 2.77709806e-01 9.59972755e-01 -3.64633018e-02 6.44863586e+00] [ 9.34861201e-02 1.07705943e-02 9.95562323e-01 1.40913493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.41, Y:6.45, Z:1.42 [[ 9.56573852e-01 -2.77402708e-01 -8.95220883e-02 4.14122446e+01] [ 2.76353498e-01 9.60752352e-01 -2.41591062e-02 6.45029551e+00] [ 9.27103584e-02 -1.62977305e-03 9.95691786e-01 1.41619199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.44, Y:6.46, Z:1.42 [[ 9.56245773e-01 -2.79053333e-01 -8.78820697e-02 4.14409536e+01] [ 2.77549530e-01 9.60269327e-01 -2.91389513e-02 6.46081456e+00] [ 9.25217774e-02 3.47237187e-03 9.95704606e-01 1.41667153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.47, Y:6.47, Z:1.42 [[ 9.56290799e-01 -2.78797165e-01 -8.82045846e-02 4.14683922e+01] [ 2.77560843e-01 9.60349819e-01 -2.62336227e-02 6.46700154e+00] [ 9.20211165e-02 6.04833064e-04 9.95756872e-01 1.42028800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.50, Y:6.47, Z:1.42 [[ 9.56233636e-01 -2.79195123e-01 -8.75632153e-02 4.14953889e+01] [ 2.77975965e-01 9.60234209e-01 -2.60696378e-02 6.47438240e+00] [ 9.13597105e-02 5.88195267e-04 9.95817783e-01 1.42262548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.52, Y:6.48, Z:1.43 [[ 9.56158502e-01 -2.79586404e-01 -8.71341615e-02 4.15222529e+01] [ 2.78378376e-01 9.60120364e-01 -2.59685653e-02 6.48138691e+00] [ 9.09197406e-02 5.73798073e-04 9.95858058e-01 1.42524158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.55, Y:6.49, Z:1.43 [[ 9.56305909e-01 -2.79326654e-01 -8.63459796e-02 4.15480752e+01] [ 2.78155069e-01 9.60196042e-01 -2.55600907e-02 6.48811240e+00] [ 9.00486825e-02 4.25693842e-04 9.95937274e-01 1.42689980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:6.48, Z:1.44 [[ 9.57234393e-01 -2.73613009e-01 -9.40119035e-02 4.15839293e+01] [ 2.74100396e-01 9.61668290e-01 -7.94184084e-03 6.48295775e+00] [ 9.25812574e-02 -1.81664968e-02 9.95539396e-01 1.44169187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.60, Y:6.51, Z:1.42 [[ 9.56050598e-01 -2.81830605e-01 -8.08626255e-02 4.16021151e+01] [ 2.79104523e-01 9.59276169e-01 -4.34729430e-02 6.51227769e+00] [ 8.98215954e-02 1.89932087e-02 9.95776752e-01 1.42327669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.63, Y:6.51, Z:1.43 [[ 9.56137176e-01 -2.79850295e-01 -8.65188613e-02 4.16291741e+01] [ 2.78794583e-01 9.60043243e-01 -2.43012872e-02 6.50891030e+00] [ 8.98625705e-02 -8.85625761e-04 9.95953781e-01 1.43362122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.66, Y:6.52, Z:1.43 [[ 9.55637639e-01 -2.81560779e-01 -8.64883238e-02 4.16576066e+01] [ 2.80200548e-01 9.59540707e-01 -2.77359840e-02 6.51831001e+00] [ 9.07984326e-02 2.27147458e-03 9.95866700e-01 1.43481690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:6.52, Z:1.44 [[ 9.56306940e-01 -2.79560707e-01 -8.55736359e-02 4.16847896e+01] [ 2.78386055e-01 9.60127786e-01 -2.56093592e-02 6.52276851e+00] [ 8.93209961e-02 6.67901048e-04 9.96002667e-01 1.43604051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:6.53, Z:1.44 [[ 9.55111358e-01 -2.82851204e-01 -8.80766112e-02 4.17115754e+01] [ 2.81618051e-01 9.59163718e-01 -2.63862674e-02 6.53148755e+00] [ 9.19432774e-02 3.97860117e-04 9.95764167e-01 1.44010809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:6.54, Z:1.44 [[ 9.55158147e-01 -2.82525882e-01 -8.86117412e-02 4.17366209e+01] [ 2.81259961e-01 9.59259488e-01 -2.67220799e-02 6.53833173e+00] [ 9.25513326e-02 6.00877395e-04 9.95707733e-01 1.44222167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.77, Y:6.53, Z:1.46 [[ 9.55397639e-01 -2.79127494e-01 -9.64530633e-02 4.17697848e+01] [ 2.79545987e-01 9.60086067e-01 -9.42263143e-03 6.53440726e+00] [ 9.52333576e-02 -1.79607070e-02 9.95292932e-01 1.45809324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:6.55, Z:1.46 [[ 9.54546717e-01 -2.82658737e-01 -9.45759165e-02 4.17983265e+01] [ 2.82294932e-01 9.59168320e-01 -1.74844247e-02 6.54536267e+00] [ 9.56563483e-02 -1.00086017e-02 9.95364100e-01 1.45931267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:6.55, Z:1.46 [[ 9.54145725e-01 -2.84593073e-01 -9.28047321e-02 4.18243322e+01] [ 2.83855253e-01 9.58629730e-01 -2.13362444e-02 6.55455303e+00] [ 9.50375227e-02 -5.98522432e-03 9.95455698e-01 1.46028948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:6.56, Z:1.46 [[ 9.53441900e-01 -2.86845696e-01 -9.31025757e-02 4.18516398e+01] [ 2.85378552e-01 9.57976195e-01 -2.89946887e-02 6.56453580e+00] [ 9.75070529e-02 1.07527288e-03 9.95234253e-01 1.46140240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:6.57, Z:1.47 [[ 9.52187763e-01 -2.90292747e-01 -9.52291210e-02 4.18793345e+01] [ 2.89518202e-01 9.56916002e-01 -2.21579898e-02 6.56753243e+00] [ 9.75585735e-02 -6.47199716e-03 9.95208741e-01 1.46913658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.90, Y:6.60, Z:1.44 [[ 9.51477143e-01 -2.98436948e-01 -7.50108935e-02 4.18966710e+01] [ 2.94493141e-01 9.53811253e-01 -5.93117459e-02 6.59839398e+00] [ 8.92470507e-02 3.43435769e-02 9.95417240e-01 1.44002010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:6.59, Z:1.46 [[ 9.50881301e-01 -2.97574150e-01 -8.52899583e-02 4.19276805e+01] [ 2.96748250e-01 9.54690677e-01 -2.24986079e-02 6.58879853e+00] [ 8.81205322e-02 -3.91614034e-03 9.96102121e-01 1.45797262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.95, Y:6.60, Z:1.46 [[ 9.50241664e-01 -2.99726644e-01 -8.48806215e-02 4.19530853e+01] [ 2.98354172e-01 9.54023103e-01 -2.87177150e-02 6.59814726e+00] [ 8.95855382e-02 1.96428170e-03 9.95977195e-01 1.45775387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.291858063999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:41.99, Y:6.59, Z:1.48 [[ 9.50235361e-01 -2.95946413e-01 -9.73061148e-02 4.19874509e+01] [ 2.96557881e-01 9.54977485e-01 -8.45143534e-03 6.59305874e+00] [ 9.54263208e-02 -2.08260425e-02 9.95218616e-01 1.47885268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.01, Y:6.62, Z:1.46 [[ 9.49947540e-01 -3.01682331e-01 -8.11630573e-02 4.20053495e+01] [ 2.98953150e-01 9.53243833e-01 -4.41951364e-02 6.62242827e+00] [ 9.07010756e-02 1.77191095e-02 9.95720517e-01 1.45573028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.04, Y:6.62, Z:1.47 [[ 9.49947153e-01 -2.99869645e-01 -8.76276397e-02 4.20361282e+01] [ 3.00058055e-01 9.53853702e-01 -1.13260631e-02 6.61663300e+00] [ 8.69802910e-02 -1.55342177e-02 9.96088910e-01 1.47134679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:6.63, Z:1.47 [[ 9.50198230e-01 -3.00517427e-01 -8.25384811e-02 4.20613358e+01] [ 2.99425257e-01 9.53776245e-01 -2.56005894e-02 6.63209745e+00] [ 8.64166658e-02 -3.88471155e-04 9.96259007e-01 1.46796351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.09, Y:6.64, Z:1.47 [[ 9.50463252e-01 -2.99796737e-01 -8.21067760e-02 4.20880031e+01] [ 2.98660745e-01 9.54003065e-01 -2.60751129e-02 6.64033341e+00] [ 8.61473498e-02 2.61365743e-04 9.96282373e-01 1.47089372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.11, Y:6.65, Z:1.47 [[ 9.50453820e-01 -2.99985120e-01 -8.15258434e-02 4.21138278e+01] [ 2.98021095e-01 9.53896511e-01 -3.55650518e-02 6.65289861e+00] [ 8.84362040e-02 9.50651824e-03 9.96036477e-01 1.46982325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.471858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.15, Y:6.63, Z:1.51 [[ 9.52341625e-01 -2.88545351e-01 -9.89293172e-02 4.21532580e+01] [ 2.91869726e-01 9.56235233e-01 2.06456354e-02 6.63152024e+00] [ 8.86424966e-02 -4.85361707e-02 9.94880268e-01 1.50969522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.18, Y:6.66, Z:1.49 [[ 9.52446546e-01 -2.92733093e-01 -8.45749023e-02 4.21767804e+01] [ 2.91706766e-01 9.56193295e-01 -2.45264140e-02 6.66012790e+00] [ 8.80496475e-02 -1.31097292e-03 9.96115225e-01 1.49122224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:6.70, Z:1.46 [[ 0.95116143 -0.30089281 -0.06895978 42.19122236] [ 0.29633588 0.95258375 -0.06905979 6.69689055] [ 0.08646956 0.04525175 0.99522625 1.46254275] [ 0. 0. 0. 1. ]] SLAMing on 46.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:6.68, Z:1.49 [[ 9.51439757e-01 -2.96428588e-01 -8.30209650e-02 4.22259656e+01] [ 2.97062151e-01 9.54845574e-01 -4.89977315e-03 6.67808843e+00] [ 8.07246338e-02 -2.00005475e-02 9.96535755e-01 1.49006058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.25, Y:6.70, Z:1.48 [[ 9.51943477e-01 -2.96490558e-01 -7.67917008e-02 4.22497198e+01] [ 2.95583896e-01 9.55035574e-01 -2.31778660e-02 6.69589434e+00] [ 8.02108244e-02 -6.34371805e-04 9.96777719e-01 1.48417139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:6.69, Z:1.51 [[ 9.53110557e-01 -2.88101046e-01 -9.26177839e-02 4.22859028e+01] [ 2.89838638e-01 9.57059152e-01 5.59851927e-03 6.68614800e+00] [ 8.70277585e-02 -3.21802202e-02 9.95685996e-01 1.51298615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.30, Y:6.73, Z:1.48 [[ 9.51830487e-01 -2.98904172e-01 -6.83741221e-02 4.23046659e+01] [ 2.96596816e-01 9.54080661e-01 -4.19573675e-02 6.72522731e+00] [ 7.77756598e-02 1.96567546e-02 9.96777086e-01 1.47971093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.33, Y:6.73, Z:1.48 [[ 9.52064783e-01 -2.96913986e-01 -7.35848763e-02 4.23293276e+01] [ 2.94869728e-01 9.54801635e-01 -3.74924211e-02 6.73047089e+00] [ 8.13909844e-02 1.39972613e-02 9.96583957e-01 1.48467631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.711858064 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:42.37, Y:6.72, Z:1.51 [[ 9.52228026e-01 -2.90479241e-01 -9.42528416e-02 4.23671582e+01] [ 2.91517205e-01 9.56561285e-01 -2.86827190e-03 6.71930668e+00] [ 9.09917928e-02 -2.47450761e-02 9.95544160e-01 1.51366461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:42.38, Y:6.76, Z:1.48 [[ 9.51223505e-01 -2.99687456e-01 -7.32207118e-02 4.23824096e+01] [ 2.95788817e-01 9.53396023e-01 -5.95398883e-02 6.76031895e+00] [ 8.76516931e-02 3.49778735e-02 9.95536905e-01 1.48100028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77185806399999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:42.41, Y:6.75, Z:1.50 [[ 9.50766135e-01 -2.98211176e-01 -8.43436531e-02 4.24114555e+01] [ 2.97093177e-01 9.54499774e-01 -2.58035919e-02 6.75321672e+00] [ 8.82009174e-02 -5.24742553e-04 9.96102566e-01 1.49657331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.44, Y:6.75, Z:1.52 [[ 9.50234578e-01 -2.95220230e-01 -9.94950421e-02 4.24435402e+01] [ 2.96960458e-01 9.54885614e-01 2.81968422e-03 6.74600355e+00] [ 9.41739565e-02 -3.22254547e-02 9.95034063e-01 1.52389125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:6.77, Z:1.51 [[ 9.49545085e-01 -3.00105808e-01 -9.11078208e-02 4.24676738e+01] [ 2.98684241e-01 9.53905791e-01 -2.91798806e-02 6.76803744e+00] [ 9.56653295e-02 4.95141938e-04 9.95413431e-01 1.51304489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:6.78, Z:1.51 [[ 9.48717396e-01 -3.02842683e-01 -9.06731087e-02 4.24941879e+01] [ 3.01359366e-01 9.53039931e-01 -2.99570295e-02 6.77665460e+00] [ 9.54873604e-02 1.09556450e-03 9.95430040e-01 1.51401999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.52, Y:6.80, Z:1.50 [[ 9.47510399e-01 -3.10280520e-01 -7.71365245e-02 4.25154160e+01] [ 3.07236359e-01 9.50375180e-01 -4.89166390e-02 6.79671824e+00] [ 8.84865185e-02 2.26498792e-02 9.95819823e-01 1.49957081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.55, Y:6.78, Z:1.53 [[ 9.47250488e-01 -3.05586939e-01 -9.66081599e-02 4.25491059e+01] [ 3.06560860e-01 9.51838126e-01 -4.96205736e-03 6.78291886e+00] [ 9.34716698e-02 -2.49159693e-02 9.95310123e-01 1.52929026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:6.80, Z:1.53 [[ 9.47402568e-01 -3.05928386e-01 -9.40010491e-02 4.25754226e+01] [ 3.05371274e-01 9.52010283e-01 -2.06108396e-02 6.79758112e+00] [ 9.57954062e-02 -9.17845776e-03 9.95358727e-01 1.52834273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.60, Y:6.81, Z:1.53 [[ 9.47246693e-01 -3.07836295e-01 -8.92217313e-02 4.25995980e+01] [ 3.06769450e-01 9.51434753e-01 -2.57762505e-02 6.81096670e+00] [ 9.28235213e-02 -2.95403342e-03 9.95678195e-01 1.52776045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:6.81, Z:1.54 [[ 9.47200729e-01 -3.07618296e-01 -9.04531007e-02 4.26333081e+01] [ 3.08342071e-01 9.51255279e-01 -6.20977106e-03 6.81372096e+00] [ 8.79542287e-02 -2.20085967e-02 9.95881356e-01 1.53690394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.65, Y:6.84, Z:1.52 [[ 9.47306211e-01 -3.09553141e-01 -8.23880795e-02 4.26527878e+01] [ 3.06481742e-01 9.50668196e-01 -4.79470849e-02 6.83800729e+00] [ 9.31658976e-02 2.01701291e-02 9.95446272e-01 1.52387419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:6.83, Z:1.54 [[ 9.47242343e-01 -3.06731680e-01 -9.29925749e-02 4.26837386e+01] [ 3.06185136e-01 9.51752448e-01 -2.04435880e-02 6.83391068e+00] [ 9.47766069e-02 -9.10791201e-03 9.95456900e-01 1.54085622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:6.85, Z:1.54 [[ 9.47418498e-01 -3.07601072e-01 -8.82030030e-02 4.27088500e+01] [ 3.05657869e-01 9.51494669e-01 -3.50879271e-02 6.84959871e+00] [ 9.47177711e-02 6.28300920e-03 9.95484338e-01 1.53555411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:6.85, Z:1.55 [[ 9.47406861e-01 -3.06321217e-01 -9.26690399e-02 4.27370249e+01] [ 3.05875975e-01 9.51875270e-01 -1.93224665e-02 6.85134489e+00] [ 9.41282488e-02 -1.00389956e-02 9.95509463e-01 1.54548810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.76, Y:6.86, Z:1.55 [[ 9.47744273e-01 -3.05790599e-01 -9.09554937e-02 4.27623927e+01] [ 3.05009468e-01 9.52078486e-01 -2.27108171e-02 6.86172588e+00] [ 9.35415231e-02 -6.21823989e-03 9.95595961e-01 1.54720835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.79, Y:6.88, Z:1.54 [[ 9.48094878e-01 -3.06572811e-01 -8.44346753e-02 4.27866722e+01] [ 3.04240328e-01 9.51773967e-01 -3.95492038e-02 6.88074048e+00] [ 9.24874364e-02 1.18079643e-02 9.95643835e-01 1.53882982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.82, Y:6.88, Z:1.55 [[ 9.48382834e-01 -3.03541661e-01 -9.18284245e-02 4.28170204e+01] [ 3.03059223e-01 9.52772356e-01 -1.94922057e-02 6.88120311e+00] [ 9.34082808e-02 -9.34337763e-03 9.95584047e-01 1.55186110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.251858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.84, Y:6.90, Z:1.55 [[ 9.48861363e-01 -3.03287046e-01 -8.76303684e-02 4.28430788e+01] [ 3.01865837e-01 9.52898205e-01 -2.93602923e-02 6.89522738e+00] [ 9.24074171e-02 1.40623254e-03 9.95720288e-01 1.54861665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:6.91, Z:1.54 [[ 9.50031214e-01 -3.02323897e-01 -7.77235685e-02 4.28666431e+01] [ 2.99881209e-01 9.53066332e-01 -4.16632712e-02 6.91316378e+00] [ 8.66715188e-02 1.62735705e-02 9.96104020e-01 1.53866885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.90, Y:6.91, Z:1.56 [[ 9.50128131e-01 -2.98227929e-01 -9.11955964e-02 4.28979725e+01] [ 2.97866334e-01 9.54440330e-01 -1.78690564e-02 6.90998206e+00] [ 9.23698068e-02 -1.01862048e-02 9.95672667e-01 1.55599951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:6.93, Z:1.54 [[ 9.50852470e-01 -2.99513449e-01 -7.85574551e-02 4.29219620e+01] [ 2.96875052e-01 9.53919208e-01 -4.36273759e-02 6.93275034e+00] [ 8.80044512e-02 1.81614496e-02 9.95954506e-01 1.54120100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.371858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.95, Y:6.93, Z:1.55 [[ 9.50588778e-01 -3.00334215e-01 -7.86151025e-02 4.29498180e+01] [ 2.99882973e-01 9.53810580e-01 -1.77645644e-02 6.93456019e+00] [ 8.03192230e-02 -6.68853507e-03 9.96746751e-01 1.54827281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401858063999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:42.97, Y:6.95, Z:1.55 [[ 9.51878934e-01 -2.96643500e-01 -7.70008397e-02 4.29710301e+01] [ 2.95034608e-01 9.54958776e-01 -3.17540075e-02 6.94973295e+00] [ 8.29522475e-02 7.50805830e-03 9.96525240e-01 1.54777971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.431858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.00, Y:6.96, Z:1.55 [[ 9.51956241e-01 -2.95803992e-01 -7.92421193e-02 4.29968738e+01] [ 2.94763850e-01 9.55248628e-01 -2.47857023e-02 6.95564031e+00] [ 8.30276355e-02 2.37191817e-04 9.96547217e-01 1.55166712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.02, Y:6.97, Z:1.55 [[ 9.52238260e-01 -2.94859930e-01 -7.93720264e-02 4.30249587e+01] [ 2.93289039e-01 9.55519877e-01 -3.10371349e-02 6.96729936e+00] [ 8.49931564e-02 6.27580198e-03 9.96361770e-01 1.55380010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.05, Y:6.97, Z:1.56 [[ 9.52224636e-01 -2.93993986e-01 -8.26787694e-02 4.30519533e+01] [ 2.93423676e-01 9.55788830e-01 -1.92421161e-02 6.97085924e+00] [ 8.46805107e-02 -5.93709149e-03 9.96390467e-01 1.56005272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52185806399999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:43.08, Y:6.98, Z:1.56 [[ 9.51982387e-01 -2.94968691e-01 -8.19939445e-02 4.30760698e+01] [ 2.93846831e-01 9.55506844e-01 -2.57042858e-02 6.98347065e+00] [ 8.59277347e-02 3.76366575e-04 9.96301301e-01 1.56004838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.551858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.11, Y:6.98, Z:1.58 [[ 9.52229548e-01 -2.90031335e-01 -9.56070720e-02 4.31100854e+01] [ 2.90907296e-01 9.56738421e-01 -4.95358974e-03 6.97882700e+00] [ 9.29076553e-02 -2.30958403e-02 9.95406826e-01 1.58217593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581858063999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.13, Y:7.01, Z:1.56 [[ 9.51740896e-01 -2.97371326e-01 -7.58917757e-02 4.31299330e+01] [ 2.94147278e-01 9.54405269e-01 -5.08720023e-02 7.01170905e+00] [ 8.75593854e-02 2.60936058e-02 9.95817492e-01 1.55603466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.611858063999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:43.16, Y:7.01, Z:1.57 [[ 9.51198668e-01 -2.96738914e-01 -8.46587916e-02 4.31575771e+01] [ 2.95944609e-01 9.54950025e-01 -2.20734955e-02 7.00809489e+00] [ 8.73949802e-02 -4.05803346e-03 9.96165473e-01 1.56958242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.19, Y:7.02, Z:1.57 [[ 9.51143819e-01 -2.98300956e-01 -7.96365150e-02 4.31850911e+01] [ 2.96474595e-01 9.54430850e-01 -3.41257555e-02 7.02119634e+00] [ 8.61872921e-02 8.84829796e-03 9.96239659e-01 1.56588341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.671858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:43.21, Y:7.02, Z:1.58 [[ 9.50592833e-01 -2.98205540e-01 -8.62943943e-02 4.32114020e+01] [ 2.97814284e-01 9.54460199e-01 -1.76743265e-02 7.02204716e+00] [ 8.76351468e-02 -8.89861514e-03 9.96112893e-01 1.57716813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.24, Y:7.03, Z:1.58 [[ 9.50325117e-01 -2.99804751e-01 -8.36617194e-02 4.32378534e+01] [ 2.98645006e-01 9.54000581e-01 -2.63448634e-02 7.03344036e+00] [ 8.77116441e-02 5.10307407e-05 9.96145905e-01 1.57643878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.731858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.26, Y:7.04, Z:1.58 [[ 9.49880089e-01 -3.01297178e-01 -8.33536230e-02 4.32642597e+01] [ 3.00149428e-01 9.53530286e-01 -2.62738239e-02 7.04102671e+00] [ 8.73964330e-02 -6.15601176e-05 9.96173609e-01 1.57932653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.29, Y:7.05, Z:1.58 [[ 9.49675024e-01 -3.02008642e-01 -8.31151492e-02 4.32911824e+01] [ 3.00867921e-01 9.53305182e-01 -2.62245039e-02 7.04977212e+00] [ 8.71541292e-02 -1.01925753e-04 9.96194834e-01 1.58167598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.791858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:7.11, Z:1.52 [[ 9.48177952e-01 -3.16175621e-01 -3.14888658e-02 4.32984235e+01] [ 3.10992815e-01 9.43789794e-01 -1.12001308e-01 7.11173222e+00] [ 6.51309534e-02 9.64043601e-02 9.93209020e-01 1.51775999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:7.08, Z:1.56 [[ 9.48676457e-01 -3.09722540e-01 -6.39134396e-02 4.33424640e+01] [ 3.08893918e-01 9.50825269e-01 -2.27124299e-02 7.07627163e+00] [ 6.78050649e-02 1.80427477e-03 9.97696957e-01 1.55544848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:7.04, Z:1.62 [[ 0.94862028 -0.29588972 -0.11211087 43.38318004] [ 0.30354049 0.95102829 0.05838125 7.04022248] [ 0.0893462 -0.08941183 0.99197922 1.62445253] [ 0. 0. 0. 1. ]] SLAMing on 47.88185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.39, Y:7.12, Z:1.55 [[ 0.94894134 -0.31109244 -0.05226683 43.39285583] [ 0.30629817 0.94829375 -0.08318888 7.11615381] [ 0.07544374 0.06293214 0.99516219 1.54659078] [ 0. 0. 0. 1. ]] SLAMing on 47.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:7.09, Z:1.58 [[ 9.48782321e-01 -3.06774664e-01 -7.55077001e-02 4.34297176e+01] [ 3.06319672e-01 9.51761850e-01 -1.78224587e-02 7.09157901e+00] [ 7.73328271e-02 -6.21986019e-03 9.96985931e-01 1.57566977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:7.08, Z:1.62 [[ 9.48220933e-01 -3.00583859e-01 -1.02598272e-01 4.34623419e+01] [ 3.04619730e-01 9.52122696e-01 2.58687610e-02 7.07644974e+00] [ 8.99104117e-02 -5.57827587e-02 9.94386445e-01 1.61721408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.48, Y:7.11, Z:1.60 [[ 9.48473993e-01 -3.04970650e-01 -8.59650407e-02 4.34836091e+01] [ 3.03756383e-01 9.52361695e-01 -2.71893759e-02 7.10678082e+00] [ 9.01617735e-02 -3.24013916e-04 9.95927080e-01 1.59695348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:7.16, Z:1.54 [[ 9.47932519e-01 -3.15572967e-01 -4.28677365e-02 4.34977138e+01] [ 3.10594447e-01 9.45825514e-01 -9.45789925e-02 7.15649949e+00] [ 7.03919722e-02 7.63400217e-02 9.94593973e-01 1.54004347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:7.09, Z:1.63 [[ 0.94814948 -0.29900794 -0.10773498 43.54722075] [ 0.30510336 0.95125415 0.04502758 7.09295521] [ 0.08901974 -0.07556318 0.99315945 1.63054504] [ 0. 0. 0. 1. ]] SLAMing on 48.06185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:7.13, Z:1.60 [[ 9.48621986e-01 -3.04884191e-01 -8.46283512e-02 4.35669759e+01] [ 3.03702124e-01 9.52389397e-01 -2.68226703e-02 7.13080454e+00] [ 8.87769525e-02 -2.57235257e-04 9.96051498e-01 1.60258163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:7.14, Z:1.60 [[ 9.48603911e-01 -3.05242395e-01 -8.35326333e-02 4.35936943e+01] [ 3.04090025e-01 9.52274651e-01 -2.64999200e-02 7.13864565e+00] [ 8.76349083e-02 -2.63512819e-04 9.96152626e-01 1.60371727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:7.15, Z:1.61 [[ 9.48466438e-01 -3.05802073e-01 -8.30452229e-02 4.36210166e+01] [ 3.04663088e-01 9.52095063e-01 -2.63703274e-02 7.14659177e+00] [ 8.71310475e-02 -2.89443593e-04 9.96196816e-01 1.60546922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:7.15, Z:1.61 [[ 9.48164310e-01 -3.07115176e-01 -8.16376706e-02 4.36471460e+01] [ 3.06017479e-01 9.51672277e-01 -2.59457108e-02 7.15315582e+00] [ 8.56606294e-02 -3.81757144e-04 9.96324300e-01 1.60642186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:7.16, Z:1.61 [[ 9.47784671e-01 -3.08668396e-01 -8.01750505e-02 4.36745779e+01] [ 3.07614163e-01 9.51169581e-01 -2.54942158e-02 7.16082691e+00] [ 8.41293278e-02 -4.99954082e-04 9.96454719e-01 1.60724652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:7.17, Z:1.61 [[ 9.47387083e-01 -3.10095810e-01 -7.93618495e-02 4.37015250e+01] [ 3.09065849e-01 9.50705124e-01 -2.52600235e-02 7.16748274e+00] [ 8.32827444e-02 -5.97017383e-04 9.96525779e-01 1.60909660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:7.18, Z:1.61 [[ 9.46323862e-01 -3.13978977e-01 -7.67355873e-02 4.37287075e+01] [ 3.12552797e-01 9.49418582e-01 -3.02506970e-02 7.17591975e+00] [ 8.23522754e-02 4.64303394e-03 9.96592467e-01 1.60785531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:7.18, Z:1.61 [[ 9.46279998e-01 -3.13689976e-01 -7.84395557e-02 4.37567146e+01] [ 3.13174257e-01 9.49503349e-01 -1.91121388e-02 7.17878128e+00] [ 8.04739072e-02 -6.47981494e-03 9.96735653e-01 1.61321667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:7.19, Z:1.61 [[ 9.46025375e-01 -3.15078871e-01 -7.59031921e-02 4.37821341e+01] [ 3.14148562e-01 9.49065026e-01 -2.42127509e-02 7.18881201e+00] [ 7.96659911e-02 -9.39001905e-04 9.96821172e-01 1.61190410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.331858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.81, Y:7.20, Z:1.61 [[ 9.45646230e-01 -3.16595061e-01 -7.43019149e-02 4.38093877e+01] [ 3.15707420e-01 9.48560225e-01 -2.37133905e-02 7.19598154e+00] [ 7.79873834e-02 -1.03318752e-03 9.96953811e-01 1.61145365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:7.20, Z:1.61 [[ 9.45438444e-01 -3.17302242e-01 -7.39285851e-02 4.38368085e+01] [ 3.16423904e-01 9.48323866e-01 -2.36169174e-02 7.20390092e+00] [ 7.76019424e-02 -1.06442993e-03 9.96983854e-01 1.61304384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.86, Y:7.21, Z:1.61 [[ 9.45354828e-01 -3.17552815e-01 -7.39219734e-02 4.38639533e+01] [ 3.16673625e-01 9.48239990e-01 -2.36375955e-02 7.21266129e+00] [ 7.76019563e-02 -1.06322420e-03 9.96983854e-01 1.61498828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:43.89, Y:7.22, Z:1.62 [[ 9.45081429e-01 -3.18539244e-01 -7.31699623e-02 4.38894755e+01] [ 3.17679297e-01 9.47909020e-01 -2.34169694e-02 7.21996810e+00] [ 7.68176909e-02 -1.11363924e-03 9.97044534e-01 1.61631226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.91, Y:7.25, Z:1.59 [[ 9.44389943e-01 -3.24695588e-01 -5.19654750e-02 4.39119453e+01] [ 3.21951045e-01 9.45171337e-01 -5.47601013e-02 7.24610996e+00] [ 6.68966408e-02 3.49845500e-02 9.97146389e-01 1.58997287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.95, Y:7.22, Z:1.63 [[ 9.44178046e-01 -3.18943462e-01 -8.24796106e-02 4.39486112e+01] [ 3.20882533e-01 9.47054243e-01 1.10752730e-02 7.22043842e+00] [ 7.45802793e-02 -3.69232960e-02 9.96531210e-01 1.63276878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.97, Y:7.24, Z:1.62 [[ 9.43791691e-01 -3.22744452e-01 -7.13670994e-02 4.39716901e+01] [ 3.21936306e-01 9.46485118e-01 -2.28678182e-02 7.24350470e+00] [ 7.49283589e-02 -1.39320352e-03 9.97187946e-01 1.61927753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.00, Y:7.26, Z:1.61 [[ 9.43450126e-01 -3.24887350e-01 -6.59550522e-02 4.40002272e+01] [ 3.23600147e-01 9.45729541e-01 -2.96408563e-02 7.25518363e+00] [ 7.20055805e-02 6.62160505e-03 9.97382249e-01 1.61323113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.03, Y:7.26, Z:1.62 [[ 9.42825495e-01 -3.26141000e-01 -6.86449821e-02 4.40281653e+01] [ 3.25502098e-01 9.45316651e-01 -2.06109848e-02 7.25794613e+00] [ 7.16133318e-02 -2.91152373e-03 9.97428220e-01 1.61889419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.05, Y:7.27, Z:1.61 [[ 9.42729414e-01 -3.28212976e-01 -5.94768443e-02 4.40533829e+01] [ 3.26532416e-01 9.44487241e-01 -3.63377516e-02 7.27356141e+00] [ 6.81016422e-02 1.48355495e-02 9.97568079e-01 1.60855240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.08, Y:7.27, Z:1.63 [[ 9.42334394e-01 -3.26084371e-01 -7.53317547e-02 4.40825658e+01] [ 3.27036925e-01 9.45011504e-01 3.27370315e-04 7.26507470e+00] [ 7.10826244e-02 -2.49447577e-02 9.97158473e-01 1.63360526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.11, Y:7.29, Z:1.62 [[ 9.42796126e-01 -3.27702276e-01 -6.12101604e-02 4.41107054e+01] [ 3.26421497e-01 9.44743283e-01 -3.01518697e-02 7.28719354e+00] [ 6.77087242e-02 8.44675373e-03 9.97669375e-01 1.61837938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.691858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.13, Y:7.29, Z:1.63 [[ 9.42236846e-01 -3.27768182e-01 -6.89764102e-02 4.41336644e+01] [ 3.27819256e-01 9.44677573e-01 -1.09003840e-02 7.28904048e+00] [ 6.87332669e-02 -1.23410520e-02 9.97558738e-01 1.63078488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.16, Y:7.31, Z:1.61 [[ 9.41819923e-01 -3.31913396e-01 -5.29974484e-02 4.41571960e+01] [ 3.30164975e-01 9.43110772e-01 -3.91556101e-02 7.31399762e+00] [ 6.29787360e-02 1.93796324e-02 9.97826693e-01 1.61122489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.751858064 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:44.19, Y:7.30, Z:1.63 [[ 9.43400204e-01 -3.24768732e-01 -6.72408032e-02 4.41943279e+01] [ 3.25190356e-01 9.45635970e-01 -4.88314543e-03 7.30444148e+00] [ 6.51712151e-02 -1.72593003e-02 9.97724826e-01 1.63259693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:7.32, Z:1.63 [[ 9.42887273e-01 -3.27123457e-01 -6.28795306e-02 4.42133242e+01] [ 3.26664735e-01 9.44973892e-01 -1.77339886e-02 7.32137069e+00] [ 6.52207184e-02 -3.81937313e-03 9.97863553e-01 1.62900446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:7.33, Z:1.63 [[ 9.42935117e-01 -3.27202349e-01 -6.17412927e-02 4.42398511e+01] [ 3.26598538e-01 9.44953283e-01 -1.99170273e-02 7.33223432e+00] [ 6.48595354e-02 -1.38415150e-03 9.97893444e-01 1.62996408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:7.35, Z:1.62 [[ 9.43058703e-01 -3.27775323e-01 -5.66005414e-02 4.42657753e+01] [ 3.26854785e-01 9.44741638e-01 -2.50836100e-02 7.34685486e+00] [ 6.16946766e-02 5.15515895e-03 9.98081756e-01 1.62494086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:7.35, Z:1.63 [[ 9.43553307e-01 -3.25329258e-01 -6.21935024e-02 4.42921522e+01] [ 3.25155408e-01 9.45568742e-01 -1.31801052e-02 7.35114827e+00] [ 6.30961057e-02 -7.78642176e-03 9.97977080e-01 1.63423275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.32, Y:7.36, Z:1.63 [[ 9.43825347e-01 -3.24892687e-01 -6.03196236e-02 4.43172489e+01] [ 3.24308995e-01 9.45750180e-01 -1.95005776e-02 7.36350910e+00] [ 6.33828900e-02 -1.15705710e-03 9.97988612e-01 1.63302629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:7.37, Z:1.63 [[ 9.44119228e-01 -3.24112904e-01 -5.99141781e-02 4.43439921e+01] [ 3.23534692e-01 9.46017784e-01 -1.93818483e-02 7.37313868e+00] [ 6.29617851e-02 -1.08553946e-03 9.98015348e-01 1.63476609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:7.38, Z:1.64 [[ 9.44942616e-01 -3.21832134e-01 -5.92244025e-02 4.43704952e+01] [ 3.21261563e-01 9.46796313e-01 -1.91768203e-02 7.38358015e+00] [ 6.22451630e-02 -9.05529360e-04 9.98060479e-01 1.63625956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.40, Y:7.39, Z:1.64 [[ 9.45411632e-01 -3.20548186e-01 -5.87001395e-02 4.43954498e+01] [ 3.19984049e-01 9.47231876e-01 -1.90258080e-02 7.39336699e+00] [ 6.17013315e-02 -7.95888066e-04 9.98094340e-01 1.63747422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.43, Y:7.40, Z:1.65 [[ 9.45916480e-01 -3.17530835e-01 -6.64543576e-02 4.44261876e+01] [ 3.17833818e-01 9.48125874e-01 -6.24419430e-03 7.39612547e+00] [ 6.49898202e-02 -1.52149559e-02 9.97769928e-01 1.65021778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.45, Y:7.42, Z:1.64 [[ 9.46344815e-01 -3.18690004e-01 -5.35553245e-02 4.44460703e+01] [ 3.17338696e-01 9.47761701e-01 -3.23096050e-02 7.42034589e+00] [ 6.10544336e-02 1.35808503e-02 9.98042042e-01 1.63503220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.47, Y:7.43, Z:1.64 [[ 9.47222907e-01 -3.15527483e-01 -5.66672045e-02 4.44740387e+01] [ 3.14742834e-01 9.48910034e-01 -2.25098933e-02 7.42737499e+00] [ 6.08745689e-02 3.48629004e-03 9.98139335e-01 1.64112719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:7.43, Z:1.65 [[ 9.47909099e-01 -3.13242808e-01 -5.78557197e-02 4.45010082e+01] [ 3.12931425e-01 9.49663494e-01 -1.46003499e-02 7.43335558e+00] [ 5.95169195e-02 -4.26506830e-03 9.98218185e-01 1.64610459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:7.44, Z:1.65 [[ 9.48690072e-01 -3.10647540e-01 -5.90360344e-02 4.45293165e+01] [ 3.10286542e-01 9.50518013e-01 -1.54197461e-02 7.44304841e+00] [ 6.09049203e-02 -3.68952690e-03 9.98136753e-01 1.65041233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:7.45, Z:1.65 [[ 9.49164697e-01 -3.09235863e-01 -5.88180161e-02 4.45565460e+01] [ 3.08714558e-01 9.50984748e-01 -1.79813839e-02 7.45369311e+00] [ 6.14955250e-02 -1.09068301e-03 9.98106763e-01 1.65178799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:7.47, Z:1.65 [[ 9.49455716e-01 -3.08531752e-01 -5.78100501e-02 4.45824108e+01] [ 3.07868783e-01 9.51212947e-01 -2.02667467e-02 7.46529447e+00] [ 6.12426030e-02 1.44446874e-03 9.98121865e-01 1.65133658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:7.47, Z:1.65 [[ 9.49750820e-01 -3.07385817e-01 -5.90537007e-02 4.46074188e+01] [ 3.06807568e-01 9.51584947e-01 -1.88468621e-02 7.47424736e+00] [ 6.19878708e-02 -2.18299607e-04 9.98076879e-01 1.65307760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261858063999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.63, Y:7.49, Z:1.65 [[ 9.50653517e-01 -3.04577477e-01 -5.90800453e-02 4.46307104e+01] [ 3.03497238e-01 9.52458508e-01 -2.66874015e-02 7.48754036e+00] [ 6.43996732e-02 7.43984151e-03 9.97896453e-01 1.65047475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.291858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.66, Y:7.49, Z:1.66 [[ 9.50806234e-01 -3.03910647e-01 -6.00485081e-02 4.46587546e+01] [ 3.03570649e-01 9.52691992e-01 -1.49274918e-02 7.49250347e+00] [ 6.17443565e-02 -4.03581237e-03 9.98083837e-01 1.65518441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:7.50, Z:1.66 [[ 9.51135982e-01 -3.02781926e-01 -6.05264249e-02 4.46859205e+01] [ 3.01843609e-01 9.53047523e-01 -2.43075137e-02 7.50344738e+00] [ 6.50444351e-02 4.85023639e-03 9.97870581e-01 1.65613256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.70, Y:7.53, Z:1.63 [[ 9.50358358e-01 -3.08041675e-01 -4.39240007e-02 4.47027232e+01] [ 3.05938388e-01 9.50807211e-01 -4.86554268e-02 7.52854813e+00] [ 5.67511558e-02 3.28020536e-02 9.97849353e-01 1.63462601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:7.51, Z:1.67 [[ 9.51570529e-01 -2.99307628e-01 -7.02030816e-02 4.47446934e+01] [ 3.00568281e-01 9.53727658e-01 7.89074424e-03 7.50705857e+00] [ 6.45928607e-02 -2.86094192e-02 9.97501511e-01 1.67030425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.77, Y:7.52, Z:1.67 [[ 9.51622408e-01 -3.00123458e-01 -6.58840101e-02 4.47712203e+01] [ 2.99906775e-01 9.53874552e-01 -1.33890122e-02 7.52448140e+00] [ 6.68634373e-02 -7.01777699e-03 9.97737456e-01 1.66669590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441858063999994 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:44.80, Y:7.54, Z:1.66 [[ 9.51293900e-01 -3.02110435e-01 -6.13938212e-02 4.47957914e+01] [ 3.01189843e-01 9.53263247e-01 -2.39553953e-02 7.53820638e+00] [ 6.57616482e-02 4.29742608e-03 9.97826106e-01 1.66038718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:7.55, Z:1.66 [[ 9.51042632e-01 -3.03646519e-01 -5.75908267e-02 4.48200858e+01] [ 3.02464287e-01 9.52735995e-01 -2.84513607e-02 7.54840743e+00] [ 6.35080102e-02 9.63928867e-03 9.97934776e-01 1.65769752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:7.55, Z:1.67 [[ 9.50812233e-01 -3.03459167e-01 -6.21983274e-02 4.48493018e+01] [ 3.02962380e-01 9.52841886e-01 -1.74967394e-02 7.55035207e+00] [ 6.45747176e-02 -2.20763947e-03 9.97910433e-01 1.66518407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.531858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.88, Y:7.56, Z:1.67 [[ 9.50621166e-01 -3.03972017e-01 -6.26131879e-02 4.48764280e+01] [ 3.03838447e-01 9.52649556e-01 -1.18752557e-02 7.55538935e+00] [ 6.32581711e-02 -7.73542438e-03 9.97967217e-01 1.66812370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.90, Y:7.57, Z:1.67 [[ 9.50254103e-01 -3.05425095e-01 -6.10954286e-02 4.49025015e+01] [ 3.04770264e-01 9.52216030e-01 -1.99929456e-02 7.56540490e+00] [ 6.42823938e-02 3.78308674e-04 9.97931676e-01 1.66814280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:7.57, Z:1.67 [[ 9.49628027e-01 -3.06585736e-01 -6.48983562e-02 4.49321048e+01] [ 3.05964766e-01 9.51842166e-01 -1.95461567e-02 7.56829466e+00] [ 6.77655648e-02 -1.29503220e-03 9.97700432e-01 1.67334210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:7.58, Z:1.67 [[ 9.49346270e-01 -3.08517610e-01 -5.96535278e-02 4.49567402e+01] [ 3.07528944e-01 9.51201547e-01 -2.53291245e-02 7.57929304e+00] [ 6.45570089e-02 5.70092347e-03 9.97897736e-01 1.66913205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:7.58, Z:1.68 [[ 9.49697057e-01 -3.06019324e-01 -6.65407661e-02 4.49869224e+01] [ 3.05831031e-01 9.51993613e-01 -1.32492062e-02 7.57918001e+00] [ 6.74008974e-02 -7.76749896e-03 9.97695738e-01 1.68025760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:7.59, Z:1.67 [[ 9.49776351e-01 -3.07050857e-01 -6.03709726e-02 4.50120571e+01] [ 3.06124589e-01 9.51682156e-01 -2.42654006e-02 7.59233427e+00] [ 6.49046894e-02 4.56566446e-03 9.97881023e-01 1.67367846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:7.60, Z:1.68 [[ 9.50029065e-01 -3.05006554e-01 -6.64513171e-02 4.50410831e+01] [ 3.04551989e-01 9.52341942e-01 -1.71146780e-02 7.59531819e+00] [ 6.85044653e-02 -3.97843923e-03 9.97642877e-01 1.68202558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:7.61, Z:1.68 [[ 9.50102667e-01 -3.05018216e-01 -6.53361235e-02 4.50675578e+01] [ 3.04159285e-01 9.52344544e-01 -2.29564600e-02 7.60608676e+00] [ 6.92246392e-02 1.93840529e-03 9.97599214e-01 1.68120858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.09, Y:7.62, Z:1.68 [[ 9.50200432e-01 -3.05119112e-01 -6.34150280e-02 4.50936638e+01] [ 3.04027062e-01 9.52296228e-01 -2.64469329e-02 7.61500832e+00] [ 6.84593567e-02 5.85000241e-03 9.97636755e-01 1.67924975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.12, Y:7.62, Z:1.69 [[ 9.50300091e-01 -3.03650387e-01 -6.87472116e-02 4.51231729e+01] [ 3.03220756e-01 9.52771284e-01 -1.68538794e-02 7.61738015e+00] [ 7.06180561e-02 -4.82933839e-03 9.97491738e-01 1.68812695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.831858063999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:45.15, Y:7.63, Z:1.69 [[ 9.49908773e-01 -3.05029675e-01 -6.80457224e-02 4.51505604e+01] [ 3.04249927e-01 9.52342846e-01 -2.17964328e-02 7.62665073e+00] [ 7.14514158e-02 1.71659900e-06 9.97444081e-01 1.68809949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.17, Y:7.64, Z:1.68 [[ 9.49167479e-01 -3.08543377e-01 -6.23063592e-02 4.51748570e+01] [ 3.07140598e-01 9.51152571e-01 -3.12000118e-02 7.63916157e+00] [ 6.88894107e-02 1.04772241e-02 9.97569284e-01 1.68343266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.20, Y:7.64, Z:1.69 [[ 9.48648904e-01 -3.08739526e-01 -6.88851353e-02 4.52044314e+01] [ 3.08416460e-01 9.51124421e-01 -1.55442218e-02 7.63976277e+00] [ 7.03174501e-02 -6.49930058e-03 9.97503491e-01 1.69477112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.23, Y:7.65, Z:1.69 [[ 9.48060799e-01 -3.11055923e-01 -6.65201745e-02 4.52305457e+01] [ 3.10277901e-01 9.50391588e-01 -2.19875827e-02 7.65150371e+00] [ 7.00595821e-02 2.05825170e-04 9.97542787e-01 1.69452221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.26, Y:7.66, Z:1.70 [[ 9.46768858e-01 -3.15292219e-01 -6.49580285e-02 4.52561986e+01] [ 3.14558869e-01 9.48994631e-01 -2.14920518e-02 7.65969122e+00] [ 6.84210970e-02 -8.51185849e-05 9.97656527e-01 1.69624811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:45.28, Y:7.67, Z:1.70 [[ 9.46102472e-01 -3.17477016e-01 -6.40191967e-02 4.52826970e+01] [ 3.16769116e-01 9.48265939e-01 -2.11904674e-02 7.66795168e+00] [ 6.74347100e-02 -2.30950840e-04 9.97723662e-01 1.69837553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:7.68, Z:1.70 [[ 9.45365801e-01 -3.19705957e-01 -6.38091172e-02 4.53093396e+01] [ 3.19006349e-01 9.47516736e-01 -2.11420010e-02 7.67603502e+00] [ 6.72194302e-02 -3.68588803e-04 9.97738148e-01 1.70097435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.34, Y:7.68, Z:1.71 [[ 9.44555293e-01 -3.21092415e-01 -6.86655610e-02 4.53370005e+01] [ 3.20863359e-01 9.47012335e-01 -1.46404375e-02 7.67983179e+00] [ 6.97280667e-02 -8.20355980e-03 9.97532304e-01 1.70881873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.36, Y:7.70, Z:1.70 [[ 9.43889607e-01 -3.24391499e-01 -6.19884215e-02 4.53616685e+01] [ 3.23205273e-01 9.45897512e-01 -2.85700775e-02 7.69767645e+00] [ 6.79025840e-02 6.93201455e-03 9.97667874e-01 1.70051706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:7.70, Z:1.71 [[ 9.43738693e-01 -3.24172318e-01 -6.53420854e-02 4.53874982e+01] [ 3.23445699e-01 9.45997823e-01 -2.17024918e-02 7.70341790e+00] [ 6.88488177e-02 -6.53135209e-04 9.97626891e-01 1.70547269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:7.71, Z:1.71 [[ 9.43964470e-01 -3.22809479e-01 -6.87395042e-02 4.54149272e+01] [ 3.22454227e-01 9.46441084e-01 -1.65089905e-02 7.71028606e+00] [ 7.03871495e-02 -6.58144318e-03 9.97498037e-01 1.71090186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:7.72, Z:1.72 [[ 9.44825077e-01 -3.19435834e-01 -7.25694324e-02 4.54432139e+01] [ 3.19798532e-01 9.47460596e-01 -6.87883734e-03 7.71535250e+00] [ 7.09540248e-02 -1.67082999e-02 9.97339641e-01 1.72007325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:7.73, Z:1.72 [[ 9.45413440e-01 -3.18517398e-01 -6.88483393e-02 4.54679269e+01] [ 3.17596490e-01 9.47916447e-01 -2.42255751e-02 7.73124434e+00] [ 7.29787403e-02 1.03719340e-03 9.97332957e-01 1.71588484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.50, Y:7.74, Z:1.72 [[ 9.46250387e-01 -3.16071334e-01 -6.86230101e-02 4.54955949e+01] [ 3.14937834e-01 9.48727112e-01 -2.70375320e-02 7.74178039e+00] [ 7.36502990e-02 3.97229292e-03 9.97276218e-01 1.71652901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:7.76, Z:1.71 [[ 9.46895603e-01 -3.15507124e-01 -6.19997666e-02 4.55189229e+01] [ 3.13737506e-01 9.48799622e-01 -3.67158542e-02 7.75792015e+00] [ 7.04094686e-02 1.53144288e-02 9.97400609e-01 1.70875265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:7.76, Z:1.72 [[ 9.47968328e-01 -3.11183553e-01 -6.72372369e-02 4.55470497e+01] [ 3.10377416e-01 9.50349763e-01 -2.23872382e-02 7.76231199e+00] [ 7.08654325e-02 3.53472906e-04 9.97485822e-01 1.71623848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:7.77, Z:1.72 [[ 9.47913931e-01 -3.11350555e-01 -6.72310238e-02 4.55740544e+01] [ 3.10543515e-01 9.50295060e-01 -2.24058815e-02 7.77140684e+00] [ 7.08653935e-02 3.60688703e-04 9.97485822e-01 1.71817346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:7.77, Z:1.73 [[ 9.47749983e-01 -3.09796623e-01 -7.61316101e-02 4.56014313e+01] [ 3.10143543e-01 9.50659977e-01 -7.52266737e-03 7.77385163e+00] [ 7.47057717e-02 -1.64821194e-02 9.97069400e-01 1.73255102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.62, Y:7.80, Z:1.72 [[ 9.48774247e-01 -3.09859467e-01 -6.17619583e-02 4.56239025e+01] [ 3.07944947e-01 9.50618301e-01 -3.86620685e-02 7.79815774e+00] [ 7.06918558e-02 1.76622919e-02 9.97341820e-01 1.71528092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.65, Y:7.80, Z:1.72 [[ 9.48858091e-01 -3.08638963e-01 -6.64101911e-02 4.56487168e+01] [ 3.07690290e-01 9.51175580e-01 -2.43249298e-02 7.80176873e+00] [ 7.06753732e-02 2.64713551e-03 9.97495857e-01 1.72329858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:7.81, Z:1.73 [[ 9.49541285e-01 -3.06270942e-01 -6.75977725e-02 4.56789968e+01] [ 3.05545297e-01 9.51944170e-01 -2.10800497e-02 7.80765053e+00] [ 7.08055122e-02 -6.37803974e-04 9.97489936e-01 1.72761558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:7.81, Z:1.74 [[ 9.49264835e-01 -3.05990508e-01 -7.25677726e-02 4.57057822e+01] [ 3.05881133e-01 9.51982449e-01 -1.28898823e-02 7.81215298e+00] [ 7.30274275e-02 -9.96120043e-03 9.97280186e-01 1.73752993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:7.83, Z:1.73 [[ 9.49563305e-01 -3.07215406e-01 -6.28348945e-02 4.57303847e+01] [ 3.05716035e-01 9.51569079e-01 -3.24652759e-02 7.83086997e+00] [ 6.97655756e-02 1.16181999e-02 9.97495755e-01 1.72651365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:7.83, Z:1.74 [[ 9.49457436e-01 -3.05137261e-01 -7.36330781e-02 4.57599154e+01] [ 3.05326486e-01 9.52205679e-01 -8.94883337e-03 7.82936728e+00] [ 7.28444577e-02 -1.39855926e-02 9.97245250e-01 1.74437766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.79, Y:7.84, Z:1.74 [[ 9.49623524e-01 -3.05664398e-01 -6.91696290e-02 4.57856360e+01] [ 3.05008661e-01 9.52137215e-01 -2.01106916e-02 7.84354633e+00] [ 7.20061003e-02 -1.99975011e-03 9.97402187e-01 1.74182219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:7.85, Z:1.74 [[ 9.49670827e-01 -3.06020165e-01 -6.69102306e-02 4.58119183e+01] [ 3.05116124e-01 9.52022958e-01 -2.35889260e-02 7.85409654e+00] [ 7.09187627e-02 1.98632463e-03 9.97480117e-01 1.74223056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:7.86, Z:1.74 [[ 9.49597618e-01 -3.06104981e-01 -6.75581610e-02 4.58384345e+01] [ 3.04886116e-01 9.51979362e-01 -2.79240129e-02 7.86352021e+00] [ 7.28616545e-02 5.91903077e-03 9.97324493e-01 1.74327609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:7.87, Z:1.75 [[ 9.49341861e-01 -3.05920269e-01 -7.18527719e-02 4.58662109e+01] [ 3.05529257e-01 9.52037245e-01 -1.66420365e-02 7.86669332e+00] [ 7.34976513e-02 -6.15414214e-03 9.97276402e-01 1.75142429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:7.88, Z:1.75 [[ 9.49007236e-01 -3.07312371e-01 -7.03162298e-02 4.58922746e+01] [ 3.06405116e-01 9.51608303e-01 -2.36123509e-02 7.87833398e+00] [ 7.41698756e-02 8.63039360e-04 9.97245248e-01 1.75001601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:7.89, Z:1.74 [[ 9.47551662e-01 -3.12193228e-01 -6.84195590e-02 4.59164976e+01] [ 3.10783018e-01 9.49986842e-01 -3.06417390e-02 7.89200231e+00] [ 7.45638242e-02 7.77099370e-03 9.97185964e-01 1.74486204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.731858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:45.95, Y:7.89, Z:1.75 [[ 9.46952043e-01 -3.12573901e-01 -7.46952752e-02 4.59457091e+01] [ 3.12122520e-01 9.49872401e-01 -1.79430778e-02 7.89465393e+00] [ 7.65595182e-02 -6.32284336e-03 9.97044965e-01 1.75329497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:7.90, Z:1.76 [[ 9.46190057e-01 -3.14615861e-01 -7.57709402e-02 4.59733806e+01] [ 3.14063569e-01 9.49203536e-01 -1.94093066e-02 7.90343697e+00] [ 7.80285202e-02 -5.43199893e-03 9.96936329e-01 1.75610740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.791858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.00, Y:7.91, Z:1.76 [[ 9.44218539e-01 -3.20388561e-01 -7.61742827e-02 4.60003657e+01] [ 3.19666948e-01 9.47278786e-01 -2.18161380e-02 7.91174429e+00] [ 7.91479232e-02 -3.75119851e-03 9.96855824e-01 1.75861571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:7.92, Z:1.76 [[ 9.43237892e-01 -3.23336933e-01 -7.58650578e-02 4.60268428e+01] [ 3.22427872e-01 9.46282619e-01 -2.42790678e-02 7.92066959e+00] [ 7.96401049e-02 -1.56007238e-03 9.96822462e-01 1.76053539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.05, Y:7.93, Z:1.76 [[ 9.42302594e-01 -3.26308264e-01 -7.47578714e-02 4.60539894e+01] [ 3.25379691e-01 9.45262747e-01 -2.46250896e-02 7.92973962e+00] [ 7.87012012e-02 -1.12040726e-03 9.96897620e-01 1.76228442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:7.94, Z:1.76 [[ 9.40480292e-01 -3.32369094e-01 -7.09056054e-02 4.60783503e+01] [ 3.31143761e-01 9.43142743e-01 -2.87328202e-02 7.94096578e+00] [ 7.64240086e-02 3.54270225e-03 9.97069115e-01 1.76072715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:7.95, Z:1.76 [[ 9.39709418e-01 -3.34371317e-01 -7.17079677e-02 4.61057723e+01] [ 3.33499706e-01 9.42440635e-01 -2.41577412e-02 7.94817522e+00] [ 7.56581584e-02 -1.21332917e-03 9.97133076e-01 1.76414100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.13, Y:7.96, Z:1.77 [[ 9.39174210e-01 -3.35558419e-01 -7.31597563e-02 4.61336616e+01] [ 3.34887230e-01 9.42010071e-01 -2.16233614e-02 7.95648632e+00] [ 7.61731282e-02 -4.19216478e-03 9.97085794e-01 1.76793282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.16, Y:7.97, Z:1.77 [[ 9.38523115e-01 -3.37593629e-01 -7.21450252e-02 4.61594669e+01] [ 3.36883700e-01 9.41285425e-01 -2.21612375e-02 7.96757236e+00] [ 7.53905533e-02 -3.50564935e-03 9.97147920e-01 1.76902231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:46.19, Y:7.98, Z:1.77 [[ 9.38246140e-01 -3.38737492e-01 -7.03640010e-02 4.61858207e+01] [ 3.37847150e-01 9.40880637e-01 -2.45546432e-02 7.97901673e+00] [ 7.45217043e-02 -7.33977957e-04 9.97219122e-01 1.76876742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.21, Y:7.99, Z:1.77 [[ 9.37995283e-01 -3.39938346e-01 -6.78731994e-02 4.62102283e+01] [ 3.38780644e-01 9.40441197e-01 -2.82494278e-02 7.99118130e+00] [ 7.34338166e-02 3.50370384e-03 9.97293938e-01 1.76739887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:46.24, Y:8.00, Z:1.77 [[ 9.37995583e-01 -3.39070499e-01 -7.20796964e-02 4.62367810e+01] [ 3.38568412e-01 9.40740785e-01 -1.94475335e-02 7.99696136e+00] [ 7.44023951e-02 -6.16220777e-03 9.97209261e-01 1.77436542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:46.26, Y:8.03, Z:1.75 [[ 9.37733944e-01 -3.43035629e-01 -5.46040957e-02 4.62552571e+01] [ 3.40765472e-01 9.38981576e-01 -4.68240646e-02 8.02573219e+00] [ 6.73345623e-02 2.53013243e-02 9.97409595e-01 1.75320529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.29, Y:8.02, Z:1.77 [[ 9.38122513e-01 -3.40117339e-01 -6.51639996e-02 4.62857524e+01] [ 3.39515768e-01 9.40378365e-01 -2.04346349e-02 8.02329975e+00] [ 6.82289891e-02 -2.95401432e-03 9.97665314e-01 1.76708614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.151858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.31, Y:8.03, Z:1.78 [[ 9.38674938e-01 -3.37501898e-01 -7.05820804e-02 4.63144270e+01] [ 3.37355783e-01 9.41267962e-01 -1.43422494e-02 8.02977855e+00] [ 7.12771874e-02 -1.03485629e-02 9.97402862e-01 1.77533996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.34, Y:8.05, Z:1.77 [[ 9.39819337e-01 -3.36079511e-01 -6.15644100e-02 4.63384884e+01] [ 3.34878432e-01 9.41808905e-01 -2.91962628e-02 8.04915444e+00] [ 6.77941754e-02 6.82261927e-03 9.97676000e-01 1.76665445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.211858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.36, Y:8.06, Z:1.76 [[ 9.39570419e-01 -3.37281267e-01 -5.87262604e-02 4.63601399e+01] [ 3.35828465e-01 9.41332159e-01 -3.33617748e-02 8.06367382e+00] [ 6.65332192e-02 1.16237869e-02 9.97716502e-01 1.76413718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:8.06, Z:1.78 [[ 9.40624378e-01 -3.32737006e-01 -6.71704198e-02 4.63936154e+01] [ 3.32824258e-01 9.42933524e-01 -1.02168003e-02 8.06272117e+00] [ 6.67367482e-02 -1.27457738e-02 9.97689206e-01 1.77813176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:8.08, Z:1.78 [[ 9.41103811e-01 -3.32212553e-01 -6.29161149e-02 4.64183725e+01] [ 3.31520625e-01 9.43204303e-01 -2.14410227e-02 8.07887095e+00] [ 6.64657271e-02 -6.79761601e-04 9.97788477e-01 1.77539787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.44, Y:8.09, Z:1.78 [[ 9.41602533e-01 -3.31142485e-01 -6.10681901e-02 4.64406025e+01] [ 3.30303237e-01 9.43578421e-01 -2.36545063e-02 8.09336802e+00] [ 6.54556383e-02 2.10212217e-03 9.97853266e-01 1.77565101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:8.10, Z:1.78 [[ 9.42201808e-01 -3.28332760e-01 -6.67334386e-02 4.64682645e+01] [ 3.28121125e-01 9.44525573e-01 -1.44211325e-02 8.09887387e+00] [ 6.77663696e-02 -8.30903378e-03 9.97666617e-01 1.78438533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.49, Y:8.12, Z:1.77 [[ 9.42451309e-01 -3.29473057e-01 -5.68597882e-02 4.64899836e+01] [ 3.28066765e-01 9.44085646e-01 -3.27794251e-02 8.11980573e+00] [ 6.44804473e-02 1.22392053e-02 9.97843913e-01 1.77339804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.52, Y:8.12, Z:1.78 [[ 9.43231551e-01 -3.26054411e-01 -6.32673942e-02 4.65182742e+01] [ 3.25641336e-01 9.45340083e-01 -1.70249047e-02 8.12498285e+00] [ 6.53602489e-02 -4.54405153e-03 9.97851386e-01 1.78324324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.54, Y:8.14, Z:1.78 [[ 9.43470108e-01 -3.26701788e-01 -5.59472660e-02 4.65411830e+01] [ 3.25435239e-01 9.45066463e-01 -3.06803738e-02 8.14273677e+00] [ 6.28972178e-02 1.07388037e-02 9.97962233e-01 1.77554949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:8.14, Z:1.79 [[ 9.44101601e-01 -3.22939940e-01 -6.61963828e-02 4.65742375e+01] [ 3.22958925e-01 9.46352384e-01 -1.07097190e-02 8.14070014e+00] [ 6.61037008e-02 -1.12676497e-02 9.97749137e-01 1.78999986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.60, Y:8.15, Z:1.79 [[ 9.44102037e-01 -3.23527402e-01 -6.32563357e-02 4.65983353e+01] [ 3.22804452e-01 9.46218801e-01 -2.16163371e-02 8.15474444e+00] [ 6.68478116e-02 -1.13989430e-05 9.97763183e-01 1.78830820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.511858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.62, Y:8.17, Z:1.79 [[ 9.43937926e-01 -3.23947731e-01 -6.35535901e-02 4.66245806e+01] [ 3.23218275e-01 9.46074979e-01 -2.17273997e-02 8.16553803e+00] [ 6.71650033e-02 -3.23651270e-05 9.97741881e-01 1.79034386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:8.18, Z:1.79 [[ 9.43869982e-01 -3.23996044e-01 -6.43118946e-02 4.66498060e+01] [ 3.23247836e-01 9.46058435e-01 -2.20062041e-02 8.17561082e+00] [ 6.79727335e-02 -1.76853101e-05 9.97687179e-01 1.79227752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:8.19, Z:1.79 [[ 9.43638788e-01 -3.25139288e-01 -6.18892563e-02 4.66743570e+01] [ 3.24134983e-01 9.45655951e-01 -2.59101493e-02 8.18881502e+00] [ 6.69503510e-02 4.38934885e-03 9.97746653e-01 1.79022560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:8.19, Z:1.80 [[ 9.43759772e-01 -3.23527573e-01 -6.81718607e-02 4.67020834e+01] [ 3.23191760e-01 9.46194744e-01 -1.62047398e-02 8.19416277e+00] [ 6.97465364e-02 -6.73920207e-03 9.97541981e-01 1.79824640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.73, Y:8.21, Z:1.80 [[ 9.43569063e-01 -3.24637819e-01 -6.54806080e-02 4.67272975e+01] [ 3.23859606e-01 9.45838404e-01 -2.24648334e-02 8.20685414e+00] [ 6.92270083e-02 -9.40213128e-06 9.97600933e-01 1.79728512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.75, Y:8.22, Z:1.80 [[ 9.43373129e-01 -3.25002926e-01 -6.64848694e-02 4.67549167e+01] [ 3.24299029e-01 9.45712043e-01 -2.14212828e-02 8.21558950e+00] [ 6.98375213e-02 -1.35271598e-03 9.97557462e-01 1.79991025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.78, Y:8.23, Z:1.80 [[ 9.42892714e-01 -3.26521284e-01 -6.58572744e-02 4.67799996e+01] [ 3.25660535e-01 9.45189412e-01 -2.37105914e-02 8.22561728e+00] [ 6.99896112e-02 9.09428680e-04 9.97547306e-01 1.80033352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721858063999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.81, Y:8.24, Z:1.80 [[ 9.42045345e-01 -3.28810760e-01 -6.65886822e-02 4.68057889e+01] [ 3.27832678e-01 9.44393433e-01 -2.54318571e-02 8.23512282e+00] [ 7.12481824e-02 2.12801655e-03 9.97456349e-01 1.80025851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:8.24, Z:1.80 [[ 9.41363984e-01 -3.30768023e-01 -6.65309255e-02 4.68329228e+01] [ 3.30014210e-01 9.43711637e-01 -2.23375930e-02 8.24317689e+00] [ 7.01745701e-02 -9.28345293e-04 9.97534294e-01 1.80318245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.86, Y:8.25, Z:1.80 [[ 9.40712924e-01 -3.32726751e-01 -6.59704761e-02 4.68588775e+01] [ 3.31861767e-01 9.43023043e-01 -2.39855792e-02 8.25348179e+00] [ 7.01923229e-02 6.70465620e-04 9.97533252e-01 1.80396216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:8.26, Z:1.81 [[ 9.39592735e-01 -3.35741816e-01 -6.66552650e-02 4.68866459e+01] [ 3.34879370e-01 9.41954010e-01 -2.40510146e-02 8.26320894e+00] [ 7.08611254e-02 2.76685435e-04 9.97486152e-01 1.80591634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:8.27, Z:1.81 [[ 9.39143736e-01 -3.36023841e-01 -7.13934290e-02 4.69150991e+01] [ 3.35787536e-01 9.41807781e-01 -1.56471869e-02 8.26728402e+00] [ 7.24967147e-02 -9.27806604e-03 9.97325495e-01 1.81407558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.871858063999994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:46.94, Y:8.28, Z:1.81 [[ 9.38842421e-01 -3.37159118e-01 -6.99902663e-02 4.69428660e+01] [ 3.36500982e-01 9.41441132e-01 -2.13467544e-02 8.27805798e+00] [ 7.30889685e-02 -3.51055473e-03 9.97319246e-01 1.81480196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901858063999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:46.96, Y:8.29, Z:1.81 [[ 9.37690667e-01 -3.41584765e-01 -6.36872183e-02 4.69641296e+01] [ 3.40276176e-01 9.39823971e-01 -3.07087723e-02 8.29328861e+00] [ 7.03444232e-02 7.12408614e-03 9.97497323e-01 1.80965580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.931858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.99, Y:8.30, Z:1.81 [[ 9.37228878e-01 -3.42333815e-01 -6.64047387e-02 4.69915266e+01] [ 3.41567092e-01 9.39577639e-01 -2.29299226e-02 8.29894233e+00] [ 7.02420955e-02 -1.19108781e-03 9.97529262e-01 1.81432903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.02, Y:8.31, Z:1.82 [[ 9.36872846e-01 -3.43298318e-01 -6.64494936e-02 4.70176595e+01] [ 3.42531540e-01 9.39225593e-01 -2.29658270e-02 8.30787532e+00] [ 7.02951949e-02 -1.24498766e-03 9.97525456e-01 1.81614260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99185806399999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.04, Y:8.32, Z:1.82 [[ 9.36686383e-01 -3.43878486e-01 -6.60772834e-02 4.70432844e+01] [ 3.43120398e-01 9.39013307e-01 -2.28561005e-02 8.31661256e+00] [ 6.99071696e-02 -1.26346570e-03 9.97552701e-01 1.81820892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.07, Y:8.34, Z:1.81 [[ 9.36471037e-01 -3.46414795e-01 -5.49434906e-02 4.70675822e+01] [ 3.44665993e-01 9.37917844e-01 -3.89290491e-02 8.33560466e+00] [ 6.50180789e-02 1.75187742e-02 9.97730295e-01 1.80599452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.051858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.10, Y:8.34, Z:1.81 [[ 9.36687289e-01 -3.44847451e-01 -6.08042628e-02 4.70977096e+01] [ 3.44223333e-01 9.38657611e-01 -2.07890806e-02 8.33704550e+00] [ 6.42434455e-02 -1.45737848e-03 9.97933192e-01 1.81499216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.12, Y:8.35, Z:1.81 [[ 9.36846061e-01 -3.45107232e-01 -5.67490705e-02 4.71220742e+01] [ 3.44232276e-01 9.38555819e-01 -2.48417895e-02 8.34915112e+00] [ 6.18352515e-02 3.73807096e-03 9.98079370e-01 1.81284423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.111858063999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:47.15, Y:8.34, Z:1.83 [[ 9.37365518e-01 -3.40940598e-01 -7.14520421e-02 4.71521275e+01] [ 3.41803895e-01 9.39771288e-01 -1.53947043e-04 8.34448396e+00] [ 6.72010644e-02 -2.42782816e-02 9.97444024e-01 1.83425908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.18, Y:8.36, Z:1.83 [[ 9.37389691e-01 -3.42522639e-01 -6.30778093e-02 4.71756622e+01] [ 3.41824382e-01 9.39508992e-01 -2.18848367e-02 8.36355136e+00] [ 6.67582210e-02 -1.04691287e-03 9.97768632e-01 1.82754128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.20, Y:8.37, Z:1.83 [[ 9.37556390e-01 -3.42209644e-01 -6.22942615e-02 4.72016134e+01] [ 3.41526762e-01 9.39623100e-01 -2.16310295e-02 8.37293223e+00] [ 6.59354740e-02 -9.94847451e-04 9.97823393e-01 1.82970506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.23, Y:8.38, Z:1.83 [[ 9.37467486e-01 -3.42454206e-01 -6.22882736e-02 4.72285279e+01] [ 3.41770718e-01 9.39533996e-01 -2.16482587e-02 8.38237246e+00] [ 6.59354879e-02 -9.93769310e-04 9.97823393e-01 1.83149729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:8.40, Z:1.82 [[ 9.37514947e-01 -3.43367945e-01 -5.62510264e-02 4.72552312e+01] [ 3.42098678e-01 9.39148396e-01 -3.11253087e-02 8.39753963e+00] [ 6.35154945e-02 9.93704035e-03 9.97931379e-01 1.82461538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261858063999995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:47.28, Y:8.41, Z:1.82 [[ 9.37525910e-01 -3.43471186e-01 -5.54320553e-02 4.72812288e+01] [ 3.42463063e-01 9.39141497e-01 -2.70610302e-02 8.40685886e+00] [ 6.13532275e-02 6.38698553e-03 9.98095681e-01 1.82473763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.291858063999996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:47.31, Y:8.40, Z:1.84 [[ 9.38219805e-01 -3.39374814e-01 -6.75894470e-02 4.73114239e+01] [ 3.39880164e-01 9.40459241e-01 -4.22963096e-03 8.40410179e+00] [ 6.50005503e-02 -1.90039888e-02 9.97704253e-01 1.84292643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.34, Y:8.42, Z:1.84 [[ 9.38517917e-01 -3.39692319e-01 -6.15893438e-02 4.73359040e+01] [ 3.39013884e-01 9.40536335e-01 -2.14706690e-02 8.42075483e+00] [ 6.52204371e-02 -7.29035123e-04 9.97870614e-01 1.83817765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:8.44, Z:1.83 [[ 9.39035785e-01 -3.39654067e-01 -5.33564461e-02 4.73611171e+01] [ 3.38105559e-01 9.40417533e-01 -3.60485139e-02 8.43794705e+00] [ 6.24213618e-02 1.58107335e-02 9.97924644e-01 1.82738576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:8.43, Z:1.85 [[ 9.39733262e-01 -3.35280669e-01 -6.69945431e-02 4.73905231e+01] [ 3.35649847e-01 9.41967692e-01 -6.00395849e-03 8.43236510e+00] [ 6.51197064e-02 -1.68445887e-02 9.97735277e-01 1.84690061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.41, Y:8.45, Z:1.84 [[ 9.40724750e-01 -3.33531144e-01 -6.15948070e-02 4.74146775e+01] [ 3.32836741e-01 9.42739045e-01 -2.15127360e-02 8.44843511e+00] [ 6.52429969e-02 -2.63451627e-04 9.97869371e-01 1.84265715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441858063999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.44, Y:8.46, Z:1.84 [[ 9.41153662e-01 -3.32354113e-01 -6.14046238e-02 4.74413075e+01] [ 3.31660237e-01 9.43154662e-01 -2.14655530e-02 8.45727361e+00] [ 6.50482220e-02 -1.63088269e-04 9.97882108e-01 1.84451010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.471858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.47, Y:8.47, Z:1.85 [[ 9.41486845e-01 -3.31374436e-01 -6.15914221e-02 4.74681703e+01] [ 3.30672961e-01 9.43499325e-01 -2.15503142e-02 8.46623485e+00] [ 6.52526884e-02 -7.72805674e-05 9.97868769e-01 1.84662119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:47.49, Y:8.48, Z:1.83 [[ 9.41622083e-01 -3.32676648e-01 -5.17117090e-02 4.74928136e+01] [ 3.31036342e-01 9.42859442e-01 -3.78287411e-02 8.48417052e+00] [ 6.13416119e-02 1.85019230e-02 9.97945332e-01 1.83487482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.52, Y:8.48, Z:1.86 [[ 9.42575059e-01 -3.27175668e-01 -6.71441774e-02 4.75245972e+01] [ 3.27654450e-01 9.44788880e-01 -4.06617590e-03 8.47548897e+00] [ 6.47674260e-02 -1.81674126e-02 9.97734998e-01 1.85749336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.55, Y:8.49, Z:1.85 [[ 9.42711280e-01 -3.28019538e-01 -6.08163249e-02 4.75477283e+01] [ 3.27325712e-01 9.44670918e-01 -2.13244973e-02 8.49212191e+00] [ 6.44462653e-02 1.96097320e-04 9.97921159e-01 1.85210781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:8.52, Z:1.83 [[ 9.41953324e-01 -3.32507970e-01 -4.65014482e-02 4.75693804e+01] [ 3.30644417e-01 9.42753667e-01 -4.34717538e-02 8.51521512e+00] [ 5.82941154e-02 2.55729188e-02 9.97971854e-01 1.83414397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:8.50, Z:1.86 [[ 9.42703609e-01 -3.26431034e-01 -6.89397175e-02 4.76053067e+01] [ 3.27369285e-01 9.44893269e-01 2.46185264e-03 8.49946755e+00] [ 6.43370499e-02 -2.48895434e-02 9.97617790e-01 1.86416855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.63, Y:8.52, Z:1.86 [[ 9.42700816e-01 -3.28156310e-01 -6.02379299e-02 4.76294526e+01] [ 3.27473680e-01 9.44623411e-01 -2.11565612e-02 8.51784259e+00] [ 6.38448179e-02 2.17970905e-04 9.97959815e-01 1.85640026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.66, Y:8.53, Z:1.86 [[ 9.42465944e-01 -3.28871117e-01 -6.00144333e-02 4.76556309e+01] [ 3.28193789e-01 9.44374795e-01 -2.10970059e-02 8.52655562e+00] [ 6.36143140e-02 1.86845339e-04 9.97974541e-01 1.85827255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:8.54, Z:1.86 [[ 9.42291117e-01 -3.29495355e-01 -5.93318005e-02 4.76817513e+01] [ 3.28833433e-01 9.44157183e-01 -2.08755362e-02 8.53542777e+00] [ 6.28969378e-02 1.60552736e-04 9.98020015e-01 1.85975120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.71, Y:8.54, Z:1.86 [[ 9.42048143e-01 -3.30284162e-01 -5.88019387e-02 4.77081114e+01] [ 3.29634411e-01 9.43881537e-01 -2.07074499e-02 8.54356814e+00] [ 6.23414070e-02 1.24272293e-04 9.98054875e-01 1.86160046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.73, Y:8.57, Z:1.84 [[ 9.41025790e-01 -3.35608940e-01 -4.28614245e-02 4.77280342e+01] [ 3.33813102e-01 9.41611255e-01 -4.40120085e-02 8.56744103e+00] [ 5.51296232e-02 2.71087300e-02 9.98111137e-01 1.84284983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.77, Y:8.55, Z:1.88 [[ 9.42049775e-01 -3.28627704e-01 -6.74244256e-02 4.77650031e+01] [ 3.29649533e-01 9.44093512e-01 4.31572684e-03 8.54951041e+00] [ 6.22366954e-02 -2.62920599e-02 9.97715050e-01 1.87562200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.79, Y:8.57, Z:1.87 [[ 9.42097441e-01 -3.30145543e-01 -5.87905740e-02 4.77888227e+01] [ 3.29492907e-01 9.43930023e-01 -2.07493387e-02 8.56943417e+00] [ 6.23444895e-02 1.76821749e-04 9.98054675e-01 1.86747211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:8.58, Z:1.87 [[ 9.42365398e-01 -3.29260788e-01 -5.94540966e-02 4.78146145e+01] [ 3.28590361e-01 9.44238989e-01 -2.10025402e-02 8.57783981e+00] [ 6.30541890e-02 2.56024159e-04 9.98010072e-01 1.86810891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.84, Y:8.59, Z:1.87 [[ 9.42431432e-01 -3.29084624e-01 -5.93827133e-02 4.78413124e+01] [ 3.28414949e-01 9.44300394e-01 -2.09853932e-02 8.58733697e+00] [ 6.29810898e-02 2.75123352e-04 9.98014683e-01 1.86900077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.87, Y:8.60, Z:1.87 [[ 9.42520903e-01 -3.28813951e-01 -5.94620250e-02 4.78683038e+01] [ 3.28140750e-01 9.44394668e-01 -2.10323551e-02 8.59660732e+00] [ 6.30713511e-02 3.11520827e-04 9.98008972e-01 1.86998125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:8.60, Z:1.87 [[ 9.42492290e-01 -3.28904443e-01 -5.94150650e-02 4.78953377e+01] [ 3.28231301e-01 9.44363152e-01 -2.10344936e-02 8.60318533e+00] [ 6.30277364e-02 3.22964008e-04 9.98011723e-01 1.87117190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.92, Y:8.62, Z:1.86 [[ 9.41700662e-01 -3.33270578e-01 -4.61582588e-02 4.79162730e+01] [ 3.31653307e-01 9.42580444e-01 -3.93470451e-02 8.62305032e+00] [ 5.66210846e-02 2.17445993e-02 9.98158918e-01 1.85572207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.011858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.95, Y:8.61, Z:1.88 [[ 9.42108031e-01 -3.28743096e-01 -6.60335918e-02 4.79521076e+01] [ 3.29390485e-01 9.44193095e-01 -1.14396417e-03 8.60936375e+00] [ 6.27245317e-02 -2.06730990e-02 9.97816745e-01 1.88308830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041858063999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:47.98, Y:8.62, Z:1.88 [[ 9.41755291e-01 -3.31211383e-01 -5.82751319e-02 4.79768802e+01] [ 3.30565779e-01 9.43556558e-01 -2.06709336e-02 8.62479409e+00] [ 6.18323314e-02 2.03196713e-04 9.98086530e-01 1.87662937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.00, Y:8.65, Z:1.86 [[ 9.40941722e-01 -3.35659302e-01 -4.42889236e-02 4.79983560e+01] [ 3.33994722e-01 9.41683420e-01 -4.09861229e-02 8.64622414e+00] [ 5.54635185e-02 2.37732864e-02 9.98177654e-01 1.86060974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.03, Y:8.63, Z:1.89 [[ 9.41388146e-01 -3.30848583e-01 -6.57842999e-02 4.80338476e+01] [ 3.31641808e-01 9.43404604e-01 1.20986441e-03 8.63154595e+00] [ 6.16609295e-02 -2.29557761e-02 9.97833133e-01 1.88908724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.06, Y:8.65, Z:1.88 [[ 9.41146623e-01 -3.32917580e-01 -5.83859453e-02 4.80579404e+01] [ 3.32270391e-01 9.42955921e-01 -2.07489476e-02 8.64851319e+00] [ 6.19630622e-02 1.27881084e-04 9.98078435e-01 1.88069836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.08, Y:8.66, Z:1.88 [[ 9.41093560e-01 -3.33032502e-01 -5.85855297e-02 4.80845982e+01] [ 3.32379943e-01 9.42915337e-01 -2.08384372e-02 8.65647321e+00] [ 6.21810714e-02 1.38264066e-04 9.98064875e-01 1.88195925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.191858063999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:48.11, Y:8.66, Z:1.88 [[ 9.41078338e-01 -3.33062886e-01 -5.86572737e-02 4.81112781e+01] [ 3.32407609e-01 9.42904603e-01 -2.08828060e-02 8.66448793e+00] [ 6.22635010e-02 1.54232294e-04 9.98059734e-01 1.88324065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.14, Y:8.67, Z:1.88 [[ 9.40946406e-01 -3.33378328e-01 -5.89809439e-02 4.81376480e+01] [ 3.32715225e-01 9.42793120e-01 -2.10169466e-02 8.67274516e+00] [ 6.26134227e-02 1.51962331e-04 9.98037843e-01 1.88469711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:8.68, Z:1.89 [[ 9.40585991e-01 -3.34287973e-01 -5.95780490e-02 4.81652337e+01] [ 3.33611968e-01 9.42470975e-01 -2.12489070e-02 8.68004059e+00] [ 6.32538360e-02 1.10474123e-04 9.97997465e-01 1.88533365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:8.69, Z:1.89 [[ 9.40226900e-01 -3.35283391e-01 -5.96525285e-02 4.81916397e+01] [ 3.34606493e-01 9.42117319e-01 -2.12943886e-02 8.68808267e+00] [ 6.33393351e-02 6.14335579e-05 9.97992046e-01 1.88661028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:8.70, Z:1.89 [[ 9.39843397e-01 -3.36351561e-01 -5.96826353e-02 4.82183056e+01] [ 3.35674930e-01 9.41736496e-01 -2.13240326e-02 8.69626632e+00] [ 6.33776875e-02 7.28685372e-06 9.97989614e-01 1.88787799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.25, Y:8.70, Z:1.89 [[ 9.39133668e-01 -3.38272291e-01 -5.99984200e-02 4.82455877e+01] [ 3.37591159e-01 9.41048270e-01 -2.14560757e-02 8.70259497e+00] [ 6.37194052e-02 -1.04813081e-04 9.97967848e-01 1.88835528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:8.71, Z:1.89 [[ 9.38698650e-01 -3.39455829e-01 -6.01214204e-02 4.82724335e+01] [ 3.38773077e-01 9.40621982e-01 -2.15195226e-02 8.71030963e+00] [ 6.38564570e-02 -1.67171763e-04 9.97959080e-01 1.88968325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:8.72, Z:1.89 [[ 9.38102818e-01 -3.41080360e-01 -6.02269905e-02 4.82995768e+01] [ 3.40397313e-01 9.40034106e-01 -2.15765813e-02 8.71813639e+00] [ 6.39747733e-02 -2.60054017e-04 9.97951482e-01 1.89125416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:8.72, Z:1.89 [[ 9.36983757e-01 -3.44136463e-01 -6.02622066e-02 4.83263636e+01] [ 3.43457688e-01 9.38919534e-01 -2.16084429e-02 8.72426472e+00] [ 6.40176161e-02 -4.50758119e-04 9.97948667e-01 1.89207486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:8.73, Z:1.89 [[ 9.36377867e-01 -3.45752858e-01 -6.04272418e-02 4.83534561e+01] [ 3.45073164e-01 9.38325452e-01 -2.16761994e-02 8.73241060e+00] [ 6.41950268e-02 -5.54706183e-04 9.97937218e-01 1.89327508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.38, Y:8.74, Z:1.90 [[ 9.35769286e-01 -3.47412079e-01 -6.03381329e-02 4.83807312e+01] [ 3.46736618e-01 9.37712336e-01 -2.16631622e-02 8.74048881e+00] [ 6.41058557e-02 -6.49718291e-04 9.97942893e-01 1.89501259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.41, Y:8.75, Z:1.90 [[ 9.35278372e-01 -3.48672528e-01 -6.06781260e-02 4.84078097e+01] [ 3.47990830e-01 9.37244337e-01 -2.18044830e-02 8.74821281e+00] [ 6.44728541e-02 -7.22170096e-04 9.97919200e-01 1.89730751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.44, Y:8.75, Z:1.90 [[ 9.34635828e-01 -3.50269882e-01 -6.13748991e-02 4.84353075e+01] [ 3.49574573e-01 9.36648457e-01 -2.20745539e-02 8.75341466e+00] [ 6.52187559e-02 -8.23435216e-04 9.97870651e-01 1.89933924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:8.76, Z:1.90 [[ 9.34432079e-01 -3.50737134e-01 -6.18073730e-02 4.84615251e+01] [ 3.50031715e-01 9.36473572e-01 -2.22496761e-02 8.76139902e+00] [ 6.56847590e-02 -8.43729644e-04 9.97840068e-01 1.90098534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:8.77, Z:1.90 [[ 9.34330940e-01 -3.50923663e-01 -6.22758174e-02 4.84879513e+01] [ 3.50207301e-01 9.36403680e-01 -2.24275384e-02 8.76991764e+00] [ 6.61856585e-02 -8.54702825e-04 9.97806959e-01 1.90236150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.51, Y:8.79, Z:1.89 [[ 9.34090495e-01 -3.52956877e-01 -5.38181214e-02 4.85136359e+01] [ 3.51514622e-01 9.35544068e-01 -3.45654113e-02 8.78596243e+00] [ 6.25493238e-02 1.33693656e-02 9.97952325e-01 1.89052284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:8.78, Z:1.91 [[ 9.34322323e-01 -3.50047863e-01 -6.71438050e-02 4.85432214e+01] [ 3.50261341e-01 9.36609233e-01 -8.95197603e-03 8.78078564e+00] [ 6.60211278e-02 -1.51538482e-02 9.97703148e-01 1.91022239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.57, Y:8.79, Z:1.91 [[ 9.34517197e-01 -3.50395432e-01 -6.24551756e-02 4.85680434e+01] [ 3.49671568e-01 9.36601526e-01 -2.25250005e-02 8.79461455e+00] [ 6.63882700e-02 -7.88798869e-04 9.97793553e-01 1.90659671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:8.80, Z:1.91 [[ 9.35272020e-01 -3.48330896e-01 -6.27043496e-02 4.85942154e+01] [ 3.47595300e-01 9.37371428e-01 -2.26343450e-02 8.80052582e+00] [ 6.66615074e-02 -6.26467653e-04 9.97775451e-01 1.90970522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:8.81, Z:1.91 [[ 9.35692247e-01 -3.47298792e-01 -6.21576017e-02 4.86214226e+01] [ 3.46178913e-01 9.37741358e-01 -2.83073268e-02 8.81218568e+00] [ 6.81188543e-02 4.96929523e-03 9.97664837e-01 1.90965839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.791858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:8.82, Z:1.92 [[ 9.36388389e-01 -3.44971616e-01 -6.45861418e-02 4.86491497e+01] [ 3.44572902e-01 9.38595169e-01 -1.75676769e-02 8.81670525e+00] [ 6.66805906e-02 -5.80446564e-03 9.97757489e-01 1.91585895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:8.83, Z:1.92 [[ 9.36927050e-01 -3.43866937e-01 -6.26357137e-02 4.86748039e+01] [ 3.43120568e-01 9.39018346e-01 -2.26455584e-02 8.82843630e+00] [ 6.66031431e-02 -2.74365409e-04 9.97779508e-01 1.91516522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:8.84, Z:1.92 [[ 9.38029820e-01 -3.40920911e-01 -6.22333442e-02 4.86997894e+01] [ 3.40176430e-01 9.40091980e-01 -2.25181354e-02 8.83731811e+00] [ 6.61819710e-02 -4.76343805e-05 9.97807569e-01 1.91656503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:8.85, Z:1.92 [[ 9.38301801e-01 -3.40182695e-01 -6.21728538e-02 4.87260506e+01] [ 3.39437442e-01 9.40359364e-01 -2.25053171e-02 8.84670480e+00] [ 6.61207447e-02 1.29851742e-05 9.97811629e-01 1.91834233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:8.86, Z:1.92 [[ 9.38588730e-01 -3.39526888e-01 -6.14222156e-02 4.87517900e+01] [ 3.38796913e-01 9.40596346e-01 -2.22523080e-02 8.85555686e+00] [ 6.53287684e-02 7.61084900e-05 9.97863791e-01 1.92029871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:8.86, Z:1.92 [[ 9.38809796e-01 -3.38877336e-01 -6.16304961e-02 4.87785857e+01] [ 3.38140421e-01 9.40830556e-01 -2.23365427e-02 8.86449308e+00] [ 6.55532020e-02 1.30003215e-04 9.97849067e-01 1.92319037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.81, Y:8.87, Z:1.92 [[ 9.38652204e-01 -3.39294001e-01 -6.17383277e-02 4.88053055e+01] [ 3.38554108e-01 9.40680374e-01 -2.23953043e-02 8.87433547e+00] [ 6.56746256e-02 1.19637237e-04 9.97841084e-01 1.92489689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.83, Y:8.88, Z:1.93 [[ 9.38622114e-01 -3.39333105e-01 -6.19804057e-02 4.88305300e+01] [ 3.38586187e-01 9.40666267e-01 -2.25026415e-02 8.88364138e+00] [ 6.59387681e-02 1.35767730e-04 9.97823662e-01 1.92639617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.86, Y:8.89, Z:1.93 [[ 9.38367115e-01 -3.40030580e-01 -6.20190536e-02 4.88571570e+01] [ 3.39283349e-01 9.40414374e-01 -2.25302989e-02 8.89345699e+00] [ 6.59846000e-02 9.96593591e-05 9.97820637e-01 1.92760825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:8.90, Z:1.93 [[ 9.38227013e-01 -3.40094025e-01 -6.37661774e-02 4.88830587e+01] [ 3.40035081e-01 9.40334789e-01 -1.21090035e-02 8.89768487e+00] [ 6.40797547e-02 -1.03217431e-02 9.97891400e-01 1.93433145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:8.92, Z:1.93 [[ 9.37382157e-01 -3.43246539e-01 -5.91312554e-02 4.89088439e+01] [ 3.41842454e-01 9.39186967e-01 -3.27349659e-02 8.91737187e+00] [ 6.67714682e-02 1.04715995e-02 9.97713344e-01 1.92738019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:8.92, Z:1.93 [[ 9.37283263e-01 -3.42876574e-01 -6.27354705e-02 4.89370166e+01] [ 3.42114421e-01 9.39380462e-01 -2.28488532e-02 8.92257204e+00] [ 6.67668118e-02 -4.68614609e-05 9.97768606e-01 1.93367416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:8.93, Z:1.94 [[ 9.36742424e-01 -3.44310793e-01 -6.29579916e-02 4.89634051e+01] [ 3.43545220e-01 9.38855719e-01 -2.29482431e-02 8.93238864e+00] [ 6.70097982e-02 -1.32324170e-04 9.97752309e-01 1.93595847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.99, Y:8.94, Z:1.94 [[ 9.35890201e-01 -3.46465131e-01 -6.38078801e-02 4.89882032e+01] [ 3.45682383e-01 9.38062812e-01 -2.32776955e-02 8.94168288e+00] [ 6.79207092e-02 -2.71892926e-04 9.97690685e-01 1.93821775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.01, Y:8.95, Z:1.94 [[ 9.35405581e-01 -3.47772270e-01 -6.38031903e-02 4.90146246e+01] [ 3.46992029e-01 9.37578967e-01 -2.32854356e-02 8.95154543e+00] [ 6.79185581e-02 -3.57872089e-04 9.97690805e-01 1.93990893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:8.96, Z:1.94 [[ 9.34752297e-01 -3.49436116e-01 -6.42848664e-02 4.90400481e+01] [ 3.48646646e-01 9.36960076e-01 -2.34804431e-02 8.96122709e+00] [ 6.84372682e-02 -4.64304939e-04 9.97655314e-01 1.94150165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:8.97, Z:1.94 [[ 9.34044583e-01 -3.51082376e-01 -6.55887333e-02 4.90701820e+01] [ 3.50404566e-01 9.36341282e-01 -2.19463871e-02 8.96988480e+00] [ 6.91184283e-02 -2.48368767e-03 9.97605370e-01 1.94363923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301858063999994 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:49.09, Y:8.98, Z:1.94 [[ 9.32599269e-01 -3.55257179e-01 -6.36469914e-02 4.90926147e+01] [ 3.54390875e-01 9.34768425e-01 -2.48012123e-02 8.98193441e+00] [ 6.83060066e-02 5.73679487e-04 9.97664252e-01 1.94455045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.12, Y:8.99, Z:1.95 [[ 9.31882555e-01 -3.57018164e-01 -6.42878931e-02 4.91182202e+01] [ 3.56244141e-01 9.34096920e-01 -2.35171321e-02 8.99137865e+00] [ 6.84471662e-02 -9.86980145e-04 9.97654254e-01 1.94687562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.14, Y:9.00, Z:1.95 [[ 9.31340125e-01 -3.58453785e-01 -6.41596053e-02 4.91439667e+01] [ 3.57685591e-01 9.33546847e-01 -2.34798441e-02 9.00151911e+00] [ 6.83124362e-02 -1.08124539e-03 9.97663391e-01 1.94853430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.17, Y:9.01, Z:1.95 [[ 9.30767490e-01 -3.59910708e-01 -6.43130035e-02 4.91703571e+01] [ 3.59140918e-01 9.32986017e-01 -2.35561560e-02 9.01203215e+00] [ 6.84812458e-02 -1.17212690e-03 9.97651715e-01 1.95033357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.20, Y:9.02, Z:1.95 [[ 9.30041213e-01 -3.61985224e-01 -6.31667550e-02 4.91960691e+01] [ 3.61246112e-01 9.32182950e-01 -2.31558839e-02 9.02331122e+00] [ 6.72650598e-02 -1.28281831e-03 9.97734316e-01 1.95274770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.22, Y:9.03, Z:1.95 [[ 9.29635441e-01 -3.63125793e-01 -6.25907712e-02 4.92216915e+01] [ 3.62401377e-01 9.31739168e-01 -2.29644105e-02 9.03359872e+00] [ 6.66572429e-02 -1.33445182e-03 9.97775040e-01 1.95491135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.25, Y:9.04, Z:1.96 [[ 9.29441364e-01 -3.63642055e-01 -6.24756569e-02 4.92468636e+01] [ 3.62920178e-01 9.31537778e-01 -2.29415232e-02 9.04379122e+00] [ 6.65409372e-02 -1.35087589e-03 9.97782781e-01 1.95691449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:9.06, Z:1.95 [[ 9.29025954e-01 -3.65760141e-01 -5.59490400e-02 4.92708596e+01] [ 3.64392715e-01 9.30649177e-01 -3.33175429e-02 9.06227039e+00] [ 6.42551572e-02 1.05654395e-02 9.97877571e-01 1.94768100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.30, Y:9.07, Z:1.96 [[ 9.29192663e-01 -3.64522518e-01 -6.10272852e-02 4.92994127e+01] [ 3.63905131e-01 9.31191534e-01 -2.13397060e-02 9.06799707e+00] [ 6.46068947e-02 -2.37944394e-03 9.97907955e-01 1.95505487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:9.07, Z:1.97 [[ 9.29721229e-01 -3.62008462e-01 -6.75892653e-02 4.93249227e+01] [ 3.61977757e-01 9.32094228e-01 -1.31321544e-02 9.07351878e+00] [ 6.77535151e-02 -1.22565679e-02 9.97626803e-01 1.96620381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.35, Y:9.09, Z:1.96 [[ 9.29957969e-01 -3.61946138e-01 -6.46000701e-02 4.93496953e+01] [ 3.61165942e-01 9.32198219e-01 -2.37832334e-02 9.08915598e+00] [ 6.88283197e-02 -1.21393772e-03 9.97627781e-01 1.96348065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:9.10, Z:1.96 [[ 9.30446296e-01 -3.60572727e-01 -6.52456785e-02 4.93742302e+01] [ 3.59772052e-01 9.32730448e-01 -2.40412550e-02 9.10119723e+00] [ 6.95252519e-02 -1.10447497e-03 9.97579581e-01 1.96480387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:9.11, Z:1.97 [[ 9.30635434e-01 -3.60123569e-01 -6.50284881e-02 4.93988101e+01] [ 3.59326186e-01 9.32904016e-01 -2.39747638e-02 9.11154256e+00] [ 6.92992152e-02 -1.05467392e-03 9.97595362e-01 1.96638538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:9.12, Z:1.97 [[ 9.30614529e-01 -3.60235349e-01 -6.47077417e-02 4.94250505e+01] [ 3.59445424e-01 9.32860865e-01 -2.38661569e-02 9.12243181e+00] [ 6.89607533e-02 -1.04870929e-03 9.97618822e-01 1.96799082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721858063999996 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:49.44, Y:9.15, Z:1.94 [[ 9.29938481e-01 -3.64832179e-01 -4.59554332e-02 4.94443484e+01] [ 3.62591519e-01 9.30581748e-01 -5.04480036e-02 9.15030323e+00] [ 6.11703424e-02 3.02504895e-02 9.97668831e-01 1.94421114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.48, Y:9.15, Z:1.96 [[ 9.30016363e-01 -3.62272261e-01 -6.18738590e-02 4.94796178e+01] [ 3.61884399e-01 9.32053805e-01 -1.77591450e-02 9.14564616e+00] [ 6.41034113e-02 -5.87488888e-03 9.97925968e-01 1.96441227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.51, Y:9.15, Z:1.98 [[ 9.30480518e-01 -3.59574171e-01 -7.00886690e-02 4.95066972e+01] [ 3.60416871e-01 9.32791099e-01 -6.66444791e-04 9.14715582e+00] [ 6.56177230e-02 -2.46410249e-02 9.97540543e-01 1.98142722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:49.53, Y:9.18, Z:1.96 [[ 9.29972626e-01 -3.63973117e-01 -5.17154198e-02 4.95287890e+01] [ 3.62423980e-01 9.31277096e-01 -3.70382211e-02 9.17633800e+00] [ 6.16423027e-02 1.57016235e-02 9.97974792e-01 1.95962064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:49.56, Y:9.17, Z:1.98 [[ 9.29461891e-01 -3.62912679e-01 -6.62946569e-02 4.95577773e+01] [ 3.63288551e-01 9.31652428e-01 -6.72172324e-03 9.17103962e+00] [ 6.42029766e-02 -1.78365043e-02 9.97777449e-01 1.98378160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.58, Y:9.19, Z:1.98 [[ 9.29077556e-01 -3.64919886e-01 -6.04017549e-02 4.95813413e+01] [ 3.64234391e-01 9.31038151e-01 -2.23890486e-02 9.18933402e+00] [ 6.44065473e-02 -1.19923388e-03 9.97923022e-01 1.97905571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.61, Y:9.20, Z:1.98 [[ 9.28807803e-01 -3.65679258e-01 -5.99561973e-02 4.96062942e+01] [ 3.65004222e-01 9.30740125e-01 -2.22427223e-02 9.20038414e+00] [ 6.39373408e-02 -1.22505108e-03 9.97953163e-01 1.98017925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.63, Y:9.21, Z:1.98 [[ 9.28504941e-01 -3.66438272e-01 -6.00130658e-02 4.96306300e+01] [ 3.65763004e-01 9.30441496e-01 -2.22721167e-02 9.21110385e+00] [ 6.40000027e-02 -1.27078881e-03 9.97949089e-01 1.98164124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.66, Y:9.22, Z:1.98 [[ 9.27836314e-01 -3.68209134e-01 -5.95130907e-02 4.96558046e+01] [ 3.67548192e-01 9.29741979e-01 -2.20947774e-02 9.22345132e+00] [ 6.34673175e-02 -1.37359212e-03 9.97982972e-01 1.98209079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.68, Y:9.23, Z:1.98 [[ 9.27462666e-01 -3.69112693e-01 -5.97396222e-02 4.96806310e+01] [ 3.68447362e-01 9.29383556e-01 -2.21979075e-02 9.23402533e+00] [ 6.37145520e-02 -1.42317576e-03 9.97967149e-01 1.98328010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.70, Y:9.27, Z:1.95 [[ 9.25630624e-01 -3.77026239e-01 -3.25447778e-02 4.96961266e+01] [ 3.74585014e-01 9.25061042e-01 -6.28341887e-02 9.27182352e+00] [ 5.37960439e-02 4.59704633e-02 9.97493209e-01 1.94735332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.73, Y:9.26, Z:1.97 [[ 9.25875624e-01 -3.73905672e-01 -5.43035622e-02 4.97332484e+01] [ 3.73523615e-01 9.27457369e-01 -1.74051174e-02 9.25876658e+00] [ 5.68721110e-02 -4.16868891e-03 9.98372769e-01 1.97135998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.76, Y:9.25, Z:2.00 [[ 9.26051977e-01 -3.70071207e-01 -7.39934905e-02 4.97642886e+01] [ 3.71830780e-01 9.28234066e-01 1.11081140e-02 9.25238662e+00] [ 6.45724853e-02 -3.77997482e-02 9.97196858e-01 2.00022034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:9.28, Z:1.99 [[ 9.25645427e-01 -3.73348648e-01 -6.15737856e-02 4.97850045e+01] [ 3.72649330e-01 9.27689470e-01 -2.29068413e-02 9.27912411e+00] [ 6.56735908e-02 -1.74181707e-03 9.97839639e-01 1.98726160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.81, Y:9.30, Z:1.99 [[ 9.24881674e-01 -3.75234736e-01 -6.15855665e-02 4.98090820e+01] [ 3.74037531e-01 9.26916023e-01 -3.03745055e-02 9.29525022e+00] [ 6.84822179e-02 5.05751020e-03 9.97639518e-01 1.98582176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.84, Y:9.30, Z:1.99 [[ 9.24562142e-01 -3.75449557e-01 -6.49805796e-02 4.98362777e+01] [ 3.75173714e-01 9.26801152e-01 -1.68614967e-02 9.30065340e+00] [ 6.65547175e-02 -8.78950387e-03 9.97744062e-01 1.99252860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.86, Y:9.31, Z:1.99 [[ 9.24187512e-01 -3.76755552e-01 -6.27112167e-02 4.98607401e+01] [ 3.76034867e-01 9.26310608e-01 -2.33759850e-02 9.31484941e+00] [ 6.68970974e-02 -1.97781065e-03 9.97757920e-01 1.99118811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.231858063999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:49.89, Y:9.33, Z:1.99 [[ 9.23646789e-01 -3.78002865e-01 -6.31699584e-02 4.98862704e+01] [ 3.77273117e-01 9.25802124e-01 -2.35674121e-02 9.32588459e+00] [ 6.73914309e-02 -2.06436254e-03 9.97724478e-01 1.99278383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.91, Y:9.34, Z:1.99 [[ 9.23170147e-01 -3.79320283e-01 -6.22334441e-02 4.99104461e+01] [ 3.78613707e-01 9.25263028e-01 -2.32376985e-02 9.33763919e+00] [ 6.63968353e-02 -2.11008543e-03 9.97791064e-01 1.99397272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.291858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.94, Y:9.35, Z:2.00 [[ 9.22923922e-01 -3.80039985e-01 -6.14901989e-02 4.99361611e+01] [ 3.79350896e-01 9.24967622e-01 -2.29738132e-02 9.34950891e+00] [ 6.56074107e-02 -2.12328029e-03 9.97843254e-01 1.99543733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.96, Y:9.37, Z:1.99 [[ 9.22580109e-01 -3.81101426e-01 -6.00636721e-02 4.99617335e+01] [ 3.79891029e-01 9.24515872e-01 -3.08740769e-02 9.36547654e+00] [ 6.72959729e-02 5.66615907e-03 9.97716967e-01 1.99386579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.99, Y:9.37, Z:2.00 [[ 9.22736610e-01 -3.80246812e-01 -6.30040502e-02 4.99879117e+01] [ 3.80074754e-01 9.24831479e-01 -1.51630158e-02 9.36990627e+00] [ 6.40338173e-02 -9.95477911e-03 9.97898077e-01 2.00142433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.01, Y:9.39, Z:2.00 [[ 9.22697141e-01 -3.80835673e-01 -5.99514422e-02 5.00116874e+01] [ 3.80179532e-01 9.24640387e-01 -2.24427816e-02 9.38612016e+00] [ 6.39805366e-02 -2.08442077e-03 9.97948970e-01 2.00012800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:9.40, Z:2.00 [[ 9.22807928e-01 -3.80615795e-01 -5.96417980e-02 5.00369896e+01] [ 3.79964780e-01 9.24731015e-01 -2.23453857e-02 9.39706635e+00] [ 6.36576271e-02 -2.04128359e-03 9.97969709e-01 2.00215362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.06, Y:9.41, Z:2.00 [[ 9.23040902e-01 -3.80047494e-01 -5.96606703e-02 5.00614457e+01] [ 3.79393686e-01 9.24964843e-01 -2.23711932e-02 9.40811391e+00] [ 6.36861385e-02 -1.98535528e-03 9.97968003e-01 2.00405103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:9.42, Z:2.01 [[ 9.23884365e-01 -3.78051450e-01 -5.92855814e-02 5.00856861e+01] [ 3.77401230e-01 9.25782781e-01 -2.22385813e-02 9.42245671e+00] [ 6.32928984e-02 -1.82857379e-03 9.97993319e-01 2.00516314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.11, Y:9.43, Z:2.01 [[ 9.24439445e-01 -3.76736051e-01 -5.90056057e-02 5.01100016e+01] [ 3.76088125e-01 9.26319067e-01 -2.21519519e-02 9.43417276e+00] [ 6.30034565e-02 -1.71316953e-03 9.98011838e-01 2.00627537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.14, Y:9.45, Z:2.01 [[ 9.24878743e-01 -3.75579247e-01 -5.94940351e-02 5.01352703e+01] [ 3.74917633e-01 9.26788831e-01 -2.23434654e-02 9.44601759e+00] [ 6.35301492e-02 -1.64036658e-03 9.97978572e-01 2.00755353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.16, Y:9.46, Z:2.01 [[ 9.25846856e-01 -3.73183529e-01 -5.95117956e-02 5.01606311e+01] [ 3.72515382e-01 9.27756393e-01 -2.23688393e-02 9.45916728e+00] [ 6.35601312e-02 -1.45893975e-03 9.97976944e-01 2.00901778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.19, Y:9.47, Z:2.01 [[ 9.26155564e-01 -3.72432743e-01 -5.94114744e-02 5.01863701e+01] [ 3.71764092e-01 9.28058149e-01 -2.23502198e-02 9.47072298e+00] [ 6.34612566e-02 -1.38727238e-03 9.97983339e-01 2.01089193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.21, Y:9.48, Z:2.01 [[ 9.26362893e-01 -3.72033587e-01 -5.86753883e-02 5.02116401e+01] [ 3.71379448e-01 9.28218322e-01 -2.20919166e-02 9.48205344e+00] [ 6.26825054e-02 -1.32570152e-03 9.98032638e-01 2.01255235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.651858063999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.24, Y:9.49, Z:2.01 [[ 9.26583327e-01 -3.71545544e-01 -5.82858986e-02 5.02360116e+01] [ 3.70897943e-01 9.28413865e-01 -2.19638762e-02 9.49281080e+00] [ 6.22740167e-02 -1.26675843e-03 9.98058286e-01 2.01446117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.26, Y:9.51, Z:2.02 [[ 9.26638689e-01 -3.71591322e-01 -5.71019294e-02 5.02611723e+01] [ 3.70969424e-01 9.28395583e-01 -2.15250448e-02 9.50500328e+00] [ 6.10116989e-02 -1.23713059e-03 9.98136284e-01 2.01649062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.29, Y:9.52, Z:2.02 [[ 9.26498510e-01 -3.72037363e-01 -5.64686716e-02 5.02867731e+01] [ 3.71428963e-01 9.28216932e-01 -2.13038203e-02 9.51628084e+00] [ 6.03409942e-02 -1.23614236e-03 9.98177057e-01 2.01812552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.31, Y:9.53, Z:2.02 [[ 9.26452409e-01 -3.72215663e-01 -5.60485029e-02 5.03128557e+01] [ 3.71615555e-01 9.28145466e-01 -2.11629988e-02 9.52784125e+00] [ 5.98983635e-02 -1.22198429e-03 9.98203733e-01 2.02008972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.34, Y:9.54, Z:2.02 [[ 9.26531837e-01 -3.72088555e-01 -5.55775419e-02 5.03381072e+01] [ 3.71497203e-01 9.28196476e-01 -2.10030814e-02 9.53876871e+00] [ 5.94018848e-02 -1.18687775e-03 9.98233443e-01 2.02161309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.36, Y:9.55, Z:2.02 [[ 9.26882252e-01 -3.71356808e-01 -5.46206143e-02 5.03626716e+01] [ 3.70783690e-01 9.28489575e-01 -2.06534267e-02 9.55103728e+00] [ 5.83844616e-02 -1.10913826e-03 9.98293556e-01 2.02305322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.831858063999995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:50.39, Y:9.56, Z:2.02 [[ 9.26988351e-01 -3.71056730e-01 -5.48589114e-02 5.03888340e+01] [ 3.70477689e-01 9.28609561e-01 -2.07500605e-02 9.56236269e+00] [ 5.86419592e-02 -1.08893832e-03 9.98278486e-01 2.02473960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861858063999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.41, Y:9.57, Z:2.03 [[ 9.27084949e-01 -3.70778384e-01 -5.51079671e-02 5.04134548e+01] [ 3.70192525e-01 9.28720769e-01 -2.08621092e-02 9.57331789e+00] [ 5.89151327e-02 -1.05961002e-03 9.98262433e-01 2.02614791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.891858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.44, Y:9.59, Z:2.03 [[ 9.27438724e-01 -3.69923518e-01 -5.48999469e-02 5.04385738e+01] [ 3.69339920e-01 9.29061682e-01 -2.07945775e-02 9.58568859e+00] [ 5.86978403e-02 -9.91045593e-04 9.98275303e-01 2.02684008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.46, Y:9.60, Z:2.03 [[ 9.27790062e-01 -3.69019463e-01 -5.50475800e-02 5.04632731e+01] [ 3.68430031e-01 9.29421213e-01 -2.08691450e-02 9.59624121e+00] [ 5.88635093e-02 -9.18996219e-04 9.98265617e-01 2.02818986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.49, Y:9.61, Z:2.03 [[ 9.28092902e-01 -3.68205645e-01 -5.53910555e-02 5.04879356e+01] [ 3.67606914e-01 9.29743972e-01 -2.10072091e-02 9.60695566e+00] [ 5.92344729e-02 -8.65493292e-04 9.98243722e-01 2.02974492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.51, Y:9.62, Z:2.03 [[ 9.28438616e-01 -3.67394940e-01 -5.49790356e-02 5.05133480e+01] [ 3.66803288e-01 9.30064683e-01 -2.08574443e-02 9.61798927e+00] [ 5.87969788e-02 -8.01634262e-04 9.98269639e-01 2.03068947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.54, Y:9.63, Z:2.03 [[ 9.28340604e-01 -3.67643421e-01 -5.49730678e-02 5.05399809e+01] [ 3.67051273e-01 9.29966491e-01 -2.08731611e-02 9.62818067e+00] [ 5.87969913e-02 -8.00531551e-04 9.98269639e-01 2.03249459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.57, Y:9.64, Z:2.03 [[ 9.28945369e-01 -3.66210812e-01 -5.43152187e-02 5.05652944e+01] [ 3.65629367e-01 9.30531660e-01 -2.06396717e-02 9.63936866e+00] [ 5.81005016e-02 -6.86111607e-04 9.98310503e-01 2.03325582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.071858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.59, Y:9.65, Z:2.03 [[ 9.29068515e-01 -3.65907277e-01 -5.42545756e-02 5.05912414e+01] [ 3.65325591e-01 9.30651085e-01 -2.06342062e-02 9.64955023e+00] [ 5.80422858e-02 -6.49993552e-04 9.98313914e-01 2.03499912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.62, Y:9.66, Z:2.04 [[ 9.29247528e-01 -3.65427909e-01 -5.44194296e-02 5.06165225e+01] [ 3.64840774e-01 9.30839448e-01 -2.07154939e-02 9.65915223e+00] [ 5.82257714e-02 -6.04605349e-04 9.98303258e-01 2.03662572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.64, Y:9.67, Z:2.04 [[ 9.29472844e-01 -3.64836835e-01 -5.45372892e-02 5.06413655e+01] [ 3.64245686e-01 9.31071302e-01 -2.07680443e-02 9.66837781e+00] [ 5.83550524e-02 -5.61639117e-04 9.98295734e-01 2.03802801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.67, Y:9.68, Z:2.04 [[ 9.29664612e-01 -3.64358016e-01 -5.44696716e-02 5.06682156e+01] [ 3.63767124e-01 9.31258804e-01 -2.07489505e-02 9.67786422e+00] [ 5.82854077e-02 -5.24710744e-04 9.98299823e-01 2.03956008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.191858063999994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:50.69, Y:9.69, Z:2.04 [[ 9.29734277e-01 -3.64177719e-01 -5.44863543e-02 5.06948951e+01] [ 3.63585134e-01 9.31329341e-01 -2.07727839e-02 9.68770310e+00] [ 5.83097255e-02 -4.97259178e-04 9.98298417e-01 2.04077528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:9.70, Z:2.04 [[ 9.30202197e-01 -3.63023682e-01 -5.42003656e-02 5.07199400e+01] [ 3.62434278e-01 9.31779825e-01 -2.06821753e-02 9.69673529e+00] [ 5.80109266e-02 -4.05465450e-04 9.98315866e-01 2.04174365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.251858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.75, Y:9.71, Z:2.04 [[ 9.30338273e-01 -3.62712589e-01 -5.39469639e-02 5.07458070e+01] [ 3.62127786e-01 9.31900979e-01 -2.05920441e-02 9.70672792e+00] [ 5.77422221e-02 -3.78127835e-04 9.98331454e-01 2.04320246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.77, Y:9.72, Z:2.04 [[ 9.30557673e-01 -3.62291127e-01 -5.29863836e-02 5.07709587e+01] [ 3.61369176e-01 9.32049285e-01 -2.63903016e-02 9.71906900e+00] [ 5.89468931e-02 5.41005184e-03 9.98246460e-01 2.04257399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:9.72, Z:2.05 [[ 9.30947276e-01 -3.60934367e-01 -5.53493703e-02 5.07994808e+01] [ 3.60487603e-01 9.32586372e-01 -1.82029184e-02 9.72490786e+00] [ 5.81881273e-02 -3.00680450e-03 9.98301107e-01 2.04749705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.83, Y:9.74, Z:2.05 [[ 9.31134082e-01 -3.60654957e-01 -5.40122471e-02 5.08260232e+01] [ 3.59973583e-01 9.32698510e-01 -2.21925412e-02 9.73614978e+00] [ 5.83809924e-02 1.22124937e-03 9.98293628e-01 2.04803884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.371858063999994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:50.85, Y:9.74, Z:2.05 [[ 9.31782586e-01 -3.58786329e-01 -5.52592278e-02 5.08530551e+01] [ 3.58442005e-01 9.33408578e-01 -1.63632243e-02 9.74118144e+00] [ 5.74503385e-02 -4.56026099e-03 9.98337950e-01 2.05097333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:9.75, Z:2.05 [[ 9.31905830e-01 -3.58744871e-01 -5.34194833e-02 5.08782811e+01] [ 3.58161721e-01 9.33435649e-01 -2.04467568e-02 9.75251102e+00] [ 5.71988192e-02 -7.83621774e-05 9.98362804e-01 2.05157099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.90, Y:9.76, Z:2.05 [[ 9.32105463e-01 -3.58220834e-01 -5.34531581e-02 5.09044861e+01] [ 3.57635107e-01 9.33636885e-01 -2.04767407e-02 9.76172340e+00] [ 5.72410351e-02 -3.02440947e-05 9.98360387e-01 2.05265372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:9.77, Z:2.05 [[ 9.32118851e-01 -3.58137249e-01 -5.37787928e-02 5.09310307e+01] [ 3.57543230e-01 9.33668952e-01 -2.06186214e-02 9.77126909e+00] [ 5.75958854e-02 -9.23760063e-06 9.98339979e-01 2.05363963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.96, Y:9.78, Z:2.05 [[ 9.32146525e-01 -3.57917974e-01 -5.47501635e-02 5.09574412e+01] [ 3.57300783e-01 9.33753031e-01 -2.10101812e-02 9.77871199e+00] [ 5.86430526e-02 2.22911538e-05 9.98279015e-01 2.05489092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.98, Y:9.79, Z:2.05 [[ 9.31912262e-01 -3.59093322e-01 -5.09070031e-02 5.09836009e+01] [ 3.58237519e-01 9.33286072e-01 -2.53572012e-02 9.79036397e+00] [ 5.66163986e-02 5.39388822e-03 9.98381435e-01 2.05176501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.551858063999994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:51.01, Y:9.79, Z:2.06 [[ 9.32115019e-01 -3.57711036e-01 -5.66074709e-02 5.10121520e+01] [ 3.57394882e-01 9.33816979e-01 -1.59608209e-02 9.79178017e+00] [ 5.85703792e-02 -5.35389942e-03 9.98268925e-01 2.06041580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.04, Y:9.80, Z:2.06 [[ 9.31949844e-01 -3.58415643e-01 -5.48426428e-02 5.10384128e+01] [ 3.57795398e-01 9.33562117e-01 -2.10766912e-02 9.80336341e+00] [ 5.87532295e-02 1.99738613e-05 9.98272537e-01 2.05975263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:9.81, Z:2.06 [[ 9.31719773e-01 -3.58932306e-01 -5.53702460e-02 5.10652454e+01] [ 3.58211945e-01 9.33362572e-01 -2.27708595e-02 9.81288297e+00] [ 5.98537123e-02 1.38177655e-03 9.98206203e-01 2.06034046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:51.09, Y:9.82, Z:2.06 [[ 9.31805083e-01 -3.58542584e-01 -5.64491184e-02 5.10921396e+01] [ 3.57923345e-01 9.33513198e-01 -2.10710303e-02 9.82038722e+00] [ 6.02508587e-02 -5.70364177e-04 9.98183104e-01 2.06224304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.12, Y:9.83, Z:2.06 [[ 9.30917404e-01 -3.60744266e-01 -5.70645421e-02 5.11195863e+01] [ 3.59816335e-01 9.32657042e-01 -2.61351690e-02 9.82906473e+00] [ 6.26497594e-02 3.79692927e-03 9.98028352e-01 2.06205658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.15, Y:9.84, Z:2.06 [[ 9.30081425e-01 -3.62553129e-01 -5.91926684e-02 5.11479385e+01] [ 3.61778711e-01 9.31962898e-01 -2.36922283e-02 9.83642178e+00] [ 6.37550623e-02 6.21054252e-04 9.97965383e-01 2.06482383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.731858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.18, Y:9.84, Z:2.07 [[ 9.29597012e-01 -3.63597833e-01 -6.03822117e-02 5.11754868e+01] [ 3.63219560e-01 9.31538894e-01 -1.75168431e-02 9.84214717e+00] [ 6.26174649e-02 -5.64839537e-03 9.98021617e-01 2.06864211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761858063999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.20, Y:9.85, Z:2.08 [[ 9.28776333e-01 -3.64945113e-01 -6.47270176e-02 5.12039423e+01] [ 3.64874052e-01 9.30961328e-01 -1.33391402e-02 9.84835024e+00] [ 6.51264042e-02 -1.12281314e-02 9.97813851e-01 2.07508868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.791858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.23, Y:9.87, Z:2.06 [[ 9.26650131e-01 -3.71962144e-01 -5.44398530e-02 5.12257569e+01] [ 3.70667252e-01 9.28193828e-01 -3.25884265e-02 9.86825725e+00] [ 6.26523965e-02 1.00189990e-02 9.97985119e-01 2.06475174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:51.25, Y:9.87, Z:2.07 [[ 9.26970332e-01 -3.70609115e-01 -5.80937759e-02 5.12538501e+01] [ 3.69930262e-01 9.28788673e-01 -2.24321913e-02 9.86981240e+00] [ 6.22704156e-02 -6.96669901e-04 9.98059071e-01 2.07067799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.851858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.28, Y:9.88, Z:2.07 [[ 9.26327011e-01 -3.72179681e-01 -5.83142713e-02 5.12797542e+01] [ 3.71498228e-01 9.28160358e-01 -2.25259213e-02 9.87837833e+00] [ 6.25086851e-02 -7.97279078e-04 9.98044102e-01 2.07249585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:9.89, Z:2.07 [[ 9.25014024e-01 -3.75444115e-01 -5.82303309e-02 5.13058273e+01] [ 3.74346555e-01 9.26830648e-01 -2.91480241e-02 9.88846713e+00] [ 6.49131094e-02 5.16400734e-03 9.97877558e-01 2.07157667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91185806399999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:51.33, Y:9.89, Z:2.08 [[ 9.24477194e-01 -3.76265931e-01 -6.13666600e-02 5.13343998e+01] [ 3.75946851e-01 9.26483302e-01 -1.71072126e-02 9.89233463e+00] [ 6.32920471e-02 -7.25537472e-03 9.97968675e-01 2.07779776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.36, Y:9.90, Z:2.08 [[ 9.23845974e-01 -3.78078952e-01 -5.97069693e-02 5.13601608e+01] [ 3.77374717e-01 9.25772585e-01 -2.30963926e-02 9.90496966e+00] [ 6.40073352e-02 -1.19439134e-03 9.97948713e-01 2.07703585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.971858063999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:51.39, Y:9.91, Z:2.08 [[ 9.23265217e-01 -3.79500517e-01 -5.96715666e-02 5.13859669e+01] [ 3.78798866e-01 9.25190647e-01 -2.31016451e-02 9.91472677e+00] [ 6.39746615e-02 -1.27457640e-03 9.97950709e-01 2.07819573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.42, Y:9.91, Z:2.11 [[ 9.22077208e-01 -3.77997163e-01 -8.30166636e-02 5.14176383e+01] [ 3.80023385e-01 9.24927826e-01 9.52589098e-03 9.90556260e+00] [ 7.31836625e-02 -4.03318805e-02 9.96502630e-01 2.10644842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.031858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:51.44, Y:9.94, Z:2.09 [[ 9.21568605e-01 -3.83103310e-01 -6.27945914e-02 5.14356400e+01] [ 3.81520619e-01 9.23659637e-01 -3.59846265e-02 9.93752699e+00] [ 7.17866590e-02 9.20487071e-03 9.97377534e-01 2.08594135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.46, Y:9.96, Z:2.07 [[ 9.22348968e-01 -3.83190263e-01 -4.93720860e-02 5.14619874e+01] [ 3.80804828e-01 9.23226945e-01 -5.13779312e-02 9.95587999e+00] [ 6.52691631e-02 2.85872531e-02 9.97458122e-01 2.07171149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.50, Y:9.93, Z:2.12 [[ 9.21771292e-01 -3.77849910e-01 -8.69892525e-02 5.14994851e+01] [ 3.80393343e-01 9.24716409e-01 1.41586637e-02 9.93052460e+00] [ 7.50905394e-02 -4.61411823e-02 9.96108630e-01 2.11660667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:9.98, Z:2.07 [[ 9.22802881e-01 -3.82754161e-01 -4.39783511e-02 5.15133070e+01] [ 3.79666998e-01 9.22833660e-01 -6.50461896e-02 9.98294280e+00] [ 6.54814024e-02 4.33276826e-02 9.96912683e-01 2.06967716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.55, Y:9.97, Z:2.09 [[ 9.23294453e-01 -3.79298142e-01 -6.05001860e-02 5.15464693e+01] [ 3.78571828e-01 9.25273716e-01 -2.34930210e-02 9.97267935e+00] [ 6.48900911e-02 -1.21269000e-03 9.97891680e-01 2.08746481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.57, Y:9.98, Z:2.09 [[ 9.23809231e-01 -3.78144560e-01 -5.98598086e-02 5.15729211e+01] [ 3.77429938e-01 9.25745903e-01 -2.32629553e-02 9.98331136e+00] [ 6.42117326e-02 -1.10235102e-03 9.97935688e-01 2.08918153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.60, Y:9.99, Z:2.09 [[ 9.24870312e-01 -3.75651714e-01 -5.91666729e-02 5.15983058e+01] [ 3.74947295e-01 9.26760475e-01 -2.30119271e-02 9.99329573e+00] [ 6.34778037e-02 -9.01335757e-04 9.97982844e-01 2.09135369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:9.98, Z:2.12 [[ 9.24997715e-01 -3.70815279e-01 -8.29171656e-02 5.16311564e+01] [ 3.72855402e-01 9.27834802e-01 1.00711879e-02 9.98473404e+00] [ 7.31988816e-02 -4.02319389e-02 9.96505552e-01 2.12222582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.65, Y:10.03, Z:2.08 [[ 9.25484632e-01 -3.76244806e-01 -4.37954527e-02 5.16463624e+01] [ 3.73519173e-01 9.25710038e-01 -5.95344611e-02 1.00321800e+01] [ 6.29414219e-02 3.87397875e-02 9.97265063e-01 2.08032769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:10.01, Z:2.12 [[ 9.25805605e-01 -3.69704166e-01 -7.87579320e-02 5.16849597e+01] [ 3.71291273e-01 9.28496911e-01 6.02308578e-03 1.00076572e+01] [ 7.08997367e-02 -3.48183394e-02 9.96875574e-01 2.12218160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:10.03, Z:2.11 [[ 9.25885046e-01 -3.72194315e-01 -6.48712048e-02 5.17057466e+01] [ 3.71157568e-01 9.28153325e-01 -2.78112471e-02 1.00337218e+01] [ 7.05616125e-02 1.67257919e-03 9.97506021e-01 2.10913577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.73, Y:10.04, Z:2.11 [[ 9.25818816e-01 -3.72358495e-01 -6.48742758e-02 5.17312261e+01] [ 3.71423524e-01 9.28088923e-01 -2.63726609e-02 1.00436729e+01] [ 7.00291810e-02 3.20473471e-04 9.97544892e-01 2.11059032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.391858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.76, Y:10.05, Z:2.11 [[ 9.25846498e-01 -3.72284432e-01 -6.49042616e-02 5.17574262e+01] [ 3.71337467e-01 9.28118570e-01 -2.65406504e-02 1.00535788e+01] [ 7.01195215e-02 4.71184151e-04 9.97538486e-01 2.11173553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.79, Y:10.06, Z:2.11 [[ 9.25715243e-01 -3.72505680e-01 -6.55042562e-02 5.17850510e+01] [ 3.71846243e-01 9.28023000e-01 -2.24428748e-02 1.00611778e+01] [ 6.91495547e-02 -3.58180027e-03 9.97599875e-01 2.11479845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.81, Y:10.07, Z:2.11 [[ 9.25454420e-01 -3.73866788e-01 -6.13004250e-02 5.18097684e+01] [ 3.72783245e-01 9.27475063e-01 -2.86820278e-02 1.00740732e+01] [ 6.75778732e-02 3.69213800e-03 9.97707171e-01 2.11182826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:10.08, Z:2.11 [[ 9.25281971e-01 -3.74190677e-01 -6.19242435e-02 5.18362936e+01] [ 3.73134255e-01 9.27346789e-01 -2.82623352e-02 1.00830814e+01] [ 6.80007508e-02 3.04457275e-03 9.97680624e-01 2.11340571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.86, Y:10.09, Z:2.12 [[ 9.25037780e-01 -3.74737073e-01 -6.22674249e-02 5.18632192e+01] [ 3.74035210e-01 9.27128963e-01 -2.30119211e-02 1.00906787e+01] [ 6.63533530e-02 -2.00331293e-03 9.97794177e-01 2.11544905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.88, Y:10.11, Z:2.10 [[ 9.24093417e-01 -3.78931716e-01 -4.96196689e-02 5.18844686e+01] [ 3.77127825e-01 9.25204710e-01 -4.20814570e-02 1.01122709e+01] [ 6.18543501e-02 2.01742396e-02 9.97881275e-01 2.10055472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.571858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.91, Y:10.11, Z:2.11 [[ 9.24163718e-01 -3.77718695e-01 -5.70088576e-02 5.19140402e+01] [ 3.76977553e-01 9.25920327e-01 -2.36531756e-02 1.01117886e+01] [ 6.17199067e-02 3.68347046e-04 9.98093441e-01 2.10955181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:51.94, Y:10.12, Z:2.11 [[ 9.24204537e-01 -3.77529753e-01 -5.75956515e-02 5.19415543e+01] [ 3.76807337e-01 9.25997446e-01 -2.33444037e-02 1.01205780e+01] [ 6.21466331e-02 -1.27460299e-04 9.98067022e-01 2.11155118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.97, Y:10.13, Z:2.11 [[ 9.24349571e-01 -3.77226915e-01 -5.72514306e-02 5.19688472e+01] [ 3.76465357e-01 9.26120670e-01 -2.39653784e-02 1.01304537e+01] [ 6.20621190e-02 5.99206991e-04 9.98072109e-01 2.11246788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:10.16, Z:2.09 [[ 9.23688718e-01 -3.81311379e-01 -3.74270465e-02 5.19864611e+01] [ 3.79458820e-01 9.23945244e-01 -4.83341489e-02 1.01560768e+01] [ 5.30109026e-02 3.04436851e-02 9.98129764e-01 2.09098724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.02, Y:10.15, Z:2.11 [[ 9.24559654e-01 -3.77315912e-01 -5.31238946e-02 5.20221218e+01] [ 3.77107649e-01 9.26059394e-01 -1.42765622e-02 1.01471194e+01] [ 5.45826557e-02 -6.83389358e-03 9.98485870e-01 2.10992869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:10.16, Z:2.11 [[ 9.25017955e-01 -3.76554206e-01 -5.04847734e-02 5.20466523e+01] [ 3.75852998e-01 9.26391512e-01 -2.30930644e-02 1.01599800e+01] [ 5.54644561e-02 2.38664582e-03 9.98457810e-01 2.10814899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.07, Y:10.17, Z:2.11 [[ 9.25182335e-01 -3.76250329e-01 -4.97326522e-02 5.20742882e+01] [ 3.75569323e-01 9.26515013e-01 -2.27511498e-02 1.01695051e+01] [ 5.46381765e-02 2.37090342e-03 9.98503404e-01 2.10837775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:10.18, Z:2.11 [[ 9.25631034e-01 -3.74794960e-01 -5.23060866e-02 5.21017724e+01] [ 3.74366353e-01 9.27103515e-01 -1.81357557e-02 1.01755992e+01] [ 5.52903466e-02 -2.79462064e-03 9.98466408e-01 2.11259980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.13, Y:10.18, Z:2.11 [[ 9.26277776e-01 -3.73360338e-01 -5.11032246e-02 5.21294505e+01] [ 3.72707513e-01 9.27685284e-01 -2.21161202e-02 1.01849159e+01] [ 5.56649916e-02 1.43911486e-03 9.98448465e-01 2.11242682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84185806399999 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:52.16, Y:10.18, Z:2.13 [[ 9.27502659e-01 -3.68862978e-01 -6.06541063e-02 5.21572654e+01] [ 3.68994536e-01 9.29383745e-01 -9.42792436e-03 1.01835213e+01] [ 5.98485528e-02 -1.36366089e-02 9.98114319e-01 2.12584905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:10.21, Z:2.11 [[ 9.26824169e-01 -3.72207164e-01 -4.95861601e-02 5.21826031e+01] [ 3.71074520e-01 9.28095124e-01 -3.07105898e-02 1.02065038e+01] [ 5.74513750e-02 1.00631563e-02 9.98297587e-01 2.11430789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901858063999995 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:52.21, Y:10.20, Z:2.12 [[ 9.28308206e-01 -3.67477243e-01 -5.66069769e-02 5.22103801e+01] [ 3.67403659e-01 9.29983133e-01 -1.20798938e-02 1.02026597e+01] [ 5.70826198e-02 -9.58374589e-03 9.98323458e-01 2.12381031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.931858064 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:52.24, Y:10.22, Z:2.12 [[ 9.28222931e-01 -3.68213914e-01 -5.31103027e-02 5.22353878e+01] [ 3.67597550e-01 9.29741068e-01 -2.12976039e-02 1.02177501e+01] [ 5.72209036e-02 2.45707186e-04 9.98361512e-01 2.12160239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.26, Y:10.22, Z:2.13 [[ 9.28874467e-01 -3.66449662e-01 -5.39154000e-02 5.22632707e+01] [ 3.66205588e-01 9.30417922e-01 -1.46954859e-02 1.02221613e+01] [ 5.55490103e-02 -6.09385907e-03 9.98437365e-01 2.12611771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.29, Y:10.23, Z:2.13 [[ 9.28129420e-01 -3.68255294e-01 -5.44409638e-02 5.22937376e+01] [ 3.67574381e-01 9.29724387e-01 -2.23972838e-02 1.02348981e+01] [ 5.88630100e-02 7.76474403e-04 9.98265768e-01 2.12753439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.32, Y:10.24, Z:2.13 [[ 9.27998573e-01 -3.68741117e-01 -5.33726220e-02 5.23209928e+01] [ 3.67962998e-01 9.29528147e-01 -2.40968147e-02 1.02443039e+01] [ 5.84968408e-02 2.72265970e-03 9.98283881e-01 2.12784598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.051858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.35, Y:10.25, Z:2.14 [[ 9.28170842e-01 -3.67336009e-01 -5.96920846e-02 5.23469732e+01] [ 3.66966187e-01 9.30070743e-01 -1.74421808e-02 1.02468176e+01] [ 6.19250026e-02 -5.71565308e-03 9.98064439e-01 2.13552935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.37, Y:10.25, Z:2.14 [[ 9.27625774e-01 -3.68503719e-01 -6.09543397e-02 5.23746427e+01] [ 3.68324162e-01 9.29583302e-01 -1.45669461e-02 1.02514308e+01] [ 6.20301102e-02 -8.93828143e-03 9.98034254e-01 2.13946511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.111858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.40, Y:10.27, Z:2.14 [[ 9.26578050e-01 -3.71518230e-01 -5.85433332e-02 5.24039307e+01] [ 3.70912668e-01 9.28423544e-01 -2.12959339e-02 1.02650704e+01] [ 6.22648366e-02 -1.98211899e-03 9.98057694e-01 2.13876607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.43, Y:10.27, Z:2.14 [[ 9.25482303e-01 -3.74272012e-01 -5.83349615e-02 5.24291467e+01] [ 3.73551836e-01 9.27318912e-01 -2.32090936e-02 1.02737705e+01] [ 6.27816272e-02 -3.11526532e-04 9.98027239e-01 2.13960121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:10.29, Z:2.14 [[ 9.24791903e-01 -3.76711096e-01 -5.33730833e-02 5.24497549e+01] [ 3.75651206e-01 9.26305731e-01 -2.90493489e-02 1.02878518e+01] [ 6.03830050e-02 6.81493953e-03 9.98152017e-01 2.13596765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.48, Y:10.29, Z:2.15 [[ 9.25310655e-01 -3.74057127e-01 -6.23013475e-02 5.24825374e+01] [ 3.73950134e-01 9.27345999e-01 -1.38092847e-02 1.02869138e+01] [ 6.29403667e-02 -1.05197190e-02 9.97961846e-01 2.14844841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.231858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.51, Y:10.30, Z:2.15 [[ 9.24627553e-01 -3.76504015e-01 -5.75205610e-02 5.25111396e+01] [ 3.75877594e-01 9.26413773e-01 -2.17613430e-02 1.03021081e+01] [ 6.14810729e-02 -1.49955279e-03 9.98107123e-01 2.14657976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261858063999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:52.53, Y:10.32, Z:2.14 [[ 9.23770578e-01 -3.79630106e-01 -5.02881894e-02 5.25298256e+01] [ 3.78604713e-01 9.25106505e-01 -2.89210263e-02 1.03184262e+01] [ 5.75012234e-02 7.67704760e-03 9.98315918e-01 2.14186451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.291858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.56, Y:10.33, Z:2.15 [[ 9.23472291e-01 -3.79936270e-01 -5.33606482e-02 5.25560657e+01] [ 3.79348386e-01 9.25012385e-01 -2.11397658e-02 1.03250468e+01] [ 5.73910242e-02 -7.20287826e-04 9.98351517e-01 2.14650035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.58, Y:10.34, Z:2.14 [[ 9.22971385e-01 -3.81961952e-01 -4.72111155e-02 5.25825562e+01] [ 3.80901666e-01 9.24126368e-01 -3.00728655e-02 1.03410181e+01] [ 5.51157271e-02 9.77360176e-03 9.98432138e-01 2.13884430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.61, Y:10.34, Z:2.15 [[ 9.22952098e-01 -3.80717055e-01 -5.66917012e-02 5.26121704e+01] [ 3.80598580e-01 9.24644763e-01 -1.32959987e-02 1.03419760e+01] [ 5.74816981e-02 -9.30521106e-03 9.98303194e-01 2.15096207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.64, Y:10.35, Z:2.16 [[ 9.22970862e-01 -3.80187745e-01 -5.98503609e-02 5.26394271e+01] [ 3.80066985e-01 9.24855505e-01 -1.38341059e-02 1.03511414e+01] [ 6.06124933e-02 -9.97866950e-03 9.98111493e-01 2.15604630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:52.67, Y:10.36, Z:2.16 [[ 9.23155919e-01 -3.79527864e-01 -6.11698439e-02 5.26650380e+01] [ 3.79227079e-01 9.25149173e-01 -1.69064888e-02 1.03619635e+01] [ 6.30077141e-02 -7.58993603e-03 9.97984179e-01 2.15866208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.68, Y:10.38, Z:2.15 [[ 9.23048325e-01 -3.81205195e-01 -5.16177136e-02 5.26827937e+01] [ 3.79850972e-01 9.24412020e-01 -3.42878578e-02 1.03834202e+01] [ 6.07867444e-02 1.20423110e-02 9.98078130e-01 2.14838499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.71, Y:10.39, Z:2.16 [[ 9.23699078e-01 -3.78541127e-01 -5.90476763e-02 5.27104176e+01] [ 3.77812915e-01 9.25584263e-01 -2.34770968e-02 1.03878240e+01] [ 6.35406466e-02 -6.23202045e-04 9.97979057e-01 2.15602058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.73, Y:10.40, Z:2.16 [[ 9.24094297e-01 -3.77849708e-01 -5.72654268e-02 5.27349309e+01] [ 3.77162471e-01 9.25866785e-01 -2.27852306e-02 1.03999700e+01] [ 6.16295493e-02 -5.42668197e-04 9.98098945e-01 2.15616803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.77, Y:10.41, Z:2.16 [[ 9.25239296e-01 -3.74644190e-01 -5.97827385e-02 5.27678494e+01] [ 3.74226690e-01 9.27153547e-01 -1.84576762e-02 1.04066901e+01] [ 6.23428392e-02 -5.29452897e-03 9.98040750e-01 2.16085572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:10.42, Z:2.16 [[ 9.25030976e-01 -3.75849837e-01 -5.52683809e-02 5.27859495e+01] [ 3.74947869e-01 9.26673684e-01 -2.62674567e-02 1.04232898e+01] [ 6.10883735e-02 3.57544941e-03 9.98125957e-01 2.15749179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:10.45, Z:2.14 [[ 9.24298625e-01 -3.79780142e-01 -3.79354075e-02 5.27994830e+01] [ 3.77965659e-01 9.24609443e-01 -4.73216592e-02 1.04493558e+01] [ 5.30472624e-02 2.94010633e-02 9.98159088e-01 2.13652321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621858063999994 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:52.84, Y:10.43, Z:2.18 [[ 9.26515054e-01 -3.70010985e-01 -6.82768315e-02 5.28445508e+01] [ 3.71121152e-01 9.28576288e-01 3.89454992e-03 1.04300602e+01] [ 6.19592205e-02 -2.89473355e-02 9.97658813e-01 2.17528736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:10.47, Z:2.14 [[ 9.24915843e-01 -3.78519259e-01 -3.54097996e-02 5.28508449e+01] [ 3.76573912e-01 9.24963707e-01 -5.13247517e-02 1.04733264e+01] [ 5.21801865e-02 3.41366693e-02 9.98054065e-01 2.13650549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.90, Y:10.45, Z:2.18 [[ 9.27135757e-01 -3.68027086e-01 -7.05361785e-02 5.28978939e+01] [ 3.69457659e-01 9.29213445e-01 7.96313985e-03 1.04488573e+01] [ 6.26125143e-02 -3.34430431e-02 9.97477436e-01 2.18151080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.92, Y:10.47, Z:2.17 [[ 9.27493937e-01 -3.69289608e-01 -5.81393438e-02 5.29170324e+01] [ 3.68563617e-01 9.29314362e-01 -2.31446849e-02 1.04749055e+01] [ 6.25768188e-02 3.85080918e-05 9.98040150e-01 2.16867211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74185806399999 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:52.94, Y:10.49, Z:2.17 [[ 9.27508318e-01 -3.69312396e-01 -5.77639581e-02 5.29428264e+01] [ 3.68472496e-01 9.29303428e-01 -2.49631414e-02 1.04866303e+01] [ 6.28994418e-02 1.86909141e-03 9.98018119e-01 2.16950180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.97, Y:10.50, Z:2.17 [[ 9.27420219e-01 -3.69457620e-01 -5.82477778e-02 5.29701047e+01] [ 3.68843586e-01 9.29246068e-01 -2.13577578e-02 1.04958679e+01] [ 6.20173049e-02 -1.67670279e-03 9.98073666e-01 2.17260738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:10.51, Z:2.17 [[ 9.27175389e-01 -3.70200441e-01 -5.74232691e-02 5.29944851e+01] [ 3.69491975e-01 9.28951900e-01 -2.28920829e-02 1.05064326e+01] [ 6.18181141e-02 7.53878120e-06 9.98087431e-01 2.17334329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.831858063999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:53.02, Y:10.52, Z:2.17 [[ 9.26847142e-01 -3.71015113e-01 -5.74644407e-02 5.30207501e+01] [ 3.70306647e-01 9.28626827e-01 -2.29173137e-02 1.05167447e+01] [ 6.18656910e-02 -3.86176487e-05 9.98084483e-01 2.17479365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:10.53, Z:2.18 [[ 9.26372724e-01 -3.72132940e-01 -5.78848126e-02 5.30465468e+01] [ 3.71415066e-01 9.28179436e-01 -2.31037529e-02 1.05268264e+01] [ 6.23251602e-02 -9.66049925e-05 9.98055893e-01 2.17638627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.07, Y:10.54, Z:2.17 [[ 9.25316963e-01 -3.75053665e-01 -5.58861969e-02 5.30719264e+01] [ 3.74221611e-01 9.27000280e-01 -2.50732386e-02 1.05393492e+01] [ 6.12103302e-02 2.28687033e-03 9.98122270e-01 2.17432882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.10, Y:10.54, Z:2.18 [[ 9.24440699e-01 -3.76602676e-01 -5.98315838e-02 5.30994387e+01] [ 3.76012046e-01 9.26370555e-01 -2.12728990e-02 1.05445283e+01] [ 6.34376482e-02 -2.83186260e-03 9.97981786e-01 2.18061235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.13, Y:10.56, Z:2.18 [[ 9.23498026e-01 -3.78933233e-01 -5.96741170e-02 5.31251103e+01] [ 3.78181501e-01 9.25423861e-01 -2.38627164e-02 1.05550533e+01] [ 6.42662281e-02 -5.30475671e-04 9.97932648e-01 2.18149206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981858063999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:53.15, Y:10.56, Z:2.18 [[ 9.22608852e-01 -3.81056022e-01 -5.99100584e-02 5.31514349e+01] [ 3.80301576e-01 9.24551712e-01 -2.39758899e-02 1.05648988e+01] [ 6.45261043e-02 -6.63521392e-04 9.97915799e-01 2.18280843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.18, Y:10.57, Z:2.18 [[ 9.21490300e-01 -3.83662267e-01 -6.04887728e-02 5.31764732e+01] [ 3.82897605e-01 9.23473098e-01 -2.42252106e-02 1.05746510e+01] [ 6.51540536e-02 -8.37709662e-04 9.97874866e-01 2.18401353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:10.59, Z:2.19 [[ 9.21126992e-01 -3.84525125e-01 -6.05433147e-02 5.32020041e+01] [ 3.83760327e-01 9.23114096e-01 -2.42564874e-02 1.05852416e+01] [ 6.52156161e-02 -8.90816956e-04 9.97870798e-01 2.18526549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.23, Y:10.60, Z:2.19 [[ 9.20912468e-01 -3.85055338e-01 -6.04368501e-02 5.32280993e+01] [ 3.84293170e-01 9.22893038e-01 -2.42322261e-02 1.05961070e+01] [ 6.51074962e-02 -9.09709582e-04 9.97877841e-01 2.18681285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.25, Y:10.61, Z:2.19 [[ 9.20049562e-01 -3.87043900e-01 -6.08754608e-02 5.32546047e+01] [ 3.86244975e-01 9.22061068e-01 -2.48637440e-02 1.06073870e+01] [ 6.57542529e-02 -6.36964084e-04 9.97835644e-01 2.18757753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.28, Y:10.62, Z:2.19 [[ 9.19333667e-01 -3.88854049e-01 -6.01509527e-02 5.32787995e+01] [ 3.87391791e-01 9.21258448e-01 -3.47918344e-02 1.06227806e+01] [ 6.89435190e-02 8.68331938e-03 9.97582774e-01 2.18551068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.31, Y:10.62, Z:2.20 [[ 9.19100930e-01 -3.88440029e-01 -6.60895146e-02 5.33062839e+01] [ 3.88342380e-01 9.21395587e-01 -1.48447990e-02 1.06240006e+01] [ 6.66609012e-02 -1.20214908e-02 9.97703267e-01 2.19690249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.33, Y:10.64, Z:2.19 [[ 9.19028006e-01 -3.89456858e-01 -6.09169957e-02 5.33308777e+01] [ 3.88686673e-01 9.21043986e-01 -2.45080770e-02 1.06390045e+01] [ 6.56520713e-02 -1.15401528e-03 9.97841908e-01 2.19312826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.36, Y:10.65, Z:2.19 [[ 9.18192818e-01 -3.91541407e-01 -6.01437880e-02 5.33566648e+01] [ 3.90793932e-01 9.20159614e-01 -2.42154371e-02 1.06512662e+01] [ 6.48232310e-02 -1.26938698e-03 9.97895955e-01 2.19453142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.251858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:53.38, Y:10.66, Z:2.20 [[ 9.18961612e-01 -3.89917664e-01 -5.89386991e-02 5.33829055e+01] [ 3.89195389e-01 9.20849050e-01 -2.37482079e-02 1.06609666e+01] [ 6.35334908e-02 -1.11497846e-03 9.97979084e-01 2.19726780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.41, Y:10.67, Z:2.20 [[ 9.19176299e-01 -3.89405383e-01 -5.89777864e-02 5.34075997e+01] [ 3.88679943e-01 9.21065859e-01 -2.37820426e-02 1.06722640e+01] [ 6.35832809e-02 -1.06359273e-03 9.97975969e-01 2.19938069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:10.68, Z:2.20 [[ 9.19666184e-01 -3.88301535e-01 -5.86176363e-02 5.34336436e+01] [ 3.87582120e-01 9.21531861e-01 -2.36459055e-02 1.06839626e+01] [ 6.31997608e-02 -9.72808074e-04 9.98000423e-01 2.20097864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.46, Y:10.70, Z:2.20 [[ 9.20196227e-01 -3.87032625e-01 -5.86911461e-02 5.34579076e+01] [ 3.86307757e-01 9.22065609e-01 -2.36923802e-02 1.06950187e+01] [ 6.32868115e-02 -8.71206138e-04 9.97995000e-01 2.20260045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.371858063999994 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:53.48, Y:10.71, Z:2.20 [[ 9.21368845e-01 -3.84301179e-01 -5.82413580e-02 5.34827075e+01] [ 3.83581452e-01 9.23207536e-01 -2.35184242e-02 1.07068550e+01] [ 6.28070187e-02 -6.71161324e-04 9.98025465e-01 2.20435850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:10.72, Z:2.21 [[ 9.21681619e-01 -3.83617226e-01 -5.77997943e-02 5.35080647e+01] [ 3.82906522e-01 9.23491986e-01 -2.33483728e-02 1.07180953e+01] [ 6.23344849e-02 -6.12152146e-04 9.98055127e-01 2.20624804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:10.73, Z:2.21 [[ 9.21919515e-01 -3.83074726e-01 -5.76034836e-02 5.35339787e+01] [ 3.82366716e-01 9.23717188e-01 -2.32862868e-02 1.07295181e+01] [ 6.21297158e-02 -5.57572553e-04 9.98067927e-01 2.20808131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:53.55, Y:10.76, Z:2.19 [[ 9.20534242e-01 -3.88121716e-01 -4.44774399e-02 5.35516191e+01] [ 3.86200323e-01 9.21261569e-01 -4.61132427e-02 1.07561816e+01] [ 5.88729070e-02 2.52716172e-02 9.97945553e-01 2.19007450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:53.59, Y:10.75, Z:2.21 [[ 9.20477039e-01 -3.85994760e-01 -6.10742697e-02 5.35871770e+01] [ 3.86453542e-01 9.22297450e-01 -4.59064800e-03 1.07469491e+01] [ 5.81006093e-02 -1.93767818e-02 9.98122668e-01 2.21315464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52185806399999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:53.61, Y:10.77, Z:2.20 [[ 9.20482062e-01 -3.87353695e-01 -5.16709719e-02 5.36078687e+01] [ 3.86532495e-01 9.21924739e-01 -2.54441794e-02 1.07681480e+01] [ 5.74926441e-02 3.44840101e-03 9.98339974e-01 2.20445522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.64, Y:10.77, Z:2.22 [[ 9.20951003e-01 -3.84919370e-01 -6.07151482e-02 5.36382519e+01] [ 3.84851255e-01 9.22883039e-01 -1.32818353e-02 1.07700902e+01] [ 6.11454161e-02 -1.11343814e-02 9.98066763e-01 2.21844563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:10.79, Z:2.21 [[ 9.20248067e-01 -3.87269244e-01 -5.62674705e-02 5.36609006e+01] [ 3.86336449e-01 9.21961278e-01 -2.70471912e-02 1.07879494e+01] [ 6.23509743e-02 3.15195072e-03 9.98049308e-01 2.21371222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:10.81, Z:2.20 [[ 9.18593599e-01 -3.92229633e-01 -4.83912712e-02 5.36800645e+01] [ 3.90530809e-01 9.19675595e-01 -4.10181392e-02 1.08093861e+01] [ 6.05928008e-02 1.87807178e-02 9.97985870e-01 2.20152554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.72, Y:10.80, Z:2.23 [[ 9.19695362e-01 -3.87026638e-01 -6.61122052e-02 5.37173199e+01] [ 3.87838672e-01 9.21727079e-01 -5.97541211e-04 1.07977488e+01] [ 6.11686741e-02 -2.50913140e-02 9.97812016e-01 2.22901618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.73, Y:10.84, Z:2.19 [[ 9.17479688e-01 -3.95883894e-01 -3.88196376e-02 5.37275968e+01] [ 3.93794003e-01 9.17729840e-01 -5.19444234e-02 1.08400178e+01] [ 5.61899005e-02 3.23710129e-02 9.97895191e-01 2.19427832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:10.83, Z:2.21 [[ 9.17145407e-01 -3.95211976e-01 -5.14955958e-02 5.37565393e+01] [ 3.94829537e-01 9.18581336e-01 -1.78315980e-02 1.08349929e+01] [ 5.43501543e-02 -3.97781407e-03 9.98514015e-01 2.20810864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.78, Y:10.85, Z:2.20 [[ 9.16539481e-01 -3.97137264e-01 -4.73008728e-02 5.37807535e+01] [ 3.96143670e-01 9.17724145e-01 -2.91990806e-02 1.08532647e+01] [ 5.50051960e-02 8.02416879e-03 9.98453825e-01 2.20331826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.82, Y:10.84, Z:2.24 [[ 9.18964444e-01 -3.87170186e-01 -7.48571849e-02 5.38233409e+01] [ 3.88650518e-01 9.21367338e-01 5.74484928e-03 1.08397461e+01] [ 6.67467308e-02 -3.43725959e-02 9.97177717e-01 2.23887225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.791858063999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:53.83, Y:10.89, Z:2.20 [[ 9.16580616e-01 -3.97823765e-01 -4.02023051e-02 5.38304614e+01] [ 3.95740639e-01 9.16941508e-01 -5.10648351e-02 1.08857959e+01] [ 5.71779672e-02 3.08953521e-02 9.97885844e-01 2.19875791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:53.86, Y:10.88, Z:2.21 [[ 9.16764872e-01 -3.96038752e-01 -5.19179865e-02 5.38627816e+01] [ 3.95345440e-01 9.18233288e-01 -2.34437756e-02 1.08824908e+01] [ 5.69574671e-02 9.66890704e-04 9.98376138e-01 2.21227200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.90, Y:10.87, Z:2.24 [[ 9.19109351e-01 -3.86633914e-01 -7.58433740e-02 5.39029786e+01] [ 3.88031680e-01 9.21637125e-01 4.05278202e-03 1.08728064e+01] [ 6.83331262e-02 -3.31545817e-02 9.97111507e-01 2.24497197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.91, Y:10.92, Z:2.20 [[ 9.16790024e-01 -3.97575105e-01 -3.78165012e-02 5.39072194e+01] [ 3.95208919e-01 9.16795078e-01 -5.74168478e-02 1.09230021e+01] [ 5.74974914e-02 3.76937747e-02 9.97633809e-01 2.19952135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.94, Y:10.91, Z:2.22 [[ 9.17757810e-01 -3.92907702e-01 -5.78285449e-02 5.39432968e+01] [ 3.92619970e-01 9.19548559e-01 -1.67333900e-02 1.09124567e+01] [ 5.97508330e-02 -7.34744219e-03 9.98186282e-01 2.22234832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.97, Y:10.92, Z:2.23 [[ 9.19187905e-01 -3.89200530e-01 -6.01376901e-02 5.39720145e+01] [ 3.88925529e-01 9.21117930e-01 -1.66940994e-02 1.09232700e+01] [ 6.18912569e-02 -8.04406866e-03 9.98050482e-01 2.22820060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.971858063999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:54.01, Y:10.92, Z:2.25 [[ 9.21404959e-01 -3.81757664e-01 -7.26222266e-02 5.40066660e+01] [ 3.82387150e-01 9.23985365e-01 -5.57789381e-03 1.09232669e+01] [ 6.92312782e-02 -2.26303072e-02 9.97343922e-01 2.24860595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.03, Y:10.94, Z:2.24 [[ 9.21885996e-01 -3.82159937e-01 -6.38748135e-02 5.40286579e+01] [ 3.81210849e-01 9.24096079e-01 -2.69207248e-02 1.09447471e+01] [ 6.93144872e-02 4.68067322e-04 9.97594749e-01 2.24123819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:10.95, Z:2.25 [[ 9.22049114e-01 -3.81456723e-01 -6.56977982e-02 5.40576728e+01] [ 3.81248263e-01 9.24331167e-01 -1.61757926e-02 1.09513032e+01] [ 6.68968873e-02 -1.01322962e-02 9.97708446e-01 2.24680184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.08, Y:10.97, Z:2.24 [[ 9.23023985e-01 -3.79779925e-01 -6.15948941e-02 5.40797767e+01] [ 3.78374693e-01 9.25045358e-01 -3.35212822e-02 1.09700647e+01] [ 6.97087809e-02 7.63499828e-03 9.97538166e-01 2.24153369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:10.98, Z:2.24 [[ 9.23277897e-01 -3.78707972e-01 -6.43288207e-02 5.41059316e+01] [ 3.77362371e-01 9.25499102e-01 -3.23890771e-02 1.09799492e+01] [ 7.18022675e-02 5.62884273e-03 9.97403003e-01 2.24393464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121858063999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:54.13, Y:10.99, Z:2.25 [[ 9.23506411e-01 -3.77617534e-01 -6.73862548e-02 5.41334848e+01] [ 3.77086611e-01 9.25941646e-01 -2.09226386e-02 1.09856452e+01] [ 7.02964949e-02 -6.08826357e-03 9.97507562e-01 2.24954806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.16, Y:11.00, Z:2.25 [[ 9.23841514e-01 -3.77437131e-01 -6.37029741e-02 5.41587691e+01] [ 3.76177324e-01 9.26022494e-01 -3.11923382e-02 1.10019258e+01] [ 7.07635336e-02 4.85316263e-03 9.97481313e-01 2.24804439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.19, Y:11.01, Z:2.25 [[ 9.23803007e-01 -3.77164190e-01 -6.58420715e-02 5.41864812e+01] [ 3.76610849e-01 9.26131222e-01 -2.11004412e-02 1.10078854e+01] [ 6.89367289e-02 -5.30418740e-03 9.97606933e-01 2.25391705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.21, Y:11.02, Z:2.25 [[ 9.23721620e-01 -3.77690334e-01 -6.39404504e-02 5.42122655e+01] [ 3.76807884e-01 9.25931934e-01 -2.58045082e-02 1.10203958e+01] [ 6.89506182e-02 -2.57083745e-04 9.97620041e-01 2.25444022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.23, Y:11.05, Z:2.24 [[ 9.22174906e-01 -3.83648711e-01 -4.90622933e-02 5.42288649e+01] [ 3.81696194e-01 9.23204050e-01 -4.47470264e-02 1.10452008e+01] [ 6.24616469e-02 2.25376943e-02 9.97792862e-01 2.23637465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.27, Y:11.03, Z:2.27 [[ 9.23456580e-01 -3.76671645e-01 -7.31191974e-02 5.42680570e+01] [ 3.77314724e-01 9.26069699e-01 -5.33966309e-03 1.10311471e+01] [ 6.97247728e-02 -2.26580028e-02 9.97308915e-01 2.26743960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.28, Y:11.06, Z:2.24 [[ 9.22896119e-01 -3.81346799e-01 -5.32669931e-02 5.42825227e+01] [ 3.79711618e-01 9.24306445e-01 -3.84276450e-02 1.10617159e+01] [ 6.38892844e-02 1.52386283e-02 9.97840640e-01 2.24469264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:11.07, Z:2.25 [[ 9.22546674e-01 -3.81395714e-01 -5.86936364e-02 5.43119992e+01] [ 3.80248325e-01 9.24396063e-01 -3.00521352e-02 1.10680756e+01] [ 6.57179219e-02 5.40634043e-03 9.97823595e-01 2.25172000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:11.07, Z:2.27 [[ 9.22891050e-01 -3.78272400e-01 -7.19868088e-02 5.43443289e+01] [ 3.78647090e-01 9.25498364e-01 -8.89714359e-03 1.10650460e+01] [ 6.99892177e-02 -1.90465014e-02 9.97365901e-01 2.27186601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:11.08, Z:2.27 [[ 9.22380167e-01 -3.80751215e-01 -6.51409150e-02 5.43679182e+01] [ 3.79846197e-01 9.24677361e-01 -2.62420408e-02 1.10840428e+01] [ 7.02260183e-02 -5.38390831e-04 9.97530960e-01 2.26658645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.39, Y:11.09, Z:2.27 [[ 9.21785338e-01 -3.82128789e-01 -6.54933456e-02 5.43932542e+01] [ 3.81215897e-01 9.24108866e-01 -2.64053930e-02 1.10939973e+01] [ 7.06132421e-02 -6.27000369e-04 9.97503572e-01 2.26863383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:11.12, Z:2.25 [[ 9.19339116e-01 -3.90637493e-01 -4.70950066e-02 5.44092209e+01] [ 3.88213288e-01 9.20037563e-01 -5.31161535e-02 1.11232550e+01] [ 6.40783361e-02 3.05488502e-02 9.97477185e-01 2.24502719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:11.12, Z:2.26 [[ 9.19146932e-01 -3.89354010e-01 -5.97693284e-02 5.44418078e+01] [ 3.88524557e-01 9.21088182e-01 -2.54013752e-02 1.11196265e+01] [ 6.49429493e-02 1.25744292e-04 9.97888971e-01 2.25914932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.511858063999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.46, Y:11.14, Z:2.25 [[ 9.17966997e-01 -3.93538167e-01 -4.96417583e-02 5.44619943e+01] [ 3.91901860e-01 9.19152086e-01 -3.96531854e-02 1.11414286e+01] [ 6.12333676e-02 1.69456180e-02 9.97979619e-01 2.24775480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.50, Y:11.14, Z:2.27 [[ 9.18866372e-01 -3.89081864e-01 -6.55735797e-02 5.44967090e+01] [ 3.89070834e-01 9.21109445e-01 -1.34638728e-02 1.11371271e+01] [ 6.56389923e-02 -1.31412674e-02 9.97756899e-01 2.26745186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:11.13, Z:2.29 [[ 9.20537597e-01 -3.81728123e-01 -8.30311479e-02 5.45313331e+01] [ 3.83254644e-01 9.23638874e-01 2.66616598e-03 1.11345881e+01] [ 7.56730455e-02 -3.42763790e-02 9.96543386e-01 2.29222263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:11.16, Z:2.28 [[ 9.20908690e-01 -3.83097976e-01 -7.18548906e-02 5.45514589e+01] [ 3.82003778e-01 9.23707373e-01 -2.89448155e-02 1.11610123e+01] [ 7.74615925e-02 -7.93307521e-04 9.96995021e-01 2.28052077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.56, Y:11.19, Z:2.25 [[ 9.19065232e-01 -3.91035753e-01 -4.90931768e-02 5.45639262e+01] [ 3.88116747e-01 9.19683129e-01 -5.95678840e-02 1.11944980e+01] [ 6.84433388e-02 3.56928870e-02 9.97016312e-01 2.25232264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.60, Y:11.18, Z:2.28 [[ 9.19897236e-01 -3.85982513e-01 -6.93294671e-02 5.46010019e+01] [ 3.85543250e-01 9.22469712e-01 -2.01502636e-02 1.11829029e+01] [ 7.17319830e-02 -8.19333626e-03 9.97390291e-01 2.27569636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.64, Y:11.18, Z:2.30 [[ 9.21523271e-01 -3.79150727e-01 -8.39022490e-02 5.46353628e+01] [ 3.80144026e-01 9.24916719e-01 -4.42515808e-03 1.11812132e+01] [ 7.92803948e-02 -2.78170526e-02 9.96464164e-01 2.29921220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.65, Y:11.21, Z:2.28 [[ 9.20805334e-01 -3.84436119e-01 -6.57754239e-02 5.46526914e+01] [ 3.82657235e-01 9.23096435e-01 -3.82937488e-02 1.12123368e+01] [ 7.54385595e-02 1.00916463e-02 9.97099384e-01 2.27928703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.68, Y:11.22, Z:2.28 [[ 9.21547410e-01 -3.82219120e-01 -6.82562502e-02 5.46810182e+01] [ 3.81011847e-01 9.24069491e-01 -3.04228116e-02 1.12183701e+01] [ 7.47016987e-02 2.02962321e-03 9.97203859e-01 2.28498151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.71, Y:11.22, Z:2.30 [[ 9.22828536e-01 -3.77842684e-01 -7.49826601e-02 5.47100536e+01] [ 3.77668999e-01 9.25784039e-01 -1.70305653e-02 1.12208176e+01] [ 7.58526245e-02 -1.26023346e-02 9.97039398e-01 2.29969482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:11.24, Z:2.30 [[ 9.23137100e-01 -3.78097732e-01 -6.97136999e-02 5.47341777e+01] [ 3.77045350e-01 9.25765649e-01 -2.81916142e-02 1.12372254e+01] [ 7.51977340e-02 -2.60501403e-04 9.97168608e-01 2.29779837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.76, Y:11.25, Z:2.29 [[ 9.22374165e-01 -3.81008981e-01 -6.37028714e-02 5.47565857e+01] [ 3.79524511e-01 9.24540118e-01 -3.44487492e-02 1.12535574e+01] [ 7.20211430e-02 7.59783517e-03 9.97374166e-01 2.29218718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.871858063999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.79, Y:11.25, Z:2.31 [[ 9.23302439e-01 -3.76334019e-01 -7.67157880e-02 5.47909981e+01] [ 3.76503910e-01 9.26326721e-01 -1.27911055e-02 1.12508687e+01] [ 7.58776124e-02 -1.70737352e-02 9.96970950e-01 2.31174253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.81, Y:11.28, Z:2.30 [[ 9.23266631e-01 -3.78910770e-01 -6.32878849e-02 5.48104020e+01] [ 3.76598300e-01 9.25252464e-01 -4.56245341e-02 1.12780441e+01] [ 7.58448988e-02 1.82895000e-02 9.96951877e-01 2.29793016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.84, Y:11.28, Z:2.31 [[ 9.23489195e-01 -3.76925685e-01 -7.13774125e-02 5.48398996e+01] [ 3.76657049e-01 9.26183586e-01 -1.77040298e-02 1.12761599e+01] [ 7.27816914e-02 -1.05353253e-02 9.97292250e-01 2.31100626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:54.86, Y:11.29, Z:2.31 [[ 9.23323085e-01 -3.78021278e-01 -6.76342651e-02 5.48638211e+01] [ 3.77024879e-01 9.25796891e-01 -2.74291399e-02 1.12918333e+01] [ 7.29843909e-02 -1.73842486e-04 9.97333068e-01 2.30838615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99185806399999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:54.89, Y:11.30, Z:2.31 [[ 9.22829957e-01 -3.79059125e-01 -6.85496159e-02 5.48888368e+01] [ 3.78036855e-01 9.25372423e-01 -2.78211101e-02 1.13017611e+01] [ 7.39797699e-02 -2.40127413e-04 9.97259713e-01 2.30995343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02185806399999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:54.92, Y:11.32, Z:2.31 [[ 9.22334062e-01 -3.80323450e-01 -6.82198755e-02 5.49150665e+01] [ 3.78670073e-01 9.24822477e-01 -3.62265230e-02 1.13159520e+01] [ 7.68690705e-02 7.58013092e-03 9.97012381e-01 2.30885516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.051858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.94, Y:11.32, Z:2.32 [[ 9.22019582e-01 -3.80317318e-01 -7.23783698e-02 5.49428960e+01] [ 3.79831742e-01 9.24819505e-01 -2.08980963e-02 1.13188725e+01] [ 7.48848361e-02 -8.22314826e-03 9.97158283e-01 2.31697537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081858063999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.97, Y:11.33, Z:2.32 [[ 9.21339506e-01 -3.82380783e-01 -7.01316698e-02 5.49677068e+01] [ 3.81317422e-01 9.24004710e-01 -2.85012282e-02 1.13329830e+01] [ 7.57003151e-02 -4.83120009e-04 9.97130497e-01 2.31582495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.111858063999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.99, Y:11.34, Z:2.32 [[ 9.20184840e-01 -3.84828666e-01 -7.18801674e-02 5.49939128e+01] [ 3.83717240e-01 9.22987776e-01 -2.92343083e-02 1.13440217e+01] [ 7.75947157e-02 -6.80692169e-04 9.96984753e-01 2.31710596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.02, Y:11.36, Z:2.32 [[ 9.19696295e-01 -3.86073810e-01 -7.14544469e-02 5.50176248e+01] [ 3.84225901e-01 9.22433035e-01 -3.85714063e-02 1.13582561e+01] [ 8.08033521e-02 8.01933021e-03 9.96697802e-01 2.31521939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:11.36, Z:2.32 [[ 9.19412314e-01 -3.85863245e-01 -7.60956818e-02 5.50461918e+01] [ 3.85375432e-01 9.22507311e-01 -2.15879124e-02 1.13611138e+01] [ 7.85288047e-02 -9.47721379e-03 9.96866796e-01 2.32369569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.07, Y:11.38, Z:2.32 [[ 9.18784680e-01 -3.88265303e-01 -7.13075523e-02 5.50704415e+01] [ 3.87027489e-01 9.21547225e-01 -3.09908987e-02 1.13768666e+01] [ 7.77459676e-02 8.75979997e-04 9.96972817e-01 2.32088581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.231858063999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.10, Y:11.39, Z:2.33 [[ 9.19286068e-01 -3.86940042e-01 -7.20453303e-02 5.50969877e+01] [ 3.85965983e-01 9.22101540e-01 -2.75501319e-02 1.13851031e+01] [ 7.70933592e-02 -2.48059433e-03 9.97020792e-01 2.32564805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.12, Y:11.40, Z:2.33 [[ 9.19154186e-01 -3.87422400e-01 -7.11299222e-02 5.51213344e+01] [ 3.86335335e-01 9.21901960e-01 -2.90135174e-02 1.13964234e+01] [ 7.68153013e-02 -8.12106332e-04 9.97045009e-01 2.32720971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.291858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.15, Y:11.41, Z:2.33 [[ 9.19095619e-01 -3.87488806e-01 -7.15238998e-02 5.51475247e+01] [ 3.86388980e-01 9.21874051e-01 -2.91854401e-02 1.14076193e+01] [ 7.72450586e-02 -8.11836542e-04 9.97011806e-01 2.32911702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:11.42, Z:2.33 [[ 9.18915647e-01 -3.88263139e-01 -6.96115585e-02 5.51720707e+01] [ 3.86160654e-01 9.21473846e-01 -4.20226268e-02 1.14242740e+01] [ 8.04610675e-02 1.17340044e-02 9.96688682e-01 2.32591763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.20, Y:11.42, Z:2.34 [[ 9.19090334e-01 -3.86606770e-01 -7.62113100e-02 5.52015046e+01] [ 3.86437282e-01 9.22148551e-01 -1.75577860e-02 1.14233630e+01] [ 7.70661080e-02 -1.33137001e-02 9.96937089e-01 2.33784412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.22, Y:11.45, Z:2.32 [[ 9.18751167e-01 -3.90033106e-01 -6.14041524e-02 5.52220867e+01] [ 3.88009130e-01 9.20674964e-01 -4.25032321e-02 1.14488896e+01] [ 7.31109335e-02 1.52245223e-02 9.97207604e-01 2.32237372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.25, Y:11.45, Z:2.33 [[ 9.18725435e-01 -3.88829457e-01 -6.89581636e-02 5.52506009e+01] [ 3.87944474e-01 9.21306219e-01 -2.63426501e-02 1.14515453e+01] [ 7.37743833e-02 -2.55027587e-03 9.97271696e-01 2.33245491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.28, Y:11.45, Z:2.35 [[ 9.19553376e-01 -3.85331011e-01 -7.70817811e-02 5.52800081e+01] [ 3.85272219e-01 9.22660192e-01 -1.62323104e-02 1.14548687e+01] [ 7.73751035e-02 -1.47709930e-02 9.96892628e-01 2.34615278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.471858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.30, Y:11.48, Z:2.34 [[ 9.19278617e-01 -3.87774346e-01 -6.75120827e-02 5.53019911e+01] [ 3.86256182e-01 9.21735461e-01 -3.47836496e-02 1.14761341e+01] [ 7.57164877e-02 5.89890591e-03 9.97111938e-01 2.33699222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.33, Y:11.48, Z:2.35 [[ 9.20030933e-01 -3.84620649e-01 -7.49001933e-02 5.53299567e+01] [ 3.83955696e-01 9.23048276e-01 -2.36622857e-02 1.14800499e+01] [ 7.82374979e-02 -6.98832105e-03 9.96910255e-01 2.34777686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.531858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:55.35, Y:11.49, Z:2.35 [[ 9.20035918e-01 -3.85040873e-01 -7.26459540e-02 5.53546639e+01] [ 3.83890799e-01 9.22899372e-01 -2.97422815e-02 1.14939074e+01] [ 7.84968994e-02 -5.24146047e-04 9.96914220e-01 2.34700277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.38, Y:11.50, Z:2.35 [[ 9.20154689e-01 -3.84710028e-01 -7.28940531e-02 5.53796375e+01] [ 3.83549274e-01 9.23037359e-01 -2.98661612e-02 1.15044577e+01] [ 7.87737460e-02 -4.76972913e-04 9.96892406e-01 2.34864295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.41, Y:11.51, Z:2.35 [[ 9.21034423e-01 -3.82379104e-01 -7.40392610e-02 5.54092024e+01] [ 3.81243925e-01 9.24004887e-01 -2.94624993e-02 1.15138428e+01] [ 7.96784830e-02 -1.09104238e-03 9.96820018e-01 2.35055609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:11.52, Z:2.35 [[ 9.21202585e-01 -3.81863163e-01 -7.46077841e-02 5.54359459e+01] [ 3.80820440e-01 9.24215900e-01 -2.82977552e-02 1.15241031e+01] [ 7.97595706e-02 -2.34420387e-03 9.96811374e-01 2.35322410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.651858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.46, Y:11.54, Z:2.35 [[ 9.20921171e-01 -3.82942071e-01 -7.25228743e-02 5.54575890e+01] [ 3.81637424e-01 9.23771238e-01 -3.16160743e-02 1.15378072e+01] [ 7.91016704e-02 1.43846928e-03 9.96865516e-01 2.35344255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.48, Y:11.55, Z:2.36 [[ 9.21333475e-01 -3.81860227e-01 -7.29890078e-02 5.54832103e+01] [ 3.80680076e-01 9.24220074e-01 -2.99989025e-02 1.15473498e+01] [ 7.89132939e-02 -1.46467914e-04 9.96881473e-01 2.35597070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.711858064 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:55.51, Y:11.56, Z:2.35 [[ 9.21416802e-01 -3.82487933e-01 -6.85131982e-02 5.55104157e+01] [ 3.80732007e-01 9.23920880e-01 -3.75944996e-02 1.15621840e+01] [ 7.76802168e-02 8.55503614e-03 9.96941621e-01 2.35216652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74185806399999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:55.54, Y:11.57, Z:2.36 [[ 9.21209209e-01 -3.82330127e-01 -7.20920831e-02 5.55382572e+01] [ 3.81204721e-01 9.24025676e-01 -2.93174265e-02 1.15691977e+01] [ 7.78238712e-02 -4.74359141e-04 9.96967011e-01 2.35771853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:11.57, Z:2.37 [[ 9.21303773e-01 -3.81269002e-01 -7.63760808e-02 5.55636940e+01] [ 3.80755469e-01 9.24419922e-01 -2.17504190e-02 1.15743785e+01] [ 7.88963312e-02 -9.04186740e-03 9.96841820e-01 2.36585163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801858063999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.59, Y:11.59, Z:2.36 [[ 9.21147886e-01 -3.82575000e-01 -7.15747285e-02 5.55876727e+01] [ 3.80747036e-01 9.23890475e-01 -3.81848643e-02 1.15922905e+01] [ 8.07357844e-02 7.92204124e-03 9.96704056e-01 2.36134281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.831858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:11.60, Z:2.37 [[ 9.21376103e-01 -3.81283253e-01 -7.54265078e-02 5.56159995e+01] [ 3.80712678e-01 9.24422742e-01 -2.23707386e-02 1.15954927e+01] [ 7.82555671e-02 -8.10396385e-03 9.96900392e-01 2.36950885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.64, Y:11.61, Z:2.37 [[ 9.21235350e-01 -3.82311523e-01 -7.18563080e-02 5.56397577e+01] [ 3.80652098e-01 9.24014848e-01 -3.60630147e-02 1.16120400e+01] [ 8.01836016e-02 5.87026960e-03 9.96762825e-01 2.36598633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.67, Y:11.62, Z:2.37 [[ 9.20910412e-01 -3.82487754e-01 -7.50142093e-02 5.56675601e+01] [ 3.81727777e-01 9.23942316e-01 -2.47891261e-02 1.16174657e+01] [ 7.87903395e-02 -5.80644304e-03 9.96874299e-01 2.37220480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.69, Y:11.63, Z:2.37 [[ 9.20585698e-01 -3.83628796e-01 -7.31499791e-02 5.56920846e+01] [ 3.82434701e-01 9.23487374e-01 -3.02451535e-02 1.16301392e+01] [ 7.91559939e-02 -1.31834693e-04 9.96862233e-01 2.37162677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.71, Y:11.66, Z:2.35 [[ 9.19265433e-01 -3.89836229e-01 -5.45781942e-02 5.57109651e+01] [ 3.86959104e-01 9.20372447e-01 -5.63667518e-02 1.16577085e+01] [ 7.22060680e-02 3.06964773e-02 9.96917253e-01 2.35006555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:11.64, Z:2.39 [[ 9.19202269e-01 -3.84488580e-01 -8.50630391e-02 5.57498100e+01] [ 3.85697597e-01 9.22622153e-01 -2.39323433e-03 1.16364255e+01] [ 7.94012155e-02 -3.06087433e-02 9.96372697e-01 2.38762046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.011858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.77, Y:11.67, Z:2.37 [[ 9.17689697e-01 -3.90883062e-01 -7.11059203e-02 5.57706190e+01] [ 3.88496978e-01 9.20334228e-01 -4.53321845e-02 1.16656356e+01] [ 8.31607953e-02 1.39764435e-02 9.96438127e-01 2.37257346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:11.66, Z:2.39 [[ 9.17460838e-01 -3.90026571e-01 -7.83893127e-02 5.58011622e+01] [ 3.89971972e-01 9.20676401e-01 -1.66380873e-02 1.16630397e+01] [ 7.86604865e-02 -1.53048413e-02 9.96783973e-01 2.38548019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:11.68, Z:2.38 [[ 9.16878019e-01 -3.92462671e-01 -7.28543108e-02 5.58246759e+01] [ 3.91299352e-01 9.19767575e-01 -3.02063738e-02 1.16801573e+01] [ 7.88639069e-02 -8.12284410e-04 9.96885061e-01 2.38121728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.85, Y:11.70, Z:2.37 [[ 9.15451068e-01 -3.97581337e-01 -6.22769741e-02 5.58465929e+01] [ 3.95658275e-01 9.17473980e-01 -4.11828275e-02 1.16979676e+01] [ 7.35110269e-02 1.30604634e-02 9.97208881e-01 2.36969943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:11.69, Z:2.39 [[ 9.15788735e-01 -3.94078072e-01 -7.76753878e-02 5.58793264e+01] [ 3.93974917e-01 9.18958416e-01 -1.72972379e-02 1.16931514e+01] [ 7.81969135e-02 -1.47615388e-02 9.96828641e-01 2.39068024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:11.71, Z:2.39 [[ 9.15669175e-01 -3.95359885e-01 -7.23914657e-02 5.59026035e+01] [ 3.94216204e-01 9.18525748e-01 -3.00671789e-02 1.17087006e+01] [ 7.83807815e-02 -1.00629991e-03 9.96922986e-01 2.38723730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.191858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.93, Y:11.72, Z:2.39 [[ 9.15656582e-01 -3.95396866e-01 -7.23487501e-02 5.59296345e+01] [ 3.94253713e-01 9.18509838e-01 -3.00613946e-02 1.17176787e+01] [ 7.83392200e-02 -9.97849554e-04 9.96926262e-01 2.38911226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221858063999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.96, Y:11.73, Z:2.39 [[ 9.15681257e-01 -3.95318943e-01 -7.24621851e-02 5.59562049e+01] [ 3.94170087e-01 9.18543407e-01 -3.01322453e-02 1.17280224e+01] [ 7.84715097e-02 -9.70893491e-04 9.96915884e-01 2.39122971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.98, Y:11.74, Z:2.39 [[ 9.15935971e-01 -3.94692419e-01 -7.26580428e-02 5.59819641e+01] [ 3.93533463e-01 9.18812869e-01 -3.02378080e-02 1.17383504e+01] [ 7.86937784e-02 -8.97475161e-04 9.96898432e-01 2.39333752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.01, Y:11.75, Z:2.40 [[ 9.16661551e-01 -3.92970099e-01 -7.28430010e-02 5.60068887e+01] [ 3.91797941e-01 9.19550960e-01 -3.03381752e-02 1.17484043e+01] [ 7.89048472e-02 -7.29899058e-04 9.96881885e-01 2.39512937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.03, Y:11.76, Z:2.40 [[ 9.17095757e-01 -3.91982523e-01 -7.26985129e-02 5.60320848e+01] [ 3.90810681e-01 9.19972448e-01 -3.02936680e-02 1.17578140e+01] [ 7.87552173e-02 -6.29160884e-04 9.96893786e-01 2.39741405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:11.77, Z:2.40 [[ 9.17298300e-01 -3.91566605e-01 -7.23838590e-02 5.60580522e+01] [ 3.90402691e-01 9.20149584e-01 -3.01741769e-02 1.17680231e+01] [ 7.84191778e-02 -5.80132162e-04 9.96920306e-01 2.39938924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.08, Y:11.78, Z:2.40 [[ 9.17535920e-01 -3.91035750e-01 -7.22418029e-02 5.60830988e+01] [ 3.89873025e-01 9.20375347e-01 -3.01371172e-02 1.17777789e+01] [ 7.82742646e-02 -5.13242679e-04 9.96931731e-01 2.40147446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.11, Y:11.79, Z:2.40 [[ 9.18107550e-01 -3.89776303e-01 -7.17841251e-02 5.61099855e+01] [ 3.88623544e-01 9.20909485e-01 -2.99576568e-02 1.17871460e+01] [ 7.77834664e-02 -3.92650243e-04 9.96970199e-01 2.40363419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.14, Y:11.80, Z:2.41 [[ 9.18266604e-01 -3.89376896e-01 -7.19171537e-02 5.61353698e+01] [ 3.88216826e-01 9.21078454e-01 -3.00362663e-02 1.17972023e+01] [ 7.79367689e-02 -3.38148886e-04 9.96958247e-01 2.40579928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:11.81, Z:2.41 [[ 9.18421211e-01 -3.89081238e-01 -7.15420781e-02 5.61607839e+01] [ 3.87931113e-01 9.21203399e-01 -2.98956369e-02 1.18076162e+01] [ 7.75366369e-02 -2.96610978e-04 9.96989459e-01 2.40760102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:11.82, Z:2.41 [[ 9.18792502e-01 -3.88449980e-01 -7.01922448e-02 5.61869043e+01] [ 3.87339846e-01 9.21469784e-01 -2.93475845e-02 1.18184144e+01] [ 7.60801013e-02 -2.23912688e-04 9.97101684e-01 2.40960973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.21, Y:11.83, Z:2.41 [[ 9.18901632e-01 -3.88292484e-01 -6.96328833e-02 5.62128152e+01] [ 3.87197810e-01 9.21536170e-01 -2.91366397e-02 1.18292673e+01] [ 7.54827587e-02 -1.87994182e-04 9.97147089e-01 2.41182307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.551858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.24, Y:11.84, Z:2.41 [[ 9.19004216e-01 -3.88144291e-01 -6.91032583e-02 5.62392780e+01] [ 3.87064096e-01 9.21598603e-01 -2.89378659e-02 1.18398950e+01] [ 7.49175338e-02 -1.53369406e-04 9.97189721e-01 2.41398090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.26, Y:11.85, Z:2.42 [[ 9.19224538e-01 -3.87792972e-01 -6.81385356e-02 5.62646230e+01] [ 3.86740194e-01 9.21746495e-01 -2.85555904e-02 1.18497458e+01] [ 7.38801136e-02 -1.02911158e-04 9.97267125e-01 2.41589064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.29, Y:11.86, Z:2.42 [[ 9.19121721e-01 -3.88027181e-01 -6.81921463e-02 5.62901875e+01] [ 3.86972608e-01 9.21647923e-01 -2.85885735e-02 1.18601469e+01] [ 7.39422937e-02 -1.12113810e-04 9.97262515e-01 2.41833925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:11.87, Z:2.42 [[ 9.19062000e-01 -3.88204555e-01 -6.79872368e-02 5.63146480e+01] [ 3.87155206e-01 9.21573227e-01 -2.85242665e-02 1.18704717e+01] [ 7.37284674e-02 -1.06043337e-04 9.97278347e-01 2.42000814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.34, Y:11.88, Z:2.42 [[ 9.18850977e-01 -3.88771530e-01 -6.75986665e-02 5.63406322e+01] [ 3.87734948e-01 9.21334184e-01 -2.83713245e-02 1.18814852e+01] [ 7.33109254e-02 -1.41346240e-04 9.97309124e-01 2.42181633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70185806399999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:56.37, Y:11.89, Z:2.42 [[ 9.18599902e-01 -3.89763765e-01 -6.52566220e-02 5.63667868e+01] [ 3.88798904e-01 9.20914855e-01 -2.74088058e-02 1.18926401e+01] [ 7.07787519e-02 -1.93976787e-04 9.97492020e-01 2.42194528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.731858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:11.90, Z:2.42 [[ 9.17634414e-01 -3.91522843e-01 -6.82418107e-02 5.63921479e+01] [ 3.90470616e-01 9.20168332e-01 -2.86869173e-02 1.19041177e+01] [ 7.40255366e-02 -3.22319256e-04 9.97256294e-01 2.42475339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:11.92, Z:2.43 [[ 9.16413589e-01 -3.94227871e-01 -6.90689409e-02 5.64181193e+01] [ 3.93155716e-01 9.19012574e-01 -2.90597979e-02 1.19154926e+01] [ 7.49314075e-02 -5.24055228e-04 9.97188553e-01 2.42568310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.791858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.44, Y:11.93, Z:2.43 [[ 9.15678681e-01 -3.95878278e-01 -6.93753720e-02 5.64432803e+01] [ 3.94799674e-01 9.18302770e-01 -2.92102799e-02 1.19260156e+01] [ 7.52713115e-02 -6.42143706e-04 9.97162884e-01 2.42720326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:11.94, Z:2.43 [[ 9.14876056e-01 -3.97651494e-01 -6.98218565e-02 5.64688716e+01] [ 3.96563280e-01 9.17536199e-01 -2.94089984e-02 1.19365254e+01] [ 7.57586129e-02 -7.83195926e-04 9.97125879e-01 2.42913835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.49, Y:11.95, Z:2.43 [[ 9.13978586e-01 -3.99895740e-01 -6.87498452e-02 5.64921377e+01] [ 3.97942070e-01 9.16507954e-01 -4.06851230e-02 1.19516532e+01] [ 7.92795874e-02 9.82687544e-03 9.96803983e-01 2.42659221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:11.95, Z:2.44 [[ 9.12641157e-01 -4.01978299e-01 -7.41590620e-02 5.65221920e+01] [ 4.01639144e-01 9.15577608e-01 -2.00908183e-02 1.19530821e+01] [ 7.59744496e-02 -1.14494745e-02 9.97044027e-01 2.43730771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:11.97, Z:2.44 [[ 9.12120297e-01 -4.03900707e-01 -7.00055924e-02 5.65464458e+01] [ 4.02821542e-01 9.14801960e-01 -2.95326922e-02 1.19687043e+01] [ 7.59695283e-02 -1.26239276e-03 9.97109341e-01 2.43554439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.57, Y:11.98, Z:2.44 [[ 9.11912892e-01 -4.04373047e-01 -6.99808234e-02 5.65715201e+01] [ 4.03294374e-01 9.14593241e-01 -2.95440502e-02 1.19790016e+01] [ 7.59508057e-02 -1.28127208e-03 9.97110743e-01 2.43755465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.971858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.60, Y:11.99, Z:2.44 [[ 9.11896983e-01 -4.04511744e-01 -6.93840099e-02 5.65969332e+01] [ 4.03451020e-01 9.14531919e-01 -2.93026239e-02 1.19903071e+01] [ 7.53071472e-02 -1.27207524e-03 9.97159574e-01 2.43905711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.62, Y:12.00, Z:2.44 [[ 9.11984485e-01 -4.04310118e-01 -6.94091271e-02 5.66226312e+01] [ 4.03246371e-01 9.14621125e-01 -2.93353480e-02 1.20014511e+01] [ 7.53436319e-02 -1.23559635e-03 9.97156864e-01 2.44097546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.65, Y:12.01, Z:2.44 [[ 9.11972143e-01 -4.04333274e-01 -6.94364048e-02 5.66485642e+01] [ 4.03267039e-01 9.14610913e-01 -2.93695945e-02 1.20128927e+01] [ 7.53823979e-02 -1.21716130e-03 9.97153956e-01 2.44275002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.67, Y:12.02, Z:2.44 [[ 9.11942836e-01 -4.04318300e-01 -6.99069121e-02 5.66728009e+01] [ 4.03235819e-01 9.14617550e-01 -2.95907237e-02 1.20236982e+01] [ 7.59021598e-02 -1.20392246e-03 9.97114543e-01 2.44424129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.70, Y:12.03, Z:2.45 [[ 9.11988615e-01 -4.04158326e-01 -7.02339957e-02 5.66980720e+01] [ 4.03064439e-01 9.14688274e-01 -2.97391922e-02 1.20341554e+01] [ 7.62615545e-02 -1.18702132e-03 9.97087141e-01 2.44638821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:12.04, Z:2.45 [[ 9.11835838e-01 -4.04415626e-01 -7.07347643e-02 5.67236245e+01] [ 4.03305976e-01 9.14574516e-01 -2.99623966e-02 1.20447246e+01] [ 7.68094742e-02 -1.20696617e-03 9.97045058e-01 2.44853710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.151858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:12.06, Z:2.45 [[ 9.11476842e-01 -4.05236260e-01 -7.06649927e-02 5.67490932e+01] [ 4.04129465e-01 9.14211137e-01 -2.99561816e-02 1.20557544e+01] [ 7.67420543e-02 -1.25343989e-03 9.97050192e-01 2.45025454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:12.07, Z:2.45 [[ 9.11330463e-01 -4.05549981e-01 -7.07530971e-02 5.67736084e+01] [ 4.04439648e-01 9.14072001e-01 -3.00157925e-02 1.20667010e+01] [ 7.68463291e-02 -1.26105166e-03 9.97042151e-01 2.45225334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:12.08, Z:2.45 [[ 9.10748812e-01 -4.06792694e-01 -7.11076989e-02 5.67995665e+01] [ 4.05674083e-01 9.13519484e-01 -3.01776499e-02 1.20782209e+01] [ 7.72343159e-02 -1.36229168e-03 9.97012038e-01 2.45433924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.83, Y:12.09, Z:2.46 [[ 9.10386451e-01 -4.07574170e-01 -7.12727543e-02 5.68253135e+01] [ 4.06450919e-01 9.13171017e-01 -3.02711652e-02 1.20891992e+01] [ 7.74219586e-02 -1.41041787e-03 9.96997418e-01 2.45614099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.85, Y:12.10, Z:2.46 [[ 9.10037705e-01 -4.08266454e-01 -7.17626457e-02 5.68512672e+01] [ 4.07127973e-01 9.12861642e-01 -3.05030456e-02 1.21002286e+01] [ 7.79627369e-02 -1.45765887e-03 9.96955208e-01 2.45827431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:12.11, Z:2.46 [[ 9.09644879e-01 -4.09122538e-01 -7.18675338e-02 5.68767087e+01] [ 4.07981523e-01 9.12478199e-01 -3.05714262e-02 1.21110037e+01] [ 7.80850173e-02 -1.51148457e-03 9.96945558e-01 2.46024962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:12.12, Z:2.46 [[ 9.09617342e-01 -4.09067695e-01 -7.25252579e-02 5.69016302e+01] [ 4.07903568e-01 9.12502809e-01 -3.08756064e-02 1.21219135e+01] [ 7.88097147e-02 -1.49832440e-03 9.96888551e-01 2.46227225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:12.13, Z:2.46 [[ 9.09473980e-01 -4.09448661e-01 -7.21725333e-02 5.69267972e+01] [ 4.08295164e-01 9.12331923e-01 -3.07493204e-02 1.21333169e+01] [ 7.84355742e-02 -1.50198951e-03 9.96918053e-01 2.46348644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:12.15, Z:2.46 [[ 9.10069535e-01 -4.08178966e-01 -7.18566128e-02 5.69507423e+01] [ 4.07029852e-01 9.12900907e-01 -3.06371283e-02 1.21451679e+01] [ 7.81033984e-02 -1.36586934e-03 9.96944328e-01 2.46455788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.98, Y:12.16, Z:2.47 [[ 9.10423552e-01 -4.07402180e-01 -7.17803535e-02 5.69760662e+01] [ 4.06252299e-01 9.13247942e-01 -3.06148004e-02 1.21557226e+01] [ 7.80257965e-02 -1.28849830e-03 9.96950508e-01 2.46660643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:12.17, Z:2.47 [[ 9.10646675e-01 -4.06945259e-01 -7.15415240e-02 5.70022350e+01] [ 4.05800745e-01 9.13451713e-01 -3.05241554e-02 1.21665585e+01] [ 7.77713879e-02 -1.23488309e-03 9.96970454e-01 2.46891776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:12.18, Z:2.47 [[ 9.11019093e-01 -4.06164474e-01 -7.12364549e-02 5.70276761e+01] [ 4.05025566e-01 9.13799275e-01 -3.04166999e-02 1.21771553e+01] [ 7.74500038e-02 -1.14239116e-03 9.96995583e-01 2.47124108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.511858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:12.19, Z:2.47 [[ 9.12082843e-01 -4.03784221e-01 -7.11560951e-02 5.70535202e+01] [ 4.02638819e-01 9.14853792e-01 -3.04059334e-02 1.21881404e+01] [ 7.73748595e-02 -9.17475919e-04 9.97001650e-01 2.47360874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:12.20, Z:2.47 [[ 9.12387270e-01 -4.03036465e-01 -7.14917977e-02 5.70786250e+01] [ 4.01756631e-01 9.15183747e-01 -3.20985883e-02 1.21998657e+01] [ 7.83650328e-02 5.64039590e-04 9.96924573e-01 2.47453590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.10, Y:12.21, Z:2.48 [[ 9.12804732e-01 -4.01819567e-01 -7.29969558e-02 5.71036084e+01] [ 4.00725082e-01 9.15716388e-01 -2.97137333e-02 1.22092868e+01] [ 7.87840682e-02 -2.12887470e-03 9.96889431e-01 2.47718108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:12.22, Z:2.48 [[ 9.13310133e-01 -4.00521758e-01 -7.38032700e-02 5.71286731e+01] [ 3.99272636e-01 9.16287055e-01 -3.16132029e-02 1.22209947e+01] [ 8.02867565e-02 -5.94967653e-04 9.96771630e-01 2.47758339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:12.23, Z:2.48 [[ 9.13204762e-01 -4.00763573e-01 -7.37944490e-02 5.71548545e+01] [ 3.99513577e-01 9.16181317e-01 -3.16337811e-02 1.22323085e+01] [ 8.02867627e-02 -5.93764704e-04 9.96771630e-01 2.47958415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:12.24, Z:2.48 [[ 9.13393755e-01 -4.00264608e-01 -7.41625975e-02 5.71798904e+01] [ 3.98998694e-01 9.16399454e-01 -3.18132525e-02 1.22423985e+01] [ 8.06962829e-02 -5.32753389e-04 9.96738595e-01 2.48112382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.691858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.21, Y:12.25, Z:2.48 [[ 9.13307432e-01 -4.00423296e-01 -7.43688031e-02 5.72059198e+01] [ 3.99149821e-01 9.16330124e-01 -3.19143381e-02 1.22525904e+01] [ 8.09256190e-02 -5.36692235e-04 9.96719999e-01 2.48328277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721858063999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:12.26, Z:2.49 [[ 9.13213218e-01 -4.00705281e-01 -7.40060554e-02 5.72312238e+01] [ 3.99443296e-01 9.16206848e-01 -3.17815229e-02 1.22614518e+01] [ 8.05398788e-02 -5.37915882e-04 9.96751242e-01 2.48574986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.26, Y:12.27, Z:2.49 [[ 9.13052393e-01 -4.01159093e-01 -7.35303374e-02 5.72571298e+01] [ 3.99913798e-01 9.16008223e-01 -3.15893864e-02 1.22720719e+01] [ 8.00267634e-02 -5.63031618e-04 9.96792556e-01 2.48751889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.28, Y:12.28, Z:2.49 [[ 9.12885843e-01 -4.01568673e-01 -7.33623745e-02 5.72834716e+01] [ 4.00328509e-01 9.15828734e-01 -3.15407006e-02 1.22829029e+01] [ 7.98531278e-02 -5.75990938e-04 9.96806474e-01 2.48967081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:12.29, Z:2.49 [[ 9.12426328e-01 -4.02688938e-01 -7.29370678e-02 5.73097211e+01] [ 4.01464817e-01 9.15336659e-01 -3.13815571e-02 1.22927416e+01] [ 7.93989778e-02 -6.48307699e-04 9.96842707e-01 2.49155758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.33, Y:12.30, Z:2.49 [[ 9.12151371e-01 -4.03277490e-01 -7.31241525e-02 5.73347608e+01] [ 4.02047180e-01 9.15077484e-01 -3.14843257e-02 1.23024380e+01] [ 7.96111854e-02 -6.80888373e-04 9.96825760e-01 2.49354401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.871858063999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.36, Y:12.31, Z:2.50 [[ 9.11826977e-01 -4.04015516e-01 -7.30960092e-02 5.73609179e+01] [ 4.02787577e-01 9.14751837e-01 -3.14840227e-02 1.23125379e+01] [ 7.95847424e-02 -7.34183180e-04 9.96827834e-01 2.49586436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901858063999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.39, Y:12.32, Z:2.50 [[ 9.11392705e-01 -4.05095600e-01 -7.25320100e-02 5.73865647e+01] [ 4.03888156e-01 9.14273982e-01 -3.12641043e-02 1.23224724e+01] [ 7.89790807e-02 -8.00943202e-04 9.96875952e-01 2.49851041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:12.33, Z:2.50 [[ 9.11063989e-01 -4.05930457e-01 -7.19921720e-02 5.74119402e+01] [ 4.04741786e-01 9.13903577e-01 -3.10537982e-02 1.23317102e+01] [ 7.83995860e-02 -8.46243015e-04 9.96921656e-01 2.50091216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.44, Y:12.34, Z:2.50 [[ 9.10836564e-01 -4.06435191e-01 -7.20221483e-02 5.74379182e+01] [ 4.05245793e-01 9.13679194e-01 -3.10833797e-02 1.23429345e+01] [ 7.84385178e-02 -8.74793846e-04 9.96918569e-01 2.50263410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:12.35, Z:2.50 [[ 9.10802799e-01 -4.06478631e-01 -7.22037682e-02 5.74636880e+01] [ 4.05281487e-01 9.13659885e-01 -3.11854414e-02 1.23540694e+01] [ 7.86459020e-02 -8.59063225e-04 9.96902244e-01 2.50449435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.021858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.49, Y:12.36, Z:2.51 [[ 9.10656720e-01 -4.06608936e-01 -7.33042413e-02 5.74900345e+01] [ 4.05373413e-01 9.13601900e-01 -3.16853929e-02 1.23649494e+01] [ 7.98544581e-02 -8.61074539e-04 9.96806162e-01 2.50635960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.051858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:57.51, Y:12.38, Z:2.51 [[ 9.10665890e-01 -4.06569095e-01 -7.34112183e-02 5.75144813e+01] [ 4.05327992e-01 9.13619652e-01 -3.17545194e-02 1.23755587e+01] [ 7.99803380e-02 -8.37864077e-04 9.96796089e-01 2.50809615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.54, Y:12.39, Z:2.51 [[ 9.10541640e-01 -4.06883499e-01 -7.32102480e-02 5.75405966e+01] [ 4.05649230e-01 9.13479662e-01 -3.16798019e-02 1.23867854e+01] [ 7.97660612e-02 -8.51901910e-04 9.96813247e-01 2.51004694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.57, Y:12.40, Z:2.51 [[ 9.10169104e-01 -4.07722102e-01 -7.31771129e-02 5.75662289e+01] [ 4.06489713e-01 9.13105620e-01 -3.16897532e-02 1.23973322e+01] [ 7.97390458e-02 -9.02709395e-04 9.96815364e-01 2.51228398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.59, Y:12.41, Z:2.51 [[ 9.09757207e-01 -4.08591649e-01 -7.34485501e-02 5.75923039e+01] [ 4.07350960e-01 9.12716792e-01 -3.18316337e-02 1.24085499e+01] [ 8.00438647e-02 -9.60279283e-04 9.96790880e-01 2.51452552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.62, Y:12.42, Z:2.52 [[ 9.09551576e-01 -4.09153704e-01 -7.28641031e-02 5.76182920e+01] [ 4.07932616e-01 9.12464951e-01 -3.16021304e-02 1.24198106e+01] [ 7.94160689e-02 -9.79876715e-04 9.96841075e-01 2.51658992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:12.43, Z:2.52 [[ 9.08862494e-01 -4.10763429e-01 -7.24042244e-02 5.76425380e+01] [ 4.09561040e-01 9.11741307e-01 -3.14252002e-02 1.24308799e+01] [ 7.89222452e-02 -1.09276360e-03 9.96880176e-01 2.51887600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.67, Y:12.44, Z:2.52 [[ 9.08316441e-01 -4.11999506e-01 -7.22333030e-02 5.76672153e+01] [ 4.10805873e-01 9.11183295e-01 -3.13614147e-02 1.24419330e+01] [ 7.87386664e-02 -1.18777646e-03 9.96894584e-01 2.52107376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.69, Y:12.45, Z:2.52 [[ 9.07460939e-01 -4.14117986e-01 -7.08585721e-02 5.76930398e+01] [ 4.12975007e-01 9.10222232e-01 -3.07755237e-02 1.24537384e+01] [ 7.72417455e-02 -1.33523364e-03 9.97011499e-01 2.52291752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.72, Y:12.47, Z:2.52 [[ 9.06939536e-01 -4.15400180e-01 -7.00240516e-02 5.77186562e+01] [ 4.14286114e-01 9.09637681e-01 -3.04352605e-02 1.24656540e+01] [ 7.63393287e-02 -1.40705114e-03 9.97080903e-01 2.52496605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:12.48, Z:2.53 [[ 9.06353104e-01 -4.16653242e-01 -7.01721266e-02 5.77449152e+01] [ 4.15609846e-01 9.09062408e-01 -2.95633849e-02 1.24772642e+01] [ 7.61085225e-02 -2.36936105e-03 9.97096725e-01 2.52708607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.77, Y:12.49, Z:2.53 [[ 9.06211362e-01 -4.17089068e-01 -6.94094843e-02 5.77700391e+01] [ 4.15940517e-01 9.08865238e-01 -3.09429378e-02 1.24901890e+01] [ 7.59898286e-02 -8.29374987e-04 9.97108248e-01 2.52836661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:12.50, Z:2.53 [[ 9.05829290e-01 -4.17900191e-01 -6.95178175e-02 5.77940303e+01] [ 4.16805700e-01 9.08491605e-01 -3.02656767e-02 1.25030250e+01] [ 7.58043857e-02 -1.55988614e-03 9.97121488e-01 2.52939227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.82, Y:12.52, Z:2.53 [[ 9.05463794e-01 -4.18717315e-01 -6.93622958e-02 5.78195691e+01] [ 4.17629296e-01 9.08115192e-01 -3.02087501e-02 1.25154129e+01] [ 7.56378813e-02 -1.61479736e-03 9.97134045e-01 2.53083557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.84, Y:12.53, Z:2.53 [[ 9.04933940e-01 -4.19817818e-01 -6.96244496e-02 5.78444183e+01] [ 4.18723073e-01 9.07606817e-01 -3.03455680e-02 1.25272808e+01] [ 7.59312353e-02 -1.69262907e-03 9.97111620e-01 2.53294144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.471858064 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:57.87, Y:12.54, Z:2.53 [[ 9.04658451e-01 -4.20477011e-01 -6.92254950e-02 5.78693138e+01] [ 4.19395037e-01 9.07301566e-01 -3.01938785e-02 1.25391865e+01] [ 7.55042319e-02 -1.71768167e-03 9.97144002e-01 2.53414967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.89, Y:12.55, Z:2.54 [[ 9.04125106e-01 -4.21534837e-01 -6.97579677e-02 5.78930252e+01] [ 4.20112095e-01 9.06809926e-01 -3.46638862e-02 1.25543394e+01] [ 7.78692531e-02 2.03432387e-03 9.96961504e-01 2.53550844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:12.56, Z:2.54 [[ 9.03822585e-01 -4.21748944e-01 -7.23364553e-02 5.79188169e+01] [ 4.20917368e-01 9.06693262e-01 -2.71274373e-02 1.25630601e+01] [ 7.70279446e-02 -5.92927986e-03 9.97011304e-01 2.54083437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:12.58, Z:2.54 [[ 9.04027804e-01 -4.21513535e-01 -7.11341659e-02 5.79429194e+01] [ 4.20370634e-01 9.06820299e-01 -3.10721077e-02 1.25792485e+01] [ 7.76032195e-02 -1.81266512e-03 9.96982675e-01 2.54114242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:12.60, Z:2.53 [[ 9.03681286e-01 -4.23662981e-01 -6.22078117e-02 5.79651211e+01] [ 4.21791794e-01 9.05752234e-01 -4.12864706e-02 1.25992177e+01] [ 7.38364136e-02 1.10710664e-02 9.97208913e-01 2.53080765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:12.60, Z:2.55 [[ 9.04617218e-01 -4.19435212e-01 -7.57746137e-02 5.79957377e+01] [ 4.19226264e-01 9.07674157e-01 -1.94155581e-02 1.25988912e+01] [ 7.69222274e-02 -1.42030600e-02 9.96935928e-01 2.54968715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.02, Y:12.62, Z:2.55 [[ 9.05152854e-01 -4.19313889e-01 -6.98152832e-02 5.80176556e+01] [ 4.18202910e-01 9.07839995e-01 -3.05429062e-02 1.26174057e+01] [ 7.61881712e-02 -1.55095590e-03 9.97092251e-01 2.54662702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:12.63, Z:2.55 [[ 9.05318918e-01 -4.19002368e-01 -6.95318058e-02 5.80426866e+01] [ 4.17898252e-01 9.07983895e-01 -3.04351169e-02 1.26298582e+01] [ 7.58861459e-02 -1.50373300e-03 9.97115355e-01 2.54879261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:12.64, Z:2.55 [[ 9.06077524e-01 -4.17603273e-01 -6.80516481e-02 5.80675059e+01] [ 4.16540133e-01 9.08628483e-01 -2.98093627e-02 1.26419866e+01] [ 7.42821532e-02 -1.33664896e-03 9.97236369e-01 2.55038813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.09, Y:12.66, Z:2.55 [[ 9.06546448e-01 -4.16476077e-01 -6.87110884e-02 5.80908639e+01] [ 4.15387283e-01 9.09145835e-01 -3.01206810e-02 1.26553017e+01] [ 7.50129429e-02 -1.23591598e-03 9.97181794e-01 2.55258207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.771858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.12, Y:12.68, Z:2.54 [[ 9.06787110e-01 -4.17265512e-01 -6.02215054e-02 5.81156698e+01] [ 4.15258439e-01 9.08672961e-01 -4.32883335e-02 1.26758014e+01] [ 7.27843822e-02 1.42458145e-02 9.97245953e-01 2.54297940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.14, Y:12.67, Z:2.56 [[ 9.07265680e-01 -4.13815308e-01 -7.50058434e-02 5.81434806e+01] [ 4.13853299e-01 9.10207016e-01 -1.57681287e-02 1.26731405e+01] [ 7.47959379e-02 -1.67355337e-02 9.97058418e-01 2.56258116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.17, Y:12.69, Z:2.56 [[ 9.07428235e-01 -4.14511311e-01 -6.89519563e-02 5.81660132e+01] [ 4.13406196e-01 9.10043565e-01 -3.02659393e-02 1.26926182e+01] [ 7.52948582e-02 -1.04099809e-03 9.97160770e-01 2.55825724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.19, Y:12.71, Z:2.56 [[ 9.07811129e-01 -4.13705476e-01 -6.87512413e-02 5.81901528e+01] [ 4.12602789e-01 9.10410279e-01 -3.02003790e-02 1.27051122e+01] [ 7.50858989e-02 -9.50713750e-04 9.97176616e-01 2.56096934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.22, Y:12.72, Z:2.56 [[ 9.07748854e-01 -4.13909291e-01 -6.83455690e-02 5.82151201e+01] [ 4.12819369e-01 9.10317633e-01 -3.00329159e-02 1.27173342e+01] [ 7.46470795e-02 -9.52029746e-04 9.97209560e-01 2.56309770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.24, Y:12.73, Z:2.57 [[ 9.07710383e-01 -4.13996637e-01 -6.83274839e-02 5.82405693e+01] [ 4.12905839e-01 9.10277927e-01 -3.00476854e-02 1.27298094e+01] [ 7.46366411e-02 -9.38221035e-04 9.97210355e-01 2.56541416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:12.74, Z:2.57 [[ 9.07605090e-01 -4.14249880e-01 -6.81911859e-02 5.82648331e+01] [ 4.13162469e-01 9.10162711e-01 -3.00102387e-02 1.27437051e+01] [ 7.44968123e-02 -9.36593325e-04 9.97220812e-01 2.56716912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98185806400001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.29, Y:12.76, Z:2.57 [[ 9.07399757e-01 -4.14755964e-01 -6.78466722e-02 5.82886356e+01] [ 4.13679329e-01 9.09932185e-01 -2.98802838e-02 1.27559311e+01] [ 7.41288966e-02 -9.53403539e-04 9.97248213e-01 2.56857173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.31, Y:12.77, Z:2.57 [[ 9.06832510e-01 -4.15969444e-01 -6.80016272e-02 5.83132329e+01] [ 4.14890507e-01 9.09377990e-01 -2.99589377e-02 1.27695338e+01] [ 7.43011857e-02 -1.04549089e-03 9.97235299e-01 2.57074674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:12.78, Z:2.57 [[ 9.06264157e-01 -4.17232596e-01 -6.78398027e-02 5.83375616e+01] [ 4.16160662e-01 9.08799039e-01 -2.99100376e-02 1.27818438e+01] [ 7.41321901e-02 -1.12586212e-03 9.97247788e-01 2.57252283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:12.79, Z:2.57 [[ 9.05599550e-01 -4.18626005e-01 -6.81301832e-02 5.83626200e+01] [ 4.17547602e-01 9.08157890e-01 -3.00540636e-02 1.27938977e+01] [ 7.44543760e-02 -1.23064812e-03 9.97223662e-01 2.57452780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:12.81, Z:2.58 [[ 9.04901711e-01 -4.20086958e-01 -6.84093646e-02 5.83882458e+01] [ 4.19002123e-01 9.07482873e-01 -3.02002611e-02 1.28056355e+01] [ 7.47670625e-02 -1.33540108e-03 9.97200132e-01 2.57672814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.41, Y:12.82, Z:2.58 [[ 9.03573091e-01 -4.22834620e-01 -6.90402331e-02 5.84128093e+01] [ 4.21735890e-01 9.06205530e-01 -3.05020630e-02 1.28187777e+01] [ 7.54619692e-02 -1.55590083e-03 9.97147467e-01 2.57895789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.44, Y:12.83, Z:2.58 [[ 9.02743175e-01 -4.24594840e-01 -6.90940131e-02 5.84363803e+01] [ 4.23497825e-01 9.05381901e-01 -3.05484197e-02 1.28312170e+01] [ 7.55271704e-02 -1.68378683e-03 9.97142323e-01 2.58037338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:12.84, Z:2.58 [[ 9.01916380e-01 -4.26354943e-01 -6.90529220e-02 5.84614618e+01] [ 4.25263155e-01 9.04554126e-01 -3.05463902e-02 1.28438147e+01] [ 7.54857100e-02 -1.81537382e-03 9.97145231e-01 2.58199472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:12.86, Z:2.58 [[ 9.00502916e-01 -4.29293636e-01 -6.92926575e-02 5.84853054e+01] [ 4.28201201e-01 9.03162653e-01 -3.06749540e-02 1.28570051e+01] [ 7.57511030e-02 -2.04831370e-03 9.97124654e-01 2.58388297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.51, Y:12.87, Z:2.59 [[ 8.99975506e-01 -4.30421528e-01 -6.91476504e-02 5.85091513e+01] [ 4.29336223e-01 9.02625489e-01 -3.06208226e-02 1.28692050e+01] [ 7.55942930e-02 -2.12960077e-03 9.97136384e-01 2.58580586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:12.88, Z:2.59 [[ 8.99410019e-01 -4.31606003e-01 -6.91221856e-02 5.85336669e+01] [ 4.30524168e-01 9.02059497e-01 -3.06203323e-02 1.28821322e+01] [ 7.55682433e-02 -2.21853779e-03 9.97138164e-01 2.58781318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.311858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.56, Y:12.90, Z:2.59 [[ 8.98937345e-01 -4.32792321e-01 -6.78414097e-02 5.85562262e+01] [ 4.31047268e-01 9.01473115e-01 -3.92998193e-02 1.29007941e+01] [ 7.81658670e-02 6.08522088e-03 9.96921796e-01 2.58680024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34185806400001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.58, Y:12.91, Z:2.60 [[ 8.98813228e-01 -4.32313307e-01 -7.23877496e-02 5.85840442e+01] [ 4.31808085e-01 9.01664475e-01 -2.33013505e-02 1.29073878e+01] [ 7.53429461e-02 -1.03140535e-02 9.97104338e-01 2.59519454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:12.92, Z:2.59 [[ 8.98854950e-01 -4.32767191e-01 -6.90820971e-02 5.86057804e+01] [ 4.31686496e-01 9.01502853e-01 -3.06492345e-02 1.29246375e+01] [ 7.55416907e-02 -2.27259232e-03 9.97140055e-01 2.59420762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.63, Y:12.94, Z:2.60 [[ 8.99149923e-01 -4.32116602e-01 -6.93156419e-02 5.86290096e+01] [ 4.31025806e-01 9.01815022e-01 -3.07639477e-02 1.29405059e+01] [ 7.58034997e-02 -2.21542918e-03 9.97120314e-01 2.59575351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.65, Y:12.95, Z:2.60 [[ 8.99366366e-01 -4.31662469e-01 -6.93372370e-02 5.86540734e+01] [ 4.30567883e-01 9.02032627e-01 -3.07967149e-02 1.29535517e+01] [ 7.58382361e-02 -2.15685777e-03 9.97117801e-01 2.59818738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.68, Y:12.97, Z:2.60 [[ 9.00459155e-01 -4.29438942e-01 -6.89601771e-02 5.86771643e+01] [ 4.28348053e-01 9.03093814e-01 -3.06513971e-02 1.29685332e+01] [ 7.54404129e-02 -1.93862651e-03 9.97148427e-01 2.60122911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.70, Y:12.98, Z:2.60 [[ 9.01015493e-01 -4.28309370e-01 -6.87180063e-02 5.87007279e+01] [ 4.27222085e-01 9.03630312e-01 -3.05540313e-02 1.29822317e+01] [ 7.51822514e-02 -1.82819437e-03 9.97168134e-01 2.60318449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.521858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.73, Y:13.00, Z:2.61 [[ 9.01567852e-01 -4.27111291e-01 -6.89300630e-02 5.87253820e+01] [ 4.26012565e-01 9.04197429e-01 -3.06643741e-02 1.29965281e+01] [ 7.54234861e-02 -1.71905905e-03 9.97150110e-01 2.60514840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.551858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.75, Y:13.01, Z:2.61 [[ 9.01458069e-01 -4.27344303e-01 -6.89216692e-02 5.87513843e+01] [ 4.26244817e-01 9.04087328e-01 -3.06832289e-02 1.30081977e+01] [ 7.54235108e-02 -1.71785998e-03 9.97150111e-01 2.60716282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:13.02, Z:2.61 [[ 9.01832653e-01 -4.26521737e-01 -6.91163864e-02 5.87760810e+01] [ 4.25411976e-01 9.04475836e-01 -3.07914503e-02 1.30228350e+01] [ 7.56473242e-02 -1.63420319e-03 9.97133297e-01 2.60901360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.80, Y:13.04, Z:2.61 [[ 9.02996600e-01 -4.24092585e-01 -6.88666876e-02 5.87980283e+01] [ 4.22982079e-01 9.05617748e-01 -3.07026948e-02 1.30392614e+01] [ 7.53876798e-02 -1.40494564e-03 9.97153310e-01 2.60967795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.82, Y:13.06, Z:2.61 [[ 9.03236289e-01 -4.23897790e-01 -6.68944682e-02 5.88198137e+01] [ 4.21664751e-01 9.05621300e-01 -4.52647588e-02 1.30589462e+01] [ 7.97686864e-02 1.26777335e-02 9.96732779e-01 2.60668547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.85, Y:13.06, Z:2.62 [[ 9.03668078e-01 -4.21700134e-01 -7.45184665e-02 5.88500575e+01] [ 4.21588472e-01 9.06608701e-01 -1.79950855e-02 1.30595836e+01] [ 7.51476201e-02 -1.51545421e-02 9.97057258e-01 2.61843989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.87, Y:13.08, Z:2.62 [[ 9.04174972e-01 -4.21649225e-01 -6.84072399e-02 5.88717680e+01] [ 4.20543494e-01 9.06758289e-01 -3.05381017e-02 1.30794694e+01] [ 7.49051987e-02 -1.15643248e-03 9.97189989e-01 2.61694165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.90, Y:13.09, Z:2.62 [[ 9.04441003e-01 -4.21148660e-01 -6.79726360e-02 5.88952885e+01] [ 4.20053894e-01 9.06990972e-01 -3.03661435e-02 1.30924046e+01] [ 7.44392278e-02 -1.08778517e-03 9.97224959e-01 2.61864177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:13.11, Z:2.62 [[ 9.04943965e-01 -4.20087436e-01 -6.78451685e-02 5.89193960e+01] [ 4.18993018e-01 9.07483095e-01 -3.03196748e-02 1.31078405e+01] [ 7.43052579e-02 -9.89045215e-04 9.97235053e-01 2.62071453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:13.12, Z:2.62 [[ 9.05352391e-01 -4.19258432e-01 -6.75234423e-02 5.89431657e+01] [ 4.18170403e-01 9.07866490e-01 -3.01985006e-02 1.31201753e+01] [ 7.39632465e-02 -8.96020356e-04 9.97260565e-01 2.62245098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:13.13, Z:2.62 [[ 9.05663869e-01 -4.18651418e-01 -6.71114466e-02 5.89683734e+01] [ 4.17574211e-01 9.08146628e-01 -3.00246554e-02 1.31331018e+01] [ 7.35168985e-02 -8.31763801e-04 9.97293625e-01 2.62438727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.851858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.99, Y:13.15, Z:2.62 [[ 9.05987999e-01 -4.18202222e-01 -6.55183039e-02 5.89920783e+01] [ 4.16599722e-01 9.08331857e-01 -3.71201939e-02 1.31487851e+01] [ 7.50361103e-02 6.33554299e-03 9.97160691e-01 2.62423049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.02, Y:13.16, Z:2.63 [[ 9.06572688e-01 -4.16152772e-01 -7.03052775e-02 5.90189899e+01] [ 4.15542331e-01 9.09262578e-01 -2.37935834e-02 1.31560369e+01] [ 7.38277236e-02 -7.64420602e-03 9.97241713e-01 2.63059674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.04, Y:13.17, Z:2.63 [[ 9.06601768e-01 -4.16511245e-01 -6.77614712e-02 5.90420382e+01] [ 4.15403188e-01 9.09130355e-01 -3.03675651e-02 1.31709768e+01] [ 7.42524427e-02 -6.17042986e-04 9.97239286e-01 2.62977013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:13.18, Z:2.63 [[ 9.06395941e-01 -4.16874066e-01 -6.82818545e-02 5.90673445e+01] [ 4.15749130e-01 9.08964026e-01 -3.06114319e-02 1.31835504e+01] [ 7.48268614e-02 -6.42044039e-04 9.97196334e-01 2.63133545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.09, Y:13.20, Z:2.63 [[ 9.06127417e-01 -4.17444963e-01 -6.83579340e-02 5.90916511e+01] [ 4.16317457e-01 9.08701962e-01 -3.06679049e-02 1.31952024e+01] [ 7.49191511e-02 -6.69571786e-04 9.97189386e-01 2.63322210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:13.21, Z:2.63 [[ 9.05774320e-01 -4.18269393e-01 -6.79970271e-02 5.91173300e+01] [ 4.17155309e-01 9.08322735e-01 -3.05165284e-02 1.32073633e+01] [ 7.45273754e-02 -7.24233115e-04 9.97218705e-01 2.63497450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:13.22, Z:2.64 [[ 9.04986515e-01 -4.19898738e-01 -6.84430939e-02 5.91414578e+01] [ 4.18772903e-01 9.07570569e-01 -3.07395103e-02 1.32184506e+01] [ 7.50244193e-02 -8.43270798e-04 9.97181340e-01 2.63740851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:13.23, Z:2.64 [[ 9.04464819e-01 -4.20910386e-01 -6.91219036e-02 5.91667271e+01] [ 4.19764177e-01 9.07101752e-01 -3.10555466e-02 1.32292873e+01] [ 7.57722020e-02 -9.26249594e-04 9.97124724e-01 2.63964791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:13.24, Z:2.64 [[ 9.03956790e-01 -4.22003561e-01 -6.91022210e-02 5.91925702e+01] [ 4.20859427e-01 9.06593625e-01 -3.10699351e-02 1.32402571e+01] [ 7.57592563e-02 -9.96442325e-04 9.97125640e-01 2.64161493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.22, Y:13.25, Z:2.64 [[ 9.03580119e-01 -4.22712400e-01 -6.96935782e-02 5.92182478e+01] [ 4.21548825e-01 9.06263283e-01 -3.13600015e-02 1.32513460e+01] [ 7.64169925e-02 -1.04297211e-03 9.97075401e-01 2.64380162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:13.26, Z:2.65 [[ 9.03504969e-01 -4.22880340e-01 -6.96490464e-02 5.92428923e+01] [ 4.21716990e-01 9.06184940e-01 -3.13629492e-02 1.32621202e+01] [ 7.63776916e-02 -1.03560577e-03 9.97078420e-01 2.64554391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:13.27, Z:2.65 [[ 9.03734370e-01 -4.22384410e-01 -6.96821178e-02 5.92683062e+01] [ 4.21217612e-01 9.06416263e-01 -3.13891869e-02 1.32737474e+01] [ 7.64193080e-02 -9.83848182e-04 9.97075284e-01 2.64758787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.29, Y:13.29, Z:2.65 [[ 9.04064919e-01 -4.21634809e-01 -6.99336080e-02 5.92930751e+01] [ 4.20455584e-01 9.06765279e-01 -3.15250661e-02 1.32852335e+01] [ 7.67054328e-02 -9.03269742e-04 9.97053389e-01 2.64926945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:13.30, Z:2.65 [[ 9.04162936e-01 -4.21378414e-01 -7.02112378e-02 5.93185991e+01] [ 4.20188148e-01 9.06884484e-01 -3.16615518e-02 1.32971404e+01] [ 7.70149767e-02 -8.74728351e-04 9.97029552e-01 2.65062165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.34, Y:13.31, Z:2.65 [[ 9.04073462e-01 -4.21377395e-01 -7.13601166e-02 5.93434032e+01] [ 4.20146000e-01 9.06884964e-01 -3.22025057e-02 1.33072220e+01] [ 7.82848247e-02 -8.68236790e-04 9.96930656e-01 2.65193502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:13.32, Z:2.65 [[ 9.03807439e-01 -4.21942030e-01 -7.13935358e-02 5.93698707e+01] [ 4.20710319e-01 9.06622359e-01 -3.22292839e-02 1.33175625e+01] [ 7.83258653e-02 -9.06930667e-04 9.96927398e-01 2.65409676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.40, Y:13.33, Z:2.66 [[ 9.03145962e-01 -4.23643823e-01 -6.96655097e-02 5.93955057e+01] [ 4.21979271e-01 9.05816357e-01 -3.78182806e-02 1.33290473e+01] [ 7.91256392e-02 4.75802638e-03 9.96853296e-01 2.65531244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:13.34, Z:2.66 [[ 9.02623912e-01 -4.24716109e-01 -6.99020722e-02 5.94203691e+01] [ 4.22978959e-01 9.05310402e-01 -3.87540536e-02 1.33395299e+01] [ 7.97425439e-02 5.41322972e-03 9.96800794e-01 2.65768061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.391858064 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:59.45, Y:13.34, Z:2.67 [[ 9.02024680e-01 -4.25277413e-01 -7.40985760e-02 5.94512600e+01] [ 4.24951779e-01 9.04974781e-01 -2.08957038e-02 1.33430245e+01] [ 7.59438135e-02 -1.26398812e-02 9.97031981e-01 2.66588049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:13.36, Z:2.67 [[ 9.01279300e-01 -4.27619299e-01 -6.95511149e-02 5.94759278e+01] [ 4.26461085e-01 9.03958002e-01 -3.14781277e-02 1.33578494e+01] [ 7.63319418e-02 -1.29025908e-03 9.97081626e-01 2.66537678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.451858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.50, Y:13.37, Z:2.67 [[ 9.01501836e-01 -4.27268891e-01 -6.88166807e-02 5.94991842e+01] [ 4.25773223e-01 9.04119574e-01 -3.58463300e-02 1.33697056e+01] [ 7.75345297e-02 3.01523235e-03 9.96985108e-01 2.66519614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:13.38, Z:2.67 [[ 9.00961043e-01 -4.27951462e-01 -7.16012876e-02 5.95280706e+01] [ 4.27049442e-01 9.03787143e-01 -2.82413683e-02 1.33774504e+01] [ 7.67982580e-02 -5.13291720e-03 9.97033440e-01 2.67012025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.511858064 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:59.55, Y:13.39, Z:2.67 [[ 9.01080414e-01 -4.28119941e-01 -6.90463925e-02 5.95521671e+01] [ 4.26403528e-01 9.03705729e-01 -3.86779935e-02 1.33923423e+01] [ 7.89564407e-02 5.41035701e-03 9.96863385e-01 2.66890015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.541858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.58, Y:13.40, Z:2.67 [[ 9.01326465e-01 -4.27377900e-01 -7.04182833e-02 5.95781312e+01] [ 4.26030702e-01 9.04072901e-01 -3.39120947e-02 1.33988086e+01] [ 7.81565415e-02 5.65517701e-04 9.96940939e-01 2.67227424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.571858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.61, Y:13.41, Z:2.68 [[ 9.01243677e-01 -4.27196775e-01 -7.25448133e-02 5.96060382e+01] [ 4.26572512e-01 9.04116741e-01 -2.46740734e-02 1.34059290e+01] [ 7.61296648e-02 -8.70827067e-03 9.97059898e-01 2.67665325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.601858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.63, Y:13.42, Z:2.68 [[ 9.01168032e-01 -4.27783310e-01 -6.99829806e-02 5.96302189e+01] [ 4.26602232e-01 9.03880513e-01 -3.17892140e-02 1.34200814e+01] [ 7.68551475e-02 -1.20747234e-03 9.97041538e-01 2.67583043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.631858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.66, Y:13.43, Z:2.68 [[ 9.01343632e-01 -4.27467080e-01 -6.96530797e-02 5.96555935e+01] [ 4.26294499e-01 9.04030177e-01 -3.16613187e-02 1.34283335e+01] [ 7.65026574e-02 -1.15499672e-03 9.97068708e-01 2.67780482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.661858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:59.68, Y:13.44, Z:2.68 [[ 9.01380042e-01 -4.27610905e-01 -6.82856834e-02 5.96803641e+01] [ 4.25850801e-01 9.03940821e-01 -3.92694268e-02 1.34415949e+01] [ 7.85182518e-02 6.31716460e-03 9.96892661e-01 2.67784427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.691858064 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:59.71, Y:13.45, Z:2.68 [[ 9.01501855e-01 -4.26600314e-01 -7.28462550e-02 5.97088294e+01] [ 4.25944663e-01 9.04401178e-01 -2.50928869e-02 1.34452507e+01] [ 7.65868723e-02 -8.40718947e-03 9.97027467e-01 2.68473488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:13.46, Z:2.68 [[ 9.01968691e-01 -4.26193727e-01 -6.93641713e-02 5.97318977e+01] [ 4.24257230e-01 9.04597817e-01 -4.13351236e-02 1.34610237e+01] [ 8.03634483e-02 7.85473607e-03 9.96734678e-01 2.68208973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.751858064 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:59.76, Y:13.46, Z:2.69 [[ 9.02686264e-01 -4.23719577e-01 -7.49615134e-02 5.97617188e+01] [ 4.23119189e-01 9.05742581e-01 -2.45056915e-02 1.34639714e+01] [ 7.82793759e-02 -9.59670363e-03 9.96885271e-01 2.69005487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781858064 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:59.79, Y:13.48, Z:2.69 [[ 9.03329574e-01 -4.23015022e-01 -7.10912944e-02 5.97857657e+01] [ 4.21774722e-01 9.06122370e-01 -3.23780037e-02 1.34782064e+01] [ 7.81137941e-02 -7.36502617e-04 9.96944177e-01 2.68934743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.811858064 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:59.82, Y:13.48, Z:2.71 [[ 9.05062489e-01 -4.16328685e-01 -8.67889239e-02 5.98220096e+01] [ 4.16669195e-01 9.08934072e-01 -1.50211320e-02 1.34758352e+01] [ 8.51391382e-02 -2.25672080e-02 9.96113472e-01 2.71004167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84185806400001 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:59.84, Y:13.51, Z:2.69 [[ 9.06324441e-01 -4.18109147e-01 -6.13249382e-02 5.98375200e+01] [ 4.15293258e-01 9.08099948e-01 -5.37214443e-02 1.35075358e+01] [ 7.81506004e-02 2.32212246e-02 9.96671088e-01 2.68787528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87185806400001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:59.87, Y:13.50, Z:2.70 [[ 9.07177246e-01 -4.13728348e-01 -7.65395158e-02 5.98709575e+01] [ 4.12996667e-01 9.10364209e-01 -2.58990575e-02 1.35033180e+01] [ 8.03940100e-02 -8.11552920e-03 9.96730125e-01 2.70456698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.901858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.89, Y:13.52, Z:2.70 [[ 9.07630821e-01 -4.14637390e-01 -6.54379673e-02 5.98927149e+01] [ 4.12613976e-01 9.09912835e-01 -4.25245730e-02 1.35231996e+01] [ 7.71751243e-02 1.15959932e-02 9.96950116e-01 2.69523382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.931858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:59.92, Y:13.53, Z:2.70 [[ 9.07970490e-01 -4.13230651e-01 -6.94983314e-02 5.99202302e+01] [ 4.11780382e-01 9.10621779e-01 -3.47115483e-02 1.35299331e+01] [ 7.76305699e-02 2.89901205e-03 9.96977979e-01 2.69981003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.961858064 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:59.95, Y:13.53, Z:2.71 [[ 9.08622569e-01 -4.10345777e-01 -7.75974916e-02 5.99461684e+01] [ 4.09856669e-01 9.11863321e-01 -2.28646926e-02 1.35327623e+01] [ 8.01407364e-02 -1.10284738e-02 9.96722547e-01 2.70887508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.991858064 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:59.97, Y:13.55, Z:2.71 [[ 9.09139355e-01 -4.10215628e-01 -7.20331232e-02 5.99737615e+01] [ 4.08644172e-01 9.11982535e-01 -3.60249466e-02 1.35486379e+01] [ 8.04709464e-02 3.31578081e-03 9.96751440e-01 2.70713668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.021858064 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:60.00, Y:13.56, Z:2.71 [[ 9.08959205e-01 -4.11137368e-01 -6.89871621e-02 5.99993010e+01] [ 4.09214973e-01 9.11531621e-01 -4.06596679e-02 1.35620667e+01] [ 7.96006886e-02 8.72739971e-03 9.96788625e-01 2.70667121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.051858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:60.03, Y:13.56, Z:2.72 [[ 9.08884944e-01 -4.09364908e-01 -7.96776645e-02 6.00251447e+01] [ 4.09024456e-01 9.12274801e-01 -2.12998177e-02 1.35618287e+01] [ 8.14073234e-02 -1.32310298e-02 9.96593090e-01 2.71911894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.081858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:60.05, Y:13.58, Z:2.72 [[ 9.08677092e-01 -4.10732637e-01 -7.48641593e-02 6.00503397e+01] [ 4.09289001e-01 9.11755617e-01 -3.44123275e-02 1.35754069e+01] [ 8.23920838e-02 6.28616686e-04 9.96599794e-01 2.71721053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.111858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.07, Y:13.60, Z:2.70 [[ 9.08246789e-01 -4.14316934e-01 -5.85597830e-02 6.00728803e+01] [ 4.11064041e-01 9.09619148e-01 -6.01611095e-02 1.35995365e+01] [ 7.81928664e-02 3.05693135e-02 9.96469464e-01 2.69911871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.11, Y:13.60, Z:2.71 [[ 9.07873133e-01 -4.12722869e-01 -7.36627967e-02 6.01072075e+01] [ 4.11614067e-01 9.10852470e-01 -3.03584969e-02 1.35950462e+01] [ 7.96255862e-02 -2.75897966e-03 9.96821024e-01 2.71381077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:13.60, Z:2.72 [[ 9.07253100e-01 -4.13457991e-01 -7.70993016e-02 6.01364612e+01] [ 4.12190103e-01 9.10520167e-01 -3.24398677e-02 1.36026203e+01] [ 8.36129915e-02 -2.34839846e-03 9.96495536e-01 2.71802437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.16, Y:13.61, Z:2.72 [[ 9.06812417e-01 -4.14307250e-01 -7.77222162e-02 6.01604946e+01] [ 4.12957805e-01 9.10135385e-01 -3.34579078e-02 1.36117170e+01] [ 8.45995929e-02 -1.75594957e-03 9.96413481e-01 2.71965679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.19, Y:13.62, Z:2.72 [[ 9.06734842e-01 -4.14473089e-01 -7.77430741e-02 6.01890780e+01] [ 4.12768955e-01 9.10059364e-01 -3.75997818e-02 1.36233163e+01] [ 8.63349103e-02 2.00310475e-03 9.96264157e-01 2.72186921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:13.62, Z:2.74 [[ 9.05371002e-01 -4.14597636e-01 -9.17177715e-02 6.02174649e+01] [ 4.14442685e-01 9.09818269e-01 -2.16328177e-02 1.36213491e+01] [ 9.24154192e-02 -1.84260336e-02 9.95550035e-01 2.74066456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.291858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:60.24, Y:13.64, Z:2.73 [[ 9.05666311e-01 -4.17108741e-01 -7.60843764e-02 6.02413321e+01] [ 4.14783484e-01 9.08810814e-01 -4.49173210e-02 1.36426797e+01] [ 8.78817112e-02 9.12156162e-03 9.96089154e-01 2.72633872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:13.65, Z:2.73 [[ 9.05373508e-01 -4.17550868e-01 -7.71367842e-02 6.02694048e+01] [ 4.15604599e-01 9.08641698e-01 -4.05349541e-02 1.36505681e+01] [ 8.70151039e-02 4.64087132e-03 9.96196182e-01 2.73003202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.30, Y:13.66, Z:2.73 [[ 9.04892099e-01 -4.18489964e-01 -7.76945229e-02 6.02950297e+01] [ 4.16879906e-01 9.08221064e-01 -3.66829914e-02 1.36580207e+01] [ 8.59152660e-02 8.04863630e-04 9.96302122e-01 2.73325934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.32, Y:13.67, Z:2.74 [[ 9.04097275e-01 -4.20388261e-01 -7.66930766e-02 6.03249578e+01] [ 4.18602859e-01 9.07339384e-01 -3.88186487e-02 1.36652427e+01] [ 8.59055531e-02 2.99189334e-03 9.96298793e-01 2.73582383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.411858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:60.35, Y:13.67, Z:2.75 [[ 9.02726070e-01 -4.21950428e-01 -8.39254407e-02 6.03528227e+01] [ 4.21336973e-01 9.06538117e-01 -2.57642671e-02 1.36697194e+01] [ 8.69528546e-02 -1.21028155e-02 9.96138907e-01 2.74570883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.441858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:60.38, Y:13.69, Z:2.74 [[ 9.02601702e-01 -4.23120391e-01 -7.92420537e-02 6.03759108e+01] [ 4.21566813e-01 9.06073199e-01 -3.62323167e-02 1.36864104e+01] [ 8.71297330e-02 -7.02469318e-04 9.96196726e-01 2.74327686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.40, Y:13.70, Z:2.74 [[ 9.02800646e-01 -4.23780942e-01 -7.32168461e-02 6.04034892e+01] [ 4.21349478e-01 9.05693784e-01 -4.67267379e-02 1.37007353e+01] [ 8.61139434e-02 1.13350493e-02 9.96220812e-01 2.73947610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.43, Y:13.69, Z:2.76 [[ 9.01133291e-01 -4.23628247e-01 -9.21840551e-02 6.04299996e+01] [ 4.23862925e-01 9.05547632e-01 -1.79918660e-02 1.36930801e+01] [ 9.10989154e-02 -2.28603338e-02 9.95579426e-01 2.76222226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:13.71, Z:2.76 [[ 9.00936684e-01 -4.25868881e-01 -8.33593902e-02 6.04519072e+01] [ 4.24108677e-01 9.04784750e-01 -3.86831589e-02 1.37124163e+01] [ 9.18962586e-02 -5.02363761e-04 9.95768460e-01 2.75501245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.48, Y:13.72, Z:2.76 [[ 9.00813805e-01 -4.26136841e-01 -8.33179539e-02 6.04777942e+01] [ 4.24378149e-01 9.04658569e-01 -3.86789328e-02 1.37226641e+01] [ 9.18568192e-02 -5.15802394e-04 9.95772092e-01 2.75665653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:13.74, Z:2.74 [[ 9.01555552e-01 -4.27200620e-01 -6.85362486e-02 6.05054285e+01] [ 4.23892155e-01 9.03860735e-01 -5.78896628e-02 1.37440319e+01] [ 8.66777239e-02 2.31387687e-02 9.95967655e-01 2.73965603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62185806400001 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:60.53, Y:13.75, Z:2.75 [[ 9.01337354e-01 -4.26428546e-01 -7.58265716e-02 6.05331857e+01] [ 4.24783776e-01 9.04519934e-01 -3.74490763e-02 1.37453342e+01] [ 8.45560006e-02 1.54435397e-03 9.96417532e-01 2.74777467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:13.75, Z:2.75 [[ 9.00092607e-01 -4.28267782e-01 -8.01249329e-02 6.05585264e+01] [ 4.27140464e-01 9.03633313e-01 -3.15889226e-02 1.37547899e+01] [ 8.59320764e-02 -5.79164529e-03 9.96284164e-01 2.75468913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.681858064 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:60.59, Y:13.77, Z:2.76 [[ 9.01250226e-01 -4.26268023e-01 -7.77406143e-02 6.05867212e+01] [ 4.24926407e-01 9.04593471e-01 -3.38851185e-02 1.37654857e+01] [ 8.47677946e-02 -2.49506922e-03 9.96397609e-01 2.75528573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.711858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.61, Y:13.77, Z:2.77 [[ 9.00605553e-01 -4.25661670e-01 -8.78736603e-02 6.06103790e+01] [ 4.25812630e-01 9.04633056e-01 -1.79621302e-02 1.37686723e+01] [ 8.71392082e-02 -2.12409202e-02 9.95969669e-01 2.77142295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.63, Y:13.80, Z:2.74 [[ 9.01129210e-01 -4.29095982e-01 -6.19902016e-02 6.06293016e+01] [ 4.25720705e-01 9.02814362e-01 -6.07297992e-02 1.38038863e+01] [ 8.20245571e-02 2.83348837e-02 9.96227437e-01 2.74330251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.66, Y:13.80, Z:2.76 [[ 9.01137668e-01 -4.26432303e-01 -7.81434188e-02 6.06612137e+01] [ 4.25592494e-01 9.04483415e-01 -2.79424557e-02 1.37999463e+01] [ 8.25949921e-02 -8.07725304e-03 9.96550463e-01 2.76191607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.69, Y:13.81, Z:2.78 [[ 9.01323660e-01 -4.24221083e-01 -8.74764678e-02 6.06853257e+01] [ 4.24514153e-01 9.05277200e-01 -1.61531852e-02 1.38055967e+01] [ 8.60429735e-02 -2.25757506e-02 9.96035613e-01 2.77672129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.831858064 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:60.70, Y:13.84, Z:2.75 [[ 9.02064873e-01 -4.27184257e-01 -6.15838920e-02 6.07015905e+01] [ 4.23638751e-01 9.03645081e-01 -6.28949626e-02 1.38440787e+01] [ 8.25177189e-02 3.06460133e-02 9.96118290e-01 2.74912912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.74, Y:13.83, Z:2.78 [[ 9.01800153e-01 -4.22853247e-01 -8.91718350e-02 6.07373387e+01] [ 4.23909165e-01 9.05672127e-01 -7.68235094e-03 1.38293015e+01] [ 8.40089525e-02 -3.08728129e-02 9.95986629e-01 2.78269312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:13.86, Z:2.77 [[ 9.01795541e-01 -4.25528562e-01 -7.54337139e-02 6.07573693e+01] [ 4.24073511e-01 9.04944951e-01 -3.51609618e-02 1.38554095e+01] [ 8.32253520e-02 -2.81441385e-04 9.96530713e-01 2.77183861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.78, Y:13.88, Z:2.75 [[ 9.01602866e-01 -4.28940129e-01 -5.58805703e-02 6.07755484e+01] [ 4.25436979e-01 9.02670895e-01 -6.47196430e-02 1.38847200e+01] [ 7.82026164e-02 3.45777546e-02 9.96337658e-01 2.75034215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:13.87, Z:2.79 [[ 9.00668830e-01 -4.25424173e-01 -8.83738145e-02 6.08137575e+01] [ 4.26825137e-01 9.04328020e-01 -3.33699974e-03 1.38660410e+01] [ 8.13385570e-02 -3.47146338e-02 9.96081790e-01 2.78868460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.83, Y:13.89, Z:2.77 [[ 9.00070962e-01 -4.29946537e-01 -7.08395260e-02 6.08339796e+01] [ 4.28718392e-01 9.02853650e-01 -3.24935031e-02 1.38925064e+01] [ 7.79281937e-02 -1.12374904e-03 9.96958341e-01 2.77250245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:13.91, Z:2.77 [[ 8.99119308e-01 -4.32177276e-01 -6.93344972e-02 6.08609598e+01] [ 4.30566797e-01 9.01780497e-01 -3.74722263e-02 1.39073534e+01] [ 7.87191420e-02 3.83886981e-03 9.96889442e-01 2.77235874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:13.92, Z:2.78 [[ 8.98383145e-01 -4.33084969e-01 -7.31104341e-02 6.08863462e+01] [ 4.31538958e-01 9.01352137e-01 -3.65848738e-02 1.39171943e+01] [ 8.17426049e-02 1.31723344e-03 9.96652603e-01 2.77634876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.91, Y:13.93, Z:2.78 [[ 8.96136647e-01 -4.37497656e-01 -7.43969780e-02 6.09087178e+01] [ 4.36332647e-01 8.99212022e-01 -3.21179238e-02 1.39289719e+01] [ 8.09501734e-02 -3.67978177e-03 9.96711357e-01 2.77966920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.101858064 meters Centerline goodness : 0.996697 Centerline is valid? [True, True] Translation: X:60.93, Y:13.94, Z:2.78 [[ 8.95209023e-01 -4.39649258e-01 -7.28651861e-02 6.09333346e+01] [ 4.38372685e-01 8.98167488e-01 -3.35343493e-02 1.39428666e+01] [ 8.01884930e-02 -1.92185525e-03 9.96777865e-01 2.77955343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.96, Y:13.96, Z:2.78 [[ 8.94735266e-01 -4.40725650e-01 -7.21782911e-02 6.09572251e+01] [ 4.39211778e-01 8.97641336e-01 -3.65108990e-02 1.39567839e+01] [ 8.08815074e-02 9.66033355e-04 9.96723256e-01 2.77974441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:13.97, Z:2.77 [[ 8.94515422e-01 -4.42071314e-01 -6.64463197e-02 6.09820644e+01] [ 4.40304447e-01 8.96956028e-01 -4.00234564e-02 1.39720865e+01] [ 7.72926490e-02 6.54498888e-03 9.96986966e-01 2.77498192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.01, Y:13.97, Z:2.79 [[ 8.94257126e-01 -4.40547902e-01 -7.88779940e-02 6.10116141e+01] [ 4.40422330e-01 8.97569601e-01 -1.99244081e-02 1.39740505e+01] [ 7.95761458e-02 -1.69220860e-02 9.96685146e-01 2.79181383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:14.00, Z:2.78 [[ 8.94926090e-01 -4.40953606e-01 -6.83169901e-02 6.10337384e+01] [ 4.38976365e-01 8.97494035e-01 -4.24759586e-02 1.39981249e+01] [ 8.00440182e-02 8.02329952e-03 9.96759039e-01 2.78115229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.06, Y:14.00, Z:2.79 [[ 8.94679833e-01 -4.40236531e-01 -7.57614227e-02 6.10609190e+01] [ 4.39671961e-01 8.97813814e-01 -2.48781335e-02 1.40032763e+01] [ 7.89719151e-02 -1.10522089e-02 9.96815572e-01 2.79285335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.09, Y:14.02, Z:2.79 [[ 8.95873431e-01 -4.38920394e-01 -6.89904592e-02 6.10858786e+01] [ 4.37069895e-01 8.98503418e-01 -4.07616976e-02 1.40227156e+01] [ 7.98793038e-02 6.36366917e-03 9.96784230e-01 2.78743568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.11, Y:14.03, Z:2.80 [[ 8.96292596e-01 -4.37448612e-01 -7.27893861e-02 6.11092796e+01] [ 4.36847605e-01 8.99192773e-01 -2.48299487e-02 1.40278672e+01] [ 7.63135165e-02 -9.54296979e-03 9.97038203e-01 2.79504275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:14.04, Z:2.79 [[ 8.96217175e-01 -4.38213606e-01 -6.90189154e-02 6.11334846e+01] [ 4.36983035e-01 8.98870561e-01 -3.28259124e-02 1.40439210e+01] [ 7.64238327e-02 -7.40948700e-04 9.97075147e-01 2.79359447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:14.06, Z:2.79 [[ 8.96626400e-01 -4.38197473e-01 -6.35930257e-02 6.11615705e+01] [ 4.35707172e-01 8.98723062e-01 -4.95592364e-02 1.40648648e+01] [ 7.88692509e-02 1.67281824e-02 9.96744606e-01 2.78853263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.19, Y:14.06, Z:2.81 [[ 8.96097766e-01 -4.37299257e-01 -7.60141648e-02 6.11888006e+01] [ 4.37311006e-01 8.99142436e-01 -1.73770777e-02 1.40637160e+01] [ 7.59465445e-02 -1.76702704e-02 9.96955307e-01 2.80548961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.21, Y:14.09, Z:2.80 [[ 8.96328381e-01 -4.38084457e-01 -6.83918219e-02 6.12096098e+01] [ 4.36490191e-01 8.98925833e-01 -3.75321182e-02 1.40859392e+01] [ 7.79214131e-02 3.78874338e-03 9.96952305e-01 2.79814498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.24, Y:14.10, Z:2.80 [[ 8.96428823e-01 -4.37298662e-01 -7.20086457e-02 6.12360653e+01] [ 4.36395502e-01 8.99298116e-01 -2.86681672e-02 1.40956277e+01] [ 7.72937906e-02 -5.72527767e-03 9.96991921e-01 2.80217566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.26, Y:14.11, Z:2.80 [[ 8.96245889e-01 -4.37978624e-01 -7.01286797e-02 6.12607781e+01] [ 4.36734958e-01 8.98984771e-01 -3.29993692e-02 1.41103086e+01] [ 7.74976333e-02 -1.05209702e-03 9.96991981e-01 2.80189256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.29, Y:14.12, Z:2.80 [[ 8.96032325e-01 -4.38463873e-01 -6.98248083e-02 6.12859080e+01] [ 4.37230661e-01 8.98748179e-01 -3.28794611e-02 1.41226070e+01] [ 7.71713752e-02 -1.06848714e-03 9.97017270e-01 2.80363771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.31, Y:14.13, Z:2.81 [[ 8.95691910e-01 -4.39203549e-01 -6.95431180e-02 6.13117599e+01] [ 4.37980736e-01 8.98386897e-01 -3.27697624e-02 1.41346054e+01] [ 7.68692220e-02 -1.10693492e-03 9.97040570e-01 2.80525939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.34, Y:14.15, Z:2.81 [[ 8.95332164e-01 -4.39923063e-01 -6.96276893e-02 6.13368698e+01] [ 4.38697583e-01 8.98034732e-01 -3.28336931e-02 1.41465972e+01] [ 7.69723822e-02 -1.14843750e-03 9.97032564e-01 2.80769949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.36, Y:14.16, Z:2.81 [[ 8.95245579e-01 -4.40135593e-01 -6.93975028e-02 6.13626620e+01] [ 4.38917017e-01 8.97930597e-01 -3.27489776e-02 1.41587266e+01] [ 7.67281318e-02 -1.14136753e-03 9.97051398e-01 2.80993502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:14.17, Z:2.81 [[ 8.95256133e-01 -4.40502492e-01 -6.68880498e-02 6.13855236e+01] [ 4.38711504e-01 8.97726528e-01 -4.02404966e-02 1.41742580e+01] [ 7.77732158e-02 6.68099439e-03 9.96948690e-01 2.80841005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.671858064 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:61.42, Y:14.18, Z:2.81 [[ 8.95613763e-01 -4.40068280e-01 -6.49299381e-02 6.14168947e+01] [ 4.38644062e-01 8.97958089e-01 -3.55338828e-02 1.41848144e+01] [ 7.39416978e-02 3.34350270e-03 9.97256961e-01 2.80845001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.44, Y:14.19, Z:2.82 [[ 8.95099119e-01 -4.39849167e-01 -7.30087514e-02 6.14394514e+01] [ 4.39492388e-01 8.97982990e-01 -2.17483710e-02 1.41900921e+01] [ 7.51266197e-02 -1.26198427e-02 9.97094143e-01 2.81899276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.46, Y:14.21, Z:2.82 [[ 8.94973336e-01 -4.40860319e-01 -6.83001197e-02 6.14630030e+01] [ 4.39677282e-01 8.97575016e-01 -3.22951786e-02 1.42073829e+01] [ 7.55421438e-02 -1.12668725e-03 9.97141973e-01 2.81612678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.761858064 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:61.49, Y:14.23, Z:2.81 [[ 8.95213622e-01 -4.41757599e-01 -5.86753319e-02 6.14895676e+01] [ 4.39616613e-01 8.97000676e-01 -4.61196312e-02 1.42273860e+01] [ 7.30055099e-02 1.54922715e-02 9.97211204e-01 2.80677760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.52, Y:14.22, Z:2.83 [[ 8.95003670e-01 -4.39686537e-01 -7.51277566e-02 6.15163536e+01] [ 4.39746997e-01 8.97967770e-01 -1.66271782e-02 1.42241568e+01] [ 7.47730504e-02 -1.81558199e-02 9.97035284e-01 2.82647495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.54, Y:14.24, Z:2.82 [[ 8.95156720e-01 -4.40675885e-01 -6.70761617e-02 6.15377386e+01] [ 4.39530239e-01 8.97665685e-01 -3.17724376e-02 1.42441827e+01] [ 7.42133157e-02 -1.04069030e-03 9.97241847e-01 2.82183879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.56, Y:14.26, Z:2.82 [[ 8.95511417e-01 -4.40092183e-01 -6.61677557e-02 6.15612315e+01] [ 4.38975104e-01 8.97952075e-01 -3.13516953e-02 1.42564982e+01] [ 7.32131096e-02 -9.70196357e-04 9.97315847e-01 2.82394067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:14.27, Z:2.82 [[ 8.95984343e-01 -4.40163150e-01 -5.88936136e-02 6.15885808e+01] [ 4.38407560e-01 8.97854809e-01 -4.06884770e-02 1.42737287e+01] [ 7.07874825e-02 1.06368329e-02 9.97434705e-01 2.81859627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.61, Y:14.28, Z:2.83 [[ 8.96231739e-01 -4.37959887e-01 -7.04259010e-02 6.16138858e+01] [ 4.37694450e-01 8.98901716e-01 -1.99817993e-02 1.42751273e+01] [ 7.20571898e-02 -1.29167033e-02 9.97316860e-01 2.83312774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.64, Y:14.29, Z:2.83 [[ 8.97344077e-01 -4.36478330e-01 -6.52707762e-02 6.16359656e+01] [ 4.35378895e-01 8.99714550e-01 -3.09668660e-02 1.42928027e+01] [ 7.22414330e-02 -6.29584623e-04 9.97386976e-01 2.82959936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.971858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.66, Y:14.31, Z:2.83 [[ 8.97961583e-01 -4.35239392e-01 -6.50512668e-02 6.16612611e+01] [ 4.34143417e-01 9.00314613e-01 -3.08721849e-02 1.43056197e+01] [ 7.20033970e-02 -5.19543276e-04 9.97404251e-01 2.83114262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.68, Y:14.32, Z:2.83 [[ 8.99283437e-01 -4.32505598e-01 -6.50246685e-02 6.16847079e+01] [ 4.31401742e-01 9.01631205e-01 -3.08821617e-02 1.43181659e+01] [ 7.19849780e-02 -2.79938722e-04 9.97405677e-01 2.83325868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031858064 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:61.71, Y:14.34, Z:2.83 [[ 8.99397378e-01 -4.32677115e-01 -6.22484575e-02 6.17080113e+01] [ 4.30514089e-01 9.01439100e-01 -4.54441183e-02 1.43378556e+01] [ 7.57758235e-02 1.40734829e-02 9.97025557e-01 2.83043276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.74, Y:14.34, Z:2.84 [[ 9.00340336e-01 -4.29207068e-01 -7.18927838e-02 6.17379973e+01] [ 4.29038964e-01 9.03095421e-01 -1.85533585e-02 1.43377222e+01] [ 7.28892765e-02 -1.41404685e-02 9.97239791e-01 2.84257686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.76, Y:14.36, Z:2.84 [[ 9.00925387e-01 -4.28952501e-01 -6.58270413e-02 6.17600849e+01] [ 4.27808207e-01 9.03327045e-01 -3.13111528e-02 1.43561269e+01] [ 7.28943440e-02 4.76638620e-05 9.97339667e-01 2.83930661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12185806400001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.79, Y:14.37, Z:2.84 [[ 9.01703561e-01 -4.27312203e-01 -6.58404802e-02 6.17850999e+01] [ 4.26162352e-01 9.04104112e-01 -3.13273811e-02 1.43678556e+01] [ 7.29132211e-02 1.89277243e-04 9.97338271e-01 2.84222234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.151858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.81, Y:14.38, Z:2.84 [[ 9.01768650e-01 -4.27227021e-01 -6.55009434e-02 6.18102512e+01] [ 4.26087136e-01 9.04144361e-01 -3.11885619e-02 1.43800590e+01] [ 7.25469050e-02 2.15757914e-04 9.97364978e-01 2.84431513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.181858064 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:61.83, Y:14.40, Z:2.84 [[ 9.01051482e-01 -4.29039358e-01 -6.34937555e-02 6.18349419e+01] [ 4.27083887e-01 9.03217867e-01 -4.23891306e-02 1.43982126e+01] [ 7.55352998e-02 1.10776291e-02 9.97081594e-01 2.84292662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.211858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.86, Y:14.40, Z:2.85 [[ 9.01165038e-01 -4.27751091e-01 -7.02180755e-02 6.18630887e+01] [ 4.27371888e-01 9.03829686e-01 -2.10989891e-02 1.43999859e+01] [ 7.24902967e-02 -1.09955602e-02 9.97308505e-01 2.85259006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.89, Y:14.42, Z:2.85 [[ 8.99911474e-01 -4.31070908e-01 -6.58574997e-02 6.18867697e+01] [ 4.29924928e-01 9.02318054e-01 -3.14115728e-02 1.44163980e+01] [ 7.29650262e-02 -4.61459385e-05 9.97334499e-01 2.85005281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.91, Y:14.43, Z:2.85 [[ 8.99135292e-01 -4.32680143e-01 -6.59061399e-02 6.19126437e+01] [ 4.31535114e-01 9.01547486e-01 -3.14575390e-02 1.44282099e+01] [ 7.30285672e-02 -1.56230085e-04 9.97329837e-01 2.85220455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:14.45, Z:2.84 [[ 8.97252987e-01 -4.38460357e-01 -5.18612801e-02 6.19319934e+01] [ 4.36310943e-01 8.98520099e-01 -4.78998235e-02 1.44522090e+01] [ 6.76005763e-02 2.03506157e-02 9.97504894e-01 2.83750785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.96, Y:14.46, Z:2.85 [[ 8.96062606e-01 -4.39905734e-01 -5.96217438e-02 6.19615786e+01] [ 4.38935446e-01 8.98043955e-01 -2.92015219e-02 1.44556290e+01] [ 6.63888635e-02 -3.70489229e-06 9.97793826e-01 2.84685922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.99, Y:14.46, Z:2.87 [[ 8.96749856e-01 -4.36167185e-01 -7.48189953e-02 6.19925820e+01] [ 4.36545291e-01 8.99601051e-01 -1.20895892e-02 1.44557445e+01] [ 7.25803289e-02 -2.18205427e-02 9.97123844e-01 2.86768095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.391858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.01, Y:14.48, Z:2.86 [[ 8.96662544e-01 -4.37825493e-01 -6.56134085e-02 6.20144002e+01] [ 4.36699970e-01 8.99059825e-01 -3.13778091e-02 1.44775454e+01] [ 7.27283843e-02 -5.18067421e-04 9.97351650e-01 2.86144366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:62.04, Y:14.49, Z:2.86 [[ 8.95857028e-01 -4.39504917e-01 -6.53881731e-02 6.20390761e+01] [ 4.38390599e-01 8.98239956e-01 -3.12836126e-02 1.44901506e+01] [ 7.24835713e-02 -6.39916083e-04 9.97369401e-01 2.86310522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.06, Y:14.50, Z:2.86 [[ 8.94500468e-01 -4.42287294e-01 -6.51986453e-02 6.20631119e+01] [ 4.41185159e-01 8.96873035e-01 -3.12156191e-02 1.45027917e+01] [ 7.22811785e-02 -8.42288819e-04 9.97383939e-01 2.86477190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.08, Y:14.53, Z:2.84 [[ 8.92268202e-01 -4.49460744e-01 -4.29243049e-02 6.20783188e+01] [ 4.46821775e-01 8.92670686e-01 -5.90706973e-02 1.45341428e+01] [ 6.48672282e-02 3.35273907e-02 9.97330515e-01 2.84080587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.12, Y:14.51, Z:2.88 [[ 8.92114366e-01 -4.44651348e-01 -8.01070356e-02 6.21198233e+01] [ 4.46023255e-01 8.95020963e-01 -8.55413707e-04 1.45125141e+01] [ 7.20778370e-02 -3.49664739e-02 9.96785900e-01 2.88246478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.14, Y:14.54, Z:2.87 [[ 8.90567839e-01 -4.50103498e-01 -6.55420952e-02 6.21408837e+01] [ 4.48881181e-01 8.92976389e-01 -3.31489691e-02 1.45419995e+01] [ 7.34480105e-02 1.00792620e-04 9.97299042e-01 2.87048684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.571858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:62.16, Y:14.57, Z:2.85 [[ 8.88654034e-01 -4.56326724e-01 -4.53864359e-02 6.21565276e+01] [ 4.53921776e-01 8.89380092e-01 -5.43881798e-02 1.45707479e+01] [ 6.51845725e-02 2.77303838e-02 9.97487843e-01 2.84788867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.19, Y:14.55, Z:2.89 [[ 8.90382427e-01 -4.48239054e-01 -7.93781117e-02 6.21943173e+01] [ 4.49505689e-01 8.93274939e-01 -2.12585714e-03 1.45526290e+01] [ 7.18593700e-02 -3.37880869e-02 9.96842313e-01 2.88723039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.631858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.21, Y:14.58, Z:2.88 [[ 8.89973419e-01 -4.51229765e-01 -6.58711850e-02 6.22131012e+01] [ 4.50123352e-01 8.92406527e-01 -3.16157876e-02 1.45813317e+01] [ 7.30498598e-02 -1.51294805e-03 9.97327142e-01 2.87666398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.23, Y:14.62, Z:2.85 [[ 8.87961027e-01 -4.58363143e-01 -3.77947447e-02 6.22263773e+01] [ 4.55633107e-01 8.87903766e-01 -6.34458336e-02 1.46173695e+01] [ 6.26393278e-02 3.91168906e-02 9.97269364e-01 2.84779539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.691858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.26, Y:14.61, Z:2.87 [[ 8.88138380e-01 -4.56035489e-01 -5.69372555e-02 6.22594963e+01] [ 4.55380596e-01 8.89952832e-01 -2.47481193e-02 1.46106186e+01] [ 6.19574925e-02 -3.94836683e-03 9.98070979e-01 2.86674723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.29, Y:14.61, Z:2.89 [[ 8.89126354e-01 -4.50967858e-01 -7.79892125e-02 6.22939867e+01] [ 4.52355578e-01 8.91837659e-01 1.42934204e-04 1.46070635e+01] [ 6.94892580e-02 -3.54059419e-02 9.96954193e-01 2.89342998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.31, Y:14.63, Z:2.88 [[ 8.89647755e-01 -4.52272925e-01 -6.30561222e-02 6.23120656e+01] [ 4.51307683e-01 8.91877077e-01 -2.96083498e-02 1.46346858e+01] [ 6.96293650e-02 -2.11671046e-03 9.97570685e-01 2.88258191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:62.34, Y:14.65, Z:2.88 [[ 8.89713918e-01 -4.52240815e-01 -6.23489315e-02 6.23356883e+01] [ 4.51011313e-01 8.91894503e-01 -3.33615108e-02 1.46497968e+01] [ 7.06961062e-02 1.56212697e-03 9.97496677e-01 2.88301398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.811858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:62.36, Y:14.66, Z:2.89 [[ 8.90488007e-01 -4.50449134e-01 -6.42393038e-02 6.23595250e+01] [ 4.49630092e-01 8.92791292e-01 -2.75043342e-02 1.46618847e+01] [ 6.97415945e-02 -4.39164434e-03 9.97555424e-01 2.88621602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.38, Y:14.68, Z:2.89 [[ 8.90702670e-01 -4.50260585e-01 -6.25632329e-02 6.23837635e+01] [ 4.49049484e-01 8.92896214e-01 -3.30289424e-02 1.46781923e+01] [ 7.07341048e-02 1.32497972e-03 9.97494326e-01 2.88604949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.871858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.41, Y:14.69, Z:2.89 [[ 8.90814204e-01 -4.50016142e-01 -6.27337703e-02 6.24095653e+01] [ 4.48715111e-01 8.93017234e-01 -3.42778065e-02 1.46925209e+01] [ 7.14479043e-02 2.38556622e-03 9.97441480e-01 2.88807145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.43, Y:14.70, Z:2.89 [[ 8.92041545e-01 -4.47201388e-01 -6.53666533e-02 6.24340429e+01] [ 4.46585905e-01 8.94403636e-01 -2.45594230e-02 1.47029050e+01] [ 6.94471805e-02 -7.28380040e-03 9.97559039e-01 2.89430132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.46, Y:14.72, Z:2.89 [[ 8.92262085e-01 -4.47715241e-01 -5.84759267e-02 6.24569652e+01] [ 4.46347658e-01 8.94159399e-01 -3.53940321e-02 1.47233970e+01] [ 6.81332471e-02 5.48015997e-03 9.97661179e-01 2.88828504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.48, Y:14.74, Z:2.89 [[ 8.92139367e-01 -4.48189254e-01 -5.66898778e-02 6.24799487e+01] [ 4.46819622e-01 8.93915590e-01 -3.55969492e-02 1.47389551e+01] [ 6.66301357e-02 6.42728993e-03 9.97757042e-01 2.88703723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.991858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.51, Y:14.74, Z:2.90 [[ 8.93159423e-01 -4.44212670e-01 -7.02947334e-02 6.25083076e+01] [ 4.44062129e-01 8.95802591e-01 -1.86157048e-02 1.47431722e+01] [ 7.12395362e-02 -1.45884368e-02 9.97352549e-01 2.90200895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.021858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.52, Y:14.78, Z:2.88 [[ 8.92130773e-01 -4.49181608e-01 -4.83587241e-02 6.25237666e+01] [ 4.46966618e-01 8.93139282e-01 -5.02301247e-02 1.47753286e+01] [ 6.57535244e-02 2.31971046e-02 9.97566223e-01 2.88162884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.051858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.56, Y:14.77, Z:2.91 [[ 8.93223994e-01 -4.43222854e-01 -7.55274740e-02 6.25603273e+01] [ 4.43782076e-01 8.96077463e-01 -1.01315709e-02 1.47653523e+01] [ 7.21690110e-02 -2.44679770e-02 9.97092248e-01 2.90938628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:14.79, Z:2.90 [[ 8.93215618e-01 -4.44929239e-01 -6.48369680e-02 6.25799092e+01] [ 4.43547636e-01 8.95561883e-01 -3.51341467e-02 1.47913325e+01] [ 7.36977263e-02 2.62408476e-03 9.97277173e-01 2.90204302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.111858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.61, Y:14.80, Z:2.91 [[ 8.93090227e-01 -4.44909298e-01 -6.66750629e-02 6.26059152e+01] [ 4.44000254e-01 8.95566835e-01 -2.87022430e-02 1.48020164e+01] [ 7.24818698e-02 -3.97005214e-03 9.97361829e-01 2.90673407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.62, Y:14.83, Z:2.89 [[ 8.92223929e-01 -4.48448945e-01 -5.31977925e-02 6.26241514e+01] [ 4.46305904e-01 8.93611494e-01 -4.76396588e-02 1.48273857e+01] [ 6.89021136e-02 1.87627547e-02 9.97446970e-01 2.89358557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.66, Y:14.82, Z:2.92 [[ 8.92829935e-01 -4.44318537e-01 -7.37275019e-02 6.26572330e+01] [ 4.44534746e-01 8.95646560e-01 -1.43561122e-02 1.48240857e+01] [ 7.24124703e-02 -1.99568696e-02 9.97175089e-01 2.91556982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.68, Y:14.85, Z:2.90 [[ 8.91948789e-01 -4.48396615e-01 -5.80330353e-02 6.26754805e+01] [ 4.46422452e-01 8.93733418e-01 -4.41312971e-02 1.48534754e+01] [ 7.16543872e-02 1.34556070e-02 9.97338757e-01 2.90124870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:14.86, Z:2.91 [[ 8.91752930e-01 -4.48079029e-01 -6.32605390e-02 6.27034696e+01] [ 4.46954606e-01 8.93993950e-01 -3.17237580e-02 1.48609956e+01] [ 7.07692898e-02 1.51648049e-05 9.97492710e-01 2.90748997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.261858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.73, Y:14.87, Z:2.92 [[ 8.92025306e-01 -4.46576946e-01 -6.97128701e-02 6.27299164e+01] [ 4.45702915e-01 8.94727364e-01 -2.84930753e-02 1.48703881e+01] [ 7.50983631e-02 -5.65468521e-03 9.97160098e-01 2.91571729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.291858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.75, Y:14.88, Z:2.92 [[ 8.91823109e-01 -4.46962822e-01 -6.98267723e-02 6.27544432e+01] [ 4.46324052e-01 8.94511757e-01 -2.53684393e-02 1.48832605e+01] [ 7.37996180e-02 -8.54120752e-03 9.97236514e-01 2.91849659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.321858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.78, Y:14.90, Z:2.92 [[ 8.91451764e-01 -4.48359116e-01 -6.54817137e-02 6.27760550e+01] [ 4.46725272e-01 8.93838703e-01 -3.85863358e-02 1.49025846e+01] [ 7.58306254e-02 5.14552077e-03 9.97107436e-01 2.91591618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.351858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.80, Y:14.91, Z:2.92 [[ 8.91239475e-01 -4.48100766e-01 -6.99850144e-02 6.28020996e+01] [ 4.47313088e-01 8.93956739e-01 -2.74289890e-02 1.49121176e+01] [ 7.48545263e-02 -6.85941512e-03 9.97170872e-01 2.92109394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.381858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:62.83, Y:14.93, Z:2.92 [[ 8.91209255e-01 -4.48483165e-01 -6.78889869e-02 6.28255229e+01] [ 4.47260600e-01 8.93790863e-01 -3.31035991e-02 1.49277852e+01] [ 7.55249631e-02 -8.61835135e-04 9.97143539e-01 2.92108550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:14.95, Z:2.92 [[ 8.90894401e-01 -4.49424356e-01 -6.57640841e-02 6.28496191e+01] [ 4.47388658e-01 8.93266906e-01 -4.37906717e-02 1.49460386e+01] [ 7.84254744e-02 9.59075890e-03 9.96873845e-01 2.91993823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.88, Y:14.95, Z:2.93 [[ 8.90918064e-01 -4.48476277e-01 -7.16521635e-02 6.28770624e+01] [ 4.47258441e-01 8.93791140e-01 -3.31252907e-02 1.49544301e+01] [ 7.88979759e-02 -2.53511504e-03 9.96879472e-01 2.92685186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.471858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.90, Y:14.96, Z:2.93 [[ 8.91067838e-01 -4.47876357e-01 -7.35178673e-02 6.29031637e+01] [ 4.47232674e-01 8.94041983e-01 -2.59204249e-02 1.49639539e+01] [ 7.73372053e-02 -9.78273540e-03 9.96956997e-01 2.93007552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.93, Y:14.98, Z:2.93 [[ 8.90971930e-01 -4.48807700e-01 -6.88525180e-02 6.29256668e+01] [ 4.47291588e-01 8.93625903e-01 -3.69185626e-02 1.49828768e+01] [ 7.80977287e-02 2.09625085e-03 9.96943504e-01 2.92958798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.95, Y:14.99, Z:2.93 [[ 8.91167420e-01 -4.48120007e-01 -7.07749093e-02 6.29510669e+01] [ 4.47028424e-01 8.93966172e-01 -3.14653947e-02 1.49932625e+01] [ 7.73706477e-02 -3.59746152e-03 9.96995908e-01 2.93308201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:15.01, Z:2.93 [[ 8.91246960e-01 -4.48100127e-01 -6.98937248e-02 6.29749211e+01] [ 4.47092517e-01 8.93973421e-01 -3.03282798e-02 1.50058114e+01] [ 7.60732383e-02 -4.21897421e-03 9.97093307e-01 2.93493909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.00, Y:15.02, Z:2.93 [[ 8.90575672e-01 -4.49832952e-01 -6.72702578e-02 6.29991784e+01] [ 4.48315574e-01 8.93108278e-01 -3.70236356e-02 1.50216085e+01] [ 7.67340755e-02 2.81404495e-03 9.97047623e-01 2.93439923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.00, Y:15.07, Z:2.90 [[ 8.87349358e-01 -4.59863358e-01 -3.37165892e-02 6.30038957e+01] [ 4.55848378e-01 8.85901216e-01 -8.59144444e-02 1.50673021e+01] [ 6.93784722e-02 6.08664746e-02 9.95731841e-01 2.89678275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.06, Y:15.02, Z:2.96 [[ 8.90080015e-01 -4.44970374e-01 -9.87873095e-02 6.30639937e+01] [ 4.48321907e-01 8.93768997e-01 1.35811485e-02 1.50207269e+01] [ 8.22498258e-02 -5.63768238e-02 9.95015889e-01 2.96031901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:15.08, Z:2.92 [[ 8.87855719e-01 -4.57422410e-01 -4.97690790e-02 6.30659122e+01] [ 4.54446622e-01 8.88695962e-01 -6.08091705e-02 1.50766435e+01] [ 7.20450569e-02 3.13723799e-02 9.96907861e-01 2.91681059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:15.09, Z:2.91 [[ 8.87216127e-01 -4.58892959e-01 -4.75898741e-02 6.30873220e+01] [ 4.55986089e-01 8.87905160e-01 -6.08367819e-02 1.50923368e+01] [ 7.01728657e-02 3.22750535e-02 9.97012583e-01 2.91076618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:15.06, Z:2.96 [[ 8.91026353e-01 -4.43190857e-01 -9.82542731e-02 6.31388330e+01] [ 4.46632189e-01 8.94589633e-01 1.51352613e-02 1.50589229e+01] [ 8.11894447e-02 -5.73694377e-02 9.95046241e-01 2.96318854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:15.12, Z:2.92 [[ 8.90619437e-01 -4.51904753e-01 -5.07849594e-02 6.31433842e+01] [ 4.48707130e-01 8.91433054e-01 -6.33168376e-02 1.51154774e+01] [ 7.38845713e-02 3.36036330e-02 9.96700490e-01 2.92175300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:15.09, Z:2.96 [[ 8.92277040e-01 -4.42071192e-01 -9.17319198e-02 6.31908881e+01] [ 4.43504232e-01 8.96256956e-01 -5.24068121e-03 1.50928649e+01] [ 8.45321254e-02 -3.60073551e-02 9.95769948e-01 2.96313996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:15.15, Z:2.92 [[ 8.91678254e-01 -4.50902491e-01 -3.99604186e-02 6.31925193e+01] [ 4.47086936e-01 8.91064428e-01 -7.82141764e-02 1.51481730e+01] [ 7.08742745e-02 5.18760991e-02 9.96135386e-01 2.91746935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.24, Y:15.11, Z:2.97 [[ 8.93487359e-01 -4.39296716e-01 -9.32670044e-02 6.32415093e+01] [ 4.41665832e-01 8.97163496e-01 5.38089723e-03 1.51122087e+01] [ 8.13119412e-02 -4.60006127e-02 9.95626593e-01 2.96747009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.25, Y:15.17, Z:2.93 [[ 8.93666062e-01 -4.45773747e-01 -5.14464420e-02 6.32488535e+01] [ 4.42265574e-01 8.94373118e-01 -6.70662987e-02 1.51660545e+01] [ 7.59087100e-02 3.71818848e-02 9.96421284e-01 2.93037986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.28, Y:15.16, Z:2.94 [[ 8.94847138e-01 -4.41544973e-01 -6.54724049e-02 6.32797764e+01] [ 4.40041132e-01 8.97230361e-01 -3.66262451e-02 1.51623367e+01] [ 7.49159639e-02 3.96433950e-03 9.97181971e-01 2.94188733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:15.17, Z:2.95 [[ 8.95020046e-01 -4.40145106e-01 -7.21900524e-02 6.33103781e+01] [ 4.39124249e-01 8.97915006e-01 -3.03073540e-02 1.51697123e+01] [ 7.81601649e-02 -4.57471327e-03 9.96930319e-01 2.95092719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.34, Y:15.18, Z:2.96 [[ 8.96137231e-01 -4.36413976e-01 -8.05040636e-02 6.33419870e+01] [ 4.35934596e-01 8.99648337e-01 -2.43700275e-02 1.51763392e+01] [ 8.30607675e-02 -1.32556174e-02 9.96456320e-01 2.96230592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.36, Y:15.20, Z:2.95 [[ 8.95674612e-01 -4.39626030e-01 -6.70517947e-02 6.33616601e+01] [ 4.37572057e-01 8.98129089e-01 -4.35296984e-02 1.51981489e+01] [ 7.93579558e-02 9.64845398e-03 9.96799489e-01 2.95240605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.39, Y:15.20, Z:2.97 [[ 8.96356039e-01 -4.35978782e-01 -8.04260677e-02 6.33946672e+01] [ 4.35757380e-01 8.99814145e-01 -2.12134574e-02 1.51963336e+01] [ 8.16171306e-02 -1.60314420e-02 9.96534815e-01 2.96836682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:15.21, Z:2.97 [[ 8.96910037e-01 -4.35442475e-01 -7.70859055e-02 6.34192676e+01] [ 4.33755932e-01 9.00216094e-01 -3.82985091e-02 1.52139793e+01] [ 8.60707703e-02 9.13848401e-04 9.96288606e-01 2.96744147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.45, Y:15.22, Z:2.98 [[ 8.96805433e-01 -4.34499731e-01 -8.33666535e-02 6.34487899e+01] [ 4.33587525e-01 9.00621768e-01 -2.97033373e-02 1.52205644e+01] [ 8.79879150e-02 -9.50862674e-03 9.96076158e-01 2.97636474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:15.24, Z:2.97 [[ 8.96342058e-01 -4.37722598e-01 -7.04971052e-02 6.34696795e+01] [ 4.35253927e-01 8.99024823e-01 -4.80456695e-02 1.52435465e+01] [ 8.44093228e-02 1.23812124e-02 9.96354240e-01 2.96686158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.161858064 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:63.50, Y:15.24, Z:2.98 [[ 8.96175962e-01 -4.35685383e-01 -8.39457735e-02 6.34991417e+01] [ 4.34870936e-01 9.00034633e-01 -2.87215679e-02 1.52433394e+01] [ 8.80676708e-02 -1.07659984e-02 9.96056313e-01 2.98126912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.52, Y:15.26, Z:2.98 [[ 8.96511596e-01 -4.36272922e-01 -7.70252970e-02 6.35232803e+01] [ 4.34758501e-01 8.99813924e-01 -3.63310879e-02 1.52561382e+01] [ 8.51587046e-02 -9.16161028e-04 9.96366978e-01 2.97678411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.221858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:63.55, Y:15.27, Z:2.98 [[ 8.95534179e-01 -4.37415996e-01 -8.17666276e-02 6.35496191e+01] [ 4.36031047e-01 8.99249131e-01 -3.50417922e-02 1.52654057e+01] [ 8.88564093e-02 -4.27166565e-03 9.96035286e-01 2.98326160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.58, Y:15.28, Z:2.98 [[ 8.95037675e-01 -4.38904585e-01 -7.91853909e-02 6.35773862e+01] [ 4.36894433e-01 8.98528471e-01 -4.20694737e-02 1.52795558e+01] [ 8.96148131e-02 3.05810745e-03 9.95971803e-01 2.98135295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.60, Y:15.29, Z:2.98 [[ 8.94903923e-01 -4.38883206e-01 -8.07991312e-02 6.36036265e+01] [ 4.37159356e-01 8.98543954e-01 -3.88646327e-02 1.52905607e+01] [ 8.96586055e-02 -5.41983825e-04 9.95972410e-01 2.98494973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.311858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.62, Y:15.31, Z:2.97 [[ 8.92743335e-01 -4.45089451e-01 -7.00336941e-02 6.36221138e+01] [ 4.42298619e-01 8.95350621e-01 -5.21459198e-02 1.53096464e+01] [ 8.59143103e-02 1.55771162e-02 9.96180749e-01 2.97270143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:15.30, Z:2.99 [[ 8.92549446e-01 -4.42547401e-01 -8.66445829e-02 6.36567899e+01] [ 4.42173083e-01 8.96594601e-01 -2.45170566e-02 1.53045701e+01] [ 8.85350249e-02 -1.64292171e-02 9.95937563e-01 2.99162260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.68, Y:15.32, Z:2.99 [[ 8.91462244e-01 -4.45088182e-01 -8.48031658e-02 6.36839577e+01] [ 4.43952930e-01 8.95447695e-01 -3.28515059e-02 1.53164587e+01] [ 9.05586164e-02 -8.36273679e-03 9.95856015e-01 2.99491927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.71, Y:15.33, Z:2.99 [[ 8.91069600e-01 -4.47063142e-01 -7.82912189e-02 6.37051624e+01] [ 4.44821244e-01 8.94486711e-01 -4.50287013e-02 1.53335451e+01] [ 9.01611276e-02 5.29810951e-03 9.95913099e-01 2.99198148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.73, Y:15.34, Z:3.00 [[ 8.90388468e-01 -4.47864762e-01 -8.13973631e-02 6.37326823e+01] [ 4.46286704e-01 8.94096963e-01 -3.76669335e-02 1.53410559e+01] [ 8.96468274e-02 -2.78835771e-03 9.95969714e-01 2.99724339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.461858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.76, Y:15.35, Z:3.00 [[ 8.89766663e-01 -4.49233128e-01 -8.06528474e-02 6.37580438e+01] [ 4.47496561e-01 8.93414046e-01 -3.94736770e-02 1.53529140e+01] [ 8.97892701e-02 -9.69509917e-04 9.95960314e-01 2.99865601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.491858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.79, Y:15.36, Z:3.00 [[ 8.87983482e-01 -4.52777993e-01 -8.04824519e-02 6.37854054e+01] [ 4.50746861e-01 8.91621479e-01 -4.28766298e-02 1.53643931e+01] [ 9.11734772e-02 1.79652647e-03 9.95833405e-01 2.99853955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:15.37, Z:3.00 [[ 8.87663866e-01 -4.53228439e-01 -8.14668213e-02 6.38097302e+01] [ 4.51351737e-01 8.91394382e-01 -4.12027415e-02 1.53736482e+01] [ 9.12933210e-02 -1.96006497e-04 9.95824026e-01 3.00193955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:15.38, Z:3.01 [[ 8.86095568e-01 -4.56183862e-01 -8.20422385e-02 6.38378295e+01] [ 4.54466924e-01 8.89882841e-01 -3.96023251e-02 1.53829675e+01] [ 9.10739218e-02 -2.19403907e-03 9.95841718e-01 3.00506416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.581858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.86, Y:15.39, Z:3.01 [[ 8.85328146e-01 -4.57664319e-01 -8.20819368e-02 6.38643890e+01] [ 4.56140119e-01 8.89115176e-01 -3.75552305e-02 1.53936104e+01] [ 9.01679847e-02 -4.19216185e-03 9.95917748e-01 3.00709803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.611858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:63.89, Y:15.41, Z:3.01 [[ 8.85444778e-01 -4.57905897e-01 -7.94338343e-02 6.38873333e+01] [ 4.55746264e-01 8.88994786e-01 -4.45377649e-02 1.54074530e+01] [ 9.10103697e-02 3.23405812e-03 9.95844693e-01 3.00700970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.92, Y:15.41, Z:3.01 [[ 8.85512580e-01 -4.57184012e-01 -8.27662395e-02 6.39164041e+01] [ 4.56015312e-01 8.89336448e-01 -3.36261527e-02 1.54127417e+01] [ 8.89803728e-02 -7.96629128e-03 9.96001522e-01 3.01344642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.671858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:63.94, Y:15.43, Z:3.01 [[ 8.85416739e-01 -4.57951724e-01 -7.94821796e-02 6.39408602e+01] [ 4.55869266e-01 8.88973681e-01 -4.36921885e-02 1.54290651e+01] [ 9.06664788e-02 2.45231211e-03 9.95878294e-01 3.01179166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.97, Y:15.44, Z:3.02 [[ 8.85808969e-01 -4.56771533e-01 -8.18671975e-02 6.39669500e+01] [ 4.55419965e-01 8.89565364e-01 -3.55825677e-02 1.54354774e+01] [ 8.90793273e-02 -5.76459867e-03 9.96007853e-01 3.01729088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73185806400001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.99, Y:15.45, Z:3.02 [[ 8.86016818e-01 -4.56746836e-01 -7.97278223e-02 6.39916422e+01] [ 4.55063631e-01 8.89595383e-01 -3.92064573e-02 1.54482780e+01] [ 8.88329279e-02 -1.54365178e-03 9.96045344e-01 3.01804014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.02, Y:15.46, Z:3.02 [[ 8.86526245e-01 -4.56117354e-01 -7.76413298e-02 6.40173242e+01] [ 4.53978805e-01 8.89910531e-01 -4.43000168e-02 1.54616969e+01] [ 8.92998435e-02 4.02560946e-03 9.95996653e-01 3.01884732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.04, Y:15.47, Z:3.03 [[ 8.87295032e-01 -4.54140495e-01 -8.03986063e-02 6.40432770e+01] [ 4.52969362e-01 8.90903643e-01 -3.33084993e-02 1.54682490e+01] [ 8.67541496e-02 -6.86363944e-03 9.96206107e-01 3.02519783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.821858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.07, Y:15.48, Z:3.03 [[ 8.88150877e-01 -4.52879563e-01 -7.80264141e-02 6.40684992e+01] [ 4.51586580e-01 8.91559883e-01 -3.45041309e-02 1.54811689e+01] [ 8.51914364e-02 -4.59080734e-03 9.96354025e-01 3.02694001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:15.50, Z:3.03 [[ 8.88935625e-01 -4.51605390e-01 -7.64593178e-02 6.40930868e+01] [ 4.49794687e-01 8.92216439e-01 -4.04297616e-02 1.54952762e+01] [ 8.64765585e-02 1.54846049e-03 9.96252682e-01 3.02674127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.881858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:64.12, Y:15.51, Z:3.03 [[ 8.89040502e-01 -4.51037738e-01 -7.85617244e-02 6.41205244e+01] [ 4.49615264e-01 8.92498551e-01 -3.59506841e-02 1.55053555e+01] [ 8.63313404e-02 -3.36093617e-03 9.96260811e-01 3.03074155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.14, Y:15.52, Z:3.03 [[ 8.89687812e-01 -4.50019917e-01 -7.70562874e-02 6.41446714e+01] [ 4.48061678e-01 8.93013901e-01 -4.20345644e-02 1.55189543e+01] [ 8.77287270e-02 2.87167020e-03 9.96140263e-01 3.03047458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.17, Y:15.53, Z:3.03 [[ 8.89519894e-01 -4.50176343e-01 -7.80744468e-02 6.41709292e+01] [ 4.48215096e-01 8.92936433e-01 -4.20446575e-02 1.55313896e+01] [ 8.86430283e-02 2.40541352e-03 9.96060554e-01 3.03273097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.971858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:64.20, Y:15.54, Z:3.04 [[ 8.89927305e-01 -4.49013293e-01 -8.01027747e-02 6.41963667e+01] [ 4.47687346e-01 8.93511803e-01 -3.48238155e-02 1.55403754e+01] [ 8.72091307e-02 -4.87033433e-03 9.96178120e-01 3.03799007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.22, Y:15.55, Z:3.04 [[ 8.89930164e-01 -4.49561796e-01 -7.69317574e-02 6.42208498e+01] [ 4.48113092e-01 8.93246232e-01 -3.61362250e-02 1.55537733e+01] [ 8.49644686e-02 -2.31541099e-03 9.96381291e-01 3.03881644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.031858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.25, Y:15.57, Z:3.04 [[ 8.89715255e-01 -4.50302563e-01 -7.50624176e-02 6.42451259e+01] [ 4.48309773e-01 8.92866232e-01 -4.25233930e-02 1.55683147e+01] [ 8.61690909e-02 4.18249605e-03 9.96271747e-01 3.03999857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:15.58, Z:3.05 [[ 8.90019968e-01 -4.49207956e-01 -7.79529849e-02 6.42719216e+01] [ 4.48002798e-01 8.93411616e-01 -3.33043086e-02 1.55752551e+01] [ 8.46046626e-02 -5.28165568e-03 9.96400600e-01 3.04660701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09185806400001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:64.30, Y:15.59, Z:3.05 [[ 8.89974881e-01 -4.49614012e-01 -7.61048717e-02 6.42957684e+01] [ 4.47918213e-01 8.93222724e-01 -3.90184473e-02 1.55895473e+01] [ 8.55218415e-02 6.36679770e-04 9.96336093e-01 3.04674356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.121858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:64.33, Y:15.59, Z:3.06 [[ 8.90667296e-01 -4.45557179e-01 -9.05017521e-02 6.43337637e+01] [ 4.44829126e-01 8.95139837e-01 -2.91842540e-02 1.55923764e+01] [ 9.40149775e-02 -1.42643547e-02 9.95468589e-01 3.06406042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.35, Y:15.62, Z:3.05 [[ 8.89549131e-01 -4.51011591e-01 -7.27384931e-02 6.43451707e+01] [ 4.48882825e-01 8.92492626e-01 -4.42845510e-02 1.56186461e+01] [ 8.48914145e-02 6.74222358e-03 9.96367397e-01 3.04824431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.37, Y:15.63, Z:3.05 [[ 8.89389220e-01 -4.50838914e-01 -7.57039539e-02 6.43692319e+01] [ 4.48868535e-01 8.92598058e-01 -4.22580638e-02 1.56295605e+01] [ 8.66247819e-02 3.60274347e-03 9.96234494e-01 3.05149169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.211858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.40, Y:15.64, Z:3.05 [[ 8.88377442e-01 -4.52521931e-01 -7.75204570e-02 6.43953028e+01] [ 4.50794540e-01 8.91753262e-01 -3.95019275e-02 1.56414645e+01] [ 8.70046089e-02 1.46822509e-04 9.96207898e-01 3.05419637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.241858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.42, Y:15.65, Z:3.06 [[ 8.87788497e-01 -4.53500327e-01 -7.85432309e-02 6.44204113e+01] [ 4.51925097e-01 8.91254033e-01 -3.78147500e-02 1.56525140e+01] [ 8.71509728e-02 -1.92415723e-03 9.96193257e-01 3.05736228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.45, Y:15.67, Z:3.06 [[ 8.86637720e-01 -4.55840435e-01 -7.79939179e-02 6.44451600e+01] [ 4.54183981e-01 8.90060965e-01 -3.88380123e-02 1.56650397e+01] [ 8.71232783e-02 -9.88341445e-04 9.96197048e-01 3.05960973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.301858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:64.47, Y:15.68, Z:3.06 [[ 8.84448083e-01 -4.60178794e-01 -7.73761370e-02 6.44697235e+01] [ 4.58562760e-01 8.87825192e-01 -3.85567552e-02 1.56767664e+01] [ 8.64394848e-02 -1.38036670e-03 9.96256147e-01 3.06294266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.331858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:64.49, Y:15.69, Z:3.07 [[ 8.83428815e-01 -4.62204831e-01 -7.69429805e-02 6.44945986e+01] [ 4.60613451e-01 8.86771822e-01 -3.83533993e-02 1.56891817e+01] [ 8.59579935e-02 -1.55847372e-03 9.96297543e-01 3.06567272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.52, Y:15.70, Z:3.07 [[ 8.81870450e-01 -4.65330668e-01 -7.59728861e-02 6.45189766e+01] [ 4.63788555e-01 8.85135058e-01 -3.78959677e-02 1.57018074e+01] [ 8.48804209e-02 -1.81602101e-03 9.96389490e-01 3.06923279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.391858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:64.54, Y:15.71, Z:3.07 [[ 8.81365685e-01 -4.66411994e-01 -7.51956161e-02 6.45433538e+01] [ 4.64903065e-01 8.84565615e-01 -3.75341582e-02 1.57145492e+01] [ 8.40218380e-02 -1.87735335e-03 9.96462145e-01 3.07221598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:64.57, Y:15.73, Z:3.07 [[ 8.81050053e-01 -4.67086216e-01 -7.47079049e-02 6.45676506e+01] [ 4.65597080e-01 8.84209723e-01 -3.73165549e-02 1.57277505e+01] [ 8.34875043e-02 -1.90602978e-03 9.96507001e-01 3.07488782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.451858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.59, Y:15.74, Z:3.08 [[ 8.80846626e-01 -4.67444276e-01 -7.48670214e-02 6.45921826e+01] [ 4.65947873e-01 8.84020452e-01 -3.74221981e-02 1.57415892e+01] [ 8.36767704e-02 -1.92091246e-03 9.96491098e-01 3.07731592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48185806400001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.61, Y:15.76, Z:3.08 [[ 8.81306159e-01 -4.66480961e-01 -7.54650063e-02 6.46149598e+01] [ 4.64954756e-01 8.84529365e-01 -3.77475392e-02 1.57563873e+01] [ 8.43595225e-02 -1.82067487e-03 9.96433719e-01 3.07918898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.65, Y:15.76, Z:3.09 [[ 8.83820526e-01 -4.59492183e-01 -8.79102486e-02 6.46481636e+01] [ 4.59169933e-01 8.87994949e-01 -2.50588064e-02 1.57623953e+01] [ 8.95781823e-02 -1.82182555e-02 9.95813157e-01 3.09407999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.66, Y:15.79, Z:3.08 [[ 8.82987717e-01 -4.64244676e-01 -6.93510735e-02 6.46591254e+01] [ 4.61557397e-01 8.85601760e-01 -5.17135475e-02 1.57933787e+01] [ 8.54251719e-02 1.36529263e-02 9.96251041e-01 3.07772926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.69, Y:15.80, Z:3.09 [[ 8.83601150e-01 -4.61957851e-01 -7.64457412e-02 6.46864753e+01] [ 4.60370628e-01 8.86900831e-01 -3.82857878e-02 1.58009459e+01] [ 8.54862117e-02 -1.36400771e-03 9.96338420e-01 3.08583273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.601858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.71, Y:15.82, Z:3.09 [[ 8.84223449e-01 -4.60749153e-01 -7.65448258e-02 6.47103021e+01] [ 4.59150955e-01 8.87529559e-01 -3.83625168e-02 1.58152468e+01] [ 8.56112926e-02 -1.22459294e-03 9.96327861e-01 3.08808387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.631858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.73, Y:15.83, Z:3.09 [[ 8.85697226e-01 -4.57918958e-01 -7.64895576e-02 6.47330325e+01] [ 4.56310249e-01 8.88993459e-01 -3.83612675e-02 1.58300724e+01] [ 8.55650680e-02 -9.26500915e-04 9.96332154e-01 3.09059382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.661858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.76, Y:15.84, Z:3.09 [[ 8.86124428e-01 -4.56970885e-01 -7.72082141e-02 6.47575531e+01] [ 4.55327047e-01 8.89481264e-01 -3.87344928e-02 1.58435490e+01] [ 8.63757953e-02 -8.31407791e-04 9.96262280e-01 3.09344521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.691858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.78, Y:15.86, Z:3.10 [[ 8.87091725e-01 -4.54900700e-01 -7.83174609e-02 6.47814950e+01] [ 4.53198681e-01 8.90541956e-01 -3.93189453e-02 1.58578808e+01] [ 8.76312006e-02 -6.13858989e-04 9.96152797e-01 3.09515138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.721858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:64.81, Y:15.86, Z:3.11 [[ 8.88350532e-01 -4.50477645e-01 -8.89000743e-02 6.48146997e+01] [ 4.49718708e-01 8.92681889e-01 -2.95318312e-02 1.58635417e+01] [ 9.26629161e-02 -1.37454086e-02 9.95602656e-01 3.10857548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.83, Y:15.89, Z:3.10 [[ 8.88039708e-01 -4.53894482e-01 -7.32480509e-02 6.48285046e+01] [ 4.51231212e-01 8.90977464e-01 -5.04930952e-02 1.58900964e+01] [ 8.81808999e-02 1.17880667e-02 9.96034723e-01 3.09512001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.86, Y:15.90, Z:3.10 [[ 8.88435578e-01 -4.52270810e-01 -7.83156295e-02 6.48551260e+01] [ 4.50553588e-01 8.91880610e-01 -3.93756495e-02 1.58975133e+01] [ 8.76566483e-02 -3.02659885e-04 9.96150702e-01 3.10222938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.811858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.88, Y:15.91, Z:3.11 [[ 8.88764916e-01 -4.51669632e-01 -7.80478535e-02 6.48798914e+01] [ 4.49959429e-01 8.92185237e-01 -3.92685061e-02 1.59114910e+01] [ 8.73695343e-02 -2.17897082e-04 9.96175947e-01 3.10513732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84185806400001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:64.90, Y:15.93, Z:3.11 [[ 8.89490456e-01 -4.50426578e-01 -7.69586053e-02 6.49028461e+01] [ 4.48756953e-01 8.92813470e-01 -3.87466643e-02 1.59259930e+01] [ 8.61622068e-02 -7.09211394e-05 9.96281120e-01 3.10757111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.871858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:64.93, Y:15.94, Z:3.11 [[ 8.89520290e-01 -4.50345588e-01 -7.70876431e-02 6.49273906e+01] [ 4.48668948e-01 8.92854327e-01 -3.88242944e-02 1.59389055e+01] [ 8.63123853e-02 -5.18340948e-05 9.96268121e-01 3.11011230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.901858064 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:64.95, Y:15.95, Z:3.11 [[ 8.89028799e-01 -4.51298644e-01 -7.71837334e-02 6.49521009e+01] [ 4.49619073e-01 8.92372971e-01 -3.88994848e-02 1.59516137e+01] [ 8.64319622e-02 -1.20516390e-04 9.96257748e-01 3.11293697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.931858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:64.98, Y:15.96, Z:3.12 [[ 8.88767301e-01 -4.51804114e-01 -7.72381188e-02 6.49769762e+01] [ 4.50121724e-01 8.92117157e-01 -3.89539820e-02 1.59644260e+01] [ 8.65050202e-02 -1.45529777e-04 9.96251404e-01 3.11555462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.961858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:65.00, Y:15.98, Z:3.12 [[ 8.87631351e-01 -4.54016376e-01 -7.73286148e-02 6.50007589e+01] [ 4.52336005e-01 8.90993275e-01 -3.90271999e-02 1.59788670e+01] [ 8.66182636e-02 -3.36750460e-04 9.96241518e-01 3.11719234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.991858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:65.03, Y:15.99, Z:3.12 [[ 8.86830356e-01 -4.55478315e-01 -7.79193424e-02 6.50258272e+01] [ 4.53775299e-01 8.90246760e-01 -3.93533187e-02 1.59923450e+01] [ 8.72920254e-02 -4.58155230e-04 9.96182660e-01 3.11935537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.021858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:65.05, Y:16.00, Z:3.12 [[ 8.86064187e-01 -4.56935279e-01 -7.81051058e-02 6.50499114e+01] [ 4.55227393e-01 8.89499756e-01 -3.94741039e-02 1.60048481e+01] [ 8.75115832e-02 -5.78993925e-04 9.96163334e-01 3.12157805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.07, Y:16.02, Z:3.12 [[ 8.85218668e-01 -4.58464228e-01 -7.87303118e-02 6.50744133e+01] [ 4.56733679e-01 8.88712568e-01 -3.98035017e-02 1.60173571e+01] [ 8.82170992e-02 -7.23982247e-04 9.96101009e-01 3.12415833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.081858064 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:65.10, Y:16.03, Z:3.13 [[ 8.83947506e-01 -4.60819071e-01 -7.92627970e-02 6.50993944e+01] [ 4.59071919e-01 8.87493605e-01 -4.01007914e-02 1.60308673e+01] [ 8.88244349e-02 -9.40329766e-04 9.96046854e-01 3.12641545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.111858064 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:65.12, Y:16.04, Z:3.13 [[ 8.83526541e-01 -4.61616035e-01 -7.93188993e-02 6.51227671e+01] [ 4.59867234e-01 8.87079275e-01 -4.01557696e-02 1.60435384e+01] [ 8.88986989e-02 -9.97474613e-04 9.96040173e-01 3.12858108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141858064 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:65.15, Y:16.06, Z:3.13 [[ 8.83082210e-01 -4.62381300e-01 -7.98081694e-02 6.51473198e+01] [ 4.60612719e-01 8.86680546e-01 -4.04169865e-02 1.60570113e+01] [ 8.94524099e-02 -1.06913610e-03 9.95990524e-01 3.13064971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.171858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:65.17, Y:16.07, Z:3.13 [[ 8.82744686e-01 -4.62833940e-01 -8.09108371e-02 6.51708049e+01] [ 4.61015368e-01 8.86444315e-01 -4.10037577e-02 1.60716757e+01] [ 9.07008822e-02 -1.10529012e-03 9.95877567e-01 3.13268334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:65.20, Y:16.08, Z:3.14 [[ 8.82663935e-01 -4.62989859e-01 -8.08997380e-02 6.51961444e+01] [ 4.61169935e-01 8.86362898e-01 -4.10256450e-02 1.60846279e+01] [ 9.07009839e-02 -1.09666966e-03 9.95877567e-01 3.13501060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23185806400001 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:65.22, Y:16.10, Z:3.14 [[ 8.82665746e-01 -4.62946391e-01 -8.11284170e-02 6.52202941e+01] [ 4.61114224e-01 8.86385625e-01 -4.11606135e-02 1.60979978e+01] [ 9.09662200e-02 -1.07840341e-03 9.95853395e-01 3.13665031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.261858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.24, Y:16.11, Z:3.14 [[ 8.82709456e-01 -4.62846325e-01 -8.12237353e-02 6.52445049e+01] [ 4.61006796e-01 8.86437922e-01 -4.12376506e-02 1.61113021e+01] [ 9.10864942e-02 -1.04382984e-03 9.95842438e-01 3.13894406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.291858064 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:65.27, Y:16.12, Z:3.14 [[ 8.83244429e-01 -4.61706526e-01 -8.18923902e-02 6.52680925e+01] [ 4.59829125e-01 8.87032275e-01 -4.16043132e-02 1.61245657e+01] [ 9.18501760e-02 -9.09728347e-04 9.95772423e-01 3.14164332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.321858064 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:65.29, Y:16.14, Z:3.14 [[ 8.83315625e-01 -4.61616404e-01 -8.16321193e-02 6.52925815e+01] [ 4.59749259e-01 8.87079203e-01 -4.14862149e-02 1.61384693e+01] [ 9.15648727e-02 -8.84884547e-04 9.95798720e-01 3.14356305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.351858064 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:65.32, Y:16.15, Z:3.15 [[ 8.83191812e-01 -4.61600151e-01 -8.30513294e-02 6.53182772e+01] [ 4.60008083e-01 8.87078284e-01 -3.85315622e-02 1.61517426e+01] [ 9.14592057e-02 -4.17352255e-03 9.95800078e-01 3.14729076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.381858064 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:65.34, Y:16.17, Z:3.15 [[ 8.83303642e-01 -4.61878851e-01 -8.02658313e-02 6.53409778e+01] [ 4.59743186e-01 8.86939934e-01 -4.44269716e-02 1.61673288e+01] [ 9.17108498e-02 2.34083681e-03 9.95782928e-01 3.14794996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.411858064 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:65.37, Y:16.18, Z:3.15 [[ 8.83258779e-01 -4.61726428e-01 -8.16249656e-02 6.53661415e+01] [ 4.59853945e-01 8.87021987e-01 -4.15492862e-02 1.61785777e+01] [ 9.15875427e-02 -8.36790654e-04 9.95796677e-01 3.15180820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.441858064 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:65.39, Y:16.19, Z:3.15 [[ 8.83328140e-01 -4.61605393e-01 -8.15589265e-02 6.53904213e+01] [ 4.59732727e-01 8.87085016e-01 -4.15450887e-02 1.61920261e+01] [ 9.15271386e-02 -7.97361838e-04 9.95802263e-01 3.15420285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.471858064 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:65.41, Y:16.21, Z:3.16 [[ 8.84268890e-01 -4.59691971e-01 -8.21694653e-02 6.54137858e+01] [ 4.57780260e-01 8.88078238e-01 -4.18840956e-02 1.62064157e+01] [ 9.22266964e-02 -5.78756447e-04 9.95737868e-01 3.15605693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:65.44, Y:16.22, Z:3.16 [[ 8.84931713e-01 -4.58380747e-01 -8.23586953e-02 6.54379709e+01] [ 4.56453153e-01 8.88755819e-01 -4.19953924e-02 1.62201444e+01] [ 9.24466490e-02 -4.29831634e-04 9.95717546e-01 3.15824642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.531858064 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:65.46, Y:16.23, Z:3.16 [[ 8.86854662e-01 -4.54308402e-01 -8.42180730e-02 6.54622094e+01] [ 4.53111108e-01 8.90807959e-01 -3.39338251e-02 1.62302671e+01] [ 9.04385516e-02 -8.06577341e-03 9.95869375e-01 3.16303305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561858064 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:65.48, Y:16.25, Z:3.16 [[ 8.87258490e-01 -4.54506274e-01 -7.87173351e-02 6.54842210e+01] [ 4.51917308e-01 8.90707719e-01 -4.90969118e-02 1.62508847e+01] [ 9.24289924e-02 7.98792563e-03 9.95687237e-01 3.16044891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59185806400001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.51, Y:16.26, Z:3.17 [[ 8.87778014e-01 -4.52863450e-01 -8.22489694e-02 6.55104514e+01] [ 4.50911196e-01 8.91579864e-01 -4.20052303e-02 1.62600425e+01] [ 9.23541585e-02 2.04338778e-04 9.95726201e-01 3.16564509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.621858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.54, Y:16.27, Z:3.17 [[ 8.88713296e-01 -4.50955984e-01 -8.26279506e-02 6.55358441e+01] [ 4.48974666e-01 8.92546085e-01 -4.22283701e-02 1.62727552e+01] [ 9.27923900e-02 4.31057510e-04 9.95685385e-01 3.16852370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:16.29, Z:3.17 [[ 8.89146424e-01 -4.49988617e-01 -8.32399080e-02 6.55592716e+01] [ 4.47970934e-01 8.93034115e-01 -4.25689134e-02 1.62854160e+01] [ 9.34916041e-02 5.60937832e-04 9.95619910e-01 3.17072439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.681858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.58, Y:16.30, Z:3.17 [[ 8.89390714e-01 -4.49486350e-01 -8.33437394e-02 6.55838263e+01] [ 4.47420144e-01 8.93286631e-01 -4.30605388e-02 1.62992887e+01] [ 9.38049726e-02 1.00797544e-03 9.95590082e-01 3.17256387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.711858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.61, Y:16.31, Z:3.17 [[ 8.89191771e-01 -4.49810477e-01 -8.37169576e-02 6.56095621e+01] [ 4.47793795e-01 8.93123964e-01 -4.25476387e-02 1.63125572e+01] [ 9.39079948e-02 3.45076095e-04 9.95580820e-01 3.17476680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.741858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.63, Y:16.33, Z:3.17 [[ 8.88634739e-01 -4.51891913e-01 -7.82432083e-02 6.56334459e+01] [ 4.49264713e-01 8.92029433e-01 -4.94439811e-02 1.63288963e+01] [ 9.21385799e-02 8.78572672e-03 9.95707433e-01 3.17085503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.771858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:65.66, Y:16.33, Z:3.18 [[ 8.87939573e-01 -4.51669255e-01 -8.69379053e-02 6.56620274e+01] [ 4.50352810e-01 8.92151498e-01 -3.53277526e-02 1.63325797e+01] [ 9.35182422e-02 -7.78382048e-03 9.95587139e-01 3.18213721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.69, Y:16.34, Z:3.18 [[ 8.86662612e-01 -4.54655695e-01 -8.43659341e-02 6.56872219e+01] [ 4.53184414e-01 8.90650494e-01 -3.69538146e-02 1.63448589e+01] [ 9.19418232e-02 -5.46776063e-03 9.95749368e-01 3.18386793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.831858064 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:65.71, Y:16.36, Z:3.18 [[ 8.85908675e-01 -4.57386041e-01 -7.72258333e-02 6.57109542e+01] [ 4.55192953e-01 8.89255835e-01 -4.49826152e-02 1.63620132e+01] [ 8.92479431e-02 4.69783390e-03 9.95998361e-01 3.18146901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.74, Y:16.37, Z:3.19 [[ 8.85500258e-01 -4.57146149e-01 -8.31065096e-02 6.57376673e+01] [ 4.55156703e-01 8.89391583e-01 -4.26026721e-02 1.63717403e+01] [ 9.33898776e-02 -1.01807824e-04 9.95629610e-01 3.18689550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.891858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.76, Y:16.38, Z:3.19 [[ 8.84825454e-01 -4.58535495e-01 -8.26384645e-02 6.57625663e+01] [ 4.56571399e-01 8.88676067e-01 -4.23958154e-02 1.63844596e+01] [ 9.28788119e-02 -2.17462758e-04 9.95677397e-01 3.18940274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.79, Y:16.40, Z:3.19 [[ 8.84301677e-01 -4.59806641e-01 -8.11689362e-02 6.57866655e+01] [ 4.57527452e-01 8.88012514e-01 -4.58520028e-02 1.63972065e+01] [ 9.31620865e-02 3.40998642e-03 9.95645116e-01 3.19052022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:16.41, Z:3.20 [[ 8.83617750e-01 -4.60758890e-01 -8.31920551e-02 6.58145884e+01] [ 4.59123245e-01 8.87517385e-01 -3.89709904e-02 1.64067034e+01] [ 9.17906255e-02 -3.75994741e-03 9.95771231e-01 3.19528398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.84, Y:16.42, Z:3.20 [[ 8.83223064e-01 -4.61759395e-01 -8.18246979e-02 6.58394920e+01] [ 4.59839623e-01 8.87005094e-01 -4.20652295e-02 1.64198439e+01] [ 9.20029388e-02 -4.73257337e-04 9.95758623e-01 3.19649694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.011858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.86, Y:16.43, Z:3.20 [[ 8.82973496e-01 -4.62211873e-01 -8.19633458e-02 6.58644488e+01] [ 4.60086147e-01 8.86768407e-01 -4.43004476e-02 1.64317228e+01] [ 9.31586985e-02 1.40592110e-03 9.95650280e-01 3.19834890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:16.44, Z:3.20 [[ 8.82673630e-01 -4.62582653e-01 -8.30936327e-02 6.58906256e+01] [ 4.60779266e-01 8.86573392e-01 -4.08667175e-02 1.64427392e+01] [ 9.25728384e-02 -2.21584917e-03 9.95703450e-01 3.20122172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.071858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:65.91, Y:16.46, Z:3.20 [[ 8.82873708e-01 -4.62696709e-01 -8.02855677e-02 6.59134656e+01] [ 4.59927590e-01 8.86477814e-01 -5.12220311e-02 1.64586129e+01] [ 9.48716397e-02 8.29703680e-03 9.95454937e-01 3.19928840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.101858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:65.94, Y:16.46, Z:3.21 [[ 8.82508513e-01 -4.62373531e-01 -8.59618631e-02 6.59436789e+01] [ 4.61125328e-01 8.86642491e-01 -3.50503209e-02 1.64635439e+01] [ 9.24237811e-02 -8.70698581e-03 9.95681693e-01 3.20763598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.131858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:65.97, Y:16.48, Z:3.21 [[ 8.82377397e-01 -4.63390064e-01 -8.17299038e-02 6.59674229e+01] [ 4.61471595e-01 8.86154248e-01 -4.21261798e-02 1.64788469e+01] [ 9.19461546e-02 -5.44840200e-04 9.95763831e-01 3.20737475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.161858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:65.99, Y:16.49, Z:3.21 [[ 8.82445677e-01 -4.63337591e-01 -8.12890170e-02 6.59915978e+01] [ 4.61437095e-01 8.86181705e-01 -4.19260473e-02 1.64903090e+01] [ 9.14627534e-02 -5.12308679e-04 9.95808366e-01 3.20985406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.191858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:66.01, Y:16.50, Z:3.21 [[ 8.82358456e-01 -4.63888008e-01 -7.90662421e-02 6.60144445e+01] [ 4.61491274e-01 8.85877810e-01 -4.73952555e-02 1.65042467e+01] [ 9.20291201e-02 5.33122374e-03 9.95742044e-01 3.21000365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.221858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:66.04, Y:16.51, Z:3.21 [[ 8.82414436e-01 -4.63580923e-01 -8.02339776e-02 6.60385508e+01] [ 4.61288750e-01 8.86046638e-01 -4.61957154e-02 1.65139994e+01] [ 9.25064985e-02 3.75273489e-03 9.95705009e-01 3.21258265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:16.52, Z:3.22 [[ 8.81662073e-01 -4.64396810e-01 -8.37113630e-02 6.60678560e+01] [ 4.63358280e-01 8.85570456e-01 -3.26201031e-02 1.65208800e+01] [ 8.92809818e-02 -1.00284455e-02 9.95955991e-01 3.22001550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:66.09, Y:16.54, Z:3.22 [[ 8.81307936e-01 -4.65923326e-01 -7.88148205e-02 6.60908324e+01] [ 4.64140437e-01 8.84824830e-01 -4.07268331e-02 1.65369621e+01] [ 8.87128918e-02 -6.88263992e-04 9.96057001e-01 3.21870065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.311858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:66.12, Y:16.55, Z:3.22 [[ 8.80949229e-01 -4.66714959e-01 -7.81383571e-02 6.61162531e+01] [ 4.64963464e-01 8.84407486e-01 -4.04026763e-02 1.65473752e+01] [ 8.79626814e-02 -7.38774605e-04 9.96123497e-01 3.22186894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34185806400001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:66.14, Y:16.56, Z:3.22 [[ 8.80820959e-01 -4.66971340e-01 -7.80525771e-02 6.61412904e+01] [ 4.65223594e-01 8.84272131e-01 -4.03708639e-02 1.65593507e+01] [ 8.78717551e-02 -7.52397346e-04 9.96131512e-01 3.22460537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:16.57, Z:3.23 [[ 8.80688450e-01 -4.67300433e-01 -7.75767996e-02 6.61658193e+01] [ 4.65572814e-01 8.84098260e-01 -4.01524742e-02 1.65718952e+01] [ 8.73487822e-02 -7.55828591e-04 9.96177504e-01 3.22659675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:16.58, Z:3.23 [[ 8.80815426e-01 -4.67193551e-01 -7.67748037e-02 6.61894179e+01] [ 4.65498836e-01 8.84154781e-01 -3.97637779e-02 1.65840119e+01] [ 8.64581904e-02 -7.14032748e-04 9.96255224e-01 3.22790267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:16.60, Z:3.23 [[ 8.81756295e-01 -4.65385948e-01 -7.69529460e-02 6.62119615e+01] [ 4.63678216e-01 8.85107683e-01 -3.98359378e-02 1.65957279e+01] [ 8.66507295e-02 -5.55815755e-04 9.96238597e-01 3.22952298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.461858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:66.24, Y:16.61, Z:3.23 [[ 8.81492892e-01 -4.66091162e-01 -7.56922127e-02 6.62369460e+01] [ 4.63815358e-01 8.84717944e-01 -4.63624119e-02 1.66108756e+01] [ 8.85753692e-02 5.76092585e-03 9.96052818e-01 3.22860209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.491858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:66.27, Y:16.62, Z:3.23 [[ 8.81348358e-01 -4.65667498e-01 -7.98677182e-02 6.62659311e+01] [ 4.64308836e-01 8.84943312e-01 -3.59532878e-02 1.66185345e+01] [ 8.74206806e-02 -5.39591615e-03 9.96156870e-01 3.23490740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.521858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:66.29, Y:16.63, Z:3.24 [[ 8.81858518e-01 -4.64906290e-01 -7.86619018e-02 6.62900727e+01] [ 4.63107541e-01 8.85359804e-01 -4.08585586e-02 1.66308808e+01] [ 8.86394869e-02 -3.97452010e-04 9.96063694e-01 3.23518296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.31, Y:16.64, Z:3.24 [[ 8.82397991e-01 -4.63980477e-01 -7.80762614e-02 6.63134502e+01] [ 4.61731820e-01 8.85834521e-01 -4.58358755e-02 1.66449251e+01] [ 9.04295990e-02 4.39519020e-03 9.95893152e-01 3.23561627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.34, Y:16.65, Z:3.24 [[ 8.82265011e-01 -4.63718575e-01 -8.10773287e-02 6.63418533e+01] [ 4.62227496e-01 8.85971334e-01 -3.74237467e-02 1.66549431e+01] [ 8.91862755e-02 -4.45850832e-03 9.96004985e-01 3.24079189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:16.67, Z:3.24 [[ 8.82875058e-01 -4.63245551e-01 -7.70402004e-02 6.63639746e+01] [ 4.60905662e-01 8.86210509e-01 -4.68711446e-02 1.66719893e+01] [ 8.99866844e-02 5.87309995e-03 9.95925652e-01 3.23903807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.40, Y:16.68, Z:3.25 [[ 8.83788466e-01 -4.60613751e-01 -8.21761562e-02 6.63997768e+01] [ 4.59250704e-01 8.87580409e-01 -3.59139038e-02 1.66792635e+01] [ 8.94803842e-02 -5.99916360e-03 9.95970517e-01 3.24654972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.671858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:66.42, Y:16.70, Z:3.25 [[ 8.83027339e-01 -4.62887888e-01 -7.74436716e-02 6.64155176e+01] [ 4.61178479e-01 8.86416620e-01 -3.97490501e-02 1.66952580e+01] [ 8.70467115e-02 -6.15856756e-04 9.96204041e-01 3.24557794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:16.71, Z:3.25 [[ 8.83223718e-01 -4.62515391e-01 -7.74298191e-02 6.64398300e+01] [ 4.60741861e-01 8.86611250e-01 -4.04651502e-02 1.67071040e+01] [ 8.73659035e-02 6.46214715e-05 9.96176287e-01 3.24762816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73185806400001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:66.47, Y:16.72, Z:3.24 [[ 8.83812271e-01 -4.62061537e-01 -7.33144252e-02 6.64699250e+01] [ 4.59596420e-01 8.86800022e-01 -4.85474169e-02 1.67230812e+01] [ 8.74471280e-02 9.21175546e-03 9.96126570e-01 3.24424456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.761858064 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:66.49, Y:16.73, Z:3.25 [[ 8.84230914e-01 -4.60203160e-01 -7.96789925e-02 6.64909572e+01] [ 4.58596432e-01 8.87810130e-01 -3.85030627e-02 1.67266171e+01] [ 8.84590478e-02 -2.49490330e-03 9.96076690e-01 3.25187513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.791858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:66.52, Y:16.74, Z:3.25 [[ 8.83512615e-01 -4.61674920e-01 -7.91310740e-02 6.65165052e+01] [ 4.60160705e-01 8.87043138e-01 -3.75046336e-02 1.67390751e+01] [ 8.75076249e-02 -3.27719385e-03 9.96158459e-01 3.25412594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.54, Y:16.75, Z:3.26 [[ 8.83012931e-01 -4.62856777e-01 -7.77931110e-02 6.65421509e+01] [ 4.61342517e-01 8.86428764e-01 -3.75117129e-02 1.67522949e+01] [ 8.63206017e-02 -2.76594201e-03 9.96263571e-01 3.25561404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.851858064 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:66.57, Y:16.77, Z:3.26 [[ 8.82565218e-01 -4.64016929e-01 -7.59402726e-02 6.65659068e+01] [ 4.61940692e-01 8.85818354e-01 -4.40072730e-02 1.67666157e+01] [ 8.76894069e-02 3.75938643e-03 9.96140771e-01 3.25602847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:16.78, Z:3.26 [[ 8.82844098e-01 -4.63206222e-01 -7.76292156e-02 6.65910241e+01] [ 4.61217760e-01 8.86248057e-01 -4.29250383e-02 1.67769301e+01] [ 8.86818863e-02 2.09214371e-03 9.96057803e-01 3.26011333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.911858064 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:66.61, Y:16.79, Z:3.26 [[ 8.82705725e-01 -4.63718662e-01 -7.61288770e-02 6.66149853e+01] [ 4.61042872e-01 8.85930223e-01 -5.06666601e-02 1.67925403e+01] [ 9.09399488e-02 9.62507482e-03 9.95809863e-01 3.26033468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.64, Y:16.79, Z:3.27 [[ 8.83516342e-01 -4.60923066e-01 -8.33594695e-02 6.66443927e+01] [ 4.59873439e-01 8.87388276e-01 -3.25341050e-02 1.67949473e+01] [ 8.89679353e-02 -9.59039248e-03 9.95988319e-01 3.27005260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.67, Y:16.81, Z:3.27 [[ 8.83312444e-01 -4.61675635e-01 -8.13310211e-02 6.66711507e+01] [ 4.60586968e-01 8.87008239e-01 -3.28028852e-02 1.68068884e+01] [ 8.72855787e-02 -8.48481166e-03 9.96147196e-01 3.27173172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.69, Y:16.83, Z:3.27 [[ 8.82659876e-01 -4.63744790e-01 -7.65004060e-02 6.66946124e+01] [ 4.61591612e-01 8.85958558e-01 -4.48399000e-02 1.68256134e+01] [ 8.85704594e-02 4.26643492e-03 9.96060777e-01 3.26899356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.031858064 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:66.72, Y:16.84, Z:3.27 [[ 8.82208949e-01 -4.64417046e-01 -7.76155697e-02 6.67190896e+01] [ 4.62157273e-01 8.85604093e-01 -4.60004961e-02 1.68382167e+01] [ 9.01000807e-02 4.71144925e-03 9.95921572e-01 3.27130706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:66.74, Y:16.85, Z:3.27 [[ 8.81679811e-01 -4.65073368e-01 -7.96710311e-02 6.67441691e+01] [ 4.62970947e-01 8.85269640e-01 -4.42217981e-02 1.68491985e+01] [ 9.10967256e-02 2.10409392e-03 9.95839826e-01 3.27494422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09185806400001 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:66.77, Y:16.86, Z:3.28 [[ 8.81533384e-01 -4.65161619e-01 -8.07685585e-02 6.67698167e+01] [ 4.63227997e-01 8.85225770e-01 -4.23693221e-02 1.68616003e+01] [ 9.12069918e-02 -6.42856648e-05 9.95831954e-01 3.27824504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.121858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:66.80, Y:16.87, Z:3.28 [[ 8.80818762e-01 -4.66167092e-01 -8.27438802e-02 6.67980065e+01] [ 4.64869603e-01 8.84667389e-01 -3.54945474e-02 1.68699392e+01] [ 8.97472025e-02 -7.20085141e-03 9.95938546e-01 3.28399080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.151858064 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:66.82, Y:16.89, Z:3.28 [[ 8.80320102e-01 -4.67674939e-01 -7.94774728e-02 6.68223313e+01] [ 4.65825225e-01 8.83900423e-01 -4.15560083e-02 1.68854229e+01] [ 8.96848755e-02 -4.40022145e-04 9.95970095e-01 3.28368886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.85, Y:16.90, Z:3.29 [[ 8.80161871e-01 -4.68006341e-01 -7.92789047e-02 6.68468140e+01] [ 4.66164507e-01 8.83724995e-01 -4.14823620e-02 1.68968327e+01] [ 8.94747581e-02 -4.45818144e-04 9.95988990e-01 3.28625670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.211858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.87, Y:16.91, Z:3.29 [[ 8.80160810e-01 -4.68067673e-01 -7.89278266e-02 6.68717999e+01] [ 4.66241004e-01 8.83692516e-01 -4.13142006e-02 1.69094780e+01] [ 8.90857714e-02 -4.36248884e-04 9.96023863e-01 3.28881733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.241858064 meters Centerline goodness : 0.997176 Centerline is valid? [True, True] Translation: X:66.90, Y:16.93, Z:3.29 [[ 8.79631474e-01 -4.69498870e-01 -7.62842134e-02 6.68954716e+01] [ 4.66925582e-01 8.82895437e-01 -4.97609106e-02 1.69268599e+01] [ 9.07136752e-02 8.15221244e-03 9.95843648e-01 3.28831967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.271858064 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:66.92, Y:16.93, Z:3.30 [[ 8.80004892e-01 -4.67801189e-01 -8.21792991e-02 6.69236191e+01] [ 4.66746715e-01 8.83782711e-01 -3.27967097e-02 1.69312212e+01] [ 8.79709835e-02 -9.49565283e-03 9.96077777e-01 3.29599840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:16.95, Z:3.29 [[ 8.79774493e-01 -4.68904300e-01 -7.82662026e-02 6.69466002e+01] [ 4.67083985e-01 8.83248945e-01 -4.12777399e-02 1.69486953e+01] [ 8.84838507e-02 -2.41787089e-04 9.96077582e-01 3.29485171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.331858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:66.98, Y:16.95, Z:3.32 [[ 8.81243017e-01 -4.62767270e-01 -9.62143362e-02 6.69816438e+01] [ 4.62937411e-01 8.86120375e-01 -2.19005469e-02 1.69483254e+01] [ 9.53923401e-02 -2.52415117e-02 9.95119675e-01 3.31674770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.361858064 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:67.00, Y:16.98, Z:3.30 [[ 8.81998194e-01 -4.65125684e-01 -7.57448609e-02 6.69986213e+01] [ 4.62193119e-01 8.85160105e-01 -5.35640680e-02 1.69786482e+01] [ 9.19603528e-02 1.22346577e-02 9.95687505e-01 3.30022947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.391858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:67.02, Y:16.99, Z:3.30 [[ 8.82466144e-01 -4.63575665e-01 -7.96938324e-02 6.70243968e+01] [ 4.60682857e-01 8.86004072e-01 -5.26126337e-02 1.69903825e+01] [ 9.49989967e-02 9.71528556e-03 9.95429959e-01 3.30449525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:17.00, Z:3.31 [[ 8.82897408e-01 -4.61837008e-01 -8.48454186e-02 6.70503147e+01] [ 4.59959352e-01 8.86961981e-01 -4.16633926e-02 1.69976852e+01] [ 9.44963572e-02 -2.24094243e-03 9.95522685e-01 3.31169768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.451858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:67.08, Y:17.01, Z:3.31 [[ 8.83056153e-01 -4.61846558e-01 -8.31239298e-02 6.70750174e+01] [ 4.59406014e-01 8.86951615e-01 -4.75704493e-02 1.70141754e+01] [ 9.56971521e-02 3.81974468e-03 9.95403167e-01 3.31184961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48185806400001 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:67.10, Y:17.02, Z:3.32 [[ 8.83142644e-01 -4.61225261e-01 -8.56173428e-02 6.71022938e+01] [ 4.59538032e-01 8.87272529e-01 -3.96516801e-02 1.70239493e+01] [ 9.42542729e-02 -4.32633562e-03 9.95538756e-01 3.31768587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:17.01, Z:3.35 [[ 8.83973739e-01 -4.54394157e-01 -1.10074427e-01 6.71339812e+01] [ 4.56935434e-01 8.89496652e-01 -2.39071619e-03 1.70125786e+01] [ 9.89971615e-02 -4.81835757e-02 9.93920472e-01 3.34506028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.541858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.15, Y:17.06, Z:3.32 [[ 8.84673677e-01 -4.59850479e-01 -7.67464827e-02 6.71503418e+01] [ 4.55911821e-01 8.87737993e-01 -6.37625878e-02 1.70558265e+01] [ 9.74520251e-02 2.14194543e-02 9.95009703e-01 3.31580686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.571858064 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:67.17, Y:17.08, Z:3.31 [[ 8.83084833e-01 -4.64618459e-01 -6.55046956e-02 6.71728854e+01] [ 4.60320611e-01 8.84915185e-01 -7.09228516e-02 1.70771956e+01] [ 9.09181659e-02 3.24777331e-02 9.95328631e-01 3.30723366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.601858064 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:67.20, Y:17.07, Z:3.32 [[ 8.82458934e-01 -4.63279615e-01 -8.14753216e-02 6.72042435e+01] [ 4.61875640e-01 8.86195319e-01 -3.64520314e-02 1.70728908e+01] [ 8.90905316e-02 -5.46404551e-03 9.96008545e-01 3.32421726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.631858064 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:67.23, Y:17.09, Z:3.32 [[ 8.81561605e-01 -4.65665188e-01 -7.74923846e-02 6.72273665e+01] [ 4.63396612e-01 8.84948064e-01 -4.61573879e-02 1.70907131e+01] [ 9.00706244e-02 4.78087245e-03 9.95923906e-01 3.32298580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.661858064 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:67.25, Y:17.10, Z:3.33 [[ 8.80262550e-01 -4.67879436e-01 -7.89092873e-02 6.72504493e+01] [ 4.65707363e-01 8.83787287e-01 -4.51296293e-02 1.71027807e+01] [ 9.08542505e-02 2.97728656e-03 9.95859750e-01 3.32616783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:17.11, Z:3.33 [[ 8.78821575e-01 -4.69982712e-01 -8.23947191e-02 6.72748706e+01] [ 4.68843789e-01 8.82631175e-01 -3.38778579e-02 1.71116458e+01] [ 8.86461553e-02 -8.85765996e-03 9.96023795e-01 3.33165611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.721858064 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:67.30, Y:17.13, Z:3.33 [[ 8.79499233e-01 -4.69459350e-01 -7.80321610e-02 6.72998350e+01] [ 4.67290697e-01 8.82947986e-01 -4.51913435e-02 1.71290473e+01] [ 9.01138382e-02 3.28204904e-03 9.95926064e-01 3.33029443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.751858064 meters Centerline goodness : 0.996760 Centerline is valid? [True, True] Translation: X:67.33, Y:17.14, Z:3.34 [[ 8.78645445e-01 -4.70713851e-01 -8.00665463e-02 6.73264768e+01] [ 4.68857466e-01 8.82285537e-01 -4.17720846e-02 1.71403192e+01] [ 9.03042546e-02 -8.36946124e-04 9.95913872e-01 3.33506521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:17.12, Z:3.37 [[ 8.79410226e-01 -4.62010241e-01 -1.14822437e-01 6.73627641e+01] [ 4.66302632e-01 8.84540699e-01 1.22314223e-02 1.71222055e+01] [ 9.59140762e-02 -6.42984425e-02 9.93310727e-01 3.37456502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.811858064 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:67.36, Y:17.19, Z:3.32 [[ 8.78252004e-01 -4.75404159e-01 -5.16168929e-02 6.73642053e+01] [ 4.69844958e-01 8.77956074e-01 -9.18632049e-02 1.71933975e+01] [ 8.89895143e-02 5.64271069e-02 9.94432928e-01 3.31569399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84185806400001 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:67.40, Y:17.19, Z:3.34 [[ 8.77995461e-01 -4.72360845e-01 -7.74545167e-02 6.73985742e+01] [ 4.69740202e-01 8.81370984e-01 -5.02924491e-02 1.71866757e+01] [ 9.20223474e-02 7.77304171e-03 9.95726603e-01 3.33664860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.871858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.42, Y:17.19, Z:3.34 [[ 8.78703419e-01 -4.69939184e-01 -8.38895993e-02 6.74235402e+01] [ 4.68515392e-01 8.82673703e-01 -3.71545780e-02 1.71928437e+01] [ 9.15075353e-02 -6.65571374e-03 9.95782141e-01 3.34356662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:17.17, Z:3.42 [[ 8.78912626e-01 -4.53913100e-01 -1.46545191e-01 6.74765053e+01] [ 4.62371334e-01 8.86243490e-01 2.80218853e-02 1.71668100e+01] [ 1.17155221e-01 -9.23870843e-02 9.88806999e-01 3.42062865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.931858064 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:67.47, Y:17.26, Z:3.34 [[ 8.79365005e-01 -4.72508248e-01 -5.87634458e-02 6.74679714e+01] [ 4.63964277e-01 8.78052796e-01 -1.17304885e-01 1.72594250e+01] [ 1.07024934e-01 7.58896714e-02 9.91355850e-01 3.33712056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.961858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.51, Y:17.24, Z:3.37 [[ 8.79601382e-01 -4.65851777e-01 -9.63510841e-02 6.75080351e+01] [ 4.63644034e-01 8.84850709e-01 -4.55349532e-02 1.72351565e+01] [ 1.06468864e-01 -4.61999759e-03 9.94305304e-01 3.37066635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.991858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.53, Y:17.25, Z:3.37 [[ 8.79747300e-01 -4.65970913e-01 -9.44234916e-02 6.75321511e+01] [ 4.63359142e-01 8.84799944e-01 -4.92682893e-02 1.72502587e+01] [ 1.06503490e-01 -4.08343545e-04 9.94312245e-01 3.37190902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.021858064 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:67.56, Y:17.26, Z:3.38 [[ 8.79109715e-01 -4.66934211e-01 -9.55957726e-02 6.75575028e+01] [ 4.64806790e-01 8.84277674e-01 -4.48067258e-02 1.72636030e+01] [ 1.05455001e-01 -5.04353629e-03 9.94411286e-01 3.37781613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.051858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.60, Y:17.25, Z:3.42 [[ 8.80055790e-01 -4.56305444e-01 -1.31480600e-01 6.75954535e+01] [ 4.61377887e-01 8.87154824e-01 9.31472086e-03 1.72460688e+01] [ 1.12393290e-01 -6.88597154e-02 9.91274981e-01 3.42195241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.081858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:67.58, Y:17.33, Z:3.33 [[ 8.78926767e-01 -4.75161701e-01 -4.13412091e-02 6.75805542e+01] [ 4.68066471e-01 8.75954999e-01 -1.16690269e-01 1.73345987e+01] [ 9.16597852e-02 8.32117666e-02 9.92307556e-01 3.32917582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:17.27, Z:3.43 [[ 8.79499959e-01 -4.57130027e-01 -1.32332766e-01 6.76468015e+01] [ 4.63448421e-01 8.85900830e-01 1.98816777e-02 1.72733986e+01] [ 1.08145195e-01 -7.88153463e-02 9.91005932e-01 3.42626536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.63, Y:17.36, Z:3.33 [[ 8.78589731e-01 -4.75654607e-01 -4.28109679e-02 6.76303162e+01] [ 4.68854117e-01 8.76124230e-01 -1.12170184e-01 1.73632284e+01] [ 9.08619911e-02 7.84794732e-02 9.92766373e-01 3.33424654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.171858064 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:67.67, Y:17.34, Z:3.37 [[ 8.77498372e-01 -4.72551724e-01 -8.18014332e-02 6.76717964e+01] [ 4.71115027e-01 8.81283681e-01 -3.72787376e-02 1.73399639e+01] [ 8.97064000e-02 -5.82585282e-03 9.95951214e-01 3.36858028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:17.33, Z:3.40 [[ 8.77850757e-01 -4.66948035e-01 -1.06478076e-01 6.77070776e+01] [ 4.69410742e-01 8.82977243e-01 -2.17803535e-03 1.73336755e+01] [ 9.50347471e-02 -4.80699626e-02 9.94312665e-01 3.39763055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.70, Y:17.40, Z:3.33 [[ 8.76192721e-01 -4.80518398e-01 -3.72610321e-02 6.76983617e+01] [ 4.75736608e-01 8.74673374e-01 -9.28502474e-02 1.74029094e+01] [ 7.72074848e-02 6.36282740e-02 9.94982637e-01 3.33079704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.261858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:67.74, Y:17.39, Z:3.36 [[ 8.75550611e-01 -4.78401791e-01 -6.74006962e-02 6.77358969e+01] [ 4.77034401e-01 8.78140919e-01 -3.61483874e-02 1.73895864e+01] [ 7.64807625e-02 -5.02708105e-04 9.97070930e-01 3.35646153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.291858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:67.76, Y:17.40, Z:3.36 [[ 8.75508381e-01 -4.78395054e-01 -6.79944615e-02 6.77598216e+01] [ 4.77287941e-01 8.78136585e-01 -3.27468878e-02 1.74029498e+01] [ 7.53743734e-02 -3.78276178e-03 9.97148131e-01 3.35990197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.321858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:67.78, Y:17.42, Z:3.36 [[ 8.75169373e-01 -4.79392537e-01 -6.52791179e-02 6.77822072e+01] [ 4.77815905e-01 8.77595792e-01 -3.89562138e-02 1.74199185e+01] [ 7.59639973e-02 2.90188439e-03 9.97106338e-01 3.35905770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:17.43, Z:3.36 [[ 8.74777901e-01 -4.79837353e-01 -6.72290042e-02 6.78067738e+01] [ 4.78476790e-01 8.77357272e-01 -3.61134060e-02 1.74329418e+01] [ 7.63124168e-02 -5.76308595e-04 9.97083789e-01 3.36305835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.381858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:67.83, Y:17.44, Z:3.37 [[ 8.74958502e-01 -4.79100760e-01 -7.00719765e-02 6.78314544e+01] [ 4.78776545e-01 8.77649737e-01 -2.24490281e-02 1.74400761e+01] [ 7.22539982e-02 -1.39068509e-02 9.97289306e-01 3.36956845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.411858064 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:67.84, Y:17.49, Z:3.33 [[ 8.73424108e-01 -4.86314746e-01 -2.50658184e-02 6.78373970e+01] [ 4.83047012e-01 8.71769160e-01 -8.17564406e-02 1.74903938e+01] [ 6.16109701e-02 5.93000776e-02 9.96337086e-01 3.33181072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.89, Y:17.46, Z:3.39 [[ 8.75298682e-01 -4.75397243e-01 -8.85984088e-02 6.78943907e+01] [ 4.77435416e-01 8.78664391e-01 2.07634448e-03 1.74564692e+01] [ 7.68611785e-02 -4.41174397e-02 9.96065264e-01 3.39021536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:17.49, Z:3.38 [[ 8.74703187e-01 -4.79217295e-01 -7.24231939e-02 6.79075319e+01] [ 4.78156032e-01 8.77674239e-01 -3.24767441e-02 1.74869265e+01] [ 7.91273891e-02 -6.22207547e-03 9.96845094e-01 3.37890826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501858064 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:67.94, Y:17.50, Z:3.39 [[ 8.77446375e-01 -4.73609192e-01 -7.60407333e-02 6.79418366e+01] [ 4.73093101e-01 8.80634276e-01 -2.58106489e-02 1.74955602e+01] [ 7.91882367e-02 -1.33268860e-02 9.96770594e-01 3.38595690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.531858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:67.95, Y:17.52, Z:3.38 [[ 8.75381666e-01 -4.79157198e-01 -6.41507484e-02 6.79534540e+01] [ 4.76956298e-01 8.77664836e-01 -4.70863549e-02 1.75237053e+01] [ 7.88646220e-02 1.06214284e-02 9.96828750e-01 3.37670589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561858064 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:67.99, Y:17.53, Z:3.38 [[ 8.77271401e-01 -4.75216774e-01 -6.75566970e-02 6.79886252e+01] [ 4.73663137e-01 8.79867073e-01 -3.84339211e-02 1.75326533e+01] [ 7.77053573e-02 1.71786273e-03 9.96974888e-01 3.38188416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59185806400001 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:68.01, Y:17.55, Z:3.39 [[ 8.77521500e-01 -4.74233551e-01 -7.11235321e-02 6.80141320e+01] [ 4.73194632e-01 8.80380775e-01 -3.18830870e-02 1.75455563e+01] [ 7.77358199e-02 -5.67717923e-03 9.96957829e-01 3.38719113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.621858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.02, Y:17.59, Z:3.36 [[ 8.74734998e-01 -4.83174508e-01 -3.71628535e-02 6.80155890e+01] [ 4.79539692e-01 8.74104149e-01 -7.73538673e-02 1.75886880e+01] [ 6.98596211e-02 4.98430717e-02 9.96310846e-01 3.35578851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.651858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:68.07, Y:17.55, Z:3.42 [[ 8.77919680e-01 -4.66887775e-01 -1.06173641e-01 6.80727129e+01] [ 4.70707792e-01 8.82196614e-01 1.27792561e-02 1.75492872e+01] [ 8.76995485e-02 -6.11959207e-02 9.94265482e-01 3.42415933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.681858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:68.08, Y:17.59, Z:3.40 [[ 8.78348459e-01 -4.71381022e-01 -7.93972151e-02 6.80840101e+01] [ 4.69496482e-01 8.81929616e-01 -4.21094407e-02 1.75898524e+01] [ 8.98723466e-02 -2.89950850e-04 9.95953251e-01 3.40261028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:17.62, Z:3.39 [[ 8.77516041e-01 -4.75511805e-01 -6.20815686e-02 6.81025341e+01] [ 4.72403681e-01 8.79431698e-01 -5.86058964e-02 1.76166868e+01] [ 8.24642948e-02 2.21000526e-02 9.96348949e-01 3.38536916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.741858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:68.11, Y:17.65, Z:3.36 [[ 8.75100743e-01 -4.82566372e-01 -3.64470227e-02 6.81108866e+01] [ 4.78616590e-01 8.74155948e-01 -8.23258064e-02 1.76514064e+01] [ 7.15880474e-02 5.45992247e-02 9.95938791e-01 3.36013786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.771858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:68.17, Y:17.60, Z:3.43 [[ 8.77580852e-01 -4.67328073e-01 -1.07034204e-01 6.81661589e+01] [ 4.72545354e-01 8.80844534e-01 2.85271093e-02 1.76024714e+01] [ 8.09489747e-02 -7.56133608e-02 9.93846006e-01 3.42720196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.801858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:68.16, Y:17.68, Z:3.36 [[ 8.75912215e-01 -4.81332307e-01 -3.31210249e-02 6.81593176e+01] [ 4.77013795e-01 8.74258177e-01 -9.01691715e-02 1.76823496e+01] [ 7.23576621e-02 6.31810929e-02 9.95375566e-01 3.36459505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:17.64, Z:3.44 [[ 8.78169270e-01 -4.66361910e-01 -1.06420398e-01 6.82197845e+01] [ 4.70090602e-01 8.82541842e-01 1.16070017e-02 1.76367371e+01] [ 8.85073908e-02 -6.02201413e-02 9.94253477e-01 3.43656715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:17.71, Z:3.38 [[ 8.76197455e-01 -4.80173672e-01 -4.13674258e-02 6.82130152e+01] [ 4.75720003e-01 8.75434148e-01 -8.54724004e-02 1.77056132e+01] [ 7.72560535e-02 5.52113878e-02 9.95481394e-01 3.37848399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:17.67, Z:3.44 [[ 8.77558455e-01 -4.67853495e-01 -1.04901212e-01 6.82692056e+01] [ 4.70983448e-01 8.82122801e-01 5.82711381e-03 1.76674487e+01] [ 8.98095151e-02 -5.45203674e-02 9.94465575e-01 3.44085220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.28, Y:17.70, Z:3.42 [[ 8.77592821e-01 -4.72773407e-01 -7.94741858e-02 6.82825331e+01] [ 4.70889216e-01 8.81183938e-01 -4.21688851e-02 1.77043859e+01] [ 8.99677034e-02 -4.16426186e-04 9.95944596e-01 3.42305237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.30, Y:17.73, Z:3.41 [[ 8.77490363e-01 -4.74420054e-01 -7.02586260e-02 6.83036302e+01] [ 4.71455240e-01 8.80166877e-01 -5.51019541e-02 1.77267136e+01] [ 8.79807875e-02 1.52276363e-02 9.96005773e-01 3.41401464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.33, Y:17.73, Z:3.42 [[ 8.77741142e-01 -4.72806175e-01 -7.76196415e-02 6.83326137e+01] [ 4.71202077e-01 8.81163306e-01 -3.89850183e-02 1.77334595e+01] [ 8.68279372e-02 -2.35578180e-03 9.96220538e-01 3.42342756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.36, Y:17.75, Z:3.43 [[ 8.77619401e-01 -4.73173454e-01 -7.67532948e-02 6.83573573e+01] [ 4.71392415e-01 8.80969266e-01 -4.10163718e-02 1.77478667e+01] [ 8.70251521e-02 -1.84157358e-04 9.96206098e-01 3.42515772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.041858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.38, Y:17.76, Z:3.43 [[ 8.78759267e-01 -4.70599396e-01 -7.94881075e-02 6.83836044e+01] [ 4.69770834e-01 8.82278644e-01 -2.99959710e-02 1.77570456e+01] [ 8.42467455e-02 -1.09819571e-02 9.96384405e-01 3.43255499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.41, Y:17.78, Z:3.43 [[ 8.78444211e-01 -4.72216730e-01 -7.31240586e-02 6.84050155e+01] [ 4.69948452e-01 8.81457283e-01 -4.67066360e-02 1.77782906e+01] [ 8.65113890e-02 6.66463580e-03 9.96228569e-01 3.42972399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.101858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.42, Y:17.80, Z:3.42 [[ 8.77410142e-01 -4.75483474e-01 -6.37723223e-02 6.84246204e+01] [ 4.72716698e-01 8.79554842e-01 -5.40574162e-02 1.78001464e+01] [ 8.17946629e-02 1.72842836e-02 9.96499316e-01 3.42006894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:17.82, Z:3.41 [[ 8.76314101e-01 -4.78901413e-01 -5.22210021e-02 6.84403089e+01] [ 4.75654408e-01 8.77321108e-01 -6.37225067e-02 1.78224144e+01] [ 7.63313859e-02 3.10017813e-02 9.96600426e-01 3.40783232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.161858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.49, Y:17.79, Z:3.46 [[ 8.78471745e-01 -4.66445159e-01 -1.03519600e-01 6.84926669e+01] [ 4.69686324e-01 8.82796978e-01 8.01575513e-03 1.77943873e+01] [ 8.76478797e-02 -5.56633546e-02 9.94595114e-01 3.46026466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.191858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:68.50, Y:17.84, Z:3.43 [[ 8.77879949e-01 -4.73361710e-01 -7.24947384e-02 6.85032324e+01] [ 4.71041237e-01 8.80836490e-01 -4.74049681e-02 1.78355436e+01] [ 8.62957077e-02 7.46785970e-03 9.96241578e-01 3.43400739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.52, Y:17.86, Z:3.43 [[ 8.78439127e-01 -4.73411035e-01 -6.50130153e-02 6.85224983e+01] [ 4.70595551e-01 8.80675140e-01 -5.43242719e-02 1.78551978e+01] [ 8.29730561e-02 1.71257303e-02 9.96404627e-01 3.42916465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.55, Y:17.86, Z:3.44 [[ 8.78353374e-01 -4.71941588e-01 -7.59373907e-02 6.85544768e+01] [ 4.70069539e-01 8.81628996e-01 -4.20112204e-02 1.78620634e+01] [ 8.67754476e-02 1.20484293e-03 9.96227168e-01 3.43999949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.58, Y:17.87, Z:3.45 [[ 8.78725725e-01 -4.70515478e-01 -8.03510155e-02 6.85819804e+01] [ 4.68811759e-01 8.82388338e-01 -4.00793693e-02 1.78736597e+01] [ 8.97587626e-02 -2.45072801e-03 9.95960521e-01 3.44614061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:17.88, Z:3.46 [[ 8.79644991e-01 -4.66659853e-01 -9.19416781e-02 6.86088512e+01] [ 4.65971933e-01 8.84286075e-01 -3.01379400e-02 1.78794850e+01] [ 9.53669123e-02 -1.63315536e-02 9.95308210e-01 3.46065573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:17.90, Z:3.45 [[ 8.80665763e-01 -4.67156756e-01 -7.86916705e-02 6.86288270e+01] [ 4.64292974e-01 8.84120730e-01 -5.25601439e-02 1.79043514e+01] [ 9.41267635e-02 9.75192951e-03 9.95512457e-01 3.45017853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.371858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.66, Y:17.91, Z:3.46 [[ 8.80880758e-01 -4.65912985e-01 -8.35115588e-02 6.86584702e+01] [ 4.64187703e-01 8.84824184e-01 -4.01987524e-02 1.79132041e+01] [ 9.26221676e-02 -3.35473116e-03 9.95695676e-01 3.45739512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:17.92, Z:3.46 [[ 8.81203917e-01 -4.64704799e-01 -8.67704285e-02 6.86807349e+01] [ 4.62953434e-01 8.85454550e-01 -4.05506723e-02 1.79228338e+01] [ 9.56753628e-02 -4.43725666e-03 9.95402700e-01 3.46314423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:17.94, Z:3.46 [[ 8.81129443e-01 -4.65330491e-01 -8.41334580e-02 6.87050321e+01] [ 4.63119567e-01 8.85136487e-01 -4.53174051e-02 1.79379290e+01] [ 9.55571638e-02 9.66649360e-04 9.95423475e-01 3.46344377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.461858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.74, Y:17.95, Z:3.47 [[ 8.80765221e-01 -4.64928598e-01 -8.99668009e-02 6.87361050e+01] [ 4.63674286e-01 8.85288106e-01 -3.56528462e-02 1.79462593e+01] [ 9.62225665e-02 -1.03135053e-02 9.95306410e-01 3.47160663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.76, Y:17.97, Z:3.47 [[ 8.80846106e-01 -4.66224715e-01 -8.21258303e-02 6.87572801e+01] [ 4.63651528e-01 8.84650706e-01 -4.91974455e-02 1.79654571e+01] [ 9.55897389e-02 5.25761163e-03 9.95406932e-01 3.46692117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:17.98, Z:3.47 [[ 8.80553029e-01 -4.66499078e-01 -8.36957204e-02 6.87821655e+01] [ 4.63621473e-01 8.84492459e-01 -5.22323618e-02 1.79760888e+01] [ 9.83945822e-02 7.19023127e-03 9.95121504e-01 3.46838434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.551858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:68.81, Y:17.98, Z:3.47 [[ 8.80235944e-01 -4.66378288e-01 -8.76126466e-02 6.88104484e+01] [ 4.64586277e-01 8.84573779e-01 -4.10952568e-02 1.79831079e+01] [ 9.66657854e-02 -4.53011116e-03 9.95306588e-01 3.47452603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:18.02, Z:3.45 [[ 8.78624029e-01 -4.73200299e-01 -6.40413307e-02 6.88232535e+01] [ 4.68716827e-01 8.80270509e-01 -7.36774489e-02 1.80153762e+01] [ 9.12378857e-02 3.47175277e-02 9.95223765e-01 3.45229782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:17.99, Z:3.49 [[ 8.79171022e-01 -4.65959405e-01 -9.97002869e-02 6.88652754e+01] [ 4.66929864e-01 8.84170371e-01 -1.48073185e-02 1.79944236e+01] [ 9.50516490e-02 -3.35348761e-02 9.94907330e-01 3.48990939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.88, Y:18.02, Z:3.48 [[ 8.79553548e-01 -4.68447469e-01 -8.33218195e-02 6.88840310e+01] [ 4.66410958e-01 8.83491220e-01 -4.36357867e-02 1.80203740e+01] [ 9.40551698e-02 -4.82198661e-04 9.95566870e-01 3.48014990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.91, Y:18.03, Z:3.48 [[ 8.79157448e-01 -4.69330778e-01 -8.25275870e-02 6.89087581e+01] [ 4.67123490e-01 8.83021261e-01 -4.54873339e-02 1.80326484e+01] [ 9.42222198e-02 1.43995391e-03 9.95550149e-01 3.48208709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.93, Y:18.04, Z:3.49 [[ 8.79000342e-01 -4.69557081e-01 -8.29128904e-02 6.89343130e+01] [ 4.67446929e-01 8.82902056e-01 -4.44671709e-02 1.80414320e+01] [ 9.40838363e-02 3.29282413e-04 9.95564224e-01 3.48502488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.96, Y:18.05, Z:3.49 [[ 8.78711019e-01 -4.70145164e-01 -8.26466600e-02 6.89598205e+01] [ 4.68049234e-01 8.82589057e-01 -4.43449007e-02 1.80529777e+01] [ 9.37915784e-02 2.83646940e-04 9.95591814e-01 3.48749809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.99, Y:18.06, Z:3.49 [[ 8.78714416e-01 -4.70079791e-01 -8.29817146e-02 6.89850459e+01] [ 4.67963716e-01 8.82623866e-01 -4.45541446e-02 1.80642950e+01] [ 9.41856448e-02 3.17937605e-04 9.95554601e-01 3.49001746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.791858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:69.01, Y:18.08, Z:3.49 [[ 8.78347458e-01 -4.71634633e-01 -7.78878411e-02 6.90116793e+01] [ 4.68979383e-01 8.81758539e-01 -5.05985990e-02 1.80793942e+01] [ 9.25423206e-02 7.91535923e-03 9.95677290e-01 3.48647261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:18.08, Z:3.50 [[ 8.78616732e-01 -4.69352233e-01 -8.79836358e-02 6.90432025e+01] [ 4.67932339e-01 8.82972032e-01 -3.74127813e-02 1.80821417e+01] [ 9.52468622e-02 -8.29889284e-03 9.95419089e-01 3.49848344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.06, Y:18.10, Z:3.49 [[ 8.76414862e-01 -4.74552231e-01 -8.18362405e-02 6.90640146e+01] [ 4.71690631e-01 8.80195634e-01 -5.25699014e-02 1.80996712e+01] [ 9.69790657e-02 7.47165500e-03 9.95258376e-01 3.49475777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:18.11, Z:3.50 [[ 8.77716671e-01 -4.71818185e-01 -8.36722528e-02 6.90902722e+01] [ 4.69949603e-01 8.81692491e-01 -4.20204956e-02 1.81052284e+01] [ 9.35992310e-02 -2.43965251e-03 9.95606967e-01 3.49796122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.12, Y:18.11, Z:3.51 [[ 8.77242573e-01 -4.72051703e-01 -8.72505436e-02 6.91158536e+01] [ 4.70451677e-01 8.81546857e-01 -3.93745995e-02 1.81149731e+01] [ 9.55022892e-02 -6.50608956e-03 9.95407948e-01 3.50516665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.941858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:69.14, Y:18.13, Z:3.50 [[ 8.77834306e-01 -4.71311486e-01 -8.52784520e-02 6.91401815e+01] [ 4.69074697e-01 8.81966788e-01 -4.58640716e-02 1.81272016e+01] [ 9.68290261e-02 2.59091455e-04 9.95300996e-01 3.50446161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.16, Y:18.14, Z:3.50 [[ 8.78504681e-01 -4.71209978e-01 -7.86808828e-02 6.91643848e+01] [ 4.68259029e-01 8.81961069e-01 -5.36484379e-02 1.81437064e+01] [ 9.46731547e-02 1.02873700e-02 9.95455255e-01 3.49798743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.19, Y:18.15, Z:3.51 [[ 8.78541641e-01 -4.68889022e-01 -9.11464175e-02 6.91935489e+01] [ 4.67440156e-01 8.83208721e-01 -3.79744098e-02 1.81458447e+01] [ 9.83070947e-02 -9.24339537e-03 9.95113197e-01 3.51338539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:18.16, Z:3.51 [[ 8.79018775e-01 -4.68686267e-01 -8.75167202e-02 6.92179438e+01] [ 4.66310226e-01 8.83364473e-01 -4.71378897e-02 1.81583172e+01] [ 9.94020430e-02 6.25148509e-04 9.95047156e-01 3.51212034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.24, Y:18.17, Z:3.51 [[ 8.78723731e-01 -4.69351974e-01 -8.69098903e-02 6.92445905e+01] [ 4.66581442e-01 8.83000408e-01 -5.11081005e-02 1.81718099e+01] [ 1.00729156e-01 4.35935887e-03 9.94904334e-01 3.51337824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.26, Y:18.19, Z:3.51 [[ 8.78174104e-01 -4.71592083e-01 -8.00696556e-02 6.92643740e+01] [ 4.68772970e-01 8.81778147e-01 -5.21459747e-02 1.81853262e+01] [ 9.51953014e-02 8.25875437e-03 9.95424356e-01 3.50737515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.29, Y:18.19, Z:3.51 [[ 8.78408322e-01 -4.70505671e-01 -8.38047404e-02 6.92918246e+01] [ 4.68322898e-01 8.82396818e-01 -4.52716196e-02 1.81926793e+01] [ 9.52495900e-02 5.19288512e-04 9.95453287e-01 3.51406989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.32, Y:18.20, Z:3.53 [[ 8.79169983e-01 -4.67671525e-01 -9.13426793e-02 6.93230787e+01] [ 4.66250024e-01 8.83851423e-01 -3.76507133e-02 1.81962717e+01] [ 9.83415236e-02 -9.48714950e-03 9.95107501e-01 3.52747278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:18.21, Z:3.53 [[ 8.79099505e-01 -4.68738812e-01 -8.64175058e-02 6.93459436e+01] [ 4.66411911e-01 8.83336531e-01 -4.66530006e-02 1.82117083e+01] [ 9.82038118e-02 7.06475696e-04 9.95166073e-01 3.52610020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:18.22, Z:3.53 [[ 8.78871872e-01 -4.69259678e-01 -8.59045261e-02 6.93709838e+01] [ 4.66961379e-01 8.83059976e-01 -4.63912624e-02 1.82233116e+01] [ 9.76283977e-02 6.57879704e-04 9.95222720e-01 3.52831581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.40, Y:18.23, Z:3.53 [[ 8.78639327e-01 -4.69801352e-01 -8.53206991e-02 6.93962836e+01] [ 4.67533917e-01 8.82771944e-01 -4.61056528e-02 1.82334069e+01] [ 9.69792174e-02 6.19919106e-04 9.95286214e-01 3.53172588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:18.25, Z:3.53 [[ 8.78527413e-01 -4.70096826e-01 -8.48443163e-02 6.94211755e+01] [ 4.67853991e-01 8.82614644e-01 -4.58697312e-02 1.82455629e+01] [ 9.64480511e-02 6.03064255e-04 9.95337837e-01 3.53410660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:18.26, Z:3.54 [[ 8.78557135e-01 -4.70140778e-01 -8.42912162e-02 6.94457331e+01] [ 4.67924451e-01 8.82591221e-01 -4.56009307e-02 1.82581488e+01] [ 9.58335445e-02 6.21102024e-04 9.95397180e-01 3.53663036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:18.27, Z:3.54 [[ 8.79058135e-01 -4.69247645e-01 -8.40442951e-02 6.94689011e+01] [ 4.67037411e-01 8.83066304e-01 -4.54968084e-02 1.82713207e+01] [ 9.55659552e-02 7.42509493e-04 9.95422823e-01 3.53918015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.361858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:69.49, Y:18.29, Z:3.54 [[ 8.79689911e-01 -4.67912303e-01 -8.48748282e-02 6.94937557e+01] [ 4.65649753e-01 8.83774427e-01 -4.59681337e-02 1.82852820e+01] [ 9.65192580e-02 9.15760711e-04 9.95330696e-01 3.54114503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.52, Y:18.30, Z:3.54 [[ 8.79736422e-01 -4.67720733e-01 -8.54467279e-02 6.95185644e+01] [ 4.65423679e-01 8.83875769e-01 -4.63079242e-02 1.82986090e+01] [ 9.71834686e-02 9.69837056e-04 9.95266011e-01 3.54333854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.54, Y:18.31, Z:3.55 [[ 8.79933456e-01 -4.67338461e-01 -8.55095078e-02 6.95422124e+01] [ 4.65033411e-01 8.84077872e-01 -4.63707082e-02 1.83114635e+01] [ 9.72678791e-02 1.03835953e-03 9.95257696e-01 3.54527135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.57, Y:18.33, Z:3.55 [[ 8.79530095e-01 -4.68062733e-01 -8.56976668e-02 6.95664183e+01] [ 4.65749472e-01 8.83694704e-01 -4.64876232e-02 1.83255761e+01] [ 9.74896983e-02 9.73620559e-04 9.95236058e-01 3.54715644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:18.33, Z:3.55 [[ 8.80096225e-01 -4.66569505e-01 -8.79973358e-02 6.95901875e+01] [ 4.65122416e-01 8.84449450e-01 -3.75540851e-02 1.83338430e+01] [ 9.53507861e-02 -7.87832485e-03 9.95412557e-01 3.55296939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:18.36, Z:3.55 [[ 8.78655285e-01 -4.70409128e-01 -8.17321376e-02 6.96133028e+01] [ 4.67257459e-01 8.82386566e-01 -5.53571548e-02 1.83568132e+01] [ 9.81598511e-02 1.04499057e-02 9.95115794e-01 3.54786835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:18.37, Z:3.55 [[ 8.77036180e-01 -4.72534855e-01 -8.67084251e-02 6.96398526e+01] [ 4.70180464e-01 8.81311809e-01 -4.71150264e-02 1.83667972e+01] [ 9.86806511e-02 5.52975237e-04 9.95119000e-01 3.55378895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:18.38, Z:3.56 [[ 8.76154664e-01 -4.74165538e-01 -8.67182080e-02 6.96644016e+01] [ 4.71815524e-01 8.80435623e-01 -4.71510965e-02 1.83804132e+01] [ 9.87072245e-02 3.96656394e-04 9.95116439e-01 3.55611183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:18.39, Z:3.56 [[ 8.75139367e-01 -4.76021277e-01 -8.68034097e-02 6.96892635e+01] [ 4.73672664e-01 8.79433737e-01 -4.72282685e-02 1.83939056e+01] [ 9.88195076e-02 2.14914707e-04 9.95105351e-01 3.55853626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:18.40, Z:3.57 [[ 8.74028528e-01 -4.77342536e-01 -9.06544860e-02 6.97173266e+01] [ 4.76152939e-01 8.78636247e-01 -3.57312935e-02 1.84025390e+01] [ 9.67083835e-02 -1.19352300e-02 9.95241196e-01 3.56627547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:18.42, Z:3.56 [[ 8.72460611e-01 -4.81243949e-01 -8.49514219e-02 6.97397070e+01] [ 4.79226491e-01 8.76583809e-01 -4.40771569e-02 1.84199483e+01] [ 9.56789060e-02 -2.25538859e-03 9.95409695e-01 3.56475018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.76, Y:18.44, Z:3.56 [[ 8.72015182e-01 -4.82831819e-01 -8.03925232e-02 6.97602811e+01] [ 4.79441668e-01 8.75624908e-01 -5.84526106e-02 1.84395524e+01] [ 9.86164760e-02 1.24280384e-02 9.95047906e-01 3.56073048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:18.45, Z:3.57 [[ 8.71055699e-01 -4.83490309e-01 -8.65972854e-02 6.97876112e+01] [ 4.81180618e-01 8.75349541e-01 -4.72058747e-02 1.84476317e+01] [ 9.86264769e-02 -5.49989086e-04 9.95124372e-01 3.56880284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.81, Y:18.46, Z:3.57 [[ 8.70796933e-01 -4.83997796e-01 -8.63645423e-02 6.98108423e+01] [ 4.81700114e-01 8.75069024e-01 -4.71084182e-02 1.84603374e+01] [ 9.83753064e-02 -5.79943770e-04 9.95149216e-01 3.57141088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:18.47, Z:3.57 [[ 8.70438058e-01 -4.84645592e-01 -8.63495060e-02 6.98351014e+01] [ 4.82350365e-01 8.74710376e-01 -4.71156454e-02 1.84737740e+01] [ 9.83651986e-02 -6.39464811e-04 9.95150179e-01 3.57415954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.811858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:69.86, Y:18.49, Z:3.58 [[ 8.70135197e-01 -4.85158174e-01 -8.65233223e-02 6.98599796e+01] [ 4.82853119e-01 8.74426152e-01 -4.72416121e-02 1.84876275e+01] [ 9.85779101e-02 -6.71466669e-04 9.95129110e-01 3.57669631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:18.50, Z:3.58 [[ 8.70386342e-01 -4.84467147e-01 -8.78589695e-02 6.98849705e+01] [ 4.82799919e-01 8.74781876e-01 -4.07542267e-02 1.84989117e+01] [ 9.66015181e-02 -6.94638106e-03 9.95298897e-01 3.58194517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.91, Y:18.52, Z:3.58 [[ 8.70305027e-01 -4.85186058e-01 -8.46383369e-02 6.99086092e+01] [ 4.82956785e-01 8.74410826e-01 -4.64591391e-02 1.85154504e+01] [ 9.65500047e-02 -4.43036761e-04 9.95328037e-01 3.58167798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.93, Y:18.53, Z:3.58 [[ 8.69745901e-01 -4.86529665e-01 -8.26495845e-02 6.99320468e+01] [ 4.83703655e-01 8.73644487e-01 -5.26885675e-02 1.85321263e+01] [ 9.78409049e-02 5.84775954e-03 9.95184888e-01 3.58174269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:18.54, Z:3.59 [[ 8.69699448e-01 -4.86158602e-01 -8.52800260e-02 6.99575283e+01] [ 4.83914858e-01 8.73870321e-01 -4.66590952e-02 1.85429399e+01] [ 9.72074043e-02 -6.88882362e-04 9.95263908e-01 3.58705772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.961858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:69.98, Y:18.56, Z:3.59 [[ 8.69747755e-01 -4.86169492e-01 -8.47234721e-02 6.99821366e+01] [ 4.83952148e-01 8.73864286e-01 -4.63845657e-02 1.85569027e+01] [ 9.65875772e-02 -6.59234433e-04 9.95324271e-01 3.58990390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.991858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:70.01, Y:18.56, Z:3.60 [[ 8.70563801e-01 -4.84206354e-01 -8.75378491e-02 7.00055082e+01] [ 4.83104471e-01 8.74871442e-01 -3.47854831e-02 1.85637207e+01] [ 9.34277162e-02 -1.20069439e-02 9.95553663e-01 3.59784839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.021858064 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:70.03, Y:18.59, Z:3.59 [[ 8.69696420e-01 -4.87373958e-01 -7.80689555e-02 7.00282539e+01] [ 4.84230609e-01 8.73120951e-01 -5.63961284e-02 1.85888357e+01] [ 9.56496449e-02 1.12441331e-02 9.95351553e-01 3.59059023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.051858064 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:70.05, Y:18.60, Z:3.60 [[ 8.69688242e-01 -4.86483947e-01 -8.35208422e-02 7.00547207e+01] [ 4.84324605e-01 8.73689290e-01 -4.57897608e-02 1.85974597e+01] [ 9.52472488e-02 -6.28382373e-04 9.95453448e-01 3.59805453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.08, Y:18.61, Z:3.60 [[ 8.70460773e-01 -4.85122291e-01 -8.33930785e-02 7.00779813e+01] [ 4.82960593e-01 8.74446200e-01 -4.57483196e-02 1.86113777e+01] [ 9.51162903e-02 -4.53452987e-04 9.95466065e-01 3.60033945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.111858064 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:70.10, Y:18.62, Z:3.60 [[ 8.70821767e-01 -4.84380381e-01 -8.39350720e-02 7.01024577e+01] [ 4.82185584e-01 8.74857426e-01 -4.60602510e-02 1.86248945e+01] [ 9.57419030e-02 -3.62012584e-04 9.95406127e-01 3.60308070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141858064 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:70.13, Y:18.64, Z:3.61 [[ 8.71259444e-01 -4.83529204e-01 -8.43000029e-02 7.01265648e+01] [ 4.81308359e-01 8.75328196e-01 -4.62905305e-02 1.86377301e+01] [ 9.61729927e-02 -2.43234216e-04 9.95364605e-01 3.60578446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.171858064 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:70.15, Y:18.65, Z:3.61 [[ 8.71689172e-01 -4.82603993e-01 -8.51549984e-02 7.01501851e+01] [ 4.80332008e-01 8.75838666e-01 -4.67738439e-02 1.86506219e+01] [ 9.71552841e-02 -1.30418130e-04 9.95269227e-01 3.60833546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:70.17, Y:18.66, Z:3.61 [[ 8.72434550e-01 -4.81040148e-01 -8.63616406e-02 7.01741112e+01] [ 4.78693958e-01 8.76698565e-01 -4.74523066e-02 1.86646303e+01] [ 9.85395909e-02 5.82361376e-05 9.95133130e-01 3.61052902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23185806400001 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:70.20, Y:18.68, Z:3.61 [[ 8.72513918e-01 -4.80731652e-01 -8.72728003e-02 7.01983770e+01] [ 4.78330853e-01 8.76867757e-01 -4.79847000e-02 1.86784632e+01] [ 9.95944688e-02 1.22045564e-04 9.95028104e-01 3.61253811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.261858064 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:70.22, Y:18.69, Z:3.61 [[ 8.72458502e-01 -4.80697562e-01 -8.80114562e-02 7.02216028e+01] [ 4.78252529e-01 8.76886441e-01 -4.84219896e-02 1.86914305e+01] [ 1.00452385e-01 1.54475017e-04 9.94941855e-01 3.61471697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.291858064 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:70.25, Y:18.70, Z:3.62 [[ 8.71924552e-01 -4.81450547e-01 -8.91792982e-02 7.02458825e+01] [ 4.78941502e-01 8.76473253e-01 -4.90884389e-02 1.87048174e+01] [ 1.01796925e-01 8.97480984e-05 9.94805196e-01 3.61727048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.321858064 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:70.27, Y:18.72, Z:3.62 [[ 8.71334584e-01 -4.82486073e-01 -8.93489318e-02 7.02704263e+01] [ 4.79969555e-01 8.75903642e-01 -4.92141994e-02 1.87180332e+01] [ 1.02006221e-01 -2.73303369e-06 9.94783761e-01 3.62045154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.351858064 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:70.29, Y:18.73, Z:3.62 [[ 8.70702717e-01 -4.83684950e-01 -8.90261074e-02 7.02948891e+01] [ 4.81189618e-01 8.75242170e-01 -4.90682690e-02 1.87309842e+01] [ 1.01652987e-01 -1.14563448e-04 9.94819912e-01 3.62369242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.381858064 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:70.32, Y:18.74, Z:3.63 [[ 8.69466298e-01 -4.85973520e-01 -8.86458894e-02 7.03194724e+01] [ 4.83508371e-01 8.73973462e-01 -4.88880633e-02 1.87427323e+01] [ 1.01232459e-01 -3.54506214e-04 9.94862736e-01 3.62817597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.411858064 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:70.34, Y:18.76, Z:3.63 [[ 8.68696923e-01 -4.87393987e-01 -8.83898039e-02 7.03437678e+01] [ 4.84948796e-01 8.73182024e-01 -4.87628764e-02 1.87557249e+01] [ 1.00947121e-01 -5.04368341e-04 9.94891665e-01 3.63135175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.441858064 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:70.37, Y:18.77, Z:3.63 [[ 8.67938921e-01 -4.88741931e-01 -8.83931800e-02 7.03678789e+01] [ 4.86300290e-01 8.72428177e-01 -4.87965658e-02 1.87689041e+01] [ 1.00965629e-01 -6.33190409e-04 9.94889713e-01 3.63458445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.471858064 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:70.39, Y:18.78, Z:3.64 [[ 8.67177080e-01 -4.90020423e-01 -8.87913093e-02 7.03924540e+01] [ 4.87560091e-01 8.71710624e-01 -4.90484124e-02 1.87827642e+01] [ 1.01435051e-01 -7.57439765e-04 9.94841875e-01 3.63752959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501858064 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:70.43, Y:18.79, Z:3.66 [[ 8.66828764e-01 -4.88628533e-01 -9.92474214e-02 7.04277484e+01] [ 4.88559483e-01 8.72122951e-01 -2.66681472e-02 1.87857072e+01] [ 9.95867717e-02 -2.53715519e-02 9.94705363e-01 3.65745478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.531858064 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:70.45, Y:18.81, Z:3.65 [[ 8.66521975e-01 -4.91755690e-01 -8.55336613e-02 7.04465617e+01] [ 4.88728405e-01 8.70714821e-01 -5.47745093e-02 1.88129299e+01] [ 1.01411103e-01 5.66058610e-03 9.94828501e-01 3.64687551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561858064 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:70.46, Y:18.83, Z:3.64 [[ 8.64974741e-01 -4.95877551e-01 -7.69685177e-02 7.04647450e+01] [ 4.92866590e-01 8.68334244e-01 -5.54812200e-02 1.88317682e+01] [ 9.43462910e-02 1.00546430e-02 9.95488665e-01 3.63806871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59185806400001 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:70.49, Y:18.84, Z:3.65 [[ 8.65356060e-01 -4.93685988e-01 -8.62150549e-02 7.04936123e+01] [ 4.91451740e-01 8.69638490e-01 -4.69476731e-02 1.88404118e+01] [ 9.81533386e-02 -1.74408533e-03 9.95169775e-01 3.64794440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.621858064 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:70.51, Y:18.86, Z:3.65 [[ 8.66251343e-01 -4.91901531e-01 -8.74156438e-02 7.05146629e+01] [ 4.89084914e-01 8.70646183e-01 -5.26419205e-02 1.88559013e+01] [ 1.02002738e-01 2.84746167e-03 9.94780043e-01 3.65039781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.651858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:70.54, Y:18.87, Z:3.65 [[ 8.66350808e-01 -4.91458882e-01 -8.89069462e-02 7.05396103e+01] [ 4.88992663e-01 8.70900348e-01 -4.91808878e-02 1.88691014e+01] [ 1.01599475e-01 -8.66942567e-04 9.94825007e-01 3.65381524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.681858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:70.56, Y:18.88, Z:3.66 [[ 8.66535699e-01 -4.91173131e-01 -8.86839268e-02 7.05633409e+01] [ 4.88714659e-01 8.71061599e-01 -4.90884180e-02 1.88835188e+01] [ 1.01360075e-01 -8.04268525e-04 9.94849480e-01 3.65586955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:18.90, Z:3.66 [[ 8.67220196e-01 -4.90138142e-01 -8.77139277e-02 7.05858790e+01] [ 4.87725163e-01 8.71644525e-01 -4.85797013e-02 1.88986394e+01] [ 1.00266129e-01 -6.50991586e-04 9.94960441e-01 3.65735162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.741858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:70.61, Y:18.91, Z:3.66 [[ 8.67572945e-01 -4.89560190e-01 -8.74528726e-02 7.06094942e+01] [ 4.87157130e-01 8.71969321e-01 -4.84503280e-02 1.89130801e+01] [ 9.99755737e-02 -5.69096735e-04 9.94989729e-01 3.65946804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.771858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.61, Y:18.96, Z:3.62 [[ 8.64788554e-01 -4.99677598e-01 -4.96291648e-02 7.06113206e+01] [ 4.94742280e-01 8.64781383e-01 -8.59257528e-02 1.89567299e+01] [ 8.58535516e-02 4.97539614e-02 9.95064677e-01 3.62061426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.67, Y:18.92, Z:3.68 [[ 8.68115597e-01 -4.83851405e-01 -1.10739009e-01 7.06677184e+01] [ 4.86293834e-01 8.73777456e-01 -5.59141636e-03 1.89227003e+01] [ 9.94666643e-02 -4.89977015e-02 9.93833793e-01 3.68464391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.831858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:70.66, Y:18.99, Z:3.63 [[ 8.66432669e-01 -4.96884537e-01 -4.89917067e-02 7.06617711e+01] [ 4.91977597e-01 8.66352777e-01 -8.59704042e-02 1.89880204e+01] [ 8.51614656e-02 5.03847446e-02 9.95092409e-01 3.62587564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.861858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.72, Y:18.95, Z:3.69 [[ 8.69161236e-01 -4.82065848e-01 -1.10323453e-01 7.07157711e+01] [ 4.84594673e-01 8.74727752e-01 -4.40043584e-03 1.89537488e+01] [ 9.86242855e-02 -4.96374692e-02 9.93885995e-01 3.68900064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.72, Y:19.01, Z:3.64 [[ 8.67928246e-01 -4.93147805e-01 -5.92098134e-02 7.07184499e+01] [ 4.88860740e-01 8.69238440e-01 -7.37544003e-02 1.90092822e+01] [ 8.78392664e-02 3.50681741e-02 9.95517195e-01 3.64255762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:70.76, Y:18.99, Z:3.69 [[ 8.69648476e-01 -4.83050080e-01 -1.01853569e-01 7.07627036e+01] [ 4.83997178e-01 8.74907244e-01 -1.68536669e-02 1.89891307e+01] [ 9.72535904e-02 -3.46400741e-02 9.94656626e-01 3.68789892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.78, Y:19.02, Z:3.68 [[ 8.69484748e-01 -4.86753839e-01 -8.40652937e-02 7.07797393e+01] [ 4.84517097e-01 8.73539157e-01 -4.66103473e-02 1.90195959e+01] [ 9.61220912e-02 -2.04085929e-04 9.95369530e-01 3.67618071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:19.03, Z:3.68 [[ 8.69380118e-01 -4.86983775e-01 -8.38153511e-02 7.08026538e+01] [ 4.84758506e-01 8.73410992e-01 -4.65019227e-02 1.90341415e+01] [ 9.58509308e-02 -2.02357344e-04 9.95395679e-01 3.67825583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.83, Y:19.05, Z:3.68 [[ 8.69118222e-01 -4.87554187e-01 -8.32131684e-02 7.08262787e+01] [ 4.85362093e-01 8.73092694e-01 -4.61821037e-02 1.90491599e+01] [ 9.51690874e-02 -2.50809800e-04 9.95461090e-01 3.67992809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.85, Y:19.07, Z:3.68 [[ 8.68704138e-01 -4.88525941e-01 -8.18261906e-02 7.08490645e+01] [ 4.86407987e-01 8.72549311e-01 -4.54419454e-02 1.90651356e+01] [ 9.35969553e-02 -3.25306615e-04 9.95610117e-01 3.68167882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.071858064 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:70.87, Y:19.08, Z:3.68 [[ 8.69301469e-01 -4.87616288e-01 -8.09031023e-02 7.08704149e+01] [ 4.85238325e-01 8.73054129e-01 -4.81690348e-02 1.90793388e+01] [ 9.41207934e-02 2.61612684e-03 9.95557347e-01 3.68297335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:19.10, Z:3.68 [[ 8.68649516e-01 -4.88958368e-01 -7.97980718e-02 7.08919044e+01] [ 4.85007481e-01 8.72137151e-01 -6.43780540e-02 1.90998087e+01] [ 1.01073051e-01 1.72193037e-02 9.94729980e-01 3.68421414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.93, Y:19.10, Z:3.70 [[ 8.68247254e-01 -4.86938747e-01 -9.50650459e-02 7.09269217e+01] [ 4.86661827e-01 8.73152598e-01 -2.76551415e-02 1.90985972e+01] [ 9.64726517e-02 -2.22530283e-02 9.95086846e-01 3.70247751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.95, Y:19.12, Z:3.70 [[ 8.68162527e-01 -4.89095795e-01 -8.41375619e-02 7.09454771e+01] [ 4.86860358e-01 8.72229978e-01 -4.67103566e-02 1.91235814e+01] [ 9.62331427e-02 -4.11062304e-04 9.95358736e-01 3.69639270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.97, Y:19.13, Z:3.70 [[ 8.68998540e-01 -4.87371569e-01 -8.55014108e-02 7.09674638e+01] [ 4.85656841e-01 8.73176169e-01 -4.12408840e-02 1.91348894e+01] [ 9.47574287e-02 -5.68607703e-03 9.95484153e-01 3.69985588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:19.16, Z:3.70 [[ 8.68049978e-01 -4.89957749e-01 -8.01912663e-02 7.09913320e+01] [ 4.87292731e-01 8.71728974e-01 -5.13263087e-02 1.91566360e+01] [ 9.50527730e-02 5.47718000e-03 9.95457167e-01 3.69814888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.251858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.02, Y:19.17, Z:3.70 [[ 8.67018712e-01 -4.91296902e-01 -8.31017868e-02 7.10159975e+01] [ 4.89123370e-01 8.70991946e-01 -4.61666345e-02 1.91694689e+01] [ 9.50625115e-02 -6.19690068e-04 9.95471112e-01 3.70272553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.04, Y:19.18, Z:3.71 [[ 8.66193717e-01 -4.92779100e-01 -8.29289046e-02 7.10400350e+01] [ 4.90618477e-01 8.70154119e-01 -4.61011881e-02 1.91836244e+01] [ 9.48786299e-02 -7.53893386e-04 9.95488562e-01 3.70530388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.06, Y:19.20, Z:3.71 [[ 8.65157319e-01 -4.94585387e-01 -8.29946237e-02 7.10644989e+01] [ 4.92426683e-01 8.69128551e-01 -4.61684322e-02 1.91980800e+01] [ 9.49672290e-02 -9.25810195e-04 9.95479969e-01 3.70759814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.09, Y:19.22, Z:3.71 [[ 8.63014120e-01 -4.98720671e-01 -8.05252792e-02 7.10858806e+01] [ 4.95887439e-01 8.66740651e-01 -5.34442966e-02 1.92158237e+01] [ 9.64483084e-02 6.19170819e-03 9.95318736e-01 3.70618405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.371858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.11, Y:19.22, Z:3.71 [[ 8.61804415e-01 -4.99885856e-01 -8.60655672e-02 7.11134380e+01] [ 4.98390632e-01 8.66047048e-01 -3.96142419e-02 1.92241680e+01] [ 9.43394296e-02 -8.75454387e-03 9.95501597e-01 3.71397824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.14, Y:19.24, Z:3.71 [[ 8.60820136e-01 -5.02155043e-01 -8.26378044e-02 7.11356931e+01] [ 5.00042895e-01 8.64775956e-01 -4.60396429e-02 1.92414151e+01] [ 9.45822252e-02 -1.69059529e-03 9.95515617e-01 3.71338486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:19.26, Z:3.71 [[ 8.60656837e-01 -5.03526911e-01 -7.56997984e-02 7.11622947e+01] [ 5.00555538e-01 8.63923033e-01 -5.55080753e-02 1.92608921e+01] [ 9.33486091e-02 9.88145123e-03 9.95584449e-01 3.70826755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:19.27, Z:3.72 [[ 8.58295581e-01 -5.06092686e-01 -8.48462636e-02 7.11856138e+01] [ 5.04452039e-01 8.62448235e-01 -4.13664335e-02 1.92693408e+01] [ 9.41107598e-02 -7.29624365e-03 9.95534997e-01 3.71683645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:19.28, Z:3.72 [[ 8.59090498e-01 -5.04751948e-01 -8.47878984e-02 7.12132970e+01] [ 5.02804766e-01 8.63253249e-01 -4.45106268e-02 1.92837986e+01] [ 9.56602543e-02 -4.39310286e-03 9.95404348e-01 3.71971797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.23, Y:19.30, Z:3.72 [[ 8.57605920e-01 -5.06963651e-01 -8.66022045e-02 7.12317727e+01] [ 5.05396573e-01 8.61922632e-01 -4.07882360e-02 1.92969543e+01] [ 9.53225531e-02 -8.78822472e-03 9.95407644e-01 3.72482148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.551858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.25, Y:19.31, Z:3.72 [[ 8.57249029e-01 -5.08135576e-01 -8.32005925e-02 7.12534482e+01] [ 5.06008518e-01 8.61274186e-01 -4.64989923e-02 1.93141025e+01] [ 9.52863148e-02 -2.23899252e-03 9.95447389e-01 3.72456561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.28, Y:19.33, Z:3.72 [[ 8.57536454e-01 -5.08611458e-01 -7.71078086e-02 7.12784454e+01] [ 5.05864151e-01 8.60970707e-01 -5.32062337e-02 1.93343070e+01] [ 9.34488645e-02 6.62020890e-03 9.95602070e-01 3.72117355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:19.34, Z:3.73 [[ 8.57219204e-01 -5.07593886e-01 -8.67391680e-02 7.13023125e+01] [ 5.06321838e-01 8.61518718e-01 -3.77318693e-02 1.93410928e+01] [ 9.38798831e-02 -1.15734520e-02 9.95516259e-01 3.73405645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.32, Y:19.36, Z:3.73 [[ 8.58064191e-01 -5.07669620e-01 -7.74428903e-02 7.13231425e+01] [ 5.05004095e-01 8.61532688e-01 -5.22713185e-02 1.93637281e+01] [ 9.32561419e-02 5.74316993e-03 9.95625586e-01 3.72720073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.671858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:71.35, Y:19.37, Z:3.74 [[ 8.58298618e-01 -5.06060202e-01 -8.50091437e-02 7.13474294e+01] [ 5.04244438e-01 8.62478847e-01 -4.32178868e-02 1.93732286e+01] [ 9.51894407e-02 -5.77153532e-03 9.95442444e-01 3.73656739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.37, Y:19.39, Z:3.73 [[ 8.58539822e-01 -5.06484004e-01 -7.98957334e-02 7.13730458e+01] [ 5.04021155e-01 8.62245377e-01 -4.99558348e-02 1.93925759e+01] [ 9.41915580e-02 2.61993359e-03 9.95550645e-01 3.73336375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73185806400001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.40, Y:19.40, Z:3.74 [[ 8.59000433e-01 -5.05184845e-01 -8.31055278e-02 7.13964644e+01] [ 5.03157042e-01 8.63006317e-01 -4.53110195e-02 1.94043199e+01] [ 9.46110359e-02 -2.89294611e-03 9.95510112e-01 3.73799718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.42, Y:19.42, Z:3.74 [[ 8.59537037e-01 -5.04305973e-01 -8.28949144e-02 7.14194951e+01] [ 5.02230903e-01 8.63521970e-01 -4.57594475e-02 1.94199539e+01] [ 9.46583425e-02 -2.30044777e-03 9.95507160e-01 3.74002048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:19.43, Z:3.74 [[ 8.59387789e-01 -5.04560882e-01 -8.28911575e-02 7.14442611e+01] [ 5.02463894e-01 8.63373522e-01 -4.60021451e-02 1.94340981e+01] [ 9.47769135e-02 -2.11613204e-03 9.95496288e-01 3.74270695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:19.46, Z:3.74 [[ 8.60806591e-01 -5.03050555e-01 -7.71501903e-02 7.14634782e+01] [ 5.00435122e-01 8.64237729e-01 -5.15542131e-02 1.94551416e+01] [ 9.26104807e-02 5.76954155e-03 9.95685699e-01 3.73905298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.49, Y:19.46, Z:3.75 [[ 8.62523014e-01 -4.98458849e-01 -8.71368196e-02 7.14870125e+01] [ 4.96620149e-01 8.66892481e-01 -4.31955292e-02 1.94624791e+01] [ 9.70694475e-02 -6.01676228e-03 9.95259424e-01 3.75104147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.51, Y:19.48, Z:3.75 [[ 8.63664350e-01 -4.97704022e-01 -7.98410763e-02 7.15140780e+01] [ 4.95333397e-01 8.67343593e-01 -4.85789820e-02 1.94818349e+01] [ 9.34276008e-02 2.40798341e-03 9.95623164e-01 3.74678493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:19.49, Z:3.76 [[ 8.65409708e-01 -4.93350471e-01 -8.75862362e-02 7.15338398e+01] [ 4.91386026e-01 8.69817631e-01 -4.42386956e-02 1.94939624e+01] [ 9.80092338e-02 -4.75405583e-03 9.95174150e-01 3.75699426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.941858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.55, Y:19.52, Z:3.75 [[ 8.66178489e-01 -4.94008131e-01 -7.54373334e-02 7.15549489e+01] [ 4.91004471e-01 8.69387266e-01 -5.55012704e-02 1.95172664e+01] [ 9.30023359e-02 1.10339386e-02 9.95604750e-01 3.74729318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:19.53, Z:3.75 [[ 8.66221959e-01 -4.93540168e-01 -7.79590954e-02 7.15819635e+01] [ 4.91176468e-01 8.69715484e-01 -4.83802993e-02 1.95305372e+01] [ 9.16798535e-02 3.61640452e-03 9.95781967e-01 3.75040169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:19.53, Z:3.77 [[ 8.67927358e-01 -4.87038259e-01 -9.74465741e-02 7.16114009e+01] [ 4.86780270e-01 8.73074788e-01 -2.80246925e-02 1.95325307e+01] [ 9.87272444e-02 -2.31116724e-02 9.94846110e-01 3.77189044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.63, Y:19.57, Z:3.75 [[ 8.68049959e-01 -4.91188786e-01 -7.22692499e-02 7.16279177e+01] [ 4.87512633e-01 8.70834303e-01 -6.30797013e-02 1.95668913e+01] [ 9.39185838e-02 1.95241598e-02 9.95388420e-01 3.75248726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:19.56, Z:3.78 [[ 8.68484617e-01 -4.86455476e-01 -9.53705434e-02 7.16593129e+01] [ 4.85843867e-01 8.73491801e-01 -3.11096610e-02 1.95622964e+01] [ 9.84388526e-02 -1.93169316e-02 9.94955601e-01 3.77668982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.68, Y:19.60, Z:3.76 [[ 8.67862492e-01 -4.91774501e-01 -7.05162073e-02 7.16755950e+01] [ 4.88002326e-01 8.70455344e-01 -6.45075539e-02 1.95962865e+01] [ 9.31043796e-02 2.15716132e-02 9.95422644e-01 3.75753912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.71, Y:19.59, Z:3.78 [[ 8.67914753e-01 -4.87368926e-01 -9.58932238e-02 7.17083475e+01] [ 4.86961713e-01 8.72935050e-01 -2.92008385e-02 1.95902894e+01] [ 9.79401374e-02 -2.13524900e-02 9.94963216e-01 3.78372534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:19.61, Z:3.78 [[ 8.67685000e-01 -4.89699649e-01 -8.55394314e-02 7.17276530e+01] [ 4.87321713e-01 8.71891183e-01 -4.82007648e-02 1.96132246e+01] [ 9.81849736e-02 1.37858432e-04 9.95168173e-01 3.77920278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:19.64, Z:3.77 [[ 8.67043624e-01 -4.93070224e-01 -7.15339668e-02 7.17480402e+01] [ 4.89322356e-01 8.69747003e-01 -6.40607760e-02 1.96377973e+01] [ 9.38029145e-02 2.05403182e-02 9.95378877e-01 3.76673948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.78, Y:19.63, Z:3.79 [[ 8.67487800e-01 -4.88074440e-01 -9.61678585e-02 7.17806211e+01] [ 4.87549476e-01 8.72562746e-01 -3.04920063e-02 1.96318986e+01] [ 9.87948596e-02 -2.04351456e-02 9.94897975e-01 3.79235940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.241858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:71.80, Y:19.66, Z:3.78 [[ 8.67336509e-01 -4.90657817e-01 -8.35600818e-02 7.17992088e+01] [ 4.87286776e-01 8.71297204e-01 -5.82475793e-02 1.96605547e+01] [ 1.01385296e-01 9.80252918e-03 9.94798941e-01 3.78413632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:19.68, Z:3.77 [[ 8.66852336e-01 -4.93437312e-01 -7.13207324e-02 7.18191301e+01] [ 4.89731236e-01 8.69545161e-01 -6.36751881e-02 1.96816375e+01] [ 9.34363114e-02 2.02689951e-02 9.95418919e-01 3.77215307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:19.67, Z:3.80 [[ 8.67529760e-01 -4.86998773e-01 -1.01115332e-01 7.18562312e+01] [ 4.87281594e-01 8.72926821e-01 -2.35672065e-02 1.96723787e+01] [ 9.97434860e-02 -2.88263872e-02 9.94595534e-01 3.80353891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.87, Y:19.71, Z:3.78 [[ 8.67022670e-01 -4.92746965e-01 -7.39737693e-02 7.18702514e+01] [ 4.88948402e-01 8.69956854e-01 -6.40666278e-02 1.97088306e+01] [ 9.59226240e-02 1.93778624e-02 9.95200155e-01 3.78048382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:19.70, Z:3.81 [[ 8.67500020e-01 -4.87632629e-01 -9.82758064e-02 7.19027861e+01] [ 4.86812635e-01 8.72852385e-01 -3.37960271e-02 1.97045792e+01] [ 1.02260318e-01 -1.85238501e-02 9.94585187e-01 3.80568362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:19.73, Z:3.80 [[ 8.67496662e-01 -4.89317570e-01 -8.95424890e-02 7.19227011e+01] [ 4.86692497e-01 8.72105616e-01 -5.06182487e-02 1.97268286e+01] [ 1.02858906e-01 3.31504215e-04 9.94695901e-01 3.80159340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:19.74, Z:3.80 [[ 8.67563663e-01 -4.89085053e-01 -9.01615322e-02 7.19467557e+01] [ 4.86418663e-01 8.72236011e-01 -5.10022123e-02 1.97407658e+01] [ 1.03586555e-01 3.91414132e-04 9.94620366e-01 3.80427033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:19.75, Z:3.81 [[ 8.67446897e-01 -4.89235724e-01 -9.04670535e-02 7.19706305e+01] [ 4.86548451e-01 8.72151502e-01 -5.12090075e-02 1.97546314e+01] [ 1.03954252e-01 4.04489890e-04 9.94581998e-01 3.80683257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.99, Y:19.78, Z:3.80 [[ 8.66448618e-01 -4.92864213e-01 -7.96973001e-02 7.19899080e+01] [ 4.88621563e-01 8.69888688e-01 -6.73990979e-02 1.97784191e+01] [ 1.02546383e-01 1.94560359e-02 9.94537934e-01 3.79607941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.02, Y:19.77, Z:3.82 [[ 8.66575246e-01 -4.88924372e-01 -1.00001509e-01 7.20230532e+01] [ 4.88038971e-01 8.72127146e-01 -3.48167307e-02 1.97732953e+01] [ 1.04236778e-01 -1.86333163e-02 9.94377943e-01 3.81995189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.541858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.04, Y:19.79, Z:3.82 [[ 8.66051058e-01 -4.91727678e-01 -9.03297065e-02 7.20434211e+01] [ 4.89053948e-01 8.70749023e-01 -5.12091338e-02 1.97944361e+01] [ 1.03835452e-01 1.73624859e-04 9.94594475e-01 3.81645067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.07, Y:19.81, Z:3.82 [[ 8.65529393e-01 -4.92700601e-01 -9.00277065e-02 7.20669710e+01] [ 4.90046557e-01 8.70198891e-01 -5.10711453e-02 1.98068643e+01] [ 1.03504794e-01 8.58097650e-05 9.94628951e-01 3.81954283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.601858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.09, Y:19.82, Z:3.82 [[ 8.64312314e-01 -4.94864017e-01 -8.98544858e-02 7.20921346e+01] [ 4.92230185e-01 8.68970414e-01 -5.09888707e-02 1.98191539e+01] [ 1.03313447e-01 -1.58781347e-04 9.94648836e-01 3.82323184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.631858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.12, Y:19.83, Z:3.83 [[ 8.63900798e-01 -4.95721687e-01 -8.90809696e-02 7.21156128e+01] [ 4.93134371e-01 8.68481408e-01 -5.05819820e-02 1.98319291e+01] [ 1.02439751e-01 -2.31073284e-04 9.94739184e-01 3.82616630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.661858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:72.14, Y:19.85, Z:3.83 [[ 8.62989360e-01 -4.97549731e-01 -8.77133353e-02 7.21407948e+01] [ 4.94715968e-01 8.67432089e-01 -5.30818439e-02 1.98472600e+01] [ 1.02496219e-01 2.41587891e-03 9.94730460e-01 3.82819407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.691858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.17, Y:19.86, Z:3.83 [[ 8.63252226e-01 -4.96729585e-01 -8.97513993e-02 7.21651382e+01] [ 4.94471855e-01 8.67898566e-01 -4.74306258e-02 1.98578754e+01] [ 1.01455306e-01 -3.43494761e-03 9.94834168e-01 3.83300821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.721858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:72.19, Y:19.87, Z:3.84 [[ 8.63510193e-01 -4.96646996e-01 -8.77035200e-02 7.21879462e+01] [ 4.94136380e-01 8.67952584e-01 -4.98753400e-02 1.98725412e+01] [ 1.00892935e-01 -2.69635371e-04 9.94897253e-01 3.83504038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:19.89, Z:3.84 [[ 8.63863972e-01 -4.96052731e-01 -8.75826786e-02 7.22116440e+01] [ 4.93543755e-01 8.68292379e-01 -4.98287677e-02 1.98860446e+01] [ 1.00765069e-01 -1.80606916e-04 9.94910231e-01 3.83753494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:19.90, Z:3.84 [[ 8.64209558e-01 -4.95431752e-01 -8.76881937e-02 7.22356334e+01] [ 4.92912034e-01 8.68646862e-01 -4.99034716e-02 1.98996484e+01] [ 1.00893839e-01 -9.55088032e-05 9.94897193e-01 3.84028828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.811858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.26, Y:19.91, Z:3.85 [[ 8.64821411e-01 -4.93324510e-01 -9.33533903e-02 7.22638383e+01] [ 4.91443758e-01 8.69808385e-01 -4.37767837e-02 1.99090153e+01] [ 1.02795722e-01 -8.01884109e-03 9.94670165e-01 3.84784508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84185806400001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.28, Y:19.93, Z:3.84 [[ 8.64879374e-01 -4.94907415e-01 -8.39661719e-02 7.22824192e+01] [ 4.91732084e-01 8.68912824e-01 -5.64806352e-02 1.99300956e+01] [ 1.00911969e-01 7.56007576e-03 9.94866634e-01 3.84333487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:19.94, Z:3.85 [[ 8.64729416e-01 -4.94581540e-01 -8.73621085e-02 7.23082982e+01] [ 4.92068564e-01 8.69131230e-01 -4.97939077e-02 1.99411971e+01] [ 1.00556284e-01 7.01094099e-05 9.94931369e-01 3.84844361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.33, Y:19.96, Z:3.85 [[ 8.64705213e-01 -4.94613795e-01 -8.74190394e-02 7.23322040e+01] [ 4.92094468e-01 8.69112873e-01 -4.98582959e-02 1.99552438e+01] [ 1.00637613e-01 9.43027591e-05 9.94923144e-01 3.85119305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.931858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.36, Y:19.97, Z:3.85 [[ 8.64569143e-01 -4.94777707e-01 -8.78363176e-02 7.23562952e+01] [ 4.92231793e-01 8.69019568e-01 -5.01283510e-02 1.99679068e+01] [ 1.01133869e-01 1.03597276e-04 9.94872821e-01 3.85368504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.38, Y:19.98, Z:3.86 [[ 8.64197041e-01 -4.95353292e-01 -8.82529930e-02 7.23809629e+01] [ 4.92783786e-01 8.68691610e-01 -5.03887555e-02 1.99812149e+01] [ 1.01624870e-01 5.61693377e-05 9.94822790e-01 3.85686076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.991858064 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:72.41, Y:20.00, Z:3.86 [[ 8.63744607e-01 -4.96141878e-01 -8.82524234e-02 7.24056851e+01] [ 4.93573170e-01 8.68241462e-01 -5.04211256e-02 1.99950831e+01] [ 1.01640445e-01 -8.05304156e-06 9.94821200e-01 3.85922755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:20.01, Z:3.86 [[ 8.63390444e-01 -4.96785432e-01 -8.80975405e-02 7.24298180e+01] [ 4.94225777e-01 8.67873396e-01 -5.03651608e-02 2.00088893e+01] [ 1.01478190e-01 -5.52768886e-05 9.94837763e-01 3.86171980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.051858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.45, Y:20.02, Z:3.86 [[ 8.62907185e-01 -4.97732453e-01 -8.74848280e-02 7.24531743e+01] [ 4.95210032e-01 8.67330610e-01 -5.00463544e-02 2.00215623e+01] [ 1.00787964e-01 -1.38005733e-04 9.94907919e-01 3.86385622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.081858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:72.48, Y:20.04, Z:3.87 [[ 8.62273872e-01 -4.98667644e-01 -8.83988173e-02 7.24776728e+01] [ 4.96095451e-01 8.66793242e-01 -5.05843703e-02 2.00353125e+01] [ 1.01848286e-01 -2.36670360e-04 9.94799915e-01 3.86772605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.111858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:72.50, Y:20.05, Z:3.87 [[ 8.62434700e-01 -4.98588776e-01 -8.72675251e-02 7.25014898e+01] [ 4.96078488e-01 8.66838620e-01 -4.99693927e-02 2.00487203e+01] [ 1.00561039e-01 -1.96203696e-04 9.94930871e-01 3.86968908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.53, Y:20.06, Z:3.87 [[ 8.62335245e-01 -4.98814252e-01 -8.69612942e-02 7.25261500e+01] [ 4.96321236e-01 8.66708889e-01 -4.98089595e-02 2.00623729e+01] [ 1.00215546e-01 -2.08715789e-04 9.94965728e-01 3.87280316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:20.08, Z:3.88 [[ 8.62062298e-01 -4.99428942e-01 -8.61355146e-02 7.25511521e+01] [ 4.96983121e-01 8.66354817e-01 -4.93670756e-02 2.00752510e+01] [ 9.92792643e-02 -2.50402297e-04 9.95059579e-01 3.87620185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.57, Y:20.09, Z:3.88 [[ 8.62008388e-01 -4.99498600e-01 -8.62710069e-02 7.25749604e+01] [ 4.97042318e-01 8.66314663e-01 -4.94756489e-02 2.00884648e+01] [ 9.94508556e-02 -2.31916874e-04 9.95042448e-01 3.87882739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:20.10, Z:3.88 [[ 8.61631073e-01 -5.00072408e-01 -8.67149365e-02 7.25997310e+01] [ 4.97592194e-01 8.65983547e-01 -4.97443879e-02 2.01016592e+01] [ 9.99695041e-02 -2.87365160e-04 9.94990460e-01 3.88123371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.261858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:72.62, Y:20.11, Z:3.88 [[ 8.61387214e-01 -5.00457988e-01 -8.69130044e-02 7.26234044e+01] [ 4.97965207e-01 8.65760769e-01 -4.98893116e-02 2.01147624e+01] [ 1.00213374e-01 -3.05637144e-04 9.94965922e-01 3.88351842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.291858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.65, Y:20.13, Z:3.89 [[ 8.61198191e-01 -5.00676329e-01 -8.75265053e-02 7.26479086e+01] [ 4.98147789e-01 8.65634513e-01 -5.02560468e-02 2.01280413e+01] [ 1.00927977e-01 -3.20718468e-04 9.94893683e-01 3.88602431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:20.14, Z:3.89 [[ 8.60891301e-01 -5.01104481e-01 -8.80935178e-02 7.26721595e+01] [ 4.98541926e-01 8.65386723e-01 -5.06139113e-02 2.01415557e+01] [ 1.01597818e-01 -3.45236042e-04 9.94825494e-01 3.88849671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.70, Y:20.15, Z:3.89 [[ 8.60559490e-01 -5.01572097e-01 -8.86724067e-02 7.26961269e+01] [ 4.98974908e-01 8.65115767e-01 -5.09779390e-02 2.01545898e+01] [ 1.02281009e-01 -3.75756770e-04 9.94755474e-01 3.89074040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.381858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:72.72, Y:20.17, Z:3.89 [[ 8.60389891e-01 -5.01844917e-01 -8.87745221e-02 7.27202966e+01] [ 4.99241647e-01 8.64957527e-01 -5.10514954e-02 2.01677330e+01] [ 1.02406124e-01 -3.95748087e-04 9.94742594e-01 3.89326142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.411858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:72.74, Y:20.18, Z:3.90 [[ 8.60316515e-01 -5.01915026e-01 -8.90887242e-02 7.27443808e+01] [ 4.99290412e-01 8.64916854e-01 -5.12632473e-02 2.01805749e+01] [ 1.02784133e-01 -3.78527551e-04 9.94703613e-01 3.89612684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.441858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.77, Y:20.19, Z:3.90 [[ 8.60135097e-01 -5.02213218e-01 -8.91599552e-02 7.27685243e+01] [ 4.99584460e-01 8.64743732e-01 -5.13190547e-02 2.01940662e+01] [ 1.02873620e-01 -4.01607998e-04 9.94694354e-01 3.89902139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.471858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.79, Y:20.21, Z:3.90 [[ 8.60300022e-01 -5.01864937e-01 -8.95290876e-02 7.27933586e+01] [ 4.99209116e-01 8.64945937e-01 -5.15634015e-02 2.02077436e+01] [ 1.03315684e-01 -3.33741234e-04 9.94648560e-01 3.90183407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.82, Y:20.22, Z:3.91 [[ 8.60757380e-01 -5.01003916e-01 -8.99544755e-02 7.28182178e+01] [ 4.98314688e-01 8.65444992e-01 -5.18405026e-02 2.02209691e+01] [ 1.03822945e-01 -2.03541108e-04 9.94595774e-01 3.90507613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:20.23, Z:3.91 [[ 8.61229154e-01 -5.00234796e-01 -8.97189704e-02 7.28421187e+01] [ 4.97552108e-01 8.65889798e-01 -5.17373893e-02 2.02343845e+01] [ 1.03567584e-01 -8.21148399e-05 9.94622415e-01 3.90769773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.87, Y:20.25, Z:3.91 [[ 8.62030642e-01 -4.98781777e-01 -9.01105483e-02 7.28658521e+01] [ 4.96065299e-01 8.66727597e-01 -5.19855008e-02 2.02478172e+01] [ 1.04030719e-01 1.12378527e-04 9.94574078e-01 3.91019018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.89, Y:20.26, Z:3.91 [[ 8.62195877e-01 -4.98389766e-01 -9.06968120e-02 7.28902165e+01] [ 4.95633888e-01 8.66953062e-01 -5.23396449e-02 2.02614741e+01] [ 1.04715422e-01 1.74612496e-04 9.94502212e-01 3.91275349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.92, Y:20.28, Z:3.92 [[ 8.62399909e-01 -4.98007262e-01 -9.08579298e-02 7.29150527e+01] [ 4.95235861e-01 8.67172822e-01 -5.24665494e-02 2.02750844e+01] [ 1.04918250e-01 2.51042416e-04 9.94480818e-01 3.91523505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.651858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.94, Y:20.29, Z:3.92 [[ 8.62528625e-01 -4.97681291e-01 -9.14204773e-02 7.29388611e+01] [ 4.94870013e-01 8.67359919e-01 -5.28246250e-02 2.02877079e+01] [ 1.05584285e-01 3.21498375e-04 9.94410305e-01 3.91828266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.681858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.96, Y:20.30, Z:3.92 [[ 8.62398225e-01 -4.97908515e-01 -9.14134122e-02 7.29634478e+01] [ 4.95097214e-01 8.67229506e-01 -5.28368485e-02 2.03020102e+01] [ 1.05584325e-01 3.07878680e-04 9.94410305e-01 3.92106064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.711858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.99, Y:20.31, Z:3.92 [[ 8.62736829e-01 -4.97390396e-01 -9.10382243e-02 7.29882223e+01] [ 4.94595923e-01 8.67526735e-01 -5.26520382e-02 2.03148765e+01] [ 1.05166712e-01 3.97717858e-04 9.94454526e-01 3.92445641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.741858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:73.01, Y:20.33, Z:3.93 [[ 8.62880186e-01 -4.97218576e-01 -9.06171779e-02 7.30125069e+01] [ 4.94445429e-01 8.67625200e-01 -5.24426267e-02 2.03286522e+01] [ 1.04697195e-01 4.46454078e-04 9.94504046e-01 3.92701452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:20.34, Z:3.93 [[ 8.62831935e-01 -4.97294507e-01 -9.06599457e-02 7.30365865e+01] [ 4.94515547e-01 8.67581670e-01 -5.25016080e-02 2.03423613e+01] [ 1.04763668e-01 4.67311325e-04 9.94497036e-01 3.92978604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.801858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.06, Y:20.36, Z:3.93 [[ 8.62941283e-01 -4.97126134e-01 -9.05425259e-02 7.30609334e+01] [ 4.94349876e-01 8.67678131e-01 -5.24677066e-02 2.03555298e+01] [ 1.04644838e-01 5.16863540e-04 9.94509523e-01 3.93240890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:20.37, Z:3.93 [[ 8.63179810e-01 -4.96621105e-01 -9.10389648e-02 7.30852050e+01] [ 4.93807957e-01 8.67967226e-01 -5.27882161e-02 2.03675831e+01] [ 1.05234580e-01 6.09957141e-04 9.94447239e-01 3.93471710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:20.38, Z:3.94 [[ 8.63265059e-01 -4.96434233e-01 -9.12496050e-02 7.31096395e+01] [ 4.93605246e-01 8.68074094e-01 -5.29266379e-02 2.03810808e+01] [ 1.05486013e-01 6.48433445e-04 9.94420575e-01 3.93705887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.891858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.13, Y:20.40, Z:3.94 [[ 8.63028053e-01 -4.96800265e-01 -9.14990487e-02 7.31349803e+01] [ 4.93839413e-01 8.67863479e-01 -5.41813178e-02 2.03951992e+01] [ 1.06325976e-01 1.57416073e-03 9.94330080e-01 3.93888858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.16, Y:20.41, Z:3.94 [[ 8.63353021e-01 -4.95983981e-01 -9.28517684e-02 7.31604146e+01] [ 4.93193676e-01 8.68331562e-01 -5.25385230e-02 2.04074151e+01] [ 1.06684387e-01 -4.34612433e-04 9.94292841e-01 3.94231299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:20.42, Z:3.94 [[ 8.63289116e-01 -4.96078459e-01 -9.29411898e-02 7.31842215e+01] [ 4.93132878e-01 8.68277355e-01 -5.39851682e-02 2.04202982e+01] [ 1.07479610e-01 7.72451684e-04 9.94206989e-01 3.94459333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.21, Y:20.44, Z:3.94 [[ 8.62951625e-01 -4.97160924e-01 -9.02524727e-02 7.32083127e+01] [ 4.93287071e-01 8.67605611e-01 -6.26767068e-02 2.04358027e+01] [ 1.09463961e-01 9.56658808e-03 9.93944728e-01 3.94460833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.011858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:73.24, Y:20.44, Z:3.95 [[ 8.62811701e-01 -4.96099180e-01 -9.71677506e-02 7.32363976e+01] [ 4.93985876e-01 8.68229536e-01 -4.64265813e-02 2.04413875e+01] [ 1.07396100e-01 -7.94209882e-03 9.94184591e-01 3.95441844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.041858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.26, Y:20.46, Z:3.95 [[ 8.62636690e-01 -4.97290948e-01 -9.25183990e-02 7.32589999e+01] [ 4.94372045e-01 8.67583573e-01 -5.38054443e-02 2.04579785e+01] [ 1.07024404e-01 6.76040317e-04 9.94256164e-01 3.95371075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.071858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:73.28, Y:20.47, Z:3.96 [[ 8.62313321e-01 -4.97841499e-01 -9.25720170e-02 7.32839988e+01] [ 4.94918583e-01 8.67267798e-01 -5.38717247e-02 2.04701445e+01] [ 1.07104310e-01 6.38694324e-04 9.94247584e-01 3.95622365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.101858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:73.31, Y:20.48, Z:3.96 [[ 8.61857994e-01 -4.98516424e-01 -9.31781837e-02 7.33079669e+01] [ 4.95555266e-01 8.66880055e-01 -5.42581632e-02 2.04827358e+01] [ 1.07822894e-01 5.87892040e-04 9.94169944e-01 3.95914101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.131858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:73.33, Y:20.50, Z:3.96 [[ 8.61404517e-01 -4.99259046e-01 -9.33951971e-02 7.33329922e+01] [ 4.96286502e-01 8.66452621e-01 -5.44018758e-02 2.04952850e+01] [ 1.08083142e-01 5.11245952e-04 9.94141727e-01 3.96207725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.161858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.36, Y:20.51, Z:3.96 [[ 8.60864504e-01 -5.00164403e-01 -9.35300778e-02 7.33566611e+01] [ 4.97184942e-01 8.65930359e-01 -5.45137252e-02 2.05075542e+01] [ 1.08256359e-01 4.27184695e-04 9.94122919e-01 3.96443788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.191858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:73.38, Y:20.52, Z:3.97 [[ 8.59798209e-01 -5.01970872e-01 -9.36604721e-02 7.33822715e+01] [ 4.98991859e-01 8.64884500e-01 -5.46070251e-02 2.05193699e+01] [ 1.08416627e-01 2.15209277e-04 9.94105522e-01 3.96721148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:20.53, Z:3.97 [[ 8.59140866e-01 -5.03211795e-01 -9.30315146e-02 7.34069007e+01] [ 5.00276261e-01 8.64163111e-01 -5.42750496e-02 2.05328598e+01] [ 1.07706248e-01 8.84548541e-05 9.94182758e-01 3.96990951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.43, Y:20.55, Z:3.97 [[ 8.58563356e-01 -5.04265953e-01 -9.26542656e-02 7.34320047e+01] [ 5.01356642e-01 8.63548405e-01 -5.40894530e-02 2.05459170e+01] [ 1.07286913e-01 -1.36092005e-05 9.94228102e-01 3.97309453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:73.46, Y:20.56, Z:3.97 [[ 8.58117953e-01 -5.05388108e-01 -9.06445720e-02 7.34567406e+01] [ 5.01878355e-01 8.62872863e-01 -5.97372454e-02 2.05615589e+01] [ 1.08405235e-01 5.76905403e-03 9.94090048e-01 3.97410587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:20.56, Z:3.99 [[ 8.56689985e-01 -5.05886267e-01 -1.00803541e-01 7.34828696e+01] [ 5.04216864e-01 8.62490871e-01 -4.32995565e-02 2.05642244e+01] [ 1.08846785e-01 -1.37325491e-02 9.93963679e-01 3.98646205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:20.59, Z:3.98 [[ 8.57210373e-01 -5.07555632e-01 -8.70497304e-02 7.35053949e+01] [ 5.03821495e-01 8.61567279e-01 -6.21749594e-02 2.05875661e+01] [ 1.06556450e-01 9.43949489e-03 9.94261846e-01 3.97701341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.371858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.53, Y:20.60, Z:3.98 [[ 8.56911368e-01 -5.07175354e-01 -9.20655663e-02 7.35318091e+01] [ 5.04318763e-01 8.61842808e-01 -5.37546316e-02 2.05963671e+01] [ 1.06609070e-01 -3.67437573e-04 9.94300946e-01 3.98326715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.56, Y:20.61, Z:3.99 [[ 8.56547213e-01 -5.07824006e-01 -9.18784528e-02 7.35564554e+01] [ 5.04979107e-01 8.61460739e-01 -5.36795804e-02 2.06098812e+01] [ 1.06409459e-01 -4.17604066e-04 9.94322308e-01 3.98571498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.58, Y:20.62, Z:3.99 [[ 8.56043770e-01 -5.08626693e-01 -9.21300798e-02 7.35810496e+01] [ 5.05767299e-01 8.60987019e-01 -5.38590087e-02 2.06216274e+01] [ 1.06716932e-01 -4.90712780e-04 9.94289322e-01 3.98877619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:20.63, Z:4.01 [[ 8.55538509e-01 -5.06936469e-01 -1.05210622e-01 7.36079440e+01] [ 5.05566681e-01 8.61798447e-01 -4.13009414e-02 2.06261922e+01] [ 1.11607304e-01 -1.78564388e-02 9.93591947e-01 4.00648267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:20.66, Z:3.99 [[ 8.56011180e-01 -5.10359795e-01 -8.23270317e-02 7.36261217e+01] [ 5.06005276e-01 8.59789914e-01 -6.87019891e-02 2.06556756e+01] [ 1.05846685e-01 1.71517583e-02 9.94234528e-01 3.98833237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.521858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:73.65, Y:20.66, Z:4.00 [[ 8.56258484e-01 -5.08482303e-01 -9.09239049e-02 7.36534548e+01] [ 5.05692352e-01 8.61072332e-01 -5.31947701e-02 2.06604822e+01] [ 1.05340658e-01 -4.31050129e-04 9.94436101e-01 3.99852617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.551858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:73.68, Y:20.67, Z:4.00 [[ 8.56579679e-01 -5.08005595e-01 -9.05625186e-02 7.36777948e+01] [ 5.05233522e-01 8.61353695e-01 -5.29990591e-02 2.06745116e+01] [ 1.04930179e-01 -3.57303288e-04 9.94479527e-01 4.00158139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.581858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:73.70, Y:20.69, Z:4.00 [[ 8.56959647e-01 -5.07409754e-01 -9.03078316e-02 7.37022362e+01] [ 5.04646422e-01 8.61704866e-01 -5.28839513e-02 2.06885004e+01] [ 1.04652531e-01 -2.54111808e-04 9.94508815e-01 4.00425442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:20.68, Z:4.04 [[ 8.58711307e-01 -4.98207891e-01 -1.20015785e-01 7.37397267e+01] [ 4.99295383e-01 8.66126483e-01 -2.30007895e-02 2.06829204e+01] [ 1.15408025e-01 -4.01722894e-02 9.92505504e-01 4.03924351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.74, Y:20.73, Z:3.99 [[ 8.58724478e-01 -5.07650051e-01 -6.98834582e-02 7.37435330e+01] [ 5.01743594e-01 8.60663868e-01 -8.66664412e-02 2.07338772e+01] [ 1.04142391e-01 3.93590170e-02 9.93783291e-01 3.99413797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:20.72, Z:4.04 [[ 8.59554067e-01 -4.98469135e-01 -1.12673546e-01 7.37865723e+01] [ 4.98435925e-01 8.66390007e-01 -3.04956319e-02 2.07155754e+01] [ 1.12820366e-01 -2.99478988e-02 9.93163979e-01 4.03754475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:20.76, Z:4.00 [[ 8.59550613e-01 -5.05551137e-01 -7.47715966e-02 7.37941922e+01] [ 5.00360423e-01 8.62283287e-01 -7.81471692e-02 2.07571375e+01] [ 1.03981688e-01 2.97586995e-02 9.94133909e-01 4.00378350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:20.75, Z:4.04 [[ 8.60175669e-01 -4.98410185e-01 -1.08097670e-01 7.38334190e+01] [ 4.97690133e-01 8.66628790e-01 -3.54833971e-02 2.07466144e+01] [ 1.11365839e-01 -2.32771888e-02 9.93506831e-01 4.03808006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:20.78, Z:4.01 [[ 8.60530942e-01 -5.03270768e-01 -7.87720254e-02 7.38448820e+01] [ 4.98487058e-01 8.63803784e-01 -7.31688196e-02 2.07825776e+01] [ 1.04867302e-01 2.36971981e-02 9.94203848e-01 4.01191979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.87, Y:20.79, Z:4.02 [[ 8.60562999e-01 -5.01211194e-01 -9.06568481e-02 7.38733889e+01] [ 4.98373955e-01 8.65324745e-01 -5.32586715e-02 2.07860295e+01] [ 1.05141456e-01 6.51430103e-04 9.94457063e-01 4.02404985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:20.80, Z:4.03 [[ 8.60573574e-01 -5.01192833e-01 -9.06579716e-02 7.38971987e+01] [ 4.98353847e-01 8.65335368e-01 -5.32742349e-02 2.07995854e+01] [ 1.05150214e-01 6.66649884e-04 9.94456127e-01 4.02651052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.851858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:73.92, Y:20.82, Z:4.02 [[ 8.59473458e-01 -5.03607974e-01 -8.76606114e-02 7.39199882e+01] [ 4.99612035e-01 8.63855567e-01 -6.43535159e-02 2.08185908e+01] [ 1.08135051e-01 1.15138424e-02 9.94069536e-01 4.02458777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.95, Y:20.82, Z:4.04 [[ 8.59824834e-01 -5.01370265e-01 -9.65873301e-02 7.39481492e+01] [ 4.99578948e-01 8.65166669e-01 -4.36750449e-02 2.08219349e+01] [ 1.05461507e-01 -1.07001086e-02 9.94365817e-01 4.03624195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.911858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:73.97, Y:20.84, Z:4.03 [[ 8.59428879e-01 -5.03084009e-01 -9.10411045e-02 7.39705410e+01] [ 5.00224647e-01 8.64237373e-01 -5.35636652e-02 2.08402881e+01] [ 1.05628148e-01 4.93156436e-04 9.94405577e-01 4.03437617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:20.85, Z:4.04 [[ 8.58660234e-01 -5.04290113e-01 -9.16192342e-02 7.39956806e+01] [ 5.01397345e-01 8.63534214e-01 -5.39385117e-02 2.08533540e+01] [ 1.06317002e-01 3.77214309e-04 9.94332215e-01 4.03795105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:20.87, Z:4.04 [[ 8.58301676e-01 -5.04837597e-01 -9.19632160e-02 7.40189952e+01] [ 5.01922517e-01 8.63214275e-01 -5.41747336e-02 2.08660395e+01] [ 1.06733403e-01 3.39855768e-04 9.94287617e-01 4.04068423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.04, Y:20.88, Z:4.04 [[ 8.57514695e-01 -5.06215637e-01 -9.17293693e-02 7.40437896e+01] [ 5.03116244e-01 8.62404982e-01 -5.59615174e-02 2.08806834e+01] [ 1.07436460e-01 1.83728769e-03 9.94210255e-01 4.04262485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.07, Y:20.89, Z:4.05 [[ 8.57151403e-01 -5.06474412e-01 -9.36757261e-02 7.40689565e+01] [ 5.03681094e-01 8.62253451e-01 -5.31445388e-02 2.08925834e+01] [ 1.07688567e-01 -1.62977620e-03 9.94183341e-01 4.04710327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:20.91, Z:4.05 [[ 8.56765982e-01 -5.07315041e-01 -9.26471822e-02 7.40931784e+01] [ 5.04362310e-01 8.61760662e-01 -5.46554813e-02 2.09069278e+01] [ 1.07567245e-01 9.92102610e-05 9.94197806e-01 4.04904466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:20.92, Z:4.05 [[ 8.55136283e-01 -5.10398531e-01 -9.07484248e-02 7.41178715e+01] [ 5.06851981e-01 8.59919823e-01 -6.03238622e-02 2.09228627e+01] [ 1.08825580e-01 5.58910446e-03 9.94045147e-01 4.05009560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.14, Y:20.93, Z:4.06 [[ 8.53862168e-01 -5.11888380e-01 -9.42851225e-02 7.41447056e+01] [ 5.09165018e-01 8.59047034e-01 -5.28126591e-02 2.09335509e+01] [ 1.08029541e-01 -2.91195456e-03 9.94143420e-01 4.05678504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.151858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.17, Y:20.94, Z:4.06 [[ 8.52774315e-01 -5.13802647e-01 -9.37166350e-02 7.41682603e+01] [ 5.11187192e-01 8.57900672e-01 -5.19046366e-02 2.09444903e+01] [ 1.07068304e-01 -3.64380259e-03 9.94244990e-01 4.05935649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:20.96, Z:4.06 [[ 8.51601243e-01 -5.16087819e-01 -9.18078723e-02 7.41923614e+01] [ 5.12839405e-01 8.56532885e-01 -5.78546650e-02 2.09610892e+01] [ 1.08494550e-01 2.18641000e-03 9.94094640e-01 4.06028126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:20.97, Z:4.07 [[ 8.49613644e-01 -5.18889378e-01 -9.43952870e-02 7.42181605e+01] [ 5.16301083e-01 8.54829096e-01 -5.19654476e-02 2.09714148e+01] [ 1.07656157e-01 -4.58583562e-03 9.94177611e-01 4.06551736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:20.99, Z:4.07 [[ 8.49493523e-01 -5.19389448e-01 -9.27111455e-02 7.42419488e+01] [ 5.16490505e-01 8.54536635e-01 -5.48151208e-02 2.09873629e+01] [ 1.07695466e-01 -1.31933629e-03 9.94183055e-01 4.06690165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:21.00, Z:4.07 [[ 8.47925373e-01 -5.22285734e-01 -9.07753987e-02 7.42655030e+01] [ 5.18611671e-01 8.52752347e-01 -6.20916189e-02 2.10044641e+01] [ 1.09838501e-01 5.57187803e-03 9.93933830e-01 4.06693326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:21.01, Z:4.08 [[ 8.47495396e-01 -5.21989661e-01 -9.63241781e-02 7.42915493e+01] [ 5.19799263e-01 8.52905486e-01 -4.85896953e-02 2.10120146e+01] [ 1.07518739e-01 -8.88969372e-03 9.94163314e-01 4.07596231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:21.03, Z:4.07 [[ 8.46972750e-01 -5.23717075e-01 -9.14198380e-02 7.43140895e+01] [ 5.20477895e-01 8.51890571e-01 -5.81826080e-02 2.10311401e+01] [ 1.08350923e-01 1.69707870e-03 9.94111260e-01 4.07409991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:21.04, Z:4.08 [[ 8.46692361e-01 -5.23609193e-01 -9.45804295e-02 7.43387108e+01] [ 5.21058748e-01 8.51941813e-01 -5.18934345e-02 2.10423816e+01] [ 1.07748902e-01 -5.34418563e-03 9.94163776e-01 4.07981994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:21.06, Z:4.08 [[ 8.46641780e-01 -5.23894703e-01 -9.34453630e-02 7.43615134e+01] [ 5.20963279e-01 8.51781133e-01 -5.53729559e-02 2.10581500e+01] [ 1.08604595e-01 -1.80054474e-03 9.94083397e-01 4.08077852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:21.07, Z:4.08 [[ 8.46716850e-01 -5.23730410e-01 -9.36858220e-02 7.43850568e+01] [ 5.20779228e-01 8.51882254e-01 -5.55483646e-02 2.10721085e+01] [ 1.08901657e-01 -1.75589381e-03 9.94050978e-01 4.08350585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:21.09, Z:4.09 [[ 8.46802060e-01 -5.23600863e-01 -9.36397808e-02 7.44091505e+01] [ 5.20649893e-01 8.51961951e-01 -5.55384799e-02 2.10868890e+01] [ 1.08857526e-01 -1.72344262e-03 9.94055868e-01 4.08644275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.43, Y:21.10, Z:4.09 [[ 8.48037038e-01 -5.21460131e-01 -9.44061148e-02 7.44319033e+01] [ 5.18724991e-01 8.53267916e-01 -5.34625755e-02 2.11009677e+01] [ 1.08432310e-01 -3.63256690e-03 9.94097198e-01 4.08977592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:21.12, Z:4.09 [[ 8.47938411e-01 -5.21956233e-01 -9.25318444e-02 7.44547970e+01] [ 5.18737457e-01 8.52971578e-01 -5.78872827e-02 2.11185773e+01] [ 1.09141661e-01 1.08511678e-03 9.94025613e-01 4.09064193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.48, Y:21.13, Z:4.09 [[ 8.48266280e-01 -5.21262049e-01 -9.34355084e-02 7.44786075e+01] [ 5.18301674e-01 8.53395593e-01 -5.54917737e-02 2.11324957e+01] [ 1.08663207e-01 -1.35597993e-03 9.94077698e-01 4.09444008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:21.15, Z:4.10 [[ 8.48660093e-01 -5.20698607e-01 -9.30000431e-02 7.45021062e+01] [ 5.17758842e-01 8.53739656e-01 -5.52664588e-02 2.11470262e+01] [ 1.08174993e-01 -1.24915658e-03 9.94131083e-01 4.09712965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.53, Y:21.16, Z:4.10 [[ 8.48574554e-01 -5.20840508e-01 -9.29859795e-02 7.45264848e+01] [ 5.17899000e-01 8.53653108e-01 -5.52901115e-02 2.11616455e+01] [ 1.08175100e-01 -1.23956419e-03 9.94131084e-01 4.09987879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:21.18, Z:4.10 [[ 8.48873670e-01 -5.20427519e-01 -9.25672135e-02 7.45496868e+01] [ 5.17507699e-01 8.53905056e-01 -5.50630140e-02 2.11764769e+01] [ 1.07699919e-01 -1.16270286e-03 9.94182768e-01 4.10267233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.661858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:74.57, Y:21.19, Z:4.11 [[ 8.49225439e-01 -5.19985054e-01 -9.18242782e-02 7.45730686e+01] [ 5.17105949e-01 8.54174689e-01 -5.46538038e-02 2.11923156e+01] [ 1.06853135e-01 -1.06948000e-03 9.94274240e-01 4.10536891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:21.21, Z:4.11 [[ 8.49443534e-01 -5.19731239e-01 -9.12421046e-02 7.45968285e+01] [ 5.16883568e-01 8.54329231e-01 -5.43409690e-02 2.12073046e+01] [ 1.06193496e-01 -1.00195986e-03 9.94344979e-01 4.10808114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:21.22, Z:4.11 [[ 8.49664254e-01 -5.19452469e-01 -9.07732727e-02 7.46196978e+01] [ 5.16628998e-01 8.54498836e-01 -5.40945331e-02 2.12219321e+01] [ 1.05665195e-01 -9.33913745e-04 9.94401325e-01 4.11071683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.751858064 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:74.64, Y:21.24, Z:4.11 [[ 8.49795478e-01 -5.19251254e-01 -9.06960838e-02 7.46428555e+01] [ 5.16429685e-01 8.54621165e-01 -5.40651919e-02 2.12371653e+01] [ 1.05584212e-01 -8.93794346e-04 9.94409963e-01 4.11348005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.66, Y:21.25, Z:4.12 [[ 8.50461632e-01 -5.18316120e-01 -8.97965044e-02 7.46649030e+01] [ 5.15541786e-01 8.55188780e-01 -5.35613466e-02 2.12535871e+01] [ 1.04554672e-01 -7.41980075e-04 9.94518864e-01 4.11523289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.811858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:74.69, Y:21.27, Z:4.12 [[ 8.50806217e-01 -5.17808562e-01 -8.94599050e-02 7.46883349e+01] [ 5.15050567e-01 8.55496262e-01 -5.33765906e-02 2.12687044e+01] [ 1.04171470e-01 -6.63239685e-04 9.94559131e-01 4.11745375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84185806400001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:74.71, Y:21.28, Z:4.12 [[ 8.50945016e-01 -5.17582627e-01 -8.94472148e-02 7.47111026e+01] [ 5.14820788e-01 8.55633014e-01 -5.34013326e-02 2.12835178e+01] [ 1.04173592e-01 -6.07687769e-04 9.94558944e-01 4.12071475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.871858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.73, Y:21.30, Z:4.12 [[ 8.51560651e-01 -5.16683017e-01 -8.87869282e-02 7.47344072e+01] [ 5.13955408e-01 8.56176634e-01 -5.30227211e-02 2.12987306e+01] [ 1.03413233e-01 -4.80459124e-04 9.94638363e-01 4.12392830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.76, Y:21.31, Z:4.13 [[ 8.51750123e-01 -5.16341238e-01 -8.89575982e-02 7.47577807e+01] [ 5.13597817e-01 8.56382833e-01 -5.31575510e-02 2.13136643e+01] [ 1.03629196e-01 -4.11477673e-04 9.94615916e-01 4.12688951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.78, Y:21.33, Z:4.13 [[ 8.52168716e-01 -5.15624154e-01 -8.91078629e-02 7.47806342e+01] [ 5.12864127e-01 8.56814825e-01 -5.32798570e-02 2.13284642e+01] [ 1.03821319e-01 -2.96799016e-04 9.94595921e-01 4.12958632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.961858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:74.80, Y:21.34, Z:4.13 [[ 8.52393755e-01 -5.15224278e-01 -8.92683092e-02 7.48039882e+01] [ 5.12450412e-01 8.57055359e-01 -5.33918204e-02 2.13438571e+01] [ 1.04016645e-01 -2.34727578e-04 9.94575529e-01 4.13197228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:21.36, Z:4.13 [[ 8.53210023e-01 -5.13791264e-01 -8.97284420e-02 7.48255676e+01] [ 5.10977261e-01 8.57915227e-01 -5.37001184e-02 2.13597456e+01] [ 1.04570048e-01 -3.17142202e-05 9.94517523e-01 4.13402178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.85, Y:21.38, Z:4.14 [[ 8.53494899e-01 -5.13312269e-01 -8.97606409e-02 7.48484957e+01] [ 5.10491095e-01 8.58201906e-01 -5.37431817e-02 2.13750897e+01] [ 1.04619788e-01 4.75235738e-05 9.94512291e-01 4.13659520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.87, Y:21.39, Z:4.14 [[ 8.53740084e-01 -5.12967947e-01 -8.93966114e-02 7.48723222e+01] [ 5.10164274e-01 8.58407754e-01 -5.35587695e-02 2.13905096e+01] [ 1.04212676e-01 1.18311068e-04 9.94555028e-01 4.13911807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:21.41, Z:4.14 [[ 8.53984570e-01 -5.12636868e-01 -8.89595134e-02 7.48953467e+01] [ 5.09855339e-01 8.58605501e-01 -5.33303497e-02 2.14053162e+01] [ 1.03720231e-01 1.86812817e-04 9.94606494e-01 4.14305341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:21.42, Z:4.15 [[ 8.53995721e-01 -5.12680815e-01 -8.85984822e-02 7.49183295e+01] [ 5.09918626e-01 8.58579256e-01 -5.31474975e-02 2.14193956e+01] [ 1.03316521e-01 2.09719072e-04 9.94648507e-01 4.14565040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.94, Y:21.43, Z:4.15 [[ 8.53866206e-01 -5.12955620e-01 -8.82555104e-02 7.49424416e+01] [ 5.10213825e-01 8.58415106e-01 -5.29656346e-02 2.14342872e+01] [ 1.02928883e-01 1.96383885e-04 9.94688698e-01 4.14877317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.171858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:74.97, Y:21.45, Z:4.15 [[ 8.53745609e-01 -5.13252534e-01 -8.76941977e-02 7.49651061e+01] [ 5.10543789e-01 8.58237614e-01 -5.26615385e-02 2.14485163e+01] [ 1.02291127e-01 1.87829235e-04 9.94754487e-01 4.15145572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.99, Y:21.46, Z:4.15 [[ 8.53704618e-01 -5.13383379e-01 -8.73265793e-02 7.49885469e+01] [ 5.10696440e-01 8.58159351e-01 -5.24563975e-02 2.14631409e+01] [ 1.01870363e-01 1.84895640e-04 9.94797665e-01 4.15435426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.231858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.01, Y:21.48, Z:4.16 [[ 8.53501566e-01 -5.13767313e-01 -8.70529971e-02 7.50121438e+01] [ 5.11095779e-01 8.57929554e-01 -5.23257539e-02 2.14780682e+01] [ 1.01568601e-01 1.67693516e-04 9.94828524e-01 4.15692696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.04, Y:21.49, Z:4.16 [[ 8.53550531e-01 -5.13662232e-01 -8.71929060e-02 7.50353607e+01] [ 5.10978152e-01 8.57992463e-01 -5.24429259e-02 2.14923121e+01] [ 1.01748807e-01 2.09017257e-04 9.94810101e-01 4.15940537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.291858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.06, Y:21.51, Z:4.16 [[ 8.53823523e-01 -5.13109894e-01 -8.77703189e-02 7.50591454e+01] [ 5.10385493e-01 8.58322872e-01 -5.28062073e-02 2.15063928e+01] [ 1.02430660e-01 2.90484405e-04 9.94740105e-01 4.16168661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.321858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:75.08, Y:21.52, Z:4.16 [[ 8.53834424e-01 -5.13415875e-01 -8.58540387e-02 7.50812049e+01] [ 5.09860817e-01 8.58100767e-01 -6.08688810e-02 2.15240680e+01] [ 1.04922466e-01 8.19833556e-03 9.94446612e-01 4.16064614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.351858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.11, Y:21.53, Z:4.17 [[ 8.54225123e-01 -5.11603488e-01 -9.25273524e-02 7.51085480e+01] [ 5.09499803e-01 8.59192406e-01 -4.68866742e-02 2.15323186e+01] [ 1.03486185e-01 -7.09089276e-03 9.94605615e-01 4.16976279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.381858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:75.13, Y:21.55, Z:4.17 [[ 8.54095632e-01 -5.13030278e-01 -8.55604232e-02 7.51290597e+01] [ 5.09255299e-01 8.58309958e-01 -6.29528189e-02 2.15545107e+01] [ 1.05734065e-01 1.01956288e-02 9.94342173e-01 4.16606523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.411858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.16, Y:21.56, Z:4.18 [[ 8.54511557e-01 -5.10922565e-01 -9.36383045e-02 7.51571066e+01] [ 5.09026774e-01 8.59576818e-01 -4.49381483e-02 2.15607220e+01] [ 1.03449230e-01 -9.26423698e-03 9.94591590e-01 4.17622567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.18, Y:21.58, Z:4.18 [[ 8.54378894e-01 -5.12079161e-01 -8.83834782e-02 7.51790287e+01] [ 5.09292830e-01 8.58938072e-01 -5.33498113e-02 2.15791277e+01] [ 1.03235261e-01 5.67880974e-04 9.94656804e-01 4.17540706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.20, Y:21.59, Z:4.18 [[ 8.54185242e-01 -5.12447257e-01 -8.81214000e-02 7.52031018e+01] [ 5.09675886e-01 8.58718525e-01 -5.32258136e-02 2.15930394e+01] [ 1.02946901e-01 5.51351864e-04 9.94686700e-01 4.17836926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:21.61, Z:4.18 [[ 8.53506892e-01 -5.13677685e-01 -8.75284066e-02 7.52275557e+01] [ 5.10946554e-01 8.57983130e-01 -5.29014863e-02 2.16060967e+01] [ 1.02272209e-01 4.29445392e-04 9.94756358e-01 4.18200594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.531858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:75.25, Y:21.62, Z:4.18 [[ 8.52941742e-01 -5.14675044e-01 -8.71778919e-02 7.52515876e+01] [ 5.11967554e-01 8.57385261e-01 -5.27232192e-02 2.16200589e+01] [ 1.01880365e-01 3.37582324e-04 9.94796601e-01 4.18473057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:21.63, Z:4.19 [[ 8.52491865e-01 -5.15453855e-01 -8.69766849e-02 7.52747943e+01] [ 5.12759590e-01 8.56917294e-01 -5.26341454e-02 2.16339128e+01] [ 1.01662299e-01 2.72051499e-04 9.94818930e-01 4.18757528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59185806400001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:75.30, Y:21.65, Z:4.19 [[ 8.51878128e-01 -5.16438592e-01 -8.71483512e-02 7.52987155e+01] [ 5.13737197e-01 8.56324210e-01 -5.27535767e-02 2.16482038e+01] [ 1.01871226e-01 1.68268489e-04 9.94797580e-01 4.19034711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.621858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:75.32, Y:21.66, Z:4.19 [[ 8.51177704e-01 -5.17483395e-01 -8.77920973e-02 7.53220566e+01] [ 5.14744012e-01 8.55693246e-01 -5.31758600e-02 2.16609954e+01] [ 1.02640729e-01 7.16500287e-05 9.94718491e-01 4.19279980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.651858064 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:75.35, Y:21.68, Z:4.19 [[ 8.50637598e-01 -5.18576212e-01 -8.65701374e-02 7.53453441e+01] [ 5.15339831e-01 8.55018165e-01 -5.80413240e-02 2.16770662e+01] [ 1.04117890e-01 4.75909244e-03 9.94553576e-01 4.19321239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.681858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:75.37, Y:21.69, Z:4.20 [[ 8.50133433e-01 -5.18661861e-01 -9.09011503e-02 7.53716590e+01] [ 5.16307459e-01 8.54966141e-01 -4.95933980e-02 2.16872122e+01] [ 1.03439610e-01 -4.77193621e-03 9.94624289e-01 4.19955244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.711858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.39, Y:21.70, Z:4.20 [[ 8.49655710e-01 -5.19765926e-01 -8.90424415e-02 7.53948177e+01] [ 5.16953981e-01 8.54308702e-01 -5.39928038e-02 2.17029897e+01] [ 1.04133352e-01 -1.55550536e-04 9.94563332e-01 4.20026586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.741858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.42, Y:21.72, Z:4.20 [[ 8.48982512e-01 -5.20747566e-01 -8.97255087e-02 7.54190158e+01] [ 5.17894079e-01 8.53710672e-01 -5.44409022e-02 2.17169928e+01] [ 1.04949592e-01 -2.48935755e-04 9.94477512e-01 4.20261527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.771858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:75.44, Y:21.73, Z:4.21 [[ 8.48394434e-01 -5.21588252e-01 -9.04023214e-02 7.54423298e+01] [ 5.18692650e-01 8.53197274e-01 -5.48848510e-02 2.17313305e+01] [ 1.05758308e-01 -3.27017517e-04 9.94391811e-01 4.20538154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.801858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:75.47, Y:21.75, Z:4.21 [[ 8.47895092e-01 -5.22567689e-01 -8.94255171e-02 7.54667434e+01] [ 5.19215809e-01 8.52589442e-01 -5.92130596e-02 2.17482074e+01] [ 1.07186084e-01 3.77532041e-03 9.94231809e-01 4.20655920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.831858064 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:75.49, Y:21.76, Z:4.21 [[ 8.48060469e-01 -5.22130755e-01 -9.04041785e-02 7.54904902e+01] [ 5.18713882e-01 8.52857061e-01 -5.97556858e-02 2.17625135e+01] [ 1.08302123e-01 3.78253259e-03 9.94110830e-01 4.20969598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.52, Y:21.77, Z:4.22 [[ 8.49097169e-01 -5.19568852e-01 -9.53006066e-02 7.55161872e+01] [ 5.17443673e-01 8.54383646e-01 -4.77559528e-02 2.17725454e+01] [ 1.06235785e-01 -8.76325157e-03 9.94302350e-01 4.21754800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:21.79, Z:4.22 [[ 8.49479550e-01 -5.19812720e-01 -9.04391045e-02 7.55373945e+01] [ 5.16899738e-01 8.54280242e-01 -5.49538761e-02 2.17910370e+01] [ 1.05826064e-01 -6.57555346e-05 9.94384654e-01 4.21677879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:75.56, Y:21.81, Z:4.22 [[ 8.49486816e-01 -5.19826309e-01 -9.02926205e-02 7.55610981e+01] [ 5.16921097e-01 8.54271974e-01 -5.48814517e-02 2.18064602e+01] [ 1.05663278e-01 -5.30907566e-05 9.94401965e-01 4.21966812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.951858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.58, Y:21.83, Z:4.22 [[ 8.48928170e-01 -5.21706078e-01 -8.45205902e-02 7.55821575e+01] [ 5.17139354e-01 8.52967700e-01 -7.08024824e-02 2.18299231e+01] [ 1.09031419e-01 1.63972984e-02 9.93903053e-01 4.21743477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.981858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.61, Y:21.83, Z:4.23 [[ 8.49575417e-01 -5.18337202e-01 -9.77146675e-02 7.56115526e+01] [ 5.17077554e-01 8.55012925e-01 -3.97957441e-02 2.18303087e+01] [ 1.04174918e-01 -1.67165754e-02 9.94418495e-01 4.23309456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.63, Y:21.85, Z:4.23 [[ 8.49598456e-01 -5.19922429e-01 -8.86743018e-02 7.56305772e+01] [ 5.17112613e-01 8.54213479e-01 -5.39803479e-02 2.18513501e+01] [ 1.03812377e-01 7.02037712e-06 9.94596898e-01 4.22935642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.041858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.65, Y:21.87, Z:4.23 [[ 8.49529641e-01 -5.20084679e-01 -8.83816458e-02 7.56543241e+01] [ 5.17292684e-01 8.54114703e-01 -5.38177677e-02 2.18667002e+01] [ 1.03477860e-01 6.10049303e-07 9.94631757e-01 4.23208757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.071858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:75.68, Y:21.88, Z:4.23 [[ 8.50031854e-01 -5.19388916e-01 -8.76413175e-02 7.56778711e+01] [ 5.16233734e-01 8.54531075e-01 -5.72658136e-02 2.18846599e+01] [ 1.04635458e-01 3.43436121e-03 9.94504714e-01 4.23374834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.101858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.70, Y:21.90, Z:4.24 [[ 8.50760054e-01 -5.17677556e-01 -9.06492074e-02 7.57017181e+01] [ 5.15138735e-01 8.55570346e-01 -5.12978267e-02 2.18968791e+01] [ 1.04112507e-01 -3.05477622e-03 9.94560835e-01 4.23877736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.131858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:75.72, Y:21.91, Z:4.24 [[ 8.51083700e-01 -5.17393731e-01 -8.92202995e-02 7.57241404e+01] [ 5.14525221e-01 8.55747373e-01 -5.44079916e-02 2.19140445e+01] [ 1.04500391e-01 3.99660437e-04 9.94524765e-01 4.24010961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.161858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:75.75, Y:21.93, Z:4.24 [[ 8.51471925e-01 -5.16693359e-01 -8.95741768e-02 7.57475354e+01] [ 5.13794531e-01 8.56170372e-01 -5.46577903e-02 2.19299579e+01] [ 1.04932074e-01 5.16851699e-04 9.94479257e-01 4.24236451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:21.95, Z:4.24 [[ 8.52250770e-01 -5.15394476e-01 -8.96502066e-02 7.57682144e+01] [ 5.12061136e-01 8.56943287e-01 -5.86651140e-02 2.19464834e+01] [ 1.07060818e-01 4.09100199e-03 9.94244057e-01 4.24320772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:21.96, Z:4.25 [[ 8.51287596e-01 -5.16507713e-01 -9.23537314e-02 7.57946747e+01] [ 5.13770454e-01 8.56279705e-01 -5.31506076e-02 2.19595274e+01] [ 1.06533325e-01 -2.20216551e-03 9.94306694e-01 4.24811056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:21.95, Z:4.29 [[ 8.52186821e-01 -5.06263334e-01 -1.32193263e-01 7.58347673e+01] [ 5.08600215e-01 8.60815065e-01 -1.79790119e-02 2.19477847e+01] [ 1.22896067e-01 -5.19120451e-02 9.91060894e-01 4.29475974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:22.01, Z:4.23 [[ 8.49818066e-01 -5.23320581e-01 -6.28078366e-02 7.58297041e+01] [ 5.16331838e-01 8.50500763e-01 -1.00249117e-01 2.20108713e+01] [ 1.05880539e-01 5.27638248e-02 9.92977991e-01 4.23484925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.311858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.86, Y:22.00, Z:4.26 [[ 8.48458431e-01 -5.21602616e-01 -8.97162309e-02 7.58646266e+01] [ 5.18715242e-01 8.53188554e-01 -5.48068321e-02 2.20032938e+01] [ 1.05132248e-01 -3.58576299e-05 9.94458249e-01 4.25739586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34185806400001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:75.89, Y:22.02, Z:4.26 [[ 8.47369661e-01 -5.23363987e-01 -8.97485075e-02 7.58872095e+01] [ 5.20480909e-01 8.52109198e-01 -5.48592489e-02 2.20172409e+01] [ 1.05186884e-01 -2.26321583e-04 9.94452446e-01 4.26054503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.371858064 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:75.91, Y:22.03, Z:4.26 [[ 8.45415240e-01 -5.26337092e-01 -9.07873221e-02 7.59116990e+01] [ 5.23620094e-01 8.50272773e-01 -5.34622126e-02 2.20304139e+01] [ 1.05333134e-01 -2.34029677e-03 9.94434238e-01 4.26394512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.401858064 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:75.94, Y:22.05, Z:4.27 [[ 8.44075117e-01 -5.28745787e-01 -8.92473509e-02 7.59361193e+01] [ 5.25686788e-01 8.48779614e-01 -5.68028871e-02 2.20467094e+01] [ 1.05785619e-01 1.02975038e-03 9.94388426e-01 4.26552882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.431858064 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:75.96, Y:22.05, Z:4.27 [[ 8.43803525e-01 -5.28004227e-01 -9.59538788e-02 7.59625139e+01] [ 5.26756314e-01 8.49075435e-01 -3.99836257e-02 2.20522211e+01] [ 1.02583605e-01 -1.68059872e-02 9.94582406e-01 4.27439908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.461858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:75.98, Y:22.08, Z:4.27 [[ 8.42025751e-01 -5.33022487e-01 -8.29437340e-02 7.59806427e+01] [ 5.28669393e-01 8.45973023e-01 -6.95580165e-02 2.20803523e+01] [ 1.07244148e-01 1.47198275e-02 9.94123744e-01 4.26610827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.491858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:76.01, Y:22.09, Z:4.28 [[ 8.41822719e-01 -5.31975123e-01 -9.13070568e-02 7.60082387e+01] [ 5.29028512e-01 8.46759099e-01 -5.59272907e-02 2.20886008e+01] [ 1.07067009e-01 -1.22317250e-03 9.94251055e-01 4.27510741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.521858064 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:76.03, Y:22.10, Z:4.28 [[ 8.40844773e-01 -5.33256429e-01 -9.28312912e-02 7.60321252e+01] [ 5.30214347e-01 8.45952526e-01 -5.68952607e-02 2.21029214e+01] [ 1.08870629e-01 -1.38039991e-03 9.94054969e-01 4.27805371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.551858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:76.04, Y:22.13, Z:4.26 [[ 8.38482493e-01 -5.40746331e-01 -6.73833395e-02 7.60383369e+01] [ 5.34992903e-01 8.40382064e-01 -8.68365103e-02 2.21345636e+01] [ 1.03584274e-01 3.67612853e-02 9.93941098e-01 4.25684966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.581858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:76.09, Y:22.12, Z:4.30 [[ 8.40380480e-01 -5.29865002e-01 -1.14033892e-01 7.60881535e+01] [ 5.30455052e-01 8.47262662e-01 -2.76300403e-02 2.21180279e+01] [ 1.11256850e-01 -3.72701077e-02 9.93092570e-01 4.30039896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.611858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:76.10, Y:22.15, Z:4.29 [[ 8.40554642e-01 -5.33053932e-01 -9.65473975e-02 7.61042545e+01] [ 5.29758150e-01 8.46080130e-01 -5.92006442e-02 2.21473894e+01] [ 1.13243971e-01 -1.38539444e-03 9.93566245e-01 4.28971219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641858064 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:76.13, Y:22.16, Z:4.29 [[ 8.41229930e-01 -5.31656881e-01 -9.83522497e-02 7.61272491e+01] [ 5.28222494e-01 8.46959001e-01 -6.03444153e-02 2.21611060e+01] [ 1.15382847e-01 -1.18834230e-03 9.93320385e-01 4.29433580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.671858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:76.15, Y:22.18, Z:4.30 [[ 8.41313211e-01 -5.31432629e-01 -9.88506067e-02 7.61508402e+01] [ 5.27958426e-01 8.47099795e-01 -6.06781537e-02 2.21760059e+01] [ 1.15982679e-01 -1.13967840e-03 9.93250582e-01 4.29801730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:76.17, Y:22.19, Z:4.30 [[ 8.41491136e-01 -5.30919035e-01 -1.00088190e-01 7.61742061e+01] [ 5.27348821e-01 8.47421900e-01 -6.14763732e-02 2.21904253e+01] [ 1.17455901e-01 -1.04956586e-03 9.93077545e-01 4.30218872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.731858064 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:76.16, Y:22.25, Z:4.24 [[ 8.37225608e-01 -5.46021755e-01 -3.02245644e-02 7.61581620e+01] [ 5.38299283e-01 8.32603140e-01 -1.30406645e-01 2.22537855e+01] [ 9.63699322e-02 9.29099209e-02 9.90999789e-01 4.24006202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.761858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:76.23, Y:22.19, Z:4.33 [[ 8.42596585e-01 -5.22006074e-01 -1.32441130e-01 7.62333996e+01] [ 5.26665566e-01 8.50072555e-01 1.77967872e-04 2.21949918e+01] [ 1.12491669e-01 -6.99021376e-02 9.91190857e-01 4.33413098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.791858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:76.25, Y:22.23, Z:4.32 [[ 8.43177303e-01 -5.25220653e-01 -1.14870805e-01 7.62492411e+01] [ 5.22756360e-01 8.50828515e-01 -5.30718932e-02 2.22296198e+01] [ 1.25609811e-01 -1.53004279e-02 9.91961729e-01 4.32354191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.821858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:76.27, Y:22.25, Z:4.32 [[ 8.43371669e-01 -5.26418417e-01 -1.07739865e-01 7.62703660e+01] [ 5.22291894e-01 8.50225282e-01 -6.57886583e-02 2.22501412e+01] [ 1.26235519e-01 -7.87367623e-04 9.91999987e-01 4.32236440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.851858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:76.28, Y:22.29, Z:4.29 [[ 8.41812585e-01 -5.35864096e-01 -6.48169959e-02 7.62766149e+01] [ 5.27937578e-01 8.42406584e-01 -1.07856671e-01 2.22943677e+01] [ 1.12398781e-01 5.65757748e-02 9.92051257e-01 4.28604135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.881858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.34, Y:22.24, Z:4.37 [[ 8.42548194e-01 -5.16980058e-01 -1.51142849e-01 7.63372607e+01] [ 5.25472886e-01 8.50578122e-01 1.98772474e-02 2.22446628e+01] [ 1.18282660e-01 -9.61690078e-02 9.88312063e-01 4.37286283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.911858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:76.33, Y:22.31, Z:4.31 [[ 8.43174796e-01 -5.31237188e-01 -8.27243209e-02 7.63329957e+01] [ 5.23265977e-01 8.46200983e-01 -1.00680753e-01 2.23144375e+01] [ 1.23486762e-01 4.16046506e-02 9.91473687e-01 4.31388928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.941858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:76.37, Y:22.31, Z:4.33 [[ 8.42528682e-01 -5.28226696e-01 -1.05460783e-01 7.63653869e+01] [ 5.24245376e-01 8.49103057e-01 -6.47362590e-02 2.23122311e+01] [ 1.23742493e-01 -7.45172623e-04 9.92314083e-01 4.33343246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.971858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.39, Y:22.33, Z:4.34 [[ 8.43226490e-01 -5.26981571e-01 -1.06110841e-01 7.63873724e+01] [ 5.22936418e-01 8.49876543e-01 -6.51718113e-02 2.23270823e+01] [ 1.24525459e-01 -5.34625517e-04 9.92216269e-01 4.33738959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.41, Y:22.34, Z:4.34 [[ 8.43668477e-01 -5.26347031e-01 -1.05746416e-01 7.64104061e+01] [ 5.22322026e-01 8.50269737e-01 -6.49698043e-02 2.23425149e+01] [ 1.24109641e-01 -4.20706149e-04 9.92268421e-01 4.34045431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.031858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:76.43, Y:22.36, Z:4.34 [[ 8.44422898e-01 -5.25209797e-01 -1.05378552e-01 7.64338221e+01] [ 5.21199076e-01 8.50972750e-01 -6.47834995e-02 2.23579070e+01] [ 1.23699205e-01 -2.18533795e-04 9.92319736e-01 4.34358890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.46, Y:22.37, Z:4.35 [[ 8.45195409e-01 -5.23988150e-01 -1.05266988e-01 7.64566932e+01] [ 5.19971555e-01 8.51725554e-01 -6.47546378e-02 2.23732318e+01] [ 1.23589247e-01 -5.51710905e-06 9.92333461e-01 4.34639164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:22.39, Z:4.35 [[ 8.46992849e-01 -5.21282055e-01 -1.04250341e-01 7.64792610e+01] [ 5.17317676e-01 8.53384347e-01 -6.41683627e-02 2.23907181e+01] [ 1.22415425e-01 4.19600408e-04 9.92478860e-01 4.34798252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.121858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:76.51, Y:22.40, Z:4.36 [[ 8.47994537e-01 -5.18205854e-01 -1.11211324e-01 7.65083431e+01] [ 5.16854563e-01 8.54996181e-01 -4.29289052e-02 2.23982365e+01] [ 1.17331267e-01 -2.10766031e-02 9.92869151e-01 4.36013427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.151858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:76.52, Y:22.43, Z:4.34 [[ 8.48482511e-01 -5.21174657e-01 -9.19478412e-02 7.65213342e+01] [ 5.15250781e-01 8.53177077e-01 -8.12742775e-02 2.24312334e+01] [ 1.20805884e-01 2.15836060e-02 9.92441478e-01 4.34427632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.181858064 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:76.55, Y:22.43, Z:4.36 [[ 8.48472058e-01 -5.18503382e-01 -1.06063233e-01 7.65522020e+01] [ 5.16290443e-01 8.54980627e-01 -4.95207580e-02 2.24335555e+01] [ 1.16358690e-01 -1.27424539e-02 9.93125513e-01 4.35891139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.211858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.57, Y:22.46, Z:4.35 [[ 8.48823109e-01 -5.20347790e-01 -9.34746313e-02 7.65693273e+01] [ 5.15361123e-01 8.53840153e-01 -7.32113798e-02 2.24584276e+01] [ 1.17907773e-01 1.39703201e-02 9.92926275e-01 4.35211175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.60, Y:22.47, Z:4.36 [[ 8.48228446e-01 -5.20126228e-01 -9.98859885e-02 7.65956624e+01] [ 5.16462933e-01 8.54089127e-01 -6.16263136e-02 2.24682518e+01] [ 1.17364999e-01 6.85781626e-04 9.93088610e-01 4.35955561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.62, Y:22.48, Z:4.36 [[ 8.47786455e-01 -5.20867205e-01 -9.97771607e-02 7.66179339e+01] [ 5.17212918e-01 8.53637499e-01 -6.15939812e-02 2.24826410e+01] [ 1.17255811e-01 6.12506600e-04 9.93101556e-01 4.36238030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.301858064 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:76.64, Y:22.50, Z:4.37 [[ 8.47277522e-01 -5.21761173e-01 -9.94287660e-02 7.66408822e+01] [ 5.18472435e-01 8.53089335e-01 -5.85228190e-02 2.24983208e+01] [ 1.15356555e-01 -1.96600546e-03 9.93322204e-01 4.36500243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:22.52, Z:4.37 [[ 8.46712352e-01 -5.23095499e-01 -9.72074662e-02 7.66638666e+01] [ 5.19728898e-01 8.52274002e-01 -5.92528235e-02 2.25153717e+01] [ 1.13842282e-01 -3.51431761e-04 9.93498773e-01 4.36589162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:22.53, Z:4.37 [[ 8.46356844e-01 -5.24023720e-01 -9.52850119e-02 7.66860688e+01] [ 5.20262004e-01 8.51696235e-01 -6.27771542e-02 2.25322850e+01] [ 1.14050604e-01 3.55870284e-03 9.93468568e-01 4.36612291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.71, Y:22.55, Z:4.36 [[ 8.45471495e-01 -5.26585231e-01 -8.88028416e-02 7.67074622e+01] [ 5.21685946e-01 8.49977357e-01 -7.33639343e-02 2.25538028e+01] [ 1.14112769e-01 1.56999208e-02 9.93343741e-01 4.36185081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:22.56, Z:4.38 [[ 8.45191437e-01 -5.24432084e-01 -1.03065145e-01 7.67362243e+01] [ 5.22701933e-01 8.51309965e-01 -4.53214386e-02 2.25569020e+01] [ 1.11508401e-01 -1.55670586e-02 9.93641557e-01 4.37585350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:22.60, Z:4.34 [[ 8.43217595e-01 -5.34033133e-01 -6.15848988e-02 7.67392648e+01] [ 5.27737427e-01 8.44154260e-01 -9.43228150e-02 2.26011569e+01] [ 1.02358663e-01 4.70340013e-02 9.93634997e-01 4.33957795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.481858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.79, Y:22.58, Z:4.39 [[ 8.43432384e-01 -5.23748840e-01 -1.19620087e-01 7.67878711e+01] [ 5.24769297e-01 8.50866774e-01 -2.53558289e-02 2.25772716e+01] [ 1.15060844e-01 -4.13870218e-02 9.92495903e-01 4.39287605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.511858064 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:76.80, Y:22.61, Z:4.38 [[ 8.43131516e-01 -5.28281316e-01 -1.00240199e-01 7.68032613e+01] [ 5.25649227e-01 8.49033576e-01 -5.32435587e-02 2.26059524e+01] [ 1.13234872e-01 -7.79986059e-03 9.93537632e-01 4.38210028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:22.63, Z:4.38 [[ 8.40755970e-01 -5.33403349e-01 -9.27915162e-02 7.68235337e+01] [ 5.29258813e-01 8.45832100e-01 -6.67320504e-02 2.26303026e+01] [ 1.14081142e-01 6.99464208e-03 9.93446812e-01 4.37798941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:22.65, Z:4.38 [[ 8.38701633e-01 -5.36095945e-01 -9.58160192e-02 7.68489089e+01] [ 5.32592593e-01 8.44157009e-01 -6.11888490e-02 2.26450265e+01] [ 1.13686858e-01 2.88285502e-04 9.93516590e-01 4.38223183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.601858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:76.83, Y:22.71, Z:4.32 [[ 8.32168837e-01 -5.53981530e-01 -2.44844985e-02 7.68345099e+01] [ 5.46905219e-01 8.27230759e-01 -1.28778696e-01 2.27116685e+01] [ 9.15953491e-02 9.37749173e-02 9.91371049e-01 4.31662532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.631858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:76.88, Y:22.69, Z:4.35 [[ 8.31959619e-01 -5.49579237e-01 -7.61961674e-02 7.68847938e+01] [ 5.47098686e-01 8.35439807e-01 -5.21857938e-02 2.26871811e+01] [ 9.23375402e-02 1.72965007e-03 9.95726261e-01 4.35232907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.661858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.91, Y:22.71, Z:4.35 [[ 8.28536203e-01 -5.55000761e-01 -7.41749073e-02 7.69081091e+01] [ 5.52256747e-01 8.31835495e-01 -5.53370982e-02 2.27064849e+01] [ 9.24134523e-02 4.88519618e-03 9.95708737e-01 4.35465599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.691858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:76.96, Y:22.68, Z:4.43 [[ 8.30705825e-01 -5.37900037e-01 -1.43496976e-01 7.69631578e+01] [ 5.45093752e-01 8.38269734e-01 1.32911101e-02 2.26765474e+01] [ 1.13139883e-01 -8.92603078e-02 9.89561501e-01 4.42732010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.721858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.97, Y:22.73, Z:4.40 [[ 8.29355267e-01 -5.50073138e-01 -9.79253968e-02 7.69685174e+01] [ 5.46963090e-01 8.35101844e-01 -5.86198555e-02 2.27256829e+01] [ 1.14022887e-01 -4.94489168e-03 9.93465817e-01 4.39792702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.751858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.99, Y:22.74, Z:4.40 [[ 8.28089725e-01 -5.52389456e-01 -9.55682831e-02 7.69907384e+01] [ 5.49005718e-01 8.33584018e-01 -6.10770519e-02 2.27435512e+01] [ 1.13402513e-01 -1.89025477e-03 9.93547330e-01 4.39889334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:22.79, Z:4.36 [[ 8.24146744e-01 -5.64172324e-01 -4.99172722e-02 7.69930917e+01] [ 5.57760997e-01 8.23765992e-01 -1.01549304e-01 2.27934386e+01] [ 9.84114579e-02 5.58496205e-02 9.93577377e-01 4.35688300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.811858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.02, Y:22.80, Z:4.36 [[ 8.22873939e-01 -5.65011395e-01 -6.03374170e-02 7.70179439e+01] [ 5.60663214e-01 8.24598995e-01 -7.54536824e-02 2.28005274e+01] [ 9.23863637e-02 2.82598987e-02 9.95322128e-01 4.36181920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84185806400001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:77.08, Y:22.76, Z:4.45 [[ 8.28715163e-01 -5.39314296e-01 -1.49570284e-01 7.70812615e+01] [ 5.48634888e-01 8.35636019e-01 2.66871163e-02 2.27561686e+01] [ 1.10593574e-01 -1.04175494e-01 9.88390878e-01 4.45095775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.871858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.08, Y:22.82, Z:4.41 [[ 8.30150477e-01 -5.49572853e-01 -9.39141355e-02 7.70794656e+01] [ 5.45623512e-01 8.35438760e-01 -6.58563731e-02 2.28153036e+01] [ 1.14652384e-01 3.42893907e-03 9.93399755e-01 4.41192744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:22.84, Z:4.41 [[ 8.30443206e-01 -5.49112189e-01 -9.40206614e-02 7.71024936e+01] [ 5.44562146e-01 8.35712877e-01 -7.09651777e-02 2.28357588e+01] [ 1.17542121e-01 7.73245658e-03 9.93037793e-01 4.41345531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.10, Y:22.90, Z:4.36 [[ 8.27184094e-01 -5.60798415e-01 -3.56596638e-02 7.70950130e+01] [ 5.52259571e-01 8.23031746e-01 -1.32770898e-01 2.28991020e+01] [ 1.03806744e-01 9.01325840e-02 9.90505062e-01 4.36250784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.961858064 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:77.14, Y:22.88, Z:4.39 [[ 8.30691985e-01 -5.51276449e-01 -7.77502592e-02 7.71378150e+01] [ 5.47733943e-01 8.34263993e-01 -6.31752947e-02 2.28832465e+01] [ 9.96912938e-02 9.89275497e-03 9.94969235e-01 4.38989536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.991858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.19, Y:22.85, Z:4.45 [[ 8.35193718e-01 -5.31527238e-01 -1.41174533e-01 7.71878218e+01] [ 5.37681267e-01 8.43122703e-01 6.55454798e-03 2.28539607e+01] [ 1.15543533e-01 -8.13812190e-02 9.89963024e-01 4.45222058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:22.90, Z:4.43 [[ 8.36313095e-01 -5.38278637e-01 -1.04098589e-01 7.71961931e+01] [ 5.35624720e-01 8.42704128e-01 -5.43682909e-02 2.28997600e+01] [ 1.16989601e-01 -1.02888642e-02 9.93079842e-01 4.43173289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:22.92, Z:4.43 [[ 8.36656140e-01 -5.39011686e-01 -9.73288564e-02 7.72175277e+01] [ 5.34968687e-01 8.42292488e-01 -6.59686947e-02 2.29233295e+01] [ 1.17537262e-01 3.12522299e-03 9.93063555e-01 4.43012649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.081858064 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:77.24, Y:22.93, Z:4.43 [[ 8.37992307e-01 -5.36447722e-01 -9.99636646e-02 7.72413495e+01] [ 5.33680274e-01 8.43901693e-01 -5.49117194e-02 2.29348701e+01] [ 1.13816773e-01 -7.33303746e-03 9.93474695e-01 4.43484355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:22.98, Z:4.41 [[ 8.36899057e-01 -5.43794120e-01 -6.23532119e-02 7.72482658e+01] [ 5.37718487e-01 8.38093750e-01 -9.19657240e-02 2.29800646e+01] [ 1.02268257e-01 4.34375530e-02 9.93808021e-01 4.40889018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:22.97, Z:4.43 [[ 8.38520825e-01 -5.37169700e-01 -9.12772630e-02 7.72848473e+01] [ 5.35056812e-01 8.43433139e-01 -4.83192233e-02 2.29729088e+01] [ 1.02941891e-01 -8.32184637e-03 9.94652559e-01 4.43073728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:22.97, Z:4.47 [[ 8.42352059e-01 -5.23255441e-01 -1.29022296e-01 7.73278967e+01] [ 5.26053654e-01 8.50334422e-01 -1.41040308e-02 2.29654077e+01] [ 1.17092110e-01 -5.59920909e-02 9.91541388e-01 4.46985579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:23.00, Z:4.45 [[ 8.42277647e-01 -5.29651825e-01 -1.00186371e-01 7.73396812e+01] [ 5.26113044e-01 8.48214281e-01 -6.11359091e-02 2.30043695e+01] [ 1.17360257e-01 -1.21594710e-03 9.93088663e-01 4.45469821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:23.02, Z:4.46 [[ 8.42406414e-01 -5.29591700e-01 -9.94186327e-02 7.73622025e+01] [ 5.26102530e-01 8.48251889e-01 -6.07030516e-02 2.30199434e+01] [ 1.16479875e-01 -1.16775419e-03 9.93192366e-01 4.45689529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:23.04, Z:4.46 [[ 8.42490521e-01 -5.29573103e-01 -9.88030894e-02 7.73858230e+01] [ 5.26125390e-01 8.48263529e-01 -6.03411842e-02 2.30357223e+01] [ 1.15766126e-01 -1.14593833e-03 9.93275838e-01 4.45989202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:23.05, Z:4.46 [[ 8.42783605e-01 -5.29406841e-01 -9.71812365e-02 7.74084460e+01] [ 5.26066865e-01 8.48367396e-01 -5.93836237e-02 2.30520175e+01] [ 1.13883489e-01 -1.07628405e-03 9.93493529e-01 4.46215455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:23.06, Z:4.48 [[ 8.42595165e-01 -5.26962913e-01 -1.11101204e-01 7.74348289e+01] [ 5.25435312e-01 8.49642180e-01 -4.50099915e-02 2.30583659e+01] [ 1.18114865e-01 -2.04512945e-02 9.92789315e-01 4.47822083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.351858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.46, Y:23.08, Z:4.48 [[ 8.42833969e-01 -5.28020369e-01 -1.04045140e-01 7.74562226e+01] [ 5.24992201e-01 8.49205308e-01 -5.68641692e-02 2.30787035e+01] [ 1.18381125e-01 -6.69583346e-03 9.92945656e-01 4.47925347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:23.10, Z:4.48 [[ 8.42712601e-01 -5.29024130e-01 -9.98445887e-02 7.74789320e+01] [ 5.25138970e-01 8.48605432e-01 -6.40147132e-02 2.30978031e+01] [ 1.18593988e-01 1.51372105e-03 9.92941677e-01 4.47936775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:23.11, Z:4.48 [[ 8.42597288e-01 -5.28968047e-01 -1.01106948e-01 7.75035854e+01] [ 5.25401509e-01 8.48640524e-01 -6.13393456e-02 2.31113998e+01] [ 1.18250007e-01 -1.43737662e-03 9.92982814e-01 4.48350311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:23.12, Z:4.49 [[ 8.42585580e-01 -5.28129333e-01 -1.05493834e-01 7.75290071e+01] [ 5.25106449e-01 8.49131346e-01 -5.69137489e-02 2.31237504e+01] [ 1.19635942e-01 -7.44078865e-03 9.92789946e-01 4.49084476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:23.16, Z:4.47 [[ 8.41620524e-01 -5.34058895e-01 -8.03491801e-02 7.75443895e+01] [ 5.28314289e-01 8.45010952e-01 -8.27073306e-02 2.31569804e+01] [ 1.12066523e-01 2.71585669e-02 9.93329506e-01 4.47094658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:23.15, Z:4.50 [[ 8.41872154e-01 -5.26611529e-01 -1.18032091e-01 7.75822498e+01] [ 5.26266978e-01 8.49530271e-01 -3.66249590e-02 2.31451764e+01] [ 1.19558960e-01 -3.12828589e-02 9.92334136e-01 4.50417139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:23.20, Z:4.47 [[ 8.39631957e-01 -5.38819471e-01 -6.84963866e-02 7.75835637e+01] [ 5.32004075e-01 8.41250588e-01 -9.62762326e-02 2.31967634e+01] [ 1.09498134e-01 4.43962448e-02 9.92995031e-01 4.46771921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:23.17, Z:4.52 [[ 8.41169758e-01 -5.25500643e-01 -1.27602948e-01 7.76336591e+01] [ 5.27129284e-01 8.49462445e-01 -2.34152085e-02 2.31686395e+01] [ 1.20698620e-01 -4.75670855e-02 9.91548897e-01 4.51563632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:23.22, Z:4.48 [[ 8.39760124e-01 -5.37082075e-01 -7.96604005e-02 7.76391095e+01] [ 5.30967744e-01 8.42991807e-01 -8.62442385e-02 2.32179995e+01] [ 1.13473300e-01 3.01273692e-02 9.93084162e-01 4.48269694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:23.22, Z:4.50 [[ 8.39553981e-01 -5.34579714e-01 -9.68175761e-02 7.76697965e+01] [ 5.31278163e-01 8.45116513e-01 -5.93430179e-02 2.32185889e+01] [ 1.13545706e-01 -1.61539702e-03 9.93531461e-01 4.49553159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:23.23, Z:4.50 [[ 8.39314866e-01 -5.34938130e-01 -9.69110561e-02 7.76940200e+01] [ 5.31628195e-01 8.44889656e-01 -5.94384700e-02 2.32333132e+01] [ 1.13675053e-01 -1.63305833e-03 9.93516641e-01 4.49881159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:23.27, Z:4.48 [[ 8.37049769e-01 -5.43181645e-01 -6.55849365e-02 7.77003060e+01] [ 5.36696137e-01 8.38466381e-01 -9.45060076e-02 2.32711802e+01] [ 1.06324693e-01 4.39070498e-02 9.93361581e-01 4.47817357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:23.24, Z:4.52 [[ 8.39583213e-01 -5.28685432e-01 -1.24866902e-01 7.77498465e+01] [ 5.32113773e-01 8.46645161e-01 -6.84866519e-03 2.32385706e+01] [ 1.09338748e-01 -6.06933740e-02 9.92149864e-01 4.52274881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:23.28, Z:4.51 [[ 8.40054049e-01 -5.34953264e-01 -9.01898002e-02 7.77609416e+01] [ 5.31268828e-01 8.44867456e-01 -6.28682320e-02 2.32807538e+01] [ 1.09829993e-01 4.89768335e-03 9.93938321e-01 4.50507292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:23.33, Z:4.47 [[ 8.37183492e-01 -5.45087783e-01 -4.47561165e-02 7.77614692e+01] [ 5.38146765e-01 8.35588429e-01 -1.10408501e-01 2.33284631e+01] [ 9.75800182e-02 6.83468153e-02 9.92878065e-01 4.47311775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:23.29, Z:4.53 [[ 8.42201529e-01 -5.24580573e-01 -1.24546403e-01 7.78244207e+01] [ 5.27355412e-01 8.49556957e-01 -1.22166527e-02 2.32862040e+01] [ 1.12217882e-01 -5.53913363e-02 9.92138572e-01 4.53125155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:23.31, Z:4.53 [[ 8.43203343e-01 -5.26595629e-01 -1.08190413e-01 7.78406290e+01] [ 5.25048961e-01 8.49900024e-01 -4.46490458e-02 2.33145097e+01] [ 1.15463027e-01 -1.91570391e-02 9.93127030e-01 4.52962474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:23.37, Z:4.49 [[ 8.40942005e-01 -5.38498301e-01 -5.32552673e-02 7.78401688e+01] [ 5.31729211e-01 8.40588791e-01 -1.03317615e-01 2.33682879e+01] [ 1.00402141e-01 5.85667411e-02 9.93221701e-01 4.49064946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:23.33, Z:4.55 [[ 8.43747003e-01 -5.21337408e-01 -1.27664803e-01 7.78967123e+01] [ 5.24408286e-01 8.51396622e-01 -1.09426209e-02 2.33294861e+01] [ 1.14398180e-01 -5.77156770e-02 9.91757005e-01 4.54691993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.91, Y:23.38, Z:4.52 [[ 8.43653607e-01 -5.29591047e-01 -8.82151558e-02 7.79056037e+01] [ 5.24404110e-01 8.48063672e-01 -7.60811274e-02 2.33767317e+01] [ 1.15103953e-01 1.79257272e-02 9.93191698e-01 4.52202799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.951858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.92, Y:23.40, Z:4.51 [[ 8.42752176e-01 -5.33603532e-01 -7.09650575e-02 7.79195557e+01] [ 5.28191444e-01 8.45136925e-01 -8.22032673e-02 2.34009923e+01] [ 1.03839144e-01 3.17938462e-02 9.94085803e-01 4.50803525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.981858064 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:77.96, Y:23.39, Z:4.53 [[ 8.42714509e-01 -5.27260515e-01 -1.08759397e-01 7.79577070e+01] [ 5.26833494e-01 8.49248249e-01 -3.49840120e-02 2.33895901e+01] [ 1.10809416e-01 -2.78165588e-02 9.93452320e-01 4.53379451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:23.42, Z:4.53 [[ 8.43860248e-01 -5.28453822e-01 -9.29324536e-02 7.79743208e+01] [ 5.24848263e-01 8.48955623e-01 -6.17142631e-02 2.34161698e+01] [ 1.11508667e-01 3.30277647e-03 9.93757973e-01 4.52642188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:23.43, Z:4.53 [[ 8.44502240e-01 -5.27056678e-01 -9.50117149e-02 7.79992351e+01] [ 5.23723570e-01 8.49830107e-01 -5.91811745e-02 2.34294244e+01] [ 1.11935649e-01 2.18759900e-04 9.93715433e-01 4.53044161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:23.44, Z:4.54 [[ 8.45732437e-01 -5.24071334e-01 -1.00428491e-01 7.80255815e+01] [ 5.22005446e-01 8.51591917e-01 -4.79741822e-02 2.34382624e+01] [ 1.10665985e-01 -1.18508973e-02 9.93786997e-01 4.53988168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:23.45, Z:4.54 [[ 8.45825584e-01 -5.24504560e-01 -9.73347227e-02 7.80503433e+01] [ 5.22214251e-01 8.51362586e-01 -4.97395482e-02 2.34548731e+01] [ 1.08955761e-01 -8.75859693e-03 9.94008013e-01 4.54244165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.131858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.07, Y:23.47, Z:4.54 [[ 8.47163378e-01 -5.22931780e-01 -9.41093243e-02 7.80715576e+01] [ 5.19458110e-01 8.52371894e-01 -6.02115139e-02 2.34724916e+01] [ 1.11702657e-01 2.12313778e-03 9.93739407e-01 4.54230169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:23.49, Z:4.54 [[ 8.46766740e-01 -5.24712904e-01 -8.75354576e-02 7.80928425e+01] [ 5.19483964e-01 8.51063455e-01 -7.63374547e-02 2.34948451e+01] [ 1.14553476e-01 1.91667512e-02 9.93232167e-01 4.54013342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:23.50, Z:4.56 [[ 8.47051966e-01 -5.21387471e-01 -1.03237942e-01 7.81236666e+01] [ 5.19190201e-01 8.53237514e-01 -4.92674413e-02 2.34950760e+01] [ 1.13773912e-01 -1.18680450e-02 9.93435779e-01 4.55506558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:23.52, Z:4.55 [[ 8.46510905e-01 -5.24585112e-01 -9.07179634e-02 7.81435439e+01] [ 5.19697825e-01 8.51233245e-01 -7.29118151e-02 2.35204553e+01] [ 1.15470599e-01 1.45747183e-02 9.93203966e-01 4.54991520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:23.52, Z:4.56 [[ 8.46351535e-01 -5.22754335e-01 -1.02063629e-01 7.81723465e+01] [ 5.20675702e-01 8.52393749e-01 -4.81841327e-02 2.35226430e+01] [ 1.12186864e-01 -1.23613369e-02 9.93610238e-01 4.56225571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:23.55, Z:4.56 [[ 8.44460144e-01 -5.28011597e-01 -8.99489779e-02 7.81928933e+01] [ 5.23536888e-01 8.49157020e-01 -6.95807645e-02 2.35462291e+01] [ 1.13120257e-01 1.16665745e-02 9.93512807e-01 4.55633623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:23.56, Z:4.56 [[ 8.43613350e-01 -5.28317204e-01 -9.59033238e-02 7.82183613e+01] [ 5.24909064e-01 8.49047048e-01 -5.99131376e-02 2.35550598e+01] [ 1.13079575e-01 2.02998759e-04 9.93585914e-01 4.56252252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:23.57, Z:4.57 [[ 8.42847733e-01 -5.29412125e-01 -9.65945195e-02 7.82424739e+01] [ 5.25959841e-01 8.48364778e-01 -6.03609831e-02 2.35691135e+01] [ 1.13903224e-01 7.02795826e-05 9.93491847e-01 4.56560020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:23.58, Z:4.57 [[ 8.42119192e-01 -5.30534305e-01 -9.67916215e-02 7.82671055e+01] [ 5.27071189e-01 8.47663464e-01 -6.05195257e-02 2.35831171e+01] [ 1.14154406e-01 -5.14210128e-05 9.93463018e-01 4.56878358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:23.59, Z:4.57 [[ 8.40859666e-01 -5.32479709e-01 -9.70586511e-02 7.82914567e+01] [ 5.29005987e-01 8.46442720e-01 -6.07238624e-02 2.35947014e+01] [ 1.14488813e-01 -2.84360798e-04 9.93424497e-01 4.57135931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.32, Y:23.61, Z:4.57 [[ 8.40159410e-01 -5.33497011e-01 -9.75351481e-02 7.83155775e+01] [ 5.29993920e-01 8.45801850e-01 -6.10383061e-02 2.36081938e+01] [ 1.15059163e-01 -4.11128250e-04 9.93358556e-01 4.57492348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:23.62, Z:4.58 [[ 8.39434978e-01 -5.34618284e-01 -9.76330262e-02 7.83389419e+01] [ 5.31111383e-01 8.45093489e-01 -6.11366771e-02 2.36212717e+01] [ 1.15193820e-01 -5.33746488e-04 9.93342891e-01 4.57800662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:23.63, Z:4.58 [[ 8.38807358e-01 -5.35540583e-01 -9.79719367e-02 7.83632113e+01] [ 5.32013573e-01 8.44509244e-01 -6.13652564e-02 2.36349932e+01] [ 1.15601791e-01 -6.48771596e-04 9.93295427e-01 4.58134091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:23.65, Z:4.58 [[ 8.37580489e-01 -5.37235148e-01 -9.91832647e-02 7.83875269e+01] [ 5.33627477e-01 8.43432068e-01 -6.21615817e-02 2.36473401e+01] [ 1.17049733e-01 -8.61587219e-04 9.93125681e-01 4.58445152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:23.66, Z:4.59 [[ 8.36917619e-01 -5.38089422e-01 -1.00143259e-01 7.84118775e+01] [ 5.34415378e-01 8.42887194e-01 -6.27804315e-02 2.36610454e+01] [ 1.18190956e-01 -9.76048266e-04 9.92990405e-01 4.58747112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:23.67, Z:4.59 [[ 8.36165773e-01 -5.39112266e-01 -1.00919594e-01 7.84363840e+01] [ 5.35383714e-01 8.42233198e-01 -6.33049665e-02 2.36746659e+01] [ 1.19126316e-01 -1.09726060e-03 9.92878501e-01 4.59056891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:23.69, Z:4.59 [[ 8.35081678e-01 -5.40665718e-01 -1.01583328e-01 7.84619379e+01] [ 5.36894514e-01 8.41236534e-01 -6.37602916e-02 2.36863336e+01] [ 1.19928610e-01 -1.29448000e-03 9.92781674e-01 4.59395678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:23.70, Z:4.60 [[ 8.34604724e-01 -5.41348771e-01 -1.01864927e-01 7.84856036e+01] [ 5.37557054e-01 8.40797030e-01 -6.39747410e-02 2.36987985e+01] [ 1.20280375e-01 -1.36458884e-03 9.92739024e-01 4.59779602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.52, Y:23.70, Z:4.62 [[ 8.35293842e-01 -5.36645517e-01 -1.19564994e-01 7.85212825e+01] [ 5.34847738e-01 8.43502885e-01 -4.94042550e-02 2.37011708e+01] [ 1.27365989e-01 -2.26819966e-02 9.91596406e-01 4.61852559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:23.73, Z:4.60 [[ 8.33723834e-01 -5.44603847e-01 -9.11658853e-02 7.85311140e+01] [ 5.38887850e-01 8.38495514e-01 -8.07784479e-02 2.37340819e+01] [ 1.20434439e-01 1.82187294e-02 9.92554091e-01 4.59895555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:23.74, Z:4.61 [[ 8.32768406e-01 -5.44718212e-01 -9.88880729e-02 7.85595633e+01] [ 5.39845757e-01 8.38585853e-01 -7.30775318e-02 2.37411904e+01] [ 1.22732801e-01 7.47235316e-03 9.92411620e-01 4.60670216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.58, Y:23.75, Z:4.61 [[ 8.33440019e-01 -5.42774983e-01 -1.03793320e-01 7.85848654e+01] [ 5.39032402e-01 8.39873278e-01 -6.36941605e-02 2.37483742e+01] [ 1.21744833e-01 -2.86270046e-03 9.92557303e-01 4.61340418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.61, Y:23.76, Z:4.62 [[ 8.32454524e-01 -5.44175966e-01 -1.04364665e-01 7.86125376e+01] [ 5.41181524e-01 8.38928064e-01 -5.76390648e-02 2.37607688e+01] [ 1.18920240e-01 -8.49832830e-03 9.92867441e-01 4.61939621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.64, Y:23.78, Z:4.62 [[ 8.32315911e-01 -5.45173315e-01 -1.00181244e-01 7.86354046e+01] [ 5.41523853e-01 8.38321399e-01 -6.30011824e-02 2.37769104e+01] [ 1.18330644e-01 -1.81364692e-03 9.92972592e-01 4.62097564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.66, Y:23.79, Z:4.62 [[ 8.32838994e-01 -5.44548332e-01 -9.92286445e-02 7.86603142e+01] [ 5.40959439e-01 8.38727787e-01 -6.24386425e-02 2.37889683e+01] [ 1.17226680e-01 -1.67733563e-03 9.93103767e-01 4.62488803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:23.80, Z:4.63 [[ 8.33448474e-01 -5.43642317e-01 -9.90791178e-02 7.86840178e+01] [ 5.40053326e-01 8.39315636e-01 -6.23832408e-02 2.38024215e+01] [ 1.17072822e-01 -1.51479026e-03 9.93122178e-01 4.62799890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.72, Y:23.80, Z:4.65 [[ 8.35540863e-01 -5.35760403e-01 -1.21787750e-01 7.87212133e+01] [ 5.34699151e-01 8.43894637e-01 -4.40302106e-02 2.38022394e+01] [ 1.26365672e-01 -2.83307664e-02 9.91579086e-01 4.65274172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.941858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.73, Y:23.84, Z:4.63 [[ 8.35752497e-01 -5.42138185e-01 -8.72006464e-02 7.87281914e+01] [ 5.35977427e-01 8.39936458e-01 -8.50584746e-02 2.38391722e+01] [ 1.19356449e-01 2.43502543e-02 9.92552821e-01 4.62536734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:23.83, Z:4.66 [[ 8.37954347e-01 -5.31317385e-01 -1.24636867e-01 7.87730898e+01] [ 5.30423291e-01 8.46639818e-01 -4.30366302e-02 2.38271397e+01] [ 1.28388644e-01 -3.00475658e-02 9.91268632e-01 4.66070902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:23.85, Z:4.65 [[ 8.38704023e-01 -5.33462473e-01 -1.09514165e-01 7.87924101e+01] [ 5.29263653e-01 8.45821570e-01 -6.68270757e-02 2.38533255e+01] [ 1.28279180e-01 -1.91372996e-03 9.91736250e-01 4.65313303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:23.88, Z:4.63 [[ 8.37600079e-01 -5.39300023e-01 -8.70723435e-02 7.88028136e+01] [ 5.32972668e-01 8.41714684e-01 -8.63511753e-02 2.38822758e+01] [ 1.19859261e-01 2.59205721e-02 9.92452458e-01 4.63410448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:23.88, Z:4.65 [[ 8.38092592e-01 -5.35871357e-01 -1.02189510e-01 7.88339108e+01] [ 5.31973567e-01 8.44299594e-01 -6.45160448e-02 2.38833395e+01] [ 1.20850862e-01 -2.91699151e-04 9.92670632e-01 4.64587629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.86, Y:23.90, Z:4.65 [[ 8.37996098e-01 -5.35947810e-01 -1.02579163e-01 7.88571550e+01] [ 5.32015877e-01 8.44251071e-01 -6.48015050e-02 2.38960990e+01] [ 1.21332793e-01 -2.70334899e-04 9.92611848e-01 4.64922055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.88, Y:23.91, Z:4.65 [[ 8.37998151e-01 -5.35934086e-01 -1.02634081e-01 7.88818566e+01] [ 5.31994408e-01 8.44259791e-01 -6.48641283e-02 2.39094762e+01] [ 1.21412725e-01 -2.44737554e-04 9.92602081e-01 4.65239836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.151858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:78.90, Y:23.92, Z:4.66 [[ 8.37799774e-01 -5.36254008e-01 -1.02582538e-01 7.89049679e+01] [ 5.32315748e-01 8.44056617e-01 -6.48719592e-02 2.39225909e+01] [ 1.21373318e-01 -2.56587848e-04 9.92606897e-01 4.65557173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.93, Y:23.93, Z:4.66 [[ 8.37994359e-01 -5.36076833e-01 -1.01917043e-01 7.89302748e+01] [ 5.32184968e-01 8.44169170e-01 -6.44792431e-02 2.39348871e+01] [ 1.20601054e-01 -2.05476477e-04 9.92701034e-01 4.65963766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:23.95, Z:4.66 [[ 8.38122232e-01 -5.35879261e-01 -1.01904569e-01 7.89545711e+01] [ 5.31982020e-01 8.44294615e-01 -6.45114936e-02 2.39488105e+01] [ 1.20607851e-01 -1.42881650e-04 9.92700220e-01 4.66334327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.241858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:78.99, Y:23.95, Z:4.68 [[ 8.39792991e-01 -5.30651736e-01 -1.14701645e-01 7.89887836e+01] [ 5.28164196e-01 8.47447343e-01 -5.36244680e-02 2.39537750e+01] [ 1.25659522e-01 -1.55478499e-02 9.91951586e-01 4.68048819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.271858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.00, Y:23.98, Z:4.66 [[ 8.38836232e-01 -5.36321891e-01 -9.33413432e-02 7.90000285e+01] [ 5.31087347e-01 8.43893042e-01 -7.60970719e-02 2.39821261e+01] [ 1.19582636e-01 1.42605747e-02 9.92721829e-01 4.66451542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.301858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.03, Y:23.99, Z:4.67 [[ 8.38661588e-01 -5.35205737e-01 -1.01002774e-01 7.90270766e+01] [ 5.31361276e-01 8.44721740e-01 -6.40341791e-02 2.39913577e+01] [ 1.19590699e-01 3.40436268e-05 9.92823279e-01 4.67301856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:24.00, Z:4.68 [[ 8.39463586e-01 -5.33340486e-01 -1.04157640e-01 7.90566261e+01] [ 5.29744926e-01 8.45894581e-01 -6.19085773e-02 2.40025459e+01] [ 1.21124734e-01 -3.20698486e-03 9.92632114e-01 4.68113302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.08, Y:24.02, Z:4.68 [[ 8.38899458e-01 -5.35225238e-01 -9.89021929e-02 7.90750699e+01] [ 5.31134975e-01 8.44704312e-01 -6.61079729e-02 2.40192742e+01] [ 1.18925764e-01 2.92752885e-03 9.92898833e-01 4.67919841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.11, Y:24.03, Z:4.69 [[ 8.39227517e-01 -5.32855847e-01 -1.08451924e-01 7.91072071e+01] [ 5.29940103e-01 8.46146861e-01 -5.65594957e-02 2.40267688e+01] [ 1.21904313e-01 -1.00067387e-02 9.92491412e-01 4.69219739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.12, Y:24.05, Z:4.68 [[ 8.37635059e-01 -5.38179167e-01 -9.34381757e-02 7.91211374e+01] [ 5.32994416e-01 8.42719727e-01 -7.57655178e-02 2.40531023e+01] [ 1.19517617e-01 1.36618281e-02 9.92738079e-01 4.68041505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:24.06, Z:4.69 [[ 8.38094832e-01 -5.35731437e-01 -1.02902279e-01 7.91483319e+01] [ 5.32484989e-01 8.44372149e-01 -5.91219887e-02 2.40583719e+01] [ 1.18561326e-01 -5.24408552e-03 9.92932884e-01 4.69046546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:24.07, Z:4.70 [[ 8.38969370e-01 -5.33265859e-01 -1.08433944e-01 7.91788364e+01] [ 5.30307899e-01 8.45891614e-01 -5.69289861e-02 2.40700373e+01] [ 1.22081649e-01 -9.74170145e-03 9.92472252e-01 4.70017313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:24.09, Z:4.70 [[ 8.38957234e-01 -5.34730248e-01 -1.01065929e-01 7.91978295e+01] [ 5.29681805e-01 8.44981401e-01 -7.37808753e-02 2.40911331e+01] [ 1.24851696e-01 8.36621520e-03 9.92140142e-01 4.69582599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:24.10, Z:4.70 [[ 8.39377592e-01 -5.32789002e-01 -1.07615692e-01 7.92260169e+01] [ 5.29268921e-01 8.46230679e-01 -6.13844182e-02 2.40985185e+01] [ 1.23772643e-01 -5.43293610e-03 9.92295730e-01 4.70350620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.571858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:79.24, Y:24.12, Z:4.70 [[ 8.39014919e-01 -5.34979351e-01 -9.92525045e-02 7.92445367e+01] [ 5.30399548e-01 8.44842437e-01 -7.01254314e-02 2.41187631e+01] [ 1.21368386e-01 6.19279955e-03 9.92588215e-01 4.69834771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.27, Y:24.13, Z:4.70 [[ 8.38055918e-01 -5.35981425e-01 -1.01912663e-01 7.92708520e+01] [ 5.32085988e-01 8.44229758e-01 -6.45028540e-02 2.41323735e+01] [ 1.20610034e-01 -1.69301315e-04 9.92699950e-01 4.70375076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.631858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.29, Y:24.15, Z:4.71 [[ 8.37040599e-01 -5.37474840e-01 -1.02390585e-01 7.92914385e+01] [ 5.33885793e-01 8.43275428e-01 -6.20686155e-02 2.41457741e+01] [ 1.19703784e-01 -2.71092762e-03 9.92805950e-01 4.70796244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.661858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:79.32, Y:24.16, Z:4.71 [[ 8.36289598e-01 -5.38427315e-01 -1.03516831e-01 7.93173429e+01] [ 5.35616982e-01 8.42624951e-01 -5.56564512e-02 2.41570205e+01] [ 1.17192819e-01 -8.90046162e-03 9.93069295e-01 4.71410327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.691858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.34, Y:24.18, Z:4.71 [[ 8.35475272e-01 -5.41169981e-01 -9.54783772e-02 7.93383910e+01] [ 5.36494802e-01 8.40870233e-01 -7.14883112e-02 2.41795412e+01] [ 1.18972253e-01 8.50306326e-03 9.92861169e-01 4.71071453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:24.19, Z:4.72 [[ 8.35274128e-01 -5.40668181e-01 -9.99752466e-02 7.93627828e+01] [ 5.36904162e-01 8.41235810e-01 -6.36885614e-02 2.41896101e+01] [ 1.18537136e-01 -4.79718356e-04 9.92949504e-01 4.71730414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:24.20, Z:4.72 [[ 8.34471725e-01 -5.41906817e-01 -9.99697046e-02 7.93878112e+01] [ 5.38354004e-01 8.40435971e-01 -6.19866546e-02 2.42041842e+01] [ 1.17609126e-01 -2.09298007e-03 9.93057759e-01 4.72148007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:79.41, Y:24.22, Z:4.72 [[ 8.32474112e-01 -5.45275127e-01 -9.82949050e-02 7.94117457e+01] [ 5.41217816e-01 8.38254510e-01 -6.64277936e-02 2.42199092e+01] [ 1.18617571e-01 2.10046471e-03 9.92937793e-01 4.72339917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.811858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:79.44, Y:24.23, Z:4.73 [[ 8.31461744e-01 -5.46486878e-01 -1.00117228e-01 7.94362367e+01] [ 5.42708977e-01 8.37467078e-01 -6.41549621e-02 2.42331621e+01] [ 1.18904727e-01 -9.92121687e-04 9.92905172e-01 4.72780226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.46, Y:24.25, Z:4.73 [[ 8.30738895e-01 -5.47900107e-01 -9.83786679e-02 7.94573899e+01] [ 5.43553441e-01 8.36534980e-01 -6.89846729e-02 2.42491693e+01] [ 1.20093907e-01 3.83418747e-03 9.92755132e-01 4.72959634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:24.25, Z:4.74 [[ 8.31357808e-01 -5.44561817e-01 -1.10890137e-01 7.94931450e+01] [ 5.42119945e-01 8.38579053e-01 -5.37692932e-02 2.42549858e+01] [ 1.22270850e-01 -1.54142332e-02 9.92377066e-01 4.74415393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.50, Y:24.28, Z:4.73 [[ 8.29089849e-01 -5.50763318e-01 -9.62797529e-02 7.95043226e+01] [ 5.46049460e-01 8.34629085e-01 -7.22791655e-02 2.42799562e+01] [ 1.20166595e-01 7.35241526e-03 9.92726514e-01 4.73415433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.53, Y:24.29, Z:4.74 [[ 8.28551386e-01 -5.50588808e-01 -1.01757386e-01 7.95310331e+01] [ 5.46719610e-01 8.34775007e-01 -6.51794097e-02 2.42918678e+01] [ 1.20831577e-01 -1.62826842e-03 9.92671687e-01 4.74089853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.961858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.56, Y:24.30, Z:4.75 [[ 8.30444445e-01 -5.46116592e-01 -1.10084928e-01 7.95616053e+01] [ 5.43180258e-01 8.37625847e-01 -5.77767115e-02 2.42994720e+01] [ 1.23762802e-01 -1.18156104e-02 9.92241483e-01 4.75129937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.991858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.58, Y:24.33, Z:4.74 [[ 8.27739990e-01 -5.52597356e-01 -9.73790078e-02 7.95757829e+01] [ 5.47719830e-01 8.33413423e-01 -7.36549646e-02 2.43264766e+01] [ 1.21858511e-01 7.63074603e-03 9.92518148e-01 4.74297583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.021858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.60, Y:24.34, Z:4.75 [[ 8.28253003e-01 -5.50865468e-01 -1.02684952e-01 7.96003599e+01] [ 5.47275805e-01 8.34584057e-01 -6.29177664e-02 2.43357017e+01] [ 1.20358449e-01 -4.08516100e-03 9.92722094e-01 4.75103977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:24.35, Z:4.75 [[ 8.27823414e-01 -5.52043392e-01 -9.97822083e-02 7.96227082e+01] [ 5.47770226e-01 8.33812687e-01 -6.85870346e-02 2.43536366e+01] [ 1.21062690e-01 2.12023031e-03 9.92642599e-01 4.75254556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.081858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.65, Y:24.37, Z:4.76 [[ 8.27119159e-01 -5.52784384e-01 -1.01505281e-01 7.96476266e+01] [ 5.48930992e-01 8.33322363e-01 -6.51813243e-02 2.43675695e+01] [ 1.20617839e-01 -1.80667236e-03 9.92697372e-01 4.75787310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.111858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.67, Y:24.38, Z:4.76 [[ 8.27210763e-01 -5.52841474e-01 -1.00442317e-01 7.96708331e+01] [ 5.49055400e-01 8.33284713e-01 -6.46123384e-02 2.43829302e+01] [ 1.19417428e-01 -1.70037486e-03 9.92842680e-01 4.76143553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:79.69, Y:24.40, Z:4.77 [[ 8.27336219e-01 -5.52674650e-01 -1.00327019e-01 7.96940641e+01] [ 5.48891336e-01 8.33395487e-01 -6.45775831e-02 2.43981711e+01] [ 1.19302478e-01 -1.64125804e-03 9.92856598e-01 4.76515594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.171858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.72, Y:24.41, Z:4.77 [[ 8.27705872e-01 -5.52196542e-01 -9.99098002e-02 7.97161778e+01] [ 5.48436704e-01 8.33712557e-01 -6.43471455e-02 2.44132857e+01] [ 1.18828326e-01 -1.53369123e-03 9.92913630e-01 4.76798411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:24.43, Z:4.77 [[ 8.28560043e-01 -5.50966288e-01 -9.96213009e-02 7.97386313e+01] [ 5.47217228e-01 8.34526427e-01 -6.41790229e-02 2.44299633e+01] [ 1.18497086e-01 -1.33831820e-03 9.92953498e-01 4.77046575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:24.45, Z:4.77 [[ 8.29355145e-01 -5.49819994e-01 -9.93378996e-02 7.97610828e+01] [ 5.45972784e-01 8.35283081e-01 -6.49299131e-02 2.44460229e+01] [ 1.18675031e-01 -3.85832141e-04 9.92933073e-01 4.77306645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:24.46, Z:4.78 [[ 8.29779985e-01 -5.49095628e-01 -9.97956308e-02 7.97857346e+01] [ 5.45376842e-01 8.35758229e-01 -6.38144433e-02 2.44617563e+01] [ 1.18445252e-01 -1.47427815e-03 9.92959490e-01 4.77694291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.81, Y:24.48, Z:4.78 [[ 8.30302280e-01 -5.48301475e-01 -9.98179192e-02 7.98085951e+01] [ 5.44508567e-01 8.36280275e-01 -6.43872790e-02 2.44773488e+01] [ 1.18779397e-01 -8.90807563e-04 9.92920269e-01 4.77997549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.83, Y:24.49, Z:4.78 [[ 8.32153960e-01 -5.45496243e-01 -9.97679069e-02 7.98308504e+01] [ 5.41682352e-01 8.38113143e-01 -6.43940180e-02 2.44924864e+01] [ 1.18743489e-01 -4.56777364e-04 9.92924859e-01 4.78249845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.351858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.86, Y:24.51, Z:4.78 [[ 8.33859376e-01 -5.43370785e-01 -9.70913541e-02 7.98569554e+01] [ 5.39102541e-01 8.39480974e-01 -6.81186064e-02 2.45091648e+01] [ 1.18520005e-01 4.45914293e-03 9.92941652e-01 4.78313135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.381858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.88, Y:24.52, Z:4.79 [[ 8.33825220e-01 -5.42335179e-01 -1.02995413e-01 7.98790321e+01] [ 5.39025578e-01 8.40144673e-01 -6.00695798e-02 2.45213471e+01] [ 1.19108894e-01 -5.42963135e-03 9.92866351e-01 4.79134503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.411858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.91, Y:24.53, Z:4.80 [[ 8.36531330e-01 -5.36625704e-01 -1.10671534e-01 7.99091527e+01] [ 5.33782466e-01 8.43736910e-01 -5.64296595e-02 2.45308158e+01] [ 1.23659263e-01 -1.18693460e-02 9.92253750e-01 4.80233746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:24.55, Z:4.80 [[ 8.36763326e-01 -5.37611993e-01 -1.03925366e-01 7.99304194e+01] [ 5.33635211e-01 8.43191936e-01 -6.52749601e-02 2.45543425e+01] [ 1.22721632e-01 -8.38541639e-04 9.92440778e-01 4.79999187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.94, Y:24.58, Z:4.79 [[ 8.35714686e-01 -5.41043127e-01 -9.40919711e-02 7.99437563e+01] [ 5.36193156e-01 8.40928029e-01 -7.30544311e-02 2.45759592e+01] [ 1.18650174e-01 1.06011901e-02 9.92879525e-01 4.79295912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.97, Y:24.59, Z:4.80 [[ 8.35951524e-01 -5.39702035e-01 -9.95327242e-02 7.99688282e+01] [ 5.35809850e-01 8.41855770e-01 -6.47044660e-02 2.45867005e+01] [ 1.18713330e-01 7.59182932e-04 9.92928280e-01 4.79952299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:24.60, Z:4.80 [[ 8.35994251e-01 -5.39533050e-01 -1.00088466e-01 7.99922395e+01] [ 5.35593655e-01 8.41964039e-01 -6.50845177e-02 2.46012608e+01] [ 1.19386137e-01 8.03535525e-04 9.92847574e-01 4.80237970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:80.02, Y:24.62, Z:4.81 [[ 8.35948572e-01 -5.39592856e-01 -1.00147566e-01 8.00163017e+01] [ 5.35644300e-01 8.41925686e-01 -6.51638255e-02 2.46154952e+01] [ 1.19478743e-01 8.30133986e-04 9.92836412e-01 4.80595050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59185806400001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.04, Y:24.63, Z:4.81 [[ 8.35923380e-01 -5.39678873e-01 -9.98940265e-02 8.00390369e+01] [ 5.35746149e-01 8.41870532e-01 -6.50390025e-02 2.46294754e+01] [ 1.19198013e-01 8.49782796e-04 9.92870138e-01 4.80934877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.06, Y:24.64, Z:4.81 [[ 8.35806376e-01 -5.39911679e-01 -9.96146653e-02 8.00625478e+01] [ 5.36000362e-01 8.41721266e-01 -6.48762110e-02 2.46441008e+01] [ 1.18875206e-01 8.30454168e-04 9.92908856e-01 4.81211838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.651858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:80.09, Y:24.66, Z:4.82 [[ 8.35901230e-01 -5.39814420e-01 -9.93454867e-02 8.00861648e+01] [ 5.35918779e-01 8.41783597e-01 -6.47413207e-02 2.46585844e+01] [ 1.18575700e-01 8.76237694e-04 9.92944629e-01 4.81523474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:24.67, Z:4.82 [[ 8.35965544e-01 -5.39713776e-01 -9.93511400e-02 8.01096633e+01] [ 5.35812165e-01 8.41848077e-01 -6.47853274e-02 2.46730862e+01] [ 1.18604100e-01 9.24752043e-04 9.92941193e-01 4.81848765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.13, Y:24.69, Z:4.82 [[ 8.35833180e-01 -5.39889967e-01 -9.95073854e-02 8.01323299e+01] [ 5.35972603e-01 8.41735084e-01 -6.49262494e-02 2.46868164e+01] [ 1.18811888e-01 9.34281098e-04 9.92916342e-01 4.82130774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.16, Y:24.70, Z:4.82 [[ 8.35535631e-01 -5.40380050e-01 -9.93459145e-02 8.01564679e+01] [ 5.36476671e-01 8.41420602e-01 -6.48394406e-02 2.47016691e+01] [ 1.18629639e-01 8.78897488e-04 9.92938183e-01 4.82457896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.771858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:80.18, Y:24.71, Z:4.83 [[ 8.34598138e-01 -5.41770323e-01 -9.96537219e-02 8.01796605e+01] [ 5.37847837e-01 8.40526266e-01 -6.50791889e-02 2.47144484e+01] [ 1.19019544e-01 7.16431137e-04 9.92891653e-01 4.82744049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:24.73, Z:4.83 [[ 8.34155710e-01 -5.42587918e-01 -9.89070375e-02 8.02027323e+01] [ 5.38727772e-01 8.39998797e-01 -6.46096719e-02 2.47291439e+01] [ 1.18138220e-01 6.10558788e-04 9.92996973e-01 4.83134424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:24.74, Z:4.83 [[ 8.33532429e-01 -5.43560715e-01 -9.88202398e-02 8.02266943e+01] [ 5.39709549e-01 8.39369701e-01 -6.45918604e-02 2.47438071e+01] [ 1.18056313e-01 5.05183217e-04 9.93006773e-01 4.83476757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.861858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:80.25, Y:24.76, Z:4.84 [[ 8.32241037e-01 -5.45577930e-01 -9.85879188e-02 8.02501111e+01] [ 5.41754474e-01 8.38060057e-01 -6.44781404e-02 2.47568333e+01] [ 1.17800447e-01 2.50908301e-04 9.93037256e-01 4.83786650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.891858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.27, Y:24.77, Z:4.84 [[ 8.31511201e-01 -5.46696078e-01 -9.85521213e-02 8.02744205e+01] [ 5.42881100e-01 8.37331109e-01 -6.44726678e-02 2.47713479e+01] [ 1.17767712e-01 1.07661486e-04 9.93041165e-01 4.84101063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:80.30, Y:24.79, Z:4.84 [[ 8.30783996e-01 -5.47782293e-01 -9.86534887e-02 8.02986023e+01] [ 5.43962546e-01 8.36620917e-01 -6.45770029e-02 2.47859208e+01] [ 1.17909711e-01 -1.42624329e-05 9.93024320e-01 4.84425766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.32, Y:24.80, Z:4.85 [[ 8.30202709e-01 -5.48663808e-01 -9.86482984e-02 8.03214243e+01] [ 5.44846176e-01 8.36043069e-01 -6.46113858e-02 2.47999006e+01] [ 1.17924155e-01 -1.07600589e-04 9.93022599e-01 4.84739846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.981858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.34, Y:24.82, Z:4.85 [[ 8.28439605e-01 -5.51441318e-01 -9.79810906e-02 8.03449304e+01] [ 5.47083186e-01 8.34205012e-01 -6.92963593e-02 2.48168053e+01] [ 1.19949193e-01 3.80404130e-03 9.92772744e-01 4.84815774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.37, Y:24.83, Z:4.86 [[ 8.28564938e-01 -5.50251258e-01 -1.03458670e-01 8.03690655e+01] [ 5.47266474e-01 8.34954255e-01 -5.78860868e-02 2.48252071e+01] [ 1.18235149e-01 -8.65707962e-03 9.92947886e-01 4.85555100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.40, Y:24.84, Z:4.86 [[ 8.28664741e-01 -5.49375678e-01 -1.07243237e-01 8.03989025e+01] [ 5.46081689e-01 8.35534132e-01 -6.06424119e-02 2.48386610e+01] [ 1.22920851e-01 -8.31133920e-03 9.92381674e-01 4.86392042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:24.86, Z:4.87 [[ 8.27745897e-01 -5.51210722e-01 -1.04897426e-01 8.04234819e+01] [ 5.47683599e-01 8.34346587e-01 -6.25175830e-02 2.48566031e+01] [ 1.21981171e-01 -5.70192690e-03 9.92516036e-01 4.86551150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.44, Y:24.88, Z:4.86 [[ 8.25255922e-01 -5.57218639e-01 -9.19785405e-02 8.04356147e+01] [ 5.52249842e-01 8.30290718e-01 -7.50828524e-02 2.48796258e+01] [ 1.18206493e-01 1.11674341e-02 9.92926238e-01 4.85636810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.131858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:80.46, Y:24.89, Z:4.87 [[ 8.24331642e-01 -5.57264863e-01 -9.96655241e-02 8.04631042e+01] [ 5.53784102e-01 8.30325949e-01 -6.23055823e-02 2.48885473e+01] [ 1.17475583e-01 -3.83271987e-03 9.93068375e-01 4.86565559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.161858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:80.48, Y:24.90, Z:4.87 [[ 8.24068256e-01 -5.57945226e-01 -9.80236453e-02 8.04849754e+01] [ 5.54122898e-01 8.29877569e-01 -6.51999576e-02 2.49043078e+01] [ 1.17725629e-01 -5.87931043e-04 9.93045986e-01 4.86743059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.191858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:80.51, Y:24.92, Z:4.87 [[ 8.23740983e-01 -5.58355256e-01 -9.84388190e-02 8.05076174e+01] [ 5.54287253e-01 8.29601511e-01 -6.72827883e-02 2.49203292e+01] [ 1.19232692e-01 8.60207618e-04 9.92865965e-01 4.87001568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.221858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:80.53, Y:24.94, Z:4.87 [[ 8.23643240e-01 -5.58310154e-01 -9.95067077e-02 8.05316784e+01] [ 5.54436227e-01 8.29631601e-01 -6.56648791e-02 2.49352355e+01] [ 1.19215278e-01 -1.08568978e-03 9.92867836e-01 4.87396114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:24.95, Z:4.88 [[ 8.23477387e-01 -5.58536221e-01 -9.96106603e-02 8.05551185e+01] [ 5.54652891e-01 8.29479404e-01 -6.57578048e-02 2.49506265e+01] [ 1.19353107e-01 -1.09927544e-03 9.92851262e-01 4.87676573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:24.97, Z:4.88 [[ 8.23172301e-01 -5.58944479e-01 -9.98420351e-02 8.05779265e+01] [ 5.55041484e-01 8.29204313e-01 -6.59481439e-02 2.49660678e+01] [ 1.19650797e-01 -1.12978599e-03 9.92815396e-01 4.88007109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.311858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:80.60, Y:24.98, Z:4.88 [[ 8.23384385e-01 -5.58619889e-01 -9.99098329e-02 8.06014642e+01] [ 5.55048055e-01 8.29416628e-01 -6.31641874e-02 2.49805940e+01] [ 1.18151648e-01 -3.44635277e-03 9.92989582e-01 4.88419923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.62, Y:25.00, Z:4.88 [[ 8.23371632e-01 -5.59270825e-01 -9.63083545e-02 8.06216413e+01] [ 5.54842390e-01 8.28972697e-01 -7.03860028e-02 2.49986366e+01] [ 1.19201834e-01 4.51788040e-03 9.92859764e-01 4.88416425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:25.01, Z:4.89 [[ 8.23455473e-01 -5.58074865e-01 -1.02340259e-01 8.06480915e+01] [ 5.55361564e-01 8.29721329e-01 -5.60004421e-02 2.50078461e+01] [ 1.16166335e-01 -1.07219760e-02 9.93171899e-01 4.89344050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:25.03, Z:4.89 [[ 8.22975928e-01 -5.60300383e-01 -9.36701779e-02 8.06683391e+01] [ 5.55681592e-01 8.28256944e-01 -7.21692715e-02 2.50317510e+01] [ 1.18019446e-01 7.34277960e-03 9.92984136e-01 4.88901999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.69, Y:25.04, Z:4.90 [[ 8.22852840e-01 -5.59297049e-01 -1.00498829e-01 8.06935275e+01] [ 5.56310839e-01 8.28929053e-01 -5.82655525e-02 2.50400818e+01] [ 1.15894150e-01 -7.96461240e-03 9.93229637e-01 4.89789285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.461858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.72, Y:25.06, Z:4.90 [[ 8.22130563e-01 -5.61417802e-01 -9.44001534e-02 8.07150964e+01] [ 5.57104851e-01 8.27519509e-01 -6.96106798e-02 2.50616949e+01] [ 1.17198643e-01 4.63828401e-03 9.93097661e-01 4.89636336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.491858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.74, Y:25.07, Z:4.90 [[ 8.21626280e-01 -5.61597197e-01 -9.76670062e-02 8.07394958e+01] [ 5.57857788e-01 8.27409730e-01 -6.47134139e-02 2.50744684e+01] [ 1.17153503e-01 -1.31405854e-03 9.93112949e-01 4.90209453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.521858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.76, Y:25.09, Z:4.91 [[ 8.21035636e-01 -5.62421041e-01 -9.78930838e-02 8.07624067e+01] [ 5.58665400e-01 8.26849809e-01 -6.49027319e-02 2.50900869e+01] [ 1.17445540e-01 -1.40202302e-03 9.93078335e-01 4.90530209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:25.11, Z:4.91 [[ 8.20800682e-01 -5.62733513e-01 -9.80674977e-02 8.07840568e+01] [ 5.58962048e-01 8.26637155e-01 -6.50572347e-02 2.51052519e+01] [ 1.17676124e-01 -1.41698672e-03 9.93051017e-01 4.90800662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:25.12, Z:4.91 [[ 8.20215216e-01 -5.63572672e-01 -9.81470509e-02 8.08070430e+01] [ 5.59798814e-01 8.26065085e-01 -6.51288223e-02 2.51214573e+01] [ 1.17780676e-01 -1.52295167e-03 9.93038465e-01 4.91079056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.611858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.83, Y:25.14, Z:4.91 [[ 8.19661034e-01 -5.64382751e-01 -9.81218614e-02 8.08303990e+01] [ 5.60611801e-01 8.25511680e-01 -6.51527056e-02 2.51374456e+01] [ 1.17771806e-01 -1.60513937e-03 9.93039388e-01 4.91410048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.85, Y:25.15, Z:4.92 [[ 8.18866198e-01 -5.65659405e-01 -9.74042500e-02 8.08529747e+01] [ 5.61947935e-01 8.24637133e-01 -6.47156670e-02 2.51528705e+01] [ 1.16930187e-01 -1.74264492e-03 9.93138608e-01 4.91678405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:25.17, Z:4.92 [[ 8.18250126e-01 -5.66564039e-01 -9.73237945e-02 8.08757612e+01] [ 5.62861791e-01 8.24015642e-01 -6.46902355e-02 2.51684410e+01] [ 1.16847490e-01 -1.84705188e-03 9.93148152e-01 4.91965282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.90, Y:25.19, Z:4.91 [[ 8.17497310e-01 -5.69533604e-01 -8.56132099e-02 8.08966649e+01] [ 5.64603612e-01 8.21851742e-01 -7.60425926e-02 2.51921202e+01] [ 1.13670178e-01 1.38270874e-02 9.93422318e-01 4.91049638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.731858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.93, Y:25.19, Z:4.93 [[ 8.17152885e-01 -5.66485893e-01 -1.06559352e-01 8.09259582e+01] [ 5.64391405e-01 8.23879254e-01 -5.18200490e-02 2.51940919e+01] [ 1.17147366e-01 -1.77962798e-02 9.92955078e-01 4.93254999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.96, Y:25.21, Z:4.95 [[ 8.18683531e-01 -5.62649097e-01 -1.14818422e-01 8.09581555e+01] [ 5.61017554e-01 8.26342592e-01 -4.91652883e-02 2.52052757e+01] [ 1.22542158e-01 -2.41643385e-02 9.92169091e-01 4.94603572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:25.24, Z:4.92 [[ 8.17202867e-01 -5.69601896e-01 -8.79383600e-02 8.09646353e+01] [ 5.63854589e-01 8.21723778e-01 -8.26924156e-02 2.52414010e+01] [ 1.19362798e-01 1.79920312e-02 9.92687670e-01 4.92435413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:25.25, Z:4.94 [[ 8.17794452e-01 -5.66597391e-01 -1.00894156e-01 8.09910092e+01] [ 5.63095723e-01 8.23978358e-01 -6.31099984e-02 2.52463793e+01] [ 1.18892561e-01 -5.20206087e-03 9.92893498e-01 4.93586942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.01, Y:25.27, Z:4.94 [[ 8.18329995e-01 -5.66298987e-01 -9.81910230e-02 8.10145379e+01] [ 5.61831463e-01 8.24194503e-01 -7.10551113e-02 2.52670333e+01] [ 1.21166939e-01 2.97972280e-03 9.92627671e-01 4.93589717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.881858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:81.04, Y:25.28, Z:4.94 [[ 8.18907851e-01 -5.65028009e-01 -1.00664199e-01 8.10351600e+01] [ 5.60997157e-01 8.25070713e-01 -6.73832980e-02 2.52798619e+01] [ 1.21128533e-01 -1.29161752e-03 9.92635991e-01 4.94084054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:25.30, Z:4.95 [[ 8.18804380e-01 -5.65063565e-01 -1.01304265e-01 8.10595870e+01] [ 5.61263390e-01 8.25041072e-01 -6.55029471e-02 2.52964255e+01] [ 1.20593508e-01 -3.22427510e-03 9.92696736e-01 4.94523941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:25.31, Z:4.95 [[ 8.20694126e-01 -5.62727083e-01 -9.89918267e-02 8.10829971e+01] [ 5.58692904e-01 8.26642739e-01 -6.72608404e-02 2.53125128e+01] [ 1.19680371e-01 -1.05454492e-04 9.92812469e-01 4.94735015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.971858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:81.10, Y:25.33, Z:4.95 [[ 8.21394516e-01 -5.61570951e-01 -9.97452594e-02 8.11044117e+01] [ 5.58099138e-01 8.27417248e-01 -6.24984076e-02 2.53252898e+01] [ 1.17628238e-01 -4.33189405e-03 9.93048253e-01 4.95251240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:81.13, Y:25.34, Z:4.95 [[ 8.20896739e-01 -5.62795103e-01 -9.69031204e-02 8.11274908e+01] [ 5.58683017e-01 8.26594843e-01 -6.79282875e-02 2.53443162e+01] [ 1.18329327e-01 1.62398201e-03 9.92973078e-01 4.95344979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:25.36, Z:4.96 [[ 8.22446024e-01 -5.60491281e-01 -9.71188075e-02 8.11499220e+01] [ 5.56730057e-01 8.28159984e-01 -6.48281050e-02 2.53577912e+01] [ 1.16765498e-01 -7.51342094e-04 9.93159229e-01 4.95885980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:25.37, Z:4.96 [[ 8.23071258e-01 -5.59539805e-01 -9.73083285e-02 8.11735500e+01] [ 5.55755017e-01 8.28803260e-01 -6.49732038e-02 2.53731911e+01] [ 1.17004554e-01 -6.02015084e-04 9.93131196e-01 4.96237584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:25.39, Z:4.97 [[ 8.23435546e-01 -5.59005350e-01 -9.72981013e-02 8.11968064e+01] [ 5.55213069e-01 8.29163901e-01 -6.50051810e-02 2.53893751e+01] [ 1.17014317e-01 -4.93600694e-04 9.93130105e-01 4.96572364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.22, Y:25.41, Z:4.97 [[ 8.23797470e-01 -5.58409212e-01 -9.76569519e-02 8.12197591e+01] [ 5.54580032e-01 8.29565555e-01 -6.52838368e-02 2.54058106e+01] [ 1.17467939e-01 -3.77935824e-04 9.93076603e-01 4.96878967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.151858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.24, Y:25.42, Z:4.97 [[ 8.24237456e-01 -5.57789191e-01 -9.74876148e-02 8.12420549e+01] [ 5.53964608e-01 8.29982622e-01 -6.52078297e-02 2.54217566e+01] [ 1.17285249e-01 -2.57952641e-04 9.93098235e-01 4.97094294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.26, Y:25.44, Z:4.97 [[ 8.24580582e-01 -5.57104806e-01 -9.84941536e-02 8.12649086e+01] [ 5.53338685e-01 8.30441372e-01 -6.46794191e-02 2.54375361e+01] [ 1.17826835e-01 -1.16723234e-03 9.93033471e-01 4.97433963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.211858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.29, Y:25.45, Z:4.98 [[ 8.24285484e-01 -5.57725463e-01 -9.74461337e-02 8.12867215e+01] [ 5.53756039e-01 8.30025107e-01 -6.64271839e-02 2.54526940e+01] [ 1.17930869e-01 7.93578348e-04 9.93021490e-01 4.97655416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.241858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:81.31, Y:25.47, Z:4.98 [[ 8.23756058e-01 -5.58361882e-01 -9.82749449e-02 8.13103878e+01] [ 5.54467381e-01 8.29597457e-01 -6.58329900e-02 2.54672415e+01] [ 1.18287277e-01 -2.59926959e-04 9.92979382e-01 4.98084235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.271858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:81.33, Y:25.48, Z:4.98 [[ 8.22872527e-01 -5.59673640e-01 -9.82151773e-02 8.13333993e+01] [ 5.55788609e-01 8.28713004e-01 -6.58314386e-02 2.54814415e+01] [ 1.18236316e-01 -4.15994589e-04 9.92985398e-01 4.98415878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.301858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.36, Y:25.50, Z:4.99 [[ 8.22250338e-01 -5.60508658e-01 -9.86631975e-02 8.13566469e+01] [ 5.56590616e-01 8.28148404e-01 -6.61597102e-02 2.54971987e+01] [ 1.18790860e-01 -5.15165804e-04 9.92919164e-01 4.98748632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.331858064 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:81.38, Y:25.51, Z:4.99 [[ 8.21700822e-01 -5.61315342e-01 -9.86551862e-02 8.13802565e+01] [ 5.57399032e-01 8.27601793e-01 -6.61935873e-02 2.55129024e+01] [ 1.18802685e-01 -5.98980205e-04 9.92917702e-01 4.99002173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.361858064 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:81.40, Y:25.53, Z:4.99 [[ 8.20155651e-01 -5.63520519e-01 -9.89410571e-02 8.14037725e+01] [ 5.59592441e-01 8.26101591e-01 -6.64263567e-02 2.55284011e+01] [ 1.19167980e-01 -8.86715864e-04 9.92873711e-01 4.99244863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.391858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:81.43, Y:25.54, Z:5.00 [[ 8.20025446e-01 -5.63828192e-01 -9.82651351e-02 8.14265887e+01] [ 5.59951364e-01 8.25891623e-01 -6.60113403e-02 2.55431401e+01] [ 1.18375407e-01 -8.92717657e-04 9.92968512e-01 4.99656479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421858064 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:81.45, Y:25.56, Z:5.00 [[ 8.19085024e-01 -5.65213495e-01 -9.81500275e-02 8.14500153e+01] [ 5.61353380e-01 8.24943967e-01 -6.59532761e-02 2.55577637e+01] [ 1.18245955e-01 -1.07550892e-03 9.92983755e-01 4.99949443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.451858064 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:81.47, Y:25.57, Z:5.00 [[ 8.18572879e-01 -5.65937260e-01 -9.82520196e-02 8.14720089e+01] [ 5.62069627e-01 8.24447511e-01 -6.60608599e-02 2.55726368e+01] [ 1.18389935e-01 -1.14884767e-03 9.92966517e-01 5.00269072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.481858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:81.50, Y:25.59, Z:5.01 [[ 8.18136809e-01 -5.66629586e-01 -9.78931719e-02 8.14951298e+01] [ 5.62792916e-01 8.23971724e-01 -6.58386755e-02 2.55879210e+01] [ 1.17967347e-01 -1.22853971e-03 9.93016715e-01 5.00589046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.511858064 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:81.52, Y:25.60, Z:5.01 [[ 8.17870616e-01 -5.66713566e-01 -9.96162144e-02 8.15187951e+01] [ 5.63598677e-01 8.23882958e-01 -5.97779446e-02 2.56002388e+01] [ 1.15949074e-01 -7.25294223e-03 9.93228678e-01 5.01178404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.541858064 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:81.54, Y:25.62, Z:5.01 [[ 8.17540124e-01 -5.68162445e-01 -9.39126274e-02 8.15402772e+01] [ 5.63794211e-01 8.22903186e-01 -7.04729293e-02 2.56215112e+01] [ 1.17321072e-01 4.66705172e-03 9.93083070e-01 5.01056889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.571858064 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:81.57, Y:25.63, Z:5.02 [[ 8.17561070e-01 -5.67330690e-01 -9.86396713e-02 8.15650935e+01] [ 5.63939307e-01 8.23475883e-01 -6.21283255e-02 2.56330846e+01] [ 1.16474696e-01 -4.83308758e-03 9.93181900e-01 5.01761844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.601858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.59, Y:25.65, Z:5.02 [[ 8.17305309e-01 -5.68230561e-01 -9.55304210e-02 8.15871136e+01] [ 5.64065108e-01 8.22866242e-01 -6.87146443e-02 2.56519771e+01] [ 1.17654519e-01 2.27546638e-03 9.93051981e-01 5.01792711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.631858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:81.61, Y:25.67, Z:5.02 [[ 8.17457985e-01 -5.67622073e-01 -9.78142376e-02 8.16101344e+01] [ 5.63782739e-01 8.23288283e-01 -6.59198524e-02 2.56652687e+01] [ 1.17946879e-01 -1.25926914e-03 9.93019108e-01 5.02219048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.661858064 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:81.63, Y:25.68, Z:5.03 [[ 8.17402430e-01 -5.67591316e-01 -9.84548928e-02 8.16332590e+01] [ 5.63698835e-01 8.23309506e-01 -6.63707785e-02 2.56814906e+01] [ 1.18730327e-01 -1.24727273e-03 9.92925754e-01 5.02563806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.691858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:81.66, Y:25.70, Z:5.03 [[ 8.17522036e-01 -5.67382171e-01 -9.86670815e-02 8.16559726e+01] [ 5.63466537e-01 8.23453741e-01 -6.65537188e-02 2.56976773e+01] [ 1.19009171e-01 -1.18646707e-03 9.92892446e-01 5.02868609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:81.68, Y:25.71, Z:5.03 [[ 8.17182601e-01 -5.67836241e-01 -9.88665776e-02 8.16784144e+01] [ 5.63903210e-01 8.23140638e-01 -6.67282461e-02 2.57142441e+01] [ 1.19271814e-01 -1.22201874e-03 9.92860887e-01 5.03172031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.751858064 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:81.70, Y:25.74, Z:5.01 [[ 8.17228085e-01 -5.71156874e-01 -7.69290796e-02 8.16982888e+01] [ 5.65173490e-01 8.20377585e-01 -8.69456441e-02 2.57438273e+01] [ 1.12770495e-01 2.75761458e-02 9.93238326e-01 5.01400674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:81.73, Y:25.73, Z:5.05 [[ 8.16478905e-01 -5.65576057e-01 -1.16128905e-01 8.17309275e+01] [ 5.65229300e-01 8.24006687e-01 -3.91001116e-02 2.57319627e+01] [ 1.17805081e-01 -3.37150431e-02 9.92464236e-01 5.05099464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.811858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:81.75, Y:25.76, Z:5.04 [[ 8.15926326e-01 -5.70244460e-01 -9.53178161e-02 8.17456704e+01] [ 5.65495817e-01 8.21451393e-01 -7.37027189e-02 2.57644265e+01] [ 1.20327520e-01 6.23416239e-03 9.92714674e-01 5.03820889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84185806400001 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:81.77, Y:25.78, Z:5.05 [[ 8.14536239e-01 -5.71378020e-01 -1.00288951e-01 8.17713459e+01] [ 5.67763263e-01 8.20674439e-01 -6.43299507e-02 2.57773930e+01] [ 1.19061298e-01 -4.54130576e-03 9.92876520e-01 5.04597741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.871858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:81.79, Y:25.79, Z:5.05 [[ 8.14068300e-01 -5.72350531e-01 -9.85275247e-02 8.17938720e+01] [ 5.68456665e-01 8.20007236e-01 -6.66719855e-02 2.57948336e+01] [ 1.18953029e-01 -1.73307820e-03 9.92898370e-01 5.04822446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.901858064 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:81.82, Y:25.81, Z:5.05 [[ 8.13652465e-01 -5.72979409e-01 -9.83069822e-02 8.18154554e+01] [ 5.69102905e-01 8.19567812e-01 -6.65618921e-02 2.58101778e+01] [ 1.18707832e-01 -1.78854153e-03 9.92927617e-01 5.05105907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.931858064 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:81.84, Y:25.83, Z:5.05 [[ 8.12998259e-01 -5.73952443e-01 -9.80429709e-02 8.18377163e+01] [ 5.70101529e-01 8.18886407e-01 -6.64025512e-02 2.58264222e+01] [ 1.18397963e-01 -1.90928917e-03 9.92964389e-01 5.05434367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.961858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:81.86, Y:25.84, Z:5.06 [[ 8.12393038e-01 -5.74812080e-01 -9.80235925e-02 8.18589499e+01] [ 5.70964195e-01 8.18282999e-01 -6.64290703e-02 2.58426439e+01] [ 1.18395271e-01 -2.00144738e-03 9.92964528e-01 5.05700087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.991858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:81.88, Y:25.86, Z:5.06 [[ 8.11960796e-01 -5.75415025e-01 -9.80674020e-02 8.18819501e+01] [ 5.71564666e-01 8.17858960e-01 -6.64872522e-02 2.58592708e+01] [ 1.18463067e-01 -2.06681970e-03 9.92956308e-01 5.05977522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.021858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.90, Y:25.88, Z:5.06 [[ 8.11428017e-01 -5.76142860e-01 -9.82037519e-02 8.19049853e+01] [ 5.72282276e-01 8.17346200e-01 -6.66197059e-02 2.58759440e+01] [ 1.18648931e-01 -2.14317077e-03 9.92933954e-01 5.06272340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.051858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.93, Y:25.89, Z:5.07 [[ 8.10848948e-01 -5.77145745e-01 -9.70915664e-02 8.19264340e+01] [ 5.73375115e-01 8.16638111e-01 -6.59027540e-02 2.58922607e+01] [ 1.17324167e-01 -2.23270927e-03 9.93091161e-01 5.06593094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.081858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:81.95, Y:25.91, Z:5.07 [[ 8.10542025e-01 -5.77689046e-01 -9.64209113e-02 8.19489991e+01] [ 5.73972191e-01 8.16253739e-01 -6.54656986e-02 2.59081789e+01] [ 1.16522746e-01 -2.28022179e-03 9.93185406e-01 5.06931679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.97, Y:25.92, Z:5.07 [[ 8.10275339e-01 -5.78103862e-01 -9.61758756e-02 8.19717408e+01] [ 5.74404378e-01 8.15959940e-01 -6.53374867e-02 2.59244383e+01] [ 1.16247515e-01 -2.30248980e-03 9.93217606e-01 5.07285051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.00, Y:25.94, Z:5.08 [[ 8.10129704e-01 -5.78310858e-01 -9.61582786e-02 8.19951835e+01] [ 5.74609755e-01 8.15813250e-01 -6.53633748e-02 2.59404909e+01] [ 1.16247547e-01 -2.30067342e-03 9.93217607e-01 5.07596764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:25.96, Z:5.08 [[ 8.10319930e-01 -5.77996022e-01 -9.64479597e-02 8.20184988e+01] [ 5.74624402e-01 8.16025702e-01 -6.25208093e-02 2.59559782e+01] [ 1.14840793e-01 -4.75949330e-03 9.93372508e-01 5.07996068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.04, Y:25.98, Z:5.08 [[ 8.10308988e-01 -5.78376881e-01 -9.42312478e-02 8.20390529e+01] [ 5.74424753e-01 8.15769491e-01 -6.75006800e-02 2.59753952e+01] [ 1.15911810e-01 5.67646489e-04 9.93259347e-01 5.07949976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.231858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.06, Y:25.99, Z:5.08 [[ 8.11354649e-01 -5.76624742e-01 -9.59559281e-02 8.20608943e+01] [ 5.72969970e-01 8.17005732e-01 -6.48617604e-02 2.59899008e+01] [ 1.15797439e-01 -2.35397437e-03 9.93270060e-01 5.08399302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.09, Y:26.01, Z:5.08 [[ 8.12139150e-01 -5.76987857e-01 -8.66891744e-02 8.20850407e+01] [ 5.72186008e-01 8.16672633e-01 -7.51597203e-02 2.60141387e+01] [ 1.14162922e-01 1.14378188e-02 9.93396197e-01 5.07623231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.291858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:82.11, Y:26.02, Z:5.10 [[ 8.13434428e-01 -5.72337729e-01 -1.03701281e-01 8.21095118e+01] [ 5.69904047e-01 8.19888048e-01 -5.47080135e-02 2.60201336e+01] [ 1.16334901e-01 -1.45983982e-02 9.93102753e-01 5.09530066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:26.04, Z:5.10 [[ 8.16304116e-01 -5.69184027e-01 -9.83724231e-02 8.21377724e+01] [ 5.65695610e-01 8.22199562e-01 -6.30583596e-02 2.60393722e+01] [ 1.16773574e-01 -4.17404936e-03 9.93149792e-01 5.09511073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:26.06, Z:5.10 [[ 8.15452232e-01 -5.71125607e-01 -9.40914373e-02 8.21522266e+01] [ 5.67171478e-01 8.20861565e-01 -6.71029429e-02 2.60597270e+01] [ 1.15560254e-01 1.35326495e-03 9.93299550e-01 5.09571237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.18, Y:26.08, Z:5.10 [[ 8.15845543e-01 -5.70359447e-01 -9.53213028e-02 8.21759513e+01] [ 5.66619831e-01 8.21394818e-01 -6.52113498e-02 2.60754125e+01] [ 1.15490334e-01 -8.08551332e-04 9.93308275e-01 5.09978257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.411858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:82.20, Y:26.09, Z:5.10 [[ 8.17163675e-01 -5.68401410e-01 -9.57254726e-02 8.21971351e+01] [ 5.64628449e-01 8.22751150e-01 -6.53854732e-02 2.60914403e+01] [ 1.15923438e-01 -6.18691563e-04 9.93257959e-01 5.10206259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:26.12, Z:5.08 [[ 8.17605514e-01 -5.71186916e-01 -7.25722386e-02 8.22105129e+01] [ 5.65301120e-01 8.20261305e-01 -8.72125888e-02 2.61213567e+01] [ 1.09342889e-01 3.02803258e-02 9.93542769e-01 5.08172214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.471858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.25, Y:26.11, Z:5.11 [[ 8.17896554e-01 -5.65105045e-01 -1.08173538e-01 8.22464199e+01] [ 5.63997573e-01 8.24627882e-01 -4.35384191e-02 2.61133707e+01] [ 1.13806695e-01 -2.53996897e-02 9.93178177e-01 5.11355254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.26, Y:26.14, Z:5.11 [[ 8.17720036e-01 -5.67968348e-01 -9.35195097e-02 8.22638952e+01] [ 5.64421427e-01 8.23049843e-01 -6.33830365e-02 2.61395684e+01] [ 1.12970776e-01 -9.54836176e-04 9.93597852e-01 5.10744228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:26.16, Z:5.11 [[ 8.17596753e-01 -5.68226931e-01 -9.30252870e-02 8.22878784e+01] [ 5.64737544e-01 8.22871133e-01 -6.28856533e-02 2.61558513e+01] [ 1.12281145e-01 -1.11976607e-03 9.93675848e-01 5.11012096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.31, Y:26.17, Z:5.11 [[ 8.17550488e-01 -5.68062198e-01 -9.44274228e-02 8.23109471e+01] [ 5.65141338e-01 8.22963250e-01 -5.78511575e-02 2.61688248e+01] [ 1.10573354e-01 -6.06859806e-03 9.93849438e-01 5.11474700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59185806400001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.33, Y:26.19, Z:5.11 [[ 8.16192092e-01 -5.70777090e-01 -8.96882456e-02 8.23324566e+01] [ 5.66951862e-01 8.21099380e-01 -6.60408540e-02 2.61888120e+01] [ 1.11337569e-01 3.05310492e-03 9.93777955e-01 5.11437650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.621858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.36, Y:26.21, Z:5.11 [[ 8.15001246e-01 -5.73329892e-01 -8.40583352e-02 8.23564870e+01] [ 5.68828659e-01 8.19246006e-01 -7.25943382e-02 2.62101230e+01] [ 1.10484960e-01 1.13496861e-02 9.93812990e-01 5.11119936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:26.21, Z:5.13 [[ 8.16679349e-01 -5.68520107e-01 -9.90945439e-02 8.23859921e+01] [ 5.66775068e-01 8.22489635e-01 -4.77160677e-02 2.62107787e+01] [ 1.08631779e-01 -1.71955898e-02 9.93933322e-01 5.12624346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:26.24, Z:5.12 [[ 8.14579349e-01 -5.73429544e-01 -8.74016101e-02 8.24001942e+01] [ 5.69208512e-01 8.19223957e-01 -6.98124585e-02 2.62383695e+01] [ 1.11634019e-01 7.11804661e-03 9.93723895e-01 5.12166581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:26.26, Z:5.12 [[ 8.14453385e-01 -5.73997457e-01 -8.48092188e-02 8.24252757e+01] [ 5.69672299e-01 8.18802120e-01 -7.09687294e-02 2.62553806e+01] [ 1.10177838e-01 9.48725919e-03 9.93866609e-01 5.11940580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:26.27, Z:5.13 [[ 8.12826167e-01 -5.75463010e-01 -9.03102778e-02 8.24513259e+01] [ 5.72342042e-01 8.17822383e-01 -5.99260876e-02 2.62673330e+01] [ 1.08343013e-01 -2.97887677e-03 9.94109108e-01 5.12579762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.771858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.48, Y:26.29, Z:5.13 [[ 8.11238612e-01 -5.78058843e-01 -8.79766306e-02 8.24755956e+01] [ 5.74445516e-01 8.15993020e-01 -6.45580353e-02 2.62872671e+01] [ 1.09106660e-01 1.83419005e-03 9.94028356e-01 5.12665311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:26.30, Z:5.13 [[ 8.10609516e-01 -5.78617949e-01 -9.00748665e-02 8.24995571e+01] [ 5.75361628e-01 8.15596000e-01 -6.13364641e-02 2.63019746e+01] [ 1.08955080e-01 -2.10570042e-03 9.94044444e-01 5.13041517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.52, Y:26.32, Z:5.13 [[ 8.09855751e-01 -5.79718647e-01 -8.97772447e-02 8.25189282e+01] [ 5.76013205e-01 8.14815693e-01 -6.54536060e-02 2.63183594e+01] [ 1.11096584e-01 1.29510080e-03 9.93808770e-01 5.13113286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:26.33, Z:5.15 [[ 8.08946880e-01 -5.79084741e-01 -1.01320322e-01 8.25454557e+01] [ 5.77357899e-01 8.15042084e-01 -4.86236362e-02 2.63266063e+01] [ 1.10737532e-01 -1.91641496e-02 9.93664900e-01 5.14648874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.891858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.57, Y:26.35, Z:5.14 [[ 8.08751791e-01 -5.81226792e-01 -8.99775344e-02 8.25674756e+01] [ 5.77601266e-01 8.13741490e-01 -6.48194797e-02 2.63515878e+01] [ 1.10893271e-01 4.51732565e-04 9.93832218e-01 5.14015107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.59, Y:26.37, Z:5.14 [[ 8.07398059e-01 -5.83722132e-01 -8.58885756e-02 8.25855825e+01] [ 5.79754001e-01 8.11936658e-01 -6.81480864e-02 2.63702148e+01] [ 1.09515629e-01 5.22838729e-03 9.93971323e-01 5.13738774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.61, Y:26.38, Z:5.15 [[ 8.06041893e-01 -5.84239609e-01 -9.46601656e-02 8.26096421e+01] [ 5.81109789e-01 8.11558430e-01 -6.06986663e-02 2.63814887e+01] [ 1.12284820e-01 -6.08228096e-03 9.93657448e-01 5.14753299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.981858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.64, Y:26.40, Z:5.15 [[ 8.05977411e-01 -5.84205524e-01 -9.54165547e-02 8.26359587e+01] [ 5.81353010e-01 8.11561291e-01 -5.82833473e-02 2.63966514e+01] [ 1.11485836e-01 -8.49563991e-03 9.93729708e-01 5.15097132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.011858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.65, Y:26.42, Z:5.15 [[ 8.04277878e-01 -5.87651742e-01 -8.83319025e-02 8.26535474e+01] [ 5.83725224e-01 8.09108273e-01 -6.78871579e-02 2.64181478e+01] [ 1.11364080e-01 3.03857980e-03 9.93775029e-01 5.14954469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:26.43, Z:5.16 [[ 8.04110770e-01 -5.87021303e-01 -9.38715061e-02 8.26800956e+01] [ 5.84415150e-01 8.09512839e-01 -5.61061137e-02 2.64293917e+01] [ 1.08925673e-01 -9.74440007e-03 9.94002135e-01 5.15806298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:26.45, Z:5.16 [[ 8.03951016e-01 -5.88015457e-01 -8.88852439e-02 8.27015547e+01] [ 5.84818614e-01 8.08845164e-01 -6.12918445e-02 2.64487834e+01] [ 1.07934952e-01 -2.70610446e-03 9.94154275e-01 5.15855902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.101858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:82.74, Y:26.45, Z:5.18 [[ 8.05855934e-01 -5.82177745e-01 -1.08005954e-01 8.27370769e+01] [ 5.81164997e-01 8.12600255e-01 -4.39098224e-02 2.64532934e+01] [ 1.13328987e-01 -2.73842890e-02 9.93180065e-01 5.18032016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:26.48, Z:5.17 [[ 8.05756671e-01 -5.85970868e-01 -8.59902799e-02 8.27495800e+01] [ 5.82069071e-01 8.10319832e-01 -6.76562369e-02 2.64846838e+01] [ 1.09324213e-01 4.46218188e-03 9.93996129e-01 5.16815963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.161858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:82.78, Y:26.50, Z:5.17 [[ 8.07531178e-01 -5.83047371e-01 -8.91580570e-02 8.27752014e+01] [ 5.79104344e-01 8.12432285e-01 -6.77638709e-02 2.64997389e+01] [ 1.11944431e-01 3.08962038e-03 9.93709665e-01 5.17385799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:26.52, Z:5.17 [[ 8.06969918e-01 -5.84358010e-01 -8.55877794e-02 8.27917816e+01] [ 5.80248800e-01 8.11470729e-01 -6.94736336e-02 2.65195427e+01] [ 1.10049452e-01 6.40092612e-03 9.93905502e-01 5.17107735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:82.81, Y:26.53, Z:5.17 [[ 8.09408900e-01 -5.80724558e-01 -8.72709520e-02 8.28145858e+01] [ 5.77555704e-01 8.14098982e-01 -6.05991371e-02 2.65343117e+01] [ 1.06238600e-01 -1.35435521e-03 9.94339744e-01 5.17352080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.251858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:82.84, Y:26.55, Z:5.18 [[ 8.10429485e-01 -5.79084520e-01 -8.86857872e-02 8.28363763e+01] [ 5.76102287e-01 8.15260245e-01 -5.87953058e-02 2.65492713e+01] [ 1.06349448e-01 -3.44263542e-03 9.94322857e-01 5.17748056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:82.86, Y:26.57, Z:5.18 [[ 8.11044510e-01 -5.79146922e-01 -8.24357006e-02 8.28579485e+01] [ 5.75504709e-01 8.15205753e-01 -6.50685083e-02 2.65701968e+01] [ 1.04886284e-01 5.33132251e-03 9.94469931e-01 5.17581353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.311858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:82.88, Y:26.58, Z:5.18 [[ 8.12409327e-01 -5.75931440e-01 -9.10717428e-02 8.28830836e+01] [ 5.73147414e-01 8.17476049e-01 -5.68766253e-02 2.65818720e+01] [ 1.07206005e-01 -5.99043297e-03 9.94218782e-01 5.18409701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34185806400001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:82.90, Y:26.60, Z:5.19 [[ 8.12998171e-01 -5.75388383e-01 -8.92310633e-02 8.29045725e+01] [ 5.72204015e-01 8.17878136e-01 -6.04807422e-02 2.65988383e+01] [ 1.07780052e-01 -1.88763986e-03 9.94172971e-01 5.18561897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.371858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.93, Y:26.61, Z:5.19 [[ 8.13591291e-01 -5.74512812e-01 -8.94664201e-02 8.29277457e+01] [ 5.71354060e-01 8.18492795e-01 -6.02003530e-02 2.66147510e+01] [ 1.07813494e-01 -2.13851941e-03 9.94168837e-01 5.18900981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.401858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:82.95, Y:26.63, Z:5.19 [[ 8.14750197e-01 -5.72786063e-01 -8.99902348e-02 8.29498115e+01] [ 5.69400380e-01 8.19704702e-01 -6.21884979e-02 2.66307650e+01] [ 1.09386123e-01 -5.72382996e-04 9.93999169e-01 5.19094102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.97, Y:26.65, Z:5.19 [[ 8.15290836e-01 -5.71885328e-01 -9.08186338e-02 8.29718782e+01] [ 5.68429457e-01 8.20333454e-01 -6.27772001e-02 2.66456998e+01] [ 1.10402923e-01 -4.42310693e-04 9.93886814e-01 5.19374970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.461858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:82.99, Y:26.66, Z:5.20 [[ 8.15662258e-01 -5.71281556e-01 -9.12823342e-02 8.29946007e+01] [ 5.67784620e-01 8.20754082e-01 -6.31138909e-02 2.66613013e+01] [ 1.10976150e-01 -3.49086620e-04 9.93823009e-01 5.19633721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.491858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.02, Y:26.67, Z:5.20 [[ 8.16493038e-01 -5.69680704e-01 -9.38243820e-02 8.30171624e+01] [ 5.66842568e-01 8.21840338e-01 -5.71660829e-02 2.66733706e+01] [ 1.09675076e-01 -6.50794499e-03 9.93946188e-01 5.20132037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.521858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.04, Y:26.69, Z:5.20 [[ 8.16263186e-01 -5.71016538e-01 -8.74901413e-02 8.30389953e+01] [ 5.66891852e-01 8.20912173e-01 -6.88246470e-02 2.66943914e+01] [ 1.11121734e-01 6.58157746e-03 9.93785009e-01 5.19998394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.551858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.06, Y:26.71, Z:5.21 [[ 8.16181160e-01 -5.70543078e-01 -9.12628637e-02 8.30640008e+01] [ 5.67032811e-01 8.21267658e-01 -6.31919716e-02 2.67059976e+01] [ 1.11004980e-01 -1.72941490e-04 9.93819835e-01 5.20637226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.09, Y:26.72, Z:5.21 [[ 8.16030955e-01 -5.70681913e-01 -9.17367698e-02 8.30865810e+01] [ 5.67131605e-01 8.21171193e-01 -6.35579600e-02 2.67199242e+01] [ 1.11602971e-01 -1.61558720e-04 9.93752862e-01 5.21041926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:26.74, Z:5.21 [[ 8.15860164e-01 -5.70888261e-01 -9.19716636e-02 8.31102957e+01] [ 5.67319111e-01 8.21027748e-01 -6.37374597e-02 2.67350512e+01] [ 1.11898255e-01 -1.76428159e-04 9.93719653e-01 5.21378159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:83.13, Y:26.75, Z:5.22 [[ 8.16034677e-01 -5.70623452e-01 -9.20667298e-02 8.31329878e+01] [ 5.67041009e-01 8.21211827e-01 -6.38406627e-02 2.67494465e+01] [ 1.12035267e-01 -1.09416808e-04 9.93704225e-01 5.21615834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.671858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:83.16, Y:26.76, Z:5.22 [[ 8.16152886e-01 -5.70430823e-01 -9.22124894e-02 8.31562345e+01] [ 5.66833887e-01 8.21345646e-01 -6.39583725e-02 2.67648440e+01] [ 1.12222154e-01 -6.93535292e-05 9.93683140e-01 5.21909762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:83.18, Y:26.78, Z:5.22 [[ 8.16219799e-01 -5.70390103e-01 -9.18714854e-02 8.31789921e+01] [ 5.66815347e-01 8.21373928e-01 -6.37591837e-02 2.67804750e+01] [ 1.11828450e-01 -3.26597287e-05 9.93727526e-01 5.22167827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.731858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:83.20, Y:26.79, Z:5.22 [[ 8.16619066e-01 -5.69711554e-01 -9.25313289e-02 8.32026375e+01] [ 5.66076463e-01 8.21844716e-01 -6.42549699e-02 2.67948226e+01] [ 1.12653182e-01 9.20261800e-05 9.93634365e-01 5.22451171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:26.81, Z:5.23 [[ 8.16561432e-01 -5.69692530e-01 -9.31549767e-02 8.32262985e+01] [ 5.66003567e-01 8.21857898e-01 -6.47267925e-02 2.68101313e+01] [ 1.13434524e-01 1.27353257e-04 9.93545466e-01 5.22748177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.791858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.25, Y:26.82, Z:5.23 [[ 8.16628644e-01 -5.69505407e-01 -9.37083250e-02 8.32499985e+01] [ 5.65766649e-01 8.21987565e-01 -6.51501486e-02 2.68249746e+01] [ 1.14130440e-01 1.86432446e-04 9.93465756e-01 5.23034313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.26, Y:26.86, Z:5.20 [[ 8.14186563e-01 -5.77471370e-01 -6.02250596e-02 8.32554271e+01] [ 5.71590111e-01 8.15429666e-01 -9.14286890e-02 2.68614109e+01] [ 1.01906750e-01 4.00159616e-02 9.93988801e-01 5.19936978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.29, Y:26.86, Z:5.22 [[ 8.14954322e-01 -5.72886924e-01 -8.74644253e-02 8.32923051e+01] [ 5.70077175e-01 8.19626569e-01 -5.67829321e-02 2.68579653e+01] [ 1.04218366e-01 -3.58597660e-03 9.94547974e-01 5.22122192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:26.86, Z:5.25 [[ 8.16575750e-01 -5.66198841e-01 -1.12351754e-01 8.33292357e+01] [ 5.65819583e-01 8.23637099e-01 -3.83422634e-02 2.68576403e+01] [ 1.14246418e-01 -3.22614602e-02 9.92928474e-01 5.25098821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.34, Y:26.89, Z:5.24 [[ 8.16305339e-01 -5.69973242e-01 -9.36808303e-02 8.33449543e+01] [ 5.66235118e-01 8.21663240e-01 -6.51713983e-02 2.68865722e+01] [ 1.14120048e-01 1.54384372e-04 9.93466955e-01 5.24114970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.37, Y:26.90, Z:5.24 [[ 8.14613777e-01 -5.72410049e-01 -9.35474766e-02 8.33687225e+01] [ 5.68694311e-01 8.19967507e-01 -6.51158059e-02 2.69001015e+01] [ 1.13978833e-01 -1.55685172e-04 9.93483166e-01 5.24310161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.39, Y:26.91, Z:5.25 [[ 8.13229741e-01 -5.74382255e-01 -9.35008752e-02 8.33927494e+01] [ 5.70681278e-01 8.18587106e-01 -6.51001362e-02 2.69142927e+01] [ 1.13930974e-01 -4.17832145e-04 9.93488580e-01 5.24606383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:26.93, Z:5.25 [[ 8.11922282e-01 -5.76364583e-01 -9.26610835e-02 8.34159393e+01] [ 5.72738471e-01 8.17192410e-01 -6.45539238e-02 2.69281726e+01] [ 1.12928529e-01 -6.57798199e-04 9.93602896e-01 5.24885535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:26.94, Z:5.25 [[ 8.10434934e-01 -5.78522160e-01 -9.22351842e-02 8.34396497e+01] [ 5.74940336e-01 8.15666134e-01 -6.42834945e-02 2.69429445e+01] [ 1.12422542e-01 -9.32138217e-04 9.93660054e-01 5.25204564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.46, Y:26.96, Z:5.26 [[ 8.10282264e-01 -5.78738875e-01 -9.22169554e-02 8.34629046e+01] [ 5.75155476e-01 8.15512385e-01 -6.43096339e-02 2.69592643e+01] [ 1.12422554e-01 -9.30131078e-04 9.93660055e-01 5.25522369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:26.97, Z:5.26 [[ 8.07957968e-01 -5.82231787e-01 -9.06094262e-02 8.34868239e+01] [ 5.78790525e-01 8.13021704e-01 -6.32237034e-02 2.69738506e+01] [ 1.10478280e-01 -1.36178246e-03 9.93877606e-01 5.25775681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.121858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:83.51, Y:26.99, Z:5.26 [[ 8.06781490e-01 -5.83963381e-01 -8.99466317e-02 8.35099408e+01] [ 5.80579018e-01 8.11778509e-01 -6.27985434e-02 2.69889673e+01] [ 1.09688792e-01 -1.55642467e-03 9.93964761e-01 5.26115020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.53, Y:27.00, Z:5.26 [[ 8.05388679e-01 -5.86040770e-01 -8.89117035e-02 8.35333972e+01] [ 5.82742576e-01 8.10279595e-01 -6.21133562e-02 2.70028953e+01] [ 1.08444298e-01 -1.78724122e-03 9.94100920e-01 5.26444113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.56, Y:27.02, Z:5.27 [[ 8.04994915e-01 -5.86655434e-01 -8.84227777e-02 8.35561203e+01] [ 5.83394477e-01 8.09834563e-01 -6.17969624e-02 2.70172863e+01] [ 1.07861345e-01 -1.83911968e-03 9.94164246e-01 5.26716903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:27.03, Z:5.27 [[ 8.04827771e-01 -5.86959957e-01 -8.79219386e-02 8.35797370e+01] [ 5.83735145e-01 8.09613851e-01 -6.14710698e-02 2.70324243e+01] [ 1.07263876e-01 -1.84950146e-03 9.94228867e-01 5.27033596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.241858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.60, Y:27.05, Z:5.27 [[ 8.04836596e-01 -5.86983951e-01 -8.76806425e-02 8.36032708e+01] [ 5.83773127e-01 8.09596527e-01 -6.13384088e-02 2.70479932e+01] [ 1.06990605e-01 -1.81820666e-03 9.94258369e-01 5.27325183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.271858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.63, Y:27.06, Z:5.28 [[ 8.05192037e-01 -5.86521512e-01 -8.75117125e-02 8.36267649e+01] [ 5.83316459e-01 8.09931815e-01 -6.12565395e-02 2.70636843e+01] [ 1.06806798e-01 -1.72374438e-03 9.94278299e-01 5.27577148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.301858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:83.65, Y:27.08, Z:5.28 [[ 8.06510639e-01 -5.84694794e-01 -8.75933094e-02 8.36501004e+01] [ 5.81469024e-01 8.11252049e-01 -6.13505221e-02 2.70800903e+01] [ 1.06931583e-01 -1.45294741e-03 9.94265320e-01 5.27741527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:27.10, Z:5.28 [[ 8.07204536e-01 -5.83712303e-01 -8.77541120e-02 8.36720179e+01] [ 5.80464780e-01 8.11959526e-01 -6.15009459e-02 2.70952745e+01] [ 1.07151646e-01 -1.29432885e-03 9.94241847e-01 5.27968458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.69, Y:27.11, Z:5.28 [[ 8.07691577e-01 -5.83048411e-01 -8.76861862e-02 8.36941384e+01] [ 5.79800309e-01 8.12436538e-01 -6.14692823e-02 2.71101187e+01] [ 1.07079029e-01 -1.19225636e-03 9.94249798e-01 5.28264766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.72, Y:27.13, Z:5.29 [[ 8.08512486e-01 -5.82027353e-01 -8.69006368e-02 8.37179385e+01] [ 5.78829915e-01 8.13168548e-01 -6.09330934e-02 2.71255482e+01] [ 1.06129592e-01 -1.03552135e-03 9.94351767e-01 5.28568883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:83.74, Y:27.14, Z:5.29 [[ 8.08474887e-01 -5.82091554e-01 -8.68203922e-02 8.37408329e+01] [ 5.78896587e-01 8.13122620e-01 -6.09126133e-02 2.71416326e+01] [ 1.06052343e-01 -1.01371056e-03 9.94360032e-01 5.28850337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.76, Y:27.16, Z:5.29 [[ 8.08323069e-01 -5.82334443e-01 -8.66049287e-02 8.37636753e+01] [ 5.79152981e-01 8.12948688e-01 -6.07968467e-02 2.71578106e+01] [ 1.05809461e-01 -1.01400887e-03 9.94385906e-01 5.29094945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.79, Y:27.17, Z:5.29 [[ 8.07453542e-01 -5.83499010e-01 -8.68773972e-02 8.37870238e+01] [ 5.80300361e-01 8.12113048e-01 -6.10236729e-02 2.71726792e+01] [ 1.06161521e-01 -1.14120417e-03 9.94348243e-01 5.29395526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:27.19, Z:5.30 [[ 8.06820223e-01 -5.84464393e-01 -8.62699301e-02 8.38096000e+01] [ 5.81312031e-01 8.11418426e-01 -6.06338161e-02 2.71881007e+01] [ 1.05439317e-01 -1.22915925e-03 9.94424979e-01 5.29655091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.83, Y:27.20, Z:5.30 [[ 8.05958482e-01 -5.85684277e-01 -8.60514503e-02 8.38322409e+01] [ 5.82552302e-01 8.10538132e-01 -6.05041583e-02 2.72038675e+01] [ 1.05184316e-01 -1.36563081e-03 9.94451806e-01 5.29967710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.85, Y:27.22, Z:5.30 [[ 8.04980456e-01 -5.87119042e-01 -8.54265557e-02 8.38547113e+01] [ 5.84036827e-01 8.09499192e-01 -6.01002714e-02 2.72197378e+01] [ 1.04438742e-01 -1.51271064e-03 9.94530171e-01 5.30201056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.88, Y:27.24, Z:5.30 [[ 8.03487126e-01 -5.89118639e-01 -8.57185401e-02 8.38772003e+01] [ 5.86022584e-01 8.08044662e-01 -6.03436437e-02 2.72351158e+01] [ 1.04813974e-01 -1.74765957e-03 9.94490310e-01 5.30452203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.631858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:83.90, Y:27.25, Z:5.31 [[ 8.02488572e-01 -5.90393693e-01 -8.62982034e-02 8.38999985e+01] [ 5.87261273e-01 8.07113139e-01 -6.07665771e-02 2.72509815e+01] [ 1.05528618e-01 -1.91510918e-03 9.94414422e-01 5.30794344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:27.27, Z:5.31 [[ 8.01727470e-01 -5.91390562e-01 -8.65463327e-02 8.39226108e+01] [ 5.88241938e-01 8.06382734e-01 -6.09779471e-02 2.72670391e+01] [ 1.05851251e-01 -2.02248716e-03 9.94379918e-01 5.31078215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:27.28, Z:5.31 [[ 8.00696401e-01 -5.92748115e-01 -8.68040697e-02 8.39450684e+01] [ 5.89584709e-01 8.05384954e-01 -6.11959711e-02 2.72836682e+01] [ 1.06184488e-01 -2.17895837e-03 9.94344058e-01 5.31336304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:27.30, Z:5.32 [[ 8.00267399e-01 -5.93274393e-01 -8.71641279e-02 8.39672959e+01] [ 5.90083803e-01 8.04997223e-01 -6.14863977e-02 2.72999889e+01] [ 1.06645186e-01 -2.22858053e-03 9.94294643e-01 5.31658522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.99, Y:27.32, Z:5.32 [[ 8.00446627e-01 -5.93536422e-01 -8.36642847e-02 8.39916818e+01] [ 5.89937142e-01 8.04801766e-01 -6.53321259e-02 2.73194383e+01] [ 1.06110160e-01 2.93821088e-03 9.94350039e-01 5.31522801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.01, Y:27.33, Z:5.32 [[ 7.99497672e-01 -5.93672411e-01 -9.14141194e-02 8.40127486e+01] [ 5.90938151e-01 8.04666414e-01 -5.74809841e-02 2.73307082e+01] [ 1.07682746e-01 -8.06417771e-03 9.94152602e-01 5.32377670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.03, Y:27.35, Z:5.32 [[ 7.99209374e-01 -5.94493813e-01 -8.85521495e-02 8.40330466e+01] [ 5.91198157e-01 8.04096730e-01 -6.25554853e-02 2.73495706e+01] [ 1.08393343e-01 -2.35693734e-03 9.94105290e-01 5.32400475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84185806400001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:84.06, Y:27.37, Z:5.33 [[ 7.98937904e-01 -5.94786972e-01 -8.90319257e-02 8.40550843e+01] [ 5.91455528e-01 8.03879786e-01 -6.29098409e-02 2.73659739e+01] [ 1.08988919e-01 -2.39736815e-03 9.94040074e-01 5.32681806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.871858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:84.08, Y:27.38, Z:5.33 [[ 7.98487300e-01 -5.95378521e-01 -8.91204114e-02 8.40773057e+01] [ 5.92040031e-01 8.03441604e-01 -6.30094456e-02 2.73822592e+01] [ 1.09117517e-01 -2.45060902e-03 9.94025836e-01 5.32991351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.10, Y:27.40, Z:5.33 [[ 7.97869413e-01 -5.96280308e-01 -8.86238925e-02 8.40986705e+01] [ 5.92980500e-01 8.02772319e-01 -6.26955400e-02 2.73978509e+01] [ 1.08528924e-01 -2.52938636e-03 9.94090074e-01 5.33342777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.12, Y:27.41, Z:5.34 [[ 7.97477784e-01 -5.96809877e-01 -8.85841677e-02 8.41201843e+01] [ 5.93514577e-01 8.02378511e-01 -6.26831134e-02 2.74137109e+01] [ 1.08487934e-01 -2.58760445e-03 9.94094398e-01 5.33685443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.14, Y:27.44, Z:5.33 [[ 7.97009481e-01 -5.98414135e-01 -8.17093014e-02 8.41415773e+01] [ 5.94491432e-01 8.01163219e-01 -6.86835771e-02 2.74353570e+01] [ 1.06563710e-01 6.16598258e-03 9.94286758e-01 5.33207535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.991858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:84.16, Y:27.45, Z:5.34 [[ 7.97480463e-01 -5.97415255e-01 -8.43796435e-02 8.41635626e+01] [ 5.94096179e-01 8.01932050e-01 -6.28865475e-02 2.74473687e+01] [ 1.05236123e-01 2.11692178e-05 9.94447263e-01 5.33583501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.021858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.19, Y:27.46, Z:5.35 [[ 7.96139813e-01 -5.97748683e-01 -9.41164703e-02 8.41877329e+01] [ 5.95649354e-01 8.01551331e-01 -5.21278256e-02 2.74583663e+01] [ 1.06598521e-01 -1.45593774e-02 9.94195544e-01 5.34932584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.21, Y:27.48, Z:5.35 [[ 7.95821285e-01 -5.99211818e-01 -8.72564027e-02 8.42066861e+01] [ 5.96017811e-01 8.00585685e-01 -6.18492582e-02 2.74802566e+01] [ 1.06917033e-01 -2.78541396e-03 9.94264044e-01 5.34800620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.081858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:84.23, Y:27.50, Z:5.35 [[ 7.95485913e-01 -5.99705699e-01 -8.69208654e-02 8.42284455e+01] [ 5.96535286e-01 8.00215703e-01 -6.16480400e-02 2.74976533e+01] [ 1.06526122e-01 -2.81121591e-03 9.94305930e-01 5.35052397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.111858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:84.25, Y:27.51, Z:5.35 [[ 7.95483712e-01 -5.99702884e-01 -8.69604244e-02 8.42498906e+01] [ 5.96525466e-01 8.00217917e-01 -6.17142855e-02 2.75141722e+01] [ 1.06597525e-01 -2.78139886e-03 9.94298361e-01 5.35338270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:27.54, Z:5.35 [[ 7.94835161e-01 -6.01644561e-01 -7.91257760e-02 8.42700654e+01] [ 5.97684249e-01 7.98725461e-01 -6.93626434e-02 2.75373838e+01] [ 1.04931429e-01 7.83963783e-03 9.94448558e-01 5.34699686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:27.54, Z:5.36 [[ 7.95440007e-01 -5.98585207e-01 -9.47150790e-02 8.42967279e+01] [ 5.96317249e-01 8.00942528e-01 -5.38219724e-02 2.75436104e+01] [ 1.08078371e-01 -1.36680853e-02 9.94048414e-01 5.36366396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:84.32, Y:27.56, Z:5.36 [[ 7.95363425e-01 -5.99596842e-01 -8.87730214e-02 8.43151086e+01] [ 5.96276626e-01 8.00297426e-01 -6.30730961e-02 2.75649561e+01] [ 1.08863250e-01 -2.76724397e-03 9.94052884e-01 5.36211953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.231858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:84.34, Y:27.58, Z:5.36 [[ 7.95778996e-01 -5.98918280e-01 -8.96252437e-02 8.43365968e+01] [ 5.95526764e-01 8.00805664e-01 -6.37037108e-02 2.75835849e+01] [ 1.09925720e-01 -2.68015636e-03 9.93936192e-01 5.36460586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.36, Y:27.61, Z:5.36 [[ 7.95813033e-01 -6.00236043e-01 -7.99894280e-02 8.43554770e+01] [ 5.95578788e-01 7.99723845e-01 -7.56814331e-02 2.76082516e+01] [ 1.09396177e-01 1.25882642e-02 9.93918514e-01 5.35595403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.39, Y:27.61, Z:5.38 [[ 7.96242719e-01 -5.96770921e-01 -9.93076032e-02 8.43852889e+01] [ 5.94700768e-01 8.02227135e-01 -5.25606301e-02 2.76122628e+01] [ 1.11033910e-01 -1.72072888e-02 9.93667641e-01 5.37610220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:27.63, Z:5.37 [[ 7.96400407e-01 -5.97897850e-01 -9.09095797e-02 8.44024938e+01] [ 5.94391823e-01 8.01568387e-01 -6.47030297e-02 2.76348871e+01] [ 1.11556047e-01 -2.50639162e-03 9.93754983e-01 5.37384720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.42, Y:27.65, Z:5.38 [[ 7.96786006e-01 -5.97460228e-01 -9.04065056e-02 8.44240560e+01] [ 5.93988333e-01 8.01894899e-01 -6.43617208e-02 2.76529410e+01] [ 1.10950084e-01 -2.41789109e-03 9.93823039e-01 5.37705418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.45, Y:27.67, Z:5.38 [[ 7.96746858e-01 -5.97568073e-01 -9.00380069e-02 8.44451352e+01] [ 5.94121037e-01 8.01814613e-01 -6.41367305e-02 2.76692515e+01] [ 1.10519852e-01 -2.39273555e-03 9.93871036e-01 5.38002746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.411858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.47, Y:27.69, Z:5.38 [[ 7.96591367e-01 -5.97823341e-01 -8.97187089e-02 8.44674102e+01] [ 5.94399591e-01 8.01624287e-01 -6.39345634e-02 2.76861541e+01] [ 1.10142270e-01 -2.39904261e-03 9.93912936e-01 5.38342878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:27.70, Z:5.39 [[ 7.96318636e-01 -5.98273016e-01 -8.91404978e-02 8.44892552e+01] [ 5.94892127e-01 8.01288689e-01 -6.35593722e-02 2.77030353e+01] [ 1.09453130e-01 -2.41546775e-03 9.93989023e-01 5.38665149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.471858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:84.51, Y:27.73, Z:5.38 [[ 7.95519273e-01 -6.00938315e-01 -7.76030186e-02 8.45079536e+01] [ 5.96443058e-01 7.99189918e-01 -7.45060610e-02 2.77283502e+01] [ 1.06793097e-01 1.29852257e-02 9.94196469e-01 5.37820542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:27.73, Z:5.40 [[ 7.95914649e-01 -5.97469350e-01 -9.77253663e-02 8.45382437e+01] [ 5.95598535e-01 8.01690295e-01 -5.05475677e-02 2.77309634e+01] [ 1.08546100e-01 -1.79735354e-02 9.93928919e-01 5.39947041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.531858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.56, Y:27.76, Z:5.38 [[ 7.95948196e-01 -6.00428352e-01 -7.71509144e-02 8.45560704e+01] [ 5.95823338e-01 7.99552905e-01 -7.55625730e-02 2.77628111e+01] [ 1.07056149e-01 1.41755783e-02 9.94151917e-01 5.38477436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.58, Y:27.76, Z:5.41 [[ 7.95425166e-01 -5.97830887e-01 -9.94838456e-02 8.45830375e+01] [ 5.96096590e-01 8.01377142e-01 -4.96339729e-02 2.77644672e+01] [ 1.09396802e-01 -1.98218699e-02 9.93800500e-01 5.40576505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:27.79, Z:5.40 [[ 7.95444969e-01 -5.99352393e-01 -8.96884032e-02 8.46002478e+01] [ 5.95921003e-01 8.00481494e-01 -6.40900576e-02 2.77881296e+01] [ 1.10206436e-01 -2.46708932e-03 9.93905657e-01 5.40197099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.62, Y:27.81, Z:5.40 [[ 7.95374503e-01 -5.99382140e-01 -9.01135424e-02 8.46225595e+01] [ 5.95915287e-01 8.00459237e-01 -6.44203465e-02 2.78052297e+01] [ 1.10744622e-01 -2.46173637e-03 9.93845847e-01 5.40498422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:27.82, Z:5.41 [[ 7.95543728e-01 -5.99052102e-01 -9.08116488e-02 8.46439062e+01] [ 5.95524676e-01 8.00706439e-01 -6.49581304e-02 2.78229064e+01] [ 1.11626777e-01 -2.40354453e-03 9.93747295e-01 5.40803792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:27.84, Z:5.41 [[ 7.95354020e-01 -5.99250852e-01 -9.11613946e-02 8.46658563e+01] [ 5.95693074e-01 8.00557686e-01 -6.52468631e-02 2.78398490e+01] [ 1.12079193e-01 -2.40985652e-03 9.93696356e-01 5.41104535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:27.86, Z:5.40 [[ 7.94844522e-01 -6.01692121e-01 -7.86687843e-02 8.46849885e+01] [ 5.96950938e-01 7.98605754e-01 -7.66709009e-02 2.78649038e+01] [ 1.08957621e-01 1.39800410e-02 9.93948085e-01 5.40167170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.741858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:84.71, Y:27.87, Z:5.42 [[ 7.94605945e-01 -5.98616840e-01 -1.01288055e-01 8.47142818e+01] [ 5.96659875e-01 8.00807472e-01 -5.20037164e-02 2.78661313e+01] [ 1.12242532e-01 -1.91120559e-02 9.93497027e-01 5.42377607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:27.89, Z:5.42 [[ 7.93124956e-01 -6.02197507e-01 -9.11645067e-02 8.47312319e+01] [ 5.98649021e-01 7.98342387e-01 -6.53359166e-02 2.78893506e+01] [ 1.12125616e-01 -2.75599680e-03 9.93690219e-01 5.42056247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:27.91, Z:5.42 [[ 7.92226952e-01 -6.03415985e-01 -9.09153737e-02 8.47528851e+01] [ 5.99892977e-01 7.97421282e-01 -6.51744965e-02 2.79057890e+01] [ 1.11825187e-01 -2.90650151e-03 9.93723644e-01 5.42313440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:27.92, Z:5.43 [[ 7.91330742e-01 -6.04566755e-01 -9.10752208e-02 8.47746563e+01] [ 6.01035876e-01 7.96548628e-01 -6.53158393e-02 2.79225247e+01] [ 1.12033627e-01 -3.05304354e-03 9.93699726e-01 5.42621448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.80, Y:27.94, Z:5.43 [[ 7.90406428e-01 -6.05837098e-01 -9.06591955e-02 8.47956850e+01] [ 6.02342631e-01 7.95582331e-01 -6.50546629e-02 2.79402404e+01] [ 1.11539382e-01 -3.18827466e-03 9.93754900e-01 5.42882201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:27.96, Z:5.43 [[ 7.90121922e-01 -6.06139651e-01 -9.11157071e-02 8.48178608e+01] [ 6.02609917e-01 7.95351661e-01 -6.53989572e-02 2.79571233e+01] [ 1.12109930e-01 -3.23407884e-03 9.93690548e-01 5.43172633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:84.84, Y:27.97, Z:5.43 [[ 7.90189347e-01 -6.06078473e-01 -9.09377830e-02 8.48388422e+01] [ 6.02557810e-01 7.95398466e-01 -6.53097622e-02 2.79732047e+01] [ 1.11914614e-01 -3.18819298e-03 9.93712712e-01 5.43427230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.951858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:84.86, Y:27.99, Z:5.44 [[ 7.90085835e-01 -6.06214607e-01 -9.09297707e-02 8.48618364e+01] [ 6.02693560e-01 7.95294694e-01 -6.53209156e-02 2.79898340e+01] [ 1.11914457e-01 -3.19365712e-03 9.93712712e-01 5.43742806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.88, Y:28.01, Z:5.44 [[ 7.90309345e-01 -6.05908303e-01 -9.10289396e-02 8.48840502e+01] [ 6.02374828e-01 7.95528317e-01 -6.54160768e-02 2.80064875e+01] [ 1.12052243e-01 -3.13460501e-03 9.93697373e-01 5.44069942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.011858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:84.91, Y:28.03, Z:5.44 [[ 7.90269172e-01 -6.06329081e-01 -8.85419744e-02 8.49053220e+01] [ 6.01950337e-01 7.95202297e-01 -7.28635600e-02 2.80281073e+01] [ 1.14588077e-01 4.28395402e-03 9.93403856e-01 5.44146561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:28.04, Z:5.45 [[ 7.91841409e-01 -6.03082548e-01 -9.63256099e-02 8.49306663e+01] [ 6.00249250e-01 7.97605673e-01 -5.93803636e-02 2.80382124e+01] [ 1.12641114e-01 -1.07995444e-02 9.93577047e-01 5.44985444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.95, Y:28.07, Z:5.44 [[ 7.92225825e-01 -6.04631279e-01 -8.24576160e-02 8.49479830e+01] [ 6.00239172e-01 7.96459810e-01 -7.32441675e-02 2.80652299e+01] [ 1.09959892e-01 8.53162990e-03 9.93899408e-01 5.44019374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.101858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:84.96, Y:28.09, Z:5.43 [[ 7.91962186e-01 -6.06844106e-01 -6.73507705e-02 8.49617730e+01] [ 6.02170094e-01 7.94534702e-01 -7.81395246e-02 2.80914385e+01] [ 1.00931034e-01 2.13269290e-02 9.94664812e-01 5.42624384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.97, Y:28.12, Z:5.41 [[ 7.91531746e-01 -6.08693293e-01 -5.44974342e-02 8.49745662e+01] [ 6.03470745e-01 7.92572369e-01 -8.74762853e-02 2.81179342e+01] [ 9.64393887e-02 3.63526496e-02 9.94674786e-01 5.41407021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:28.08, Z:5.48 [[ 7.96888953e-01 -5.89206369e-01 -1.33431072e-01 8.50362539e+01] [ 5.93236338e-01 8.04946058e-01 -1.15105066e-02 2.80836375e+01] [ 1.14186879e-01 -6.99835647e-02 9.90991250e-01 5.48358395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:28.13, Z:5.46 [[ 7.98865392e-01 -5.94121253e-01 -9.39894802e-02 8.50411195e+01] [ 5.90434211e-01 8.04371106e-01 -6.61405093e-02 2.81277334e+01] [ 1.14897904e-01 -2.65724066e-03 9.93373752e-01 5.46226331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:28.14, Z:5.47 [[ 7.99798176e-01 -5.93017413e-01 -9.30227183e-02 8.50624692e+01] [ 5.89212790e-01 8.05188796e-01 -6.70767571e-02 2.81444510e+01] [ 1.14678535e-01 -1.16230743e-03 9.93401974e-01 5.46510206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.251858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.09, Y:28.16, Z:5.47 [[ 8.00303197e-01 -5.92411827e-01 -9.25365829e-02 8.50852827e+01] [ 5.88640890e-01 8.05634603e-01 -6.67442050e-02 2.81610728e+01] [ 1.14090730e-01 -1.05521586e-03 9.93469774e-01 5.46854521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:28.18, Z:5.47 [[ 8.00579505e-01 -5.92089964e-01 -9.22059185e-02 8.51098268e+01] [ 5.88508970e-01 8.05868923e-01 -6.50574495e-02 2.81775173e+01] [ 1.12825747e-01 -2.18034937e-03 9.93612398e-01 5.47276531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.311858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:85.13, Y:28.20, Z:5.47 [[ 8.01011702e-01 -5.93154913e-01 -8.09166408e-02 8.51312857e+01] [ 5.88232412e-01 8.04956046e-01 -7.76427237e-02 2.82016859e+01] [ 1.11188502e-01 1.45949395e-02 9.93692158e-01 5.46523211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34185806400001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:28.20, Z:5.48 [[ 8.01130176e-01 -5.90024878e-01 -1.00304957e-01 8.51593392e+01] [ 5.87815693e-01 8.07224402e-01 -5.34927684e-02 2.82033446e+01] [ 1.12530673e-01 -1.61061567e-02 9.93517710e-01 5.48433545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.371858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:85.18, Y:28.23, Z:5.48 [[ 8.00921145e-01 -5.91804135e-01 -9.10669279e-02 8.51785242e+01] [ 5.88134007e-01 8.06081352e-01 -6.58121916e-02 2.82256350e+01] [ 1.12355279e-01 -8.49181333e-04 9.93667736e-01 5.48181551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.20, Y:28.24, Z:5.48 [[ 8.00570950e-01 -5.92240653e-01 -9.13080686e-02 8.52015915e+01] [ 5.88549561e-01 8.05760654e-01 -6.60241071e-02 2.82420367e+01] [ 1.12674609e-01 -8.82341562e-04 9.93631548e-01 5.48482917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:28.26, Z:5.49 [[ 8.00198924e-01 -5.92737149e-01 -9.13474403e-02 8.52248611e+01] [ 5.89041836e-01 8.05395444e-01 -6.60900437e-02 2.82582784e+01] [ 1.12744836e-01 -9.22282061e-04 9.93623546e-01 5.48756646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.461858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:85.25, Y:28.28, Z:5.48 [[ 7.99708539e-01 -5.95253820e-01 -7.83526774e-02 8.52455973e+01] [ 5.89642055e-01 8.03258719e-01 -8.42477147e-02 2.82845240e+01] [ 1.13086245e-01 2.11735832e-02 9.93359542e-01 5.47794509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.491858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.28, Y:28.28, Z:5.50 [[ 7.98513332e-01 -5.92627950e-01 -1.05681458e-01 8.52756152e+01] [ 5.90894022e-01 8.05171086e-01 -5.04358700e-02 2.82794880e+01] [ 1.14981360e-01 -2.21728269e-02 9.93120160e-01 5.50173251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.521858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.29, Y:28.32, Z:5.48 [[ 7.97200940e-01 -5.98334557e-01 -8.04140416e-02 8.52911343e+01] [ 5.92235094e-01 8.00925486e-01 -8.81813935e-02 2.83169276e+01] [ 1.17167630e-01 2.26742723e-02 9.92853274e-01 5.48354948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.33, Y:28.31, Z:5.51 [[ 7.96585490e-01 -5.94237403e-01 -1.11056141e-01 8.53257179e+01] [ 5.92905184e-01 8.03823407e-01 -4.82842951e-02 2.83104287e+01] [ 1.17961860e-01 -2.73831930e-02 9.92640499e-01 5.51132317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.581858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.34, Y:28.34, Z:5.51 [[ 7.95630762e-01 -5.98124248e-01 -9.60160112e-02 8.53420655e+01] [ 5.94058132e-01 8.01401729e-01 -6.96434147e-02 2.83365894e+01] [ 1.18602812e-01 -1.62864913e-03 9.92940442e-01 5.50501104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.36, Y:28.36, Z:5.50 [[ 7.93342900e-01 -6.02717676e-01 -8.56647369e-02 8.53643433e+01] [ 5.97731275e-01 7.97881869e-01 -7.81143153e-02 2.83578398e+01] [ 1.15431219e-01 1.07669450e-02 9.93257120e-01 5.49835288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:28.36, Z:5.52 [[ 7.92152701e-01 -6.01423991e-01 -1.03842581e-01 8.53919216e+01] [ 5.98717359e-01 7.98781505e-01 -5.90392409e-02 2.83610589e+01] [ 1.18455149e-01 -1.54042617e-02 9.92839910e-01 5.51725715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.41, Y:28.38, Z:5.51 [[ 7.91389818e-01 -6.03931648e-01 -9.47033318e-02 8.54099054e+01] [ 5.99591529e-01 7.97036005e-01 -7.22745098e-02 2.83827754e+01] [ 1.19130829e-01 4.13995641e-04 9.92878479e-01 5.51442364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.44, Y:28.40, Z:5.52 [[ 7.89283359e-01 -6.06419443e-01 -9.63703237e-02 8.54364357e+01] [ 6.02708857e-01 7.95128800e-01 -6.71730940e-02 2.83970988e+01] [ 1.17361890e-01 -5.06464238e-03 9.93076299e-01 5.52010314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.46, Y:28.42, Z:5.51 [[ 7.89739584e-01 -6.07310421e-01 -8.65184485e-02 8.54580120e+01] [ 6.02749383e-01 7.94435837e-01 -7.45981410e-02 2.84171271e+01] [ 1.14037584e-01 6.76416339e-03 9.93453409e-01 5.51422205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.761858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.48, Y:28.42, Z:5.53 [[ 7.87961872e-01 -6.07472439e-01 -1.00465537e-01 8.54844596e+01] [ 6.04485609e-01 7.94244969e-01 -6.14172414e-02 2.84247698e+01] [ 1.17103529e-01 -1.23355267e-02 9.93043100e-01 5.52958048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.791858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:85.51, Y:28.45, Z:5.52 [[ 7.88067880e-01 -6.09776566e-01 -8.43893095e-02 8.55054570e+01] [ 6.04704724e-01 7.92490255e-01 -7.93182992e-02 2.84513483e+01] [ 1.15244146e-01 1.14775899e-02 9.93270885e-01 5.51965105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.821858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:85.53, Y:28.45, Z:5.54 [[ 7.87739643e-01 -6.07094532e-01 -1.04414960e-01 8.55316570e+01] [ 6.04672251e-01 7.94422720e-01 -5.71315267e-02 2.84533134e+01] [ 1.17633854e-01 -1.81320606e-02 9.92891487e-01 5.53808459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.851858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.55, Y:28.48, Z:5.54 [[ 7.88065096e-01 -6.08076548e-01 -9.58974293e-02 8.55494278e+01] [ 6.04060190e-01 7.93873123e-01 -6.98337420e-02 2.84752419e+01] [ 1.18594652e-01 -2.89428482e-03 9.92938534e-01 5.53552486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:28.49, Z:5.54 [[ 7.88566340e-01 -6.07391989e-01 -9.61150338e-02 8.55721809e+01] [ 6.03349989e-01 7.94397400e-01 -7.00111537e-02 2.84916474e+01] [ 1.18877747e-01 -2.78256532e-03 9.92905000e-01 5.53868303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.911858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:85.59, Y:28.51, Z:5.54 [[ 7.90549738e-01 -6.04809838e-01 -9.61050037e-02 8.55939080e+01] [ 6.00744762e-01 7.96366427e-01 -7.00445932e-02 2.85073996e+01] [ 1.18898457e-01 -2.36084277e-03 9.92903612e-01 5.54134224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.62, Y:28.52, Z:5.54 [[ 7.91621321e-01 -6.03415251e-01 -9.60506076e-02 8.56165933e+01] [ 5.99341125e-01 7.97424298e-01 -7.00336011e-02 2.85240515e+01] [ 1.18852431e-01 -2.12698734e-03 9.92909651e-01 5.54472703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.971858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.64, Y:28.54, Z:5.55 [[ 7.92622132e-01 -6.02088591e-01 -9.61222339e-02 8.56387739e+01] [ 5.97993646e-01 7.98427037e-01 -7.01274922e-02 2.85403335e+01] [ 1.18969553e-01 -1.89588279e-03 9.92896093e-01 5.54763304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.66, Y:28.56, Z:5.55 [[ 7.93603453e-01 -6.00819810e-01 -9.59641391e-02 8.56603323e+01] [ 5.96724296e-01 7.99382741e-01 -7.00524682e-02 2.85559828e+01] [ 1.18800987e-01 -1.67025264e-03 9.92916681e-01 5.55068876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.031858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.68, Y:28.57, Z:5.55 [[ 7.95094317e-01 -5.98852642e-01 -9.59194478e-02 8.56825293e+01] [ 5.94744474e-01 8.00858078e-01 -7.00381988e-02 2.85719109e+01] [ 1.18760425e-01 -1.36058769e-03 9.92922006e-01 5.55427215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.71, Y:28.59, Z:5.56 [[ 7.95631672e-01 -5.98222219e-01 -9.53961226e-02 8.57052225e+01] [ 5.94151057e-01 8.01329300e-01 -6.96841030e-02 2.85882054e+01] [ 1.18130287e-01 -1.23682769e-03 9.92997334e-01 5.55756057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09185806400001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.73, Y:28.60, Z:5.56 [[ 7.96073734e-01 -5.97782287e-01 -9.44613566e-02 8.57279091e+01] [ 5.93783025e-01 8.01657699e-01 -6.90409527e-02 2.86048092e+01] [ 1.16997132e-01 -1.12786106e-03 9.93131612e-01 5.56078914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.75, Y:28.62, Z:5.56 [[ 7.97019678e-01 -5.96615508e-01 -9.38593015e-02 8.57495483e+01] [ 5.92654437e-01 8.02526693e-01 -6.86412808e-02 2.86206319e+01] [ 1.16277047e-01 -9.17679991e-04 9.93216394e-01 5.56476412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.151858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.77, Y:28.64, Z:5.57 [[ 7.97360136e-01 -5.96215716e-01 -9.35073937e-02 8.57718214e+01] [ 5.92279538e-01 8.02823836e-01 -6.84020286e-02 2.86368979e+01] [ 1.15852329e-01 -8.41465069e-04 9.93266092e-01 5.56744799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.181858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.79, Y:28.65, Z:5.57 [[ 7.97497615e-01 -5.95990258e-01 -9.37718918e-02 8.57941813e+01] [ 5.92025426e-01 8.02991287e-01 -6.86359054e-02 2.86532526e+01] [ 1.16204343e-01 -7.78373387e-04 9.93225022e-01 5.57054430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:28.67, Z:5.57 [[ 7.97695197e-01 -5.95608143e-01 -9.45162038e-02 8.58168391e+01] [ 5.91572437e-01 8.03274832e-01 -6.92213526e-02 2.86696547e+01] [ 1.17151289e-01 -6.95640512e-04 9.93113836e-01 5.57234791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.241858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.84, Y:28.69, Z:5.57 [[ 7.97610688e-01 -5.95677308e-01 -9.47931206e-02 8.58395765e+01] [ 5.91613526e-01 8.03223561e-01 -6.94647174e-02 2.86861224e+01] [ 1.17518624e-01 -6.75091239e-04 9.93070449e-01 5.57497938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.271858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.86, Y:28.70, Z:5.58 [[ 7.97231339e-01 -5.96140612e-01 -9.50713567e-02 8.58620299e+01] [ 5.92051320e-01 8.02879731e-01 -6.97091907e-02 2.87022339e+01] [ 1.17887345e-01 -7.12770764e-04 9.93026720e-01 5.57806894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.301858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.88, Y:28.72, Z:5.58 [[ 7.96536507e-01 -5.97017000e-01 -9.53954662e-02 8.58848766e+01] [ 5.92901080e-01 8.02228173e-01 -6.99876214e-02 2.87183771e+01] [ 1.18312730e-01 -8.12379484e-04 9.92976051e-01 5.58115690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.331858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.91, Y:28.73, Z:5.58 [[ 7.95846566e-01 -5.97860621e-01 -9.58692917e-02 8.59072440e+01] [ 5.93704835e-01 8.01599557e-01 -7.03755544e-02 2.87339845e+01] [ 1.18923554e-01 -9.09918720e-04 9.92902996e-01 5.58434456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.93, Y:28.75, Z:5.59 [[ 7.93905748e-01 -6.00279407e-01 -9.68416010e-02 8.59297609e+01] [ 5.96054134e-01 7.99789361e-01 -7.11087040e-02 2.87498511e+01] [ 1.20137973e-01 -1.26922768e-03 9.92756393e-01 5.58650869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.391858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.95, Y:28.77, Z:5.59 [[ 7.92721728e-01 -6.01758853e-01 -9.73578159e-02 8.59520647e+01] [ 5.97494314e-01 7.98676485e-01 -7.15291298e-02 2.87660350e+01] [ 1.20800685e-01 -1.46804611e-03 9.92675697e-01 5.58939055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.97, Y:28.78, Z:5.59 [[ 7.90534621e-01 -6.04561335e-01 -9.77783420e-02 8.59747646e+01] [ 6.00276176e-01 7.96556393e-01 -7.18778553e-02 2.87810367e+01] [ 1.21340536e-01 -1.87207603e-03 9.92609173e-01 5.59256164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:28.80, Z:5.60 [[ 7.88992635e-01 -6.06547428e-01 -9.79328365e-02 8.59970623e+01] [ 6.02261501e-01 7.95044357e-01 -7.20107980e-02 2.87968788e+01] [ 1.21538913e-01 -2.16518785e-03 9.92584306e-01 5.59630913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:28.81, Z:5.60 [[ 7.87421984e-01 -6.08624517e-01 -9.76873364e-02 8.60190605e+01] [ 6.04371162e-01 7.93454603e-01 -7.18699585e-02 2.88127371e+01] [ 1.21252286e-01 -2.44742370e-03 9.92618705e-01 5.59948819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.511858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.04, Y:28.83, Z:5.59 [[ 7.85538862e-01 -6.12216066e-01 -9.01120701e-02 8.60394054e+01] [ 6.07277251e-01 7.90664201e-01 -7.78746488e-02 2.88344664e+01] [ 1.18924499e-01 6.45055279e-03 9.92882346e-01 5.59480570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.541858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.06, Y:28.85, Z:5.60 [[ 7.82633017e-01 -6.15010887e-01 -9.61622053e-02 8.60649392e+01] [ 6.10998308e-01 7.88509546e-01 -7.02407588e-02 2.88460109e+01] [ 1.19023648e-01 -3.78220778e-03 9.92884216e-01 5.60239069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.09, Y:28.86, Z:5.61 [[ 7.81979961e-01 -6.14728169e-01 -1.03036978e-01 8.60906679e+01] [ 6.11280424e-01 7.88657057e-01 -6.60021939e-02 2.88577214e+01] [ 1.21834248e-01 -1.13720949e-02 9.92485310e-01 5.61255574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.601858064 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:86.11, Y:28.88, Z:5.61 [[ 7.80922274e-01 -6.17256261e-01 -9.56823354e-02 8.61081119e+01] [ 6.12428958e-01 7.86760579e-01 -7.70620681e-02 2.88791056e+01] [ 1.22846134e-01 1.58085248e-03 9.92424470e-01 5.61224801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:28.89, Z:5.62 [[ 7.80598482e-01 -6.16960638e-01 -1.00127823e-01 8.61326288e+01] [ 6.13115206e-01 7.86959275e-01 -6.91725630e-02 2.88919366e+01] [ 1.21473268e-01 -7.39389334e-03 9.92567164e-01 5.61883963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.661858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.17, Y:28.90, Z:5.64 [[ 7.81728974e-01 -6.12405197e-01 -1.17727169e-01 8.61668828e+01] [ 6.11141155e-01 7.89887595e-01 -5.08338074e-02 2.88984063e+01] [ 1.24122118e-01 -3.22096576e-02 9.91744038e-01 5.63848379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.691858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.18, Y:28.93, Z:5.63 [[ 7.82278010e-01 -6.15472219e-01 -9.60992303e-02 8.61801201e+01] [ 6.10241325e-01 7.88148039e-01 -8.01760200e-02 2.89304090e+01] [ 1.25086533e-01 4.07621582e-03 9.92137462e-01 5.62594470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:86.19, Y:28.96, Z:5.62 [[ 7.81228025e-01 -6.18464219e-01 -8.47630975e-02 8.61914611e+01] [ 6.11389972e-01 7.85467998e-01 -9.61370131e-02 2.89568103e+01] [ 1.26036003e-01 2.32816210e-02 9.91752435e-01 5.61720984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.751858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:86.23, Y:28.95, Z:5.65 [[ 7.83331424e-01 -6.08533451e-01 -1.26802681e-01 8.62341879e+01] [ 6.08349926e-01 7.92409235e-01 -4.46986828e-02 2.89460733e+01] [ 1.27680259e-01 -4.21265185e-02 9.90920334e-01 5.65175853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.25, Y:28.98, Z:5.65 [[ 7.85669454e-01 -6.08700708e-01 -1.10485098e-01 8.62530759e+01] [ 6.04568203e-01 7.93329788e-01 -7.15900483e-02 2.89753857e+01] [ 1.31228032e-01 -1.05496630e-02 9.91296075e-01 5.64640151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.811858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.26, Y:29.01, Z:5.62 [[ 7.84647195e-01 -6.14701267e-01 -8.04433460e-02 8.62571661e+01] [ 6.07135814e-01 7.88179969e-01 -1.00789091e-01 2.90119586e+01] [ 1.25359016e-01 3.02438412e-02 9.91650355e-01 5.62405085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84185806400001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:86.30, Y:29.00, Z:5.66 [[ 7.86045699e-01 -6.06287867e-01 -1.20611698e-01 8.62983680e+01] [ 6.04485021e-01 7.94698561e-01 -5.52454262e-02 2.90022652e+01] [ 1.29344574e-01 -2.94825349e-02 9.91161320e-01 5.65870573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.871858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:86.32, Y:29.03, Z:5.65 [[ 7.86085823e-01 -6.09157289e-01 -1.04864087e-01 8.63153239e+01] [ 6.04407026e-01 7.93041130e-01 -7.60125869e-02 2.90302941e+01] [ 1.29465156e-01 -3.62817422e-03 9.91577334e-01 5.65185154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.901858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:86.33, Y:29.06, Z:5.64 [[ 7.87031285e-01 -6.11197591e-01 -8.37810316e-02 8.63265317e+01] [ 6.04393847e-01 7.91136852e-01 -9.38645777e-02 2.90610802e+01] [ 1.23652065e-01 2.32376192e-02 9.92053517e-01 5.63676129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.35, Y:29.07, Z:5.65 [[ 7.87715730e-01 -6.08130639e-01 -9.83923505e-02 8.63545319e+01] [ 6.03570758e-01 7.93836530e-01 -7.43364231e-02 2.90677738e+01] [ 1.23313699e-01 -8.30775770e-04 9.92367392e-01 5.64907221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.38, Y:29.08, Z:5.65 [[ 7.87994238e-01 -6.07602753e-01 -9.94181825e-02 8.63771747e+01] [ 6.03349371e-01 7.94233936e-01 -7.18470038e-02 2.90831687e+01] [ 1.22615732e-01 -3.36887287e-03 9.92448504e-01 5.65336489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.991858064 meters Centerline goodness : 0.996131 Centerline is valid? [True, True] Translation: X:86.40, Y:29.11, Z:5.65 [[ 7.88730523e-01 -6.07956870e-01 -9.10637501e-02 8.63982997e+01] [ 6.02895392e-01 7.93938325e-01 -7.86071415e-02 2.91050705e+01] [ 1.20088753e-01 7.09793650e-03 9.92737785e-01 5.65081036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:29.12, Z:5.66 [[ 7.88333530e-01 -6.07297345e-01 -9.85909775e-02 8.64230928e+01] [ 6.03457862e-01 7.94455123e-01 -6.84080899e-02 2.91162113e+01] [ 1.19870159e-01 -5.56710954e-03 9.92773968e-01 5.65972347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.051858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.44, Y:29.13, Z:5.67 [[ 7.87788862e-01 -6.07423570e-01 -1.02104438e-01 8.64449944e+01] [ 6.03810973e-01 7.94326523e-01 -6.67658801e-02 2.91310400e+01] [ 1.21659432e-01 -9.05436319e-03 9.92530605e-01 5.66679724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.081858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.46, Y:29.15, Z:5.67 [[ 7.87174050e-01 -6.08936004e-01 -9.77443492e-02 8.64648138e+01] [ 6.04630259e-01 7.93216381e-01 -7.23189001e-02 2.91504865e+01] [ 1.21570001e-01 -2.17162974e-03 9.92580485e-01 5.66711849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.49, Y:29.17, Z:5.67 [[ 7.86889904e-01 -6.09315215e-01 -9.76690691e-02 8.64866441e+01] [ 6.05016680e-01 7.92925010e-01 -7.22824078e-02 2.91672546e+01] [ 1.21487018e-01 -2.21311890e-03 9.92590553e-01 5.66994656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:86.50, Y:29.19, Z:5.66 [[ 7.86165291e-01 -6.12691025e-01 -8.09558116e-02 8.65022634e+01] [ 6.06918795e-01 7.90108419e-01 -8.58968072e-02 2.91941768e+01] [ 1.16592071e-01 1.83954848e-02 9.93009514e-01 5.65738758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.171858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.54, Y:29.19, Z:5.68 [[ 7.86797321e-01 -6.07320785e-01 -1.10051983e-01 8.65358814e+01] [ 6.05085646e-01 7.94149378e-01 -5.65519853e-02 2.91923959e+01] [ 1.21742910e-01 -2.20959247e-02 9.92315693e-01 5.68321890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:29.22, Z:5.68 [[ 7.86575588e-01 -6.09614967e-01 -9.83282069e-02 8.65530307e+01] [ 6.05247269e-01 7.92694642e-01 -7.28762537e-02 2.92171620e+01] [ 1.22370698e-01 -2.19019665e-03 9.92482048e-01 5.67854307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:29.23, Z:5.68 [[ 7.86335037e-01 -6.09899933e-01 -9.84849282e-02 8.65757229e+01] [ 6.05515205e-01 7.92475371e-01 -7.30350819e-02 2.92335269e+01] [ 1.22590972e-01 -2.20407756e-03 9.92454833e-01 5.68209456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.261858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.60, Y:29.25, Z:5.68 [[ 7.86029524e-01 -6.10531748e-01 -9.69977880e-02 8.65967135e+01] [ 6.05620093e-01 7.91989189e-01 -7.73138296e-02 2.92516340e+01] [ 1.24023747e-01 2.02714334e-03 9.92277179e-01 5.68344013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:29.27, Z:5.69 [[ 7.85090645e-01 -6.11073873e-01 -1.01100948e-01 8.66206481e+01] [ 6.06516399e-01 7.91568639e-01 -7.45449377e-02 2.92682504e+01] [ 1.25580803e-01 -2.79484936e-03 9.92079458e-01 5.68805076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.321858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.64, Y:29.28, Z:5.69 [[ 7.85597233e-01 -6.10055648e-01 -1.03291307e-01 8.66432971e+01] [ 6.05931904e-01 7.92330175e-01 -7.11296128e-02 2.92829787e+01] [ 1.25233842e-01 -6.70827158e-03 9.92104573e-01 5.69243988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.66, Y:29.30, Z:5.69 [[ 7.85440877e-01 -6.10619784e-01 -1.01124223e-01 8.66638235e+01] [ 6.05975585e-01 7.91920816e-01 -7.51998103e-02 2.93015376e+01] [ 1.26000869e-01 -2.21380517e-03 9.92027661e-01 5.69356785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.381858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:86.69, Y:29.32, Z:5.70 [[ 7.85003372e-01 -6.11423570e-01 -9.96540157e-02 8.66854192e+01] [ 6.06015736e-01 7.91296368e-01 -8.12095116e-02 2.93206911e+01] [ 1.28509270e-01 3.35783884e-03 9.91702623e-01 5.69501249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.411858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.71, Y:29.33, Z:5.70 [[ 7.84525832e-01 -6.11031797e-01 -1.05637882e-01 8.67107194e+01] [ 6.06873907e-01 7.91566282e-01 -7.16022519e-02 2.93314830e+01] [ 1.27370638e-01 -7.93505819e-03 9.91823450e-01 5.70322414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.73, Y:29.35, Z:5.70 [[ 7.84145423e-01 -6.12146925e-01 -1.01941640e-01 8.67315947e+01] [ 6.07429384e-01 7.90740359e-01 -7.58895765e-02 2.93501626e+01] [ 1.27064940e-01 -2.41388377e-03 9.91891463e-01 5.70443861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.75, Y:29.37, Z:5.71 [[ 7.83821300e-01 -6.12906220e-01 -9.98505647e-02 8.67519901e+01] [ 6.07517518e-01 7.90150169e-01 -8.11490944e-02 2.93687432e+01] [ 1.28633725e-01 2.94542147e-03 9.91687798e-01 5.70590819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.77, Y:29.39, Z:5.69 [[ 7.81660410e-01 -6.18041987e-01 -8.38516852e-02 8.67687751e+01] [ 6.12038557e-01 7.85957342e-01 -8.76348197e-02 2.93949275e+01] [ 1.20065846e-01 1.71802048e-02 9.92617264e-01 5.69352617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.531858064 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:86.80, Y:29.40, Z:5.71 [[ 7.82004844e-01 -6.14874483e-01 -1.01969576e-01 8.68021122e+01] [ 6.11396688e-01 7.88553665e-01 -6.61604662e-02 2.93991955e+01] [ 1.21088865e-01 -1.06060558e-02 9.92585008e-01 5.70953179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.82, Y:29.41, Z:5.72 [[ 7.81213845e-01 -6.15355780e-01 -1.05081835e-01 8.68228043e+01] [ 6.12276934e-01 7.88108331e-01 -6.32630651e-02 2.94128894e+01] [ 1.21745162e-01 -1.49172011e-02 9.92449290e-01 5.71660639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:29.43, Z:5.72 [[ 7.80760952e-01 -6.17163993e-01 -9.75753081e-02 8.68417684e+01] [ 6.12835728e-01 7.86829606e-01 -7.30174060e-02 2.94336114e+01] [ 1.21838855e-01 -2.78849549e-03 9.92545978e-01 5.71525598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.621858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.86, Y:29.45, Z:5.72 [[ 7.80402558e-01 -6.17648746e-01 -9.73749129e-02 8.68644181e+01] [ 6.13339578e-01 7.86448949e-01 -7.28876767e-02 2.94507363e+01] [ 1.21599380e-01 -2.84215862e-03 9.92575193e-01 5.71812492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.651858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.89, Y:29.47, Z:5.72 [[ 7.81658472e-01 -6.16002408e-01 -9.77295602e-02 8.68894412e+01] [ 6.11750281e-01 7.87737559e-01 -7.23265640e-02 2.94665721e+01] [ 1.21538583e-01 -3.25141444e-03 9.92581383e-01 5.72096671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:29.48, Z:5.72 [[ 7.80010660e-01 -6.18338945e-01 -9.61265780e-02 8.69084108e+01] [ 6.14090075e-01 7.85907399e-01 -7.24081495e-02 2.94848014e+01] [ 1.20319368e-01 -2.55124906e-03 9.92731958e-01 5.72378422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:29.50, Z:5.72 [[ 7.80187012e-01 -6.18474730e-01 -9.37935776e-02 8.69285703e+01] [ 6.13437764e-01 7.85794508e-01 -7.88739589e-02 2.95037731e+01] [ 1.22484029e-01 3.99991577e-03 9.92462424e-01 5.72438744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.741858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.96, Y:29.52, Z:5.73 [[ 7.79840559e-01 -6.17885333e-01 -1.00331542e-01 8.69553967e+01] [ 6.14282181e-01 7.86214634e-01 -6.72603270e-02 2.95154866e+01] [ 1.20441296e-01 -9.17954738e-03 9.92678009e-01 5.73215152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:29.54, Z:5.73 [[ 7.79852351e-01 -6.18766980e-01 -9.46453096e-02 8.69746110e+01] [ 6.13855869e-01 7.85570241e-01 -7.78483699e-02 2.95370315e+01] [ 1.22520539e-01 2.61165556e-03 9.92462542e-01 5.73014807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.801858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:87.00, Y:29.55, Z:5.74 [[ 7.79796673e-01 -6.18206335e-01 -9.86816946e-02 8.69996602e+01] [ 6.13983738e-01 7.86004403e-01 -7.22568196e-02 2.95511028e+01] [ 1.22233870e-01 -4.24332820e-03 9.92492254e-01 5.73543767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:29.57, Z:5.74 [[ 7.79373879e-01 -6.18674941e-01 -9.90841813e-02 8.70222322e+01] [ 6.14730491e-01 7.85621605e-01 -7.00365355e-02 2.95668407e+01] [ 1.21172523e-01 -6.32542118e-03 9.92611308e-01 5.73914403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.04, Y:29.58, Z:5.74 [[ 7.81197966e-01 -6.16977953e-01 -9.52257534e-02 8.70421162e+01] [ 6.13132274e-01 7.86967347e-01 -6.89290153e-02 2.95817404e+01] [ 1.17467241e-01 -4.53877628e-03 9.93066386e-01 5.73794505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:29.60, Z:5.74 [[ 7.80409278e-01 -6.18166633e-01 -9.39753860e-02 8.70643105e+01] [ 6.13935528e-01 7.86045942e-01 -7.22145695e-02 2.96003125e+01] [ 1.18509608e-01 -1.33790819e-03 9.92952004e-01 5.74023772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:29.62, Z:5.75 [[ 7.78343705e-01 -6.20559777e-01 -9.53238701e-02 8.70863696e+01] [ 6.16020903e-01 7.84159037e-01 -7.49189628e-02 2.96196919e+01] [ 1.21240769e-01 -4.08793542e-04 9.92623045e-01 5.74544701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.951858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:87.11, Y:29.64, Z:5.75 [[ 7.78144561e-01 -6.20721409e-01 -9.58956453e-02 8.71089400e+01] [ 6.16529744e-01 7.84025333e-01 -7.20787856e-02 2.96352694e+01] [ 1.19925461e-01 -3.03480274e-03 9.92778260e-01 5.74940743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:29.65, Z:5.75 [[ 7.77654432e-01 -6.21581561e-01 -9.42865199e-02 8.71304075e+01] [ 6.17531383e-01 7.83343389e-01 -7.09092810e-02 2.96529589e+01] [ 1.17934624e-01 -3.08196848e-03 9.93016579e-01 5.75315098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.15, Y:29.67, Z:5.76 [[ 7.77540718e-01 -6.21862992e-01 -9.33640778e-02 8.71521778e+01] [ 6.17889146e-01 7.83120071e-01 -7.02563658e-02 2.96706222e+01] [ 1.16805117e-01 -3.06146523e-03 9.93150136e-01 5.75613238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.18, Y:29.69, Z:5.76 [[ 7.78091599e-01 -6.20995496e-01 -9.45413018e-02 8.71792136e+01] [ 6.17162327e-01 7.83800500e-01 -6.90466354e-02 2.96874836e+01] [ 1.16979169e-01 -4.62272295e-03 9.93123610e-01 5.76046412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:29.71, Z:5.76 [[ 7.77664091e-01 -6.22146537e-01 -9.04004840e-02 8.71939947e+01] [ 6.17733954e-01 7.82898985e-01 -7.39860866e-02 2.97068988e+01] [ 1.16804635e-01 1.69287434e-03 9.93153468e-01 5.75981429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.101858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.22, Y:29.72, Z:5.77 [[ 7.77501229e-01 -6.21784375e-01 -9.42126892e-02 8.72183453e+01] [ 6.18047813e-01 7.83171502e-01 -6.82590580e-02 2.97216331e+01] [ 1.16227109e-01 -5.15644503e-03 9.93209278e-01 5.76578881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.131858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:87.24, Y:29.74, Z:5.77 [[ 7.77410592e-01 -6.21996327e-01 -9.35592926e-02 8.72408408e+01] [ 6.18258831e-01 7.83005544e-01 -6.82520019e-02 2.97393874e+01] [ 1.15709939e-01 -4.78402963e-03 9.93271525e-01 5.76893977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:29.76, Z:5.77 [[ 7.77815703e-01 -6.21604088e-01 -9.27959565e-02 8.72619385e+01] [ 6.17851761e-01 7.83320373e-01 -6.83256490e-02 2.97568639e+01] [ 1.15160466e-01 -4.18938238e-03 9.93338067e-01 5.77183025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:29.78, Z:5.77 [[ 7.77588878e-01 -6.22106756e-01 -9.13166013e-02 8.72827222e+01] [ 6.18061718e-01 7.82931255e-01 -7.08404106e-02 2.97754807e+01] [ 1.15564919e-01 -1.35458012e-03 9.93299006e-01 5.77384677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.31, Y:29.80, Z:5.78 [[ 7.78626711e-01 -6.20527754e-01 -9.31973748e-02 8.73088964e+01] [ 6.15561462e-01 7.84175731e-01 -7.84379300e-02 2.97956210e+01] [ 1.21756032e-01 3.70515519e-03 9.92553142e-01 5.77783399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.251858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.34, Y:29.80, Z:5.79 [[ 7.79126392e-01 -6.17305233e-01 -1.09070227e-01 8.73394220e+01] [ 6.14999513e-01 7.86412856e-01 -5.77097864e-02 2.98024082e+01] [ 1.21398782e-01 -2.21149190e-02 9.92357429e-01 5.79420134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:29.83, Z:5.78 [[ 7.79652730e-01 -6.20159007e-01 -8.68586536e-02 8.73539940e+01] [ 6.14988283e-01 7.84420872e-01 -8.04568660e-02 2.98341200e+01] [ 1.18029791e-01 9.31136104e-03 9.92966398e-01 5.78258597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.311858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.38, Y:29.84, Z:5.80 [[ 7.79819341e-01 -6.17354002e-01 -1.03710324e-01 8.73841130e+01] [ 6.14417488e-01 7.86536232e-01 -6.20637311e-02 2.98407691e+01] [ 1.19887220e-01 -1.53229386e-02 9.92669261e-01 5.79863413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:29.87, Z:5.79 [[ 7.77075783e-01 -6.23438342e-01 -8.64746305e-02 8.73900030e+01] [ 6.17921013e-01 7.81788053e-01 -8.35527450e-02 2.98708147e+01] [ 1.19694818e-01 1.14923234e-02 9.92744215e-01 5.78871039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:29.88, Z:5.80 [[ 7.75258651e-01 -6.24478345e-01 -9.48726560e-02 8.74162998e+01] [ 6.20339988e-01 7.81035745e-01 -7.18433295e-02 2.98840443e+01] [ 1.18963539e-01 -3.15613963e-03 9.92893607e-01 5.79727735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.401858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.44, Y:29.90, Z:5.80 [[ 7.75088564e-01 -6.24346753e-01 -9.71022679e-02 8.74393084e+01] [ 6.21113156e-01 7.81077284e-01 -6.43173602e-02 2.98975629e+01] [ 1.16000711e-01 -1.04598457e-02 9.93194053e-01 5.80307208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.46, Y:29.92, Z:5.80 [[ 7.74050590e-01 -6.26235406e-01 -9.31391449e-02 8.74627953e+01] [ 6.22281397e-01 7.79626147e-01 -7.03486588e-02 2.99186097e+01] [ 1.16668534e-01 -3.50533635e-03 9.93164722e-01 5.80489309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:29.93, Z:5.82 [[ 7.72501373e-01 -6.27083298e-01 -1.00040822e-01 8.74877935e+01] [ 6.23941116e-01 7.78844357e-01 -6.40230539e-02 2.99325981e+01] [ 1.18064018e-01 -1.29616851e-02 9.92921388e-01 5.81614609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:29.96, Z:5.81 [[ 7.70509750e-01 -6.31410657e-01 -8.73802429e-02 8.75002233e+01] [ 6.27150196e-01 7.75446910e-01 -7.32442637e-02 2.99583521e+01] [ 1.14005948e-01 1.63488294e-03 9.93478722e-01 5.80964894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.521858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.53, Y:29.97, Z:5.83 [[ 7.71205062e-01 -6.28388295e-01 -1.01837632e-01 8.75327406e+01] [ 6.25076977e-01 7.77791638e-01 -6.57186541e-02 2.99695877e+01] [ 1.20505291e-01 -1.29738003e-02 9.92627904e-01 5.82511016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.55, Y:29.99, Z:5.83 [[ 7.71367482e-01 -6.28909192e-01 -9.72904686e-02 8.75522094e+01] [ 6.24855353e-01 7.77458387e-01 -7.15139497e-02 2.99898591e+01] [ 1.20615071e-01 -5.62893474e-03 9.92683393e-01 5.82566057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.58, Y:30.00, Z:5.84 [[ 7.70716987e-01 -6.28294892e-01 -1.06022900e-01 8.75758492e+01] [ 6.25960362e-01 7.77678352e-01 -5.82237645e-02 3.00027643e+01] [ 1.19033408e-01 -2.14920885e-02 9.92657614e-01 5.83587758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.611858064 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:87.58, Y:30.04, Z:5.82 [[ 7.69933641e-01 -6.33034837e-01 -8.04306148e-02 8.75841754e+01] [ 6.27092538e-01 7.73924505e-01 -8.82938861e-02 3.00390220e+01] [ 1.18140330e-01 1.75429949e-02 9.92841934e-01 5.82161072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.61, Y:30.05, Z:5.83 [[ 7.71072691e-01 -6.29635043e-01 -9.49031980e-02 8.76101048e+01] [ 6.25849012e-01 7.76867645e-01 -6.92074785e-02 3.00460691e+01] [ 1.17302678e-01 -6.03107609e-03 9.93077896e-01 5.83226396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.671858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.64, Y:30.05, Z:5.85 [[ 7.74477251e-01 -6.21485089e-01 -1.18073163e-01 8.76438274e+01] [ 6.19893477e-01 7.82806311e-01 -5.42803538e-02 3.00544299e+01] [ 1.26162848e-01 -3.11538844e-02 9.91520232e-01 5.85409179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:30.08, Z:5.86 [[ 7.76546246e-01 -6.19020322e-01 -1.17429847e-01 8.76673896e+01] [ 6.16173680e-01 7.85038854e-01 -6.35923989e-02 3.00759878e+01] [ 1.31551980e-01 -2.29747424e-02 9.91043005e-01 5.86166534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:30.10, Z:5.86 [[ 7.76346143e-01 -6.21235343e-01 -1.06551935e-01 8.76860150e+01] [ 6.16503583e-01 7.83600391e-01 -7.67708189e-02 3.01007319e+01] [ 1.31186884e-01 -6.08892050e-03 9.91338956e-01 5.85870115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.70, Y:30.13, Z:5.85 [[ 7.76267566e-01 -6.23209784e-01 -9.49643673e-02 8.76987755e+01] [ 6.17179187e-01 7.82004276e-01 -8.69434528e-02 3.01264685e+01] [ 1.28446552e-01 8.88135155e-03 9.91676664e-01 5.85148514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:30.16, Z:5.84 [[ 7.76651404e-01 -6.25149058e-01 -7.74677440e-02 8.77056401e+01] [ 6.18346680e-01 7.80058249e-01 -9.56896645e-02 3.01565326e+01] [ 1.20249656e-01 2.64155900e-02 9.92392179e-01 5.83727389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:30.16, Z:5.85 [[ 7.77631248e-01 -6.21486156e-01 -9.51031011e-02 8.77347737e+01] [ 6.17258520e-01 7.83421476e-01 -7.24065594e-02 3.01630631e+01] [ 1.19505486e-01 -2.39759624e-03 9.92830645e-01 5.85024018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:30.18, Z:5.85 [[ 7.78317299e-01 -6.20655284e-01 -9.49168083e-02 8.77558387e+01] [ 6.16433122e-01 7.84080374e-01 -7.23061068e-02 3.01817159e+01] [ 1.19299574e-01 -2.23277070e-03 9.92855793e-01 5.85370434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:30.20, Z:5.86 [[ 7.78815798e-01 -6.20027262e-01 -9.49323339e-02 8.77762046e+01] [ 6.15794040e-01 7.84577446e-01 -7.23597373e-02 3.02000231e+01] [ 1.19346778e-01 -2.10385892e-03 9.92850402e-01 5.85708663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:30.22, Z:5.86 [[ 7.78597173e-01 -6.20310528e-01 -9.48751360e-02 8.77956787e+01] [ 6.16082287e-01 7.84353432e-01 -7.23347028e-02 3.02197055e+01] [ 1.19285616e-01 -2.13129574e-03 9.92857693e-01 5.86024031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:30.24, Z:5.86 [[ 7.78032208e-01 -6.20981341e-01 -9.51212729e-02 8.78167234e+01] [ 6.16730869e-01 7.83822242e-01 -7.25653344e-02 3.02383752e+01] [ 1.19619888e-01 -2.20605796e-03 9.92817312e-01 5.86349141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.84, Y:30.26, Z:5.87 [[ 7.77246504e-01 -6.21939534e-01 -9.52842468e-02 8.78366467e+01] [ 6.17676488e-01 7.83061820e-01 -7.27319883e-02 3.02562611e+01] [ 1.19848355e-01 -2.32415530e-03 9.92789489e-01 5.86652262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:30.28, Z:5.87 [[ 7.75634170e-01 -6.23990181e-01 -9.50151976e-02 8.78572844e+01] [ 6.19764286e-01 7.81427794e-01 -7.25453740e-02 3.02757761e+01] [ 1.19515117e-01 -2.61835516e-03 9.92828928e-01 5.86966529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:30.29, Z:5.87 [[ 7.74866030e-01 -6.24927767e-01 -9.51205578e-02 8.78788539e+01] [ 6.20694422e-01 7.80677793e-01 -7.26678634e-02 3.02936867e+01] [ 1.19670673e-01 -2.73294076e-03 9.92809882e-01 5.87339011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:30.31, Z:5.88 [[ 7.73984702e-01 -6.25956564e-01 -9.55304200e-02 8.79000697e+01] [ 6.21689222e-01 7.79852636e-01 -7.30231284e-02 3.03117353e+01] [ 1.20208956e-01 -2.87144825e-03 9.92744459e-01 5.87676931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.091858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.92, Y:30.33, Z:5.88 [[ 7.73354711e-01 -6.26708420e-01 -9.57029111e-02 8.79199229e+01] [ 6.22426273e-01 7.79248220e-01 -7.31966221e-02 3.03293688e+01] [ 1.20449263e-01 -2.96105378e-03 9.92715069e-01 5.87972212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:30.35, Z:5.88 [[ 7.72657748e-01 -6.27503860e-01 -9.61192498e-02 8.79397269e+01] [ 6.23188046e-01 7.78607344e-01 -7.35340967e-02 3.03489721e+01] [ 1.20982083e-01 -3.08367790e-03 9.92649901e-01 5.88236387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:30.37, Z:5.89 [[ 7.72618504e-01 -6.27511127e-01 -9.63868950e-02 8.79603004e+01] [ 6.23166192e-01 7.78601576e-01 -7.37799662e-02 3.03664080e+01] [ 1.21344738e-01 -3.06128719e-03 9.92605704e-01 5.88562275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.98, Y:30.39, Z:5.89 [[ 7.71779269e-01 -6.29039629e-01 -9.30908478e-02 8.79811556e+01] [ 6.23725569e-01 7.77356978e-01 -8.17468211e-02 3.03890620e+01] [ 1.23786810e-01 5.02735978e-03 9.92296101e-01 5.88631862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:30.42, Z:5.87 [[ 7.70412783e-01 -6.33673134e-01 -7.01605587e-02 8.79878784e+01] [ 6.27253655e-01 7.73066098e-01 -9.44545394e-02 3.04190611e+01] [ 1.14092053e-01 2.87605177e-02 9.93053793e-01 5.86802057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:30.43, Z:5.88 [[ 7.69204069e-01 -6.32159940e-01 -9.32679492e-02 8.80239304e+01] [ 6.28205629e-01 7.74826582e-01 -7.07209698e-02 3.04261458e+01] [ 1.16973450e-01 -4.19259294e-03 9.93126192e-01 5.88417831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.06, Y:30.42, Z:5.91 [[ 7.71907769e-01 -6.24066081e-01 -1.21243239e-01 8.80564884e+01] [ 6.23799987e-01 7.80295205e-01 -4.48661225e-02 3.04229970e+01] [ 1.22604943e-01 -4.09990222e-02 9.91608344e-01 5.91179814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:30.46, Z:5.90 [[ 7.71507614e-01 -6.28621876e-01 -9.80333598e-02 8.80676925e+01] [ 6.24128302e-01 7.77704315e-01 -7.50990074e-02 3.04559036e+01] [ 1.23449846e-01 -3.24593844e-03 9.92345504e-01 5.90319281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:30.48, Z:5.91 [[ 7.70621910e-01 -6.29910594e-01 -9.67187437e-02 8.80894009e+01] [ 6.24901940e-01 7.76667377e-01 -7.92802100e-02 3.04776644e+01] [ 1.25057737e-01 6.55336310e-04 9.92149249e-01 5.90513904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:30.49, Z:5.91 [[ 7.70997428e-01 -6.28775433e-01 -1.01016938e-01 8.81117861e+01] [ 6.24691243e-01 7.77549538e-01 -7.19553139e-02 3.04916278e+01] [ 1.23789407e-01 -7.62703477e-03 9.92279200e-01 5.91077116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:30.51, Z:5.91 [[ 7.70926089e-01 -6.29218943e-01 -9.87749362e-02 8.81313584e+01] [ 6.24648226e-01 7.77221169e-01 -7.57749785e-02 3.05109939e+01] [ 1.24449023e-01 -3.28268093e-03 9.92220573e-01 5.91255683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:30.53, Z:5.92 [[ 7.69543099e-01 -6.30888260e-01 -9.89111796e-02 8.81557948e+01] [ 6.26377954e-01 7.75863762e-01 -7.54061063e-02 3.05304986e+01] [ 1.24314427e-01 -3.92753357e-03 9.92235102e-01 5.91653856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:30.56, Z:5.91 [[ 7.68653762e-01 -6.34185693e-01 -8.35457988e-02 8.81680283e+01] [ 6.28207145e-01 7.73028909e-01 -8.82161510e-02 3.05568695e+01] [ 1.20528739e-01 1.53236087e-02 9.92591563e-01 5.90831456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:30.56, Z:5.93 [[ 7.70923692e-01 -6.26909599e-01 -1.12521184e-01 8.82041679e+01] [ 6.24695419e-01 7.78681978e-01 -5.83952930e-02 3.05560224e+01] [ 1.24226788e-01 -2.52731532e-02 9.91931940e-01 5.93287593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:30.60, Z:5.90 [[ 7.68435674e-01 -6.36455003e-01 -6.65705938e-02 8.82017055e+01] [ 6.29395776e-01 7.70484116e-01 -1.01070191e-01 3.06020329e+01] [ 1.15618214e-01 3.57666899e-02 9.92649572e-01 5.90474462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:30.59, Z:5.94 [[ 7.70730043e-01 -6.26014737e-01 -1.18662334e-01 8.82506431e+01] [ 6.24963999e-01 7.79015988e-01 -5.05380128e-02 3.05894109e+01] [ 1.24077396e-01 -3.52085219e-02 9.91647699e-01 5.94292638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:30.64, Z:5.91 [[ 7.68878515e-01 -6.35859926e-01 -6.71415179e-02 8.82454918e+01] [ 6.29021605e-01 7.71060981e-01 -9.89787065e-02 3.06384766e+01] [ 1.14706798e-01 3.38691355e-02 9.92821853e-01 5.91211715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.601858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:88.30, Y:30.62, Z:5.95 [[ 7.72743453e-01 -6.22373968e-01 -1.24572066e-01 8.82961256e+01] [ 6.22410657e-01 7.81484305e-01 -4.34425509e-02 3.06213149e+01] [ 1.24388628e-01 -4.39650348e-02 9.91259071e-01 5.95313270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:30.68, Z:5.91 [[ 7.69448805e-01 -6.36341310e-01 -5.49388180e-02 8.82825906e+01] [ 6.28586627e-01 7.69701080e-01 -1.11530708e-01 3.06839907e+01] [ 1.13258064e-01 5.12833635e-02 9.92241214e-01 5.90878387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:30.66, Z:5.95 [[ 7.72372050e-01 -6.24867145e-01 -1.13940630e-01 8.83355811e+01] [ 6.23974221e-01 7.79982315e-01 -4.77886950e-02 3.06637587e+01] [ 1.18733261e-01 -3.41853632e-02 9.92337530e-01 5.94528220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.691858064 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:88.35, Y:30.69, Z:5.95 [[ 7.73488382e-01 -6.24820540e-01 -1.06372064e-01 8.83530141e+01] [ 6.21672831e-01 7.80602324e-01 -6.46753737e-02 3.06873056e+01] [ 1.23444782e-01 -1.61029721e-02 9.92220782e-01 5.94904024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.36, Y:30.72, Z:5.94 [[ 7.71793903e-01 -6.30500648e-01 -8.24809324e-02 8.83636949e+01] [ 6.24017409e-01 7.75936369e-01 -9.23310618e-02 3.07229851e+01] [ 1.22214749e-01 1.97910129e-02 9.92306339e-01 5.93819104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.751858064 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:88.40, Y:30.72, Z:5.96 [[ 7.73489114e-01 -6.23568252e-01 -1.13477866e-01 8.83997276e+01] [ 6.21470482e-01 7.81332202e-01 -5.73971188e-02 3.07181350e+01] [ 1.24454932e-01 -2.61270975e-02 9.91881215e-01 5.95936200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.41, Y:30.75, Z:5.94 [[ 7.72657881e-01 -6.29039283e-01 -8.54949054e-02 8.84105496e+01] [ 6.23476189e-01 7.77283374e-01 -8.43089500e-02 3.07538198e+01] [ 1.19487410e-01 1.18379369e-02 9.92765139e-01 5.94464367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.44, Y:30.76, Z:5.97 [[ 7.74813731e-01 -6.22296003e-01 -1.11406315e-01 8.84435275e+01] [ 6.19308731e-01 7.82540149e-01 -6.39344247e-02 3.07550207e+01] [ 1.26966052e-01 -1.94576336e-02 9.91716200e-01 5.96841270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.841858064 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:88.46, Y:30.78, Z:5.97 [[ 7.73732034e-01 -6.25800855e-01 -9.85496239e-02 8.84601213e+01] [ 6.20490573e-01 7.79980775e-01 -8.13722291e-02 3.07817094e+01] [ 1.27789623e-01 1.81118775e-03 9.91799643e-01 5.96656432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.871858064 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:88.48, Y:30.80, Z:5.97 [[ 7.74044589e-01 -6.25163118e-01 -1.00130168e-01 8.84824674e+01] [ 6.20158144e-01 7.80493504e-01 -7.89541981e-02 3.07965780e+01] [ 1.27510199e-01 -9.82469641e-04 9.91836773e-01 5.97120259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.901858064 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:88.51, Y:30.81, Z:5.97 [[ 7.73163229e-01 -6.26265196e-01 -1.00052615e-01 8.85052686e+01] [ 6.21500080e-01 7.79605983e-01 -7.71502627e-02 3.08125914e+01] [ 1.26318142e-01 -2.53296198e-03 9.91986548e-01 5.97463810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:30.83, Z:5.98 [[ 7.71557040e-01 -6.27964574e-01 -1.01785203e-01 8.85297779e+01] [ 6.23963404e-01 7.78195400e-01 -7.12852712e-02 3.08277746e+01] [ 1.23973402e-01 -8.50958923e-03 9.92249053e-01 5.97982412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.961858064 meters Centerline goodness : 0.996637 Centerline is valid? [True, True] Translation: X:88.55, Y:30.85, Z:5.98 [[ 7.70443947e-01 -6.30305675e-01 -9.55556405e-02 8.85487586e+01] [ 6.25095868e-01 7.76342676e-01 -8.09148029e-02 3.08487623e+01] [ 1.25184981e-01 2.60888409e-03 9.92129989e-01 5.98024334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.57, Y:30.86, Z:5.99 [[ 7.69303382e-01 -6.31165697e-01 -9.90059041e-02 8.85725676e+01] [ 6.26500014e-01 7.75642030e-01 -7.66627265e-02 3.08632243e+01] [ 1.25180024e-01 -3.05030558e-03 9.92129355e-01 5.98563040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:30.88, Z:5.98 [[ 7.66131482e-01 -6.35892730e-01 -9.31825532e-02 8.85932528e+01] [ 6.31361854e-01 7.71777063e-01 -7.57784622e-02 3.08842218e+01] [ 1.20103130e-01 -7.75643931e-04 9.92761118e-01 5.98132874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.051858064 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:88.62, Y:30.89, Z:5.99 [[ 7.67608794e-01 -6.31808978e-01 -1.07676160e-01 8.86201609e+01] [ 6.29869219e-01 7.74714267e-01 -5.55209049e-02 3.08869362e+01] [ 1.18496863e-01 -2.52035638e-02 9.92634512e-01 5.99484166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:30.92, Z:5.99 [[ 7.67884509e-01 -6.34461346e-01 -8.83865433e-02 8.86329790e+01] [ 6.28726022e-01 7.72886469e-01 -8.57326972e-02 3.09190847e+01] [ 1.22706846e-01 1.02618903e-02 9.92389905e-01 5.98962896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:30.94, Z:5.99 [[ 7.68156326e-01 -6.33389640e-01 -9.35597318e-02 8.86580878e+01] [ 6.28105255e-01 7.73822547e-01 -8.17462783e-02 3.09358790e+01] [ 1.24175876e-01 4.02856163e-03 9.92252046e-01 5.99444532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141858064 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:88.68, Y:30.95, Z:6.00 [[ 7.70328313e-01 -6.30746719e-01 -9.35567532e-02 8.86771531e+01] [ 6.24956889e-01 7.75952864e-01 -8.55922901e-02 3.09533717e+01] [ 1.26582687e-01 7.46522703e-03 9.91927968e-01 5.99654554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.171858064 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:88.71, Y:30.96, Z:6.00 [[ 7.74597469e-01 -6.23523552e-01 -1.05911010e-01 8.87053509e+01] [ 6.19935546e-01 7.81697226e-01 -6.80394428e-02 3.09623721e+01] [ 1.25214538e-01 -1.29548196e-02 9.92045106e-01 6.00462897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201858064 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:88.72, Y:30.99, Z:6.00 [[ 7.77008937e-01 -6.22161406e-01 -9.57721056e-02 8.87206493e+01] [ 6.16351356e-01 7.82856673e-01 -8.51259960e-02 3.09868656e+01] [ 1.27937941e-01 7.11439250e-03 9.91756658e-01 6.00279012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:31.02, Z:6.00 [[ 7.78104789e-01 -6.22801145e-01 -8.16803027e-02 8.87408822e+01] [ 6.15847070e-01 7.82000876e-01 -9.59532020e-02 3.10169080e+01] [ 1.23633832e-01 2.43590708e-02 9.92028886e-01 5.99602309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:31.01, Z:6.03 [[ 7.83278782e-01 -6.08420375e-01 -1.27667527e-01 8.87801483e+01] [ 6.05871486e-01 7.93105972e-01 -6.24712784e-02 3.10081612e+01] [ 1.39262677e-01 -2.84176873e-02 9.89847636e-01 6.03001151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:31.03, Z:6.03 [[ 7.85159950e-01 -6.08142663e-01 -1.16988691e-01 8.87996168e+01] [ 6.04134225e-01 7.93690989e-01 -7.12492274e-02 3.10303487e+01] [ 1.36182565e-01 -1.47348322e-02 9.90574174e-01 6.02994185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:31.05, Z:6.03 [[ 7.86196948e-01 -6.08513932e-01 -1.07727219e-01 8.88183055e+01] [ 6.02856162e-01 7.93543178e-01 -8.27869183e-02 3.10524541e+01] [ 1.35863193e-01 1.42804651e-04 9.90727597e-01 6.02926114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:31.07, Z:6.03 [[ 7.87181310e-01 -6.08822924e-01 -9.83881742e-02 8.88365617e+01] [ 6.01011153e-01 7.93083019e-01 -9.90197873e-02 3.10732700e+01] [ 1.38315507e-01 1.88141359e-02 9.90209497e-01 6.02805424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:31.10, Z:6.02 [[ 7.86411188e-01 -6.11992718e-01 -8.37995018e-02 8.88565005e+01] [ 6.04986611e-01 7.90486506e-01 -9.55106522e-02 3.10951477e+01] [ 1.24694199e-01 2.44130689e-02 9.91894833e-01 6.01609947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:31.10, Z:6.03 [[ 7.86976187e-01 -6.09053232e-01 -9.86034604e-02 8.88853718e+01] [ 6.05035751e-01 7.93116132e-01 -6.99895799e-02 3.10962948e+01] [ 1.20831375e-01 -4.57848602e-03 9.92662489e-01 6.02720498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:31.10, Z:6.06 [[ 7.87320286e-01 -6.04104972e-01 -1.23223173e-01 8.89203142e+01] [ 6.01890675e-01 7.96415440e-01 -5.87372367e-02 3.11006927e+01] [ 1.33620294e-01 -2.79218606e-02 9.90639181e-01 6.05518257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:31.12, Z:6.05 [[ 7.86805126e-01 -6.07858057e-01 -1.06987268e-01 8.89376869e+01] [ 6.02908235e-01 7.94037860e-01 -7.74954008e-02 3.11247552e+01] [ 1.32058145e-01 -3.52972616e-03 9.91235687e-01 6.05152502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.96, Y:31.14, Z:6.05 [[ 7.85724027e-01 -6.09653096e-01 -1.04694108e-01 8.89616664e+01] [ 6.04321310e-01 7.92668341e-01 -8.04528114e-02 3.11426286e+01] [ 1.32036010e-01 -5.51733630e-05 9.91244919e-01 6.05441831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:31.16, Z:6.06 [[ 7.85736415e-01 -6.09858946e-01 -1.03394158e-01 8.89839117e+01] [ 6.04325415e-01 7.92507605e-01 -8.19907849e-02 3.11581061e+01] [ 1.31943470e-01 1.93942813e-03 9.91255345e-01 6.05722739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:31.20, Z:6.03 [[ 7.81953084e-01 -6.20375093e-01 -6.06969371e-02 8.89877451e+01] [ 6.11677230e-01 7.82425459e-01 -1.16881851e-01 3.12017027e+01] [ 1.20001418e-01 5.42691892e-02 9.91289319e-01 6.02751572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:31.17, Z:6.07 [[ 7.84317314e-01 -6.08326227e-01 -1.21595856e-01 8.90439994e+01] [ 6.07026385e-01 7.92992588e-01 -5.17853634e-02 3.11739424e+01] [ 1.27927007e-01 -3.31957356e-02 9.91227887e-01 6.06942231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:31.19, Z:6.08 [[ 7.83147773e-01 -6.09838047e-01 -1.21561186e-01 8.90666259e+01] [ 6.06398996e-01 7.92259167e-01 -6.78650892e-02 3.11931820e+01] [ 1.37694677e-01 -2.05661876e-02 9.90261182e-01 6.08091276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:31.22, Z:6.08 [[ 7.83005792e-01 -6.12346685e-01 -1.09240414e-01 8.90835925e+01] [ 6.06548053e-01 7.90589244e-01 -8.40720324e-02 3.12190397e+01] [ 1.37845527e-01 -4.30672233e-04 9.90453646e-01 6.07840129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:31.23, Z:6.08 [[ 7.80591261e-01 -6.14929569e-01 -1.11977268e-01 8.91087505e+01] [ 6.09497395e-01 7.88569242e-01 -8.16791102e-02 3.12307899e+01] [ 1.38528729e-01 -4.49185326e-03 9.90348229e-01 6.08339264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.13, Y:31.25, Z:6.08 [[ 7.79722338e-01 -6.17100486e-01 -1.05924809e-01 8.91284185e+01] [ 6.09860099e-01 7.86830049e-01 -9.47055152e-02 3.12514259e+01] [ 1.41787642e-01 9.24469144e-03 9.89853929e-01 6.08311046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:31.26, Z:6.09 [[ 7.78545741e-01 -6.16624599e-01 -1.16793119e-01 8.91571840e+01] [ 6.11948306e-01 7.87169570e-01 -7.67029189e-02 3.12572894e+01] [ 1.39232896e-01 -1.17546204e-02 9.90189896e-01 6.09344644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:31.28, Z:6.09 [[ 7.78627568e-01 -6.18402464e-01 -1.06383753e-01 8.91775425e+01] [ 6.11690670e-01 7.85840012e-01 -9.10494389e-02 3.12793875e+01] [ 1.39905807e-01 5.81965407e-03 9.90147715e-01 6.08875898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:31.30, Z:6.08 [[ 7.75523251e-01 -6.25142819e-01 -8.80916718e-02 8.91902489e+01] [ 6.17501550e-01 7.80162385e-01 -1.00192258e-01 3.13044081e+01] [ 1.31360279e-01 2.33046815e-02 9.91060729e-01 6.07515754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.22, Y:31.31, Z:6.08 [[ 7.73212843e-01 -6.27208785e-01 -9.35469892e-02 8.92162490e+01] [ 6.20799986e-01 7.78763850e-01 -9.01900408e-02 3.13134909e+01] [ 1.29418999e-01 1.16621283e-02 9.91521415e-01 6.07801026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:31.30, Z:6.11 [[ 7.74236794e-01 -6.18858683e-01 -1.32556843e-01 8.92588177e+01] [ 6.17926526e-01 7.84441579e-01 -5.30868889e-02 3.13041158e+01] [ 1.36836381e-01 -4.08085667e-02 9.89752730e-01 6.11396445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:31.34, Z:6.10 [[ 7.72565708e-01 -6.25720833e-01 -1.07775995e-01 8.92716825e+01] [ 6.19602987e-01 7.80046798e-01 -8.72876362e-02 3.13388921e+01] [ 1.38688012e-01 6.57106193e-04 9.90335904e-01 6.10355076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.30, Y:31.35, Z:6.11 [[ 7.72628642e-01 -6.25544295e-01 -1.08348128e-01 8.92953665e+01] [ 6.19718043e-01 7.80187525e-01 -8.51878667e-02 3.13515077e+01] [ 1.37820642e-01 -1.32670389e-03 9.90456314e-01 6.10849913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.32, Y:31.37, Z:6.10 [[ 7.72223199e-01 -6.27421669e-01 -1.00066883e-01 8.93176579e+01] [ 6.20964735e-01 7.78644230e-01 -9.00886289e-02 3.13725575e+01] [ 1.34440059e-01 7.43052380e-03 9.90893868e-01 6.10403684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:31.38, Z:6.12 [[ 7.72184948e-01 -6.24503030e-01 -1.17159601e-01 8.93475937e+01] [ 6.20712273e-01 7.80817259e-01 -7.09977589e-02 3.13768187e+01] [ 1.35818554e-01 -1.78990015e-02 9.90572030e-01 6.12335774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:31.40, Z:6.12 [[ 7.72318098e-01 -6.26200792e-01 -1.06758250e-01 8.93665683e+01] [ 6.20457148e-01 7.79661330e-01 -8.46235135e-02 3.13986416e+01] [ 1.36226591e-01 -8.82648549e-04 9.90677312e-01 6.12194968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.041858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:89.39, Y:31.42, Z:6.12 [[ 7.72406063e-01 -6.27391375e-01 -9.88379313e-02 8.93880707e+01] [ 6.20754458e-01 7.78648387e-01 -9.14909435e-02 3.14215222e+01] [ 1.34360625e-01 9.31407305e-03 9.90888728e-01 6.11735234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.42, Y:31.43, Z:6.13 [[ 7.73165230e-01 -6.25130240e-01 -1.06900472e-01 8.94153968e+01] [ 6.19693082e-01 7.80516108e-01 -8.23109292e-02 3.14336860e+01] [ 1.34892591e-01 -2.60553446e-03 9.90856801e-01 6.12654910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:31.45, Z:6.13 [[ 7.75043244e-01 -6.23504503e-01 -1.02713707e-01 8.94360949e+01] [ 6.17151450e-01 7.81800037e-01 -8.89538684e-02 3.14508019e+01] [ 1.35764718e-01 5.55318125e-03 9.90725544e-01 6.12791637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:31.45, Z:6.15 [[ 7.76628520e-01 -6.17731886e-01 -1.23512990e-01 8.94642026e+01] [ 6.15478641e-01 7.85845949e-01 -6.02676197e-02 3.14502146e+01] [ 1.34291413e-01 -2.92140547e-02 9.90511159e-01 6.14818582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.48, Y:31.49, Z:6.13 [[ 7.75783316e-01 -6.23873902e-01 -9.45600386e-02 8.94787935e+01] [ 6.16660363e-01 7.81358433e-01 -9.59635132e-02 3.14893943e+01] [ 1.33754415e-01 1.61354647e-02 9.90883143e-01 6.13239502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.51, Y:31.50, Z:6.14 [[ 7.76099002e-01 -6.21554318e-01 -1.06492106e-01 8.95067261e+01] [ 6.16364761e-01 7.83363787e-01 -8.02225571e-02 3.14953667e+01] [ 1.33284736e-01 -3.37733510e-03 9.91072032e-01 6.14287310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.53, Y:31.51, Z:6.16 [[ 7.75664663e-01 -6.20500955e-01 -1.15424847e-01 8.95296110e+01] [ 6.16393746e-01 7.84067938e-01 -7.27751176e-02 3.15059478e+01] [ 1.35657952e-01 -1.46980668e-02 9.90646701e-01 6.15658560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.55, Y:31.53, Z:6.16 [[ 7.75656023e-01 -6.22028660e-01 -1.06948958e-01 8.95479617e+01] [ 6.16379910e-01 7.82993782e-01 -8.36453520e-02 3.15285179e+01] [ 1.35770175e-01 -1.04116797e-03 9.90739812e-01 6.15534795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:89.56, Y:31.56, Z:6.13 [[ 7.73544326e-01 -6.28941787e-01 -7.78550229e-02 8.95598095e+01] [ 6.20828476e-01 7.76715610e-01 -1.06230247e-01 3.15629971e+01] [ 1.27283853e-01 3.38391899e-02 9.91288924e-01 6.13262933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:31.55, Z:6.17 [[ 7.75160309e-01 -6.20296139e-01 -1.19829861e-01 8.96042507e+01] [ 6.17283281e-01 7.84021404e-01 -6.53589266e-02 3.15525491e+01] [ 1.34491066e-01 -2.33053239e-02 9.90640709e-01 6.16784012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:31.57, Z:6.17 [[ 7.73921294e-01 -6.22721706e-01 -1.15167304e-01 8.96200763e+01] [ 6.18371168e-01 7.82328501e-01 -7.46941456e-02 3.15719878e+01] [ 1.36612330e-01 -1.34087507e-02 9.90533834e-01 6.17255625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:31.60, Z:6.16 [[ 7.73860838e-01 -6.25479640e-01 -9.95721997e-02 8.96427885e+01] [ 6.18940064e-01 7.80194298e-01 -9.06093521e-02 3.16003261e+01] [ 1.34359967e-01 8.48980548e-03 9.90896222e-01 6.16465276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.401858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:89.67, Y:31.60, Z:6.18 [[ 7.73271013e-01 -6.23159110e-01 -1.17152310e-01 8.96678800e+01] [ 6.19627586e-01 7.81858277e-01 -6.89875992e-02 3.16016924e+01] [ 1.34586754e-01 -1.92446924e-02 9.90714917e-01 6.18308829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.431858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:89.68, Y:31.63, Z:6.18 [[ 7.73071756e-01 -6.26245878e-01 -1.00876957e-01 8.96824776e+01] [ 6.19068542e-01 7.79545974e-01 -9.51956631e-02 3.16313842e+01] [ 1.38254118e-01 1.11433275e-02 9.90334098e-01 6.17620857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.461858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.72, Y:31.64, Z:6.19 [[ 7.74821754e-01 -6.21822206e-01 -1.13966636e-01 8.97167195e+01] [ 6.17476801e-01 7.83055936e-01 -7.44701406e-02 3.16382839e+01] [ 1.35549438e-01 -1.26706690e-02 9.90689560e-01 6.18852622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.491858064 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:89.73, Y:31.66, Z:6.19 [[ 7.73765540e-01 -6.24335292e-01 -1.07202296e-01 8.97304774e+01] [ 6.18346536e-01 7.81156340e-01 -8.62689583e-02 3.16617047e+01] [ 1.37602509e-01 4.63778578e-04 9.90487423e-01 6.18685861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.521858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:89.76, Y:31.68, Z:6.19 [[ 7.75671437e-01 -6.21416099e-01 -1.10344249e-01 8.97593686e+01] [ 6.15369313e-01 7.83480286e-01 -8.64826612e-02 3.16778121e+01] [ 1.40194262e-01 -8.20334684e-04 9.90123677e-01 6.19144202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.551858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:89.78, Y:31.69, Z:6.20 [[ 7.74473949e-01 -6.22590370e-01 -1.12121957e-01 8.97757605e+01] [ 6.16855548e-01 7.82538676e-01 -8.43946305e-02 3.16924738e+01] [ 1.40283052e-01 -3.80160818e-03 9.90104143e-01 6.19588483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.581858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:89.80, Y:31.72, Z:6.19 [[ 7.75815039e-01 -6.22653632e-01 -1.02046461e-01 8.97995772e+01] [ 6.15369630e-01 7.82414439e-01 -9.56444638e-02 3.17164247e+01] [ 1.39395997e-01 1.14061203e-02 9.90171024e-01 6.19047876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.611858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:89.81, Y:31.74, Z:6.18 [[ 7.72475557e-01 -6.28980488e-01 -8.75503320e-02 8.98078978e+01] [ 6.21413358e-01 7.77087674e-01 -9.99008788e-02 3.17396367e+01] [ 1.30869987e-01 2.27660412e-02 9.91138110e-01 6.17841188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:89.86, Y:31.72, Z:6.23 [[ 7.75210294e-01 -6.15780391e-01 -1.40937966e-01 8.98567922e+01] [ 6.15142368e-01 7.86610945e-01 -5.33206198e-02 3.17238831e+01] [ 1.43697139e-01 -4.53622207e-02 9.88581510e-01 6.22925333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.671858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:89.87, Y:31.76, Z:6.22 [[ 7.75348749e-01 -6.21220821e-01 -1.13661824e-01 8.98670701e+01] [ 6.14879545e-01 7.83634586e-01 -8.85436670e-02 3.17581965e+01] [ 1.44074506e-01 -1.23610898e-03 9.89566071e-01 6.21663233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:89.89, Y:31.77, Z:6.22 [[ 7.75119133e-01 -6.21466535e-01 -1.13884483e-01 8.98896663e+01] [ 6.15098691e-01 7.83439694e-01 -8.87459630e-02 3.17740984e+01] [ 1.44374271e-01 -1.26150285e-03 9.89522349e-01 6.22105525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.731858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:89.91, Y:31.79, Z:6.23 [[ 7.74977862e-01 -6.21623807e-01 -1.13987521e-01 8.99116917e+01] [ 6.15238970e-01 7.83314924e-01 -8.88748522e-02 3.17905250e+01] [ 1.44534850e-01 -1.25352188e-03 9.89498917e-01 6.22542610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.761858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:89.93, Y:31.81, Z:6.23 [[ 7.74841216e-01 -6.21853988e-01 -1.13660495e-01 8.99338043e+01] [ 6.15501027e-01 7.83132204e-01 -8.86703856e-02 3.18069167e+01] [ 1.44151227e-01 -1.25268202e-03 9.89554877e-01 6.22924600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.791858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:89.96, Y:31.82, Z:6.23 [[ 7.75215359e-01 -6.21279044e-01 -1.14251898e-01 8.99562228e+01] [ 6.15314292e-01 7.83580843e-01 -8.59615254e-02 3.18219532e+01] [ 1.42931693e-01 -3.66213090e-03 9.89725780e-01 6.23411725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.821858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:89.98, Y:31.84, Z:6.24 [[ 7.74922247e-01 -6.22285252e-01 -1.10709423e-01 8.99776060e+01] [ 6.15777617e-01 7.82789323e-01 -8.97708317e-02 3.18415369e+01] [ 1.42525219e-01 1.39302989e-03 9.89790191e-01 6.23669334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:31.86, Z:6.24 [[ 7.74770608e-01 -6.22226129e-01 -1.12094374e-01 9.00001046e+01] [ 6.16035480e-01 7.82836618e-01 -8.75620736e-02 3.18572350e+01] [ 1.42234990e-01 -1.21359017e-03 9.89832175e-01 6.24173656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.881858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:90.02, Y:31.88, Z:6.24 [[ 7.74243902e-01 -6.23245850e-01 -1.10049947e-01 9.00223938e+01] [ 6.16368193e-01 7.82017137e-01 -9.24091377e-02 3.18767045e+01] [ 1.43654556e-01 3.71592414e-03 9.89620918e-01 6.24416616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.911858064 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:90.05, Y:31.89, Z:6.25 [[ 7.74809620e-01 -6.21403744e-01 -1.16307524e-01 9.00470086e+01] [ 6.15696956e-01 7.83464991e-01 -8.42607050e-02 3.18869684e+01] [ 1.43482791e-01 -6.32418377e-03 9.89632605e-01 6.25307947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.941858064 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:90.06, Y:31.91, Z:6.24 [[ 7.74667501e-01 -6.24326208e-01 -1.00533819e-01 9.00647212e+01] [ 6.16552786e-01 7.81020131e-01 -9.93489654e-02 3.19144947e+01] [ 1.40545099e-01 1.49780087e-02 9.89960976e-01 6.24376956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.971858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:90.09, Y:31.92, Z:6.27 [[ 7.75205350e-01 -6.19242702e-01 -1.24880507e-01 9.00949815e+01] [ 6.14669983e-01 7.85014521e-01 -7.70260660e-02 3.19159969e+01] [ 1.45730841e-01 -1.70492808e-02 9.89177357e-01 6.26518558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001858064 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:90.11, Y:31.94, Z:6.26 [[ 7.75199027e-01 -6.21014905e-01 -1.15788415e-01 9.01125178e+01] [ 6.14368903e-01 7.83798248e-01 -9.06154372e-02 3.19394830e+01] [ 1.47028294e-01 -8.91803011e-04 9.89131885e-01 6.26254604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.031858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.13, Y:31.96, Z:6.26 [[ 7.75109503e-01 -6.21430898e-01 -1.14144199e-01 9.01331686e+01] [ 6.13948832e-01 7.83455916e-01 -9.62479023e-02 3.19592162e+01] [ 1.49238368e-01 4.52396612e-03 9.88790900e-01 6.26431875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:90.16, Y:31.97, Z:6.27 [[ 7.75454793e-01 -6.19917835e-01 -1.19882201e-01 9.01587790e+01] [ 6.13757037e-01 7.84645121e-01 -8.73746760e-02 3.19727530e+01] [ 1.48230104e-01 -5.82343321e-03 9.88935753e-01 6.27179570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.091858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:90.18, Y:31.99, Z:6.27 [[ 7.75335945e-01 -6.20659524e-01 -1.16772978e-01 9.01798861e+01] [ 6.13877729e-01 7.84079850e-01 -9.15036812e-02 3.19907469e+01] [ 1.48351970e-01 -7.38237330e-04 9.88934350e-01 6.27423487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.20, Y:32.01, Z:6.28 [[ 7.75361176e-01 -6.20710734e-01 -1.16332420e-01 9.02027773e+01] [ 6.13972992e-01 7.84039342e-01 -9.12111572e-02 3.20072980e+01] [ 1.47824938e-01 -7.03373581e-04 9.89013293e-01 6.27867601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.151858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.22, Y:32.02, Z:6.28 [[ 7.74961513e-01 -6.21272418e-01 -1.15996706e-01 9.02245270e+01] [ 6.14572160e-01 7.83594280e-01 -9.10003550e-02 3.20241719e+01] [ 1.47430366e-01 -7.66573292e-04 9.89072141e-01 6.28324073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.181858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:90.25, Y:32.04, Z:6.29 [[ 7.75134455e-01 -6.21266518e-01 -1.14867277e-01 9.02452966e+01] [ 6.14689288e-01 7.83599004e-01 -9.01647426e-02 3.20404902e+01] [ 1.46026219e-01 -7.17886048e-04 9.89280460e-01 6.28706770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.211858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:90.27, Y:32.06, Z:6.29 [[ 7.75119181e-01 -6.21335829e-01 -1.14595125e-01 9.02673203e+01] [ 6.14786280e-01 7.83544057e-01 -8.99807768e-02 3.20579764e+01] [ 1.45698610e-01 -7.05684803e-04 9.89328771e-01 6.29131368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.241858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:90.29, Y:32.08, Z:6.30 [[ 7.75365193e-01 -6.21156596e-01 -1.13900402e-01 9.02893367e+01] [ 6.14677302e-01 7.83686219e-01 -8.94858919e-02 3.20754822e+01] [ 1.44846927e-01 -6.27745890e-04 9.89453876e-01 6.29558493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.271858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:90.31, Y:32.09, Z:6.30 [[ 7.75561554e-01 -6.20932293e-01 -1.13786481e-01 9.03112789e+01] [ 6.14456181e-01 7.83864013e-01 -8.94472514e-02 3.20930952e+01] [ 1.44733814e-01 -5.44957168e-04 9.89470478e-01 6.29957799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.301858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:90.33, Y:32.11, Z:6.30 [[ 7.76102302e-01 -6.20134252e-01 -1.14449665e-01 9.03329261e+01] [ 6.13565711e-01 7.84495623e-01 -9.00207531e-02 3.21109648e+01] [ 1.45610213e-01 -3.57076293e-04 9.89341972e-01 6.30315982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.331858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:90.38, Y:32.10, Z:6.36 [[ 7.78243448e-01 -6.05232789e-01 -1.67422841e-01 9.03830426e+01] [ 6.06283652e-01 7.93628598e-01 -5.07324444e-02 3.20992827e+01] [ 1.63576493e-01 -6.20235391e-02 9.84579002e-01 6.35654225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:90.36, Y:32.17, Z:6.29 [[ 7.76418653e-01 -6.25181829e-01 -7.95094704e-02 9.03620166e+01] [ 6.12647069e-01 7.78324182e-01 -1.37386452e-01 3.21705240e+01] [ 1.47775657e-01 5.79581602e-02 9.87321228e-01 6.29031701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.391858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:90.42, Y:32.14, Z:6.35 [[ 7.77800822e-01 -6.09141351e-01 -1.54831186e-01 9.04212955e+01] [ 6.07537541e-01 7.91783245e-01 -6.30668636e-02 3.21413546e+01] [ 1.61009373e-01 -4.50122995e-02 9.85925897e-01 6.35148177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421858064 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:90.41, Y:32.20, Z:6.30 [[ 7.75885926e-01 -6.24263547e-01 -9.10826732e-02 9.04101202e+01] [ 6.12994079e-01 7.80126559e-01 -1.25063229e-01 3.21986675e+01] [ 1.49128427e-01 4.12016601e-02 9.87959076e-01 6.30419572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.451858064 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:90.44, Y:32.20, Z:6.32 [[ 7.75495854e-01 -6.20598086e-01 -1.16035318e-01 9.04415353e+01] [ 6.13245255e-01 7.84124049e-01 -9.52876324e-02 3.21988384e+01] [ 1.50121406e-01 2.73705557e-03 9.88663781e-01 6.32231869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.481858064 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:90.47, Y:32.21, Z:6.33 [[ 7.75875615e-01 -6.18493123e-01 -1.24431854e-01 9.04662304e+01] [ 6.13768794e-01 7.85629301e-01 -7.79388838e-02 3.22068131e+01] [ 1.45961974e-01 -1.59015093e-02 9.89162395e-01 6.33346846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.511858064 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:90.48, Y:32.24, Z:6.33 [[ 7.74230606e-01 -6.23543361e-01 -1.08446513e-01 9.04831293e+01] [ 6.15097714e-01 7.81678453e-01 -1.03119346e-01 3.22385233e+01] [ 1.49069686e-01 1.31329510e-02 9.88739477e-01 6.32676896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.541858064 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:90.51, Y:32.25, Z:6.34 [[ 7.73991268e-01 -6.22295388e-01 -1.16987038e-01 9.05089372e+01] [ 6.15409881e-01 7.82782317e-01 -9.23175050e-02 3.22503352e+01] [ 1.49024142e-01 -5.42036381e-04 9.88833409e-01 6.33592191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.571858064 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:90.53, Y:32.27, Z:6.34 [[ 7.73368497e-01 -6.23052021e-01 -1.17078377e-01 9.05300228e+01] [ 6.16157116e-01 7.82180130e-01 -9.24372894e-02 3.22671633e+01] [ 1.49169620e-01 -6.50587722e-04 9.88811408e-01 6.34021238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.601858064 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:90.55, Y:32.28, Z:6.34 [[ 7.72960852e-01 -6.23604466e-01 -1.16828893e-01 9.05523795e+01] [ 6.16740792e-01 7.81739685e-01 -9.22705853e-02 3.22843868e+01] [ 1.48870131e-01 -7.31594056e-04 9.88856485e-01 6.34406207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.631858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:90.54, Y:32.34, Z:6.29 [[ 7.67549080e-01 -6.39122964e-01 -4.88901522e-02 9.05363751e+01] [ 6.27389724e-01 7.64703468e-01 -1.47005922e-01 3.23423635e+01] [ 1.31341329e-01 8.21610808e-02 9.87926623e-01 6.29105038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.661858064 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:90.62, Y:32.29, Z:6.39 [[ 7.71782697e-01 -6.13678493e-01 -1.66583839e-01 9.06166709e+01] [ 6.18007965e-01 7.85570799e-01 -3.07355700e-02 3.22866179e+01] [ 1.49725158e-01 -7.92289583e-02 9.85548147e-01 6.38604991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.691858064 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:90.62, Y:32.34, Z:6.36 [[ 7.71125133e-01 -6.25732182e-01 -1.17580890e-01 9.06205233e+01] [ 6.18531655e-01 7.80037927e-01 -9.46542367e-02 3.23382826e+01] [ 1.50945756e-01 2.62758370e-04 9.88542012e-01 6.35855391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721858064 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:90.64, Y:32.35, Z:6.36 [[ 7.72671116e-01 -6.23401457e-01 -1.19791361e-01 9.06417042e+01] [ 6.16643102e-01 7.81895809e-01 -9.15981908e-02 3.23526976e+01] [ 1.50766809e-01 -3.09324041e-03 9.88564515e-01 6.36430466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.751858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:90.66, Y:32.37, Z:6.37 [[ 7.73263616e-01 -6.22919531e-01 -1.18467881e-01 9.06620633e+01] [ 6.15827597e-01 7.82285773e-01 -9.37301507e-02 3.23705313e+01] [ 1.51062079e-01 -4.77674983e-04 9.88524163e-01 6.36781248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:90.68, Y:32.39, Z:6.37 [[ 7.75043412e-01 -6.20673689e-01 -1.18624960e-01 9.06831131e+01] [ 6.13531773e-01 7.84068984e-01 -9.38860619e-02 3.23881016e+01] [ 1.51282760e-01 -1.44083968e-05 9.88490529e-01 6.37269009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.811858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:90.70, Y:32.41, Z:6.38 [[ 7.75956629e-01 -6.19430092e-01 -1.19153980e-01 9.07039589e+01] [ 6.12201042e-01 7.85051773e-01 -9.43588766e-02 3.24055425e+01] [ 1.51990771e-01 2.72205351e-04 9.88381875e-01 6.37657254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.841858064 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:90.73, Y:32.43, Z:6.38 [[ 7.75716381e-01 -6.19580178e-01 -1.19935400e-01 9.07278305e+01] [ 6.12297982e-01 7.84933374e-01 -9.47141989e-02 3.24253649e+01] [ 1.52824338e-01 3.51522649e-05 9.88253369e-01 6.38128464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.871858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:90.75, Y:32.44, Z:6.39 [[ 7.78073126e-01 -6.16298639e-01 -1.21565616e-01 9.07475628e+01] [ 6.08891129e-01 7.87512525e-01 -9.52660263e-02 3.24406471e+01] [ 1.54446768e-01 1.03709698e-04 9.88001106e-01 6.38570768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.901858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:90.77, Y:32.46, Z:6.39 [[ 7.78548972e-01 -6.15675302e-01 -1.21677527e-01 9.07688586e+01] [ 6.08070791e-01 7.87999153e-01 -9.64740829e-02 3.24583438e+01] [ 1.55278498e-01 1.12124796e-03 9.87870098e-01 6.38962940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:32.47, Z:6.40 [[ 7.79268776e-01 -6.13912776e-01 -1.25901862e-01 9.07961297e+01] [ 6.07316258e-01 7.89348368e-01 -8.99784197e-02 3.24722909e+01] [ 1.54619330e-01 -6.34487447e-03 9.87953747e-01 6.39933190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:32.50, Z:6.40 [[ 7.79165517e-01 -6.15656537e-01 -1.17763005e-01 9.08116744e+01] [ 6.07301678e-01 7.87979336e-01 -1.01356981e-01 3.24962065e+01] [ 1.55195902e-01 7.45619380e-03 9.87855575e-01 6.39654025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:32.51, Z:6.40 [[ 7.78953133e-01 -6.15153253e-01 -1.21731228e-01 9.08349080e+01] [ 6.07509021e-01 7.88406382e-01 -9.66859170e-02 3.25105632e+01] [ 1.55450333e-01 1.36097887e-03 9.87842772e-01 6.40486055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.021858064 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:90.83, Y:32.55, Z:6.37 [[ 7.76378835e-01 -6.25040511e-01 -8.09954586e-02 9.08346352e+01] [ 6.13795329e-01 7.79007286e-01 -1.28073972e-01 3.25526830e+01] [ 1.43147473e-01 4.97192870e-02 9.88451715e-01 6.37336545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.051858064 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:90.89, Y:32.53, Z:6.43 [[ 7.77756125e-01 -6.10074778e-01 -1.51341257e-01 9.08905013e+01] [ 6.08643225e-01 7.91088039e-01 -6.10994209e-02 3.25272915e+01] [ 1.56999474e-01 -4.45923820e-02 9.86591448e-01 6.43144888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.081858064 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:90.90, Y:32.56, Z:6.42 [[ 7.77772460e-01 -6.16433428e-01 -1.22799953e-01 9.09006331e+01] [ 6.08655772e-01 7.87406139e-01 -9.76203038e-02 3.25631878e+01] [ 1.56869856e-01 1.18348341e-03 9.87618574e-01 6.41723823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.111858064 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:90.90, Y:32.61, Z:6.38 [[ 7.73353081e-01 -6.28999998e-01 -7.92717773e-02 9.08989282e+01] [ 6.17787825e-01 7.75767587e-01 -1.28541251e-01 3.26057806e+01] [ 1.42348922e-01 5.04346338e-02 9.88530795e-01 6.38322966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:90.96, Y:32.58, Z:6.45 [[ 7.74991734e-01 -6.12876478e-01 -1.54175988e-01 9.09576375e+01] [ 6.11455493e-01 7.88833136e-01 -6.21648123e-02 3.25768834e+01] [ 1.59718479e-01 -4.60945388e-02 9.86085849e-01 6.44612727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.171858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:90.97, Y:32.61, Z:6.43 [[ 7.74405210e-01 -6.20139061e-01 -1.25395836e-01 9.09678341e+01] [ 6.12061886e-01 7.84491738e-01 -9.97645242e-02 3.26129914e+01] [ 1.60239876e-01 5.08155247e-04 9.87077973e-01 6.43198051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:90.99, Y:32.63, Z:6.44 [[ 7.71773143e-01 -6.23266646e-01 -1.26114646e-01 9.09904535e+01] [ 6.15127722e-01 7.82009386e-01 -1.00395251e-01 3.26297734e+01] [ 1.61195848e-01 -9.42567166e-05 9.86922434e-01 6.43687098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.231858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:91.01, Y:32.65, Z:6.44 [[ 7.70396101e-01 -6.24973022e-01 -1.26089530e-01 9.10114555e+01] [ 6.16850900e-01 7.80646243e-01 -1.00431124e-01 3.26458643e+01] [ 1.61198061e-01 -4.06693445e-04 9.86921993e-01 6.44092083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.261858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:91.01, Y:32.69, Z:6.41 [[ 7.67303012e-01 -6.36007699e-01 -8.20992921e-02 9.10114329e+01] [ 6.24157471e-01 7.70054941e-01 -1.32071345e-01 3.26891993e+01] [ 1.47219358e-01 5.00958546e-02 9.87834432e-01 6.40627336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.291858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:91.05, Y:32.68, Z:6.43 [[ 7.65158892e-01 -6.33975541e-01 -1.12280380e-01 9.10464245e+01] [ 6.27102571e-01 7.73352656e-01 -9.31022850e-02 3.26840970e+01] [ 1.45856902e-01 8.26726080e-04 9.89305353e-01 6.42730856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:32.71, Z:6.43 [[ 7.63173930e-01 -6.36770986e-01 -1.09946641e-01 9.10691781e+01] [ 6.29791328e-01 7.71048812e-01 -9.40564393e-02 3.27051487e+01] [ 1.44666638e-01 2.53798143e-03 9.89477196e-01 6.43146976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.351858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.09, Y:32.72, Z:6.43 [[ 7.63456312e-01 -6.37083713e-01 -1.06107503e-01 9.10877224e+01] [ 6.29587497e-01 7.70754850e-01 -9.77575787e-02 3.27245195e+01] [ 1.44062634e-01 7.82968305e-03 9.89537596e-01 6.43001520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.381858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:91.11, Y:32.74, Z:6.44 [[ 7.63660231e-01 -6.35450832e-01 -1.14128399e-01 9.11144109e+01] [ 6.28922497e-01 7.72137687e-01 -9.08839170e-02 3.27401371e+01] [ 1.45875099e-01 -2.37348479e-03 9.89300168e-01 6.44158264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.411858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.16, Y:32.73, Z:6.49 [[ 7.65584972e-01 -6.23051802e-01 -1.60268847e-01 9.11557616e+01] [ 6.22609871e-01 7.80285373e-01 -5.92594761e-02 3.27312955e+01] [ 1.61977160e-01 -5.44168014e-02 9.85292957e-01 6.49102111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:32.77, Z:6.47 [[ 7.66749160e-01 -6.29350086e-01 -1.26547204e-01 9.11634651e+01] [ 6.21199942e-01 7.77120991e-01 -1.00963345e-01 3.27704916e+01] [ 1.61883779e-01 -1.19755591e-03 9.86809104e-01 6.47362181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:32.79, Z:6.48 [[ 7.68094381e-01 -6.27936150e-01 -1.25408187e-01 9.11840666e+01] [ 6.19905193e-01 7.78264399e-01 -1.00110323e-01 3.27881073e+01] [ 1.60463618e-01 -8.47009774e-04 9.87041392e-01 6.47767546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:32.81, Z:6.48 [[ 7.68541868e-01 -6.27505703e-01 -1.24819829e-01 9.12051193e+01] [ 6.19538164e-01 7.78611631e-01 -9.96814501e-02 3.28059165e+01] [ 1.59736849e-01 -7.21280174e-04 9.87159368e-01 6.48194977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:32.82, Z:6.49 [[ 7.69165225e-01 -6.26836432e-01 -1.24342050e-01 9.12270265e+01] [ 6.18912311e-01 7.79150693e-01 -9.93566809e-02 3.28239404e+01] [ 1.59161582e-01 -5.35121785e-04 9.87252402e-01 6.48550374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:91.25, Y:32.84, Z:6.49 [[ 7.69849539e-01 -6.26090360e-01 -1.23865039e-01 9.12474725e+01] [ 6.18208854e-01 7.79750440e-01 -9.90306265e-02 3.28416790e+01] [ 1.58585939e-01 -3.35781512e-04 9.87345121e-01 6.48813120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:32.86, Z:6.49 [[ 7.70152491e-01 -6.25764589e-01 -1.23627742e-01 9.12679874e+01] [ 6.17904209e-01 7.80011936e-01 -9.88724874e-02 3.28587594e+01] [ 1.58302016e-01 -2.43209906e-04 9.87390709e-01 6.49120594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:32.88, Z:6.49 [[ 7.70338991e-01 -6.25580348e-01 -1.23398003e-01 9.12895500e+01] [ 6.17741700e-01 7.80159725e-01 -9.87218109e-02 3.28766109e+01] [ 1.58028577e-01 -1.78831967e-04 9.87434523e-01 6.49464689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:32.90, Z:6.50 [[ 7.70425512e-01 -6.25904351e-01 -1.21195191e-01 9.13093086e+01] [ 6.17399968e-01 7.79887019e-01 -1.02924812e-01 3.28961770e+01] [ 1.58939644e-01 4.46999372e-03 9.87278182e-01 6.49641090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:32.91, Z:6.50 [[ 7.69875865e-01 -6.25732369e-01 -1.25499622e-01 9.13332817e+01] [ 6.18439021e-01 7.80026486e-01 -9.53512411e-02 3.29109469e+01] [ 1.57557387e-01 -4.20524403e-03 9.87500879e-01 6.50279017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.35, Y:32.93, Z:6.51 [[ 7.69496747e-01 -6.26765525e-01 -1.22636594e-01 9.13539265e+01] [ 6.19017939e-01 7.79207852e-01 -9.82441539e-02 3.29304115e+01] [ 1.57135445e-01 -3.15694740e-04 9.87577011e-01 6.50527588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:32.95, Z:6.51 [[ 7.68998420e-01 -6.27441103e-01 -1.22307369e-01 9.13752441e+01] [ 6.19734942e-01 7.78663917e-01 -9.80362516e-02 3.29481416e+01] [ 1.56748309e-01 -4.08427689e-04 9.87638497e-01 6.50917954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:32.96, Z:6.52 [[ 7.70206120e-01 -6.24127012e-01 -1.31331667e-01 9.14094122e+01] [ 6.17636407e-01 7.81239547e-01 -9.04988355e-02 3.29611415e+01] [ 1.59084260e-01 -1.14124620e-02 9.87199045e-01 6.52289589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.801858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.42, Y:32.99, Z:6.52 [[ 7.67184011e-01 -6.30796095e-01 -1.16296946e-01 9.14152694e+01] [ 6.22418717e-01 7.75922453e-01 -1.02661038e-01 3.29867688e+01] [ 1.54995593e-01 6.37451064e-03 9.87894595e-01 6.51524131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:33.00, Z:6.52 [[ 7.66314197e-01 -6.31060899e-01 -1.20518437e-01 9.14386737e+01] [ 6.23604407e-01 7.75732607e-01 -9.67288256e-02 3.30014566e+01] [ 1.54531861e-01 -1.03115610e-03 9.87987267e-01 6.52210901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:33.01, Z:6.55 [[ 7.68470200e-01 -6.24263300e-01 -1.40530722e-01 9.14795742e+01] [ 6.19244262e-01 7.80855930e-01 -8.24655110e-02 3.30081931e+01] [ 1.61214440e-01 -2.36505555e-02 9.86635979e-01 6.54565847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:33.04, Z:6.54 [[ 7.65968968e-01 -6.30230169e-01 -1.26891581e-01 9.14955728e+01] [ 6.22367760e-01 7.76402842e-01 -9.92824215e-02 3.30363774e+01] [ 1.61089761e-01 -2.92597477e-03 9.86935422e-01 6.54023770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:33.05, Z:6.54 [[ 7.63873335e-01 -6.33021198e-01 -1.25625203e-01 9.15140322e+01] [ 6.25085897e-01 7.74131379e-01 -9.99411264e-02 3.30546552e+01] [ 1.60515263e-01 -2.18418111e-03 9.87030942e-01 6.54183286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.54, Y:33.07, Z:6.55 [[ 7.62035588e-01 -6.33989378e-01 -1.31754432e-01 9.15394399e+01] [ 6.26991875e-01 7.73269444e-01 -9.45280669e-02 3.30695970e+01] [ 1.61811467e-01 -1.05752071e-02 9.86765025e-01 6.55018494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.981858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:91.54, Y:33.10, Z:6.54 [[ 7.57800501e-01 -6.43044655e-01 -1.10598252e-01 9.15420956e+01] [ 6.33557555e-01 7.65700736e-01 -1.10937858e-01 3.30993417e+01] [ 1.56023159e-01 1.39984062e-02 9.87654200e-01 6.53576750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:33.11, Z:6.55 [[ 7.57067938e-01 -6.40361281e-01 -1.29559124e-01 9.15795947e+01] [ 6.33253046e-01 7.68013330e-01 -9.56352712e-02 3.31061442e+01] [ 1.60744259e-01 -9.64131258e-03 9.86949000e-01 6.55462362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:33.13, Z:6.55 [[ 7.55532469e-01 -6.44354663e-01 -1.18227559e-01 9.15961936e+01] [ 6.35684019e-01 7.64713473e-01 -1.05447294e-01 3.31313564e+01] [ 1.58355663e-01 4.51348414e-03 9.87371821e-01 6.54921936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.63, Y:33.14, Z:6.57 [[ 7.54267858e-01 -6.42465397e-01 -1.35344787e-01 9.16265928e+01] [ 6.36273907e-01 7.66110513e-01 -9.07204378e-02 3.31399490e+01] [ 1.61973806e-01 -1.76888460e-02 9.86636504e-01 6.56678491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:33.16, Z:6.57 [[ 7.54511015e-01 -6.42415929e-01 -1.34219607e-01 9.16473992e+01] [ 6.35467240e-01 7.66237769e-01 -9.51896420e-02 3.31588930e+01] [ 1.63995475e-01 -1.34705299e-02 9.86369114e-01 6.57179867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.131858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.67, Y:33.18, Z:6.57 [[ 7.54893137e-01 -6.43115329e-01 -1.28604141e-01 9.16655401e+01] [ 6.34852519e-01 7.65758821e-01 -1.02838261e-01 3.31801728e+01] [ 1.64616617e-01 -4.01276517e-03 9.86349465e-01 6.57173724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:33.19, Z:6.58 [[ 7.56620534e-01 -6.40039647e-01 -1.33695989e-01 9.16860532e+01] [ 6.32480989e-01 7.68277162e-01 -9.85799242e-02 3.31929879e+01] [ 1.65810635e-01 -9.97257617e-03 9.86107185e-01 6.57978967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:33.21, Z:6.58 [[ 7.58420267e-01 -6.38921055e-01 -1.28757849e-01 9.17072900e+01] [ 6.30691456e-01 7.69263727e-01 -1.02281994e-01 3.32140568e+01] [ 1.64398862e-01 -3.63373785e-03 9.86387252e-01 6.58285569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.221858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.73, Y:33.23, Z:6.58 [[ 7.59237962e-01 -6.38838463e-01 -1.24270414e-01 9.17269604e+01] [ 6.29946242e-01 7.69337212e-01 -1.06244934e-01 3.32344535e+01] [ 1.63479204e-01 2.38150720e-03 9.86543906e-01 6.58375380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:33.25, Z:6.58 [[ 7.58785223e-01 -6.40068098e-01 -1.20655769e-01 9.17451146e+01] [ 6.31220112e-01 7.68305676e-01 -1.06148755e-01 3.32540875e+01] [ 1.60642944e-01 4.38375910e-03 9.87002851e-01 6.58368335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:91.77, Y:33.27, Z:6.59 [[ 7.59392833e-01 -6.38655134e-01 -1.24266429e-01 9.17681639e+01] [ 6.30060856e-01 7.69492437e-01 -1.04425611e-01 3.32706431e+01] [ 1.62314030e-01 1.00464756e-03 9.86738641e-01 6.58939021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.311858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:91.78, Y:33.29, Z:6.59 [[ 7.61809825e-01 -6.37441772e-01 -1.15385347e-01 9.17841501e+01] [ 6.28845204e-01 7.70465746e-01 -1.04576502e-01 3.32916597e+01] [ 1.55561888e-01 7.10788445e-03 9.87800576e-01 6.58554826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.341858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.81, Y:33.30, Z:6.60 [[ 7.62931993e-01 -6.34258013e-01 -1.25106143e-01 9.18108572e+01] [ 6.27105827e-01 7.73099293e-01 -9.51617795e-02 3.33042765e+01] [ 1.57076592e-01 -5.85282520e-03 9.87569080e-01 6.59771875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.371858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.83, Y:33.32, Z:6.60 [[ 7.64386523e-01 -6.32474787e-01 -1.25255288e-01 9.18332105e+01] [ 6.25249211e-01 7.74562588e-01 -9.54788997e-02 3.33220723e+01] [ 1.57406057e-01 -5.33298591e-03 9.87519566e-01 6.60394672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.401858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:91.85, Y:33.35, Z:6.60 [[ 7.66008362e-01 -6.33090533e-01 -1.11478999e-01 9.18485261e+01] [ 6.24257626e-01 7.73990480e-01 -1.06024311e-01 3.33482427e+01] [ 1.53406671e-01 1.16238934e-02 9.88094772e-01 6.59696426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:33.36, Z:6.61 [[ 7.67744979e-01 -6.29412420e-01 -1.20031886e-01 9.18726523e+01] [ 6.22367785e-01 7.77067143e-01 -9.39414467e-02 3.33600549e+01] [ 1.52400748e-01 -2.58090519e-03 9.88315411e-01 6.60562492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:33.38, Z:6.61 [[ 7.67538653e-01 -6.29913882e-01 -1.18713597e-01 9.18931799e+01] [ 6.22543394e-01 7.76664970e-01 -9.60793769e-02 3.33784993e+01] [ 1.52722425e-01 -1.59729850e-04 9.88269111e-01 6.60892224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:33.39, Z:6.63 [[ 7.66681788e-01 -6.26483501e-01 -1.40418869e-01 9.19161067e+01] [ 6.21372965e-01 7.79082040e-01 -8.32274781e-02 3.33879862e+01] [ 1.61538460e-01 -2.34434969e-02 9.86587922e-01 6.63207401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.521858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.93, Y:33.42, Z:6.62 [[ 7.70412751e-01 -6.28002009e-01 -1.09898454e-01 9.19342527e+01] [ 6.18342106e-01 7.78011143e-01 -1.11138210e-01 3.34231254e+01] [ 1.55297242e-01 1.76674527e-02 9.87709789e-01 6.61547255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:33.43, Z:6.63 [[ 7.71879233e-01 -6.23979045e-01 -1.21871245e-01 9.19606395e+01] [ 6.16436156e-01 7.81440936e-01 -9.67291501e-02 3.34349755e+01] [ 1.55592142e-01 -4.62619548e-04 9.87821275e-01 6.62662760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.98, Y:33.45, Z:6.63 [[ 7.72993887e-01 -6.22923580e-01 -1.20194277e-01 9.19785756e+01] [ 6.14800395e-01 7.82274109e-01 -1.00337897e-01 3.34534285e+01] [ 1.56527713e-01 3.66509242e-03 9.87666767e-01 6.62743255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.611858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:92.00, Y:33.47, Z:6.64 [[ 7.72673525e-01 -6.22325395e-01 -1.25246663e-01 9.20038432e+01] [ 6.15255460e-01 7.82744584e-01 -9.36570095e-02 3.34697142e+01] [ 1.56321282e-01 -4.69240145e-03 9.87695114e-01 6.63766329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:33.48, Z:6.65 [[ 7.74536061e-01 -6.18305452e-01 -1.33387627e-01 9.20273532e+01] [ 6.12585251e-01 7.85782948e-01 -8.53491005e-02 3.34793955e+01] [ 1.57585537e-01 -1.56053369e-02 9.87382029e-01 6.64905275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:33.51, Z:6.64 [[ 7.71930484e-01 -6.25145439e-01 -1.15397178e-01 9.20416547e+01] [ 6.16025994e-01 7.80423296e-01 -1.07011463e-01 3.35116235e+01] [ 1.56956374e-01 1.15177492e-02 9.87538373e-01 6.64158809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:33.52, Z:6.66 [[ 7.71962516e-01 -6.22095415e-01 -1.30656680e-01 9.20725659e+01] [ 6.15297893e-01 7.82886960e-01 -9.21765193e-02 3.35203487e+01] [ 1.59632001e-01 -9.23596222e-03 9.87133386e-01 6.65761870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:33.54, Z:6.65 [[ 7.70419103e-01 -6.26231640e-01 -1.19533838e-01 9.20847303e+01] [ 6.17776211e-01 7.79619215e-01 -1.02695825e-01 3.35448809e+01] [ 1.57502252e-01 5.27366419e-03 9.87504546e-01 6.65258932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:33.56, Z:6.66 [[ 7.69688809e-01 -6.26059739e-01 -1.25013356e-01 9.21073873e+01] [ 6.18668048e-01 7.79767399e-01 -9.59825533e-02 3.35590139e+01] [ 1.57572152e-01 -3.46507180e-03 9.87501398e-01 6.66018278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:33.57, Z:6.67 [[ 7.69518599e-01 -6.25159841e-01 -1.30446537e-01 9.21344290e+01] [ 6.18256662e-01 7.80444641e-01 -9.30852420e-02 3.35739819e+01] [ 1.59999456e-01 -9.01861542e-03 9.87075903e-01 6.67045336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.821858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:92.15, Y:33.60, Z:6.67 [[ 7.66972180e-01 -6.30411862e-01 -1.19727019e-01 9.21492208e+01] [ 6.22265659e-01 7.76254999e-01 -1.01062485e-01 3.35985668e+01] [ 1.56649686e-01 3.01010249e-03 9.87649642e-01 6.66732202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.851858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:92.17, Y:33.62, Z:6.67 [[ 7.66521365e-01 -6.30426563e-01 -1.22504471e-01 9.21724938e+01] [ 6.22878468e-01 7.76246947e-01 -9.72784235e-02 3.36154090e+01] [ 1.56420624e-01 -1.73940710e-03 9.87689001e-01 6.67325684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:33.63, Z:6.68 [[ 7.66454667e-01 -6.29094491e-01 -1.29566064e-01 9.21987343e+01] [ 6.22269590e-01 7.77271685e-01 -9.28939457e-02 3.36310722e+01] [ 1.59147103e-01 -9.42602351e-03 9.87209881e-01 6.68445613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:33.66, Z:6.67 [[ 7.67103445e-01 -6.32440477e-01 -1.07570199e-01 9.22062146e+01] [ 6.21657431e-01 7.74229193e-01 -1.18790551e-01 3.36609906e+01] [ 1.58411941e-01 2.42528276e-02 9.87075204e-01 6.67183221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.941858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.23, Y:33.67, Z:6.68 [[ 7.64854777e-01 -6.34101173e-01 -1.13634816e-01 9.22324535e+01] [ 6.26609203e-01 7.73243599e-01 -9.72380786e-02 3.36739237e+01] [ 1.49526174e-01 3.16838724e-03 9.88752691e-01 6.67743369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.25, Y:33.69, Z:6.68 [[ 7.65722115e-01 -6.32852844e-01 -1.14747202e-01 9.22524709e+01] [ 6.24590646e-01 7.74244486e-01 -1.02137171e-01 3.36920562e+01] [ 1.53480188e-01 6.53866100e-03 9.88130092e-01 6.68157857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:33.71, Z:6.69 [[ 7.65633486e-01 -6.32231963e-01 -1.18693345e-01 9.22758609e+01] [ 6.24807980e-01 7.74779133e-01 -9.66037436e-02 3.37064165e+01] [ 1.53037101e-01 -1.97488091e-04 9.88220424e-01 6.68766215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:33.72, Z:6.70 [[ 7.63999905e-01 -6.31677965e-01 -1.31480389e-01 9.23060176e+01] [ 6.27746362e-01 7.74815185e-01 -7.48059754e-02 3.37150484e+01] [ 1.49126288e-01 -2.53845777e-02 9.88492273e-01 6.70384236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.32, Y:33.73, Z:6.72 [[ 7.62055774e-01 -6.33184397e-01 -1.35456696e-01 9.23228256e+01] [ 6.28446203e-01 7.73642998e-01 -8.08200526e-02 3.37319682e+01] [ 1.55969121e-01 -2.35378585e-02 9.87481444e-01 6.71750282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.34, Y:33.76, Z:6.71 [[ 7.60735888e-01 -6.38032474e-01 -1.19144749e-01 9.23380179e+01] [ 6.30594065e-01 7.70008479e-01 -9.71497212e-02 3.37597211e+01] [ 1.53727144e-01 -1.22669197e-03 9.88112575e-01 6.71123919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:33.78, Z:6.71 [[ 7.59146568e-01 -6.41420731e-01 -1.10796814e-01 9.23530889e+01] [ 6.31663363e-01 7.67034123e-01 -1.12516893e-01 3.37845198e+01] [ 1.57155605e-01 1.54305248e-02 9.87453298e-01 6.70771980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:33.79, Z:6.72 [[ 7.59938622e-01 -6.38213443e-01 -1.23194529e-01 9.23759958e+01] [ 6.30938998e-01 7.69845577e-01 -9.61965088e-02 3.37914714e+01] [ 1.56234669e-01 -4.62479063e-03 9.87709137e-01 6.71845032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.39, Y:33.83, Z:6.70 [[ 7.58413596e-01 -6.45135982e-01 -9.27813667e-02 9.23918196e+01] [ 6.34588923e-01 7.63370055e-01 -1.20677498e-01 3.38290554e+01] [ 1.48679913e-01 3.26454274e-02 9.88346376e-01 6.69669797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:33.81, Z:6.74 [[ 7.55680846e-01 -6.37769816e-01 -1.48983628e-01 9.24346878e+01] [ 6.37671148e-01 7.68358927e-01 -5.47728552e-02 3.38135415e+01] [ 1.49405374e-01 -5.36117637e-02 9.87321535e-01 6.74399424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.241858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.44, Y:33.85, Z:6.73 [[ 7.54868962e-01 -6.45551454e-01 -1.15914496e-01 9.24432367e+01] [ 6.38351251e-01 7.63715483e-01 -9.61578964e-02 3.38524975e+01] [ 1.50600565e-01 -1.40755192e-03 9.88593692e-01 6.72799268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.271858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:92.46, Y:33.88, Z:6.71 [[ 7.56495965e-01 -6.46512437e-01 -9.86687544e-02 9.24599892e+01] [ 6.37118419e-01 7.62590940e-01 -1.11960611e-01 3.38791293e+01] [ 1.47627826e-01 2.18340697e-02 9.88801951e-01 6.71406091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.301858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:92.48, Y:33.89, Z:6.72 [[ 7.52909641e-01 -6.49559700e-01 -1.05826596e-01 9.24795439e+01] [ 6.42291395e-01 7.60293583e-01 -9.70331436e-02 3.38935780e+01] [ 1.43488102e-01 5.08567715e-03 9.89638975e-01 6.71753975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.331858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.50, Y:33.92, Z:6.72 [[ 7.52076547e-01 -6.51417028e-01 -1.00183444e-01 9.24967306e+01] [ 6.43451120e-01 7.58616985e-01 -1.02327540e-01 3.39165482e+01] [ 1.42658764e-01 1.24949937e-02 9.89693060e-01 6.71656940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:92.53, Y:33.92, Z:6.73 [[ 7.52321850e-01 -6.48049806e-01 -1.18504360e-01 9.25269960e+01] [ 6.42857568e-01 7.61474207e-01 -8.30131228e-02 3.39240960e+01] [ 1.44034652e-01 -1.37288388e-02 9.89477407e-01 6.73380252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.54, Y:33.95, Z:6.73 [[ 7.51520884e-01 -6.51656195e-01 -1.02764606e-01 9.25399521e+01] [ 6.44205056e-01 7.58473512e-01 -9.85787896e-02 3.39519040e+01] [ 1.42183711e-01 7.88254040e-03 9.89808900e-01 6.72571110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:92.58, Y:33.94, Z:6.77 [[ 7.52282697e-01 -6.42254880e-01 -1.46899332e-01 9.25797585e+01] [ 6.41734781e-01 7.64782183e-01 -5.73121571e-02 3.39438085e+01] [ 1.49155005e-01 -5.11554667e-02 9.87489698e-01 6.76646395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451858064 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:92.59, Y:33.98, Z:6.75 [[ 7.51802907e-01 -6.49472881e-01 -1.13918240e-01 9.25878171e+01] [ 6.42129853e-01 7.60384753e-01 -9.73872642e-02 3.39823848e+01] [ 1.49872080e-01 6.57257658e-05 9.88705394e-01 6.75147509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.481858064 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:92.61, Y:34.00, Z:6.76 [[ 7.51964717e-01 -6.49029676e-01 -1.15367003e-01 9.26108376e+01] [ 6.41817157e-01 7.60761653e-01 -9.65010117e-02 3.40000236e+01] [ 1.50398812e-01 -1.47916578e-03 9.88624301e-01 6.75717014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.511858064 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:92.63, Y:34.02, Z:6.75 [[ 7.52428310e-01 -6.49958206e-01 -1.06798728e-01 9.26327205e+01] [ 6.42758542e-01 7.59959395e-01 -9.65565901e-02 3.40216413e+01] [ 1.43920445e-01 4.00611696e-03 9.89581152e-01 6.75089997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.541858064 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:92.66, Y:34.03, Z:6.77 [[ 7.51306289e-01 -6.48594385e-01 -1.21918759e-01 9.26553325e+01] [ 6.42707142e-01 7.61036264e-01 -8.80416614e-02 3.40326490e+01] [ 1.49887924e-01 -1.22118032e-02 9.88627575e-01 6.76882845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.571858064 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:92.67, Y:34.05, Z:6.77 [[ 7.52241405e-01 -6.48611518e-01 -1.15913622e-01 9.26728366e+01] [ 6.41731391e-01 7.61111770e-01 -9.42851865e-02 3.40543826e+01] [ 1.49377680e-01 -3.46018884e-03 9.88774158e-01 6.76879711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.601858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.68, Y:34.09, Z:6.75 [[ 7.52992075e-01 -6.51650486e-01 -9.14033917e-02 9.26830496e+01] [ 6.41257107e-01 7.57847278e-01 -1.20236540e-01 3.40877635e+01] [ 1.47622011e-01 3.19240869e-02 9.88528500e-01 6.75418764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.631858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:92.71, Y:34.09, Z:6.77 [[ 7.53684093e-01 -6.47248879e-01 -1.14145416e-01 9.27131328e+01] [ 6.40675282e-01 7.62269646e-01 -9.20878383e-02 3.40924244e+01] [ 1.46613336e-01 -3.72500766e-03 9.89186865e-01 6.76980103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.661858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:92.73, Y:34.11, Z:6.77 [[ 7.54127020e-01 -6.46602178e-01 -1.14882813e-01 9.27347175e+01] [ 6.39892431e-01 7.62819807e-01 -9.29710623e-02 3.41112194e+01] [ 1.47750177e-01 -3.40065239e-03 9.89018868e-01 6.77486494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.691858064 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:92.76, Y:34.12, Z:6.79 [[ 7.53372389e-01 -6.44273630e-01 -1.31687256e-01 9.27634102e+01] [ 6.40578338e-01 7.64273095e-01 -7.44716635e-02 3.41201780e+01] [ 1.48625156e-01 -2.82511087e-02 9.88489979e-01 6.79286681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.77, Y:34.16, Z:6.77 [[ 7.52326163e-01 -6.51630615e-01 -9.68652976e-02 9.27697781e+01] [ 6.42424286e-01 7.58232850e-01 -1.11238403e-01 3.41612917e+01] [ 1.45932799e-01 2.14589410e-02 9.89061743e-01 6.77268317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:34.17, Z:6.79 [[ 7.52229958e-01 -6.49351111e-01 -1.11773101e-01 9.27965917e+01] [ 6.42194423e-01 7.60488555e-01 -9.61430250e-02 3.41705297e+01] [ 1.47432744e-01 5.41601441e-04 9.89071935e-01 6.78505850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:34.19, Z:6.79 [[ 7.51961919e-01 -6.48907635e-01 -1.16069609e-01 9.28188592e+01] [ 6.42598541e-01 7.60839161e-01 -9.05035196e-02 3.41858214e+01] [ 1.47038729e-01 -6.53096111e-03 9.89109174e-01 6.79209869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.84, Y:34.20, Z:6.81 [[ 7.52115306e-01 -6.46903368e-01 -1.25851500e-01 9.28434247e+01] [ 6.41437645e-01 7.62395273e-01 -8.55055256e-02 3.41978753e+01] [ 1.51262401e-01 -1.64158753e-02 9.88357327e-01 6.80809185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:34.23, Z:6.80 [[ 7.50732433e-01 -6.51027405e-01 -1.12089837e-01 9.28597938e+01] [ 6.43365775e-01 7.59049516e-01 -9.96208389e-02 3.42256775e+01] [ 1.49937633e-01 2.67382990e-03 9.88691841e-01 6.80025842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.871858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:92.88, Y:34.25, Z:6.79 [[ 7.48863176e-01 -6.55246499e-01 -9.92772337e-02 9.28751957e+01] [ 6.46871761e-01 7.55270950e-01 -1.05464297e-01 3.42506615e+01] [ 1.44086322e-01 1.47586895e-02 9.89455059e-01 6.79346506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.901858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.91, Y:34.25, Z:6.82 [[ 7.48653963e-01 -6.51088102e-01 -1.24906077e-01 9.29087571e+01] [ 6.46123192e-01 7.58765122e-01 -8.24639991e-02 3.42544923e+01] [ 1.48465703e-01 -1.89677131e-02 9.88735638e-01 6.81520631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.93, Y:34.28, Z:6.81 [[ 7.46784643e-01 -6.54910951e-01 -1.15777132e-01 9.29268375e+01] [ 6.48215691e-01 7.55688260e-01 -9.35503711e-02 3.42779412e+01] [ 1.48758582e-01 -5.18657314e-03 9.88859941e-01 6.81497268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.961858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:92.95, Y:34.30, Z:6.82 [[ 7.46113216e-01 -6.55938289e-01 -1.14280489e-01 9.29468499e+01] [ 6.49063947e-01 7.54806592e-01 -9.47786962e-02 3.42961455e+01] [ 1.48428642e-01 -3.45970736e-03 9.88917069e-01 6.81810418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.991858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:92.97, Y:34.32, Z:6.82 [[ 7.45573093e-01 -6.57036596e-01 -1.11461535e-01 9.29651674e+01] [ 6.49936998e-01 7.53858424e-01 -9.63295111e-02 3.43151602e+01] [ 1.47318231e-01 -6.22283654e-04 9.89088950e-01 6.82061985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:34.34, Z:6.82 [[ 7.44859661e-01 -6.58464320e-01 -1.07744251e-01 9.29853947e+01] [ 6.51292159e-01 7.52609191e-01 -9.69429169e-02 3.43355153e+01] [ 1.44922766e-01 2.03588205e-03 9.89440876e-01 6.81951958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.01, Y:34.35, Z:6.82 [[ 7.44916768e-01 -6.57943495e-01 -1.10496000e-01 9.30085452e+01] [ 6.51289220e-01 7.53063435e-01 -9.33692401e-02 3.43520024e+01] [ 1.44642181e-01 -2.41254081e-03 9.89481086e-01 6.82476591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.081858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.03, Y:34.37, Z:6.83 [[ 7.45732884e-01 -6.56645847e-01 -1.12688501e-01 9.30309156e+01] [ 6.50515215e-01 7.54172091e-01 -8.97463730e-02 3.43678987e+01] [ 1.43918106e-01 -6.37876322e-03 9.89569043e-01 6.83195269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.05, Y:34.39, Z:6.83 [[ 7.46615594e-01 -6.56294981e-01 -1.08821201e-01 9.30499409e+01] [ 6.49788163e-01 7.54502093e-01 -9.22059434e-02 3.43870195e+01] [ 1.42620122e-01 -1.86833319e-03 9.89775737e-01 6.83317557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.07, Y:34.41, Z:6.84 [[ 7.47089371e-01 -6.55804141e-01 -1.08528345e-01 9.30711780e+01] [ 6.49323254e-01 7.54929052e-01 -9.19860779e-02 3.44050983e+01] [ 1.42256051e-01 -1.74815697e-03 9.89828349e-01 6.83690015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:34.42, Z:6.84 [[ 7.48013121e-01 -6.54810183e-01 -1.08166516e-01 9.30917783e+01] [ 6.48354992e-01 7.55791856e-01 -9.17304417e-02 3.44221785e+01] [ 1.41817399e-01 -1.51472656e-03 9.89891676e-01 6.84091246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.11, Y:34.44, Z:6.84 [[ 7.48755745e-01 -6.54010945e-01 -1.07863421e-01 9.31126787e+01] [ 6.47578942e-01 7.56483910e-01 -9.15074198e-02 3.44398183e+01] [ 1.41443796e-01 -1.33337360e-03 9.89945390e-01 6.84464611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.14, Y:34.46, Z:6.85 [[ 7.51352622e-01 -6.50145659e-01 -1.13048041e-01 9.31387800e+01] [ 6.43957883e-01 7.59790128e-01 -8.96504666e-02 3.44553572e+01] [ 1.44178647e-01 -5.43906403e-03 9.89536727e-01 6.85344401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.261858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.16, Y:34.47, Z:6.85 [[ 7.52292627e-01 -6.49783597e-01 -1.08798348e-01 9.31562129e+01] [ 6.42521856e-01 7.60113306e-01 -9.69196906e-02 3.44749445e+01] [ 1.45675897e-01 3.00665192e-03 9.89327799e-01 6.85455090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:34.49, Z:6.86 [[ 7.52672033e-01 -6.49628257e-01 -1.07088459e-01 9.31790644e+01] [ 6.43399824e-01 7.60250822e-01 -8.97516231e-02 3.44930551e+01] [ 1.39719279e-01 -1.34715869e-03 9.90190238e-01 6.85699794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.20, Y:34.51, Z:6.86 [[ 7.54270408e-01 -6.48120244e-01 -1.04958568e-01 9.31984198e+01] [ 6.41825551e-01 7.61537776e-01 -9.01120304e-02 3.45108757e+01] [ 1.38333345e-01 6.03747388e-04 9.90385542e-01 6.85889100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:34.53, Z:6.86 [[ 7.54106777e-01 -6.48242814e-01 -1.05376579e-01 9.32200824e+01] [ 6.42017835e-01 7.61433680e-01 -8.96205874e-02 3.45289968e+01] [ 1.38333178e-01 -7.01510155e-05 9.90385746e-01 6.86324777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.381858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.25, Y:34.54, Z:6.88 [[ 7.55153353e-01 -6.44986868e-01 -1.17197926e-01 9.32483249e+01] [ 6.39838440e-01 7.64086239e-01 -8.23346226e-02 3.45410583e+01] [ 1.42654073e-01 -1.28124718e-02 9.89689677e-01 6.87697505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.411858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.26, Y:34.57, Z:6.87 [[ 7.55178576e-01 -6.48352026e-01 -9.66693827e-02 9.32594584e+01] [ 6.39309084e-01 7.61043959e-01 -1.09981763e-01 3.45717631e+01] [ 1.44876548e-01 2.12542565e-02 9.89221432e-01 6.86707318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.441858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.29, Y:34.58, Z:6.88 [[ 7.54952783e-01 -6.45729706e-01 -1.14365391e-01 9.32892182e+01] [ 6.40744919e-01 7.63469678e-01 -8.09938247e-02 3.45758768e+01] [ 1.39614627e-01 -1.21325301e-02 9.90131586e-01 6.88059946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.471858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.31, Y:34.60, Z:6.88 [[ 7.55519906e-01 -6.46579866e-01 -1.05471076e-01 9.33067188e+01] [ 6.40208831e-01 7.62845783e-01 -9.05481297e-02 3.45971871e+01] [ 1.39004763e-01 8.87400311e-04 9.90291315e-01 6.87929125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:93.33, Y:34.61, Z:6.88 [[ 7.56220577e-01 -6.46086761e-01 -1.03452096e-01 9.33269205e+01] [ 6.39704168e-01 7.63260356e-01 -9.06212283e-02 3.46146498e+01] [ 1.37510060e-01 2.35090031e-03 9.90497580e-01 6.88109711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.531858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.35, Y:34.63, Z:6.89 [[ 7.56305038e-01 -6.45738430e-01 -1.04997952e-01 9.33489868e+01] [ 6.39498944e-01 7.63558472e-01 -8.95520009e-02 3.46311982e+01] [ 1.37999244e-01 5.82550257e-04 9.90432163e-01 6.88580798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:34.65, Z:6.89 [[ 7.55652589e-01 -6.46433224e-01 -1.05419409e-01 9.33712431e+01] [ 6.40142754e-01 7.62970405e-01 -8.99634157e-02 3.46487456e+01] [ 1.38587230e-01 4.97617138e-04 9.90350106e-01 6.88911058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:34.66, Z:6.89 [[ 7.56516439e-01 -6.45422929e-01 -1.05414040e-01 9.33932905e+01] [ 6.39115709e-01 7.63825056e-01 -9.00132962e-02 3.46643359e+01] [ 1.38614530e-01 7.24769720e-04 9.90346145e-01 6.89311093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:34.68, Z:6.89 [[ 7.57420667e-01 -6.44776175e-01 -1.02847542e-01 9.34115349e+01] [ 6.37739957e-01 7.64343528e-01 -9.52193144e-02 3.46818727e+01] [ 1.40005998e-01 6.53108974e-03 9.90129115e-01 6.89418266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:34.70, Z:6.90 [[ 7.57543990e-01 -6.43935723e-01 -1.07116233e-01 9.34367290e+01] [ 6.37646010e-01 7.65079539e-01 -8.97823177e-02 3.46950725e+01] [ 1.39766480e-01 -2.88183519e-04 9.90184452e-01 6.90024800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.681858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:93.46, Y:34.71, Z:6.90 [[ 7.56141967e-01 -6.45485317e-01 -1.07694160e-01 9.34614987e+01] [ 6.39280360e-01 7.63771527e-01 -8.92954443e-02 3.47139788e+01] [ 1.39892631e-01 -1.32672844e-03 9.90165790e-01 6.90443541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.711858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.48, Y:34.73, Z:6.91 [[ 7.55674861e-01 -6.46194885e-01 -1.06713046e-01 9.34829101e+01] [ 6.39735464e-01 7.63172198e-01 -9.11412775e-02 3.47318587e+01] [ 1.40335458e-01 6.05051932e-04 9.90103830e-01 6.90713962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.741858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.50, Y:34.75, Z:6.91 [[ 7.55288891e-01 -6.47044745e-01 -1.04267870e-01 9.35034600e+01] [ 6.39782912e-01 7.62424605e-01 -9.68841893e-02 3.47511703e+01] [ 1.42184795e-01 6.46675022e-03 9.89819006e-01 6.90841072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.771858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.53, Y:34.76, Z:6.92 [[ 7.54887306e-01 -6.46399321e-01 -1.10964283e-01 9.35293716e+01] [ 6.40508215e-01 7.62981389e-01 -8.72274437e-02 3.47627836e+01] [ 1.41047443e-01 -5.22664450e-03 9.89989041e-01 6.91713091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.55, Y:34.78, Z:6.92 [[ 7.54147131e-01 -6.47898996e-01 -1.07186730e-01 9.35520555e+01] [ 6.41381300e-01 7.61726160e-01 -9.16694376e-02 3.47800189e+01] [ 1.41039473e-01 3.84678883e-04 9.90003898e-01 6.92015495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.57, Y:34.80, Z:6.92 [[ 7.53608710e-01 -6.48593075e-01 -1.06775161e-01 9.35743421e+01] [ 6.42125043e-01 7.61135295e-01 -9.13700842e-02 3.47968957e+01] [ 1.40532347e-01 2.94286721e-04 9.90076044e-01 6.92416820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.861858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.60, Y:34.81, Z:6.93 [[ 7.53160448e-01 -6.49105174e-01 -1.06826091e-01 9.35956219e+01] [ 6.42628466e-01 7.60698637e-01 -9.14671418e-02 3.48130103e+01] [ 1.40634257e-01 2.39946564e-04 9.90061588e-01 6.92816100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:34.83, Z:6.93 [[ 7.51895931e-01 -6.50579897e-01 -1.06762854e-01 9.36186223e+01] [ 6.44121634e-01 7.59437817e-01 -9.14413646e-02 3.48297019e+01] [ 1.40569662e-01 -1.38740294e-05 9.90070790e-01 6.93188795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:34.85, Z:6.94 [[ 7.50936427e-01 -6.51676077e-01 -1.06830583e-01 9.36407858e+01] [ 6.45213305e-01 7.58497369e-01 -9.15507094e-02 3.48472284e+01] [ 1.40692123e-01 -1.79750910e-04 9.90053379e-01 6.93617135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.66, Y:34.86, Z:6.94 [[ 7.49823414e-01 -6.52920835e-01 -1.07047797e-01 9.36631296e+01] [ 6.46436776e-01 7.57426065e-01 -9.17891665e-02 3.48644125e+01] [ 1.41011851e-01 -3.73966570e-04 9.90007837e-01 6.94028216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:34.88, Z:6.95 [[ 7.45559719e-01 -6.56884826e-01 -1.12441236e-01 9.36838575e+01] [ 6.51163738e-01 7.53943951e-01 -8.69155074e-02 3.48766454e+01] [ 1.41867868e-01 -8.41695464e-03 9.89849818e-01 6.94781271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.011858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.70, Y:34.90, Z:6.94 [[ 7.44447324e-01 -6.60040819e-01 -1.00718905e-01 9.37016848e+01] [ 6.52782004e-01 7.51196014e-01 -9.78785147e-02 3.49006609e+01] [ 1.40263455e-01 7.11790967e-03 9.90088632e-01 6.94401557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:34.91, Z:6.95 [[ 7.45500697e-01 -6.58013893e-01 -1.06049173e-01 9.37299369e+01] [ 6.51432776e-01 7.53005778e-01 -9.28312290e-02 3.49140723e+01] [ 1.40939878e-01 1.21838905e-04 9.90018149e-01 6.95245329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.071858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:93.75, Y:34.93, Z:6.96 [[ 7.43404227e-01 -6.60217158e-01 -1.07067547e-01 9.37525691e+01] [ 6.53799080e-01 7.51072799e-01 -9.18499501e-02 3.49302241e+01] [ 1.41056435e-01 -1.71902233e-03 9.90000064e-01 6.95671340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:34.95, Z:6.96 [[ 7.42670341e-01 -6.61044484e-01 -1.07055853e-01 9.37740415e+01] [ 6.54628814e-01 7.50344468e-01 -9.18928493e-02 3.49474266e+01] [ 1.41074028e-01 -1.83575225e-03 9.89997348e-01 6.96037729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.131858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.80, Y:34.96, Z:6.96 [[ 7.42261978e-01 -6.61482133e-01 -1.07184628e-01 9.37960593e+01] [ 6.55047942e-01 7.49958565e-01 -9.20562056e-02 3.49648695e+01] [ 1.41277565e-01 -1.88124903e-03 9.89968237e-01 6.96463474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.161858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.82, Y:34.98, Z:6.97 [[ 7.42046409e-01 -6.61591674e-01 -1.07998077e-01 9.38174995e+01] [ 6.55052396e-01 7.49861945e-01 -9.28085237e-02 3.49809979e+01] [ 1.42384994e-01 -1.87616719e-03 9.89809574e-01 6.96803470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:35.00, Z:6.97 [[ 7.42307867e-01 -6.61192408e-01 -1.08644511e-01 9.38383738e+01] [ 6.54565681e-01 7.50214237e-01 -9.33936142e-02 3.49980018e+01] [ 1.43257807e-01 -1.78815343e-03 9.89683789e-01 6.97181253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.85, Y:35.02, Z:6.97 [[ 7.40453259e-01 -6.63674104e-01 -1.06139791e-01 9.38540320e+01] [ 6.56849163e-01 7.48021624e-01 -9.49359119e-02 3.50176201e+01] [ 1.42401365e-01 5.77772625e-04 9.89808829e-01 6.97128337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.251858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:93.88, Y:35.03, Z:6.98 [[ 7.44217506e-01 -6.58695838e-01 -1.10725317e-01 9.38822048e+01] [ 6.51969578e-01 7.52405834e-01 -9.39208751e-02 3.50317837e+01] [ 1.45175664e-01 -2.29197856e-03 9.89403241e-01 6.98040144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:35.05, Z:6.98 [[ 7.45029124e-01 -6.57838442e-01 -1.10363894e-01 9.39025650e+01] [ 6.50950012e-01 7.53158272e-01 -9.49563014e-02 3.50499962e+01] [ 1.45587385e-01 -1.09616800e-03 9.89344789e-01 6.98394941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:35.07, Z:6.99 [[ 7.45839048e-01 -6.56970826e-01 -1.10061110e-01 9.39229338e+01] [ 6.50106540e-01 7.53915460e-01 -9.47257377e-02 3.50673402e+01] [ 1.45208818e-01 -9.01293147e-04 9.89400620e-01 6.98766487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:35.08, Z:6.99 [[ 7.47440415e-01 -6.55187059e-01 -1.09830525e-01 9.39437943e+01] [ 6.48327158e-01 7.55466506e-01 -9.45634979e-02 3.50834523e+01] [ 1.44930063e-01 -5.25532217e-04 9.89441762e-01 6.99221337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:35.10, Z:7.00 [[ 7.48137821e-01 -6.54334593e-01 -1.10163697e-01 9.39652225e+01] [ 6.47419260e-01 7.56205081e-01 -9.48797993e-02 3.51006959e+01] [ 1.45389482e-01 -3.38932598e-04 9.89374441e-01 6.99687314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:35.12, Z:7.00 [[ 7.48913556e-01 -6.53427958e-01 -1.10274156e-01 9.39862423e+01] [ 6.46480974e-01 7.56988698e-01 -9.50287415e-02 3.51178418e+01] [ 1.45570726e-01 -1.21830791e-04 9.89347840e-01 7.00058167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.01, Y:35.13, Z:7.00 [[ 7.49666857e-01 -6.52483544e-01 -1.10746685e-01 9.40069172e+01] [ 6.45461876e-01 7.57802889e-01 -9.54659543e-02 3.51346326e+01] [ 1.46214122e-01 8.48986129e-05 9.89252962e-01 7.00445466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:35.15, Z:7.01 [[ 7.51196520e-01 -6.50563277e-01 -1.11674580e-01 9.40290220e+01] [ 6.43397095e-01 7.59451899e-01 -9.62963720e-02 3.51511081e+01] [ 1.47458355e-01 4.86399383e-04 9.89068146e-01 7.00877670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:35.17, Z:7.01 [[ 7.51694584e-01 -6.49972146e-01 -1.11765212e-01 9.40510697e+01] [ 6.42779816e-01 7.59957759e-01 -9.64277568e-02 3.51688257e+01] [ 1.47612196e-01 6.43799771e-04 9.89045108e-01 7.01295102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.521858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:35.19, Z:7.02 [[ 7.52087265e-01 -6.49519625e-01 -1.11754205e-01 9.40725431e+01] [ 6.42315808e-01 7.60344434e-01 -9.64714647e-02 3.51864225e+01] [ 1.47631798e-01 7.73467353e-04 9.89042089e-01 7.01711768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.09, Y:35.20, Z:7.02 [[ 7.52478148e-01 -6.48993374e-01 -1.12179486e-01 9.40945243e+01] [ 6.41720188e-01 7.60793500e-01 -9.68940172e-02 3.52040739e+01] [ 1.48228999e-01 9.22789484e-04 9.88952634e-01 7.02139861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:35.22, Z:7.03 [[ 7.52505138e-01 -6.48965964e-01 -1.12157013e-01 9.41150849e+01] [ 6.41687183e-01 7.60816822e-01 -9.69294744e-02 3.52208551e+01] [ 1.48234872e-01 9.70209751e-04 9.88951708e-01 7.02552448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:35.24, Z:7.03 [[ 7.52246769e-01 -6.49304137e-01 -1.11932733e-01 9.41365262e+01] [ 6.42053651e-01 7.60528291e-01 -9.67668757e-02 3.52380682e+01] [ 1.47959143e-01 9.25749907e-04 9.88993041e-01 7.02974440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:35.26, Z:7.03 [[ 7.51868041e-01 -6.49740291e-01 -1.11946429e-01 9.41581510e+01] [ 6.42484517e-01 7.60155757e-01 -9.68342396e-02 3.52558361e+01] [ 1.48013830e-01 8.82722487e-04 9.88984897e-01 7.03447796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.18, Y:35.27, Z:7.04 [[ 7.51304638e-01 -6.50393767e-01 -1.11934304e-01 9.41793612e+01] [ 6.43138464e-01 7.59596810e-01 -9.68793226e-02 3.52728430e+01] [ 1.48034647e-01 7.96628406e-04 9.88981855e-01 7.03805921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:35.29, Z:7.04 [[ 7.50748084e-01 -6.50963741e-01 -1.12354450e-01 9.42006369e+01] [ 6.43655116e-01 7.59108491e-01 -9.72748169e-02 3.52909585e+01] [ 1.48611596e-01 7.11365849e-04 9.88895388e-01 7.04195402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:35.31, Z:7.05 [[ 7.49996574e-01 -6.51766019e-01 -1.12721766e-01 9.42220344e+01] [ 6.44409879e-01 7.58419871e-01 -9.76483871e-02 3.53091011e+01] [ 1.49134328e-01 5.96936194e-04 9.88816766e-01 7.04556415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:35.33, Z:7.05 [[ 7.49385410e-01 -6.52400596e-01 -1.13114846e-01 9.42426576e+01] [ 6.44991499e-01 7.57874130e-01 -9.80447363e-02 3.53260304e+01] [ 1.49691260e-01 5.15180838e-04 9.88732654e-01 7.04950578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:35.34, Z:7.05 [[ 7.47799837e-01 -6.54132891e-01 -1.13602657e-01 9.42643388e+01] [ 6.46674303e-01 7.56379615e-01 -9.84998655e-02 3.53430247e+01] [ 1.50358736e-01 1.94264438e-04 9.88631485e-01 7.05437948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:35.36, Z:7.06 [[ 7.46809541e-01 -6.55326834e-01 -1.13235374e-01 9.42852813e+01] [ 6.47921950e-01 7.55345444e-01 -9.82364814e-02 3.53610241e+01] [ 1.49908826e-01 -3.74268401e-06 9.88699825e-01 7.05832173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.851858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:94.31, Y:35.38, Z:7.06 [[ 7.44962667e-01 -6.57457072e-01 -1.13052302e-01 9.43066264e+01] [ 6.50092249e-01 7.53491902e-01 -9.81326692e-02 3.53789178e+01] [ 1.49702011e-01 -3.89250360e-04 9.88731084e-01 7.06341546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.881858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:94.33, Y:35.40, Z:7.07 [[ 7.43885098e-01 -6.58742041e-01 -1.12667139e-01 9.43263775e+01] [ 6.51434140e-01 7.52368631e-01 -9.78519449e-02 3.53963770e+01] [ 1.49226411e-01 -6.04617449e-04 9.88802868e-01 7.06749480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.35, Y:35.41, Z:7.07 [[ 7.42742668e-01 -6.60021654e-01 -1.12715324e-01 9.43469927e+01] [ 6.52717407e-01 7.51246107e-01 -9.79248355e-02 3.54146801e+01] [ 1.49309460e-01 -8.38300257e-04 9.88790161e-01 7.07182177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:35.43, Z:7.08 [[ 7.40265182e-01 -6.62820396e-01 -1.12590333e-01 9.43666835e+01] [ 6.55556417e-01 7.48777186e-01 -9.78698625e-02 3.54320138e+01] [ 1.49175214e-01 -1.35966383e-03 9.88809844e-01 7.07611204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.971858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:94.39, Y:35.45, Z:7.08 [[ 7.38771730e-01 -6.64433391e-01 -1.12891987e-01 9.43875923e+01] [ 6.57143173e-01 7.47345643e-01 -9.81699501e-02 3.54501998e+01] [ 1.49596727e-01 -1.66101454e-03 9.88745701e-01 7.08049969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:35.47, Z:7.08 [[ 7.37258861e-01 -6.66115732e-01 -1.12868079e-01 9.44087953e+01] [ 6.58839697e-01 7.45845824e-01 -9.82052013e-02 3.54686072e+01] [ 1.49598215e-01 -1.95931580e-03 9.88744929e-01 7.08474675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.43, Y:35.49, Z:7.09 [[ 7.34681339e-01 -6.69034688e-01 -1.12409595e-01 9.44294164e+01] [ 6.61843438e-01 7.43226974e-01 -9.78617819e-02 3.54877685e+01] [ 1.49018770e-01 -2.50032817e-03 9.88831206e-01 7.08892436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:35.51, Z:7.09 [[ 7.33333347e-01 -6.70536544e-01 -1.12262844e-01 9.44495582e+01] [ 6.63373276e-01 7.41871368e-01 -9.77894191e-02 3.55067784e+01] [ 1.48855969e-01 -2.75992885e-03 9.88855037e-01 7.09305431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:35.53, Z:7.10 [[ 7.32401935e-01 -6.71630129e-01 -1.11805080e-01 9.44685899e+01] [ 6.64529924e-01 7.40880823e-01 -9.74453013e-02 3.55250621e+01] [ 1.48281440e-01 -2.92869441e-03 9.88940866e-01 7.09693621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:35.54, Z:7.10 [[ 7.31512519e-01 -6.72659979e-01 -1.11436023e-01 9.44887291e+01] [ 6.65614052e-01 7.39945215e-01 -9.71545818e-02 3.55443152e+01] [ 1.47808551e-01 -3.10358980e-03 9.89011122e-01 7.10070872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:35.56, Z:7.11 [[ 7.31130619e-01 -6.73180871e-01 -1.10795006e-01 9.45075794e+01] [ 6.66214153e-01 7.39471158e-01 -9.66494134e-02 3.55630310e+01] [ 1.46992248e-01 -3.14985594e-03 9.89132629e-01 7.10522362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.53, Y:35.58, Z:7.11 [[ 7.31154037e-01 -6.73240507e-01 -1.10276897e-01 9.45277609e+01] [ 6.66335353e-01 7.39416972e-01 -9.62275324e-02 3.55819730e+01] [ 1.46324882e-01 -3.12424628e-03 9.89231655e-01 7.10977886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:35.60, Z:7.11 [[ 7.31119623e-01 -6.73340305e-01 -1.09895090e-01 9.45474273e+01] [ 6.66476315e-01 7.39326226e-01 -9.59481833e-02 3.56010573e+01] [ 1.45854101e-01 -3.09287488e-03 9.89301276e-01 7.11365487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:35.62, Z:7.12 [[ 7.32142063e-01 -6.72199035e-01 -1.10074780e-01 9.45660012e+01] [ 6.65291574e-01 7.40365080e-01 -9.61596049e-02 3.56208134e+01] [ 1.46133917e-01 -2.82933188e-03 9.89260771e-01 7.11742003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:35.64, Z:7.12 [[ 7.31967900e-01 -6.72391147e-01 -1.10059708e-01 9.45872468e+01] [ 6.65483252e-01 7.40190553e-01 -9.61768524e-02 3.56394954e+01] [ 1.46133620e-01 -2.84452350e-03 9.89260771e-01 7.12154667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.61, Y:35.66, Z:7.13 [[ 7.32770261e-01 -6.71463037e-01 -1.10386299e-01 9.46072334e+01] [ 6.64495807e-01 7.41033385e-01 -9.65134396e-02 3.56590083e+01] [ 1.46605140e-01 -2.62905473e-03 9.89191600e-01 7.12543350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.331858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:94.63, Y:35.67, Z:7.14 [[ 7.33820026e-01 -6.67731824e-01 -1.25069503e-01 9.46338646e+01] [ 6.62385627e-01 7.44150267e-01 -8.65197121e-02 3.56713464e+01] [ 1.50842469e-01 -1.93543438e-02 9.88368332e-01 7.14116996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:35.71, Z:7.13 [[ 7.35987272e-01 -6.69508853e-01 -1.00402349e-01 9.46411971e+01] [ 6.60639481e-01 7.42666404e-01 -1.09554042e-01 3.57061114e+01] [ 1.47912853e-01 1.43006250e-02 9.88897002e-01 7.12704951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:35.72, Z:7.14 [[ 7.37088540e-01 -6.66624745e-01 -1.10959155e-01 9.46657164e+01] [ 6.59511506e-01 7.45391811e-01 -9.71371223e-02 3.57194998e+01] [ 1.47462055e-01 -1.58018005e-03 9.89066451e-01 7.13731146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:35.74, Z:7.14 [[ 7.37889413e-01 -6.65721021e-01 -1.11061859e-01 9.46854254e+01] [ 6.58576010e-01 7.46199489e-01 -9.72829010e-02 3.57391240e+01] [ 1.47637575e-01 -1.35865349e-03 9.89040596e-01 7.14146236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.451858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.71, Y:35.76, Z:7.15 [[ 7.38640613e-01 -6.64888032e-01 -1.11058317e-01 9.47051771e+01] [ 6.57725837e-01 7.46942155e-01 -9.73351961e-02 3.57581070e+01] [ 1.47671145e-01 -1.15019545e-03 9.89035849e-01 7.14522956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:35.78, Z:7.15 [[ 7.39579331e-01 -6.63856033e-01 -1.10984599e-01 9.47237664e+01] [ 6.56683680e-01 7.47859849e-01 -9.73251807e-02 3.57768533e+01] [ 1.47610834e-01 -9.02082933e-04 9.89045109e-01 7.14947879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.511858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:94.74, Y:35.80, Z:7.15 [[ 7.39527711e-01 -6.64641844e-01 -1.06536307e-01 9.47426280e+01] [ 6.56230568e-01 7.47116257e-01 -1.05729560e-01 3.58005285e+01] [ 1.49867297e-01 8.27755854e-03 9.88671470e-01 7.15012135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:35.82, Z:7.16 [[ 7.39330447e-01 -6.63652880e-01 -1.13821550e-01 9.47663406e+01] [ 6.56629829e-01 7.48032494e-01 -9.63569209e-02 3.58150063e+01] [ 1.49089766e-01 -3.49901938e-03 9.88817475e-01 7.15923214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:35.83, Z:7.17 [[ 7.39973754e-01 -6.62719837e-01 -1.15070676e-01 9.47872843e+01] [ 6.56372617e-01 7.48828980e-01 -9.18158325e-02 3.58321505e+01] [ 1.47016430e-01 -7.58793419e-03 9.89104945e-01 7.16527185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.80, Y:35.85, Z:7.17 [[ 7.40508342e-01 -6.62836398e-01 -1.10884198e-01 9.48041754e+01] [ 6.55645736e-01 7.48764018e-01 -9.73710194e-02 3.58544726e+01] [ 1.47567153e-01 -5.96699278e-04 9.89051859e-01 7.16611127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.631858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.82, Y:35.88, Z:7.17 [[ 7.40215195e-01 -6.63665883e-01 -1.07838124e-01 9.48228020e+01] [ 6.55392592e-01 7.47998099e-01 -1.04687124e-01 3.58770644e+01] [ 1.50139984e-01 6.81469223e-03 9.88641262e-01 7.16705301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.661858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.85, Y:35.89, Z:7.18 [[ 7.40856330e-01 -6.61432208e-01 -1.16787552e-01 9.48467984e+01] [ 6.55007612e-01 7.49961215e-01 -9.23211994e-02 3.58901124e+01] [ 1.48650349e-01 -8.09999028e-03 9.88856645e-01 7.17677376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:35.91, Z:7.18 [[ 7.41727947e-01 -6.61287017e-01 -1.11978274e-01 9.48636336e+01] [ 6.53919107e-01 7.50132946e-01 -9.84396500e-02 3.59128433e+01] [ 1.49095455e-01 -2.09293156e-04 9.88822786e-01 7.17746908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.721858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.88, Y:35.93, Z:7.18 [[ 7.41956055e-01 -6.60991744e-01 -1.12210189e-01 9.48840231e+01] [ 6.53585183e-01 7.50393162e-01 -9.86737596e-02 3.59320941e+01] [ 1.49424299e-01 -1.27323583e-04 9.88773160e-01 7.18158800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.751858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.90, Y:35.95, Z:7.19 [[ 7.42131809e-01 -6.60760857e-01 -1.12407601e-01 9.49034579e+01] [ 6.53317525e-01 7.50596488e-01 -9.88995590e-02 3.59510299e+01] [ 1.49721708e-01 -4.13470212e-05 9.88728177e-01 7.18557345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.92, Y:35.97, Z:7.19 [[ 7.41622054e-01 -6.61258633e-01 -1.12843914e-01 9.49232528e+01] [ 6.53758247e-01 7.50157987e-01 -9.93133897e-02 3.59691700e+01] [ 1.50322600e-01 -1.19639157e-04 9.88636992e-01 7.18979456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.811858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.94, Y:35.99, Z:7.19 [[ 7.40963342e-01 -6.61980867e-01 -1.12936517e-01 9.49437929e+01] [ 6.54469208e-01 7.49520699e-01 -9.94423349e-02 3.59879737e+01] [ 1.50477180e-01 -2.30347828e-04 9.88613456e-01 7.19386727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:36.01, Z:7.20 [[ 7.39665431e-01 -6.63321481e-01 -1.13576685e-01 9.49633996e+01] [ 6.55731709e-01 7.48334414e-01 -1.00057635e-01 3.60057377e+01] [ 1.51363721e-01 -4.66660055e-04 9.88478025e-01 7.19856710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:36.02, Z:7.20 [[ 7.38817280e-01 -6.64211595e-01 -1.13894613e-01 9.49841357e+01] [ 6.56583913e-01 7.47544359e-01 -1.00374286e-01 3.60245173e+01] [ 1.51811041e-01 -6.23113627e-04 9.88409338e-01 7.20273389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.00, Y:36.04, Z:7.21 [[ 7.37805241e-01 -6.65283926e-01 -1.14195990e-01 9.50044564e+01] [ 6.57619638e-01 7.46590017e-01 -1.00696368e-01 3.60433459e+01] [ 1.52249261e-01 -8.03217551e-04 9.88341802e-01 7.20669279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:36.06, Z:7.21 [[ 7.35413874e-01 -6.67831204e-01 -1.14751545e-01 9.50238414e+01] [ 6.60113710e-01 7.44311634e-01 -1.01242681e-01 3.60617971e+01] [ 1.53023931e-01 -1.29379620e-03 9.88221636e-01 7.21062748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.961858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.04, Y:36.08, Z:7.21 [[ 7.33823533e-01 -6.69536916e-01 -1.14992782e-01 9.50443671e+01] [ 6.61801327e-01 7.42777009e-01 -1.01495414e-01 3.60799370e+01] [ 1.53368922e-01 -1.62265235e-03 9.88167668e-01 7.21489662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.991858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.07, Y:36.10, Z:7.22 [[ 7.31947731e-01 -6.71615920e-01 -1.14824104e-01 9.50650792e+01] [ 6.63919678e-01 7.40896759e-01 -1.01403416e-01 3.60984577e+01] [ 1.53176955e-01 -2.01198182e-03 9.88196728e-01 7.21890607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.09, Y:36.12, Z:7.22 [[ 7.30009852e-01 -6.73716943e-01 -1.14852502e-01 9.50864039e+01] [ 6.66033809e-01 7.38985569e-01 -1.01485435e-01 3.61168832e+01] [ 1.53246799e-01 -2.41028243e-03 9.88185008e-01 7.22363740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.11, Y:36.13, Z:7.23 [[ 7.26503468e-01 -6.77536529e-01 -1.14616591e-01 9.51071485e+01] [ 6.69923174e-01 7.35482317e-01 -1.01334604e-01 3.61348188e+01] [ 1.52956372e-01 -3.16436946e-03 9.88227876e-01 7.22777023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.081858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.13, Y:36.15, Z:7.23 [[ 7.24806372e-01 -6.79352586e-01 -1.14611459e-01 9.51270448e+01] [ 6.71753592e-01 7.33803639e-01 -1.01387035e-01 3.61526192e+01] [ 1.52979850e-01 -3.50469040e-03 9.88223094e-01 7.23165422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:36.17, Z:7.24 [[ 7.23321210e-01 -6.80904115e-01 -1.14786820e-01 9.51478624e+01] [ 6.73294800e-01 7.32362671e-01 -1.01582629e-01 3.61711233e+01] [ 1.53233612e-01 -3.80849871e-03 9.88182653e-01 7.23585948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:36.19, Z:7.24 [[ 7.22101595e-01 -6.82185118e-01 -1.14859703e-01 9.51684558e+01] [ 6.74573243e-01 7.31168339e-01 -1.01704469e-01 3.61892519e+01] [ 1.53363053e-01 -4.04032310e-03 9.88161652e-01 7.24000462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.171858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.19, Y:36.21, Z:7.24 [[ 7.20539271e-01 -6.83788170e-01 -1.15138598e-01 9.51891853e+01] [ 6.76150279e-01 7.29667612e-01 -1.02009683e-01 3.62078165e+01] [ 1.53765921e-01 -4.34901215e-03 9.88097732e-01 7.24420608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:36.23, Z:7.25 [[ 7.20368313e-01 -6.83930668e-01 -1.15361757e-01 9.52096504e+01] [ 6.76255597e-01 7.29534074e-01 -1.02266326e-01 3.62263627e+01] [ 1.54103409e-01 -4.34461293e-03 9.88045173e-01 7.24844966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.231858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.23, Y:36.24, Z:7.25 [[ 7.20524976e-01 -6.83800167e-01 -1.15156811e-01 9.52298030e+01] [ 6.76141767e-01 7.29656861e-01 -1.02142915e-01 3.62448707e+01] [ 1.53870300e-01 -4.26580841e-03 9.88081846e-01 7.25242800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.261858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:95.25, Y:36.26, Z:7.26 [[ 7.21550265e-01 -6.82776557e-01 -1.14810228e-01 9.52486458e+01] [ 6.75142712e-01 7.30616337e-01 -1.01892523e-01 3.62637997e+01] [ 1.53452054e-01 -3.99271162e-03 9.88148028e-01 7.25631556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.291858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.27, Y:36.28, Z:7.26 [[ 7.22143617e-01 -6.82167345e-01 -1.14700956e-01 9.52686938e+01] [ 6.74535222e-01 7.31186030e-01 -1.01829387e-01 3.62830226e+01] [ 1.53332419e-01 -3.83439306e-03 9.88167226e-01 7.26040582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.29, Y:36.30, Z:7.26 [[ 7.22708718e-01 -6.82017126e-01 -1.12003345e-01 9.52871347e+01] [ 6.73547501e-01 7.31333433e-01 -1.07168898e-01 3.63043928e+01] [ 1.55002815e-01 2.01232351e-03 9.87911979e-01 7.26202827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:36.32, Z:7.27 [[ 7.23674958e-01 -6.79928812e-01 -1.18285100e-01 9.53101820e+01] [ 6.72938658e-01 7.33223770e-01 -9.76548325e-02 3.63193909e+01] [ 1.53127781e-01 -8.92825942e-03 9.88166063e-01 7.27082505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.381858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:95.33, Y:36.34, Z:7.27 [[ 7.24015983e-01 -6.80262919e-01 -1.14206905e-01 9.53291079e+01] [ 6.72652957e-01 7.32960674e-01 -1.01521668e-01 3.63404510e+01] [ 1.52770596e-01 -3.31830197e-03 9.88256107e-01 7.27309870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.411858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.35, Y:36.36, Z:7.28 [[ 7.24227436e-01 -6.80093778e-01 -1.13873059e-01 9.53490226e+01] [ 6.72517807e-01 7.33118006e-01 -1.01280738e-01 3.63593305e+01] [ 1.52362790e-01 -3.23137105e-03 9.88319351e-01 7.27720755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.37, Y:36.38, Z:7.28 [[ 7.25251836e-01 -6.79086838e-01 -1.13361552e-01 9.53683453e+01] [ 6.71558435e-01 7.34051958e-01 -1.00881075e-01 3.63788908e+01] [ 1.51720279e-01 -2.96472141e-03 9.88419024e-01 7.28133123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.471858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:95.39, Y:36.40, Z:7.28 [[ 7.25668004e-01 -6.79370516e-01 -1.08911208e-01 9.53851764e+01] [ 6.70581654e-01 7.33769767e-01 -1.09097084e-01 3.64010811e+01] [ 1.54033094e-01 6.13440514e-03 9.88046646e-01 7.28198053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:36.41, Z:7.29 [[ 7.26451203e-01 -6.76885814e-01 -1.18719182e-01 9.54102298e+01] [ 6.70393585e-01 7.36003353e-01 -9.41886689e-02 3.64142338e+01] [ 1.51132690e-01 -1.11651062e-02 9.88450429e-01 7.29274163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:36.44, Z:7.29 [[ 7.27609022e-01 -6.77716711e-01 -1.06231689e-01 9.54233520e+01] [ 6.68649154e-01 7.35259516e-01 -1.10913270e-01 3.64429003e+01] [ 1.53275637e-01 9.66976687e-03 9.88136162e-01 7.28898954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:36.45, Z:7.30 [[ 7.29121368e-01 -6.73771199e-01 -1.20059990e-01 9.54497151e+01] [ 6.67810038e-01 7.38804331e-01 -9.05423331e-02 3.64520903e+01] [ 1.49705657e-01 -1.41609166e-02 9.88629195e-01 7.30214408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.591858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.47, Y:36.48, Z:7.30 [[ 7.29889481e-01 -6.74439163e-01 -1.11324577e-01 9.54663254e+01] [ 6.67096672e-01 7.38328201e-01 -9.92647878e-02 3.64765110e+01] [ 1.49142135e-01 -1.81193043e-03 9.88814108e-01 7.30171653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.621858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:95.49, Y:36.50, Z:7.31 [[ 7.30484447e-01 -6.73799115e-01 -1.11297916e-01 9.54863735e+01] [ 6.66444243e-01 7.38912761e-01 -9.92975458e-02 3.64960681e+01] [ 1.49146049e-01 -1.63854229e-03 9.88813820e-01 7.30582106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.651858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.51, Y:36.52, Z:7.31 [[ 7.31287340e-01 -6.72874738e-01 -1.11617262e-01 9.55051161e+01] [ 6.65458012e-01 7.39755091e-01 -9.96395509e-02 3.65169209e+01] [ 1.49614375e-01 -1.41145929e-03 9.88743418e-01 7.30910917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:36.54, Z:7.31 [[ 7.31194136e-01 -6.72864893e-01 -1.12285218e-01 9.55247471e+01] [ 6.65349794e-01 7.39764114e-01 -1.00293110e-01 3.65362255e+01] [ 1.50548288e-01 -1.37521288e-03 9.88601700e-01 7.31309564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:36.56, Z:7.32 [[ 7.30772594e-01 -6.73341446e-01 -1.12172689e-01 9.55433578e+01] [ 6.65838578e-01 7.39330272e-01 -1.00248374e-01 3.65561165e+01] [ 1.50434050e-01 -1.43013974e-03 9.88619012e-01 7.31696805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.741858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.56, Y:36.58, Z:7.32 [[ 7.30239081e-01 -6.73932103e-01 -1.12099981e-01 9.55637781e+01] [ 6.66441044e-01 7.38791709e-01 -1.00215491e-01 3.65754975e+01] [ 1.50356973e-01 -1.52676056e-03 9.88630593e-01 7.32138572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.771858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.58, Y:36.59, Z:7.33 [[ 7.29568571e-01 -6.74713378e-01 -1.11765637e-01 9.55837578e+01] [ 6.67267876e-01 7.38078021e-01 -9.99720774e-02 3.65947210e+01] [ 1.49944258e-01 -1.64113393e-03 9.88693090e-01 7.32582689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.60, Y:36.61, Z:7.33 [[ 7.28799144e-01 -6.75569413e-01 -1.11614408e-01 9.56038871e+01] [ 6.68145760e-01 7.37294258e-01 -9.98920406e-02 3.66143317e+01] [ 1.49776669e-01 -1.77345965e-03 9.88718263e-01 7.33015949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:36.63, Z:7.33 [[ 7.27827818e-01 -6.76695734e-01 -1.11128531e-01 9.56220664e+01] [ 6.69341690e-01 7.36260185e-01 -9.95120169e-02 3.66335377e+01] [ 1.49158870e-01 -1.95534486e-03 9.88811311e-01 7.33383541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.64, Y:36.65, Z:7.34 [[ 7.27180597e-01 -6.77386559e-01 -1.11156781e-01 9.56420276e+01] [ 6.70030985e-01 7.35624340e-01 -9.95756519e-02 3.66531267e+01] [ 1.49220841e-01 -2.06900518e-03 9.88801729e-01 7.33763294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:36.67, Z:7.34 [[ 7.26448907e-01 -6.78171123e-01 -1.11157161e-01 9.56617495e+01] [ 6.70816200e-01 7.34900768e-01 -9.96317632e-02 3.66722309e+01] [ 1.49256868e-01 -2.18863916e-03 9.88796034e-01 7.34100540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:95.68, Y:36.69, Z:7.34 [[ 7.25818457e-01 -6.78802253e-01 -1.11422927e-01 9.56820710e+01] [ 6.71410763e-01 7.34317570e-01 -9.99264403e-02 3.66910929e+01] [ 1.49650106e-01 -2.28209809e-03 9.88736384e-01 7.34469380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:36.71, Z:7.35 [[ 7.24864291e-01 -6.79812899e-01 -1.11472789e-01 9.57026901e+01] [ 6.72418006e-01 7.33381498e-01 -1.00028013e-01 3.67103140e+01] [ 1.49752415e-01 -2.44957571e-03 9.88720493e-01 7.34848230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:36.73, Z:7.35 [[ 7.24675122e-01 -6.80042818e-01 -1.11300196e-01 9.57230622e+01] [ 6.72664948e-01 7.33168303e-01 -9.99305107e-02 3.67293492e+01] [ 1.49558802e-01 -2.45058549e-03 9.88749796e-01 7.35271390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.011858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.74, Y:36.75, Z:7.36 [[ 7.24875792e-01 -6.79842186e-01 -1.11219100e-01 9.57428099e+01] [ 6.72464293e-01 7.33354624e-01 -9.99138132e-02 3.67480110e+01] [ 1.49488666e-01 -2.36576861e-03 9.88760609e-01 7.35673102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:36.77, Z:7.36 [[ 7.25961576e-01 -6.78722057e-01 -1.10978194e-01 9.57628502e+01] [ 6.71358404e-01 7.34392220e-01 -9.97294396e-02 3.67676654e+01] [ 1.49190093e-01 -2.10640212e-03 9.88806290e-01 7.36080391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:36.79, Z:7.36 [[ 7.26658264e-01 -6.78009247e-01 -1.10775576e-01 9.57829192e+01] [ 6.70655810e-01 7.35050881e-01 -9.96041563e-02 3.67868001e+01] [ 1.48958223e-01 -1.91409999e-03 9.88841637e-01 7.36489284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.101858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:95.80, Y:36.81, Z:7.37 [[ 7.28908062e-01 -6.75527114e-01 -1.11158243e-01 9.58021961e+01] [ 6.68085143e-01 7.37333876e-01 -1.00004984e-01 3.68055631e+01] [ 1.49516817e-01 -1.36873163e-03 9.88758235e-01 7.36860289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:36.82, Z:7.37 [[ 7.29961515e-01 -6.74341699e-01 -1.11442627e-01 9.58231053e+01] [ 6.66842682e-01 7.38418617e-01 -1.00293490e-01 3.68245947e+01] [ 1.49923393e-01 -1.10431257e-03 9.88697000e-01 7.37270717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:36.84, Z:7.38 [[ 7.29785892e-01 -6.74536404e-01 -1.11414504e-01 9.58440552e+01] [ 6.67034875e-01 7.38240765e-01 -1.00324722e-01 3.68435841e+01] [ 1.49923406e-01 -1.10179345e-03 9.88697000e-01 7.37683446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.191858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.86, Y:36.86, Z:7.38 [[ 7.30601338e-01 -6.73678486e-01 -1.11260878e-01 9.58643451e+01] [ 6.66179801e-01 7.39024029e-01 -1.00239505e-01 3.68619113e+01] [ 1.49753660e-01 -8.84633527e-04 9.88722943e-01 7.38065428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.221858064 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:95.89, Y:36.88, Z:7.38 [[ 7.31953758e-01 -6.72273539e-01 -1.10869228e-01 9.58852373e+01] [ 6.64803330e-01 7.40302630e-01 -9.99427263e-02 3.68806965e+01] [ 1.49265631e-01 -5.52777623e-04 9.88796979e-01 7.38438766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.251858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.91, Y:36.90, Z:7.39 [[ 7.32318033e-01 -6.71845763e-01 -1.11056603e-01 9.59051454e+01] [ 6.64336754e-01 7.40690955e-01 -1.00167795e-01 3.68986138e+01] [ 1.49555930e-01 -4.24300635e-04 9.88753176e-01 7.38853874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:95.93, Y:36.92, Z:7.39 [[ 7.32925935e-01 -6.71221326e-01 -1.10821955e-01 9.59259877e+01] [ 6.63526817e-01 7.41256620e-01 -1.01344885e-01 3.69174725e+01] [ 1.50172356e-01 7.44955494e-04 9.88659551e-01 7.39214110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:36.94, Z:7.40 [[ 7.33876429e-01 -6.70072821e-01 -1.11480056e-01 9.59490198e+01] [ 6.62612049e-01 7.42295050e-01 -9.97162548e-02 3.69354134e+01] [ 1.49568246e-01 -6.88619212e-04 9.88751165e-01 7.39672160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.97, Y:36.96, Z:7.40 [[ 7.34540375e-01 -6.69958284e-01 -1.07732702e-01 9.59676075e+01] [ 6.61413778e-01 7.42363144e-01 -1.06905459e-01 3.69563157e+01] [ 1.51598985e-01 7.27048249e-03 9.88415342e-01 7.39795374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.371858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.99, Y:36.97, Z:7.41 [[ 7.35106702e-01 -6.68032627e-01 -1.15544563e-01 9.59930165e+01] [ 6.61230460e-01 7.44104926e-01 -9.53002506e-02 3.69688671e+01] [ 1.49640956e-01 -6.34573176e-03 9.88720039e-01 7.40723965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.401858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.01, Y:36.99, Z:7.41 [[ 7.35539332e-01 -6.68392941e-01 -1.10601845e-01 9.60122663e+01] [ 6.60879994e-01 7.43808247e-01 -9.99346096e-02 3.69899179e+01] [ 1.49062152e-01 4.11289098e-04 9.88827743e-01 7.40911347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.03, Y:37.01, Z:7.41 [[ 7.36112031e-01 -6.68606385e-01 -1.05378266e-01 9.60303280e+01] [ 6.59651995e-01 7.43532340e-01 -1.09630763e-01 3.70124052e+01] [ 1.51651977e-01 1.11875401e-02 9.88370637e-01 7.40987112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.461858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:96.06, Y:37.02, Z:7.42 [[ 7.37223575e-01 -6.65372801e-01 -1.17390102e-01 9.60577181e+01] [ 6.59006602e-01 7.46453064e-01 -9.22936678e-02 3.70221496e+01] [ 1.49035897e-01 -9.31978437e-03 9.88787865e-01 7.42076924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.491858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.08, Y:37.04, Z:7.42 [[ 7.37463792e-01 -6.66211675e-01 -1.10946650e-01 9.60761434e+01] [ 6.58606155e-01 7.45762083e-01 -1.00383507e-01 3.70447190e+01] [ 1.49616469e-01 9.59055044e-04 9.88743643e-01 7.42122652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.521858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.10, Y:37.06, Z:7.43 [[ 7.37808031e-01 -6.65815468e-01 -1.11036354e-01 9.60987584e+01] [ 6.58184558e-01 7.46115668e-01 -1.00521129e-01 3.70610192e+01] [ 1.49774486e-01 1.08288281e-03 9.88719592e-01 7.42602441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.551858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:96.12, Y:37.08, Z:7.43 [[ 7.37730573e-01 -6.65936855e-01 -1.10822865e-01 9.61199447e+01] [ 6.58328159e-01 7.46007304e-01 -1.00384948e-01 3.70773862e+01] [ 1.49524703e-01 1.09923250e-03 9.88757379e-01 7.43055831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:37.10, Z:7.43 [[ 7.37447155e-01 -6.66483695e-01 -1.09412876e-01 9.61405969e+01] [ 6.58498507e-01 7.45509618e-01 -1.02932627e-01 3.70954284e+01] [ 1.50171269e-01 3.85915749e-03 9.88652465e-01 7.43421101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:37.11, Z:7.44 [[ 7.36193914e-01 -6.67417585e-01 -1.12126220e-01 9.61646746e+01] [ 6.60124183e-01 7.44682020e-01 -9.84111429e-02 3.71098043e+01] [ 1.49179707e-01 -1.56754475e-03 9.88808858e-01 7.44013357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.18, Y:37.13, Z:7.44 [[ 7.35339828e-01 -6.69236852e-01 -1.06758483e-01 9.61844882e+01] [ 6.60529136e-01 7.42996092e-01 -1.07972534e-01 3.71320417e+01] [ 1.51580334e-01 8.87941578e-03 9.88405058e-01 7.44076566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:37.14, Z:7.45 [[ 7.34845733e-01 -6.68154815e-01 -1.16494171e-01 9.62098894e+01] [ 6.61492898e-01 7.43982745e-01 -9.44289205e-02 3.71417709e+01] [ 1.49762791e-01 -7.66937736e-03 9.88692211e-01 7.45111737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:37.16, Z:7.45 [[ 7.33896041e-01 -6.70067049e-01 -1.11385596e-01 9.62303738e+01] [ 6.62398272e-01 7.42300469e-01 -1.01086811e-01 3.71593974e+01] [ 1.50416521e-01 4.05584030e-04 9.88622631e-01 7.45237085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:37.18, Z:7.45 [[ 7.32999781e-01 -6.71579712e-01 -1.08129609e-01 9.62506571e+01] [ 6.62802002e-01 7.40890510e-01 -1.08511559e-01 3.71796724e+01] [ 1.52986363e-01 7.87042808e-03 9.88196959e-01 7.45397697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.761858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:96.28, Y:37.19, Z:7.46 [[ 7.32581008e-01 -6.70585775e-01 -1.16789487e-01 9.62768279e+01] [ 6.63748603e-01 7.41795685e-01 -9.57964138e-02 3.71908061e+01] [ 1.50873650e-01 -7.34022580e-03 9.88525803e-01 7.46322558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.791858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:96.29, Y:37.21, Z:7.46 [[ 7.31242203e-01 -6.74049860e-01 -1.04602231e-01 9.62930994e+01] [ 6.64324332e-01 7.38541172e-01 -1.15022260e-01 3.72148701e+01] [ 1.54783792e-01 1.46193238e-02 9.87840196e-01 7.45921487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.821858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:96.32, Y:37.23, Z:7.47 [[ 7.30706079e-01 -6.72760552e-01 -1.16025276e-01 9.63210356e+01] [ 6.65074254e-01 7.39854059e-01 -1.01450519e-01 3.72263262e+01] [ 1.54093679e-01 -3.03491294e-03 9.88051581e-01 7.46958332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.851858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:96.35, Y:37.24, Z:7.48 [[ 7.30807154e-01 -6.71981752e-01 -1.19839179e-01 9.63451493e+01] [ 6.65534130e-01 7.40480216e-01 -9.35594571e-02 3.72404294e+01] [ 1.51608789e-01 -1.13831432e-02 9.88375030e-01 7.47622960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.36, Y:37.26, Z:7.48 [[ 7.30613788e-01 -6.73519191e-01 -1.12140055e-01 9.63639513e+01] [ 6.65742416e-01 7.39169730e-01 -1.02054617e-01 3.72623661e+01] [ 1.51626277e-01 -9.38806142e-05 9.88437890e-01 7.47571420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.39, Y:37.28, Z:7.48 [[ 7.30643244e-01 -6.73437178e-01 -1.12440282e-01 9.63870680e+01] [ 6.65608459e-01 7.39244456e-01 -1.02386585e-01 3.72777844e+01] [ 1.52071789e-01 -3.31361824e-05 9.88369450e-01 7.47978032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.941858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:96.41, Y:37.30, Z:7.48 [[ 7.30508795e-01 -6.74303577e-01 -1.08035121e-01 9.64055938e+01] [ 6.65207064e-01 7.38398900e-01 -1.10754807e-01 3.72983377e+01] [ 1.54455377e-01 9.04163504e-03 9.87958393e-01 7.48006880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:37.31, Z:7.49 [[ 7.30466770e-01 -6.72590146e-01 -1.18493858e-01 9.64328140e+01] [ 6.65748402e-01 7.39964052e-01 -9.60846823e-02 3.73102425e+01] [ 1.52306806e-01 -8.70042897e-03 9.88294966e-01 7.49051269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.45, Y:37.33, Z:7.49 [[ 7.30739716e-01 -6.73285430e-01 -1.12721766e-01 9.64529823e+01] [ 6.65394259e-01 7.39382661e-01 -1.02780161e-01 3.73307091e+01] [ 1.52544904e-01 1.01129835e-04 9.88296536e-01 7.49095641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.031858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:96.47, Y:37.35, Z:7.49 [[ 7.30865973e-01 -6.73422624e-01 -1.11071599e-01 9.64739915e+01] [ 6.65180077e-01 7.39251959e-01 -1.05080956e-01 3.73490501e+01] [ 1.52873790e-01 2.91748073e-03 9.88241414e-01 7.49425775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:37.36, Z:7.50 [[ 7.30661750e-01 -6.73281128e-01 -1.13251623e-01 9.64971546e+01] [ 6.65790267e-01 7.39383296e-01 -1.00178149e-01 3.73643219e+01] [ 1.51184415e-01 -2.20548719e-03 9.88503115e-01 7.50087258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.52, Y:37.38, Z:7.50 [[ 7.30465311e-01 -6.73971898e-01 -1.10373509e-01 9.65181516e+01] [ 6.66394756e-01 7.38756981e-01 -1.00777735e-01 3.73820642e+01] [ 1.49460561e-01 6.23117681e-05 9.88767686e-01 7.50481253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.54, Y:37.40, Z:7.51 [[ 7.29883701e-01 -6.75325224e-01 -1.05856621e-01 9.65378939e+01] [ 6.66597817e-01 7.37469011e-01 -1.08567071e-01 3.74045954e+01] [ 1.51384059e-01 8.67754312e-03 9.88436931e-01 7.50510723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.151858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:96.56, Y:37.42, Z:7.52 [[ 7.30419424e-01 -6.73090989e-01 -1.15913699e-01 9.65635512e+01] [ 6.66562566e-01 7.39508939e-01 -9.39195119e-02 3.74154479e+01] [ 1.48935594e-01 -8.66309688e-03 9.88808950e-01 7.51607763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:37.44, Z:7.52 [[ 7.30335443e-01 -6.74150567e-01 -1.10141517e-01 9.65828454e+01] [ 6.66588389e-01 7.38593934e-01 -1.00692205e-01 3.74355440e+01] [ 1.49231564e-01 1.20029649e-04 9.88802268e-01 7.51726288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:37.46, Z:7.52 [[ 7.29834173e-01 -6.75518111e-01 -1.04963624e-01 9.66013635e+01] [ 6.66580499e-01 7.37271163e-01 -1.10007593e-01 3.74576145e+01] [ 1.51698774e-01 1.03205956e-02 9.88372889e-01 7.51758842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.241858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.63, Y:37.47, Z:7.53 [[ 7.29930661e-01 -6.73479701e-01 -1.16731837e-01 9.66275937e+01] [ 6.67076723e-01 7.39139942e-01 -9.31707615e-02 3.74675704e+01] [ 1.49029780e-01 -9.86089594e-03 9.88783539e-01 7.53042976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:37.49, Z:7.53 [[ 7.28801225e-01 -6.76196563e-01 -1.07735711e-01 9.66447264e+01] [ 6.67799816e-01 7.36700102e-01 -1.06378408e-01 3.74915124e+01] [ 1.51301623e-01 5.58282638e-03 9.88471877e-01 7.52856138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.67, Y:37.51, Z:7.53 [[ 7.28269105e-01 -6.76161920e-01 -1.11486183e-01 9.66673565e+01] [ 6.68284227e-01 7.36752917e-01 -1.02914198e-01 3.75081272e+01] [ 1.51724432e-01 4.44773077e-04 9.88422733e-01 7.53442379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.331858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:96.69, Y:37.52, Z:7.54 [[ 7.28215693e-01 -6.75531223e-01 -1.15583183e-01 9.66900250e+01] [ 6.68573572e-01 7.37301069e-01 -9.69356056e-02 3.75230483e+01] [ 1.50702632e-01 -6.68583204e-03 9.88556532e-01 7.54129864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.361858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:96.71, Y:37.54, Z:7.54 [[ 7.26808186e-01 -6.77684803e-01 -1.11772842e-01 9.67086520e+01] [ 6.69900877e-01 7.35352375e-01 -1.02419235e-01 3.75422456e+01] [ 1.51600385e-01 -4.37586347e-04 9.88441770e-01 7.54271245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:37.56, Z:7.54 [[ 7.25804661e-01 -6.79138847e-01 -1.09444142e-01 9.67286892e+01] [ 6.70601466e-01 7.33995474e-01 -1.07444493e-01 3.75637457e+01] [ 1.53301234e-01 4.59031179e-03 9.88168842e-01 7.54463410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:37.58, Z:7.55 [[ 7.25187974e-01 -6.78743524e-01 -1.15799960e-01 9.67508528e+01] [ 6.71540118e-01 7.34350010e-01 -9.88126126e-02 3.75773642e+01] [ 1.52106123e-01 -6.10660050e-03 9.88345302e-01 7.55264816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:37.60, Z:7.55 [[ 7.24611542e-01 -6.79958312e-01 -1.12226585e-01 9.67693157e+01] [ 6.72123406e-01 7.33250282e-01 -1.02927896e-01 3.75977707e+01] [ 1.52276853e-01 -8.47373140e-04 9.88337514e-01 7.55418072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.481858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:96.79, Y:37.62, Z:7.56 [[ 7.23583344e-01 -6.81078044e-01 -1.12070706e-01 9.67896899e+01] [ 6.73273207e-01 7.32210067e-01 -1.02818319e-01 3.76165591e+01] [ 1.52086599e-01 -1.05658028e-03 9.88366607e-01 7.55813914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.511858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:96.81, Y:37.64, Z:7.56 [[ 7.23152083e-01 -6.81581129e-01 -1.11795479e-01 9.68100622e+01] [ 6.73811752e-01 7.31741702e-01 -1.02624577e-01 3.76357500e+01] [ 1.51752389e-01 -1.11593083e-03 9.88417911e-01 7.56208276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:37.65, Z:7.57 [[ 7.23154278e-01 -6.81574806e-01 -1.11819824e-01 9.68294306e+01] [ 6.73793117e-01 7.31747657e-01 -1.02704441e-01 3.76539936e+01] [ 1.51824654e-01 -1.07227173e-03 9.88406862e-01 7.56582533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.85, Y:37.67, Z:7.57 [[ 7.23257183e-01 -6.81410677e-01 -1.12154075e-01 9.68496574e+01] [ 6.73574958e-01 7.31900579e-01 -1.03045222e-01 3.76736051e+01] [ 1.52301747e-01 -1.01597938e-03 9.88333519e-01 7.56980538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.601858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:96.87, Y:37.69, Z:7.57 [[ 7.23466854e-01 -6.81168529e-01 -1.12272639e-01 9.68700998e+01] [ 6.73304283e-01 7.32126071e-01 -1.03212207e-01 3.76930675e+01] [ 1.52502633e-01 -9.23038415e-04 9.88302633e-01 7.57383276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.631858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:96.89, Y:37.71, Z:7.58 [[ 7.23833922e-01 -6.80775176e-01 -1.12292534e-01 9.68890097e+01] [ 6.72894354e-01 7.32491997e-01 -1.03289217e-01 3.77115139e+01] [ 1.52570118e-01 -7.96773169e-04 9.88292327e-01 7.57723996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:37.73, Z:7.58 [[ 7.24256080e-01 -6.80373575e-01 -1.12004146e-01 9.69088780e+01] [ 6.72522318e-01 7.32865156e-01 -1.03065007e-01 3.77306239e+01] [ 1.52206644e-01 -6.79829799e-04 9.88348459e-01 7.58090485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:37.75, Z:7.59 [[ 7.24568614e-01 -6.79984673e-01 -1.12343970e-01 9.69286744e+01] [ 6.72071873e-01 7.33226114e-01 -1.03435315e-01 3.77494642e+01] [ 1.52707961e-01 -5.57239278e-04 9.88271202e-01 7.58523874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:37.77, Z:7.59 [[ 7.24540438e-01 -6.79954220e-01 -1.12709419e-01 9.69478960e+01] [ 6.71979961e-01 7.33254390e-01 -1.03831269e-01 3.77675875e+01] [ 1.53245186e-01 -5.08517557e-04 9.88188066e-01 7.58951934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751858064 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:96.97, Y:37.79, Z:7.59 [[ 7.24182316e-01 -6.80021154e-01 -1.14591460e-01 9.69687662e+01] [ 6.72423708e-01 7.33183653e-01 -1.01430206e-01 3.77855580e+01] [ 1.52991271e-01 -3.60005257e-03 9.88220983e-01 7.59483587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:37.81, Z:7.60 [[ 7.23408172e-01 -6.81400789e-01 -1.11236602e-01 9.69862248e+01] [ 6.73047979e-01 7.31907498e-01 -1.06385299e-01 3.78075462e+01] [ 1.53905929e-01 2.09242437e-03 9.88083289e-01 7.59757334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:37.83, Z:7.60 [[ 7.22354046e-01 -6.82232999e-01 -1.12972413e-01 9.70068646e+01] [ 6.74229327e-01 7.31134272e-01 -1.04199285e-01 3.78262214e+01] [ 1.53686194e-01 -9.00539149e-04 9.88119296e-01 7.60301464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:37.85, Z:7.61 [[ 7.21032266e-01 -6.83581519e-01 -1.13264197e-01 9.70265650e+01] [ 6.75543402e-01 7.29873271e-01 -1.04528081e-01 3.78458978e+01] [ 1.54121974e-01 -1.14676135e-03 9.88051164e-01 7.60705338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:37.86, Z:7.61 [[ 7.18397520e-01 -6.86362677e-01 -1.13186920e-01 9.70449685e+01] [ 6.78360694e-01 7.27257445e-01 -1.04514959e-01 3.78649031e+01] [ 1.54051197e-01 -1.69827017e-03 9.88061407e-01 7.61179858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:37.88, Z:7.62 [[ 7.16706173e-01 -6.88101017e-01 -1.13354543e-01 9.70652262e+01] [ 6.80091331e-01 7.25612011e-01 -1.04704303e-01 3.78842096e+01] [ 1.54298555e-01 -2.04922136e-03 9.88022144e-01 7.61670563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:37.90, Z:7.62 [[ 7.14907393e-01 -6.89989692e-01 -1.13232700e-01 9.70850274e+01] [ 6.82011534e-01 7.23815181e-01 -1.04651096e-01 3.79032567e+01] [ 1.54167725e-01 -2.41016494e-03 9.88041752e-01 7.62114849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.961858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:97.10, Y:37.92, Z:7.63 [[ 7.11839645e-01 -6.93141800e-01 -1.13308279e-01 9.71028353e+01] [ 6.85183341e-01 7.20794795e-01 -1.04779064e-01 3.79228395e+01] [ 1.54298767e-01 -3.05105354e-03 9.88019525e-01 7.62550047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.991858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:97.12, Y:37.94, Z:7.63 [[ 7.10511860e-01 -6.94506819e-01 -1.13283605e-01 9.71223302e+01] [ 6.86563677e-01 7.19478455e-01 -1.04790601e-01 3.79425678e+01] [ 1.54282900e-01 -3.32144346e-03 9.88021131e-01 7.62909471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:37.96, Z:7.63 [[ 7.09639468e-01 -6.95384958e-01 -1.13364837e-01 9.71410414e+01] [ 6.87432417e-01 7.18629043e-01 -1.04923644e-01 3.79616590e+01] [ 1.54429588e-01 -3.47270506e-03 9.87997694e-01 7.63292096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.051858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:97.16, Y:37.98, Z:7.64 [[ 7.08981852e-01 -6.96017051e-01 -1.13600171e-01 9.71596791e+01] [ 6.88032860e-01 7.18016289e-01 -1.05182666e-01 3.79828731e+01] [ 1.54775702e-01 -3.58804873e-03 9.87943120e-01 7.63653452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.081858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:97.18, Y:38.00, Z:7.64 [[ 7.08805056e-01 -6.96201782e-01 -1.13571436e-01 9.71803611e+01] [ 6.88214980e-01 7.17837184e-01 -1.05213684e-01 3.80021673e+01] [ 1.54775754e-01 -3.58557285e-03 9.87943121e-01 7.64067669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.111858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:97.20, Y:38.02, Z:7.64 [[ 7.09448979e-01 -6.95673953e-01 -1.12782525e-01 9.71999208e+01] [ 6.87783367e-01 7.18349599e-01 -1.04536562e-01 3.80220336e+01] [ 1.53740645e-01 -3.40658803e-03 9.88105363e-01 7.64447264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141858064 meters Centerline goodness : 0.996039 Centerline is valid? [True, True] Translation: X:97.22, Y:38.04, Z:7.65 [[ 7.09070402e-01 -6.95286129e-01 -1.17457922e-01 9.72207965e+01] [ 6.88511774e-01 7.18637534e-01 -9.75275993e-02 3.80391260e+01] [ 1.52219259e-01 -1.17172284e-02 9.88277291e-01 7.65122068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.171858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:97.23, Y:38.07, Z:7.65 [[ 7.10770244e-01 -6.95094078e-01 -1.07934620e-01 9.72347513e+01] [ 6.86277550e-01 7.18905143e-01 -1.10446913e-01 3.80666491e+01] [ 1.54365749e-01 4.42927229e-03 9.88003845e-01 7.64932267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:97.26, Y:38.08, Z:7.66 [[ 7.11725191e-01 -6.93259374e-01 -1.13307952e-01 9.72558250e+01] [ 6.85236175e-01 7.20682858e-01 -1.05202673e-01 3.80828494e+01] [ 1.54591838e-01 -2.76731544e-03 9.87974547e-01 7.65655028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.231858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:97.28, Y:38.10, Z:7.66 [[ 7.12882941e-01 -6.92066969e-01 -1.13319122e-01 9.72756024e+01] [ 6.84021813e-01 7.21829025e-01 -1.05247415e-01 3.81027711e+01] [ 1.54635291e-01 -2.48366397e-03 9.87968501e-01 7.66102481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.261858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:97.29, Y:38.12, Z:7.67 [[ 7.14408485e-01 -6.90540946e-01 -1.13020873e-01 9.72938900e+01] [ 6.82510290e-01 7.23290240e-01 -1.05028249e-01 3.81218711e+01] [ 1.54273201e-01 -2.10483659e-03 9.88025986e-01 7.66524913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.291858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:97.31, Y:38.14, Z:7.67 [[ 7.18306401e-01 -6.86634745e-01 -1.12109953e-01 9.73128264e+01] [ 6.78680991e-01 7.27001526e-01 -1.04215608e-01 3.81425465e+01] [ 1.53062164e-01 -1.22815590e-03 9.88215799e-01 7.67010035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.321858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:97.32, Y:38.17, Z:7.66 [[ 7.19050376e-01 -6.88933980e-01 -9.13045844e-02 9.73233530e+01] [ 6.79416374e-01 7.24506253e-01 -1.16120973e-01 3.81725728e+01] [ 1.46150427e-01 2.14629998e-02 9.89029521e-01 7.65730132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:38.17, Z:7.69 [[ 7.21793418e-01 -6.80617408e-01 -1.25595408e-01 9.73580593e+01] [ 6.75350019e-01 7.32314032e-01 -8.72840816e-02 3.81735335e+01] [ 1.51382345e-01 -2.18197856e-02 9.88234427e-01 7.68829790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:38.20, Z:7.68 [[ 7.24961603e-01 -6.79993777e-01 -1.09723004e-01 9.73702124e+01] [ 6.72281309e-01 7.33217832e-01 -1.02124692e-01 3.82020698e+01] [ 1.49895018e-01 2.71756188e-04 9.88701881e-01 7.68434783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:38.22, Z:7.69 [[ 7.25693850e-01 -6.79216668e-01 -1.09695734e-01 9.73898942e+01] [ 6.71494174e-01 7.33937673e-01 -1.02132592e-01 3.82215425e+01] [ 1.49879991e-01 4.56948055e-04 9.88704091e-01 7.68858580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:38.24, Z:7.69 [[ 7.26371564e-01 -6.78531572e-01 -1.09449792e-01 9.74104349e+01] [ 6.70827340e-01 7.34570960e-01 -1.01961681e-01 3.82407703e+01] [ 1.49582858e-01 6.40152606e-04 9.88748987e-01 7.69282080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.43, Y:38.26, Z:7.70 [[ 7.26946267e-01 -6.77937201e-01 -1.09317323e-01 9.74303848e+01] [ 6.70236230e-01 7.35119381e-01 -1.01896473e-01 3.82593327e+01] [ 1.49440692e-01 8.04829995e-04 9.88770364e-01 7.69688254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:38.28, Z:7.70 [[ 7.26376498e-01 -6.78600275e-01 -1.08990135e-01 9.74505052e+01] [ 6.70946950e-01 7.34507442e-01 -1.01631729e-01 3.82790564e+01] [ 1.49021385e-01 6.96300842e-04 9.88833728e-01 7.70058275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.531858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:97.47, Y:38.30, Z:7.70 [[ 7.26056623e-01 -6.78945821e-01 -1.08969503e-01 9.74699137e+01] [ 6.71290486e-01 7.34188072e-01 -1.01670834e-01 3.82980641e+01] [ 1.49033097e-01 6.68591642e-04 9.88831982e-01 7.70422673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:38.32, Z:7.71 [[ 7.24699391e-01 -6.80351289e-01 -1.09237891e-01 9.74901444e+01] [ 6.72668780e-01 7.32886048e-01 -1.01954665e-01 3.83173302e+01] [ 1.49423914e-01 4.05564833e-04 9.88773144e-01 7.70707531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:38.34, Z:7.71 [[ 7.23679201e-01 -6.81358278e-01 -1.09723792e-01 9.75107545e+01] [ 6.73609566e-01 7.31950024e-01 -1.02466166e-01 3.83360334e+01] [ 1.50128502e-01 2.41636908e-04 9.88666463e-01 7.71123194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.621858064 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:97.53, Y:38.36, Z:7.71 [[ 7.22393040e-01 -6.83145674e-01 -1.07052715e-01 9.75299466e+01] [ 6.74651779e-01 7.30261750e-01 -1.07530248e-01 3.83571904e+01] [ 1.51635326e-01 5.45579820e-03 9.88421450e-01 7.71333311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.651858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:97.55, Y:38.37, Z:7.72 [[ 7.21238184e-01 -6.83189047e-01 -1.14316263e-01 9.75535840e+01] [ 6.76611526e-01 7.30188040e-01 -9.49856306e-02 3.83689229e+01] [ 1.48365511e-01 -8.84043740e-03 9.88893079e-01 7.72154980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.681858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.57, Y:38.39, Z:7.72 [[ 7.19259656e-01 -6.86546238e-01 -1.06394592e-01 9.75698976e+01] [ 6.78490035e-01 7.27078767e-01 -1.04917771e-01 3.83932922e+01] [ 1.49388150e-01 3.27544932e-03 9.88773206e-01 7.72133825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.711858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.59, Y:38.41, Z:7.73 [[ 7.18930184e-01 -6.86270058e-01 -1.10330403e-01 9.75904898e+01] [ 6.79061548e-01 7.27338152e-01 -9.92704742e-02 3.84094337e+01] [ 1.48373866e-01 -3.55259408e-03 9.88924959e-01 7.72762626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.741858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.61, Y:38.43, Z:7.73 [[ 7.16443317e-01 -6.89354181e-01 -1.07237063e-01 9.76080330e+01] [ 6.81358802e-01 7.24421850e-01 -1.04705136e-01 3.84329839e+01] [ 1.49863795e-01 1.94837867e-03 9.88704732e-01 7.72890791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.771858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.62, Y:38.46, Z:7.72 [[ 7.13763934e-01 -6.94225405e-01 -9.26937611e-02 9.76204185e+01] [ 6.85261335e-01 7.19562792e-01 -1.12455731e-01 3.84600319e+01] [ 1.44768607e-01 1.67473947e-02 9.89323797e-01 7.71869019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:38.46, Z:7.74 [[ 7.15223383e-01 -6.87941118e-01 -1.23257982e-01 9.76538389e+01] [ 6.83233261e-01 7.25362946e-01 -8.39101154e-02 3.84598204e+01] [ 1.47131992e-01 -2.41994766e-02 9.88820794e-01 7.74493200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.831858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.67, Y:38.49, Z:7.74 [[ 7.12976020e-01 -6.93557692e-01 -1.03164545e-01 9.76676697e+01] [ 6.85266641e-01 7.20378992e-01 -1.07068848e-01 3.84924751e+01] [ 1.48575994e-01 5.64230021e-03 9.88884896e-01 7.73826710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:97.69, Y:38.51, Z:7.75 [[ 7.12713044e-01 -6.92950577e-01 -1.08901859e-01 9.76892829e+01] [ 6.85609700e-01 7.20979108e-01 -1.00640271e-01 3.85067815e+01] [ 1.48254699e-01 -2.93653665e-03 9.88944852e-01 7.74614221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.71, Y:38.53, Z:7.75 [[ 7.10809666e-01 -6.95206092e-01 -1.06949093e-01 9.77083063e+01] [ 6.87601417e-01 7.18810179e-01 -1.02548612e-01 3.85291641e+01] [ 1.48168517e-01 -6.45802906e-04 9.88961917e-01 7.74931434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:97.73, Y:38.55, Z:7.76 [[ 7.11002879e-01 -6.93842159e-01 -1.14271452e-01 9.77336888e+01] [ 6.86933003e-01 7.20073688e-01 -9.80659582e-02 3.85454145e+01] [ 1.50326162e-01 -8.77165343e-03 9.88597543e-01 7.75827178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.74, Y:38.58, Z:7.74 [[ 7.08799443e-01 -6.99903323e-01 -8.79698180e-02 9.77388121e+01] [ 6.90537522e-01 7.13911757e-01 -1.16137562e-01 3.85795734e+01] [ 1.44087753e-01 2.15717792e-02 9.89329762e-01 7.74334703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.981858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:97.77, Y:38.58, Z:7.77 [[ 7.09989379e-01 -6.93635699e-01 -1.21591940e-01 9.77744279e+01] [ 6.88296812e-01 7.20022033e-01 -8.84068478e-02 3.85818156e+01] [ 1.48871021e-01 -2.09234213e-02 9.88635236e-01 7.77113238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:38.60, Z:7.78 [[ 7.11504159e-01 -6.92655545e-01 -1.18279870e-01 9.77950360e+01] [ 6.86062940e-01 7.21156475e-01 -9.61820145e-02 3.86034069e+01] [ 1.51919300e-01 -1.27135324e-02 9.88311131e-01 7.77656489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.041858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:97.81, Y:38.63, Z:7.77 [[ 7.10234487e-01 -6.96306286e-01 -1.03559311e-01 9.78057746e+01] [ 6.87853673e-01 7.17722172e-01 -1.08315317e-01 3.86307899e+01] [ 1.49747449e-01 5.69562143e-03 9.88707875e-01 7.77015900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:38.65, Z:7.78 [[ 7.10291996e-01 -6.95493122e-01 -1.08510814e-01 9.78242507e+01] [ 6.87949030e-01 7.18529768e-01 -1.02181726e-01 3.86481621e+01] [ 1.49034938e-01 -2.07104724e-03 9.88829762e-01 7.77624718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:38.67, Z:7.78 [[ 7.10214452e-01 -6.95521906e-01 -1.08833406e-01 9.78434614e+01] [ 6.87944174e-01 7.18501712e-01 -1.02411440e-01 3.86680394e+01] [ 1.49426388e-01 -2.13722317e-03 9.88770543e-01 7.77998150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:38.68, Z:7.80 [[ 7.11770547e-01 -6.91434493e-01 -1.23697334e-01 9.78732580e+01] [ 6.85373383e-01 7.22203640e-01 -9.31945748e-02 3.86811357e+01] [ 1.53772609e-01 -1.84457070e-02 9.87934077e-01 7.79716533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.161858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.88, Y:38.71, Z:7.78 [[ 7.10433637e-01 -6.96821349e-01 -9.86106257e-02 9.78771353e+01] [ 6.87707298e-01 7.17136135e-01 -1.13024050e-01 3.87136157e+01] [ 1.49474814e-01 1.24808396e-02 9.88686760e-01 7.78378757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:38.73, Z:7.79 [[ 7.10305507e-01 -6.95470537e-01 -1.08567115e-01 9.79008851e+01] [ 6.87908347e-01 7.18551775e-01 -1.02300797e-01 3.87273287e+01] [ 1.49158283e-01 -2.01940542e-03 9.88811270e-01 7.79332163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:38.74, Z:7.81 [[ 7.11712049e-01 -6.91897038e-01 -1.21426720e-01 9.79286160e+01] [ 6.85541284e-01 7.21825077e-01 -9.48773175e-02 3.87420975e+01] [ 1.53294187e-01 -1.57176998e-02 9.88055589e-01 7.80866240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:38.77, Z:7.80 [[ 7.10957572e-01 -6.96071762e-01 -1.00117092e-01 9.79363063e+01] [ 6.87133202e-01 7.17893677e-01 -1.11698846e-01 3.87720266e+01] [ 1.49623840e-01 1.06193623e-02 9.88685964e-01 7.79736277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.96, Y:38.79, Z:7.81 [[ 7.11205445e-01 -6.94521443e-01 -1.08751004e-01 9.79586065e+01] [ 6.86901365e-01 7.19469944e-01 -1.02613425e-01 3.87859552e+01] [ 1.49510303e-01 -1.72198627e-03 9.88758668e-01 7.80586769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.311858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.98, Y:38.81, Z:7.81 [[ 7.10989644e-01 -6.95263453e-01 -1.05368200e-01 9.79760121e+01] [ 6.86581210e-01 7.18732889e-01 -1.09678063e-01 3.88081403e+01] [ 1.51986739e-01 5.63614053e-03 9.88366463e-01 7.80740718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.00, Y:38.82, Z:7.82 [[ 7.11741599e-01 -6.92979145e-01 -1.14907795e-01 9.79997662e+01] [ 6.86087370e-01 7.20899631e-01 -9.79175297e-02 3.88227486e+01] [ 1.50691793e-01 -9.14480769e-03 9.88538495e-01 7.81658404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.371858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.02, Y:38.85, Z:7.82 [[ 7.11818452e-01 -6.93742606e-01 -1.09707286e-01 9.80177094e+01] [ 6.85960358e-01 7.20221481e-01 -1.03631103e-01 3.88454421e+01] [ 1.50906855e-01 -1.48831741e-03 9.88546866e-01 7.81766051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.401858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.04, Y:38.86, Z:7.82 [[ 7.12322734e-01 -6.92987293e-01 -1.11197730e-01 9.80373755e+01] [ 6.85703700e-01 7.20933911e-01 -1.00323135e-01 3.88627694e+01] [ 1.49688872e-01 -4.78624514e-03 9.88721565e-01 7.82212194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:38.89, Z:7.82 [[ 7.11995743e-01 -6.94165653e-01 -1.05811668e-01 9.80547020e+01] [ 6.85618967e-01 7.19798955e-01 -1.08701869e-01 3.88862344e+01] [ 1.51620232e-01 4.84878159e-03 9.88426929e-01 7.82279227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.461858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:98.08, Y:38.90, Z:7.83 [[ 7.12054459e-01 -6.93363445e-01 -1.10569351e-01 9.80768598e+01] [ 6.86413726e-01 7.20562759e-01 -9.81096721e-02 3.89013247e+01] [ 1.47697817e-01 -6.03689078e-03 9.89014111e-01 7.82827028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.491858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.10, Y:38.92, Z:7.83 [[ 7.11473438e-01 -6.94445023e-01 -1.07478633e-01 9.80972426e+01] [ 6.86393623e-01 7.19544679e-01 -1.05447850e-01 3.89238219e+01] [ 1.50563413e-01 1.25069658e-03 9.88599562e-01 7.83213211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.521858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.12, Y:38.94, Z:7.83 [[ 7.10517213e-01 -6.96123903e-01 -1.02843576e-01 9.81159001e+01] [ 6.87992565e-01 7.17906304e-01 -1.06192131e-01 3.89448721e+01] [ 1.47754932e-01 4.69572166e-03 9.89012856e-01 7.83126947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:38.96, Z:7.84 [[ 7.10763691e-01 -6.95294813e-01 -1.06677546e-01 9.81375336e+01] [ 6.87756985e-01 7.18724211e-01 -1.02106993e-01 3.89610767e+01] [ 1.47666198e-01 -7.94283959e-04 9.89036937e-01 7.83715581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:38.98, Z:7.85 [[ 7.12134438e-01 -6.92842961e-01 -1.13283599e-01 9.81607208e+01] [ 6.85885254e-01 7.21047028e-01 -9.82476554e-02 3.89759406e+01] [ 1.49752999e-01 -7.73401107e-03 9.88693190e-01 7.84743156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:39.00, Z:7.85 [[ 7.12979221e-01 -6.92638580e-01 -1.09144067e-01 9.81789477e+01] [ 6.84882530e-01 7.21284059e-01 -1.03369369e-01 3.89970654e+01] [ 1.50321488e-01 -1.05065261e-03 9.88636610e-01 7.84909280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.20, Y:39.02, Z:7.85 [[ 7.15224176e-01 -6.90290972e-01 -1.09328641e-01 9.81989277e+01] [ 6.82472308e-01 7.23531691e-01 -1.03602316e-01 3.90156666e+01] [ 1.50618480e-01 -5.14888466e-04 9.88591831e-01 7.85346141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.22, Y:39.03, Z:7.86 [[ 7.16688944e-01 -6.88714355e-01 -1.09679054e-01 9.82185759e+01] [ 6.80818009e-01 7.25032770e-01 -1.03991929e-01 3.90345343e+01] [ 1.51141642e-01 -1.41609566e-04 9.88512106e-01 7.85746672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:39.05, Z:7.86 [[ 7.18032497e-01 -6.87239101e-01 -1.10144231e-01 9.82387387e+01] [ 6.79252772e-01 7.26431263e-01 -1.04466699e-01 3.90543099e+01] [ 1.51805813e-01 1.94710808e-04 9.88410318e-01 7.86137154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.731858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.25, Y:39.08, Z:7.86 [[ 7.19642324e-01 -6.86624546e-01 -1.03255306e-01 9.82545466e+01] [ 6.78110304e-01 7.26970827e-01 -1.08073272e-01 3.90773640e+01] [ 1.49269357e-01 7.75561355e-03 9.88766155e-01 7.85828225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:39.09, Z:7.87 [[ 7.21261977e-01 -6.83021833e-01 -1.15162218e-01 9.82805302e+01] [ 6.75659447e-01 7.30376783e-01 -1.00170189e-01 3.90897972e+01] [ 1.52530236e-01 -5.56149190e-03 9.88283156e-01 7.87160281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.791858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.30, Y:39.11, Z:7.87 [[ 7.21489181e-01 -6.83403118e-01 -1.11416069e-01 9.82994552e+01] [ 6.75524557e-01 7.30040963e-01 -1.03473499e-01 3.91103208e+01] [ 1.52052406e-01 -6.09280894e-04 9.88372245e-01 7.87397978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:39.13, Z:7.88 [[ 7.21157103e-01 -6.84093201e-01 -1.09311140e-01 9.83194151e+01] [ 6.75883898e-01 7.29390867e-01 -1.05687842e-01 3.91300618e+01] [ 1.52030881e-01 2.33589874e-03 9.88372984e-01 7.87723068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.851858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.34, Y:39.15, Z:7.88 [[ 7.21252317e-01 -6.83869644e-01 -1.10079084e-01 9.83403805e+01] [ 6.75813661e-01 7.29603390e-01 -1.04665130e-01 3.91470889e+01] [ 1.51891378e-01 1.09701904e-03 9.88396583e-01 7.88193201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.881858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:98.36, Y:39.17, Z:7.89 [[ 7.20621666e-01 -6.84564386e-01 -1.09890923e-01 9.83611168e+01] [ 6.76539635e-01 7.28951754e-01 -1.04515374e-01 3.91654924e+01] [ 1.51652684e-01 9.70478544e-04 9.88433367e-01 7.88596664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.911858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:98.38, Y:39.18, Z:7.89 [[ 7.18830414e-01 -6.86384611e-01 -1.10267865e-01 9.83830759e+01] [ 6.78316384e-01 7.27238451e-01 -1.04933877e-01 3.91833782e+01] [ 1.52216030e-01 6.33162270e-04 9.88347044e-01 7.89033753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:39.20, Z:7.89 [[ 7.17917832e-01 -6.87326507e-01 -1.10346094e-01 9.84031933e+01] [ 6.79248754e-01 7.26348433e-01 -1.05067047e-01 3.92007403e+01] [ 1.52365079e-01 4.77060151e-04 9.88324165e-01 7.89460785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:39.22, Z:7.90 [[ 7.17737609e-01 -6.87517451e-01 -1.10328960e-01 9.84236122e+01] [ 6.79439176e-01 7.26167709e-01 -1.05085036e-01 3.92203063e+01] [ 1.52365124e-01 4.61664755e-04 9.88324165e-01 7.89874773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:98.44, Y:39.24, Z:7.90 [[ 7.16701809e-01 -6.88640297e-01 -1.10059342e-01 9.84442576e+01] [ 6.80606259e-01 7.25103077e-01 -1.04883974e-01 3.92385483e+01] [ 1.52031699e-01 2.63456906e-04 9.88375583e-01 7.90250269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.031858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.47, Y:39.26, Z:7.91 [[ 7.15481808e-01 -6.89834288e-01 -1.10518948e-01 9.84655204e+01] [ 6.81737439e-01 7.23967301e-01 -1.05382218e-01 3.92571196e+01] [ 1.52708371e-01 5.41553452e-05 9.88271294e-01 7.90711229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.49, Y:39.27, Z:7.91 [[ 7.13229052e-01 -6.92151003e-01 -1.10595242e-01 9.84862832e+01] [ 6.84061439e-01 7.21752610e-01 -1.05513592e-01 3.92734846e+01] [ 1.52853743e-01 -3.98581029e-04 9.88248741e-01 7.91131296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.091858064 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:98.51, Y:39.29, Z:7.91 [[ 7.12168689e-01 -6.93446068e-01 -1.09308324e-01 9.85066464e+01] [ 6.84949424e-01 7.20505126e-01 -1.08243474e-01 3.92930847e+01] [ 1.53818219e-01 2.21693987e-03 9.88096676e-01 7.91419413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.121858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:98.53, Y:39.31, Z:7.92 [[ 7.10934883e-01 -6.94095059e-01 -1.13153173e-01 9.85285944e+01] [ 6.86244120e-01 7.19874368e-01 -1.04162862e-01 3.93092457e+01] [ 1.53754997e-01 -3.59768756e-03 9.88102453e-01 7.91998658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.151858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:98.55, Y:39.33, Z:7.92 [[ 7.09055188e-01 -6.96226350e-01 -1.11846367e-01 9.85492939e+01] [ 6.87979290e-01 7.17821333e-01 -1.06850509e-01 3.93262698e+01] [ 1.54677848e-01 -1.18507641e-03 9.87964250e-01 7.92272129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.181858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.57, Y:39.34, Z:7.93 [[ 7.08000968e-01 -6.97265453e-01 -1.12051404e-01 9.85706039e+01] [ 6.88995392e-01 7.16811661e-01 -1.07081242e-01 3.93440759e+01] [ 1.54983804e-01 -1.38927852e-03 9.87916034e-01 7.92753363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.211858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.59, Y:39.36, Z:7.93 [[ 7.07215525e-01 -6.98079818e-01 -1.11940920e-01 9.85919312e+01] [ 6.89826782e-01 7.16018331e-01 -1.07036258e-01 3.93625507e+01] [ 1.54871602e-01 -1.52214059e-03 9.87933434e-01 7.93215034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.241858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:98.61, Y:39.38, Z:7.94 [[ 7.06178422e-01 -6.99128711e-01 -1.11942316e-01 9.86128885e+01] [ 6.90879026e-01 7.14993796e-01 -1.07098284e-01 3.93805156e+01] [ 1.54913547e-01 -1.70810099e-03 9.87926554e-01 7.93646039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.271858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.61, Y:39.42, Z:7.91 [[ 7.02322095e-01 -7.07792045e-01 -7.59874746e-02 9.86137520e+01] [ 6.97127497e-01 7.05461978e-01 -1.27814907e-01 3.94178954e+01] [ 1.44072648e-01 3.67942752e-02 9.88882831e-01 7.90987934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.301858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:98.66, Y:39.40, Z:7.96 [[ 7.05257244e-01 -6.95550593e-01 -1.37191809e-01 9.86646195e+01] [ 6.91928835e-01 7.17463453e-01 -8.05026717e-02 3.94043028e+01] [ 1.54423790e-01 -3.81518765e-02 9.87267809e-01 7.95912652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.331858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:98.68, Y:39.44, Z:7.95 [[ 7.05090708e-01 -7.00329500e-01 -1.11290992e-01 9.86751005e+01] [ 6.92177867e-01 7.13817192e-01 -1.06558982e-01 3.94364964e+01] [ 1.54067822e-01 -1.89941384e-03 9.88058449e-01 7.94903232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:98.70, Y:39.45, Z:7.95 [[ 7.04693424e-01 -7.00880277e-01 -1.10335924e-01 9.86968881e+01] [ 6.92866432e-01 7.13276241e-01 -1.05702940e-01 3.94544733e+01] [ 1.52785099e-01 -1.95989173e-03 9.88257493e-01 7.95284922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.391858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:98.72, Y:39.47, Z:7.96 [[ 7.04257393e-01 -7.01343792e-01 -1.10174453e-01 9.87172341e+01] [ 6.93350078e-01 7.12820332e-01 -1.05607025e-01 3.94733826e+01] [ 1.52601422e-01 -2.01493774e-03 9.88285761e-01 7.95693617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:98.74, Y:39.49, Z:7.96 [[ 7.04412880e-01 -7.01149173e-01 -1.10418892e-01 9.87370569e+01] [ 6.93108397e-01 7.13011985e-01 -1.05899289e-01 3.94911944e+01] [ 1.52981192e-01 -1.93543818e-03 9.88227205e-01 7.96026744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45185806399999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:98.76, Y:39.51, Z:7.96 [[ 7.05270184e-01 -7.00176273e-01 -1.11117749e-01 9.87584982e+01] [ 6.92014310e-01 7.13967981e-01 -1.06611052e-01 3.95096343e+01] [ 1.53981044e-01 -1.70547593e-03 9.88072330e-01 7.96358542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.78, Y:39.53, Z:7.97 [[ 7.05823384e-01 -6.99583639e-01 -1.11337699e-01 9.87791269e+01] [ 6.91372222e-01 7.14549072e-01 -1.06883459e-01 3.95284588e+01] [ 1.54330169e-01 -1.53494810e-03 9.88018139e-01 7.96799002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.511858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:98.80, Y:39.55, Z:7.97 [[ 7.06396753e-01 -6.99054451e-01 -1.11024779e-01 9.87996586e+01] [ 6.90873433e-01 7.15067126e-01 -1.06643827e-01 3.95474240e+01] [ 1.53940011e-01 -1.37121744e-03 9.88079244e-01 7.97243148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:39.57, Z:7.98 [[ 7.06878041e-01 -6.98647032e-01 -1.10524930e-01 9.88202338e+01] [ 6.90525678e-01 7.15465446e-01 -1.06223740e-01 3.95665110e+01] [ 1.53289669e-01 -1.23307288e-03 9.88180529e-01 7.97673864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.84, Y:39.58, Z:7.98 [[ 7.08055216e-01 -6.97524225e-01 -1.10080730e-01 9.88413630e+01] [ 6.89445669e-01 7.16560582e-01 -1.05856515e-01 3.95848463e+01] [ 1.52716995e-01 -9.42425246e-04 9.88269513e-01 7.98140413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.86, Y:39.60, Z:7.98 [[ 7.08709760e-01 -6.97143047e-01 -1.08268410e-01 9.88610112e+01] [ 6.88626678e-01 7.16927854e-01 -1.08663471e-01 3.96045739e+01] [ 1.53374622e-01 2.45434723e-03 9.88165068e-01 7.98437851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.631858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.88, Y:39.62, Z:7.99 [[ 7.08569934e-01 -6.96952559e-01 -1.10389218e-01 9.88832814e+01] [ 6.88938531e-01 7.17115926e-01 -1.05396628e-01 3.96227891e+01] [ 1.52618316e-01 -1.37050384e-03 9.88284256e-01 7.99026929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.661858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:98.89, Y:39.66, Z:7.97 [[ 7.07569929e-01 -7.01925925e-01 -8.15155924e-02 9.88905818e+01] [ 6.91474375e-01 7.11532212e-01 -1.24840300e-01 3.96551526e+01] [ 1.45629612e-01 3.19672986e-02 9.88822587e-01 7.97201865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.691858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:98.93, Y:39.65, Z:8.01 [[ 7.08898475e-01 -6.92920900e-01 -1.31619067e-01 9.89331810e+01] [ 6.88874443e-01 7.20267684e-01 -8.16484300e-02 3.96461708e+01] [ 1.51376864e-01 -3.27885641e-02 9.87932161e-01 8.01256089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:39.68, Z:8.00 [[ 7.08929515e-01 -6.96932405e-01 -1.08185791e-01 9.89441430e+01] [ 6.88765027e-01 7.17136250e-01 -1.06387670e-01 3.96771730e+01] [ 1.51728967e-01 9.06769993e-04 9.88421721e-01 8.00309018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.751858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.97, Y:39.69, Z:8.02 [[ 7.09318015e-01 -6.93895138e-01 -1.24006013e-01 9.89742948e+01] [ 6.87836456e-01 7.19825082e-01 -9.34497832e-02 3.96880471e+01] [ 1.54106988e-01 -1.90102415e-02 9.87871270e-01 8.02077700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.99, Y:39.71, Z:8.01 [[ 7.09184266e-01 -6.97320107e-01 -1.03934329e-01 9.89857333e+01] [ 6.88813427e-01 7.16738607e-01 -1.08728250e-01 3.97142933e+01] [ 1.50312141e-01 5.51700315e-03 9.88623196e-01 8.00989639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.01, Y:39.73, Z:8.02 [[ 7.10823038e-01 -6.95011221e-01 -1.08120353e-01 9.90070821e+01] [ 6.87094258e-01 7.18998886e-01 -1.04604413e-01 3.97283617e+01] [ 1.50439654e-01 6.63525785e-05 9.88619192e-01 8.01536081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.03, Y:39.75, Z:8.02 [[ 7.09008788e-01 -6.97598079e-01 -1.03264020e-01 9.90278655e+01] [ 6.88339889e-01 7.16426116e-01 -1.13674173e-01 3.97538606e+01] [ 1.53279925e-01 9.51524309e-03 9.88136997e-01 8.01633002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.871858064 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:99.05, Y:39.77, Z:8.03 [[ 7.10009035e-01 -6.95218112e-01 -1.12066707e-01 9.90513222e+01] [ 6.87316256e-01 7.18793435e-01 -1.04557933e-01 3.97666605e+01] [ 1.53243382e-01 -2.78819242e-03 9.88184543e-01 8.02554450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.901858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:99.07, Y:39.79, Z:8.03 [[ 7.10176622e-01 -6.96011645e-01 -1.05910130e-01 9.90693611e+01] [ 6.86189413e-01 7.17955135e-01 -1.16980826e-01 3.97899089e+01] [ 1.57458739e-01 1.04026381e-02 9.87470775e-01 8.02531887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:39.80, Z:8.04 [[ 7.10651389e-01 -6.93679948e-01 -1.17399882e-01 9.90954355e+01] [ 6.86155536e-01 7.20239773e-01 -1.02202004e-01 3.98020029e+01] [ 1.55451545e-01 -7.92458329e-03 9.87811732e-01 8.03676639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.961858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:99.11, Y:39.82, Z:8.04 [[ 7.10097832e-01 -6.95000286e-01 -1.12852432e-01 9.91133090e+01] [ 6.86419391e-01 7.19009443e-01 -1.08875344e-01 3.98229840e+01] [ 1.56810359e-01 -1.51951962e-04 9.87628720e-01 8.03704779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:39.84, Z:8.04 [[ 7.09562954e-01 -6.95506098e-01 -1.13100316e-01 9.91329301e+01] [ 6.86886615e-01 7.18520155e-01 -1.09158442e-01 3.98409445e+01] [ 1.57185218e-01 -2.32306427e-04 9.87569113e-01 8.04080234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.021858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:99.15, Y:39.86, Z:8.04 [[ 7.08779408e-01 -6.96289391e-01 -1.13193794e-01 9.91534964e+01] [ 6.87659915e-01 7.17761060e-01 -1.09283588e-01 3.98597276e+01] [ 1.57339100e-01 -3.80877677e-04 9.87544562e-01 8.04481999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:39.88, Z:8.05 [[ 7.07916349e-01 -6.97236078e-01 -1.12766544e-01 9.91736943e+01] [ 6.88674516e-01 7.16841372e-01 -1.08930517e-01 3.98780619e+01] [ 1.56786011e-01 -5.45751061e-04 9.87632446e-01 8.04896621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.081858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.19, Y:39.90, Z:8.05 [[ 7.05756234e-01 -6.99620437e-01 -1.11531982e-01 9.91939884e+01] [ 6.91267659e-01 7.14513957e-01 -1.07790672e-01 3.98960708e+01] [ 1.55103715e-01 -1.02451386e-03 9.87897661e-01 8.05376232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:39.92, Z:8.06 [[ 7.04571658e-01 -7.00809651e-01 -1.11555424e-01 9.92141245e+01] [ 6.92459791e-01 7.13347234e-01 -1.07866407e-01 3.99154236e+01] [ 1.55171572e-01 -1.24803246e-03 9.87886747e-01 8.05875851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:99.23, Y:39.93, Z:8.06 [[ 7.03871547e-01 -7.01573784e-01 -1.11171360e-01 9.92343271e+01] [ 6.93290468e-01 7.12595427e-01 -1.07499233e-01 3.99346814e+01] [ 1.54638846e-01 -1.40839270e-03 9.87970062e-01 8.06272601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.171858064 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:99.25, Y:39.96, Z:8.07 [[ 7.01721018e-01 -7.04241057e-01 -1.07852433e-01 9.92525861e+01] [ 6.95105309e-01 7.09947096e-01 -1.13153570e-01 3.99561431e+01] [ 1.56256912e-01 4.43343959e-03 9.87706496e-01 8.06531474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:39.97, Z:8.07 [[ 7.00047911e-01 -7.04858919e-01 -1.14485046e-01 9.92766664e+01] [ 6.97189966e-01 7.09312389e-01 -1.03933086e-01 3.99728492e+01] [ 1.54463824e-01 -7.05968536e-03 9.87973222e-01 8.07411599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.231858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.29, Y:39.99, Z:8.08 [[ 6.99098565e-01 -7.06555731e-01 -1.09727827e-01 9.92936422e+01] [ 6.97837267e-01 7.07656965e-01 -1.10656086e-01 3.99946862e+01] [ 1.55834352e-01 7.87343944e-04 9.87782888e-01 8.07509002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:40.01, Z:8.08 [[ 6.98117150e-01 -7.06747469e-01 -1.14631847e-01 9.93153985e+01] [ 6.98620567e-01 7.07445443e-01 -1.07005836e-01 4.00126362e+01] [ 1.56721882e-01 -5.38155707e-03 9.87628114e-01 8.08223728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:40.03, Z:8.09 [[ 6.97547649e-01 -7.07542898e-01 -1.13182706e-01 9.93342992e+01] [ 6.98984777e-01 7.06665754e-01 -1.09744218e-01 4.00338665e+01] [ 1.57631084e-01 -2.56116693e-03 9.87494750e-01 8.08501257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.321858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.35, Y:40.05, Z:8.09 [[ 6.97430697e-01 -7.07560162e-01 -1.13793850e-01 9.93531695e+01] [ 6.98899102e-01 7.06648562e-01 -1.10398618e-01 4.00527000e+01] [ 1.58525925e-01 -2.53503406e-03 9.87351561e-01 8.08883007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:40.07, Z:8.09 [[ 6.98003280e-01 -7.06850267e-01 -1.14691418e-01 9.93716716e+01] [ 6.98199077e-01 7.07356447e-01 -1.10294629e-01 4.00724181e+01] [ 1.59089502e-01 -3.09142994e-03 9.87259324e-01 8.09299026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:40.09, Z:8.10 [[ 6.97468494e-01 -7.07592966e-01 -1.13357373e-01 9.93916238e+01] [ 6.98692027e-01 7.06619302e-01 -1.11886610e-01 4.00945144e+01] [ 1.59270686e-01 -1.16450749e-03 9.87234264e-01 8.09624578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.411858064 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:99.41, Y:40.11, Z:8.10 [[ 6.97725182e-01 -7.07196806e-01 -1.14246433e-01 9.94115918e+01] [ 6.98445596e-01 7.07012698e-01 -1.10935993e-01 4.01139633e+01] [ 1.59227259e-01 -2.39208267e-03 9.87239058e-01 8.10098078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:40.13, Z:8.11 [[ 6.97876613e-01 -7.07212457e-01 -1.13220027e-01 9.94306145e+01] [ 6.98609118e-01 7.06997252e-01 -1.10000844e-01 4.01344828e+01] [ 1.57840215e-01 -2.32952698e-03 9.87461918e-01 8.10539879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:40.16, Z:8.10 [[ 6.97970159e-01 -7.08745687e-01 -1.02553440e-01 9.94477000e+01] [ 6.99245162e-01 7.05403099e-01 -1.16028753e-01 4.01603393e+01] [ 1.54576393e-01 9.27461038e-03 9.87937306e-01 8.10087086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.47, Y:40.17, Z:8.12 [[ 6.98068206e-01 -7.05694757e-01 -1.21225780e-01 9.94721912e+01] [ 6.98548163e-01 7.08376366e-01 -1.01160207e-01 4.01700325e+01] [ 1.57261705e-01 -1.40653215e-02 9.87456795e-01 8.11931601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:40.19, Z:8.12 [[ 6.98427337e-01 -7.06805682e-01 -1.12360953e-01 9.94875189e+01] [ 6.98305216e-01 7.07404583e-01 -1.09309563e-01 4.01943568e+01] [ 1.56745274e-01 -2.11745276e-03 9.87636793e-01 8.11849225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:40.22, Z:8.12 [[ 6.99864495e-01 -7.05404525e-01 -1.12223632e-01 9.95063287e+01] [ 6.96901322e-01 7.08802726e-01 -1.09211917e-01 4.02153715e+01] [ 1.56582997e-01 -1.77525420e-03 9.87663209e-01 8.12272867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.591858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:99.53, Y:40.24, Z:8.13 [[ 7.00652596e-01 -7.04557070e-01 -1.12628922e-01 9.95253958e+01] [ 6.95971225e-01 7.09645645e-01 -1.09668196e-01 4.02352954e+01] [ 1.57194127e-01 -1.54718245e-03 9.87566510e-01 8.12733700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:40.26, Z:8.13 [[ 7.02412272e-01 -7.02735101e-01 -1.13050332e-01 9.95437568e+01] [ 6.94051344e-01 7.11450749e-01 -1.10138841e-01 4.02554271e+01] [ 1.57828173e-01 -1.09986162e-03 9.87465978e-01 8.13081251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.651858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.56, Y:40.28, Z:8.13 [[ 7.03321523e-01 -7.01813020e-01 -1.13125241e-01 9.95633477e+01] [ 6.93100061e-01 7.12360675e-01 -1.10247785e-01 4.02753873e+01] [ 1.57959304e-01 -8.67471990e-04 9.87445242e-01 8.13473951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:40.29, Z:8.14 [[ 7.04110891e-01 -7.00996655e-01 -1.13276399e-01 9.95822670e+01] [ 6.92240014e-01 7.13164272e-01 -1.10455805e-01 4.02944235e+01] [ 1.58213830e-01 -6.41321008e-04 9.87404665e-01 8.13890452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:40.31, Z:8.14 [[ 7.04935146e-01 -7.00233144e-01 -1.12871538e-01 9.96019665e+01] [ 6.91520904e-01 7.13914112e-01 -1.10115752e-01 4.03143757e+01] [ 1.57687283e-01 -4.28564660e-04 9.87489006e-01 8.14296696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:40.33, Z:8.15 [[ 7.05798990e-01 -6.99455979e-01 -1.12290330e-01 9.96217385e+01] [ 6.90814552e-01 7.14675653e-01 -1.09608236e-01 4.03340555e+01] [ 1.56917301e-01 -2.10411639e-04 9.87611724e-01 8.14741302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:40.35, Z:8.15 [[ 7.07979598e-01 -6.97308569e-01 -1.11918046e-01 9.96404712e+01] [ 6.88688374e-01 7.16770998e-01 -1.09305350e-01 4.03524908e+01] [ 1.56439167e-01 3.09301117e-04 9.87687547e-01 8.15188647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:40.37, Z:8.16 [[ 7.08729445e-01 -6.96522731e-01 -1.12065420e-01 9.96603520e+01] [ 6.87864256e-01 7.17534546e-01 -1.09484886e-01 4.03716700e+01] [ 1.56669522e-01 5.09366413e-04 9.87650951e-01 8.15630806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.68, Y:40.39, Z:8.16 [[ 7.09514101e-01 -6.95692207e-01 -1.12259046e-01 9.96799781e+01] [ 6.86983913e-01 7.18339620e-01 -1.09732825e-01 4.03899891e+01] [ 1.56980391e-01 7.36827883e-04 9.87601445e-01 8.16105478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:40.41, Z:8.17 [[ 7.11361842e-01 -6.93586358e-01 -1.13588263e-01 9.97015743e+01] [ 6.85337369e-01 7.20370809e-01 -1.06670465e-01 4.04076239e+01] [ 1.55810848e-01 -1.96498243e-03 9.87784956e-01 8.16667517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:40.42, Z:8.18 [[ 7.12923598e-01 -6.90736313e-01 -1.20926793e-01 9.97247516e+01] [ 6.84706645e-01 7.22911979e-01 -9.26017327e-02 4.04200366e+01] [ 1.51382806e-01 -1.67814179e-02 9.88332753e-01 8.17582732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:40.45, Z:8.17 [[ 7.13033262e-01 -6.92873091e-01 -1.07286751e-01 9.97400105e+01] [ 6.84708940e-01 7.21056278e-01 -1.06073142e-01 4.04474256e+01] [ 1.50855011e-01 2.17348152e-03 9.88553510e-01 8.17209979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:40.48, Z:8.17 [[ 7.11502119e-01 -6.96152219e-01 -9.55867328e-02 9.97547807e+01] [ 6.85239003e-01 7.17511523e-01 -1.24998894e-01 4.04760872e+01] [ 1.55602839e-01 2.34372201e-02 9.87541621e-01 8.16876416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:40.49, Z:8.18 [[ 7.11509702e-01 -6.93809603e-01 -1.11275234e-01 9.97821822e+01] [ 6.85200905e-01 7.20157336e-01 -1.08963900e-01 4.04852143e+01] [ 1.55735877e-01 1.28298080e-03 9.87797900e-01 8.18254394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:40.50, Z:8.19 [[ 7.11185876e-01 -6.94126388e-01 -1.11369688e-01 9.98028600e+01] [ 6.85497354e-01 7.19852050e-01 -1.09116471e-01 4.05043970e+01] [ 1.55910320e-01 1.25846678e-03 9.87770413e-01 8.18648226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.82, Y:40.52, Z:8.19 [[ 7.10818775e-01 -6.94447570e-01 -1.11710526e-01 9.98224614e+01] [ 6.85759549e-01 7.19542246e-01 -1.09511630e-01 4.05224042e+01] [ 1.56430528e-01 1.23636288e-03 9.87688190e-01 8.19020214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:40.54, Z:8.19 [[ 7.10299031e-01 -6.94958027e-01 -1.11841973e-01 9.98420146e+01] [ 6.86250203e-01 7.19049384e-01 -1.09675164e-01 4.05402884e+01] [ 1.56639538e-01 1.15058581e-03 9.87655168e-01 8.19421697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:40.56, Z:8.20 [[ 7.09707299e-01 -6.95578018e-01 -1.11744221e-01 9.98624703e+01] [ 6.86887518e-01 7.18449818e-01 -1.09614764e-01 4.05590784e+01] [ 1.56528235e-01 1.03868725e-03 9.87672938e-01 8.19801797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:40.58, Z:8.20 [[ 7.08976330e-01 -6.96232805e-01 -1.12305145e-01 9.98823310e+01] [ 6.87453050e-01 7.17815432e-01 -1.10223907e-01 4.05766251e+01] [ 1.57355866e-01 9.41626568e-04 9.87541515e-01 8.20145954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.161858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.90, Y:40.60, Z:8.21 [[ 7.08245092e-01 -6.96911831e-01 -1.12706651e-01 9.99024908e+01] [ 6.88070569e-01 7.17156343e-01 -1.10660164e-01 4.05952303e+01] [ 1.57948667e-01 8.24388308e-04 9.87446980e-01 8.20546154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.191858064 meters Centerline goodness : 0.996231 Centerline is valid? [True, True] Translation: X:99.92, Y:40.62, Z:8.21 [[ 7.06736346e-01 -6.99072904e-01 -1.08723561e-01 9.99210054e+01] [ 6.89311846e-01 7.15011069e-01 -1.16654837e-01 4.06170494e+01] [ 1.59288785e-01 7.49977467e-03 9.87203543e-01 8.20729773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:40.63, Z:8.22 [[ 7.04998413e-01 -6.99366137e-01 -1.17746526e-01 9.99461544e+01] [ 6.91375846e-01 7.14730016e-01 -1.05642998e-01 4.06282550e+01] [ 1.58040112e-01 -6.92895810e-03 9.87408382e-01 8.21803150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:40.65, Z:8.22 [[ 7.03616389e-01 -7.01632272e-01 -1.12410548e-01 9.99642975e+01] [ 6.92853893e-01 7.12539229e-01 -1.10640544e-01 4.06497714e+01] [ 1.57725901e-01 -3.55860853e-05 9.87482931e-01 8.21953507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:40.67, Z:8.22 [[ 7.02171532e-01 -7.03149857e-01 -1.11961685e-01 9.99846387e+01] [ 6.94450964e-01 7.11041610e-01 -1.10261906e-01 4.06687990e+01] [ 1.57140061e-01 -3.29128769e-04 9.87576272e-01 8.22387386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:40.69, Z:8.23 [[ 6.99589747e-01 -7.05813863e-01 -1.11359673e-01 1.00004845e+02] [ 6.97232434e-01 7.08396797e-01 -1.09731089e-01 4.06869282e+01] [ 1.56336559e-01 -8.76831475e-04 9.87703453e-01 8.22832861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:40.71, Z:8.23 [[ 6.98387770e-01 -7.07037579e-01 -1.11141284e-01 1.00025152e+02] [ 6.98498486e-01 7.07175095e-01 -1.09559348e-01 4.07064469e+01] [ 1.56058924e-01 -1.11710985e-03 9.87747116e-01 8.23290060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:40.73, Z:8.24 [[ 6.97456102e-01 -7.08001399e-01 -1.10855783e-01 1.00044301e+02] [ 6.99508901e-01 7.06209860e-01 -1.09338612e-01 4.07251654e+01] [ 1.55699337e-01 -1.28572488e-03 9.87803656e-01 8.23698018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:40.74, Z:8.24 [[ 6.96421136e-01 -7.09107345e-01 -1.10292222e-01 1.00063716e+02] [ 7.00709761e-01 7.05098946e-01 -1.08817769e-01 4.07449003e+01] [ 1.54930409e-01 -1.49984223e-03 9.87924247e-01 8.24139826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:40.76, Z:8.25 [[ 6.95911707e-01 -7.09671694e-01 -1.09877123e-01 1.00083217e+02] [ 7.01335062e-01 7.04530768e-01 -1.08469017e-01 4.07647179e+01] [ 1.54389205e-01 -1.57582017e-03 9.88008851e-01 8.24551497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:40.78, Z:8.25 [[ 6.95712030e-01 -7.09891320e-01 -1.09722767e-01 1.00102538e+02] [ 7.01571508e-01 7.04309463e-01 -1.08377117e-01 4.07844945e+01] [ 1.54214758e-01 -1.57910255e-03 9.88036090e-01 8.24941216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:40.80, Z:8.25 [[ 6.95530591e-01 -7.10098096e-01 -1.09534889e-01 1.00120847e+02] [ 7.01800112e-01 7.04100987e-01 -1.08251573e-01 4.08039336e+01] [ 1.53992859e-01 -1.57931685e-03 9.88070698e-01 8.25285505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.521858064 meters Centerline goodness : 0.996730 Centerline is valid? [True, True] Translation: X:100.14, Y:40.82, Z:8.26 [[ 6.96855267e-01 -7.07675080e-01 -1.16570658e-01 1.00143136e+02] [ 7.01041375e-01 7.06405489e-01 -9.76333716e-02 4.08197213e+01] [ 1.51438856e-01 -1.36845248e-02 9.88371897e-01 8.26049650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.551858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:100.16, Y:40.85, Z:8.26 [[ 6.97307540e-01 -7.09171915e-01 -1.04102780e-01 1.00156220e+02] [ 7.00312083e-01 7.05017152e-01 -1.11865103e-01 4.08459213e+01] [ 1.52725834e-01 5.09994512e-03 9.88255438e-01 8.25600855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:40.87, Z:8.26 [[ 6.97543212e-01 -7.08802008e-01 -1.05038954e-01 1.00175281e+02] [ 6.99463679e-01 7.05376078e-01 -1.14870144e-01 4.08678387e+01] [ 1.55512154e-01 6.65595645e-03 9.87811555e-01 8.25962152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.611858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:100.20, Y:40.88, Z:8.27 [[ 6.98215365e-01 -7.07308332e-01 -1.10499897e-01 1.00195825e+02] [ 6.98812412e-01 7.06904597e-01 -1.09302802e-01 4.08842373e+01] [ 1.55423668e-01 -9.01803718e-04 9.87847493e-01 8.26621876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641858064 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:100.22, Y:40.90, Z:8.27 [[ 6.99935651e-01 -7.04659726e-01 -1.16381935e-01 1.00217442e+02] [ 6.97950028e-01 7.09430940e-01 -9.78442653e-02 4.08994670e+01] [ 1.51511859e-01 -1.27440852e-02 9.88373282e-01 8.27290155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:40.93, Z:8.27 [[ 6.99745743e-01 -7.07162578e-01 -1.01375454e-01 1.00229098e+02] [ 6.97396855e-01 7.06954852e-01 -1.17696489e-01 4.09304487e+01] [ 1.54898422e-01 1.16586942e-02 9.87861607e-01 8.26861565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:40.93, Z:8.29 [[ 7.03935253e-01 -6.99374434e-01 -1.23897380e-01 1.00256860e+02] [ 6.95160562e-01 7.14185201e-01 -8.18003132e-02 4.09335904e+01] [ 1.45694723e-01 -2.85464483e-02 9.88917665e-01 8.28808681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:40.98, Z:8.27 [[ 7.02100323e-01 -7.06699575e-01 -8.73547182e-02 1.00260579e+02] [ 6.95716733e-01 7.06933296e-01 -1.27371672e-01 4.09777406e+01] [ 1.51767466e-01 2.86535533e-02 9.88000815e-01 8.27096378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:40.98, Z:8.29 [[ 7.02932407e-01 -7.02282503e-01 -1.12629114e-01 1.00291384e+02] [ 6.95505451e-01 7.11833805e-01 -9.77998085e-02 4.09831169e+01] [ 1.48856305e-01 -9.58750790e-03 9.88812358e-01 8.29073477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.30, Y:41.01, Z:8.29 [[ 7.03152472e-01 -7.03955686e-01 -1.00114901e-01 1.00303996e+02] [ 6.94933920e-01 7.10177461e-01 -1.12760014e-01 4.10112773e+01] [ 1.50477399e-01 9.71424258e-03 9.88565722e-01 8.28785949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.821858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:100.33, Y:41.03, Z:8.30 [[ 7.03243717e-01 -7.02956855e-01 -1.06301147e-01 1.00325464e+02] [ 6.95010910e-01 7.11232453e-01 -1.05395598e-01 4.10276930e+01] [ 1.49693384e-01 2.38335724e-04 9.88732438e-01 8.29526831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:41.05, Z:8.30 [[ 7.03085881e-01 -7.03129983e-01 -1.06200147e-01 1.00344277e+02] [ 6.95192577e-01 7.11061297e-01 -1.05352326e-01 4.10482615e+01] [ 1.49591193e-01 2.42179095e-04 9.88747903e-01 8.29925575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.881858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.36, Y:41.07, Z:8.30 [[ 7.02497723e-01 -7.03740595e-01 -1.06047746e-01 1.00362034e+02] [ 6.95824003e-01 7.10457002e-01 -1.05260652e-01 4.10705884e+01] [ 1.49418557e-01 1.54800868e-04 9.88774024e-01 8.30206186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:41.09, Z:8.31 [[ 7.01965832e-01 -7.04199846e-01 -1.06520170e-01 1.00380805e+02] [ 6.96208264e-01 7.10001807e-01 -1.05789825e-01 4.10914535e+01] [ 1.50126692e-01 1.00620380e-04 9.88666762e-01 8.30607694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:41.11, Z:8.31 [[ 7.01691087e-01 -7.04426406e-01 -1.06831909e-01 1.00399962e+02] [ 6.96381062e-01 7.09777028e-01 -1.06160199e-01 4.11114350e+01] [ 1.50608882e-01 9.59477605e-05 9.88593423e-01 8.30992182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.42, Y:41.13, Z:8.31 [[ 7.01480662e-01 -7.04556767e-01 -1.07352892e-01 1.00418991e+02] [ 6.96424504e-01 7.09647624e-01 -1.06738751e-01 4.11308506e+01] [ 1.51386234e-01 1.11985155e-04 9.88474681e-01 8.31416790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:41.15, Z:8.32 [[ 7.00843922e-01 -7.05082175e-01 -1.08059817e-01 1.00438111e+02] [ 6.96842573e-01 7.09125607e-01 -1.07476982e-01 4.11514469e+01] [ 1.52408088e-01 2.39085714e-05 9.88317648e-01 8.31934642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.031858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.46, Y:41.17, Z:8.32 [[ 7.00569271e-01 -7.05349083e-01 -1.08098877e-01 1.00456206e+02] [ 6.97097363e-01 7.08860121e-01 -1.07576002e-01 4.11712201e+01] [ 1.52505617e-01 8.99920668e-06 9.88302604e-01 8.32342067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.48, Y:41.19, Z:8.33 [[ 6.99944857e-01 -7.06063598e-01 -1.07477409e-01 1.00476031e+02] [ 6.97646741e-01 7.08147568e-01 -1.08701647e-01 4.11940375e+01] [ 1.52860141e-01 1.10389460e-03 9.88247215e-01 8.32724300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.50, Y:41.21, Z:8.34 [[ 7.00024639e-01 -7.04930368e-01 -1.14187050e-01 1.00498173e+02] [ 6.97340892e-01 7.09239629e-01 -1.03415811e-01 4.12117773e+01] [ 1.53886926e-01 -7.23368303e-03 9.88061986e-01 8.33615503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:41.24, Z:8.33 [[ 6.98385400e-01 -7.08281360e-01 -1.02933708e-01 1.00510387e+02] [ 6.99671058e-01 7.05912871e-01 -1.10215375e-01 4.12370845e+01] [ 1.50725725e-01 4.95307218e-03 9.88563211e-01 8.33334637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:41.25, Z:8.34 [[ 6.97464369e-01 -7.08660448e-01 -1.06507391e-01 1.00531339e+02] [ 7.00641714e-01 7.05549531e-01 -1.06306387e-01 4.12549861e+01] [ 1.50481371e-01 -4.78604160e-04 9.88612729e-01 8.34025486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:41.27, Z:8.35 [[ 6.95799677e-01 -7.10421117e-01 -1.05662890e-01 1.00549869e+02] [ 7.02541066e-01 7.03776371e-01 -1.05521895e-01 4.12747379e+01] [ 1.49328028e-01 -8.10418281e-04 9.88787380e-01 8.34504188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:41.30, Z:8.35 [[ 6.94740151e-01 -7.11550564e-01 -1.05032937e-01 1.00568552e+02] [ 7.03772662e-01 7.02634149e-01 -1.04925181e-01 4.12950465e+01] [ 1.48459301e-01 -1.02357339e-03 9.88917989e-01 8.34925074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.241858064 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:100.59, Y:41.31, Z:8.35 [[ 6.93936187e-01 -7.12260412e-01 -1.05535178e-01 1.00586839e+02] [ 7.04796791e-01 7.01908963e-01 -1.02884840e-01 4.13144748e+01] [ 1.47356886e-01 -2.98534170e-03 9.89078883e-01 8.35349472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.271858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.60, Y:41.34, Z:8.36 [[ 6.92129488e-01 -7.14403316e-01 -1.02881849e-01 1.00602783e+02] [ 7.06597322e-01 6.99734137e-01 -1.05320280e-01 4.13378148e+01] [ 1.47231099e-01 1.99232228e-04 9.89102100e-01 8.35599456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:41.36, Z:8.36 [[ 6.91916779e-01 -7.14514238e-01 -1.03540209e-01 1.00623938e+02] [ 7.06609788e-01 6.99620879e-01 -1.05986952e-01 4.13590215e+01] [ 1.48168078e-01 1.71625284e-04 9.88962179e-01 8.36042358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:41.38, Z:8.37 [[ 6.91674245e-01 -7.14405711e-01 -1.05883041e-01 1.00642032e+02] [ 7.07008541e-01 6.99720934e-01 -1.02613535e-01 4.13773625e+01] [ 1.47396276e-01 -3.88507518e-03 9.89069888e-01 8.36626659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.66, Y:41.40, Z:8.37 [[ 6.91741865e-01 -7.14564393e-01 -1.04359577e-01 1.00660041e+02] [ 7.06938426e-01 6.99567501e-01 -1.04131520e-01 4.13998357e+01] [ 1.47415245e-01 -1.74366341e-03 9.89073155e-01 8.36978223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:41.42, Z:8.37 [[ 6.91354392e-01 -7.15278103e-01 -1.02011471e-01 1.00677762e+02] [ 7.07277927e-01 6.98838062e-01 -1.06692534e-01 4.14221863e+01] [ 1.47604332e-01 1.61188995e-03 9.89045177e-01 8.37173442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:100.70, Y:41.44, Z:8.38 [[ 6.92328321e-01 -7.13528403e-01 -1.07511458e-01 1.00697331e+02] [ 7.06134568e-01 7.00609136e-01 -1.02571002e-01 4.14395100e+01] [ 1.48510833e-01 -4.90474746e-03 9.88898618e-01 8.38008302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.71, Y:41.46, Z:8.38 [[ 6.92910029e-01 -7.13383981e-01 -1.04685181e-01 1.00714273e+02] [ 7.05610585e-01 7.00772508e-01 -1.05031399e-01 4.14617065e+01] [ 1.48288214e-01 -1.08966152e-03 9.88943587e-01 8.38222277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:41.48, Z:8.39 [[ 6.94641336e-01 -7.11116597e-01 -1.08566107e-01 1.00734688e+02] [ 7.03657568e-01 7.03056656e-01 -1.02846318e-01 4.14819442e+01] [ 1.49463848e-01 -4.95205929e-03 9.88754790e-01 8.38941470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:41.51, Z:8.39 [[ 6.94637224e-01 -7.12579753e-01 -9.85353871e-02 1.00749228e+02] [ 7.04193084e-01 7.01561342e-01 -1.09196080e-01 4.15071399e+01] [ 1.46939534e-01 6.46372350e-03 9.89124357e-01 8.38685548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.541858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.77, Y:41.52, Z:8.40 [[ 6.95605000e-01 -7.10462006e-01 -1.06664997e-01 1.00770646e+02] [ 7.03105309e-01 7.03724154e-01 -1.02055086e-01 4.15220952e+01] [ 1.47568996e-01 -4.00669779e-03 9.89043648e-01 8.39711788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.571858064 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:100.79, Y:41.54, Z:8.40 [[ 6.96769113e-01 -7.09617339e-01 -1.04671082e-01 1.00788522e+02] [ 7.02189630e-01 7.04584053e-01 -1.02425758e-01 4.15439070e+01] [ 1.46432669e-01 -2.13184377e-03 9.89218342e-01 8.40093219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.601858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.80, Y:41.57, Z:8.40 [[ 6.97251028e-01 -7.09485729e-01 -1.02327924e-01 1.00804971e+02] [ 7.01581584e-01 7.04717358e-01 -1.05625404e-01 4.15650393e+01] [ 1.47051981e-01 1.85603474e-03 9.89127024e-01 8.40409697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.631858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.82, Y:41.59, Z:8.41 [[ 6.97766567e-01 -7.08835048e-01 -1.03318404e-01 1.00824256e+02] [ 7.01164511e-01 7.05374269e-01 -1.03997445e-01 4.15854525e+01] [ 1.46595178e-01 1.22741891e-04 9.89196562e-01 8.40868300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:41.61, Z:8.41 [[ 6.98968215e-01 -7.07771480e-01 -1.02483979e-01 1.00840842e+02] [ 7.00204965e-01 7.06441352e-01 -1.03216388e-01 4.16063383e+01] [ 1.45452536e-01 3.85183127e-04 9.89365156e-01 8.41257184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:41.63, Z:8.42 [[ 6.99164082e-01 -7.07527062e-01 -1.02835029e-01 1.00859474e+02] [ 7.00214446e-01 7.06685448e-01 -1.01466284e-01 4.16260294e+01] [ 1.44462160e-01 -1.06499138e-03 9.89509752e-01 8.41713087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:41.65, Z:8.42 [[ 6.98925602e-01 -7.07857582e-01 -1.02179485e-01 1.00877819e+02] [ 7.00440268e-01 7.06355169e-01 -1.02204724e-01 4.16465901e+01] [ 1.44521396e-01 -1.37128183e-04 9.89501666e-01 8.42074768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:41.67, Z:8.42 [[ 6.98252319e-01 -7.08681946e-01 -1.01062345e-01 1.00896882e+02] [ 7.00893092e-01 7.05524193e-01 -1.04806904e-01 4.16684166e+01] [ 1.45576690e-01 2.34776423e-03 9.89344184e-01 8.42467951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:41.69, Z:8.43 [[ 6.97205453e-01 -7.09269229e-01 -1.04123562e-01 1.00916267e+02] [ 7.01862751e-01 7.04935421e-01 -1.02248380e-01 4.16878340e+01] [ 1.45922017e-01 -1.79232102e-03 9.89294472e-01 8.42934708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:41.71, Z:8.43 [[ 6.97017644e-01 -7.09681381e-01 -1.02560911e-01 1.00935438e+02] [ 7.02056019e-01 7.04522702e-01 -1.03755042e-01 4.17087872e+01] [ 1.45889512e-01 3.15590410e-04 9.89300839e-01 8.43273102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:41.73, Z:8.43 [[ 6.95800289e-01 -7.11602383e-01 -9.73858666e-02 1.00951324e+02] [ 7.02485883e-01 7.02496977e-01 -1.14068322e-01 4.17335544e+01] [ 1.49584566e-01 1.09565746e-02 9.88688227e-01 8.43365545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:41.75, Z:8.44 [[ 6.94772270e-01 -7.10738291e-01 -1.10193352e-01 1.00976311e+02] [ 7.03946573e-01 7.03396748e-01 -9.84491669e-02 4.17472546e+01] [ 1.47481238e-01 -9.17048130e-03 9.89022339e-01 8.44477255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.901858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.99, Y:41.77, Z:8.44 [[ 6.93805862e-01 -7.12919387e-01 -1.01879206e-01 1.00991468e+02] [ 7.04843810e-01 7.01241721e-01 -1.07029210e-01 4.17722788e+01] [ 1.47745148e-01 2.44856548e-03 9.89022434e-01 8.44408685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.01, Y:41.79, Z:8.45 [[ 6.90964360e-01 -7.15225026e-01 -1.04982930e-01 1.01012484e+02] [ 7.07885178e-01 6.98884700e-01 -1.02268036e-01 4.17919416e+01] [ 1.46515622e-01 -3.65229243e-03 9.89201614e-01 8.45067341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.961858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.03, Y:41.81, Z:8.45 [[ 6.88950795e-01 -7.17679439e-01 -1.01405257e-01 1.01030723e+02] [ 7.09716520e-01 6.96372032e-01 -1.06622959e-01 4.18146644e+01] [ 1.47136891e-01 1.48898626e-03 9.89115018e-01 8.45283026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.991858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.05, Y:41.83, Z:8.46 [[ 6.87027967e-01 -7.19231640e-01 -1.03433167e-01 1.01050585e+02] [ 7.11526294e-01 6.94768838e-01 -1.05007592e-01 4.18335925e+01] [ 1.47386923e-01 -1.45226543e-03 9.89077846e-01 8.45834642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:41.85, Z:8.47 [[ 6.85630696e-01 -7.18695616e-01 -1.15702896e-01 1.01078138e+02] [ 7.12059793e-01 6.95167020e-01 -9.85579294e-02 4.18485240e+01] [ 1.51265989e-01 -1.48130381e-02 9.88382099e-01 8.47200601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:41.88, Z:8.46 [[ 6.82250217e-01 -7.24691212e-01 -9.67330765e-02 1.01084572e+02] [ 7.15926184e-01 6.89032010e-01 -1.12625879e-01 4.18783164e+01] [ 1.48271171e-01 7.58528834e-03 9.88917652e-01 8.46252164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.081858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.11, Y:41.89, Z:8.47 [[ 6.80844350e-01 -7.24732257e-01 -1.05896775e-01 1.01107097e+02] [ 7.17460463e-01 6.89003337e-01 -1.02590860e-01 4.18941683e+01] [ 1.47314137e-01 -6.12834133e-03 9.89070770e-01 8.47071998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:41.92, Z:8.47 [[ 6.79450162e-01 -7.26292153e-01 -1.04149826e-01 1.01123005e+02] [ 7.18577448e-01 6.87379268e-01 -1.05622880e-01 4.19174150e+01] [ 1.48303500e-01 -3.07423292e-03 9.88937117e-01 8.47257360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:41.94, Z:8.47 [[ 6.78918225e-01 -7.27360994e-01 -1.00080107e-01 1.01140534e+02] [ 7.19029359e-01 6.86250159e-01 -1.09806655e-01 4.19415801e+01] [ 1.48549067e-01 2.58920403e-03 9.88901649e-01 8.47263496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:41.96, Z:8.48 [[ 6.79254396e-01 -7.25815685e-01 -1.08651078e-01 1.01161429e+02] [ 7.18674523e-01 6.87832476e-01 -1.01948101e-01 4.19571236e+01] [ 1.48729271e-01 -8.83606590e-03 9.88838474e-01 8.48201328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:41.98, Z:8.48 [[ 6.79180109e-01 -7.26813963e-01 -1.02253815e-01 1.01177164e+02] [ 7.18402375e-01 6.86832887e-01 -1.10266105e-01 4.19814094e+01] [ 1.50374227e-01 1.43116184e-03 9.88628112e-01 8.48287446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:42.00, Z:8.49 [[ 6.79327007e-01 -7.25866539e-01 -1.07854460e-01 1.01198250e+02] [ 7.18540820e-01 6.87795370e-01 -1.03133983e-01 4.19985122e+01] [ 1.49043306e-01 -7.43613196e-03 9.88802709e-01 8.49053128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.21, Y:42.02, Z:8.49 [[ 6.80022237e-01 -7.25721822e-01 -1.04391545e-01 1.01213449e+02] [ 7.17931304e-01 6.87982541e-01 -1.06088009e-01 4.20210882e+01] [ 1.48809944e-01 -2.80375265e-03 9.88861841e-01 8.49305573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.291858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.23, Y:42.04, Z:8.50 [[ 6.80188507e-01 -7.25613452e-01 -1.04061102e-01 1.01231635e+02] [ 7.17866215e-01 6.88097062e-01 -1.05785305e-01 4.20420027e+01] [ 1.48363379e-01 -2.74800034e-03 9.88929096e-01 8.49695885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:42.06, Z:8.50 [[ 6.80827123e-01 -7.25022752e-01 -1.04002109e-01 1.01250262e+02] [ 7.17405649e-01 6.88717415e-01 -1.04868760e-01 4.20625989e+01] [ 1.47660301e-01 -3.21420448e-03 9.89032914e-01 8.50095957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.351858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.27, Y:42.08, Z:8.50 [[ 6.81074609e-01 -7.24973943e-01 -1.02713966e-01 1.01267413e+02] [ 7.17209718e-01 6.88774459e-01 -1.05829890e-01 4.20843261e+01] [ 1.47470669e-01 -1.58940301e-03 9.89065152e-01 8.50482057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:42.10, Z:8.52 [[ 6.81978538e-01 -7.22092076e-01 -1.16139171e-01 1.01293972e+02] [ 7.15575459e-01 6.91607717e-01 -9.81352511e-02 4.20993732e+01] [ 1.51185434e-01 -1.61802056e-02 9.88372989e-01 8.51895671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:42.13, Z:8.51 [[ 6.81968815e-01 -7.25547844e-01 -9.21892691e-02 1.01300856e+02] [ 7.15816287e-01 6.87997968e-01 -1.19439689e-01 4.21313159e+01] [ 1.50085239e-01 1.54635631e-02 9.88552123e-01 8.50750779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:42.14, Z:8.52 [[ 6.83002907e-01 -7.22411451e-01 -1.07836567e-01 1.01326584e+02] [ 7.15124408e-01 6.91427543e-01 -1.02591592e-01 4.21447348e+01] [ 1.48674513e-01 -7.04620508e-03 9.88861082e-01 8.51846529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:42.17, Z:8.52 [[ 6.83771548e-01 -7.22230604e-01 -1.04112559e-01 1.01343800e+02] [ 7.14399961e-01 6.91649881e-01 -1.06080804e-01 4.21667164e+01] [ 1.48624242e-01 -1.84297298e-03 9.88892025e-01 8.52047733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:42.19, Z:8.52 [[ 6.84828492e-01 -7.21236728e-01 -1.04055364e-01 1.01362137e+02] [ 7.13357496e-01 6.92687221e-01 -1.06327304e-01 4.21863111e+01] [ 1.48764978e-01 -1.41270723e-03 9.88871572e-01 8.52426340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.531858064 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.38, Y:42.21, Z:8.53 [[ 6.87106641e-01 -7.19003588e-01 -1.04490689e-01 1.01381389e+02] [ 7.11079478e-01 6.95005404e-01 -1.06458743e-01 4.22072215e+01] [ 1.49165812e-01 -1.15267532e-03 9.88811525e-01 8.52782169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.40, Y:42.23, Z:8.53 [[ 6.89284293e-01 -7.16885230e-01 -1.04703059e-01 1.01399330e+02] [ 7.08973151e-01 6.97190458e-01 -1.06219285e-01 4.22254853e+01] [ 1.49145011e-01 -1.01637283e-03 9.88814812e-01 8.53135499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.591858064 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.42, Y:42.25, Z:8.54 [[ 6.89675161e-01 -7.16563617e-01 -1.04330033e-01 1.01419722e+02] [ 7.08392894e-01 6.97521556e-01 -1.07903598e-01 4.22473807e+01] [ 1.50092239e-01 5.11777206e-04 9.88671866e-01 8.53594135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:42.27, Z:8.54 [[ 6.92195884e-01 -7.14081922e-01 -1.04651168e-01 1.01439400e+02] [ 7.06047467e-01 7.00062144e-01 -1.06817456e-01 4.22671073e+01] [ 1.49538735e-01 4.99109191e-05 9.88755867e-01 8.54047663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.651858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.46, Y:42.29, Z:8.54 [[ 6.93129915e-01 -7.13217864e-01 -1.04360911e-01 1.01458709e+02] [ 7.05209190e-01 7.00942366e-01 -1.06582352e-01 4.22875477e+01] [ 1.49167421e-01 2.79142504e-04 9.88811915e-01 8.54447310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.681858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.48, Y:42.31, Z:8.55 [[ 6.93956363e-01 -7.12487174e-01 -1.03858525e-01 1.01478156e+02] [ 7.04538516e-01 7.01684972e-01 -1.06130484e-01 4.23079469e+01] [ 1.48492574e-01 4.77593766e-04 9.88913407e-01 8.54807622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:42.33, Z:8.55 [[ 6.94747302e-01 -7.11752176e-01 -1.03609975e-01 1.01497426e+02] [ 7.03824518e-01 7.02430341e-01 -1.05937076e-01 4.23266613e+01] [ 1.48179734e-01 6.76257156e-04 9.88960216e-01 8.55236608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.741858064 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:101.52, Y:42.35, Z:8.56 [[ 6.94229685e-01 -7.12263441e-01 -1.03566093e-01 1.01517067e+02] [ 7.04343112e-01 7.01911990e-01 -1.05926100e-01 4.23462770e+01] [ 1.48141571e-01 5.90978947e-04 9.88965988e-01 8.55629395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.771858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.54, Y:42.37, Z:8.56 [[ 6.93497551e-01 -7.12993112e-01 -1.03450320e-01 1.01536970e+02] [ 7.05089491e-01 7.01170873e-01 -1.05868865e-01 4.23654443e+01] [ 1.48020123e-01 4.78065471e-04 9.88984234e-01 8.56037188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.801858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.56, Y:42.38, Z:8.56 [[ 6.92453250e-01 -7.14013753e-01 -1.03406266e-01 1.01556862e+02] [ 7.06119071e-01 7.00131608e-01 -1.05884796e-01 4.23847650e+01] [ 1.48001196e-01 3.03134526e-04 9.88987136e-01 8.56407605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:42.40, Z:8.57 [[ 6.90532938e-01 -7.15909376e-01 -1.03140811e-01 1.01577140e+02] [ 7.08067271e-01 6.98193213e-01 -1.05673922e-01 4.24025186e+01] [ 1.47665166e-01 -5.93082586e-05 9.89037408e-01 8.56817161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:42.42, Z:8.57 [[ 6.89297282e-01 -7.17127042e-01 -1.02946894e-01 1.01597109e+02] [ 7.09323003e-01 6.96942407e-01 -1.05509044e-01 4.24215550e+01] [ 1.47411444e-01 -2.95503136e-04 9.89075214e-01 8.57225269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:42.44, Z:8.58 [[ 6.87443956e-01 -7.18904323e-01 -1.02943583e-01 1.01617188e+02] [ 7.11111436e-01 6.95108750e-01 -1.05566812e-01 4.24394741e+01] [ 1.47449423e-01 -6.33091976e-04 9.89069394e-01 8.57523548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.64, Y:42.46, Z:8.58 [[ 6.86488881e-01 -7.19787138e-01 -1.03147915e-01 1.01636774e+02] [ 7.11967922e-01 6.94194378e-01 -1.05810408e-01 4.24579450e+01] [ 1.47765674e-01 -8.00338670e-04 9.89022075e-01 8.57902976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:42.48, Z:8.58 [[ 6.85827073e-01 -7.20583100e-01 -1.01986385e-01 1.01655918e+02] [ 7.12352860e-01 6.93366146e-01 -1.08613032e-01 4.24776139e+01] [ 1.48978622e-01 1.83946442e-03 9.88838706e-01 8.58234392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.981858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.66, Y:42.51, Z:8.57 [[ 6.82294945e-01 -7.26656980e-01 -8.02698043e-02 1.01663886e+02] [ 7.17331403e-01 6.86610079e-01 -1.18331136e-01 4.25063785e+01] [ 1.41100203e-01 2.31566845e-02 9.89724457e-01 8.56876864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:42.51, Z:8.60 [[ 6.84262576e-01 -7.19123627e-01 -1.21020398e-01 1.01706263e+02] [ 7.14164191e-01 6.94393798e-01 -8.82426268e-02 4.25051169e+01] [ 1.47493172e-01 -2.60473078e-02 9.88720032e-01 8.60160467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:42.53, Z:8.60 [[ 6.83827115e-01 -7.22324762e-01 -1.03089355e-01 1.01718783e+02] [ 7.14534191e-01 6.91552770e-01 -1.05809527e-01 4.25339305e+01] [ 1.47720571e-01 -1.30544562e-03 9.89028275e-01 8.59705605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.071858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.74, Y:42.55, Z:8.60 [[ 6.83476774e-01 -7.22598502e-01 -1.03493498e-01 1.01738365e+02] [ 7.14740364e-01 6.91266694e-01 -1.06285319e-01 4.25535450e+01] [ 1.48343220e-01 -1.32743324e-03 9.88935047e-01 8.60093593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.101858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.76, Y:42.57, Z:8.60 [[ 6.83431623e-01 -7.22612297e-01 -1.03695155e-01 1.01758207e+02] [ 7.14714366e-01 6.91252344e-01 -1.06553143e-01 4.25731341e+01] [ 1.48676130e-01 -1.29062955e-03 9.88885101e-01 8.60450811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:42.61, Z:8.58 [[ 6.79135124e-01 -7.30980619e-01 -6.66544598e-02 1.01755652e+02] [ 7.20512057e-01 6.81225796e-01 -1.29590860e-01 4.26112577e+01] [ 1.40135145e-01 3.99843630e-02 9.89324715e-01 8.57803396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:42.60, Z:8.63 [[ 6.83823620e-01 -7.17405388e-01 -1.33096828e-01 1.01809994e+02] [ 7.13979043e-01 6.95511891e-01 -8.06048093e-02 4.25980134e+01] [ 1.50396751e-01 -3.99088737e-02 9.87819872e-01 8.62711283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.191858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.82, Y:42.63, Z:8.62 [[ 6.83313907e-01 -7.22815397e-01 -1.03053414e-01 1.01817466e+02] [ 7.14183857e-01 6.91036571e-01 -1.11399625e-01 4.26339538e+01] [ 1.51735042e-01 2.52182862e-03 9.88417987e-01 8.61615172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.84, Y:42.65, Z:8.62 [[ 6.82504569e-01 -7.23362521e-01 -1.04566609e-01 1.01838220e+02] [ 7.14716715e-01 6.90467072e-01 -1.11513405e-01 4.26529055e+01] [ 1.52864418e-01 1.37290478e-03 9.88246217e-01 8.62078847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.251858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.86, Y:42.67, Z:8.63 [[ 6.82896524e-01 -7.22163037e-01 -1.10149377e-01 1.01861070e+02] [ 7.14835585e-01 6.91671535e-01 -1.02959091e-01 4.26687871e+01] [ 1.50540439e-01 -8.42828859e-03 9.88567924e-01 8.62903347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.86, Y:42.71, Z:8.60 [[ 6.78149216e-01 -7.31348123e-01 -7.24124514e-02 1.01859985e+02] [ 7.21534030e-01 6.81276509e-01 -1.23494781e-01 4.27069189e+01] [ 1.39650578e-01 3.14998410e-02 9.89699690e-01 8.60426920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:42.70, Z:8.65 [[ 6.82887142e-01 -7.19400343e-01 -1.26997240e-01 1.01907248e+02] [ 7.14955594e-01 6.93856108e-01 -8.60360425e-02 4.26992835e+01] [ 1.50012169e-01 -3.20444797e-02 9.88164713e-01 8.64707117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.341858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.91, Y:42.74, Z:8.62 [[ 6.81199437e-01 -7.27276564e-01 -8.38816266e-02 1.01906127e+02] [ 7.17849212e-01 6.86037871e-01 -1.18509698e-01 4.27402260e+01] [ 1.43735299e-01 2.05143801e-02 9.89403519e-01 8.62366625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:42.75, Z:8.64 [[ 6.82557785e-01 -7.23292918e-01 -1.04700648e-01 1.01936015e+02] [ 7.15978947e-01 6.90524285e-01 -1.02714941e-01 4.27503667e+01] [ 1.46591329e-01 -4.85457727e-03 9.89185228e-01 8.64076644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.401858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.96, Y:42.77, Z:8.65 [[ 6.83662076e-01 -7.21223663e-01 -1.11546376e-01 1.01960523e+02] [ 7.14096934e-01 6.92627726e-01 -1.01648426e-01 4.27680571e+01] [ 1.50571363e-01 -1.01617516e-02 9.88546915e-01 8.65166195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.431858064 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:101.98, Y:42.79, Z:8.65 [[ 6.84424429e-01 -7.21698537e-01 -1.03510493e-01 1.01976314e+02] [ 7.13126690e-01 6.92204310e-01 -1.10921217e-01 4.27924901e+01] [ 1.51702090e-01 2.10109562e-03 9.88424029e-01 8.65163357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.461858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.00, Y:42.81, Z:8.66 [[ 6.88196950e-01 -7.16934376e-01 -1.11310638e-01 1.01999082e+02] [ 7.09776723e-01 6.97080287e-01 -1.01469589e-01 4.28058743e+01] [ 1.50339488e-01 -9.17463805e-03 9.88591859e-01 8.65878717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.491858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.02, Y:42.83, Z:8.66 [[ 6.89366190e-01 -7.16819233e-01 -1.04615699e-01 1.02015914e+02] [ 7.08696577e-01 6.97259053e-01 -1.07605645e-01 4.28286011e+01] [ 1.50078039e-01 3.89059266e-05 9.88674153e-01 8.65975827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.521858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.03, Y:42.85, Z:8.66 [[ 6.90057688e-01 -7.16529647e-01 -1.02008096e-01 1.02034663e+02] [ 7.07777802e-01 6.97539292e-01 -1.11756517e-01 4.28504483e+01] [ 1.51231513e-01 4.91937744e-03 9.88486130e-01 8.66237550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.551858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:102.06, Y:42.87, Z:8.67 [[ 6.92009684e-01 -7.13717042e-01 -1.08307809e-01 1.02056448e+02] [ 7.06044952e-01 7.00421614e-01 -1.04451364e-01 4.28661666e+01] [ 1.50409849e-01 -4.18882684e-03 9.88614855e-01 8.66960098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.581858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.07, Y:42.89, Z:8.67 [[ 6.91902421e-01 -7.15152113e-01 -9.91387668e-02 1.02071544e+02] [ 7.06109998e-01 6.98915177e-01 -1.13693647e-01 4.28919720e+01] [ 1.50597841e-01 8.66203508e-03 9.88557161e-01 8.66624877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:42.91, Z:8.67 [[ 6.93342070e-01 -7.12436614e-01 -1.08216658e-01 1.02095819e+02] [ 7.04540578e-01 7.01730571e-01 -1.05814842e-01 4.29063733e+01] [ 1.51325305e-01 -2.87714544e-03 9.88479830e-01 8.67449208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.12, Y:42.92, Z:8.68 [[ 6.94300874e-01 -7.10923470e-01 -1.11955867e-01 1.02118626e+02] [ 7.03133941e-01 7.03245930e-01 -1.05108627e-01 4.29241579e+01] [ 1.53456697e-01 -5.74295853e-03 9.88138685e-01 8.68273320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:42.95, Z:8.68 [[ 6.94310459e-01 -7.12269177e-01 -1.02983517e-01 1.02134767e+02] [ 7.03488857e-01 7.01888305e-01 -1.11607507e-01 4.29466290e+01] [ 1.51777513e-01 5.04250315e-03 9.88401821e-01 8.68177548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:42.97, Z:8.69 [[ 6.94181546e-01 -7.12001000e-01 -1.05671929e-01 1.02155477e+02] [ 7.03608960e-01 7.02177217e-01 -1.09002693e-01 4.29655897e+01] [ 1.51810447e-01 1.31594144e-03 9.88408750e-01 8.68737133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.731858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:102.17, Y:42.99, Z:8.69 [[ 6.92543264e-01 -7.14100296e-01 -1.02198804e-01 1.02173073e+02] [ 7.05541304e-01 7.00030249e-01 -1.10313729e-01 4.29858984e+01] [ 1.50317321e-01 4.29155268e-03 9.88628487e-01 8.68741277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.761858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.20, Y:43.00, Z:8.70 [[ 6.92769808e-01 -7.13135426e-01 -1.07274681e-01 1.02197195e+02] [ 7.05045878e-01 7.01024845e-01 -1.07118982e-01 4.30027364e+01] [ 1.51592558e-01 -1.42477535e-03 9.88442040e-01 8.69536703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.22, Y:43.02, Z:8.70 [[ 6.92185893e-01 -7.13780206e-01 -1.06754426e-01 1.02217678e+02] [ 7.05728029e-01 7.00368507e-01 -1.06920077e-01 4.30214783e+01] [ 1.51084873e-01 -1.33102193e-03 9.88519898e-01 8.69925578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:43.04, Z:8.70 [[ 6.89791258e-01 -7.16576129e-01 -1.03473054e-01 1.02238107e+02] [ 7.08051725e-01 6.97503370e-01 -1.10235220e-01 4.30405154e+01] [ 1.51164731e-01 2.77501657e-03 9.88504691e-01 8.70292935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:43.06, Z:8.71 [[ 6.88467357e-01 -7.17639172e-01 -1.04912898e-01 1.02259477e+02] [ 7.09406030e-01 6.96415091e-01 -1.08393297e-01 4.30588781e+01] [ 1.50850201e-01 1.99404063e-04 9.88556613e-01 8.70827916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.881858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.28, Y:43.08, Z:8.71 [[ 6.87201637e-01 -7.18847840e-01 -1.04936612e-01 1.02280226e+02] [ 7.10616248e-01 6.95167449e-01 -1.08474727e-01 4.30780090e+01] [ 1.50925340e-01 -2.56517543e-05 9.88545164e-01 8.71247002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:43.09, Z:8.73 [[ 6.85996223e-01 -7.17715822e-01 -1.19554094e-01 1.02306722e+02] [ 7.10951120e-01 6.96138160e-01 -9.97003864e-02 4.30903016e+01] [ 1.54782712e-01 -1.66030285e-02 9.87809016e-01 8.72812812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:43.12, Z:8.72 [[ 6.83957894e-01 -7.23199018e-01 -9.58372527e-02 1.02317547e+02] [ 7.13381708e-01 6.90510268e-01 -1.19507778e-01 4.31202398e+01] [ 1.52604515e-01 1.33697455e-02 9.88196899e-01 8.71506797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.971858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:102.34, Y:43.13, Z:8.73 [[ 6.83489640e-01 -7.21622184e-01 -1.10015163e-01 1.02344139e+02] [ 7.14149506e-01 6.92245584e-01 -1.03858247e-01 4.31312609e+01] [ 1.51103925e-01 -7.58123865e-03 9.88488811e-01 8.72662246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:43.15, Z:8.73 [[ 6.83527909e-01 -7.22871184e-01 -1.01226722e-01 1.02359131e+02] [ 7.13988680e-01 6.90964568e-01 -1.13084615e-01 4.31530565e+01] [ 1.51689688e-01 5.02175676e-03 9.88415409e-01 8.72602782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.031858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:102.38, Y:43.17, Z:8.73 [[ 6.81495220e-01 -7.24161965e-01 -1.05611138e-01 1.02380743e+02] [ 7.15334673e-01 6.89628749e-01 -1.12731953e-01 4.31715647e+01] [ 1.54468670e-01 1.27897783e-03 9.87996859e-01 8.73342035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.40, Y:43.19, Z:8.74 [[ 6.80216443e-01 -7.25328606e-01 -1.05848966e-01 1.02402202e+02] [ 7.16998569e-01 6.88401517e-01 -1.09619360e-01 4.31895934e+01] [ 1.52376646e-01 -1.32866593e-03 9.88321604e-01 8.73719683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.42, Y:43.21, Z:8.74 [[ 6.78937443e-01 -7.27192474e-01 -1.01168444e-01 1.02419809e+02] [ 7.17766007e-01 6.86400375e-01 -1.16903738e-01 4.32122531e+01] [ 1.54453576e-01 6.75505478e-03 9.87976954e-01 8.73766630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.44, Y:43.23, Z:8.75 [[ 6.78232211e-01 -7.26202911e-01 -1.12385050e-01 1.02444239e+02] [ 7.18795606e-01 6.87403730e-01 -1.03966289e-01 4.32250498e+01] [ 1.52754524e-01 -1.02685942e-02 9.88210813e-01 8.74779197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.151858064 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:102.46, Y:43.25, Z:8.75 [[ 6.77575297e-01 -7.27699884e-01 -1.06511017e-01 1.02462441e+02] [ 7.19683820e-01 6.85886079e-01 -1.07775162e-01 4.32459285e+01] [ 1.51482397e-01 -3.62846855e-03 9.88453296e-01 8.74815899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:43.27, Z:8.75 [[ 6.76394916e-01 -7.29133616e-01 -1.04182947e-01 1.02481317e+02] [ 7.20633794e-01 6.84371368e-01 -1.11007954e-01 4.32675582e+01] [ 1.52239457e-01 7.46323351e-06 9.88343638e-01 8.75086223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.211858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:102.51, Y:43.28, Z:8.76 [[ 6.75513974e-01 -7.28255837e-01 -1.15430966e-01 1.02508624e+02] [ 7.21012409e-01 6.85173875e-01 -1.03333763e-01 4.32814678e+01] [ 1.54343699e-01 -1.34237580e-02 9.87926022e-01 8.76378118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.241858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:102.53, Y:43.30, Z:8.77 [[ 6.74781981e-01 -7.29727321e-01 -1.10305552e-01 1.02526578e+02] [ 7.21244071e-01 6.83722618e-01 -1.11042202e-01 4.33034755e+01] [ 1.56448929e-01 -4.62794820e-03 9.87675207e-01 8.76655349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.271858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.54, Y:43.33, Z:8.76 [[ 6.73485422e-01 -7.32799889e-01 -9.70654908e-02 1.02541017e+02] [ 7.23273781e-01 6.80379769e-01 -1.18145709e-01 4.33286105e+01] [ 1.52618558e-01 9.36448813e-03 9.88240802e-01 8.75985959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.301858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.57, Y:43.34, Z:8.77 [[ 6.74244197e-01 -7.30934501e-01 -1.05496534e-01 1.02565884e+02] [ 7.22743925e-01 6.82442461e-01 -1.09149007e-01 4.33431072e+01] [ 1.51776090e-01 -2.65389446e-03 9.88411339e-01 8.76956748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.331858064 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:102.58, Y:43.36, Z:8.77 [[ 6.75444492e-01 -7.29995146e-01 -1.04315992e-01 1.02582542e+02] [ 7.21784951e-01 6.83450586e-01 -1.09186906e-01 4.33609115e+01] [ 1.51000737e-01 -1.54401856e-03 9.88532444e-01 8.77287821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:102.60, Y:43.39, Z:8.77 [[ 6.75531159e-01 -7.31146642e-01 -9.53007931e-02 1.02599648e+02] [ 7.22142148e-01 6.82165135e-01 -1.14723346e-01 4.33867769e+01] [ 1.48890467e-01 8.67847513e-03 9.88815611e-01 8.77106692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:43.40, Z:8.79 [[ 6.80103106e-01 -7.24398288e-01 -1.12724824e-01 1.02627221e+02] [ 7.17179439e-01 6.89292993e-01 -1.02610050e-01 4.33957554e+01] [ 1.52030976e-01 -1.10585124e-02 9.88313863e-01 8.78853882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:43.42, Z:8.79 [[ 6.79705834e-01 -7.25422712e-01 -1.08452144e-01 1.02645194e+02] [ 7.17569422e-01 6.88282659e-01 -1.06588490e-01 4.34184809e+01] [ 1.51967441e-01 -5.37312345e-03 9.88370895e-01 8.79127238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.66, Y:43.44, Z:8.79 [[ 6.80646984e-01 -7.25021381e-01 -1.05184033e-01 1.02662668e+02] [ 7.16696786e-01 6.88725875e-01 -1.09555402e-01 4.34390064e+01] [ 1.51872974e-01 -8.16503858e-04 9.88399683e-01 8.79302685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.68, Y:43.46, Z:8.79 [[ 6.81947566e-01 -7.24587894e-01 -9.95987006e-02 1.02680870e+02] [ 7.16040495e-01 6.89168249e-01 -1.11054644e-01 4.34605024e+01] [ 1.49109112e-01 4.41674095e-03 9.88810884e-01 8.79198786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:43.48, Z:8.79 [[ 6.81177245e-01 -7.26079696e-01 -9.38394195e-02 1.02698019e+02] [ 7.16823031e-01 6.87508063e-01 -1.16178334e-01 4.34844872e+01] [ 1.48870087e-01 1.18717806e-02 9.88785496e-01 8.79006952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.541858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:102.73, Y:43.49, Z:8.81 [[ 6.83519322e-01 -7.20773620e-01 -1.15268057e-01 1.02726424e+02] [ 7.14019736e-01 6.93022792e-01 -9.94747518e-02 4.34906737e+01] [ 1.51582168e-01 -1.43107527e-02 9.88341059e-01 8.80878250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:43.52, Z:8.81 [[ 6.83468338e-01 -7.22415172e-01 -1.04820561e-01 1.02742155e+02] [ 7.14210964e-01 6.91459241e-01 -1.08567110e-01 4.35153993e+01] [ 1.50909673e-01 -6.61811479e-04 9.88547335e-01 8.80724840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:43.53, Z:8.81 [[ 6.84084085e-01 -7.21774204e-01 -1.05218642e-01 1.02763344e+02] [ 7.13727859e-01 6.92126822e-01 -1.07484907e-01 4.35336806e+01] [ 1.50404477e-01 -1.56876193e-03 9.88623301e-01 8.81147781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:43.55, Z:8.81 [[ 6.83773762e-01 -7.22368573e-01 -1.03136258e-01 1.02782327e+02] [ 7.13898582e-01 6.91505900e-01 -1.10310490e-01 4.35543755e+01] [ 1.51004162e-01 1.79859018e-03 9.88531491e-01 8.81405847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.661858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.80, Y:43.57, Z:8.82 [[ 6.84120409e-01 -7.22063932e-01 -1.02970601e-01 1.02802577e+02] [ 7.13486011e-01 6.91821938e-01 -1.10996025e-01 4.35733788e+01] [ 1.51383547e-01 2.46656235e-03 9.88472022e-01 8.81774502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.691858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.82, Y:43.59, Z:8.82 [[ 6.83379925e-01 -7.22322289e-01 -1.06030129e-01 1.02824671e+02] [ 7.14228619e-01 6.91553609e-01 -1.07847511e-01 4.35914067e+01] [ 1.51226180e-01 -2.02892894e-03 9.88497105e-01 8.82401662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:43.61, Z:8.83 [[ 6.82925070e-01 -7.22965276e-01 -1.04568439e-01 1.02845755e+02] [ 7.14642968e-01 6.90884368e-01 -1.09381069e-01 4.36101184e+01] [ 1.51323415e-01 -3.00253709e-05 9.88484306e-01 8.82768413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:43.63, Z:8.83 [[ 6.81758050e-01 -7.24024932e-01 -1.04851603e-01 1.02865676e+02] [ 7.15659973e-01 6.89773766e-01 -1.09740396e-01 4.36292035e+01] [ 1.51778668e-01 -2.21696962e-04 9.88414481e-01 8.83197869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:43.65, Z:8.84 [[ 6.80704554e-01 -7.25004048e-01 -1.04930641e-01 1.02885548e+02] [ 7.16627567e-01 6.88744492e-01 -1.09890652e-01 4.36482967e+01] [ 1.51941569e-01 -3.93122769e-04 9.88389400e-01 8.83647004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:43.67, Z:8.84 [[ 6.79370086e-01 -7.26238353e-01 -1.05043518e-01 1.02905590e+02] [ 7.17848793e-01 6.87442697e-01 -1.10071108e-01 4.36673859e+01] [ 1.52149260e-01 -6.26345054e-04 9.88357329e-01 8.84052317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:43.69, Z:8.84 [[ 6.75970081e-01 -7.29360875e-01 -1.05343073e-01 1.02925504e+02] [ 7.20951012e-01 6.84127952e-01 -1.10447203e-01 4.36850432e+01] [ 1.52624010e-01 -1.28819048e-03 9.88283488e-01 8.84452259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.871858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:102.94, Y:43.71, Z:8.85 [[ 6.75243880e-01 -7.30363480e-01 -1.03028590e-01 1.02943682e+02] [ 7.21492789e-01 6.83054788e-01 -1.13509087e-01 4.37053833e+01] [ 1.53277063e-01 2.31193149e-03 9.88180549e-01 8.84686242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:43.74, Z:8.83 [[ 6.70963443e-01 -7.37713079e-01 -7.47493857e-02 1.02950718e+02] [ 7.27162969e-01 6.74368258e-01 -1.28302256e-01 4.37391774e+01] [ 1.45058865e-01 3.17311379e-02 9.88914081e-01 8.82750774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:43.75, Z:8.84 [[ 6.68327567e-01 -7.38309591e-01 -9.07590836e-02 1.02978076e+02] [ 7.29994764e-01 6.74417161e-01 -1.10766142e-01 4.37510746e+01] [ 1.42989189e-01 7.77441077e-03 9.89693715e-01 8.83880752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:43.75, Z:8.88 [[ 6.69923985e-01 -7.29545201e-01 -1.37715843e-01 1.03018592e+02] [ 7.26478316e-01 6.82398576e-01 -8.10027200e-02 4.37493360e+01] [ 1.53072241e-01 -4.57819089e-02 9.87153942e-01 8.88149732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:43.79, Z:8.87 [[ 6.69323595e-01 -7.35382803e-01 -1.05915336e-01 1.03024456e+02] [ 7.26970376e-01 6.77646398e-01 -1.10947877e-01 4.37853999e+01] [ 1.53362307e-01 -2.73727939e-03 9.88166236e-01 8.86691760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:43.80, Z:8.87 [[ 6.68075994e-01 -7.36486241e-01 -1.06124845e-01 1.03043098e+02] [ 7.28047435e-01 6.76446017e-01 -1.11210248e-01 4.38049618e+01] [ 1.53692546e-01 -2.96702452e-03 9.88114264e-01 8.87155220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:43.83, Z:8.88 [[ 6.67440939e-01 -7.37046352e-01 -1.06232142e-01 1.03062301e+02] [ 7.28590775e-01 6.75835225e-01 -1.11365308e-01 4.38256660e+01] [ 1.53876818e-01 -3.06999318e-03 9.88085270e-01 8.87591214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:43.85, Z:8.88 [[ 6.66900782e-01 -7.37542466e-01 -1.06181251e-01 1.03081246e+02] [ 7.29091588e-01 6.75293454e-01 -1.11374176e-01 4.38465830e+01] [ 1.53846688e-01 -3.14033195e-03 9.88089740e-01 8.88006303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.111858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.10, Y:43.87, Z:8.88 [[ 6.66711855e-01 -7.37758481e-01 -1.05866546e-01 1.03098929e+02] [ 7.29350774e-01 6.75057465e-01 -1.11107455e-01 4.38673499e+01] [ 1.53436469e-01 -3.13718969e-03 9.88153535e-01 8.88421268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:43.89, Z:8.89 [[ 6.65892617e-01 -7.38871951e-01 -1.03224331e-01 1.03117609e+02] [ 7.29851199e-01 6.73844577e-01 -1.15111744e-01 4.38914367e+01] [ 1.54609994e-01 1.31365914e-03 9.87974708e-01 8.88682117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:43.91, Z:8.90 [[ 6.66580647e-01 -7.37357405e-01 -1.09427135e-01 1.03138176e+02] [ 7.29510028e-01 6.75454167e-01 -1.07595482e-01 4.39083265e+01] [ 1.53249340e-01 -8.10712626e-03 9.88154297e-01 8.89533772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:43.93, Z:8.90 [[ 6.67001293e-01 -7.37565291e-01 -1.05388414e-01 1.03153298e+02] [ 7.29204382e-01 6.75269343e-01 -1.10780340e-01 4.39332109e+01] [ 1.52873299e-01 -2.95906287e-03 9.88241367e-01 8.89764184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:43.95, Z:8.90 [[ 6.68143215e-01 -7.36222986e-01 -1.07519114e-01 1.03172061e+02] [ 7.28465029e-01 6.76703338e-01 -1.06823658e-01 4.39519915e+01] [ 1.51404576e-01 -6.95041267e-03 9.88447442e-01 8.90348286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:43.98, Z:8.90 [[ 6.67939827e-01 -7.37234325e-01 -1.01695320e-01 1.03188994e+02] [ 7.28400486e-01 6.75634364e-01 -1.13802187e-01 4.39777438e+01] [ 1.52607732e-01 1.93809297e-03 9.88284941e-01 8.90477863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:44.00, Z:8.91 [[ 6.68700771e-01 -7.36149654e-01 -1.04512990e-01 1.03207137e+02] [ 7.27888648e-01 6.76814128e-01 -1.10003417e-01 4.39969095e+01] [ 1.51714846e-01 -2.51444907e-03 9.88421106e-01 8.91187346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:44.02, Z:8.92 [[ 6.69444614e-01 -7.35273480e-01 -1.05909480e-01 1.03225915e+02] [ 7.27579148e-01 6.77744656e-01 -1.06258009e-01 4.40164826e+01] [ 1.49908280e-01 -5.92367720e-03 9.88682162e-01 8.91779373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.351858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:103.24, Y:44.04, Z:8.92 [[ 6.69199301e-01 -7.36232185e-01 -1.00670083e-01 1.03241726e+02] [ 7.27726856e-01 6.76727535e-01 -1.11595105e-01 4.40409497e+01] [ 1.50286125e-01 1.41904306e-03 9.88641526e-01 8.91919692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.26, Y:44.06, Z:8.93 [[ 6.69356833e-01 -7.35767239e-01 -1.02995145e-01 1.03260671e+02] [ 7.27717793e-01 6.77230646e-01 -1.08560885e-01 4.40608933e+01] [ 1.49627011e-01 -2.28542940e-03 9.88739872e-01 8.92514467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:44.08, Z:8.93 [[ 6.69860990e-01 -7.35382193e-01 -1.02466020e-01 1.03276914e+02] [ 7.27401917e-01 6.77649192e-01 -1.08064904e-01 4.40834214e+01] [ 1.48905021e-01 -2.14551610e-03 9.88849175e-01 8.92907618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:44.10, Z:8.93 [[ 6.69971299e-01 -7.35300539e-01 -1.02330713e-01 1.03295229e+02] [ 7.27367344e-01 6.77737463e-01 -1.07743577e-01 4.41048544e+01] [ 1.48577268e-01 -2.24691499e-03 9.88898249e-01 8.93281947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:44.13, Z:8.94 [[ 6.69558527e-01 -7.35666576e-01 -1.02401501e-01 1.03312828e+02] [ 7.27684816e-01 6.77340469e-01 -1.08095783e-01 4.41263740e+01] [ 1.48883135e-01 -2.13956364e-03 9.88852484e-01 8.93701853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:44.15, Z:8.94 [[ 6.68695378e-01 -7.36429657e-01 -1.02556572e-01 1.03330012e+02] [ 7.28425211e-01 6.76510282e-01 -1.08307666e-01 4.41490572e+01] [ 1.49141553e-01 -2.27995702e-03 9.88813228e-01 8.94050595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:44.17, Z:8.95 [[ 6.67671513e-01 -7.36355014e-01 -1.09526454e-01 1.03350595e+02] [ 7.28768431e-01 6.76533331e-01 -1.05826399e-01 4.41681281e+01] [ 1.52024096e-01 -9.16214983e-03 9.88334321e-01 8.95022067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:44.19, Z:8.95 [[ 6.66383492e-01 -7.39025433e-01 -9.88658244e-02 1.03364601e+02] [ 7.30157262e-01 6.73666114e-01 -1.14211819e-01 4.41949057e+01] [ 1.51007995e-01 3.92127129e-03 9.88524764e-01 8.94661062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:44.21, Z:8.95 [[ 6.66197688e-01 -7.38531662e-01 -1.03690039e-01 1.03386007e+02] [ 7.30350633e-01 6.74213475e-01 -1.09654650e-01 4.42130192e+01] [ 1.50892652e-01 -2.67841145e-03 9.88546526e-01 8.95349706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:44.23, Z:8.96 [[ 6.63818139e-01 -7.40468604e-01 -1.05127179e-01 1.03403152e+02] [ 7.32072182e-01 6.72083713e-01 -1.11237598e-01 4.42347378e+01] [ 1.53022214e-01 -3.11914845e-03 9.88217827e-01 8.95689506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:44.26, Z:8.96 [[ 6.63700519e-01 -7.40514624e-01 -1.05544840e-01 1.03421108e+02] [ 7.32041197e-01 6.72033109e-01 -1.11746079e-01 4.42553616e+01] [ 1.53679233e-01 -3.09724091e-03 9.88115935e-01 8.96001616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.681858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:103.44, Y:44.28, Z:8.96 [[ 6.62864554e-01 -7.41186221e-01 -1.06082842e-01 1.03438229e+02] [ 7.32628405e-01 6.71291635e-01 -1.12352842e-01 4.42764319e+01] [ 1.54486903e-01 -3.24458674e-03 9.87989509e-01 8.96333856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:44.30, Z:8.97 [[ 6.61032152e-01 -7.42777519e-01 -1.06386331e-01 1.03456027e+02] [ 7.34185077e-01 6.69528628e-01 -1.12710643e-01 4.42981546e+01] [ 1.54947626e-01 -3.60189760e-03 9.87916120e-01 8.96787806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.741858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:103.47, Y:44.32, Z:8.97 [[ 6.60352500e-01 -7.43455260e-01 -1.05871868e-01 1.03473766e+02] [ 7.34944913e-01 6.68775443e-01 -1.12229152e-01 4.43177328e+01] [ 1.54241859e-01 -3.69918938e-03 9.88026197e-01 8.97207746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.771858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:103.49, Y:44.34, Z:8.98 [[ 6.59423297e-01 -7.44323653e-01 -1.05561426e-01 1.03491372e+02] [ 7.35868922e-01 6.67807869e-01 -1.11935608e-01 4.43399089e+01] [ 1.53811072e-01 -3.86642533e-03 9.88092711e-01 8.97625784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.801858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.51, Y:44.36, Z:8.98 [[ 6.59508002e-01 -7.44254014e-01 -1.05523254e-01 1.03508923e+02] [ 7.35794683e-01 6.67885827e-01 -1.11958505e-01 4.43603131e+01] [ 1.53803052e-01 -3.80591911e-03 9.88094194e-01 8.98029375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.831858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.53, Y:44.38, Z:8.98 [[ 6.60012607e-01 -7.43791562e-01 -1.05628925e-01 1.03527124e+02] [ 7.35303737e-01 6.68401515e-01 -1.12106325e-01 4.43814202e+01] [ 1.53986273e-01 -3.67775547e-03 9.88066143e-01 8.98456671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:103.54, Y:44.40, Z:8.99 [[ 6.60535071e-01 -7.43520248e-01 -1.04264380e-01 1.03543416e+02] [ 7.35039034e-01 6.68708173e-01 -1.12013381e-01 4.44030098e+01] [ 1.53006660e-01 -2.64962263e-03 9.88221606e-01 8.98730375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:44.42, Z:8.99 [[ 6.63281455e-01 -7.40925453e-01 -1.05295704e-01 1.03562947e+02] [ 7.32486615e-01 6.71579949e-01 -1.11551469e-01 4.44232700e+01] [ 1.53365806e-01 -3.13767328e-03 9.88164503e-01 8.99305940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.58, Y:44.45, Z:9.00 [[ 6.67143568e-01 -7.37531531e-01 -1.04722018e-01 1.03579443e+02] [ 7.29089601e-01 6.75309418e-01 -1.11290358e-01 4.44460350e+01] [ 1.52799913e-01 -2.10508819e-03 9.88254904e-01 8.99679260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:103.60, Y:44.47, Z:9.00 [[ 6.68961544e-01 -7.35902741e-01 -1.04583023e-01 1.03597333e+02] [ 7.27453942e-01 6.77085155e-01 -1.11204567e-01 4.44670162e+01] [ 1.52647358e-01 -1.68775314e-03 9.88279280e-01 9.00135069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.981858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.62, Y:44.49, Z:9.01 [[ 6.70609660e-01 -7.34466080e-01 -1.04126181e-01 1.03615062e+02] [ 7.26064613e-01 6.78644131e-01 -1.10780508e-01 4.44883086e+01] [ 1.52029147e-01 -1.31185663e-03 9.88375140e-01 9.00545051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:44.51, Z:9.01 [[ 6.72521011e-01 -7.32802057e-01 -1.03521182e-01 1.03631621e+02] [ 7.24469444e-01 6.80441296e-01 -1.10198304e-01 4.45103554e+01] [ 1.51193632e-01 -8.87258383e-04 9.88503768e-01 9.01006727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.041858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:103.65, Y:44.53, Z:9.01 [[ 6.72773691e-01 -7.32619552e-01 -1.03170501e-01 1.03649749e+02] [ 7.24332185e-01 6.80637899e-01 -1.09886016e-01 4.45317131e+01] [ 1.50726397e-01 -8.01293760e-04 9.88575193e-01 9.01474209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.071858064 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:103.64, Y:44.58, Z:8.98 [[ 6.66714649e-01 -7.43722728e-01 -4.86629273e-02 1.03635561e+02] [ 7.32877433e-01 6.66068900e-01 -1.38718740e-01 4.45783774e+01] [ 1.35581142e-01 5.68218548e-02 9.89135497e-01 8.97752520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.101858064 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:103.70, Y:44.56, Z:9.04 [[ 6.72498411e-01 -7.26081510e-01 -1.43358042e-01 1.03703080e+02] [ 7.24519105e-01 6.85408295e-01 -7.27154363e-02 4.45551844e+01] [ 1.51056125e-01 -5.49646247e-02 9.86995916e-01 9.04492618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.131858064 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:103.70, Y:44.59, Z:9.03 [[ 6.72439340e-01 -7.32691267e-01 -1.04827669e-01 1.03703867e+02] [ 7.24662422e-01 6.80553671e-01 -1.08217720e-01 4.45931536e+01] [ 1.50631033e-01 -3.19482026e-03 9.88584890e-01 9.02939232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.161858064 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:103.72, Y:44.62, Z:9.03 [[ 6.69673497e-01 -7.35675837e-01 -1.01579871e-01 1.03720951e+02] [ 7.27020865e-01 6.77332119e-01 -1.12524939e-01 4.46174756e+01] [ 1.51585188e-01 1.50428344e-03 9.88443052e-01 9.03206920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.191858064 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:103.74, Y:44.64, Z:9.04 [[ 6.68295417e-01 -7.36574935e-01 -1.04108602e-01 1.03740143e+02] [ 7.28168130e-01 6.76353954e-01 -1.10979743e-01 4.46374593e+01] [ 1.52159162e-01 -1.64131225e-03 9.88354641e-01 9.03759680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.221858064 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:103.76, Y:44.66, Z:9.04 [[ 6.66513532e-01 -7.38164531e-01 -1.04272898e-01 1.03758449e+02] [ 7.29740538e-01 6.74617869e-01 -1.11218152e-01 4.46582970e+01] [ 1.52441655e-01 -1.96375705e-03 9.88310521e-01 9.04137725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.251858064 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:103.78, Y:44.68, Z:9.05 [[ 6.63163508e-01 -7.41141390e-01 -1.04516036e-01 1.03776671e+02] [ 7.32704443e-01 6.71343901e-01 -1.11541766e-01 4.46789576e+01] [ 1.52834423e-01 -2.60893544e-03 9.88248366e-01 9.04646362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281858064 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:103.79, Y:44.70, Z:9.05 [[ 6.61774907e-01 -7.42386599e-01 -1.04480191e-01 1.03794517e+02] [ 7.33960894e-01 6.69965676e-01 -1.11567914e-01 4.46981022e+01] [ 1.52824666e-01 -2.85152858e-03 9.88249205e-01 9.05108989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.311858064 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:103.81, Y:44.72, Z:9.05 [[ 6.59200528e-01 -7.46376110e-01 -9.15279475e-02 1.03806820e+02] [ 7.37064046e-01 6.65444467e-01 -1.17984124e-01 4.47245456e+01] [ 1.48967298e-01 1.03132379e-02 9.88788340e-01 9.04707330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.341858064 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:103.84, Y:44.73, Z:9.07 [[ 6.59730130e-01 -7.42805401e-01 -1.14001283e-01 1.03835443e+02] [ 7.35821214e-01 6.69315831e-01 -1.02875941e-01 4.47343892e+01] [ 1.52719668e-01 -1.60142045e-02 9.88139792e-01 9.06520655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.371858064 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:103.85, Y:44.76, Z:9.07 [[ 6.59310669e-01 -7.44468122e-01 -1.05245698e-01 1.03848938e+02] [ 7.35923051e-01 6.67650014e-01 -1.12519878e-01 4.47599292e+01] [ 1.54034754e-01 -3.26717942e-03 9.88060029e-01 9.06564781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.401858064 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:103.87, Y:44.78, Z:9.07 [[ 6.59667262e-01 -7.44036593e-01 -1.06059665e-01 1.03866138e+02] [ 7.35342259e-01 6.68131456e-01 -1.13455363e-01 4.47800716e+01] [ 1.55276740e-01 -3.14736466e-03 9.87865997e-01 9.07052389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.431858064 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:103.88, Y:44.80, Z:9.08 [[ 6.60645957e-01 -7.43149290e-01 -1.06188754e-01 1.03884261e+02] [ 7.34415228e-01 6.69119311e-01 -1.13638117e-01 4.48013929e+01] [ 1.55503032e-01 -2.91207540e-03 9.87831123e-01 9.07527769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.461858064 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:103.88, Y:44.84, Z:9.05 [[ 6.59933095e-01 -7.47699443e-01 -7.37146773e-02 1.03881950e+02] [ 7.36791889e-01 6.63249750e-01 -1.31291585e-01 4.48383033e+01] [ 1.47057886e-01 3.23312858e-02 9.88599346e-01 9.05437584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.491858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:103.93, Y:44.83, Z:9.10 [[ 6.65081709e-01 -7.35166787e-01 -1.31133960e-01 1.03929639e+02] [ 7.30127184e-01 6.77021712e-01 -9.24980966e-02 4.48324680e+01] [ 1.56782067e-01 -3.42256771e-02 9.87040013e-01 9.09764711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.521858064 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:103.94, Y:44.86, Z:9.09 [[ 6.66466613e-01 -7.37760023e-01 -1.07389020e-01 1.03936652e+02] [ 7.28744522e-01 6.75061129e-01 -1.14995190e-01 4.48643885e+01] [ 1.57333007e-01 -1.61870523e-03 9.87544280e-01 9.09048847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.551858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.95, Y:44.89, Z:9.09 [[ 6.67473102e-01 -7.36835054e-01 -1.07488425e-01 1.03954459e+02] [ 7.27784908e-01 6.76071157e-01 -1.15138696e-01 4.48856333e+01] [ 1.57508051e-01 -1.37647097e-03 9.87516744e-01 9.09450422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.581858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:103.97, Y:44.91, Z:9.10 [[ 6.68729416e-01 -7.35635235e-01 -1.07897030e-01 1.03970889e+02] [ 7.26489736e-01 6.77377068e-01 -1.15641563e-01 4.49078186e+01] [ 1.58156982e-01 -1.05317005e-03 9.87413419e-01 9.09931395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.611858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.99, Y:44.93, Z:9.10 [[ 6.69079643e-01 -7.35255417e-01 -1.08313906e-01 1.03988735e+02] [ 7.26023122e-01 6.77789511e-01 -1.16154232e-01 4.49292667e+01] [ 1.58817057e-01 -9.21967999e-04 9.87307598e-01 9.10396012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.00, Y:44.95, Z:9.11 [[ 6.69348125e-01 -7.34976799e-01 -1.08545806e-01 1.04004470e+02] [ 7.25690426e-01 6.78091767e-01 -1.16468713e-01 4.49505330e+01] [ 1.59205819e-01 -8.12537524e-04 9.87245080e-01 9.10849972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:44.97, Z:9.11 [[ 6.69208029e-01 -7.35109940e-01 -1.08508022e-01 1.04022568e+02] [ 7.25824429e-01 6.77947429e-01 -1.16473954e-01 4.49716384e+01] [ 1.59183896e-01 -8.12467667e-04 9.87248615e-01 9.11272766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70185806399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:104.04, Y:44.99, Z:9.12 [[ 6.69056447e-01 -7.35223060e-01 -1.08676232e-01 1.04040868e+02] [ 7.25899422e-01 6.77824771e-01 -1.16720216e-01 4.49921743e+01] [ 1.59478836e-01 -7.95601638e-04 9.87201027e-01 9.11714260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.731858064 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:104.05, Y:45.02, Z:9.10 [[ 6.66686955e-01 -7.40196581e-01 -8.73929321e-02 1.04046370e+02] [ 7.29516776e-01 6.72064746e-01 -1.27020674e-01 4.50229996e+01] [ 1.52753977e-01 2.09284162e-02 9.88042623e-01 9.10321179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.761858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.08, Y:45.03, Z:9.13 [[ 6.68505847e-01 -7.33397614e-01 -1.23401265e-01 1.04084117e+02] [ 7.26411283e-01 6.79484024e-01 -1.03092718e-01 4.50265576e+01] [ 1.59457142e-01 -2.07219866e-02 9.86987345e-01 9.13225612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:45.05, Z:9.13 [[ 6.68189389e-01 -7.35986515e-01 -1.08842966e-01 1.04096982e+02] [ 7.26616654e-01 6.76995647e-01 -1.17068921e-01 4.50546687e+01] [ 1.59847362e-01 -8.62901184e-04 9.87141366e-01 9.12932436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:45.08, Z:9.13 [[ 6.67145363e-01 -7.37505234e-01 -1.04895636e-01 1.04114642e+02] [ 7.27049429e-01 6.75311065e-01 -1.23911634e-01 4.50775934e+01] [ 1.62222662e-01 6.40276016e-03 9.86733405e-01 9.12957216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:45.09, Z:9.14 [[ 6.67252711e-01 -7.35879679e-01 -1.15130003e-01 1.04138870e+02] [ 7.27191244e-01 6.77061597e-01 -1.13050822e-01 4.50924361e+01] [ 1.61141906e-01 -8.28806242e-03 9.86896446e-01 9.13816466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:45.11, Z:9.14 [[ 6.67183677e-01 -7.36739680e-01 -1.09911716e-01 1.04155093e+02] [ 7.27163988e-01 6.76175851e-01 -1.18400820e-01 4.51138531e+01] [ 1.61550230e-01 -9.28747646e-04 9.86864054e-01 9.13911158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:45.13, Z:9.14 [[ 6.67106761e-01 -7.36731709e-01 -1.10430787e-01 1.04174672e+02] [ 7.27058187e-01 6.76184569e-01 -1.18999248e-01 4.51334011e+01] [ 1.62342114e-01 -9.04404890e-04 9.86734118e-01 9.14273015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:45.15, Z:9.15 [[ 6.66904573e-01 -7.36956727e-01 -1.10150231e-01 1.04194979e+02] [ 7.27324848e-01 6.75939311e-01 -1.18762844e-01 4.51517982e+01] [ 1.61977947e-01 -9.11516148e-04 9.86793957e-01 9.14569245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:45.17, Z:9.15 [[ 6.66525768e-01 -7.37364065e-01 -1.09716161e-01 1.04215161e+02] [ 7.27807640e-01 6.75494837e-01 -1.18333280e-01 4.51713974e+01] [ 1.61367409e-01 -9.80080065e-04 9.86893915e-01 9.14947394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.23, Y:45.19, Z:9.15 [[ 6.66302700e-01 -7.37620863e-01 -1.09344289e-01 1.04234329e+02] [ 7.28122369e-01 6.75214391e-01 -1.17997210e-01 4.51895470e+01] [ 1.60868042e-01 -9.94162564e-04 9.86975423e-01 9.15300108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:45.21, Z:9.16 [[ 6.66714453e-01 -7.37524625e-01 -1.07467508e-01 1.04257495e+02] [ 7.27765879e-01 6.75318528e-01 -1.19589759e-01 4.52091438e+01] [ 1.60775192e-01 1.52103549e-03 9.86989880e-01 9.15565778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:45.23, Z:9.16 [[ 6.66323296e-01 -7.37338550e-01 -1.11108637e-01 1.04277633e+02] [ 7.28262115e-01 6.75511448e-01 -1.15406136e-01 4.52252275e+01] [ 1.60148549e-01 -4.01841415e-03 9.87084745e-01 9.16185429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.091858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:104.30, Y:45.24, Z:9.16 [[ 6.67313012e-01 -7.37020074e-01 -1.07213595e-01 1.04295140e+02] [ 7.27371858e-01 6.75869524e-01 -1.18872057e-01 4.52448427e+01] [ 1.60073494e-01 1.34071886e-03 9.87104189e-01 9.16389801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.121858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:104.31, Y:45.27, Z:9.16 [[ 6.68181030e-01 -7.38369449e-01 -9.13491543e-02 1.04312027e+02] [ 7.27949412e-01 6.74185651e-01 -1.24753206e-01 4.52707158e+01] [ 1.53700245e-01 1.68601626e-02 9.87973668e-01 9.15573683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:45.28, Z:9.18 [[ 6.69334611e-01 -7.33067641e-01 -1.20842923e-01 1.04343507e+02] [ 7.26069257e-01 6.79892365e-01 -1.02809561e-01 4.52755719e+01] [ 1.57526543e-01 -1.89263334e-02 9.87333369e-01 9.17861846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.181858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.36, Y:45.30, Z:9.18 [[ 6.71474351e-01 -7.33351650e-01 -1.06383994e-01 1.04358652e+02] [ 7.24286721e-01 6.79849498e-01 -1.14949581e-01 4.52997503e+01] [ 1.56623570e-01 1.33181387e-04 9.87658362e-01 9.17572217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:45.32, Z:9.18 [[ 6.72266440e-01 -7.32666313e-01 -1.06103293e-01 1.04378627e+02] [ 7.23635211e-01 6.80587962e-01 -1.14682640e-01 4.53184892e+01] [ 1.56236731e-01 3.17211670e-04 9.87719587e-01 9.17998277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.241858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:104.40, Y:45.34, Z:9.18 [[ 6.73546841e-01 -7.31709947e-01 -1.04571540e-01 1.04397185e+02] [ 7.22304924e-01 6.81608324e-01 -1.16985852e-01 4.53369285e+01] [ 1.56876543e-01 3.26291259e-03 9.87612831e-01 9.18325812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.271858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:45.36, Z:9.19 [[ 6.74531114e-01 -7.30952422e-01 -1.03519722e-01 1.04417292e+02] [ 7.20987869e-01 6.82396308e-01 -1.20464811e-01 4.53562102e+01] [ 1.58695522e-01 6.62079878e-03 9.87305371e-01 9.18667926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:45.37, Z:9.19 [[ 6.74233560e-01 -7.30027381e-01 -1.11665261e-01 1.04441478e+02] [ 7.21681691e-01 6.83389284e-01 -1.10248009e-01 4.53718547e+01] [ 1.56794908e-01 -6.25386677e-03 9.87611384e-01 9.19467695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.331858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.46, Y:45.40, Z:9.19 [[ 6.74422300e-01 -7.31259685e-01 -1.02048198e-01 1.04455896e+02] [ 7.20913278e-01 6.82035225e-01 -1.22930866e-01 4.53966919e+01] [ 1.59494852e-01 9.33941654e-03 9.87154581e-01 9.19283559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:104.49, Y:45.41, Z:9.21 [[ 6.75365720e-01 -7.27568964e-01 -1.20517832e-01 1.04489847e+02] [ 7.19562945e-01 6.85902503e-01 -1.08475459e-01 4.54085575e+01] [ 1.61586860e-01 -1.34595591e-02 9.86766703e-01 9.20940668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:45.43, Z:9.20 [[ 6.73104047e-01 -7.32241043e-01 -1.03701478e-01 1.04498566e+02] [ 7.22236198e-01 6.81015348e-01 -1.20801367e-01 4.54346810e+01] [ 1.59078017e-01 6.41492721e-03 9.87245174e-01 9.20192744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:45.45, Z:9.21 [[ 6.70113612e-01 -7.34310480e-01 -1.08332201e-01 1.04521001e+02] [ 7.24871502e-01 6.78813748e-01 -1.17359284e-01 4.54496171e+01] [ 1.59715539e-01 1.17128002e-04 9.87163073e-01 9.20764959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45185806399999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:104.54, Y:45.47, Z:9.21 [[ 6.68151702e-01 -7.36121820e-01 -1.08157154e-01 1.04541229e+02] [ 7.26727546e-01 6.76849017e-01 -1.17228335e-01 4.54690999e+01] [ 1.59500399e-01 -2.74471232e-04 9.87197826e-01 9.21162226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.481858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.56, Y:45.49, Z:9.22 [[ 6.66347988e-01 -7.37791844e-01 -1.07905301e-01 1.04560903e+02] [ 7.28452586e-01 6.75028001e-01 -1.17021483e-01 4.54874669e+01] [ 1.59176596e-01 -6.26865685e-04 9.87249927e-01 9.21579720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.511858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.58, Y:45.51, Z:9.22 [[ 6.66162825e-01 -7.37963386e-01 -1.07875538e-01 1.04579961e+02] [ 7.28621920e-01 6.74840462e-01 -1.17048915e-01 4.55083011e+01] [ 1.59176591e-01 -6.26845516e-04 9.87249928e-01 9.22022353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.541858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:104.60, Y:45.53, Z:9.22 [[ 6.63016050e-01 -7.40774372e-01 -1.07995590e-01 1.04601328e+02] [ 7.31439149e-01 6.71752738e-01 -1.17239204e-01 4.55269754e+01] [ 1.59394131e-01 -1.26072820e-03 9.87214223e-01 9.22448533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.571858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.62, Y:45.55, Z:9.23 [[ 6.61711463e-01 -7.41917022e-01 -1.08153008e-01 1.04620041e+02] [ 7.32558759e-01 6.70490048e-01 -1.17476638e-01 4.55459941e+01] [ 1.59673433e-01 -1.49279516e-03 9.87168763e-01 9.22886814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.601858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:104.64, Y:45.57, Z:9.23 [[ 6.59636796e-01 -7.43722358e-01 -1.08426709e-01 1.04640298e+02] [ 7.34330721e-01 6.68485954e-01 -1.17834301e-01 4.55652375e+01] [ 1.60117736e-01 -1.89322270e-03 9.87096108e-01 9.23335799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.631858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.66, Y:45.58, Z:9.24 [[ 6.60719677e-01 -7.42398766e-01 -1.10876417e-01 1.04658427e+02] [ 7.33882345e-01 6.69920263e-01 -1.12354551e-01 4.55798579e+01] [ 1.57690239e-01 -7.13538231e-03 9.87462847e-01 9.23864972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.661858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.68, Y:45.61, Z:9.24 [[ 6.57459972e-01 -7.46569577e-01 -1.01883522e-01 1.04676124e+02] [ 7.36591284e-01 6.65288537e-01 -1.21755666e-01 4.56078995e+01] [ 1.58681016e-01 5.00296242e-03 9.87317226e-01 9.23863760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.691858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.70, Y:45.63, Z:9.25 [[ 6.55919081e-01 -7.47264296e-01 -1.06612527e-01 1.04696863e+02] [ 7.38208979e-01 6.64521830e-01 -1.16009659e-01 4.56252464e+01] [ 1.57536228e-01 -2.60937528e-03 9.87509761e-01 9.24654020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:45.64, Z:9.26 [[ 6.57838429e-01 -7.43675095e-01 -1.19146777e-01 1.04727910e+02] [ 7.35759196e-01 6.68356229e-01 -1.09354270e-01 4.56409088e+01] [ 1.60956538e-01 -1.57258955e-02 9.86836202e-01 9.26278753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.751858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:104.74, Y:45.67, Z:9.25 [[ 6.55084111e-01 -7.48801799e-01 -1.00800160e-01 1.04735353e+02] [ 7.38800282e-01 6.62771036e-01 -1.22101177e-01 4.56714309e+01] [ 1.58237008e-01 5.51535465e-03 9.87385756e-01 9.25481313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:45.69, Z:9.27 [[ 6.56207583e-01 -7.45972009e-01 -1.13654612e-01 1.04761856e+02] [ 7.37768551e-01 6.65884967e-01 -1.10881810e-01 4.56878065e+01] [ 1.58395625e-01 -1.10893140e-02 9.87313452e-01 9.26794182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:104.77, Y:45.71, Z:9.26 [[ 6.53659834e-01 -7.50077162e-01 -1.00563777e-01 1.04766566e+02] [ 7.40713026e-01 6.61344550e-01 -1.18184598e-01 4.57134939e+01] [ 1.55154874e-01 2.76362510e-03 9.87886293e-01 9.26102171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.79, Y:45.73, Z:9.27 [[ 6.53008477e-01 -7.50071352e-01 -1.04751590e-01 1.04786700e+02] [ 7.41311690e-01 6.61350152e-01 -1.14337025e-01 4.57329193e+01] [ 1.55038407e-01 -2.99053160e-03 9.87903917e-01 9.26712379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.871858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:104.81, Y:45.75, Z:9.27 [[ 6.52917041e-01 -7.50079320e-01 -1.05263246e-01 1.04805451e+02] [ 7.41223033e-01 6.61341238e-01 -1.14961652e-01 4.57539907e+01] [ 1.55845283e-01 -2.96312097e-03 9.87777033e-01 9.27158529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:45.78, Z:9.27 [[ 6.53636229e-01 -7.49906456e-01 -1.01980329e-01 1.04819950e+02] [ 7.40126733e-01 6.61534846e-01 -1.20764510e-01 4.57765408e+01] [ 1.58025626e-01 3.45769096e-03 9.87428957e-01 9.27351622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.931858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:104.84, Y:45.79, Z:9.28 [[ 6.54508951e-01 -7.48288611e-01 -1.08084169e-01 1.04839220e+02] [ 7.39407653e-01 6.63357189e-01 -1.15037219e-01 4.57938245e+01] [ 1.57779452e-01 -4.62537242e-03 9.87463544e-01 9.28050725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.961858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:104.86, Y:45.82, Z:9.28 [[ 6.53487819e-01 -7.49219629e-01 -1.07812884e-01 1.04858147e+02] [ 7.40420764e-01 6.62303198e-01 -1.14593044e-01 4.58173929e+01] [ 1.57260176e-01 -4.94173988e-03 9.87544843e-01 9.28454601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:45.84, Z:9.29 [[ 6.53153338e-01 -7.49741909e-01 -1.06196922e-01 1.04874686e+02] [ 7.40678542e-01 6.61724752e-01 -1.16256828e-01 4.58401287e+01] [ 1.57435748e-01 -2.72424607e-03 9.87525475e-01 9.28729408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.021858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:45.86, Z:9.29 [[ 6.53658169e-01 -7.49979716e-01 -1.01298684e-01 1.04888782e+02] [ 7.39780571e-01 6.61436084e-01 -1.23397783e-01 4.58619557e+01] [ 1.59548439e-01 5.72117009e-03 9.87173523e-01 9.28825728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.051858064 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:104.91, Y:45.88, Z:9.30 [[ 6.52116728e-01 -7.50691016e-01 -1.05862042e-01 1.04908558e+02] [ 7.41333761e-01 6.60651935e-01 -1.18166305e-01 4.58805464e+01] [ 1.58644346e-01 -1.42088105e-03 9.87334772e-01 9.29503847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:45.90, Z:9.30 [[ 6.51703735e-01 -7.51404742e-01 -1.03310967e-01 1.04927883e+02] [ 7.42211657e-01 6.59841509e-01 -1.17179517e-01 4.59005700e+01] [ 1.56218109e-01 -3.12274800e-04 9.87722534e-01 9.29898095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.94, Y:45.92, Z:9.31 [[ 6.49400574e-01 -7.52877986e-01 -1.07021645e-01 1.04944911e+02] [ 7.43688776e-01 6.58151315e-01 -1.17319438e-01 4.59206009e+01] [ 1.58763659e-01 -3.40348537e-03 9.87310750e-01 9.30635980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:45.94, Z:9.31 [[ 6.47312515e-01 -7.54217471e-01 -1.10193082e-01 1.04966879e+02] [ 7.46062061e-01 6.56543926e-01 -1.11092189e-01 4.59418510e+01] [ 1.56134269e-01 -1.02995133e-02 9.87682140e-01 9.31367415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.171858064 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:104.98, Y:45.97, Z:9.31 [[ 6.45738709e-01 -7.56820496e-01 -1.01213917e-01 1.04979394e+02] [ 7.47398472e-01 6.53621618e-01 -1.19055885e-01 4.59672863e+01] [ 1.56259538e-01 1.23186640e-03 9.87715262e-01 9.31448935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.00, Y:45.99, Z:9.32 [[ 6.43978676e-01 -7.57326086e-01 -1.08391255e-01 1.05003218e+02] [ 7.49198941e-01 6.52965196e-01 -1.11073849e-01 4.59863120e+01] [ 1.54894840e-01 -9.67742271e-03 9.87883564e-01 9.32442113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.231858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:105.02, Y:46.00, Z:9.33 [[ 6.44843564e-01 -7.56021546e-01 -1.12286242e-01 1.05021525e+02] [ 7.48275817e-01 6.54400309e-01 -1.08828013e-01 4.60030646e+01] [ 1.55756474e-01 -1.38440354e-02 9.87698468e-01 9.33367595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.03, Y:46.03, Z:9.33 [[ 6.41551146e-01 -7.60852210e-01 -9.75502006e-02 1.05033724e+02] [ 7.51443535e-01 6.48917052e-01 -1.19328428e-01 4.60342561e+01] [ 1.54093287e-01 3.25182231e-03 9.88050952e-01 9.32888290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.291858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:105.05, Y:46.05, Z:9.34 [[ 6.41338503e-01 -7.60266918e-01 -1.03339920e-01 1.05051571e+02] [ 7.51516075e-01 6.49599384e-01 -1.15083571e-01 4.60514267e+01] [ 1.54623780e-01 -3.85408626e-03 9.87965907e-01 9.33536459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.321858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.07, Y:46.07, Z:9.34 [[ 6.41148087e-01 -7.60125799e-01 -1.05536248e-01 1.05069102e+02] [ 7.51641946e-01 6.49742495e-01 -1.13441945e-01 4.60729692e+01] [ 1.54801534e-01 -6.59238459e-03 9.87923593e-01 9.34003934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.09, Y:46.09, Z:9.35 [[ 6.41108677e-01 -7.58688728e-01 -1.15633377e-01 1.05092654e+02] [ 7.50828829e-01 6.51251396e-01 -1.10125783e-01 4.60910669e+01] [ 1.58857589e-01 -1.62182783e-02 9.87168291e-01 9.35367639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.10, Y:46.12, Z:9.34 [[ 6.40794650e-01 -7.61662355e-01 -9.61908237e-02 1.05099482e+02] [ 7.51552392e-01 6.47935262e-01 -1.23890668e-01 4.61212899e+01] [ 1.56688284e-01 7.09603342e-03 9.87622614e-01 9.34303496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.411858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:105.12, Y:46.14, Z:9.35 [[ 6.40541351e-01 -7.60529600e-01 -1.06308542e-01 1.05123058e+02] [ 7.51867380e-01 6.49270762e-01 -1.14642577e-01 4.61395291e+01] [ 1.56212102e-01 -6.49661385e-03 9.87702168e-01 9.35279455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:46.16, Z:9.36 [[ 6.41330117e-01 -7.59012437e-01 -1.12231018e-01 1.05142679e+02] [ 7.51347458e-01 6.50910592e-01 -1.08592811e-01 4.61607764e+01] [ 1.55475652e-01 -1.46806496e-02 9.87730631e-01 9.36172907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.15, Y:46.19, Z:9.36 [[ 6.41857817e-01 -7.60164167e-01 -1.00841372e-01 1.05152882e+02] [ 7.50408635e-01 6.49727126e-01 -1.21414752e-01 4.61883774e+01] [ 1.57814518e-01 2.25877153e-03 9.87466190e-01 9.35790283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:46.21, Z:9.36 [[ 6.42170837e-01 -7.59518976e-01 -1.03670351e-01 1.05171127e+02] [ 7.50115943e-01 6.50483945e-01 -1.19149944e-01 4.62096639e+01] [ 1.57932542e-01 -1.25016355e-03 9.87449112e-01 9.36277117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531858064 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:105.19, Y:46.23, Z:9.37 [[ 6.41671804e-01 -7.59445289e-01 -1.07238746e-01 1.05188241e+02] [ 7.50614783e-01 6.50540787e-01 -1.15646582e-01 4.62301357e+01] [ 1.57590430e-01 -6.28783717e-03 9.87484541e-01 9.36935321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.21, Y:46.25, Z:9.38 [[ 6.43168195e-01 -7.57117457e-01 -1.14489430e-01 1.05210056e+02] [ 7.49377838e-01 6.53091929e-01 -1.09104481e-01 4.62491305e+01] [ 1.57377030e-01 -1.56233090e-02 9.87415000e-01 9.37989125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:46.28, Z:9.38 [[ 6.42252716e-01 -7.59608768e-01 -1.02498625e-01 1.05222519e+02] [ 7.50576775e-01 6.50377472e-01 -1.16806035e-01 4.62766392e+01] [ 1.55389685e-01 -1.91409399e-03 9.87851397e-01 9.37780199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.621858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.23, Y:46.30, Z:9.38 [[ 6.40418891e-01 -7.61642243e-01 -9.88166889e-02 1.05234328e+02] [ 7.52597419e-01 6.47997498e-01 -1.17031479e-01 4.62988038e+01] [ 1.53169085e-01 5.79984831e-04 9.88199825e-01 9.37922590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.651858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.26, Y:46.32, Z:9.39 [[ 6.42422547e-01 -7.58071909e-01 -1.12339896e-01 1.05261376e+02] [ 7.50354669e-01 6.52012644e-01 -1.08845683e-01 4.63164685e+01] [ 1.55759887e-01 -1.43698443e-02 9.87690420e-01 9.39469509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.681858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.27, Y:46.35, Z:9.39 [[ 6.40685190e-01 -7.61733697e-01 -9.63548781e-02 1.05268390e+02] [ 7.52539373e-01 6.47882771e-01 -1.18035616e-01 4.63455618e+01] [ 1.52338372e-01 3.11283144e-03 9.88323495e-01 9.38875788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:46.37, Z:9.38 [[ 6.40428506e-01 -7.63651964e-01 -8.17741220e-02 1.05278587e+02] [ 7.53433499e-01 6.45346851e-01 -1.25957947e-01 4.63748145e+01] [ 1.48960706e-01 1.90556972e-02 9.88659491e-01 9.38034649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.741858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.31, Y:46.38, Z:9.41 [[ 6.43319013e-01 -7.55861865e-01 -1.21710679e-01 1.05309695e+02] [ 7.49710108e-01 6.54176098e-01 -9.99419142e-02 4.63813626e+01] [ 1.55162499e-01 -2.69531930e-02 9.87521202e-01 9.40915575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.771858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:46.41, Z:9.40 [[ 6.45284469e-01 -7.57343159e-01 -1.00196278e-01 1.05318564e+02] [ 7.48104614e-01 6.53016099e-01 -1.17938377e-01 4.64145429e+01] [ 1.54749606e-01 1.14650520e-03 9.87953058e-01 9.40114238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.34, Y:46.44, Z:9.41 [[ 6.47592344e-01 -7.54688300e-01 -1.05212764e-01 1.05335533e+02] [ 7.45777828e-01 6.56073903e-01 -1.15682611e-01 4.64368610e+01] [ 1.56331662e-01 -3.55017381e-03 9.87698237e-01 9.40667734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:46.46, Z:9.40 [[ 6.47959298e-01 -7.55450299e-01 -9.71781543e-02 1.05348800e+02] [ 7.45783919e-01 6.55181440e-01 -1.20596962e-01 4.64640278e+01] [ 1.54774334e-01 5.66801803e-03 9.87933590e-01 9.40407549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:46.48, Z:9.42 [[ 6.49293702e-01 -7.51424663e-01 -1.17382558e-01 1.05371515e+02] [ 7.43670805e-01 6.59610992e-01 -1.08936096e-01 4.64764223e+01] [ 1.59284095e-01 -1.65624604e-02 9.87093847e-01 9.42177184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:46.51, Z:9.41 [[ 6.50428910e-01 -7.53050719e-01 -9.92816557e-02 1.05382773e+02] [ 7.42929065e-01 6.57931491e-01 -1.23217526e-01 4.65084032e+01] [ 1.58109574e-01 6.38501343e-03 9.87400929e-01 9.41485143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:46.53, Z:9.43 [[ 6.50239300e-01 -7.51086259e-01 -1.14272848e-01 1.05400629e+02] [ 7.42407572e-01 6.60120674e-01 -1.14331509e-01 4.65250497e+01] [ 1.61306695e-01 -1.04941868e-02 9.86848531e-01 9.42729914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.42, Y:46.55, Z:9.43 [[ 6.49824960e-01 -7.51382328e-01 -1.14682690e-01 1.05418808e+02] [ 7.43219060e-01 6.59739751e-01 -1.11215512e-01 4.65463694e+01] [ 1.59226100e-01 -1.29637452e-02 9.87157024e-01 9.43240371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:46.58, Z:9.42 [[ 6.49626517e-01 -7.54629060e-01 -9.23058524e-02 1.05427672e+02] [ 7.43356016e-01 6.55944694e-01 -1.30990047e-01 4.65806001e+01] [ 1.59396430e-01 1.64784973e-02 9.87077118e-01 9.42396496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:46.60, Z:9.43 [[ 6.48424735e-01 -7.53752779e-01 -1.06780668e-01 1.05451538e+02] [ 7.44394910e-01 6.57152574e-01 -1.18434422e-01 4.65950513e+01] [ 1.59441465e-01 -2.69117748e-03 9.87203716e-01 9.43471047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:46.61, Z:9.45 [[ 6.45755737e-01 -7.54695623e-01 -1.15905328e-01 1.05470006e+02] [ 7.46566468e-01 6.55913168e-01 -1.11429014e-01 4.66130873e+01] [ 1.60118820e-01 -1.45751062e-02 9.86990137e-01 9.44609933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:46.64, Z:9.45 [[ 6.45000300e-01 -7.56935072e-01 -1.04994807e-01 1.05481931e+02] [ 7.46870236e-01 6.53489418e-01 -1.23030203e-01 4.66412649e+01] [ 1.61738871e-01 9.37021643e-04 9.86833147e-01 9.44536003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101858064 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:105.50, Y:46.66, Z:9.45 [[ 6.43780575e-01 -7.57618657e-01 -1.07519959e-01 1.05500182e+02] [ 7.47790010e-01 6.52694137e-01 -1.21657160e-01 4.66629285e+01] [ 1.62347381e-01 -2.08183444e-03 9.86731470e-01 9.45066493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:46.69, Z:9.46 [[ 6.44385201e-01 -7.56973488e-01 -1.08438235e-01 1.05516704e+02] [ 7.47389455e-01 6.53435474e-01 -1.20129447e-01 4.66852401e+01] [ 1.61792196e-01 -3.63595534e-03 9.86818152e-01 9.45593821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:46.71, Z:9.46 [[ 6.44908632e-01 -7.56474085e-01 -1.08810914e-01 1.05534453e+02] [ 7.47339801e-01 6.53999293e-01 -1.17337750e-01 4.67067544e+01] [ 1.59925227e-01 -5.64659878e-03 9.87112981e-01 9.46044556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:46.73, Z:9.46 [[ 6.44891409e-01 -7.57345639e-01 -1.02677426e-01 1.05548696e+02] [ 7.47010966e-01 6.53003489e-01 -1.24743978e-01 4.67329391e+01] [ 1.61523025e-01 3.74515662e-03 9.86861837e-01 9.46260001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:46.76, Z:9.46 [[ 6.47520907e-01 -7.55462043e-01 -9.99688821e-02 1.05560592e+02] [ 7.44030513e-01 6.55105387e-01 -1.31360295e-01 4.67564206e+01] [ 1.64727870e-01 1.06786385e-02 9.86281246e-01 9.46490410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:46.77, Z:9.48 [[ 6.49081271e-01 -7.51595504e-01 -1.17463617e-01 1.05587308e+02] [ 7.43342216e-01 6.59462742e-01 -1.12032322e-01 4.67694838e+01] [ 1.61665868e-01 -1.45975832e-02 9.86737583e-01 9.47610428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:46.81, Z:9.46 [[ 6.51164310e-01 -7.55048173e-01 -7.67287298e-02 1.05586041e+02] [ 7.42488603e-01 6.54722005e-01 -1.41597212e-01 4.68122652e+01] [ 1.57148704e-01 3.52328433e-02 9.86946266e-01 9.45727632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.63, Y:46.80, Z:9.49 [[ 6.53098638e-01 -7.44844821e-01 -1.36632215e-01 1.05630033e+02] [ 7.39526059e-01 6.66158022e-01 -9.66162431e-02 4.68046387e+01] [ 1.62982754e-01 -3.79431464e-02 9.85899051e-01 9.49064934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:46.84, Z:9.48 [[ 6.54694084e-01 -7.48177859e-01 -1.07729050e-01 1.05635300e+02] [ 7.38140425e-01 6.63498072e-01 -1.22143448e-01 4.68395283e+01] [ 1.62863040e-01 4.47425797e-04 9.86648585e-01 9.48343104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:46.87, Z:9.47 [[ 6.55143838e-01 -7.51532297e-01 -7.73676877e-02 1.05641309e+02] [ 7.39309473e-01 6.58819479e-01 -1.39206313e-01 4.68746822e+01] [ 1.55589380e-01 3.40014940e-02 9.87236468e-01 9.46843182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:46.87, Z:9.50 [[ 6.55637661e-01 -7.43206244e-01 -1.33355674e-01 1.05684722e+02] [ 7.37212923e-01 6.68253187e-01 -9.97736687e-02 4.68689573e+01] [ 1.63267768e-01 -3.28961514e-02 9.86033204e-01 9.50241397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:46.90, Z:9.50 [[ 6.55623611e-01 -7.47278600e-01 -1.08316085e-01 1.05692327e+02] [ 7.37235352e-01 6.64510838e-01 -1.22103980e-01 4.69019674e+01] [ 1.63222903e-01 1.99805320e-04 9.86589197e-01 9.49719127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:46.92, Z:9.50 [[ 6.55727669e-01 -7.47216869e-01 -1.08111868e-01 1.05710844e+02] [ 7.37200463e-01 6.64580232e-01 -1.21936838e-01 4.69211385e+01] [ 1.62962272e-01 2.57239752e-04 9.86632268e-01 9.50153878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:46.95, Z:9.49 [[ 6.55359861e-01 -7.50297396e-01 -8.69325612e-02 1.05722401e+02] [ 7.38673673e-01 6.60687962e-01 -1.33613702e-01 4.69518725e+01] [ 1.57685309e-01 2.33502630e-02 9.87213304e-01 9.49256039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:46.96, Z:9.50 [[ 6.54806162e-01 -7.48224348e-01 -1.06720267e-01 1.05750561e+02] [ 7.39151970e-01 6.63439907e-01 -1.16197486e-01 4.69609634e+01] [ 1.57744272e-01 -2.79566601e-03 9.87476040e-01 9.50445599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:46.97, Z:9.52 [[ 6.54915220e-01 -7.45638121e-01 -1.22922120e-01 1.05775176e+02] [ 7.38053794e-01 6.66050191e-01 -1.07952492e-01 4.69733146e+01] [ 1.62365795e-01 -2.00234069e-02 9.86527451e-01 9.52109691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.581858064 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:105.79, Y:47.00, Z:9.52 [[ 6.55489860e-01 -7.47392744e-01 -1.08338036e-01 1.05787739e+02] [ 7.37776378e-01 6.64380591e-01 -1.19517557e-01 4.69994274e+01] [ 1.61304243e-01 -1.58669754e-03 9.86903452e-01 9.51966947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:47.02, Z:9.52 [[ 6.56760313e-01 -7.46589451e-01 -1.06160646e-01 1.05807005e+02] [ 7.36711626e-01 6.65283790e-01 -1.21051473e-01 4.70167432e+01] [ 1.61002709e-01 1.29202119e-03 9.86953119e-01 9.52328614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:47.04, Z:9.53 [[ 6.56148144e-01 -7.47297946e-01 -1.04954242e-01 1.05827871e+02] [ 7.37316501e-01 6.64484385e-01 -1.21757461e-01 4.70382211e+01] [ 1.60729555e-01 2.50643807e-03 9.86995303e-01 9.52774052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.671858064 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:105.85, Y:47.06, Z:9.53 [[ 6.57267444e-01 -7.46283656e-01 -1.05167538e-01 1.05846490e+02] [ 7.36390831e-01 6.65624513e-01 -1.21130305e-01 4.70552184e+01] [ 1.60399658e-01 2.17059488e-03 9.87049765e-01 9.53200712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:47.07, Z:9.54 [[ 6.57385444e-01 -7.45933066e-01 -1.06902942e-01 1.05869810e+02] [ 7.36231404e-01 6.66020904e-01 -1.19914449e-01 4.70742804e+01] [ 1.60647747e-01 1.24710514e-04 9.87011796e-01 9.53744075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:47.09, Z:9.54 [[ 6.58228297e-01 -7.45190381e-01 -1.06896234e-01 1.05889606e+02] [ 7.35317815e-01 6.66851061e-01 -1.20902329e-01 4.70938110e+01] [ 1.61379120e-01 9.78628605e-04 9.86892001e-01 9.54218127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:47.11, Z:9.55 [[ 6.58993927e-01 -7.44524113e-01 -1.06821579e-01 1.05910010e+02] [ 7.34620796e-01 6.67594325e-01 -1.21037615e-01 4.71135789e+01] [ 1.61428902e-01 1.28970002e-03 9.86883502e-01 9.54655630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:47.13, Z:9.55 [[ 6.61124740e-01 -7.42165587e-01 -1.10019633e-01 1.05932695e+02] [ 7.32805307e-01 6.70210215e-01 -1.17535740e-01 4.71288694e+01] [ 1.60967264e-01 -2.91718536e-03 9.86955435e-01 9.55213535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:47.15, Z:9.55 [[ 6.61092191e-01 -7.43052893e-01 -1.04064947e-01 1.05950575e+02] [ 7.32499955e-01 6.69202332e-01 -1.24948211e-01 4.71524994e+01] [ 1.62483635e-01 6.37471790e-03 9.86690646e-01 9.55389625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.851858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.98, Y:47.16, Z:9.56 [[ 6.62763616e-01 -7.40157559e-01 -1.13627358e-01 1.05977334e+02] [ 7.31357974e-01 6.72391428e-01 -1.14040699e-01 4.71629730e+01] [ 1.60810147e-01 -7.52024789e-03 9.86956708e-01 9.56276427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:106.00, Y:47.19, Z:9.57 [[ 6.62348448e-01 -7.41318163e-01 -1.08360114e-01 1.05998583e+02] [ 7.30552541e-01 6.71140243e-01 -1.25951415e-01 4.71869897e+01] [ 1.66094905e-01 4.26096765e-03 9.86100566e-01 9.56759056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.01, Y:47.21, Z:9.57 [[ 6.61578004e-01 -7.42662916e-01 -1.03760964e-01 1.06014162e+02] [ 7.32162369e-01 6.69634166e-01 -1.24612794e-01 4.72057734e+01] [ 1.62027188e-01 6.47121009e-03 9.86765075e-01 9.56802792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941858064 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:106.03, Y:47.22, Z:9.57 [[ 6.60654858e-01 -7.43426724e-01 -1.04172288e-01 1.06034758e+02] [ 7.32816890e-01 6.68786272e-01 -1.25316908e-01 4.72248565e+01] [ 1.62832935e-01 6.45201156e-03 9.86632559e-01 9.57290527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.971858064 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:106.06, Y:47.24, Z:9.58 [[ 6.60105023e-01 -7.43588246e-01 -1.06479478e-01 1.06056194e+02] [ 7.33228587e-01 6.68628067e-01 -1.23743073e-01 4.72424804e+01] [ 1.63209062e-01 3.60962707e-03 9.86584904e-01 9.57874405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:47.26, Z:9.58 [[ 6.58304765e-01 -7.46318515e-01 -9.82013777e-02 1.06078283e+02] [ 7.35733742e-01 6.65506294e-01 -1.25687046e-01 4.72631601e+01] [ 1.59156205e-01 1.04903143e-02 9.87197678e-01 9.57863751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:47.27, Z:9.60 [[ 6.57150199e-01 -7.44427742e-01 -1.18241077e-01 1.06107560e+02] [ 7.36550754e-01 6.67525508e-01 -1.09099414e-01 4.72710668e+01] [ 1.60145565e-01 -1.53958528e-02 9.86973336e-01 9.59604423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:47.30, Z:9.59 [[ 6.55274671e-01 -7.48390964e-01 -1.02596643e-01 1.06126285e+02] [ 7.38228153e-01 6.63239986e-01 -1.23011847e-01 4.72951761e+01] [ 1.60107151e-01 4.86681766e-03 9.87087643e-01 9.59291898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:47.31, Z:9.60 [[ 6.53330116e-01 -7.49522998e-01 -1.06653813e-01 1.06147558e+02] [ 7.39897618e-01 6.61977950e-01 -1.19735999e-01 4.73121746e+01] [ 1.60347357e-01 -6.85768134e-04 9.87060411e-01 9.59970808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:106.17, Y:47.33, Z:9.60 [[ 6.52982279e-01 -7.49762314e-01 -1.07100957e-01 1.06168933e+02] [ 7.40344984e-01 6.61704429e-01 -1.18475961e-01 4.73301138e+01] [ 1.59697989e-01 -1.92895337e-03 9.87164035e-01 9.60452420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.151858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:106.19, Y:47.35, Z:9.61 [[ 6.52092799e-01 -7.50835304e-01 -1.04982511e-01 1.06190077e+02] [ 7.41251283e-01 6.60489455e-01 -1.19583503e-01 4.73465727e+01] [ 1.59127357e-01 1.61120321e-04 9.87258050e-01 9.60766929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:106.21, Y:47.37, Z:9.61 [[ 6.52142859e-01 -7.50573351e-01 -1.06533267e-01 1.06213686e+02] [ 7.41092026e-01 6.60785678e-01 -1.18932318e-01 4.73654746e+01] [ 1.59663086e-01 -1.39009280e-03 9.87170586e-01 9.61335414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.211858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:106.23, Y:47.38, Z:9.62 [[ 6.51694833e-01 -7.51145997e-01 -1.05230871e-01 1.06230645e+02] [ 7.41544063e-01 6.60136116e-01 -1.19719303e-01 4.73835835e+01] [ 1.59393374e-01 -1.28759030e-05 9.87215150e-01 9.61652344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:47.40, Z:9.62 [[ 6.49899070e-01 -7.53002041e-01 -1.03049140e-01 1.06252815e+02] [ 7.42601968e-01 6.58002215e-01 -1.24801452e-01 4.74031808e+01] [ 1.61782311e-01 4.58385321e-03 9.86815825e-01 9.61913614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.28, Y:47.42, Z:9.62 [[ 6.49888936e-01 -7.52720902e-01 -1.05145683e-01 1.06277611e+02] [ 7.42446927e-01 6.58335020e-01 -1.23965973e-01 4.74222451e+01] [ 1.62532865e-01 2.49902537e-03 9.86699966e-01 9.62402719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.301858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:106.30, Y:47.44, Z:9.63 [[ 6.48319902e-01 -7.53375088e-01 -1.10033095e-01 1.06296589e+02] [ 7.43806102e-01 6.57577653e-01 -1.19766910e-01 4.74374524e+01] [ 1.62584711e-01 -4.19601557e-03 9.86685667e-01 9.63092909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.331858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.32, Y:47.46, Z:9.63 [[ 6.46314310e-01 -7.55507924e-01 -1.07170837e-01 1.06317967e+02] [ 7.45537065e-01 6.55138985e-01 -1.22341306e-01 4.74560691e+01] [ 1.62641620e-01 -8.28894765e-04 9.86684862e-01 9.63439748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.34, Y:47.47, Z:9.64 [[ 6.45316830e-01 -7.56341893e-01 -1.07299253e-01 1.06338304e+02] [ 7.46346902e-01 6.54175781e-01 -1.22557536e-01 4.74748521e+01] [ 1.62887971e-01 -9.94024492e-04 9.86644070e-01 9.63886210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.36, Y:47.49, Z:9.64 [[ 6.44999258e-01 -7.56779279e-01 -1.06118239e-01 1.06359341e+02] [ 7.46758473e-01 6.53670497e-01 -1.22746347e-01 4.74939576e+01] [ 1.62258253e-01 -7.33911350e-05 9.86748323e-01 9.64204167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421858064 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:106.38, Y:47.51, Z:9.65 [[ 6.44206621e-01 -7.57188270e-01 -1.07998857e-01 1.06377905e+02] [ 7.47183781e-01 6.53194596e-01 -1.22691552e-01 4.75139671e+01] [ 1.63444874e-01 -1.65628386e-03 9.86551078e-01 9.64823731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.451858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:106.39, Y:47.54, Z:9.65 [[ 6.44251975e-01 -7.57883388e-01 -1.02723720e-01 1.06394037e+02] [ 7.47155889e-01 6.52369489e-01 -1.27169677e-01 4.75404091e+01] [ 1.63393607e-01 5.17868372e-03 9.86547369e-01 9.64936559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.42, Y:47.55, Z:9.66 [[ 6.46018761e-01 -7.54360960e-01 -1.16616047e-01 1.06418601e+02] [ 7.45438958e-01 6.56353579e-01 -1.16278716e-01 4.75532880e+01] [ 1.64257484e-01 -1.18119121e-02 9.86346774e-01 9.66417885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.511858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:106.43, Y:47.58, Z:9.66 [[ 6.45276123e-01 -7.56581819e-01 -1.05842695e-01 1.06430793e+02] [ 7.46533201e-01 6.53898974e-01 -1.22899600e-01 4.75793638e+01] [ 1.62194033e-01 2.89091771e-04 9.86758842e-01 9.66266415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:106.45, Y:47.60, Z:9.67 [[ 6.45391865e-01 -7.56332300e-01 -1.06914884e-01 1.06448441e+02] [ 7.46314639e-01 6.54187345e-01 -1.22692201e-01 4.75991839e+01] [ 1.62738438e-01 -6.07594319e-04 9.86669059e-01 9.66734828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.46, Y:47.63, Z:9.66 [[ 6.44014311e-01 -7.59445011e-01 -9.21349132e-02 1.06460841e+02] [ 7.48259420e-01 6.50392283e-01 -1.30758247e-01 4.76282129e+01] [ 1.59227535e-01 1.52693654e-02 9.87123821e-01 9.65853057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:106.48, Y:47.65, Z:9.67 [[ 6.43663835e-01 -7.58670138e-01 -1.00580761e-01 1.06480900e+02] [ 7.48608595e-01 6.51462601e-01 -1.23213841e-01 4.76461817e+01] [ 1.59003266e-01 4.01267176e-03 9.87269902e-01 9.66538336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:47.66, Z:9.69 [[ 6.45404668e-01 -7.53832305e-01 -1.23246380e-01 1.06508273e+02] [ 7.45640546e-01 6.56783592e-01 -1.12496616e-01 4.76578519e+01] [ 1.65749783e-01 -1.92916570e-02 9.85979128e-01 9.68760848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:106.52, Y:47.69, Z:9.68 [[ 6.45245606e-01 -7.56172595e-01 -1.08908742e-01 1.06519013e+02] [ 7.45750258e-01 6.54372041e-01 -1.25115089e-01 4.76860253e+01] [ 1.65875437e-01 -4.88760585e-04 9.86146592e-01 9.68322779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.54, Y:47.71, Z:9.68 [[ 6.43914820e-01 -7.57585795e-01 -1.06946093e-01 1.06535980e+02] [ 7.47269244e-01 6.52735524e-01 -1.24599412e-01 4.77085144e+01] [ 1.64202259e-01 3.13881410e-04 9.86426642e-01 9.68431450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721858064 meters Centerline goodness : 0.995818 Centerline is valid? [True, True] Translation: X:106.55, Y:47.73, Z:9.69 [[ 6.46010264e-01 -7.55835162e-01 -1.06695577e-01 1.06554964e+02] [ 7.45046986e-01 6.54756262e-01 -1.27276180e-01 4.77291389e+01] [ 1.66059409e-01 2.72850051e-03 9.86111975e-01 9.68935675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.751858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:106.56, Y:47.76, Z:9.68 [[ 6.43980072e-01 -7.59856319e-01 -8.89271697e-02 1.06562256e+02] [ 7.47329255e-01 6.49673670e-01 -1.39366810e-01 4.77592281e+01] [ 1.63672392e-01 2.32915728e-02 9.86239753e-01 9.68123257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:106.60, Y:47.76, Z:9.72 [[ 6.46740905e-01 -7.51579132e-01 -1.29826846e-01 1.06603010e+02] [ 7.42959772e-01 6.59285262e-01 -1.15558297e-01 4.77629121e+01] [ 1.72444131e-01 -2.17198458e-02 9.84779808e-01 9.71501441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.811858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:106.62, Y:47.79, Z:9.72 [[ 6.47757076e-01 -7.51692337e-01 -1.23973392e-01 1.06619000e+02] [ 7.41371304e-01 6.59419258e-01 -1.24638804e-01 4.77862749e+01] [ 1.75440476e-01 -1.11746483e-02 9.84426618e-01 9.71921789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.62, Y:47.83, Z:9.69 [[ 6.44649427e-01 -7.59868416e-01 -8.38278438e-02 1.06616905e+02] [ 7.45843552e-01 6.49206283e-01 -1.49159643e-01 4.78274304e+01] [ 1.67763265e-01 3.36332218e-02 9.85253416e-01 9.69307481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.871858064 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:106.66, Y:47.82, Z:9.73 [[ 6.46889776e-01 -7.49921827e-01 -1.38386673e-01 1.06660713e+02] [ 7.42975908e-01 6.60678886e-01 -1.07192394e-01 4.78192880e+01] [ 1.71815069e-01 -3.34763000e-02 9.84560267e-01 9.73284433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:106.66, Y:47.86, Z:9.72 [[ 6.45763372e-01 -7.56777818e-01 -1.01375546e-01 1.06662812e+02] [ 7.44426128e-01 6.53545709e-01 -1.36776265e-01 4.78562680e+01] [ 1.69762797e-01 1.28584967e-02 9.85401061e-01 9.71614019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.931858064 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:106.70, Y:47.86, Z:9.74 [[ 6.48210934e-01 -7.49546594e-01 -1.34173354e-01 1.06696485e+02] [ 7.43080310e-01 6.61148161e-01 -1.03512133e-01 4.78579292e+01] [ 1.66295633e-01 -3.26038816e-02 9.85536782e-01 9.74129814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:47.91, Z:9.72 [[ 6.44084636e-01 -7.60491070e-01 -8.25125035e-02 1.06691554e+02] [ 7.46424179e-01 6.48413507e-01 -1.49702603e-01 4.79084693e+01] [ 1.67349714e-01 3.48318188e-02 9.85282100e-01 9.71631554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.991858064 meters Centerline goodness : 0.996942 Centerline is valid? [True, True] Translation: X:106.73, Y:47.91, Z:9.74 [[ 6.45880053e-01 -7.54178705e-01 -1.18547196e-01 1.06725231e+02] [ 7.43778697e-01 6.56627364e-01 -1.25035016e-01 4.79119603e+01] [ 1.72140079e-01 -7.41525617e-03 9.85044571e-01 9.74286128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02185806399999 meters Centerline goodness : 0.997039 Centerline is valid? [True, True] Translation: X:106.74, Y:47.93, Z:9.75 [[ 6.46565468e-01 -7.54085649e-01 -1.15360000e-01 1.06742194e+02] [ 7.43495876e-01 6.56762024e-01 -1.26006052e-01 4.79342963e+01] [ 1.70783422e-01 -4.29852212e-03 9.85299216e-01 9.74578541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.76, Y:47.96, Z:9.75 [[ 6.47088352e-01 -7.54036967e-01 -1.12716091e-01 1.06759125e+02] [ 7.42768898e-01 6.56831906e-01 -1.29869979e-01 4.79563644e+01] [ 1.71962290e-01 3.15344264e-04 9.85103483e-01 9.74860324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.081858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.78, Y:47.97, Z:9.76 [[ 6.47198785e-01 -7.53217917e-01 -1.17458513e-01 1.06778906e+02] [ 7.42627033e-01 6.57746500e-01 -1.25994569e-01 4.79749909e+01] [ 1.72159293e-01 -5.68433537e-03 9.85052723e-01 9.75538297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.111858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:106.80, Y:48.00, Z:9.76 [[ 6.48486834e-01 -7.52103619e-01 -1.17494558e-01 1.06799058e+02] [ 7.41273789e-01 6.59029013e-01 -1.27255369e-01 4.79964080e+01] [ 1.73141546e-01 -4.57220523e-03 9.84886339e-01 9.76213448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:48.02, Z:9.76 [[ 6.47504477e-01 -7.53376729e-01 -1.14723390e-01 1.06814283e+02] [ 7.42342732e-01 6.57586206e-01 -1.28482103e-01 4.80181256e+01] [ 1.72235946e-01 -1.97133770e-03 9.85053751e-01 9.76448664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:48.04, Z:9.78 [[ 6.46438179e-01 -7.53017901e-01 -1.22807660e-01 1.06836088e+02] [ 7.42540051e-01 6.57923892e-01 -1.25580356e-01 4.80362520e+01] [ 1.75362349e-01 -1.00096694e-02 9.84453073e-01 9.77656970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.85, Y:48.06, Z:9.77 [[ 6.45934925e-01 -7.55184420e-01 -1.11644820e-01 1.06849174e+02] [ 7.43293663e-01 6.55504268e-01 -1.33524102e-01 4.80630928e+01] [ 1.74018977e-01 3.26299351e-03 9.84736893e-01 9.77428243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.87, Y:48.08, Z:9.78 [[ 6.44671623e-01 -7.55614955e-01 -1.15950584e-01 1.06868608e+02] [ 7.44082453e-01 6.55014367e-01 -1.31519893e-01 4.80829672e+01] [ 1.75327696e-01 -1.48965214e-03 9.84509004e-01 9.78104856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:48.11, Z:9.78 [[ 6.42971680e-01 -7.57685751e-01 -1.11802151e-01 1.06883487e+02] [ 7.46451642e-01 6.52619557e-01 -1.29990998e-01 4.81052211e+01] [ 1.71456597e-01 1.25631311e-04 9.85191666e-01 9.78124473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.291858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:106.90, Y:48.12, Z:9.79 [[ 6.42010895e-01 -7.57222689e-01 -1.20149118e-01 1.06904207e+02] [ 7.46699791e-01 6.53098116e-01 -1.26104216e-01 4.81205541e+01] [ 1.73958137e-01 -8.75504076e-03 9.84714129e-01 9.79254837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:106.92, Y:48.14, Z:9.79 [[ 6.41894583e-01 -7.58282087e-01 -1.13928138e-01 1.06920197e+02] [ 7.46883976e-01 6.51925802e-01 -1.30985017e-01 4.81448882e+01] [ 1.73596285e-01 -1.01252810e-03 9.84816381e-01 9.79399871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:48.18, Z:9.78 [[ 6.39464415e-01 -7.62815115e-01 -9.59080944e-02 1.06929974e+02] [ 7.49565780e-01 6.46323045e-01 -1.42890390e-01 4.81762464e+01] [ 1.70986560e-01 1.94838938e-02 9.85080694e-01 9.78457552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:48.18, Z:9.81 [[ 6.37996598e-01 -7.59333186e-01 -1.27958800e-01 1.06962252e+02] [ 7.50416827e-01 6.50368924e-01 -1.17876413e-01 4.81816318e+01] [ 1.72727900e-01 -2.08176861e-02 9.84749560e-01 9.81015117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.98, Y:48.21, Z:9.81 [[ 6.36253660e-01 -7.62088672e-01 -1.20008903e-01 1.06977458e+02] [ 7.51419563e-01 6.47408465e-01 -1.27400632e-01 4.82080404e+01] [ 1.74785358e-01 -9.11791924e-03 9.84564341e-01 9.81353538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.99, Y:48.23, Z:9.81 [[ 6.35277712e-01 -7.64327729e-01 -1.10568310e-01 1.06989621e+02] [ 7.52112154e-01 6.44819382e-01 -1.36144303e-01 4.82324410e+01] [ 1.75355455e-01 3.32967184e-03 9.84499557e-01 9.81196506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.01, Y:48.26, Z:9.81 [[ 6.32413395e-01 -7.67010682e-01 -1.08387779e-01 1.07007775e+02] [ 7.55316393e-01 6.41629347e-01 -1.33450094e-01 4.82553447e+01] [ 1.71902427e-01 2.52856049e-03 9.85110736e-01 9.81381879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:48.28, Z:9.81 [[ 6.30369641e-01 -7.70093330e-01 -9.79304789e-02 1.07018647e+02] [ 7.58338101e-01 6.37844993e-01 -1.34451067e-01 4.82788634e+01] [ 1.66004335e-01 1.04894574e-02 9.86069233e-01 9.81052481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.531858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.04, Y:48.29, Z:9.82 [[ 6.29613643e-01 -7.69214818e-01 -1.09065227e-01 1.07041226e+02] [ 7.59053943e-01 6.38975923e-01 -1.24687131e-01 4.82943801e+01] [ 1.65601243e-01 -4.28167226e-03 9.86183500e-01 9.82053198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:48.32, Z:9.82 [[ 6.28615138e-01 -7.70436330e-01 -1.06164351e-01 1.07058896e+02] [ 7.59563725e-01 6.37516798e-01 -1.28977824e-01 4.83186146e+01] [ 1.67050759e-01 4.38822318e-04 9.85948199e-01 9.82393718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.591858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.08, Y:48.33, Z:9.84 [[ 6.30070114e-01 -7.67103077e-01 -1.20683556e-01 1.07082660e+02] [ 7.58479706e-01 6.41261394e-01 -1.16156620e-01 4.83329975e+01] [ 1.66493806e-01 -1.83492131e-02 9.85871756e-01 9.83933452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:107.10, Y:48.36, Z:9.84 [[ 6.30527174e-01 -7.67999273e-01 -1.12305831e-01 1.07097423e+02] [ 7.57831337e-01 6.40418070e-01 -1.24725138e-01 4.83594287e+01] [ 1.67711499e-01 -6.46628941e-03 9.85814912e-01 9.84149295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:48.38, Z:9.85 [[ 6.32259298e-01 -7.66545253e-01 -1.12501355e-01 1.07114645e+02] [ 7.55878909e-01 6.42175088e-01 -1.27507769e-01 4.83821435e+01] [ 1.69986042e-01 -4.41942873e-03 9.85436560e-01 9.84880316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:48.40, Z:9.85 [[ 6.32607206e-01 -7.66533555e-01 -1.10609372e-01 1.07130252e+02] [ 7.55722627e-01 6.42199693e-01 -1.28307698e-01 4.84041822e+01] [ 1.69385461e-01 -2.42163063e-03 9.85546905e-01 9.85219054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:48.43, Z:9.85 [[ 6.33007559e-01 -7.66665198e-01 -1.07358764e-01 1.07146500e+02] [ 7.55998813e-01 6.42046908e-01 -1.27442388e-01 4.84269126e+01] [ 1.66635006e-01 -4.91102909e-04 9.86018526e-01 9.85373425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.17, Y:48.45, Z:9.86 [[ 6.34581119e-01 -7.64614935e-01 -1.12564665e-01 1.07166700e+02] [ 7.54637827e-01 6.44452543e-01 -1.23299109e-01 4.84464789e+01] [ 1.66818925e-01 -6.70226782e-03 9.85964769e-01 9.86350444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:107.18, Y:48.47, Z:9.87 [[ 6.35556439e-01 -7.64435979e-01 -1.08192633e-01 1.07182770e+02] [ 7.54481146e-01 6.44690431e-01 -1.23014019e-01 4.84705766e+01] [ 1.63787098e-01 -3.44694981e-03 9.86489688e-01 9.86534881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.801858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:107.20, Y:48.49, Z:9.87 [[ 6.35525526e-01 -7.65055634e-01 -1.03909490e-01 1.07198349e+02] [ 7.54938878e-01 6.43964086e-01 -1.24006234e-01 4.84945714e+01] [ 1.61785647e-01 3.63813448e-04 9.86825857e-01 9.86674696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.22, Y:48.51, Z:9.88 [[ 6.35997586e-01 -7.63531671e-01 -1.11921663e-01 1.07220458e+02] [ 7.53833295e-01 6.45731502e-01 -1.21516217e-01 4.85144495e+01] [ 1.65052824e-01 -7.08625579e-03 9.86259271e-01 9.87709658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.861858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:107.23, Y:48.54, Z:9.88 [[ 6.38147958e-01 -7.62605599e-01 -1.05829507e-01 1.07232304e+02] [ 7.51683491e-01 6.46858776e-01 -1.28629906e-01 4.85391161e+01] [ 1.66550632e-01 2.53461807e-03 9.86029646e-01 9.87890482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.891858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:107.25, Y:48.56, Z:9.89 [[ 6.38280301e-01 -7.61681398e-01 -1.11533424e-01 1.07253274e+02] [ 7.52240091e-01 6.47908987e-01 -1.19786435e-01 4.85597072e+01] [ 1.63502607e-01 -7.44259087e-03 9.86514828e-01 9.88661804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:107.27, Y:48.58, Z:9.89 [[ 6.39300093e-01 -7.61188562e-01 -1.09029194e-01 1.07269622e+02] [ 7.51286327e-01 6.48520412e-01 -1.22434187e-01 4.85839159e+01] [ 1.63903161e-01 -3.63995561e-03 9.86469718e-01 9.89015025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.29, Y:48.60, Z:9.90 [[ 6.41551135e-01 -7.58996986e-01 -1.11066269e-01 1.07285246e+02] [ 7.49235431e-01 6.51072592e-01 -1.21452660e-01 4.86031458e+01] [ 1.64494406e-01 -5.29669250e-03 9.86363795e-01 9.89563975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.981858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.29, Y:48.64, Z:9.88 [[ 6.38697568e-01 -7.63953356e-01 -9.18732047e-02 1.07285714e+02] [ 7.52548112e-01 6.45086826e-01 -1.32417246e-01 4.86352553e+01] [ 1.60426793e-01 1.54355661e-02 9.86927043e-01 9.88337831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.31, Y:48.65, Z:9.89 [[ 6.38599085e-01 -7.62440528e-01 -1.04286386e-01 1.07307222e+02] [ 7.52574137e-01 6.47058170e-01 -1.22261573e-01 4.86503689e+01] [ 1.60696537e-01 -4.07108515e-04 9.87003778e-01 9.89316728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:107.32, Y:48.67, Z:9.90 [[ 6.39212405e-01 -7.61939976e-01 -1.04187210e-01 1.07323601e+02] [ 7.51972860e-01 6.47647623e-01 -1.22838813e-01 4.86708684e+01] [ 1.61072401e-01 1.74138870e-04 9.86942578e-01 9.89738859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.071858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:107.34, Y:48.69, Z:9.90 [[ 6.36672228e-01 -7.64162798e-01 -1.03458649e-01 1.07342430e+02] [ 7.54340992e-01 6.45023360e-01 -1.22125074e-01 4.86927292e+01] [ 1.60056684e-01 -2.89456527e-04 9.87107782e-01 9.90286124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101858064 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:107.36, Y:48.71, Z:9.91 [[ 6.35219447e-01 -7.65358614e-01 -1.03549244e-01 1.07360118e+02] [ 7.55642515e-01 6.43603252e-01 -1.21569914e-01 4.87140530e+01] [ 1.59689211e-01 -1.02263733e-03 9.87166810e-01 9.90753251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.131858064 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:107.38, Y:48.74, Z:9.91 [[ 6.34378352e-01 -7.66161676e-01 -1.02763775e-01 1.07375551e+02] [ 7.56085046e-01 6.42647279e-01 -1.23854262e-01 4.87358688e+01] [ 1.60933250e-01 8.72308890e-04 9.86964907e-01 9.91093947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:107.39, Y:48.76, Z:9.92 [[ 6.31786472e-01 -7.67949121e-01 -1.05356545e-01 1.07393094e+02] [ 7.58272755e-01 6.40503413e-01 -1.21564004e-01 4.87579040e+01] [ 1.60836197e-01 -3.08650402e-03 9.86976287e-01 9.91512343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.191858064 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:107.41, Y:48.78, Z:9.92 [[ 6.30469605e-01 -7.69189092e-01 -1.04193174e-01 1.07410033e+02] [ 7.59377620e-01 6.39018404e-01 -1.22479016e-01 4.87796893e+01] [ 1.60790879e-01 -1.90266753e-03 9.86986663e-01 9.91890137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.42, Y:48.80, Z:9.92 [[ 6.29027253e-01 -7.71090611e-01 -9.87116225e-02 1.07423260e+02] [ 7.59837338e-01 6.36678862e-01 -1.31480974e-01 4.88036616e+01] [ 1.64231348e-01 7.70033939e-03 9.86391793e-01 9.92021751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.251858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.45, Y:48.82, Z:9.93 [[ 6.27320596e-01 -7.70582626e-01 -1.12566806e-01 1.07447282e+02] [ 7.61670806e-01 6.37226287e-01 -1.17474430e-01 4.88193797e+01] [ 1.62254283e-01 -1.20447207e-02 9.86675465e-01 9.93050840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:48.84, Z:9.95 [[ 6.29909548e-01 -7.65825859e-01 -1.29324071e-01 1.07480807e+02] [ 7.57583734e-01 6.42539249e-01 -1.14935634e-01 4.88368024e+01] [ 1.71116472e-01 -2.55747590e-02 9.84918821e-01 9.95061011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.311858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.47, Y:48.87, Z:9.93 [[ 6.24889011e-01 -7.75362183e-01 -9.12535383e-02 1.07472828e+02] [ 7.63207888e-01 6.31303275e-01 -1.37731238e-01 4.88722186e+01] [ 1.64400251e-01 1.64213172e-02 9.86257014e-01 9.92935734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:107.50, Y:48.89, Z:9.94 [[ 6.22054906e-01 -7.75882122e-01 -1.05140985e-01 1.07495740e+02] [ 7.65190814e-01 6.30877615e-01 -1.28360635e-01 4.88874540e+01] [ 1.65923816e-01 -6.05552828e-04 9.86138388e-01 9.93983823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:48.91, Z:9.95 [[ 6.20816947e-01 -7.76325613e-01 -1.09109398e-01 1.07514963e+02] [ 7.66325804e-01 6.30299556e-01 -1.24367327e-01 4.89067985e+01] [ 1.65321147e-01 -6.40400246e-03 9.86218996e-01 9.94610259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:48.93, Z:9.95 [[ 6.22061119e-01 -7.76175099e-01 -1.02918319e-01 1.07536251e+02] [ 7.65299018e-01 6.30514881e-01 -1.29492851e-01 4.89326497e+01] [ 1.65400658e-01 1.78917894e-03 9.86224833e-01 9.94764850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.431858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.55, Y:48.95, Z:9.96 [[ 6.17712572e-01 -7.78264429e-01 -1.12852363e-01 1.07550238e+02] [ 7.68820126e-01 6.27826841e-01 -1.21445754e-01 4.89486035e+01] [ 1.65368653e-01 -1.17445988e-02 9.86161890e-01 9.95667871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.56, Y:48.97, Z:9.96 [[ 6.17068328e-01 -7.79709013e-01 -1.06209857e-01 1.07563556e+02] [ 7.69214112e-01 6.26134848e-01 -1.27533532e-01 4.89736391e+01] [ 1.65940737e-01 -3.00121767e-03 9.86131160e-01 9.95804752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.491858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:107.58, Y:48.99, Z:9.96 [[ 6.16102274e-01 -7.80246072e-01 -1.07861275e-01 1.07582277e+02] [ 7.70068847e-01 6.25447649e-01 -1.25734682e-01 4.89949757e+01] [ 1.65565573e-01 -5.59518399e-03 9.86182912e-01 9.96299756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:49.02, Z:9.96 [[ 6.15130330e-01 -7.81723706e-01 -1.02580332e-01 1.07596508e+02] [ 7.70422638e-01 6.23620102e-01 -1.32464820e-01 4.90189748e+01] [ 1.67522048e-01 2.45291853e-03 9.85865278e-01 9.96421852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:49.05, Z:9.95 [[ 6.13785878e-01 -7.84916004e-01 -8.46980715e-02 1.07610568e+02] [ 7.72824603e-01 6.19290890e-01 -1.38639556e-01 4.90485350e+01] [ 1.61273150e-01 1.96382481e-02 9.86714402e-01 9.95481156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:49.05, Z:9.99 [[ 6.12290610e-01 -7.80149035e-01 -1.28326510e-01 1.07642696e+02] [ 7.73276542e-01 6.24730766e-01 -1.08419834e-01 4.90480832e+01] [ 1.64753148e-01 -3.28474340e-02 9.85787729e-01 9.98678031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:49.08, Z:9.99 [[ 6.12132687e-01 -7.82683251e-01 -1.12696505e-01 1.07654157e+02] [ 7.74057463e-01 6.22223302e-01 -1.16932485e-01 4.90754716e+01] [ 1.61643489e-01 -1.56553744e-02 9.86725034e-01 9.98574207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:49.10, Z:10.00 [[ 6.14748067e-01 -7.80293515e-01 -1.15008024e-01 1.07678135e+02] [ 7.71598277e-01 6.25193075e-01 -1.17344444e-01 4.90978851e+01] [ 1.63465329e-01 -1.66027235e-02 9.86409365e-01 9.99627417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:49.13, Z:9.99 [[ 6.14746971e-01 -7.82849004e-01 -9.60916159e-02 1.07685668e+02] [ 7.71385782e-01 6.22159236e-01 -1.33723071e-01 4.91290168e+01] [ 1.64469259e-01 8.08214660e-03 9.86349097e-01 9.98898746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:49.15, Z:9.99 [[ 6.13493855e-01 -7.83362885e-01 -9.98392758e-02 1.07699032e+02] [ 7.72686990e-01 6.21561614e-01 -1.28902967e-01 4.91489471e+01] [ 1.63034061e-01 1.93666841e-03 9.86618540e-01 9.99289250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.73, Y:49.17, Z:10.00 [[ 6.16085889e-01 -7.79908622e-01 -1.10366291e-01 1.07726215e+02] [ 7.70455857e-01 6.25810501e-01 -1.21486582e-01 4.91687509e+01] [ 1.63816817e-01 -1.01861866e-02 9.86438185e-01 1.00030224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:49.20, Z:10.00 [[ 6.18137524e-01 -7.80101152e-01 -9.66860579e-02 1.07735537e+02] [ 7.69442349e-01 6.25632554e-01 -1.28617178e-01 4.91979914e+01] [ 1.60824354e-01 5.10875620e-03 9.86969821e-01 9.99766647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:49.21, Z:10.01 [[ 6.21127847e-01 -7.74933130e-01 -1.16956580e-01 1.07760382e+02] [ 7.66594376e-01 6.31777588e-01 -1.14848343e-01 4.92091684e+01] [ 1.62890332e-01 -1.83227519e-02 9.86474032e-01 1.00139387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:49.24, Z:10.00 [[ 6.21004949e-01 -7.78047309e-01 -9.48432367e-02 1.07766511e+02] [ 7.66992368e-01 6.28146937e-01 -1.30973784e-01 4.92420746e+01] [ 1.61479289e-01 8.59132937e-03 9.86838704e-01 1.00043575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.851858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.78, Y:49.27, Z:10.00 [[ 6.19816126e-01 -7.80320076e-01 -8.32379096e-02 1.07777373e+02] [ 7.68762998e-01 6.25065248e-01 -1.35265994e-01 4.92703182e+01] [ 1.57579895e-01 1.98498196e-02 9.87306721e-01 9.99757147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.81, Y:49.28, Z:10.02 [[ 6.22374549e-01 -7.73569312e-01 -1.19333312e-01 1.07811772e+02] [ 7.65446123e-01 6.33377268e-01 -1.13690230e-01 4.92785111e+01] [ 1.63530280e-01 -2.05853155e-02 9.86323523e-01 1.00215639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:49.30, Z:10.03 [[ 6.22219638e-01 -7.74627879e-01 -1.13112202e-01 1.07822541e+02] [ 7.64760461e-01 6.32344658e-01 -1.23619055e-01 4.93009259e+01] [ 1.67284663e-01 -9.58553632e-03 9.85862039e-01 1.00265735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.83, Y:49.34, Z:10.01 [[ 6.21276867e-01 -7.78993442e-01 -8.47600821e-02 1.07830604e+02] [ 7.66907559e-01 6.26683480e-01 -1.38277304e-01 4.93365823e+01] [ 1.60834856e-01 2.09053427e-02 9.86759908e-01 1.00127938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:49.34, Z:10.04 [[ 6.22498530e-01 -7.73726901e-01 -1.17653150e-01 1.07863246e+02] [ 7.65488544e-01 6.33235040e-01 -1.14195765e-01 4.93415369e+01] [ 1.62858432e-01 -1.89754426e-02 9.86466960e-01 1.00354272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:49.36, Z:10.04 [[ 6.22515072e-01 -7.73656779e-01 -1.18026159e-01 1.07878307e+02] [ 7.65305504e-01 6.33326239e-01 -1.14914582e-01 4.93602097e+01] [ 1.63653509e-01 -1.87900100e-02 9.86338920e-01 1.00442770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:49.39, Z:10.04 [[ 6.20910928e-01 -7.77084727e-01 -1.02999742e-01 1.07890579e+02] [ 7.66338722e-01 6.29395152e-01 -1.28789386e-01 4.93898061e+01] [ 1.64907803e-01 1.03404698e-03 9.86308444e-01 1.00419421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:49.43, Z:10.02 [[ 6.19567497e-01 -7.82204501e-01 -6.55151527e-02 1.07892790e+02] [ 7.69430962e-01 6.21715548e-01 -1.46443750e-01 4.94263645e+01] [ 1.55280750e-01 4.03224009e-02 9.87047108e-01 1.00178808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:49.42, Z:10.06 [[ 6.21041345e-01 -7.72016441e-01 -1.35271071e-01 1.07941103e+02] [ 7.66741831e-01 6.34214090e-01 -9.93954335e-02 4.94153798e+01] [ 1.62525728e-01 -4.19893150e-02 9.85810471e-01 1.00632228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:49.45, Z:10.05 [[ 6.21200244e-01 -7.76612644e-01 -1.04800086e-01 1.07947156e+02] [ 7.66403550e-01 6.29974072e-01 -1.25531937e-01 4.94520336e+01] [ 1.63511026e-01 -2.33868843e-03 9.86538735e-01 1.00539333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:49.47, Z:10.06 [[ 6.23203741e-01 -7.74836381e-01 -1.06045647e-01 1.07964859e+02] [ 7.64877458e-01 6.32149788e-01 -1.23891567e-01 4.94717609e+01] [ 1.63032427e-01 -3.90223670e-03 9.86612994e-01 1.00586097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:49.49, Z:10.06 [[ 6.25762196e-01 -7.73069135e-01 -1.03854641e-01 1.07982204e+02] [ 7.62682168e-01 6.34321750e-01 -1.26300544e-01 4.94930889e+01] [ 1.63516310e-01 -1.73977437e-04 9.86540616e-01 1.00612561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:49.52, Z:10.07 [[ 6.25994043e-01 -7.72880957e-01 -1.03858002e-01 1.08001868e+02] [ 7.62314398e-01 6.34550798e-01 -1.27365785e-01 4.95151305e+01] [ 1.64341768e-01 5.57772615e-04 9.86403301e-01 1.00656280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:49.54, Z:10.07 [[ 6.25785472e-01 -7.72827682e-01 -1.05498420e-01 1.08020644e+02] [ 7.62490019e-01 6.34613917e-01 -1.25992651e-01 4.95360518e+01] [ 1.64321374e-01 -1.59712150e-03 9.86405563e-01 1.00708847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:49.56, Z:10.08 [[ 6.25915589e-01 -7.72700252e-01 -1.05659813e-01 1.08038688e+02] [ 7.62317552e-01 6.34769252e-01 -1.26253501e-01 4.95565884e+01] [ 1.64625712e-01 -1.52229546e-03 9.86354935e-01 1.00751853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.05, Y:49.58, Z:10.07 [[ 6.28288386e-01 -7.72375984e-01 -9.32150412e-02 1.08052782e+02] [ 7.61194099e-01 6.35058843e-01 -1.31467903e-01 4.95812253e+01] [ 1.60739687e-01 1.16450170e-02 9.86928137e-01 1.00691023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:49.59, Z:10.09 [[ 6.28162458e-01 -7.70045063e-01 -1.11546078e-01 1.08078555e+02] [ 7.60508038e-01 6.37929628e-01 -1.21133458e-01 4.95917014e+01] [ 1.64436769e-01 -8.74019804e-03 9.86348903e-01 1.00866796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:49.61, Z:10.09 [[ 6.29263302e-01 -7.70230327e-01 -1.03792775e-01 1.08095943e+02] [ 7.60223145e-01 6.37764993e-01 -1.23760185e-01 4.96144014e+01] [ 1.61519246e-01 -1.02792658e-03 9.86869027e-01 1.00850364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:49.63, Z:10.09 [[ 6.27660806e-01 -7.71003633e-01 -1.07681521e-01 1.08116024e+02] [ 7.61045296e-01 6.36815720e-01 -1.23595291e-01 4.96343904e+01] [ 1.63865704e-01 -4.37459492e-03 9.86472957e-01 1.00945672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:49.66, Z:10.09 [[ 6.29275981e-01 -7.71506448e-01 -9.37525487e-02 1.08131628e+02] [ 7.60409164e-01 6.36125507e-01 -1.30851989e-01 4.96588565e+01] [ 1.60591541e-01 1.10517166e-02 9.86959075e-01 1.00879957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:49.67, Z:10.11 [[ 6.28757762e-01 -7.69240190e-01 -1.13724259e-01 1.08158581e+02] [ 7.60156868e-01 6.38847790e-01 -1.18469565e-01 4.96703149e+01] [ 1.63784042e-01 -1.19596174e-02 9.86423720e-01 1.01061797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:108.17, Y:49.70, Z:10.10 [[ 6.29048923e-01 -7.70591450e-01 -1.02402490e-01 1.08172812e+02] [ 7.59783513e-01 6.37321799e-01 -1.28646561e-01 4.96961431e+01] [ 1.64397279e-01 3.12125644e-03 9.86389270e-01 1.01046826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.511858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.19, Y:49.72, Z:10.11 [[ 6.29754228e-01 -7.69838153e-01 -1.03724780e-01 1.08191334e+02] [ 7.59180827e-01 6.38237020e-01 -1.27663537e-01 4.97151999e+01] [ 1.64481256e-01 1.65078813e-03 9.86378827e-01 1.01092105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:49.73, Z:10.11 [[ 6.31813274e-01 -7.67606210e-01 -1.07669370e-01 1.08213386e+02] [ 7.57710198e-01 6.40909787e-01 -1.22922338e-01 4.97314153e+01] [ 1.63362303e-01 -3.91821467e-03 9.86558364e-01 1.01146610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.571858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:108.23, Y:49.76, Z:10.12 [[ 6.31324666e-01 -7.68791862e-01 -1.01922714e-01 1.08230408e+02] [ 7.57961401e-01 6.39486774e-01 -1.28651391e-01 4.97550837e+01] [ 1.64084370e-01 3.96731312e-03 9.86438330e-01 1.01161318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.25, Y:49.77, Z:10.12 [[ 6.31606390e-01 -7.67689288e-01 -1.08289082e-01 1.08252018e+02] [ 7.58058178e-01 6.40799093e-01 -1.21343815e-01 4.97705380e+01] [ 1.62545893e-01 -5.44789530e-03 9.86685945e-01 1.01234799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.631858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.27, Y:49.79, Z:10.13 [[ 6.31938698e-01 -7.68003823e-01 -1.04036577e-01 1.08268950e+02] [ 7.57775473e-01 6.40445248e-01 -1.24924842e-01 4.97913785e+01] [ 1.62572487e-01 1.08475616e-04 9.86696597e-01 1.01260514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:108.29, Y:49.81, Z:10.13 [[ 6.32730738e-01 -7.67316301e-01 -1.04295288e-01 1.08290414e+02] [ 7.57019249e-01 6.41268736e-01 -1.25284731e-01 4.98096221e+01] [ 1.63014324e-01 3.17959951e-04 9.86623651e-01 1.01305296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.691858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.30, Y:49.84, Z:10.11 [[ 6.31559427e-01 -7.71752393e-01 -7.43702475e-02 1.08296815e+02] [ 7.59672736e-01 6.35132291e-01 -1.39657822e-01 4.98433731e+01] [ 1.55016204e-01 3.17051650e-02 9.87403038e-01 1.01109952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721858064 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:108.33, Y:49.84, Z:10.14 [[ 6.32088394e-01 -7.65891952e-01 -1.17787014e-01 1.08333433e+02] [ 7.57802487e-01 6.42713022e-01 -1.12496055e-01 4.98426004e+01] [ 1.61863071e-01 -1.81518416e-02 9.86646267e-01 1.01419371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.751858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.35, Y:49.86, Z:10.14 [[ 6.33053682e-01 -7.66393284e-01 -1.09015456e-01 1.08349934e+02] [ 7.57324795e-01 6.42322152e-01 -1.17819389e-01 4.98649065e+01] [ 1.60319031e-01 -7.97410970e-03 9.87033040e-01 1.01411294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.37, Y:49.89, Z:10.14 [[ 6.33117664e-01 -7.67256312e-01 -1.02370772e-01 1.08366388e+02] [ 7.57268579e-01 6.41340306e-01 -1.23397370e-01 4.98881937e+01] [ 1.60331913e-01 6.02884997e-04 9.87062974e-01 1.01417761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.811858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:108.37, Y:49.92, Z:10.12 [[ 6.31775748e-01 -7.71707462e-01 -7.29862780e-02 1.08372487e+02] [ 7.59202212e-01 6.35029651e-01 -1.42651127e-01 4.99230183e+01] [ 1.56433390e-01 3.47121788e-02 9.87078345e-01 1.01222267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.41, Y:49.92, Z:10.15 [[ 6.31254737e-01 -7.67195211e-01 -1.13705608e-01 1.08413254e+02] [ 7.59190327e-01 6.41218196e-01 -1.11665895e-01 4.99249263e+01] [ 1.58579645e-01 -1.58345723e-02 9.87219207e-01 1.01508424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.871858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:108.43, Y:49.94, Z:10.16 [[ 6.30064366e-01 -7.68457989e-01 -1.11764103e-01 1.08431487e+02] [ 7.59466592e-01 6.39810394e-01 -1.17699430e-01 4.99424098e+01] [ 1.61954902e-01 -1.07228860e-02 9.86739900e-01 1.01584467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.45, Y:49.97, Z:10.16 [[ 6.28272562e-01 -7.70887534e-01 -1.04909473e-01 1.08450764e+02] [ 7.61442820e-01 6.36957078e-01 -1.20376543e-01 4.99672809e+01] [ 1.59619608e-01 -4.25328595e-03 9.87169434e-01 1.01579208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.931858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:108.46, Y:49.99, Z:10.16 [[ 6.26544072e-01 -7.72998785e-01 -9.95761214e-02 1.08464827e+02] [ 7.62278002e-01 6.34391348e-01 -1.28373931e-01 4.99887950e+01] [ 1.62403122e-01 4.52723847e-03 9.86714108e-01 1.01606784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:50.01, Z:10.17 [[ 6.24336949e-01 -7.74178655e-01 -1.04167099e-01 1.08486675e+02] [ 7.64268285e-01 6.32962193e-01 -1.23502435e-01 5.00064906e+01] [ 1.61546784e-01 -2.50447694e-03 9.86861877e-01 1.01676267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:50.03, Z:10.17 [[ 6.23528209e-01 -7.74754152e-01 -1.04730972e-01 1.08505550e+02] [ 7.65593761e-01 6.32233949e-01 -1.18938753e-01 5.00264773e+01] [ 1.58362768e-01 -6.01971136e-03 9.87362647e-01 1.01732726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.52, Y:50.05, Z:10.18 [[ 6.23891519e-01 -7.74923688e-01 -1.01255372e-01 1.08521380e+02] [ 7.65350015e-01 6.32052447e-01 -1.21445702e-01 5.00490988e+01] [ 1.58109857e-01 -1.72685691e-03 9.87420018e-01 1.01757403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.051858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.54, Y:50.07, Z:10.18 [[ 6.24171608e-01 -7.74775036e-01 -1.00665021e-01 1.08538225e+02] [ 7.65115323e-01 6.32236385e-01 -1.21965966e-01 5.00695145e+01] [ 1.58140275e-01 -8.92657429e-04 9.87416253e-01 1.01791857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.081858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.56, Y:50.09, Z:10.18 [[ 6.23555391e-01 -7.75204358e-01 -1.01177458e-01 1.08555977e+02] [ 7.65440825e-01 6.31709799e-01 -1.22650204e-01 5.00908228e+01] [ 1.58993765e-01 -9.66161221e-04 9.87279114e-01 1.01834829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.111858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:108.57, Y:50.11, Z:10.19 [[ 6.23843424e-01 -7.74730607e-01 -1.03013927e-01 1.08574321e+02] [ 7.65442840e-01 6.32277560e-01 -1.19676006e-01 5.01107361e+01] [ 1.57850059e-01 -4.19218364e-03 9.87454194e-01 1.01888069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.59, Y:50.13, Z:10.19 [[ 6.24488621e-01 -7.74759912e-01 -9.87979806e-02 1.08589458e+02] [ 7.64844956e-01 6.32253529e-01 -1.23562411e-01 5.01344369e+01] [ 1.58196575e-01 1.59818273e-03 9.87406345e-01 1.01906480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:50.16, Z:10.19 [[ 6.24380845e-01 -7.75738103e-01 -9.15366318e-02 1.08602657e+02] [ 7.64973969e-01 6.30964944e-01 -1.29221001e-01 5.01597553e+01] [ 1.57998060e-01 1.06599776e-02 9.87381880e-01 1.01878260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.201858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:108.61, Y:50.18, Z:10.18 [[ 6.24338065e-01 -7.76418367e-01 -8.58865583e-02 1.08614381e+02] [ 7.66419157e-01 6.30101899e-01 -1.24792920e-01 5.01824371e+01] [ 1.51008799e-01 1.20878667e-02 9.88458510e-01 1.01829242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:50.20, Z:10.19 [[ 6.24516359e-01 -7.75103459e-01 -9.58850643e-02 1.08637871e+02] [ 7.65942568e-01 6.31833877e-01 -1.18818916e-01 5.02017018e+01] [ 1.52680384e-01 7.61904107e-04 9.88275326e-01 1.01931620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261858064 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:108.66, Y:50.21, Z:10.21 [[ 6.25650166e-01 -7.70918702e-01 -1.19357550e-01 1.08664306e+02] [ 7.64907593e-01 6.36292027e-01 -1.00243855e-01 5.02110527e+01] [ 1.53226120e-01 -2.85799117e-02 9.87777781e-01 1.02128921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.67, Y:50.25, Z:10.20 [[ 6.24581405e-01 -7.75798012e-01 -8.96410247e-02 1.08668945e+02] [ 7.65320466e-01 6.30884352e-01 -1.27552028e-01 5.02483963e+01] [ 1.55507729e-01 1.10625137e-02 9.87772730e-01 1.02026728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321858064 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:108.69, Y:50.26, Z:10.21 [[ 6.25276888e-01 -7.74269406e-01 -9.76509114e-02 1.08688460e+02] [ 7.64854836e-01 6.32855868e-01 -1.20376616e-01 5.02645730e+01] [ 1.55002883e-01 5.79943979e-04 9.87913847e-01 1.02110117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.71, Y:50.28, Z:10.22 [[ 6.25693470e-01 -7.73789733e-01 -9.87781908e-02 1.08706617e+02] [ 7.64825845e-01 6.33439202e-01 -1.17457243e-01 5.02845439e+01] [ 1.53457187e-01 -2.05588340e-03 9.88153159e-01 1.02150862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.73, Y:50.31, Z:10.22 [[ 6.24865760e-01 -7.74200489e-01 -1.00778890e-01 1.08729246e+02] [ 7.65114136e-01 6.32932451e-01 -1.18308374e-01 5.03072731e+01] [ 1.55380631e-01 -3.18050137e-03 9.87849555e-01 1.02219485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.75, Y:50.32, Z:10.23 [[ 6.25991148e-01 -7.72965742e-01 -1.03242647e-01 1.08746512e+02] [ 7.64677981e-01 6.34396065e-01 -1.13177817e-01 5.03242003e+01] [ 1.52979304e-01 -8.09906700e-03 9.88196204e-01 1.02280319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.75, Y:50.35, Z:10.22 [[ 6.22495035e-01 -7.77738982e-01 -8.73041133e-02 1.08753807e+02] [ 7.67653588e-01 6.28491181e-01 -1.25326789e-01 5.03540681e+01] [ 1.52341395e-01 1.09959883e-02 9.88266759e-01 1.02224484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.78, Y:50.37, Z:10.24 [[ 6.24633672e-01 -7.73323059e-01 -1.08647236e-01 1.08783031e+02] [ 7.65657115e-01 6.33841274e-01 -1.09610319e-01 5.03651171e+01] [ 1.53629289e-01 -1.47202330e-02 9.88018905e-01 1.02395300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.79, Y:50.40, Z:10.23 [[ 6.22072988e-01 -7.77869892e-01 -8.91270364e-02 1.08789198e+02] [ 7.67949030e-01 6.28363953e-01 -1.24149226e-01 5.03953245e+01] [ 1.52576162e-01 8.78485897e-03 9.88252671e-01 1.02320669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.531858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:108.81, Y:50.41, Z:10.24 [[ 6.22000043e-01 -7.76833666e-01 -9.82110088e-02 1.08814146e+02] [ 7.67982106e-01 6.29700183e-01 -1.16966512e-01 5.04141131e+01] [ 1.52707014e-01 -2.67112200e-03 9.88267895e-01 1.02409792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.83, Y:50.44, Z:10.25 [[ 6.20871168e-01 -7.77278634e-01 -1.01768948e-01 1.08834538e+02] [ 7.68311705e-01 6.29136401e-01 -1.17832565e-01 5.04360612e+01] [ 1.55615285e-01 -5.03143216e-03 9.87804924e-01 1.02484910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.84, Y:50.46, Z:10.25 [[ 6.18114103e-01 -7.80724797e-01 -9.16719528e-02 1.08842964e+02] [ 7.70897541e-01 6.24848660e-01 -1.23616883e-01 5.04603923e+01] [ 1.53791863e-01 5.73965563e-03 9.88086595e-01 1.02454454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621858064 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:108.86, Y:50.47, Z:10.26 [[ 6.18692544e-01 -7.78897167e-01 -1.02658364e-01 1.08864949e+02] [ 7.70853111e-01 6.27075228e-01 -1.12080952e-01 5.04735116e+01] [ 1.51674053e-01 -9.79087057e-03 9.88382072e-01 1.02556065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.88, Y:50.50, Z:10.26 [[ 6.16450601e-01 -7.81256865e-01 -9.81140516e-02 1.08883981e+02] [ 7.72000901e-01 6.24207013e-01 -1.19917529e-01 5.05012440e+01] [ 1.54929872e-01 -1.82090333e-03 9.87923792e-01 1.02588634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:50.52, Z:10.26 [[ 6.15715054e-01 -7.81871452e-01 -9.78366273e-02 1.08897187e+02] [ 7.73527251e-01 6.23415817e-01 -1.14053980e-01 5.05177475e+01] [ 1.50168452e-01 -5.45454469e-03 9.88645378e-01 1.02615180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.711858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:108.91, Y:50.54, Z:10.26 [[ 6.13255729e-01 -7.84337114e-01 -9.34489347e-02 1.08914411e+02] [ 7.74459185e-01 6.20323429e-01 -1.24144333e-01 5.05440271e+01] [ 1.55339572e-01 3.75983797e-03 9.87853978e-01 1.02633763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.94, Y:50.56, Z:10.27 [[ 6.11170239e-01 -7.84796394e-01 -1.02788906e-01 1.08938756e+02] [ 7.75891846e-01 6.19707608e-01 -1.18128419e-01 5.05639032e+01] [ 1.56405824e-01 -7.55649979e-03 9.87663970e-01 1.02737068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:50.59, Z:10.27 [[ 6.10164874e-01 -7.86352878e-01 -9.66849387e-02 1.08951387e+02] [ 7.77424882e-01 6.17770085e-01 -1.18197611e-01 5.05855913e+01] [ 1.52674094e-01 -3.04524667e-03 9.88271900e-01 1.02724368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:50.61, Z:10.27 [[ 6.06010298e-01 -7.91081305e-01 -8.33179931e-02 1.08961703e+02] [ 7.81239647e-01 6.11619775e-01 -1.24843357e-01 5.06127205e+01] [ 1.49720178e-01 1.05650408e-02 9.88671962e-01 1.02659270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.831858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.98, Y:50.63, Z:10.28 [[ 6.03968251e-01 -7.90855117e-01 -9.88460205e-02 1.08983827e+02] [ 7.82093850e-01 6.11970957e-01 -1.17561718e-01 5.06265451e+01] [ 1.53465180e-01 -6.30331983e-03 9.88133952e-01 1.02816206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:50.65, Z:10.28 [[ 6.03942740e-01 -7.91318663e-01 -9.52257340e-02 1.09002609e+02] [ 7.82271451e-01 6.11399160e-01 -1.19341717e-01 5.06509022e+01] [ 1.52658261e-01 -2.41680978e-03 9.88276082e-01 1.02835586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.891858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:109.02, Y:50.67, Z:10.29 [[ 6.03663100e-01 -7.90762531e-01 -1.01417363e-01 1.09022128e+02] [ 7.82458851e-01 6.12039871e-01 -1.14740328e-01 5.06696521e+01] [ 1.52803822e-01 -1.00904114e-02 9.88205027e-01 1.02935096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.921858064 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:109.03, Y:50.69, Z:10.30 [[ 6.04398637e-01 -7.90603187e-01 -9.82287561e-02 1.09034846e+02] [ 7.82296630e-01 6.12281592e-01 -1.14556686e-01 5.06894701e+01] [ 1.50712540e-01 -7.60612001e-03 9.88548369e-01 1.02968629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.951858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:109.06, Y:50.71, Z:10.31 [[ 6.04520328e-01 -7.89751525e-01 -1.04152302e-01 1.09056202e+02] [ 7.81789468e-01 6.13282125e-01 -1.12651069e-01 5.07122080e+01] [ 1.52841099e-01 -1.33253116e-02 9.88160936e-01 1.03053373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.06, Y:50.74, Z:10.29 [[ 6.03909946e-01 -7.92979659e-01 -8.04738356e-02 1.09056861e+02] [ 7.82779325e-01 6.09086346e-01 -1.27555289e-01 5.07424444e+01] [ 1.50164264e-01 1.40386527e-02 9.88561384e-01 1.02940678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.09, Y:50.75, Z:10.32 [[ 6.06228998e-01 -7.87718427e-01 -1.09480965e-01 1.09089693e+02] [ 7.80555347e-01 6.15708711e-01 -1.07870911e-01 5.07548567e+01] [ 1.52380288e-01 -2.00614785e-02 9.88118305e-01 1.03158584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.10, Y:50.78, Z:10.32 [[ 6.07437622e-01 -7.88137629e-01 -9.92905455e-02 1.09101427e+02] [ 7.79710010e-01 6.15453992e-01 -1.15189775e-01 5.07798631e+01] [ 1.51894158e-01 -7.44722944e-03 9.88368708e-01 1.03153025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.12, Y:50.80, Z:10.32 [[ 6.07981270e-01 -7.87928491e-01 -9.76087553e-02 1.09117122e+02] [ 7.79544678e-01 6.15734636e-01 -1.14808337e-01 5.08013837e+01] [ 1.50561851e-01 -6.28906743e-03 9.88580587e-01 1.03186371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:109.12, Y:50.83, Z:10.31 [[ 6.05361100e-01 -7.92241168e-01 -7.67585213e-02 1.09119037e+02] [ 7.81981736e-01 6.09952885e-01 -1.28304490e-01 5.08333594e+01] [ 1.48467181e-01 1.76467855e-02 9.88759873e-01 1.03076844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:109.14, Y:50.85, Z:10.32 [[ 6.05151041e-01 -7.90676946e-01 -9.28557174e-02 1.09143842e+02] [ 7.82216635e-01 6.12227165e-01 -1.15390790e-01 5.08482175e+01] [ 1.48085630e-01 -2.80443026e-03 9.88970566e-01 1.03196772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:50.87, Z:10.33 [[ 6.07652553e-01 -7.87763677e-01 -1.00929498e-01 1.09167473e+02] [ 7.80124863e-01 6.15863626e-01 -1.10078118e-01 5.08684916e+01] [ 1.48874350e-01 -1.18483615e-02 9.88785136e-01 1.03296904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:109.18, Y:50.89, Z:10.33 [[ 6.08408100e-01 -7.87976742e-01 -9.45105205e-02 1.09182604e+02] [ 7.79317992e-01 6.15698829e-01 -1.16526480e-01 5.08936449e+01] [ 1.50010173e-01 -2.75809462e-03 9.88680606e-01 1.03313117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221858064 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:109.19, Y:50.92, Z:10.32 [[ 6.06533922e-01 -7.91157843e-01 -7.86502973e-02 1.09190280e+02] [ 7.81698230e-01 6.11475617e-01 -1.22659885e-01 5.09231372e+01] [ 1.45136069e-01 1.29165829e-02 9.89327389e-01 1.03231720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:109.21, Y:50.93, Z:10.34 [[ 6.06729288e-01 -7.88322315e-01 -1.02115124e-01 1.09212621e+02] [ 7.81048941e-01 6.15095069e-01 -1.07798923e-01 5.09344330e+01] [ 1.47790806e-01 -1.43521457e-02 9.88914503e-01 1.03423054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.23, Y:50.96, Z:10.35 [[ 6.08633490e-01 -7.87508887e-01 -9.69279504e-02 1.09232828e+02] [ 7.79231163e-01 6.16272937e-01 -1.14045873e-01 5.09609829e+01] [ 1.49546211e-01 -6.11714193e-03 9.88735815e-01 1.03453098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.24, Y:50.98, Z:10.35 [[ 6.07268160e-01 -7.89110287e-01 -9.23598238e-02 1.09243268e+02] [ 7.80591447e-01 6.14248715e-01 -1.15652537e-01 5.09831521e+01] [ 1.47994509e-01 -1.86318534e-03 9.88986427e-01 1.03461940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.26, Y:51.00, Z:10.35 [[ 6.08484890e-01 -7.88069754e-01 -9.32319741e-02 1.09258693e+02] [ 7.79621311e-01 6.15580291e-01 -1.15115238e-01 5.10039399e+01] [ 1.48110603e-01 -2.63975076e-03 9.88967280e-01 1.03496750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.28, Y:51.03, Z:10.35 [[ 6.08020996e-01 -7.88635148e-01 -9.14607671e-02 1.09275211e+02] [ 7.79872174e-01 6.14861449e-01 -1.17238179e-01 5.10282340e+01] [ 1.48693849e-01 -4.44328621e-05 9.88883278e-01 1.03531121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:109.29, Y:51.05, Z:10.36 [[ 6.07721857e-01 -7.88667206e-01 -9.31567601e-02 1.09291788e+02] [ 7.80088084e-01 6.14816550e-01 -1.16030997e-01 5.10486048e+01] [ 1.48784160e-01 -2.15590565e-03 9.88867345e-01 1.03578792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.431858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:109.31, Y:51.07, Z:10.36 [[ 6.07539583e-01 -7.88806516e-01 -9.31661706e-02 1.09308790e+02] [ 7.80218244e-01 6.14637817e-01 -1.16102741e-01 5.10705439e+01] [ 1.48846050e-01 -2.15293521e-03 9.88858037e-01 1.03619813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.32, Y:51.09, Z:10.37 [[ 6.07661602e-01 -7.88624722e-01 -9.39064771e-02 1.09324953e+02] [ 7.79886497e-01 6.14871290e-01 -1.17091196e-01 5.10922727e+01] [ 1.50081409e-01 -2.08456955e-03 9.88671445e-01 1.03669744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.34, Y:51.11, Z:10.37 [[ 6.07584497e-01 -7.88654655e-01 -9.41536732e-02 1.09341291e+02] [ 7.79861425e-01 6.14832977e-01 -1.17458793e-01 5.11142568e+01] [ 1.50523207e-01 -2.06067633e-03 9.88604328e-01 1.03707848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52185806399999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:109.36, Y:51.14, Z:10.38 [[ 6.07440004e-01 -7.88758789e-01 -9.42136674e-02 1.09358393e+02] [ 7.79945323e-01 6.14699428e-01 -1.17600623e-01 5.11367166e+01] [ 1.50671612e-01 -2.04618656e-03 9.88581751e-01 1.03750184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.37, Y:51.16, Z:10.38 [[ 6.07177844e-01 -7.88928549e-01 -9.44817985e-02 1.09374663e+02] [ 7.80056116e-01 6.14481517e-01 -1.18003903e-01 5.11576296e+01] [ 1.51153967e-01 -2.05174938e-03 9.88508102e-01 1.03793990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:51.18, Z:10.38 [[ 6.07928734e-01 -7.88172579e-01 -9.59512393e-02 1.09397235e+02] [ 7.79177640e-01 6.15448954e-01 -1.18763587e-01 5.11818133e+01] [ 1.52659293e-01 -2.56326306e-03 9.88275554e-01 1.03839717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.611858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:109.41, Y:51.21, Z:10.39 [[ 6.07702817e-01 -7.88625004e-01 -9.36370094e-02 1.09412489e+02] [ 7.78386122e-01 6.14860586e-01 -1.26733992e-01 5.12057322e+01] [ 1.57519301e-01 4.13085510e-03 9.87507269e-01 1.03865848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.641858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.44, Y:51.22, Z:10.40 [[ 6.06601963e-01 -7.87158941e-01 -1.11421993e-01 1.09438117e+02] [ 7.79554675e-01 6.16438965e-01 -1.10894144e-01 5.12199119e+01] [ 1.55976174e-01 -1.95909301e-02 9.87566519e-01 1.04011823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.671858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.45, Y:51.25, Z:10.40 [[ 6.04738520e-01 -7.90827329e-01 -9.42521025e-02 1.09447134e+02] [ 7.81156197e-01 6.12038603e-01 -1.23303468e-01 5.12496597e+01] [ 1.55197677e-01 9.40742814e-04 9.87882987e-01 1.03955339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.46, Y:51.27, Z:10.40 [[ 6.00662456e-01 -7.93839049e-01 -9.49956703e-02 1.09459684e+02] [ 7.84530108e-01 6.08125511e-01 -1.21226532e-01 5.12692747e+01] [ 1.54003645e-01 -1.71073716e-03 9.88068799e-01 1.03996401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.731858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.48, Y:51.29, Z:10.41 [[ 6.00497655e-01 -7.93172049e-01 -1.01393625e-01 1.09484254e+02] [ 7.84392282e-01 6.08935914e-01 -1.18007632e-01 5.12898679e+01] [ 1.55342575e-01 -8.66907027e-03 9.87822622e-01 1.04087958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.49, Y:51.31, Z:10.41 [[ 5.98800655e-01 -7.95505870e-01 -9.27803101e-02 1.09493794e+02] [ 7.86155063e-01 6.05945869e-01 -1.21613403e-01 5.13127016e+01] [ 1.52964022e-01 -1.17525272e-04 9.88231751e-01 1.04083951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.51, Y:51.34, Z:10.41 [[ 5.97278148e-01 -7.97060422e-01 -8.91823805e-02 1.09510426e+02] [ 7.87359065e-01 6.03887177e-01 -1.24040236e-01 5.13390720e+01] [ 1.52723659e-01 3.86796650e-03 9.88261364e-01 1.04090846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:109.53, Y:51.35, Z:10.42 [[ 5.96886188e-01 -7.95574148e-01 -1.03868438e-01 1.09529956e+02] [ 7.87319748e-01 6.05714520e-01 -1.15054487e-01 5.13537240e+01] [ 1.54448997e-01 -1.31032379e-02 9.87913869e-01 1.04226433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.54, Y:51.38, Z:10.42 [[ 5.96688197e-01 -7.97548662e-01 -8.87655792e-02 1.09542592e+02] [ 7.87786831e-01 6.03238962e-01 -1.24477565e-01 5.13841849e+01] [ 1.52823771e-01 4.34593934e-03 9.88243901e-01 1.04168225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.56, Y:51.40, Z:10.43 [[ 5.96990325e-01 -7.95497444e-01 -1.03857442e-01 1.09563072e+02] [ 7.87469144e-01 6.05795891e-01 -1.13594391e-01 5.13975774e+01] [ 1.53280459e-01 -1.39697784e-02 9.88083977e-01 1.04302627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:51.43, Z:10.43 [[ 5.96691361e-01 -7.96879510e-01 -9.45646170e-02 1.09575133e+02] [ 7.87394123e-01 6.04136850e-01 -1.22593481e-01 5.14252099e+01] [ 1.54822202e-01 -1.30915294e-03 9.87941482e-01 1.04300910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.60, Y:51.45, Z:10.44 [[ 5.96708374e-01 -7.96487950e-01 -9.77039485e-02 1.09595549e+02] [ 7.87052618e-01 6.04641679e-01 -1.22297244e-01 5.14476174e+01] [ 1.56484161e-01 -3.92235900e-03 9.87672680e-01 1.04354621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.61, Y:51.47, Z:10.43 [[ 5.95571880e-01 -7.98473127e-01 -8.79477175e-02 1.09607110e+02] [ 7.88679482e-01 6.02010109e-01 -1.24773811e-01 5.14745899e+01] [ 1.52573950e-01 4.94921267e-03 9.88279664e-01 1.04317579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.63, Y:51.49, Z:10.44 [[ 5.96605386e-01 -7.96291501e-01 -9.99092554e-02 1.09627678e+02] [ 7.86572804e-01 6.04896056e-01 -1.24112793e-01 5.14932033e+01] [ 1.59264677e-01 -4.53954250e-03 9.87225484e-01 1.04444753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.64, Y:51.51, Z:10.45 [[ 5.97398771e-01 -7.94949391e-01 -1.05689045e-01 1.09642919e+02] [ 7.86935602e-01 6.06483022e-01 -1.13625274e-01 5.15095548e+01] [ 1.54424954e-01 -1.52908728e-02 9.87886189e-01 1.04520276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:51.54, Z:10.45 [[ 5.96988824e-01 -7.97310679e-01 -8.88820865e-02 1.09651400e+02] [ 7.86670575e-01 6.03519769e-01 -1.30051126e-01 5.15417133e+01] [ 1.57333248e-01 7.71814695e-03 9.87515407e-01 1.04476903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.67, Y:51.56, Z:10.46 [[ 5.98004192e-01 -7.94588437e-01 -1.04977150e-01 1.09674563e+02] [ 7.86685520e-01 6.06960010e-01 -1.12807087e-01 5.15559873e+01] [ 1.53352139e-01 -1.51248931e-02 9.88055848e-01 1.04600359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.69, Y:51.58, Z:10.46 [[ 5.99239476e-01 -7.94941085e-01 -9.47666637e-02 1.09685558e+02] [ 7.85983301e-01 6.06678460e-01 -1.19044098e-01 5.15836445e+01] [ 1.52125938e-01 -3.14909208e-03 9.88356101e-01 1.04605838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:109.70, Y:51.61, Z:10.47 [[ 5.99680529e-01 -7.94624310e-01 -9.46333382e-02 1.09701732e+02] [ 7.85677622e-01 6.07093952e-01 -1.18943716e-01 5.16065504e+01] [ 1.51966896e-01 -3.02306542e-03 9.88380961e-01 1.04650006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.72, Y:51.63, Z:10.47 [[ 6.00352654e-01 -7.94141082e-01 -9.44279212e-02 1.09717781e+02] [ 7.85217229e-01 6.07726749e-01 -1.18752274e-01 5.16293932e+01] [ 1.51692433e-01 -2.85318756e-03 9.88423626e-01 1.04690274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:51.65, Z:10.47 [[ 6.00838309e-01 -7.93774760e-01 -9.44190457e-02 1.09733782e+02] [ 7.84837861e-01 6.08205751e-01 -1.18807815e-01 5.16525777e+01] [ 1.51732851e-01 -2.71935520e-03 9.88417800e-01 1.04730745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.75, Y:51.68, Z:10.48 [[ 6.02807353e-01 -7.92276053e-01 -9.44560812e-02 1.09749218e+02] [ 7.83303541e-01 6.10158471e-01 -1.18920992e-01 5.16757203e+01] [ 1.51851433e-01 -2.30133418e-03 9.88400651e-01 1.04778650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.77, Y:51.70, Z:10.48 [[ 6.03628800e-01 -7.91691930e-01 -9.41071768e-02 1.09765338e+02] [ 7.82768426e-01 6.10916903e-01 -1.18550113e-01 5.16989581e+01] [ 1.51346833e-01 -2.10386409e-03 9.88478482e-01 1.04821777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.78, Y:51.72, Z:10.49 [[ 6.05355851e-01 -7.90416364e-01 -9.37350830e-02 1.09778871e+02] [ 7.81538051e-01 6.12567516e-01 -1.18149535e-01 5.17227441e+01] [ 1.50806393e-01 -1.73502163e-03 9.88561795e-01 1.04855193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.79, Y:51.75, Z:10.49 [[ 6.06059827e-01 -7.89864716e-01 -9.38361143e-02 1.09794935e+02] [ 7.80951106e-01 6.13279131e-01 -1.18338825e-01 5.17458605e+01] [ 1.51019393e-01 -1.56100943e-03 9.88529568e-01 1.04894927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.361858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:109.81, Y:51.77, Z:10.49 [[ 6.07589429e-01 -7.88549521e-01 -9.49986307e-02 1.09811400e+02] [ 7.79675613e-01 6.14966665e-01 -1.17991268e-01 5.17668012e+01] [ 1.51462949e-01 -2.37786828e-03 9.88460075e-01 1.04930726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:51.79, Z:10.50 [[ 6.07040690e-01 -7.89182831e-01 -9.32312138e-02 1.09826978e+02] [ 7.79916733e-01 6.14158142e-01 -1.20580540e-01 5.17907634e+01] [ 1.52418801e-01 4.84710356e-04 9.88315878e-01 1.04962567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:51.81, Z:10.50 [[ 6.08919939e-01 -7.87147231e-01 -9.80598998e-02 1.09843753e+02] [ 7.78937719e-01 6.16723118e-01 -1.13616135e-01 5.18094105e+01] [ 1.49908433e-01 -7.19942487e-03 9.88673672e-01 1.04991949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.451858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.86, Y:51.84, Z:10.50 [[ 6.08177132e-01 -7.88705761e-01 -8.97986607e-02 1.09856875e+02] [ 7.78740904e-01 6.14739896e-01 -1.25129794e-01 5.18369788e+01] [ 1.53893409e-01 6.17118919e-03 9.88068183e-01 1.05019343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:51.86, Z:10.50 [[ 6.08269443e-01 -7.88402717e-01 -9.18119852e-02 1.09874423e+02] [ 7.79123694e-01 6.15156719e-01 -1.20617084e-01 5.18584757e+01] [ 1.51573596e-01 1.83479343e-03 9.88444272e-01 1.05043174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.87, Y:51.89, Z:10.49 [[ 6.06955925e-01 -7.92350422e-01 -6.15249014e-02 1.09874881e+02] [ 7.81829496e-01 6.09202364e-01 -1.32721959e-01 5.18927404e+01] [ 1.42643416e-01 3.24543970e-02 9.89241916e-01 1.04882799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:109.92, Y:51.89, Z:10.53 [[ 6.09376011e-01 -7.83522902e-01 -1.21460856e-01 1.09921427e+02] [ 7.78287902e-01 6.20355628e-01 -9.70918920e-02 5.18896242e+01] [ 1.51422647e-01 -3.53660454e-02 9.87836234e-01 1.05290857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.93, Y:51.92, Z:10.52 [[ 6.09915969e-01 -7.86795764e-01 -9.46305237e-02 1.09929129e+02] [ 7.77932677e-01 6.17210864e-01 -1.17777328e-01 5.19237635e+01] [ 1.51073690e-01 -1.78190319e-03 9.88520898e-01 1.05216545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:51.94, Z:10.53 [[ 6.09049646e-01 -7.87583952e-01 -9.36485321e-02 1.09944243e+02] [ 7.78472236e-01 6.16207349e-01 -1.19454930e-01 5.19447374e+01] [ 1.51787699e-01 -1.48799470e-04 9.88413108e-01 1.05252924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:109.96, Y:51.97, Z:10.53 [[ 6.08244680e-01 -7.88094809e-01 -9.45779128e-02 1.09962244e+02] [ 7.78949152e-01 6.15553282e-01 -1.19717898e-01 5.19665559e+01] [ 1.52566799e-01 -8.53610355e-04 9.88292792e-01 1.05294045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.98, Y:51.99, Z:10.53 [[ 6.07801172e-01 -7.88422592e-01 -9.46971548e-02 1.09979166e+02] [ 7.79246739e-01 6.15133334e-01 -1.19939573e-01 5.19870552e+01] [ 1.52814445e-01 -8.93036319e-04 9.88254495e-01 1.05333772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:52.01, Z:10.54 [[ 6.06646682e-01 -7.89267405e-01 -9.50619073e-02 1.09997642e+02] [ 7.80024179e-01 6.14048685e-01 -1.20442904e-01 5.20084271e+01] [ 1.53434297e-01 -1.08429828e-03 9.88158257e-01 1.05377684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:52.04, Z:10.52 [[ 6.05231657e-01 -7.93262673e-01 -6.65505321e-02 1.10000861e+02] [ 7.81814514e-01 6.08067337e-01 -1.37913667e-01 5.20432144e+01] [ 1.49868969e-01 3.14395453e-02 9.88205873e-01 1.05203402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:52.05, Z:10.54 [[ 6.05213126e-01 -7.89510821e-01 -1.01930051e-01 1.10036531e+02] [ 7.81574725e-01 6.13624803e-01 -1.12274444e-01 5.20504344e+01] [ 1.51188696e-01 -1.17159843e-02 9.88435488e-01 1.05416610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:110.05, Y:52.08, Z:10.54 [[ 6.04739322e-01 -7.91607088e-01 -8.74561029e-02 1.10046691e+02] [ 7.81889478e-01 6.10995866e-01 -1.23826071e-01 5.20769097e+01] [ 1.51456913e-01 6.50148760e-03 9.88442479e-01 1.05384848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:52.09, Z:10.55 [[ 6.04643399e-01 -7.90000831e-01 -1.01513777e-01 1.10076136e+02] [ 7.81873038e-01 6.13012027e-01 -1.13537690e-01 5.20920676e+01] [ 1.51924036e-01 -1.07210708e-02 9.88334025e-01 1.05512839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:52.12, Z:10.55 [[ 6.02095245e-01 -7.93656878e-01 -8.71210355e-02 1.10083211e+02] [ 7.83917019e-01 6.08331571e-01 -1.24124159e-01 5.21190880e+01] [ 1.51510469e-01 6.43890323e-03 9.88434681e-01 1.05463934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.12, Y:52.13, Z:10.57 [[ 6.02068211e-01 -7.89792555e-01 -1.17224524e-01 1.10116367e+02] [ 7.82944821e-01 6.12771083e-01 -1.07280041e-01 5.21280910e+01] [ 1.56560776e-01 -2.71904316e-02 9.87293981e-01 1.05725869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:52.16, Z:10.57 [[ 6.01134703e-01 -7.93774311e-01 -9.25170910e-02 1.10123026e+02] [ 7.82964805e-01 6.08181544e-01 -1.30695537e-01 5.21575778e+01] [ 1.60009947e-01 6.12799643e-03 9.87096381e-01 1.05658191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.14, Y:52.18, Z:10.57 [[ 6.00094541e-01 -7.93879272e-01 -9.81949238e-02 1.10144236e+02] [ 7.83569499e-01 6.08075266e-01 -1.27527685e-01 5.21769912e+01] [ 1.60951490e-01 -4.13879756e-04 9.86962232e-01 1.05730607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:52.21, Z:10.56 [[ 5.98941054e-01 -7.96727897e-01 -8.05870471e-02 1.10154183e+02] [ 7.85587998e-01 6.04103287e-01 -1.33830924e-01 5.22058344e+01] [ 1.55309731e-01 1.68486175e-02 9.87722133e-01 1.05629263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.991858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.18, Y:52.22, Z:10.57 [[ 5.98718286e-01 -7.95103025e-01 -9.66829497e-02 1.10180672e+02] [ 7.85528503e-01 6.06470097e-01 -1.23040613e-01 5.22219035e+01] [ 1.56465282e-01 -2.28054758e-03 9.87680826e-01 1.05747851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:52.24, Z:10.58 [[ 5.98545325e-01 -7.95297561e-01 -9.61523957e-02 1.10197886e+02] [ 7.85571172e-01 6.06217842e-01 -1.24007507e-01 5.22445371e+01] [ 1.56912166e-01 -1.31043636e-03 9.87611692e-01 1.05790988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.23, Y:52.25, Z:10.61 [[ 5.99510638e-01 -7.90641341e-01 -1.24391576e-01 1.10229350e+02] [ 7.83097170e-01 6.11558640e-01 -1.12937384e-01 5.22523737e+01] [ 1.65365707e-01 -2.97035278e-02 9.85784907e-01 1.06058832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:52.28, Z:10.60 [[ 5.99336738e-01 -7.93894638e-01 -1.02600087e-01 1.10238196e+02] [ 7.83153562e-01 6.08050863e-01 -1.30171602e-01 5.22824169e+01] [ 1.65728608e-01 -2.33500036e-03 9.86168635e-01 1.06004677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.111858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:110.26, Y:52.30, Z:10.61 [[ 5.99038051e-01 -7.94126218e-01 -1.02552251e-01 1.10256674e+02] [ 7.83385915e-01 6.07748321e-01 -1.30186355e-01 5.23034947e+01] [ 1.65710356e-01 -2.35140873e-03 9.86171663e-01 1.06051883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.28, Y:52.32, Z:10.61 [[ 5.99009285e-01 -7.94206101e-01 -1.02100665e-01 1.10276010e+02] [ 7.83549418e-01 6.07644059e-01 -1.29688117e-01 5.23231095e+01] [ 1.65039956e-01 -2.31653079e-03 9.86284161e-01 1.06096708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.29, Y:52.34, Z:10.61 [[ 5.99016981e-01 -7.94169908e-01 -1.02336761e-01 1.10294533e+02] [ 7.83450298e-01 6.07691554e-01 -1.30063854e-01 5.23429252e+01] [ 1.65481984e-01 -2.26530836e-03 9.86210212e-01 1.06145622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:110.31, Y:52.37, Z:10.61 [[ 5.99125439e-01 -7.95894154e-01 -8.71848846e-02 1.10309608e+02] [ 7.84271809e-01 6.05291874e-01 -1.36159745e-01 5.23708399e+01] [ 1.61141047e-01 1.32001198e-02 9.86843108e-01 1.06066682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.231858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:110.34, Y:52.38, Z:10.63 [[ 5.98425763e-01 -7.92883208e-01 -1.14990540e-01 1.10339850e+02] [ 7.83868633e-01 6.09108164e-01 -1.20570355e-01 5.23774429e+01] [ 1.65639886e-01 -1.79850705e-02 9.86022295e-01 1.06291625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.35, Y:52.41, Z:10.61 [[ 5.98535540e-01 -7.96626038e-01 -8.45113151e-02 1.10347523e+02] [ 7.84345133e-01 6.04210582e-01 -1.40471655e-01 5.24118517e+01] [ 1.62966009e-01 1.77912394e-02 9.86471262e-01 1.06129968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.38, Y:52.42, Z:10.64 [[ 5.98611549e-01 -7.92237789e-01 -1.18420855e-01 1.10379979e+02] [ 7.83481365e-01 6.09840036e-01 -1.19382083e-01 5.24179224e+01] [ 1.66796776e-01 -2.13170399e-02 9.85760833e-01 1.06401757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.40, Y:52.45, Z:10.64 [[ 6.00546862e-01 -7.92912317e-01 -1.03118986e-01 1.10397530e+02] [ 7.82021230e-01 6.09332536e-01 -1.30983419e-01 5.24459835e+01] [ 1.66692119e-01 -1.97955454e-03 9.86007007e-01 1.06371748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:52.46, Z:10.64 [[ 6.00163952e-01 -7.93076583e-01 -1.04080563e-01 1.10413084e+02] [ 7.82378340e-01 6.09111962e-01 -1.29872054e-01 5.24629304e+01] [ 1.66395201e-01 -3.48585308e-03 9.86052983e-01 1.06433787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.43, Y:52.48, Z:10.65 [[ 6.01115179e-01 -7.92488131e-01 -1.03068444e-01 1.10431315e+02] [ 7.81810619e-01 6.09881672e-01 -1.29678455e-01 5.24830556e+01] [ 1.65628191e-01 -2.62831661e-03 9.86184767e-01 1.06476135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.411858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.45, Y:52.51, Z:10.65 [[ 6.00851405e-01 -7.92962980e-01 -1.00932160e-01 1.10450110e+02] [ 7.82070408e-01 6.09269773e-01 -1.30981757e-01 5.25050640e+01] [ 1.65358599e-01 -2.35482812e-04 9.86233481e-01 1.06515278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.47, Y:52.52, Z:10.66 [[ 6.01113493e-01 -7.92629557e-01 -1.01985069e-01 1.10468679e+02] [ 7.81883923e-01 6.09701563e-01 -1.30082801e-01 5.25236751e+01] [ 1.65287929e-01 -1.54595885e-03 9.86244143e-01 1.06569232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.49, Y:52.54, Z:10.66 [[ 6.00869012e-01 -7.92731267e-01 -1.02633175e-01 1.10489897e+02] [ 7.81834981e-01 6.09569348e-01 -1.30993404e-01 5.25427159e+01] [ 1.66404605e-01 -1.53232971e-03 9.86056367e-01 1.06613827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:52.56, Z:10.66 [[ 6.00760536e-01 -7.93043711e-01 -1.00838739e-01 1.10507611e+02] [ 7.81740729e-01 6.09163292e-01 -1.33422323e-01 5.25636312e+01] [ 1.67236993e-01 1.32511707e-03 9.85915834e-01 1.06644691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:52.58, Z:10.67 [[ 6.00869870e-01 -7.92408750e-01 -1.05089354e-01 1.10528417e+02] [ 7.81803257e-01 6.09974061e-01 -1.29287714e-01 5.25821655e+01] [ 1.66550495e-01 -4.47410737e-03 9.86022776e-01 1.06714615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.55, Y:52.60, Z:10.67 [[ 6.00623528e-01 -7.92867943e-01 -1.03013606e-01 1.10547764e+02] [ 7.81860260e-01 6.09391741e-01 -1.31667156e-01 5.26027081e+01] [ 1.67170308e-01 -1.45985267e-03 9.85926953e-01 1.06745092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.591858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.57, Y:52.62, Z:10.68 [[ 6.00671156e-01 -7.92673772e-01 -1.04223094e-01 1.10567171e+02] [ 7.81882468e-01 6.09637802e-01 -1.30390019e-01 5.26235964e+01] [ 1.66895086e-01 -3.16868615e-03 9.85969568e-01 1.06796527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:110.58, Y:52.66, Z:10.67 [[ 5.99269432e-01 -7.96210148e-01 -8.32198769e-02 1.10576409e+02] [ 7.83734313e-01 6.04698033e-01 -1.41777349e-01 5.26551620e+01] [ 1.63207459e-01 1.97405582e-02 9.86394260e-01 1.06681201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.61, Y:52.66, Z:10.70 [[ 6.00394058e-01 -7.90612667e-01 -1.20243859e-01 1.10610286e+02] [ 7.81800704e-01 6.11917690e-01 -1.19768112e-01 5.26591672e+01] [ 1.68269531e-01 -2.20986710e-02 9.85493284e-01 1.06988297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:52.69, Z:10.69 [[ 5.99424799e-01 -7.94922713e-01 -9.37432186e-02 1.10618505e+02] [ 7.83091822e-01 6.06648933e-01 -1.36909719e-01 5.26918864e+01] [ 1.65701869e-01 8.65753295e-03 9.86137890e-01 1.06853509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.711858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.64, Y:52.71, Z:10.69 [[ 5.98076630e-01 -7.95018277e-01 -1.01243685e-01 1.10636552e+02] [ 7.84197919e-01 6.06584267e-01 -1.30725478e-01 5.27076637e+01] [ 1.65341971e-01 -1.21123401e-03 9.86235553e-01 1.06921326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:52.72, Z:10.71 [[ 5.99451911e-01 -7.92508542e-01 -1.12194551e-01 1.10662083e+02] [ 7.82104872e-01 6.09766007e-01 -1.28442151e-01 5.27246857e+01] [ 1.70203925e-01 -1.07530116e-02 9.85350190e-01 1.07074537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77185806399999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:110.68, Y:52.75, Z:10.71 [[ 6.01129506e-01 -7.92171401e-01 -1.05393496e-01 1.10681980e+02] [ 7.80653527e-01 6.10297152e-01 -1.34601106e-01 5.27506477e+01] [ 1.70948497e-01 -1.36310826e-03 9.85279023e-01 1.07098237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.801858064 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:110.70, Y:52.77, Z:10.72 [[ 6.01363861e-01 -7.91019474e-01 -1.12470879e-01 1.10696611e+02] [ 7.81297890e-01 6.11650543e-01 -1.24327069e-01 5.27658237e+01] [ 1.67138007e-01 -1.31074545e-02 9.85846378e-01 1.07179874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:52.80, Z:10.71 [[ 6.01030864e-01 -7.93493678e-01 -9.55493729e-02 1.10707161e+02] [ 7.80885111e-01 6.08491439e-01 -1.41267877e-01 5.27974117e+01] [ 1.70236143e-01 1.02932716e-02 9.85349534e-01 1.07140916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.861858064 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:110.73, Y:52.81, Z:10.72 [[ 6.01759213e-01 -7.91942062e-01 -1.03506620e-01 1.10726974e+02] [ 7.80129022e-01 6.10594942e-01 -1.36281057e-01 5.28141232e+01] [ 1.71127320e-01 1.25986357e-03 9.85248118e-01 1.07225983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.891858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:110.75, Y:52.83, Z:10.73 [[ 6.01230933e-01 -7.92039065e-01 -1.05808716e-01 1.10745637e+02] [ 7.80706157e-01 6.10465979e-01 -1.33525970e-01 5.28348788e+01] [ 1.70350406e-01 -2.32557312e-03 9.85380805e-01 1.07287708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:110.76, Y:52.86, Z:10.73 [[ 6.00856210e-01 -7.92542197e-01 -1.04157004e-01 1.10762265e+02] [ 7.81145099e-01 6.09816425e-01 -1.33926332e-01 5.28572151e+01] [ 1.69658921e-01 -8.91265200e-04 9.85502438e-01 1.07329696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.951858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.78, Y:52.88, Z:10.74 [[ 6.00491013e-01 -7.92862941e-01 -1.03821479e-01 1.10778686e+02] [ 7.81531450e-01 6.09399284e-01 -1.33570600e-01 5.28782784e+01] [ 1.69171913e-01 -9.31805987e-04 9.85586118e-01 1.07377836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:110.81, Y:52.89, Z:10.77 [[ 6.01513736e-01 -7.87764542e-01 -1.32696088e-01 1.10810499e+02] [ 7.79206799e-01 6.15183260e-01 -1.19942992e-01 5.28896640e+01] [ 1.76119249e-01 -3.12503366e-02 9.83872668e-01 1.07657876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.011858064 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:110.82, Y:52.92, Z:10.76 [[ 6.01236354e-01 -7.91619802e-01 -1.08871191e-01 1.10818023e+02] [ 7.79493844e-01 6.11011122e-01 -1.38038966e-01 5.29235663e+01] [ 1.75795888e-01 -1.87037875e-03 9.84424861e-01 1.07573012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041858064 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:110.82, Y:52.96, Z:10.74 [[ 5.99357293e-01 -7.96435461e-01 -8.03827878e-02 1.10817049e+02] [ 7.82341586e-01 6.04070807e-01 -1.51789667e-01 5.29553095e+01] [ 1.69447569e-01 2.80894463e-02 9.85138825e-01 1.07386170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.071858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:110.85, Y:52.97, Z:10.76 [[ 5.98066184e-01 -7.94506144e-01 -1.05246506e-01 1.10845875e+02] [ 7.83389205e-01 6.07247600e-01 -1.32482850e-01 5.29668769e+01] [ 1.69169126e-01 -3.21546410e-03 9.85581791e-01 1.07566586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101858064 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:110.86, Y:52.99, Z:10.76 [[ 5.98448563e-01 -7.94425996e-01 -1.03666073e-01 1.10861994e+02] [ 7.83070205e-01 6.07360006e-01 -1.33846470e-01 5.29892304e+01] [ 1.69293742e-01 -1.07758505e-03 9.85565050e-01 1.07610722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.131858064 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:110.88, Y:53.01, Z:10.76 [[ 5.98614557e-01 -7.94338206e-01 -1.03380007e-01 1.10877804e+02] [ 7.83030901e-01 6.07474946e-01 -1.33554476e-01 5.30107859e+01] [ 1.68888187e-01 -1.00208701e-03 9.85634707e-01 1.07649373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.89, Y:53.03, Z:10.77 [[ 5.98503386e-01 -7.94440753e-01 -1.03235588e-01 1.10893790e+02] [ 7.83154683e-01 6.07340858e-01 -1.33438469e-01 5.30329930e+01] [ 1.68708148e-01 -9.86058382e-04 9.85665556e-01 1.07695744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.191858064 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:110.91, Y:53.06, Z:10.77 [[ 5.98413829e-01 -7.94535121e-01 -1.03028300e-01 1.10909943e+02] [ 7.83282973e-01 6.07217435e-01 -1.33247031e-01 5.30552859e+01] [ 1.68430026e-01 -9.63446572e-04 9.85713142e-01 1.07736232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221858064 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:110.93, Y:53.08, Z:10.78 [[ 5.98319373e-01 -7.94622226e-01 -1.02905037e-01 1.10926441e+02] [ 7.83385192e-01 6.07103481e-01 -1.33165328e-01 5.30770184e+01] [ 1.68290135e-01 -9.38886664e-04 9.85737059e-01 1.07784316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:53.10, Z:10.78 [[ 5.98336753e-01 -7.94613788e-01 -1.02869127e-01 1.10943345e+02] [ 7.83371297e-01 6.07114601e-01 -1.33196369e-01 5.30985112e+01] [ 1.68293020e-01 -8.88438779e-04 9.85736613e-01 1.07830097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:110.96, Y:53.12, Z:10.79 [[ 5.98326399e-01 -7.94632671e-01 -1.02783454e-01 1.10961172e+02] [ 7.83396151e-01 6.07089947e-01 -1.33162560e-01 5.31203280e+01] [ 1.68214123e-01 -8.45487436e-04 9.85750117e-01 1.07875867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.311858064 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:110.98, Y:53.14, Z:10.79 [[ 5.98160331e-01 -7.94731558e-01 -1.02985290e-01 1.10977616e+02] [ 7.83438933e-01 6.06960514e-01 -1.33500459e-01 5.31414444e+01] [ 1.68605032e-01 -8.28007073e-04 9.85683345e-01 1.07922959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341858064 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:110.99, Y:53.16, Z:10.80 [[ 5.97764421e-01 -7.95039853e-01 -1.02904463e-01 1.10994073e+02] [ 7.83757743e-01 6.06556570e-01 -1.33465083e-01 5.31633455e+01] [ 1.68527438e-01 -8.71491877e-04 9.85696578e-01 1.07962691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371858064 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:111.01, Y:53.18, Z:10.80 [[ 5.97432705e-01 -7.95335750e-01 -1.02543691e-01 1.11010737e+02] [ 7.84124647e-01 6.06168480e-01 -1.33072584e-01 5.31846819e+01] [ 1.67996137e-01 -9.05122084e-04 9.85787238e-01 1.08008533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401858064 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:111.03, Y:53.21, Z:10.81 [[ 5.96989410e-01 -7.95639692e-01 -1.02767329e-01 1.11027704e+02] [ 7.84371965e-01 6.05769409e-01 -1.33431794e-01 5.32061520e+01] [ 1.68416935e-01 -9.50443624e-04 9.85715391e-01 1.08059548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.431858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:111.04, Y:53.23, Z:10.81 [[ 5.96649470e-01 -7.95889072e-01 -1.02810483e-01 1.11044997e+02] [ 7.84602762e-01 6.05441685e-01 -1.33562243e-01 5.32276310e+01] [ 1.68546482e-01 -9.75547275e-04 9.85693224e-01 1.08107245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.06, Y:53.25, Z:10.82 [[ 5.96053994e-01 -7.96353399e-01 -1.02668885e-01 1.11062575e+02] [ 7.85092561e-01 6.04830671e-01 -1.33452352e-01 5.32489704e+01] [ 1.68372525e-01 -1.05977019e-03 9.85722867e-01 1.08156731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.491858064 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:111.08, Y:53.27, Z:10.82 [[ 5.95554697e-01 -7.96701985e-01 -1.02861799e-01 1.11079820e+02] [ 7.85390442e-01 6.04371333e-01 -1.33780216e-01 5.32699956e+01] [ 1.68749686e-01 -1.11323749e-03 9.85658310e-01 1.08201694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52185806399999 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:111.10, Y:53.29, Z:10.82 [[ 5.94932748e-01 -7.97159643e-01 -1.02915158e-01 1.11097330e+02] [ 7.85831042e-01 6.03767391e-01 -1.33919792e-01 5.32916663e+01] [ 1.68892270e-01 -1.20065541e-03 9.85633786e-01 1.08245882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.551858064 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:111.11, Y:53.31, Z:10.83 [[ 5.94348988e-01 -7.97556789e-01 -1.03210702e-01 1.11114108e+02] [ 7.86154862e-01 6.03242537e-01 -1.34383687e-01 5.33120437e+01] [ 1.69439707e-01 -1.26878696e-03 9.85539738e-01 1.08285760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.581858064 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:111.13, Y:53.33, Z:10.83 [[ 5.93918290e-01 -7.97829420e-01 -1.03582239e-01 1.11132448e+02] [ 7.86336247e-01 6.02881835e-01 -1.34939981e-01 5.33327244e+01] [ 1.70106938e-01 -1.30714614e-03 9.85424742e-01 1.08335687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.611858064 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:111.15, Y:53.35, Z:10.84 [[ 5.93669144e-01 -7.98022663e-01 -1.03521868e-01 1.11149705e+02] [ 7.86532325e-01 6.02626006e-01 -1.34939978e-01 5.33546378e+01] [ 1.70070130e-01 -1.31359391e-03 9.85431086e-01 1.08383125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.641858064 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:111.14, Y:53.39, Z:10.81 [[ 5.90877878e-01 -8.04378940e-01 -6.19504104e-02 1.11144699e+02] [ 7.90765037e-01 5.92667660e-01 -1.53087236e-01 5.33910664e+01] [ 1.59856153e-01 4.14676424e-02 9.86268952e-01 1.08100243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.671858064 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:111.20, Y:53.38, Z:10.87 [[ 5.93996814e-01 -7.92978131e-01 -1.35474972e-01 1.11197688e+02] [ 7.86357829e-01 6.07863817e-01 -1.10195031e-01 5.33841223e+01] [ 1.69732583e-01 -4.10763078e-02 9.84633732e-01 1.08664981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701858064 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:111.20, Y:53.42, Z:10.85 [[ 5.94778029e-01 -7.97192961e-01 -1.03549406e-01 1.11201143e+02] [ 7.85664852e-01 6.03723750e-01 -1.35086546e-01 5.34185461e+01] [ 1.70205280e-01 -1.00861924e-03 9.85408111e-01 1.08540360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.731858064 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:111.22, Y:53.44, Z:10.86 [[ 5.94786951e-01 -7.97170386e-01 -1.03671877e-01 1.11217709e+02] [ 7.85601903e-01 6.03753639e-01 -1.35318862e-01 5.34395272e+01] [ 1.70464463e-01 -9.58930532e-04 9.85363358e-01 1.08583698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761858064 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:111.23, Y:53.46, Z:10.86 [[ 5.94904674e-01 -7.97092980e-01 -1.03591551e-01 1.11234907e+02] [ 7.85528920e-01 6.03855931e-01 -1.35286107e-01 5.34602148e+01] [ 1.70389979e-01 -8.91821885e-04 9.85376304e-01 1.08637017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.791858064 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:111.25, Y:53.48, Z:10.87 [[ 5.94880138e-01 -7.97133392e-01 -1.03421360e-01 1.11251540e+02] [ 7.85595835e-01 6.03802633e-01 -1.35135358e-01 5.34806242e+01] [ 1.70166996e-01 -8.58049688e-04 9.85414866e-01 1.08680991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821858064 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:111.27, Y:53.50, Z:10.87 [[ 5.94691010e-01 -7.97334325e-01 -1.02959108e-01 1.11268953e+02] [ 7.85891274e-01 6.03537258e-01 -1.34601946e-01 5.35028407e+01] [ 1.69462409e-01 -8.68097674e-04 9.85536269e-01 1.08726992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.851858064 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:111.29, Y:53.52, Z:10.88 [[ 5.94336760e-01 -7.97573995e-01 -1.03148136e-01 1.11285762e+02] [ 7.86078785e-01 6.03220465e-01 -1.34926699e-01 5.35247219e+01] [ 1.69835093e-01 -8.90664437e-04 9.85472094e-01 1.08777100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:53.55, Z:10.88 [[ 5.94107433e-01 -7.97799627e-01 -1.02723476e-01 1.11302394e+02] [ 7.86389800e-01 6.02921999e-01 -1.34447558e-01 5.35458757e+01] [ 1.69196455e-01 -9.04400592e-04 9.85581930e-01 1.08822398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.911858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:111.32, Y:53.57, Z:10.89 [[ 5.93734446e-01 -7.98101478e-01 -1.02535066e-01 1.11318266e+02] [ 7.86728957e-01 6.02522297e-01 -1.34255091e-01 5.35669505e+01] [ 1.68928850e-01 -9.55433001e-04 9.85627785e-01 1.08869215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:111.34, Y:53.59, Z:10.89 [[ 5.93601142e-01 -7.98204823e-01 -1.02502415e-01 1.11335296e+02] [ 7.86829528e-01 6.02385401e-01 -1.34280015e-01 5.35894381e+01] [ 1.68928914e-01 -9.43156347e-04 9.85627786e-01 1.08914011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.971858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:111.35, Y:53.61, Z:10.90 [[ 5.93466148e-01 -7.98361132e-01 -1.02065834e-01 1.11351797e+02] [ 7.87077187e-01 6.02178208e-01 -1.33756900e-01 5.36118216e+01] [ 1.68248131e-01 -9.53496765e-04 9.85744215e-01 1.08957651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:53.63, Z:10.90 [[ 5.93296781e-01 -7.98526077e-01 -1.01759688e-01 1.11367893e+02] [ 7.87299450e-01 6.01959469e-01 -1.33433033e-01 5.36341526e+01] [ 1.67804964e-01 -9.49957983e-04 9.85819756e-01 1.08999554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:53.66, Z:10.90 [[ 5.93360264e-01 -7.98545649e-01 -1.01234595e-01 1.11383469e+02] [ 7.87422538e-01 6.01933577e-01 -1.32822119e-01 5.36560798e+01] [ 1.67001027e-01 -9.03034316e-04 9.85956308e-01 1.09033496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:53.68, Z:10.91 [[ 5.92865241e-01 -7.98914703e-01 -1.01223041e-01 1.11399783e+02] [ 7.87787411e-01 6.01443572e-01 -1.32878234e-01 5.36784645e+01] [ 1.67038322e-01 -9.63351086e-04 9.85949933e-01 1.09074685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:53.70, Z:10.91 [[ 5.92592035e-01 -7.99099642e-01 -1.01362924e-01 1.11415763e+02] [ 7.87930577e-01 6.01197825e-01 -1.33141208e-01 5.37000233e+01] [ 1.67332261e-01 -9.68527655e-04 9.85900084e-01 1.09112590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:53.72, Z:10.91 [[ 5.91063691e-01 -8.00275261e-01 -1.01010992e-01 1.11431865e+02] [ 7.89191742e-01 5.99631481e-01 -1.32734626e-01 5.37230711e+01] [ 1.66793608e-01 -1.26242319e-03 9.85991024e-01 1.09143838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.45, Y:53.74, Z:10.92 [[ 5.89885897e-01 -8.01203887e-01 -1.00533373e-01 1.11447965e+02] [ 7.90226017e-01 5.98389646e-01 -1.32184242e-01 5.37443654e+01] [ 1.66064658e-01 -1.47046689e-03 9.86113770e-01 1.09181257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.46, Y:53.77, Z:10.91 [[ 5.87491352e-01 -8.04059903e-01 -9.13322750e-02 1.11459682e+02] [ 7.92840094e-01 5.94514769e-01 -1.34002890e-01 5.37693532e+01] [ 1.62044737e-01 6.31364945e-03 9.86763214e-01 1.09140046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:53.79, Z:10.93 [[ 5.87297076e-01 -8.02504751e-01 -1.05205841e-01 1.11483817e+02] [ 7.92555384e-01 5.96574803e-01 -1.26310994e-01 5.37851539e+01] [ 1.64128327e-01 -9.19937798e-03 9.86396099e-01 1.09296332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:53.81, Z:10.93 [[ 5.84613321e-01 -8.05291129e-01 -9.86583129e-02 1.11498283e+02] [ 7.94752771e-01 5.92874389e-01 -1.29876831e-01 5.38096655e+01] [ 1.63080647e-01 -2.48124224e-03 9.86609622e-01 1.09308480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.51, Y:53.83, Z:10.94 [[ 5.83467069e-01 -8.06119716e-01 -9.86771600e-02 1.11513927e+02] [ 7.95576534e-01 5.91746471e-01 -1.29977277e-01 5.38308224e+01] [ 1.63169107e-01 -2.66777201e-03 9.86594509e-01 1.09352764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:53.85, Z:10.94 [[ 5.82682759e-01 -8.06744087e-01 -9.82078484e-02 1.11530446e+02] [ 7.96299255e-01 5.90894411e-01 -1.29426781e-01 5.38535580e+01] [ 1.62444759e-01 -2.78808263e-03 9.86713701e-01 1.09392481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.55, Y:53.88, Z:10.94 [[ 5.81359628e-01 -8.07701553e-01 -9.81793498e-02 1.11546437e+02] [ 7.97263946e-01 5.89583874e-01 -1.29464498e-01 5.38768062e+01] [ 1.62453637e-01 -3.00942369e-03 9.86711589e-01 1.09427775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.361858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.56, Y:53.90, Z:10.95 [[ 5.80488498e-01 -8.08272372e-01 -9.86350685e-02 1.11563053e+02] [ 7.97732608e-01 5.88800408e-01 -1.30141326e-01 5.38995375e+01] [ 1.63266007e-01 -3.13886748e-03 9.86577092e-01 1.09467609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.391858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.58, Y:53.92, Z:10.95 [[ 5.79548686e-01 -8.08891621e-01 -9.90841406e-02 1.11580036e+02] [ 7.98251332e-01 5.87948608e-01 -1.30809960e-01 5.39221774e+01] [ 1.64067463e-01 -3.28330653e-03 9.86443656e-01 1.09505729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:53.94, Z:10.95 [[ 5.77657852e-01 -8.10255508e-01 -9.89819077e-02 1.11595635e+02] [ 7.99644648e-01 5.86065607e-01 -1.30749919e-01 5.39441127e+01] [ 1.63950734e-01 -3.62163557e-03 9.86461880e-01 1.09544223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.451858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:111.61, Y:53.97, Z:10.96 [[ 5.76853812e-01 -8.10841864e-01 -9.88693668e-02 1.11611859e+02] [ 8.00252544e-01 5.85253328e-01 -1.30669080e-01 5.39662132e+01] [ 1.63815586e-01 -3.74350558e-03 9.86483877e-01 1.09583751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:53.99, Z:10.96 [[ 5.76402441e-01 -8.11117283e-01 -9.92420229e-02 1.11627293e+02] [ 8.00519357e-01 5.84869320e-01 -1.30754109e-01 5.39876427e+01] [ 1.64100532e-01 -4.07817278e-03 9.86435190e-01 1.09624384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:54.02, Z:10.96 [[ 5.74997840e-01 -8.13283418e-01 -8.91491254e-02 1.11640890e+02] [ 8.01987898e-01 5.81834136e-01 -1.35220009e-01 5.40170018e+01] [ 1.61842195e-01 6.25469329e-03 9.86796829e-01 1.09572959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:111.66, Y:54.03, Z:10.97 [[ 5.75031177e-01 -8.11295541e-01 -1.05539996e-01 1.11661001e+02] [ 8.01241902e-01 5.84531427e-01 -1.27806202e-01 5.40308275e+01] [ 1.65380046e-01 -1.10705165e-02 9.86167777e-01 1.09728696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:54.05, Z:10.98 [[ 5.74194991e-01 -8.12433069e-01 -1.01255226e-01 1.11675266e+02] [ 8.02037523e-01 5.83015700e-01 -1.29724730e-01 5.40545536e+01] [ 1.64426047e-01 -6.72320018e-03 9.86366501e-01 1.09750799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.69, Y:54.08, Z:10.98 [[ 5.73351027e-01 -8.13229588e-01 -9.96304999e-02 1.11689474e+02] [ 8.02454901e-01 5.81927385e-01 -1.32010040e-01 5.40790884e+01] [ 1.65332187e-01 -4.26089068e-03 9.86228732e-01 1.09776210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.70, Y:54.10, Z:10.98 [[ 5.71827264e-01 -8.14668996e-01 -9.65816073e-02 1.11703257e+02] [ 8.03123759e-01 5.79925931e-01 -1.36667998e-01 5.41041746e+01] [ 1.67349360e-01 5.83503991e-04 9.85897485e-01 1.09791904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:54.12, Z:10.98 [[ 5.71958183e-01 -8.14237020e-01 -9.94078032e-02 1.11718995e+02] [ 8.02756420e-01 5.80529587e-01 -1.36262717e-01 5.41248828e+01] [ 1.68659319e-01 -1.86367634e-03 9.85672644e-01 1.09838110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.74, Y:54.14, Z:10.99 [[ 5.69894182e-01 -8.14757680e-01 -1.06726490e-01 1.11737422e+02] [ 8.04756175e-01 5.79656265e-01 -1.27930109e-01 5.41444829e+01] [ 1.66096717e-01 -1.29821768e-02 9.86024008e-01 1.09927836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:54.17, Z:10.99 [[ 5.68588017e-01 -8.16521831e-01 -9.99988318e-02 1.11749491e+02] [ 8.05671732e-01 5.77292232e-01 -1.32765730e-01 5.41690173e+01] [ 1.66134665e-01 -5.07722912e-03 9.86090003e-01 1.09934956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.751858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.77, Y:54.19, Z:11.00 [[ 5.67146248e-01 -8.17548347e-01 -9.97989660e-02 1.11765077e+02] [ 8.06748254e-01 5.75835260e-01 -1.32555676e-01 5.41917888e+01] [ 1.65838437e-01 -5.33418754e-03 9.86138509e-01 1.09977019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:54.22, Z:11.00 [[ 5.66573716e-01 -8.18545061e-01 -9.47533986e-02 1.11777242e+02] [ 8.06636146e-01 5.74437303e-01 -1.39139905e-01 5.42156979e+01] [ 1.68322168e-01 2.40149657e-03 9.85729111e-01 1.09989706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.80, Y:54.24, Z:11.00 [[ 5.63405632e-01 -8.20505438e-01 -9.66691245e-02 1.11795645e+02] [ 8.09656646e-01 5.71629077e-01 -1.33027496e-01 5.42411422e+01] [ 1.64408666e-01 -3.32035841e-03 9.86386722e-01 1.10017332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:54.26, Z:11.01 [[ 5.62570514e-01 -8.19666654e-01 -1.07986083e-01 1.11812570e+02] [ 8.09863709e-01 5.72622914e-01 -1.27372568e-01 5.42586294e+01] [ 1.66238352e-01 -1.57979585e-02 9.85959043e-01 1.10137776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:54.29, Z:11.01 [[ 5.63914931e-01 -8.19805161e-01 -9.95964253e-02 1.11827147e+02] [ 8.08590862e-01 5.72626487e-01 -1.35202534e-01 5.42860409e+01] [ 1.67871286e-01 -4.29003195e-03 9.85799588e-01 1.10125175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:54.32, Z:11.01 [[ 5.62699157e-01 -8.21270271e-01 -9.42592185e-02 1.11835839e+02] [ 8.09843541e-01 5.70539135e-01 -1.36523016e-01 5.43156295e+01] [ 1.65900867e-01 4.86166768e-04 9.86142315e-01 1.10105774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:54.34, Z:11.02 [[ 5.64313459e-01 -8.19781056e-01 -9.75158503e-02 1.11850241e+02] [ 8.08343232e-01 5.72674200e-01 -1.36475197e-01 5.43376446e+01] [ 1.67724593e-01 -1.81148718e-03 9.85832227e-01 1.10153457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:111.87, Y:54.36, Z:11.02 [[ 5.66802057e-01 -8.18071943e-01 -9.74357429e-02 1.11865026e+02] [ 8.06524423e-01 5.75115115e-01 -1.36970651e-01 5.43602431e+01] [ 1.68088615e-01 -9.49059874e-04 9.85771432e-01 1.10186982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:54.38, Z:11.03 [[ 5.66666239e-01 -8.17003130e-01 -1.06748579e-01 1.11883964e+02] [ 8.06703689e-01 5.76497887e-01 -1.29920533e-01 5.43821747e+01] [ 1.67685812e-01 -1.24928921e-02 9.85761328e-01 1.10289664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:111.89, Y:54.41, Z:11.03 [[ 5.70272913e-01 -8.15259858e-01 -1.00698405e-01 1.11893465e+02] [ 8.04249565e-01 5.79075512e-01 -1.33619565e-01 5.44091119e+01] [ 1.67246648e-01 -4.78703001e-03 9.85903465e-01 1.10314752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.91, Y:54.43, Z:11.04 [[ 5.73232710e-01 -8.13472859e-01 -9.83166689e-02 1.11908525e+02] [ 8.02162743e-01 5.81601256e-01 -1.35184738e-01 5.44339061e+01] [ 1.67150214e-01 -1.37365485e-03 9.85930484e-01 1.10353306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:54.46, Z:11.04 [[ 5.76218573e-01 -8.11343351e-01 -9.84587375e-02 1.11921796e+02] [ 7.99896198e-01 5.84569685e-01 -1.35810001e-01 5.44558613e+01] [ 1.67744534e-01 -5.00524897e-04 9.85830371e-01 1.10395901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.94, Y:54.47, Z:11.05 [[ 5.77778334e-01 -8.08413775e-01 -1.12424934e-01 1.11938681e+02] [ 7.98755632e-01 5.88365080e-01 -1.25761573e-01 5.44718565e+01] [ 1.67814293e-01 -1.71377374e-02 9.85669651e-01 1.10530742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.141858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:111.95, Y:54.51, Z:11.05 [[ 5.81531785e-01 -8.07871156e-01 -9.57338939e-02 1.11947387e+02] [ 7.96335286e-01 5.89352048e-01 -1.36067172e-01 5.45052241e+01] [ 1.66345710e-01 2.89110780e-03 9.86063257e-01 1.10489826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.171858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.97, Y:54.52, Z:11.06 [[ 5.83456864e-01 -8.05209416e-01 -1.05905071e-01 1.11965815e+02] [ 7.94784988e-01 5.92927446e-01 -1.29436730e-01 5.45231034e+01] [ 1.67017697e-01 -8.65101238e-03 9.85915944e-01 1.10615298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:111.98, Y:54.55, Z:11.06 [[ 5.84955330e-01 -8.06071046e-01 -8.98706326e-02 1.11977369e+02] [ 7.94199089e-01 5.91743476e-01 -1.38157392e-01 5.45542743e+01] [ 1.64545034e-01 9.44072837e-03 9.86324391e-01 1.10566703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.00, Y:54.57, Z:11.07 [[ 5.88055803e-01 -8.02083888e-01 -1.04172015e-01 1.12000580e+02] [ 7.91774137e-01 5.97170512e-01 -1.28378724e-01 5.45730675e+01] [ 1.65178962e-01 -6.98685374e-03 9.86238863e-01 1.10705652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:112.01, Y:54.60, Z:11.07 [[ 5.86350306e-01 -8.04192665e-01 -9.73009511e-02 1.12009658e+02] [ 7.93194208e-01 5.94368458e-01 -1.32548423e-01 5.45990876e+01] [ 1.64427086e-01 5.41257455e-04 9.86389092e-01 1.10705713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:54.62, Z:11.08 [[ 5.87458559e-01 -8.02919872e-01 -1.01055042e-01 1.12026747e+02] [ 7.92307104e-01 5.96076099e-01 -1.30164270e-01 5.46190956e+01] [ 1.64747974e-01 -3.60051306e-03 9.86329124e-01 1.10772701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.04, Y:54.65, Z:11.08 [[ 5.88473625e-01 -8.03121265e-01 -9.32471270e-02 1.12040124e+02] [ 7.91556525e-01 5.95783469e-01 -1.35942362e-01 5.46469572e+01] [ 1.64733299e-01 6.18812300e-03 9.86318735e-01 1.10773884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:54.67, Z:11.08 [[ 5.89161749e-01 -8.01954809e-01 -9.87771110e-02 1.12056526e+02] [ 7.90880642e-01 5.97384690e-01 -1.32813186e-01 5.46655478e+01] [ 1.65518107e-01 1.27543928e-04 9.86206743e-01 1.10837331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:112.07, Y:54.69, Z:11.09 [[ 5.87843295e-01 -8.02206358e-01 -1.04428066e-01 1.12072758e+02] [ 7.91981301e-01 5.96999473e-01 -1.27895456e-01 5.46853498e+01] [ 1.64942048e-01 -7.52258920e-03 9.86274572e-01 1.10909354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:54.71, Z:11.10 [[ 5.86703965e-01 -8.03611765e-01 -9.99329162e-02 1.12086306e+02] [ 7.92012991e-01 5.95153496e-01 -1.36043149e-01 5.47095996e+01] [ 1.68801299e-01 6.68887084e-04 9.85649874e-01 1.10957072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.11, Y:54.73, Z:11.10 [[ 5.85400273e-01 -8.03881239e-01 -1.05268581e-01 1.12105832e+02] [ 7.93188851e-01 5.94749896e-01 -1.30858733e-01 5.47299997e+01] [ 1.67803358e-01 -6.89312713e-03 9.85796388e-01 1.11031780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:112.12, Y:54.75, Z:11.10 [[ 5.84317159e-01 -8.05463310e-01 -9.90066332e-02 1.12118911e+02] [ 7.93769880e-01 5.92644170e-01 -1.36756227e-01 5.47541731e+01] [ 1.68827827e-01 1.32052665e-03 9.85644673e-01 1.11045867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:54.78, Z:11.11 [[ 5.81960204e-01 -8.06894395e-01 -1.01211446e-01 1.12137345e+02] [ 7.95479829e-01 5.90692981e-01 -1.35253997e-01 5.47756212e+01] [ 1.68920583e-01 -1.79921997e-03 9.85628023e-01 1.11111164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.531858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:112.15, Y:54.80, Z:11.12 [[ 5.81453743e-01 -8.07375372e-01 -1.00282367e-01 1.12152401e+02] [ 7.95959184e-01 5.90037018e-01 -1.35297064e-01 5.47964260e+01] [ 1.68405827e-01 -1.15168660e-03 9.85717075e-01 1.11150095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:54.82, Z:11.12 [[ 5.79793306e-01 -8.08871745e-01 -9.78070690e-02 1.12168639e+02] [ 7.97025011e-01 5.87981633e-01 -1.37944668e-01 5.48211618e+01] [ 1.69088304e-01 2.02471475e-03 9.85598826e-01 1.11187524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:54.84, Z:11.13 [[ 5.78104307e-01 -8.09480670e-01 -1.02647236e-01 1.12187883e+02] [ 7.98581622e-01 5.87121919e-01 -1.32496210e-01 5.48405107e+01] [ 1.67519563e-01 -5.37556684e-03 9.85854096e-01 1.11263030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:112.19, Y:54.88, Z:11.11 [[ 5.74696461e-01 -8.15360395e-01 -7.00814080e-02 1.12187687e+02] [ 8.02501776e-01 5.78265449e-01 -1.46969282e-01 5.48757299e+01] [ 1.60358589e-01 2.82222719e-02 9.86655272e-01 1.11057311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.651858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:112.23, Y:54.88, Z:11.15 [[ 5.76176574e-01 -8.08037951e-01 -1.22862627e-01 1.12230584e+02] [ 8.00203402e-01 5.88304241e-01 -1.16501655e-01 5.48750663e+01] [ 1.66418363e-01 -3.11895670e-02 9.85561839e-01 1.11455251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.24, Y:54.91, Z:11.14 [[ 5.75163088e-01 -8.12040657e-01 -9.88807031e-02 1.12237462e+02] [ 8.01021687e-01 5.83595464e-01 -1.33343887e-01 5.49063325e+01] [ 1.65986987e-01 -2.51110588e-03 9.86124746e-01 1.11395785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.711858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.25, Y:54.93, Z:11.14 [[ 5.73743886e-01 -8.13098389e-01 -9.84325293e-02 1.12254213e+02] [ 8.02182262e-01 5.82119748e-01 -1.32816479e-01 5.49266148e+01] [ 1.65292384e-01 -2.75818629e-03 9.86240752e-01 1.11443144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.27, Y:54.95, Z:11.15 [[ 5.73249725e-01 -8.13478380e-01 -9.81716754e-02 1.12270495e+02] [ 8.02617117e-01 5.81588276e-01 -1.32517322e-01 5.49475825e+01] [ 1.64895472e-01 -2.82874847e-03 9.86306991e-01 1.11488391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77185806399999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:112.29, Y:54.97, Z:11.15 [[ 5.72339890e-01 -8.14479051e-01 -9.51363547e-02 1.12286569e+02] [ 8.02948268e-01 5.80190236e-01 -1.36577334e-01 5.49719869e+01] [ 1.66436561e-01 1.77908490e-03 9.86050560e-01 1.11526136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:54.99, Z:11.16 [[ 5.72182436e-01 -8.13345318e-01 -1.05245682e-01 1.12307851e+02] [ 8.03745948e-01 5.81637759e-01 -1.25259608e-01 5.49879893e+01] [ 1.63094178e-01 -1.29194423e-02 9.86525913e-01 1.11627282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.32, Y:55.01, Z:11.16 [[ 5.71973190e-01 -8.14486160e-01 -9.72572154e-02 1.12321157e+02] [ 8.03873885e-01 5.80174147e-01 -1.31090561e-01 5.50139389e+01] [ 1.63197570e-01 -3.20224923e-03 9.86588211e-01 1.11636620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.861858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.34, Y:55.04, Z:11.17 [[ 5.72394258e-01 -8.14632128e-01 -9.34842747e-02 1.12335681e+02] [ 8.03441246e-01 5.79974827e-01 -1.34578473e-01 5.50381928e+01] [ 1.63850474e-01 1.92282320e-03 9.86483312e-01 1.11660139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.891858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.35, Y:55.06, Z:11.17 [[ 5.72790451e-01 -8.13911965e-01 -9.72543741e-02 1.12353496e+02] [ 8.03205104e-01 5.80981811e-01 -1.31611914e-01 5.50587223e+01] [ 1.63623534e-01 -2.72916235e-03 9.86519078e-01 1.11719531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.37, Y:55.08, Z:11.18 [[ 5.73161637e-01 -8.13627202e-01 -9.74500628e-02 1.12369846e+02] [ 8.02859860e-01 5.81381096e-01 -1.31954790e-01 5.50816305e+01] [ 1.64017631e-01 -2.60732012e-03 9.86453962e-01 1.11767268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.951858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:112.39, Y:55.10, Z:11.18 [[ 5.73191566e-01 -8.13535182e-01 -9.80404824e-02 1.12386042e+02] [ 8.02621352e-01 5.81510108e-01 -1.32834330e-01 5.51032113e+01] [ 1.65076932e-01 -2.54986698e-03 9.86277397e-01 1.11806784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:112.40, Y:55.13, Z:11.19 [[ 5.73174193e-01 -8.13537086e-01 -9.81262166e-02 1.12403782e+02] [ 8.02720960e-01 5.81505476e-01 -1.32251430e-01 5.51260042e+01] [ 1.64652375e-01 -2.96486414e-03 9.86347203e-01 1.11858832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:55.15, Z:11.19 [[ 5.73690931e-01 -8.13189878e-01 -9.79843752e-02 1.12419374e+02] [ 8.02246403e-01 5.81993857e-01 -1.32980670e-01 5.51476896e+01] [ 1.65164839e-01 -2.31780838e-03 9.86263253e-01 1.11903015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:112.44, Y:55.17, Z:11.19 [[ 5.74083648e-01 -8.12940915e-01 -9.77498534e-02 1.12436089e+02] [ 8.02057227e-01 5.82341719e-01 -1.32598369e-01 5.51701459e+01] [ 1.64718457e-01 -2.27842080e-03 9.86337994e-01 1.11945975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.071858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:112.45, Y:55.19, Z:11.20 [[ 5.74559526e-01 -8.12730835e-01 -9.66950879e-02 1.12452777e+02] [ 8.02066733e-01 5.82635369e-01 -1.31243981e-01 5.51920800e+01] [ 1.63004009e-01 -2.14843350e-03 9.86623068e-01 1.11997114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.45, Y:55.23, Z:11.18 [[ 5.70394479e-01 -8.18801693e-01 -6.49147680e-02 1.12450650e+02] [ 8.06916317e-01 5.73365441e-01 -1.41908872e-01 5.52264944e+01] [ 1.53415109e-01 2.85632513e-02 9.87748928e-01 1.11783383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.50, Y:55.23, Z:11.22 [[ 5.74699615e-01 -8.09552608e-01 -1.19770314e-01 1.12495885e+02] [ 8.02190306e-01 5.86228726e-01 -1.13254557e-01 5.52267085e+01] [ 1.61898320e-01 -3.09912344e-02 9.86320677e-01 1.12204443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:112.48, Y:55.27, Z:11.19 [[ 5.70615522e-01 -8.18689120e-01 -6.43898401e-02 1.12483301e+02] [ 8.06965381e-01 5.73530653e-01 -1.40959086e-01 5.52708066e+01] [ 1.52331217e-01 2.84730705e-02 9.87919270e-01 1.11871782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.53, Y:55.27, Z:11.23 [[ 5.75355923e-01 -8.09207810e-01 -1.18946549e-01 1.12528628e+02] [ 8.01800776e-01 5.86747470e-01 -1.13326615e-01 5.52709123e+01] [ 1.61496369e-01 -3.01682964e-02 9.86412083e-01 1.12291910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:112.54, Y:55.30, Z:11.22 [[ 5.75614759e-01 -8.12031467e-01 -9.62940635e-02 1.12535501e+02] [ 8.01417422e-01 5.83610762e-01 -1.30876258e-01 5.53024265e+01] [ 1.62473892e-01 -1.83743424e-03 9.86711132e-01 1.12228869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.55, Y:55.33, Z:11.23 [[ 5.75985914e-01 -8.11773969e-01 -9.62457831e-02 1.12552146e+02] [ 8.01154510e-01 5.83969237e-01 -1.30886904e-01 5.53251367e+01] [ 1.62455158e-01 -1.71873044e-03 9.86714431e-01 1.12274996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:112.57, Y:55.35, Z:11.23 [[ 5.77273837e-01 -8.10912959e-01 -9.57866935e-02 1.12567576e+02] [ 8.00371095e-01 5.85165058e-01 -1.30337893e-01 5.53468733e+01] [ 1.61743712e-01 -1.42424544e-03 9.86831770e-01 1.12317243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.58, Y:55.37, Z:11.24 [[ 5.77390666e-01 -8.10852347e-01 -9.55954527e-02 1.12583728e+02] [ 8.00340893e-01 5.85249187e-01 -1.30145472e-01 5.53693361e+01] [ 1.61475922e-01 -1.36416932e-03 9.86875709e-01 1.12355342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.60, Y:55.39, Z:11.24 [[ 5.78390210e-01 -8.10159806e-01 -9.54245957e-02 1.12599030e+02] [ 7.99664675e-01 5.86208004e-01 -1.29986857e-01 5.53909117e+01] [ 1.61248788e-01 -1.12455297e-03 9.86913149e-01 1.12398363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:55.41, Z:11.24 [[ 5.79356350e-01 -8.09445233e-01 -9.56275846e-02 1.12615685e+02] [ 7.98883620e-01 5.87194714e-01 -1.30335450e-01 5.54135473e+01] [ 1.61651421e-01 -8.84640532e-04 9.86847524e-01 1.12439423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:55.44, Z:11.25 [[ 5.79485386e-01 -8.09385564e-01 -9.53503892e-02 1.12632571e+02] [ 7.98872333e-01 5.87277052e-01 -1.30033299e-01 5.54361705e+01] [ 1.61244170e-01 -8.20391661e-04 9.86914203e-01 1.12484237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:55.46, Z:11.25 [[ 5.79949874e-01 -8.09077468e-01 -9.51409164e-02 1.12649380e+02] [ 7.98594280e-01 5.87701606e-01 -1.29822951e-01 5.54583147e+01] [ 1.60951294e-01 -6.88187344e-04 9.86962110e-01 1.12531165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.66, Y:55.48, Z:11.26 [[ 5.80403772e-01 -8.08769346e-01 -9.49926691e-02 1.12664804e+02] [ 7.98302646e-01 5.88125697e-01 -1.29695988e-01 5.54797389e+01] [ 1.60761769e-01 -5.56858334e-04 9.86993082e-01 1.12575388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49185806399998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:112.68, Y:55.50, Z:11.26 [[ 5.82161286e-01 -8.07491575e-01 -9.51083253e-02 1.12680421e+02] [ 7.96971141e-01 5.89879081e-01 -1.29921788e-01 5.55017334e+01] [ 1.61013161e-01 -1.63155329e-04 9.86952246e-01 1.12614260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.69, Y:55.53, Z:11.25 [[ 5.81634254e-01 -8.09721712e-01 -7.77968101e-02 1.12687093e+02] [ 7.98183137e-01 5.86543992e-01 -1.37367479e-01 5.55316628e+01] [ 1.56860682e-01 1.78015294e-02 9.87460294e-01 1.12495417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.551858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.72, Y:55.54, Z:11.28 [[ 5.83467897e-01 -8.04811287e-01 -1.08830165e-01 1.12719052e+02] [ 7.95962043e-01 5.93300967e-01 -1.20159848e-01 5.55416785e+01] [ 1.61275044e-01 -1.65152666e-02 9.86771304e-01 1.12762571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:55.57, Z:11.27 [[ 5.84684436e-01 -8.05645128e-01 -9.52892314e-02 1.12730548e+02] [ 7.95037387e-01 5.92398297e-01 -1.30306606e-01 5.55694498e+01] [ 1.61430061e-01 4.29743015e-04 9.86884061e-01 1.12742338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.611858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.75, Y:55.59, Z:11.28 [[ 5.84843271e-01 -8.05501727e-01 -9.55265177e-02 1.12747282e+02] [ 7.94826355e-01 5.92593200e-01 -1.30707168e-01 5.55913541e+01] [ 1.61893214e-01 5.16213575e-04 9.86808148e-01 1.12787818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.641858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.76, Y:55.61, Z:11.28 [[ 5.84769213e-01 -8.05604299e-01 -9.51140393e-02 1.12763183e+02] [ 7.95010505e-01 5.92453737e-01 -1.30218534e-01 5.56123381e+01] [ 1.61255279e-01 5.31129137e-04 9.86912586e-01 1.12827039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.78, Y:55.63, Z:11.29 [[ 5.85154736e-01 -8.05352818e-01 -9.48724049e-02 1.12780422e+02] [ 7.94798739e-01 5.92795436e-01 -1.29955901e-01 5.56323179e+01] [ 1.60900280e-01 6.39843186e-04 9.86970461e-01 1.12875751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:55.65, Z:11.29 [[ 5.84696196e-01 -8.05708965e-01 -9.46753574e-02 1.12797655e+02] [ 7.95192659e-01 5.92311343e-01 -1.29753257e-01 5.56541050e+01] [ 1.60620650e-01 5.81086453e-04 9.87016043e-01 1.12918167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.81, Y:55.67, Z:11.30 [[ 5.84552819e-01 -8.05804418e-01 -9.47483010e-02 1.12814049e+02] [ 7.95260838e-01 5.92181458e-01 -1.29928136e-01 5.56747630e+01] [ 1.60804853e-01 6.00244726e-04 9.86986038e-01 1.12962272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:55.70, Z:11.30 [[ 5.84534331e-01 -8.05818463e-01 -9.47429189e-02 1.12831095e+02] [ 7.95265308e-01 5.92162308e-01 -1.29988042e-01 5.56962414e+01] [ 1.60849950e-01 6.36716646e-04 9.86978667e-01 1.13007502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:55.72, Z:11.31 [[ 5.85621742e-01 -8.05039791e-01 -9.46472943e-02 1.12848722e+02] [ 7.94485820e-01 5.93220140e-01 -1.29931318e-01 5.57166971e+01] [ 1.60746562e-01 8.94671457e-04 9.86995310e-01 1.13051929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:55.74, Z:11.31 [[ 5.86254680e-01 -8.04566028e-01 -9.47573581e-02 1.12866041e+02] [ 7.93970232e-01 5.93862248e-01 -1.30149531e-01 5.57383298e+01] [ 1.60986709e-01 1.06625025e-03 9.86955998e-01 1.13097950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.88, Y:55.76, Z:11.31 [[ 5.86765140e-01 -8.04166320e-01 -9.49905309e-02 1.12883474e+02] [ 7.93500560e-01 5.94403089e-01 -1.30544358e-01 5.57603668e+01] [ 1.61442041e-01 1.22383937e-03 9.86881436e-01 1.13143626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:112.90, Y:55.78, Z:11.32 [[ 5.86966790e-01 -8.03937489e-01 -9.56791593e-02 1.12900614e+02] [ 7.93099479e-01 5.94712290e-01 -1.31569406e-01 5.57805564e+01] [ 1.62675150e-01 1.34378057e-03 9.86678767e-01 1.13179415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.92, Y:55.80, Z:11.32 [[ 5.86272948e-01 -8.04417540e-01 -9.58981319e-02 1.12917157e+02] [ 7.93524225e-01 5.94062996e-01 -1.31941125e-01 5.58011345e+01] [ 1.63105287e-01 1.25602168e-03 9.86607869e-01 1.13222740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:112.93, Y:55.83, Z:11.32 [[ 5.85648394e-01 -8.05795327e-01 -8.78057513e-02 1.12930718e+02] [ 7.93318382e-01 5.92041612e-01 -1.41889656e-01 5.58263968e+01] [ 1.66318681e-01 1.34395327e-02 9.85980464e-01 1.13225069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:55.84, Z:11.34 [[ 5.83939613e-01 -8.04912181e-01 -1.05503128e-01 1.12957683e+02] [ 7.95089981e-01 5.93302315e-01 -1.25794616e-01 5.58409460e+01] [ 1.63848868e-01 -1.04280205e-02 9.86430334e-01 1.13358967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.97, Y:55.86, Z:11.34 [[ 5.80896622e-01 -8.08299612e-01 -9.59731857e-02 1.12973760e+02] [ 7.97416854e-01 5.88771323e-01 -1.32191870e-01 5.58636341e+01] [ 1.63356897e-01 2.59175093e-04 9.86567006e-01 1.13365214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:55.88, Z:11.34 [[ 5.79292998e-01 -8.09440839e-01 -9.60476511e-02 1.12991982e+02] [ 7.98544754e-01 5.87201437e-01 -1.32365961e-01 5.58845822e+01] [ 1.63541733e-01 -1.96735280e-05 9.86536416e-01 1.13409912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:55.91, Z:11.35 [[ 5.77332553e-01 -8.10834426e-01 -9.60971289e-02 1.13010097e+02] [ 7.99932958e-01 5.85275491e-01 -1.32513633e-01 5.59058922e+01] [ 1.63689910e-01 -3.66826695e-04 9.86511773e-01 1.13454913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:55.93, Z:11.35 [[ 5.74713208e-01 -8.12685139e-01 -9.61644042e-02 1.13029604e+02] [ 8.01780645e-01 5.82702453e-01 -1.32686281e-01 5.59250491e+01] [ 1.63867403e-01 -8.46199891e-04 9.86482011e-01 1.13498067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:55.95, Z:11.35 [[ 5.73574378e-01 -8.13443552e-01 -9.65506159e-02 1.13047259e+02] [ 8.02449224e-01 5.81642966e-01 -1.33291798e-01 5.59460976e+01] [ 1.64583340e-01 -1.02420692e-03 9.86362649e-01 1.13538018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:113.07, Y:55.97, Z:11.36 [[ 5.72701546e-01 -8.14032512e-01 -9.67678094e-02 1.13065162e+02] [ 8.02983570e-01 5.80818170e-01 -1.33669889e-01 5.59676702e+01] [ 1.65016137e-01 -1.15000920e-03 9.86290197e-01 1.13579849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:113.08, Y:55.99, Z:11.36 [[ 5.72787662e-01 -8.14319542e-01 -9.37975364e-02 1.13082913e+02] [ 8.02577778e-01 5.80405211e-01 -1.37835778e-01 5.59885785e+01] [ 1.66682947e-01 3.67081491e-03 9.86003712e-01 1.13603852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:56.01, Z:11.37 [[ 5.71741053e-01 -8.14292185e-01 -1.00201823e-01 1.13104626e+02] [ 8.03596136e-01 5.80431454e-01 -1.31653249e-01 5.60080607e+01] [ 1.65364502e-01 -5.25023053e-03 9.86218544e-01 1.13687255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24185806399998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:113.12, Y:56.03, Z:11.37 [[ 5.71301625e-01 -8.15047859e-01 -9.64958062e-02 1.13120541e+02] [ 8.04037671e-01 5.79392169e-01 -1.33522056e-01 5.60295170e+01] [ 1.64735780e-01 -1.30489575e-03 9.86336869e-01 1.13709312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.14, Y:56.05, Z:11.38 [[ 5.70593882e-01 -8.15564664e-01 -9.63166728e-02 1.13140048e+02] [ 8.04593846e-01 5.78664207e-01 -1.33328457e-01 5.60495211e+01] [ 1.64472989e-01 -1.41940029e-03 9.86380566e-01 1.13754924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.301858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:113.16, Y:56.07, Z:11.38 [[ 5.70300048e-01 -8.15760468e-01 -9.63987236e-02 1.13157709e+02] [ 8.04760319e-01 5.78388116e-01 -1.33521598e-01 5.60714138e+01] [ 1.64677517e-01 -1.43049375e-03 9.86346424e-01 1.13796398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:56.09, Z:11.38 [[ 5.70039523e-01 -8.15899775e-01 -9.67600120e-02 1.13175386e+02] [ 8.04805120e-01 5.78191589e-01 -1.34101473e-01 5.60933059e+01] [ 1.65359187e-01 -1.42981308e-03 9.86232374e-01 1.13842953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:56.11, Z:11.39 [[ 5.69999034e-01 -8.15906653e-01 -9.69403646e-02 1.13192217e+02] [ 8.04756994e-01 5.78181985e-01 -1.34431297e-01 5.61139894e+01] [ 1.65732562e-01 -1.38772702e-03 9.86169758e-01 1.13887120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:56.14, Z:11.39 [[ 5.70677844e-01 -8.15906869e-01 -9.28589215e-02 1.13207910e+02] [ 8.03824688e-01 5.78159533e-01 -1.39990801e-01 5.61371866e+01] [ 1.67906727e-01 5.24735457e-03 9.85788921e-01 1.13910386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:56.15, Z:11.40 [[ 5.70437740e-01 -8.14962634e-01 -1.02160118e-01 1.13230378e+02] [ 8.04345812e-01 5.79467995e-01 -1.31318913e-01 5.61547296e+01] [ 1.66218526e-01 -7.26279937e-03 9.86062196e-01 1.14008862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:56.18, Z:11.40 [[ 5.70343862e-01 -8.15642929e-01 -9.71313103e-02 1.13244671e+02] [ 8.04409381e-01 5.78554405e-01 -1.34908666e-01 5.61785433e+01] [ 1.66233047e-01 -1.18900777e-03 9.86085777e-01 1.14023798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.26, Y:56.20, Z:11.41 [[ 5.69967892e-01 -8.15918736e-01 -9.70217378e-02 1.13262810e+02] [ 8.04702408e-01 5.78165300e-01 -1.34829225e-01 5.61997477e+01] [ 1.66104293e-01 -1.22529690e-03 9.86107429e-01 1.14069106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.511858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:113.28, Y:56.22, Z:11.41 [[ 5.69501684e-01 -8.16269415e-01 -9.68094734e-02 1.13279960e+02] [ 8.05093745e-01 5.77669985e-01 -1.34615932e-01 5.62209810e+01] [ 1.65806795e-01 -1.27670146e-03 9.86157430e-01 1.14115053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541858064 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:113.30, Y:56.24, Z:11.42 [[ 5.68807403e-01 -8.16767504e-01 -9.66901433e-02 1.13297362e+02] [ 8.05613167e-01 5.76965302e-01 -1.34530536e-01 5.62430587e+01] [ 1.65667028e-01 -1.37288777e-03 9.86180790e-01 1.14168222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:56.27, Z:11.42 [[ 5.68277959e-01 -8.17161146e-01 -9.64770553e-02 1.13314187e+02] [ 8.06048235e-01 5.76407492e-01 -1.34315471e-01 5.62652562e+01] [ 1.65367482e-01 -1.43663818e-03 9.86230973e-01 1.14215428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:113.33, Y:56.29, Z:11.43 [[ 5.68612634e-01 -8.16995628e-01 -9.59052477e-02 1.13329139e+02] [ 8.05999222e-01 5.76642321e-01 -1.33599731e-01 5.62869535e+01] [ 1.64453421e-01 -1.33305992e-03 9.86383949e-01 1.14257533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.35, Y:56.31, Z:11.43 [[ 5.69416976e-01 -8.16700273e-01 -9.36214236e-02 1.13347498e+02] [ 8.05616359e-01 5.77061339e-01 -1.34098821e-01 5.63122282e+01] [ 1.63543848e-01 9.35194709e-04 9.86535623e-01 1.14281776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.36, Y:56.33, Z:11.44 [[ 5.69528130e-01 -8.16077769e-01 -9.82587610e-02 1.13360941e+02] [ 8.05466569e-01 5.77925391e-01 -1.31247282e-01 5.63316445e+01] [ 1.63894222e-01 -4.39512821e-03 9.86468128e-01 1.14357315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:56.35, Z:11.44 [[ 5.69259492e-01 -8.16595623e-01 -9.54736611e-02 1.13374307e+02] [ 8.05659783e-01 5.77209140e-01 -1.33198810e-01 5.63547725e+01] [ 1.63877835e-01 -1.09460212e-03 9.86480034e-01 1.14381185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:113.39, Y:56.38, Z:11.44 [[ 5.69013118e-01 -8.16768500e-01 -9.54635437e-02 1.13389921e+02] [ 8.05825579e-01 5.76964471e-01 -1.33255903e-01 5.63775651e+01] [ 1.63918297e-01 -1.10260849e-03 9.86473302e-01 1.14422082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:113.41, Y:56.40, Z:11.45 [[ 5.68801681e-01 -8.16920123e-01 -9.54261990e-02 1.13406274e+02] [ 8.05974835e-01 5.76749775e-01 -1.33282641e-01 5.64005737e+01] [ 1.63918310e-01 -1.09972479e-03 9.86473303e-01 1.14467843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.42, Y:56.43, Z:11.45 [[ 5.68290998e-01 -8.17724577e-01 -9.14978529e-02 1.13419871e+02] [ 8.06078160e-01 5.75592589e-01 -1.37590593e-01 5.64258171e+01] [ 1.65176695e-01 4.43707434e-03 9.86254010e-01 1.14488742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.44, Y:56.45, Z:11.46 [[ 5.67340048e-01 -8.17446673e-01 -9.95299331e-02 1.13439207e+02] [ 8.07100207e-01 5.75965559e-01 -1.29818840e-01 5.64453286e+01] [ 1.63445792e-01 -6.67920280e-03 9.86529706e-01 1.14579664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.45, Y:56.47, Z:11.46 [[ 5.66998464e-01 -8.18610393e-01 -9.15956677e-02 1.13451672e+02] [ 8.07205893e-01 5.74339779e-01 -1.36207435e-01 5.64714890e+01] [ 1.64107857e-01 3.29284353e-03 9.86436905e-01 1.14581565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:113.47, Y:56.49, Z:11.47 [[ 5.65426715e-01 -8.18972101e-01 -9.78638192e-02 1.13470978e+02] [ 8.08692489e-01 5.73802733e-01 -1.29486999e-01 5.64921555e+01] [ 1.62200766e-01 -5.92632703e-03 9.86739981e-01 1.14665065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:113.48, Y:56.52, Z:11.47 [[ 5.63412784e-01 -8.20736803e-01 -9.46421389e-02 1.13484458e+02] [ 8.09972538e-01 5.71302974e-01 -1.32504339e-01 5.65160252e+01] [ 1.62820523e-01 -2.00289463e-03 9.86653671e-01 1.14692857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.931858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:113.50, Y:56.54, Z:11.47 [[ 5.62300753e-01 -8.21492782e-01 -9.46967431e-02 1.13499837e+02] [ 8.10715081e-01 5.70214737e-01 -1.32650711e-01 5.65396585e+01] [ 1.62969080e-01 -2.18248294e-03 9.86628763e-01 1.14729522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.52, Y:56.56, Z:11.48 [[ 5.61531726e-01 -8.21998302e-01 -9.48731400e-02 1.13515152e+02] [ 8.11174171e-01 5.69485345e-01 -1.32977094e-01 5.65626507e+01] [ 1.63335808e-01 -2.28778370e-03 9.86567879e-01 1.14771307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.53, Y:56.59, Z:11.48 [[ 5.60444923e-01 -8.22746945e-01 -9.48100860e-02 1.13530167e+02] [ 8.11934950e-01 5.68402514e-01 -1.32966989e-01 5.65859307e+01] [ 1.63288475e-01 -2.45894855e-03 9.86575302e-01 1.14815925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.54, Y:56.61, Z:11.49 [[ 5.59868800e-01 -8.23168169e-01 -9.45573460e-02 1.13544682e+02] [ 8.12407305e-01 5.67792007e-01 -1.32689894e-01 5.66083381e+01] [ 1.62915003e-01 -2.53014666e-03 9.86636863e-01 1.14859398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.56, Y:56.64, Z:11.49 [[ 5.59258460e-01 -8.24335855e-01 -8.77517636e-02 1.13556974e+02] [ 8.12227498e-01 5.66050488e-01 -1.40972821e-01 5.66358492e+01] [ 1.65880880e-01 7.56584747e-03 9.86116774e-01 1.14862110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:56.66, Z:11.49 [[ 5.58106796e-01 -8.24665087e-01 -9.18928638e-02 1.13574968e+02] [ 8.14040419e-01 5.65620145e-01 -1.31954718e-01 5.66578252e+01] [ 1.60794904e-01 -1.15968052e-03 9.86987160e-01 1.14890177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:56.67, Z:11.51 [[ 5.59207616e-01 -8.22394644e-01 -1.04660841e-01 1.13595268e+02] [ 8.12751821e-01 5.68735541e-01 -1.26389722e-01 5.66741329e+01] [ 1.63466570e-01 -1.43851938e-02 9.86443991e-01 1.15052241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:56.70, Z:11.50 [[ 5.59019064e-01 -8.23729211e-01 -9.46988539e-02 1.13606255e+02] [ 8.12913494e-01 5.66977485e-01 -1.33072096e-01 5.67000610e+01] [ 1.63307491e-01 -2.59213745e-03 9.86571814e-01 1.15045207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.62, Y:56.72, Z:11.51 [[ 5.58897065e-01 -8.23797839e-01 -9.48218954e-02 1.13621754e+02] [ 8.12942773e-01 5.66877849e-01 -1.33317488e-01 5.67229961e+01] [ 1.63579091e-01 -2.57402172e-03 9.86526865e-01 1.15093063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.64, Y:56.75, Z:11.51 [[ 5.59307395e-01 -8.23539260e-01 -9.46484307e-02 1.13636566e+02] [ 8.12707255e-01 5.67253996e-01 -1.33153379e-01 5.67459737e+01] [ 1.63346736e-01 -2.44779680e-03 9.86565686e-01 1.15134704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:56.77, Z:11.52 [[ 5.59593267e-01 -8.23611541e-01 -9.23006254e-02 1.13651629e+02] [ 8.12156818e-01 5.67151948e-01 -1.36894014e-01 5.67713303e+01] [ 1.65095969e-01 1.64238627e-03 9.86276140e-01 1.15165991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:56.79, Z:11.52 [[ 5.60141603e-01 -8.22563584e-01 -9.81352897e-02 1.13669395e+02] [ 8.12040884e-01 5.68639932e-01 -1.31294444e-01 5.67918633e+01] [ 1.63801673e-01 -6.14638713e-03 9.86474143e-01 1.15244662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:56.82, Z:11.53 [[ 5.60612001e-01 -8.22608798e-01 -9.50207848e-02 1.13681923e+02] [ 8.11641145e-01 5.68604015e-01 -1.33895954e-01 5.68160258e+01] [ 1.64173190e-01 -2.05909980e-03 9.86429381e-01 1.15263621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.70, Y:56.84, Z:11.53 [[ 5.60136897e-01 -8.22959608e-01 -9.47847054e-02 1.13697583e+02] [ 8.12039838e-01 5.68095952e-01 -1.33634915e-01 5.68386146e+01] [ 1.63822945e-01 -2.11510997e-03 9.86487491e-01 1.15303370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.71, Y:56.86, Z:11.54 [[ 5.59242320e-01 -8.23551480e-01 -9.49262248e-02 1.13713779e+02] [ 8.12594295e-01 5.67237086e-01 -1.33912657e-01 5.68608674e+01] [ 1.64129642e-01 -2.24688350e-03 9.86436218e-01 1.15352855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.73, Y:56.89, Z:11.54 [[ 5.57721021e-01 -8.25286840e-01 -8.85939922e-02 1.13727081e+02] [ 8.13005158e-01 5.64668039e-01 -1.42030345e-01 5.68855898e+01] [ 1.67241970e-01 7.18593620e-03 9.85889692e-01 1.15369018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.75, Y:56.90, Z:11.55 [[ 5.57518285e-01 -8.23443381e-01 -1.05424664e-01 1.13749987e+02] [ 8.14260409e-01 5.67148738e-01 -1.23783259e-01 5.68982920e+01] [ 1.61719971e-01 -1.68316995e-02 9.86693136e-01 1.15497096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.76, Y:56.92, Z:11.55 [[ 5.56690156e-01 -8.25160700e-01 -9.59473307e-02 1.13761070e+02] [ 8.14911074e-01 5.64866873e-01 -1.29789663e-01 5.69236920e+01] [ 1.61294798e-01 -5.93591465e-03 9.86888420e-01 1.15489019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:56.95, Z:11.55 [[ 5.52905388e-01 -8.28830930e-01 -8.56441518e-02 1.13773233e+02] [ 8.17144182e-01 5.59457901e-01 -1.38860519e-01 5.69532367e+01] [ 1.63006190e-01 6.79310864e-03 9.86601660e-01 1.15476790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:56.98, Z:11.55 [[ 5.51431672e-01 -8.29337648e-01 -9.01231212e-02 1.13791274e+02] [ 8.17730872e-01 5.58741900e-01 -1.38288501e-01 5.69751293e+01] [ 1.65043424e-01 2.56020075e-03 9.86282978e-01 1.15537690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:56.99, Z:11.56 [[ 5.49940671e-01 -8.29205065e-01 -9.99210626e-02 1.13810841e+02] [ 8.18950598e-01 5.58852887e-01 -1.30396966e-01 5.69924512e+01] [ 1.63966999e-01 -1.01198191e-02 9.86413915e-01 1.15630881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:57.02, Z:11.56 [[ 5.47346105e-01 -8.31474607e-01 -9.51956920e-02 1.13825093e+02] [ 8.20498773e-01 5.55545597e-01 -1.34725104e-01 5.70168503e+01] [ 1.64906051e-01 -4.36668732e-03 9.86299613e-01 1.15641598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.84, Y:57.04, Z:11.56 [[ 5.45397887e-01 -8.33617484e-01 -8.73099956e-02 1.13838181e+02] [ 8.21201071e-01 5.52303215e-01 -1.43492021e-01 5.70447359e+01] [ 1.67839049e-01 6.56118297e-03 9.85792577e-01 1.15640042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:57.06, Z:11.58 [[ 5.44927434e-01 -8.31922026e-01 -1.04689227e-01 1.13860935e+02] [ 8.22249881e-01 5.54645241e-01 -1.27568762e-01 5.70580003e+01] [ 1.64192644e-01 -1.65649861e-02 9.86289195e-01 1.15779226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.87, Y:57.08, Z:11.58 [[ 5.43652449e-01 -8.34044422e-01 -9.38718108e-02 1.13871858e+02] [ 8.23372121e-01 5.51675202e-01 -1.33089525e-01 5.70849855e+01] [ 1.62789326e-01 -4.93698579e-03 9.86648499e-01 1.15780315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:57.11, Z:11.58 [[ 5.43633118e-01 -8.34108760e-01 -9.34109723e-02 1.13886776e+02] [ 8.23529658e-01 5.51578365e-01 -1.32514946e-01 5.71068398e+01] [ 1.62055349e-01 -4.88719260e-03 9.86769567e-01 1.15822715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:57.13, Z:11.59 [[ 5.43445823e-01 -8.34243655e-01 -9.32960945e-02 1.13902377e+02] [ 8.23681032e-01 5.51374370e-01 -1.32423043e-01 5.71297824e+01] [ 1.61914159e-01 -4.88147349e-03 9.86792773e-01 1.15868976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74185806399998 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:113.91, Y:57.15, Z:11.59 [[ 5.43342851e-01 -8.35050740e-01 -8.64222616e-02 1.13913773e+02] [ 8.23268978e-01 5.50151610e-01 -1.39862060e-01 5.71549509e+01] [ 1.64337263e-01 4.84428363e-03 9.86392314e-01 1.15878498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:57.17, Z:11.60 [[ 5.44761378e-01 -8.32499508e-01 -1.00894058e-01 1.13935118e+02] [ 8.23012495e-01 5.53840647e-01 -1.26138696e-01 5.71706631e+01] [ 1.60889632e-01 -1.43215802e-02 9.86868491e-01 1.15991025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:57.19, Z:11.60 [[ 5.46908300e-01 -8.31261817e-01 -9.94741306e-02 1.13948754e+02] [ 8.22004112e-01 5.55712394e-01 -1.24470779e-01 5.71908526e+01] [ 1.58746813e-01 -1.36940421e-02 9.87224353e-01 1.16022405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:57.22, Z:11.60 [[ 5.46730372e-01 -8.33078888e-01 -8.40563281e-02 1.13958722e+02] [ 8.21593248e-01 5.53117261e-01 -1.38006632e-01 5.72232348e+01] [ 1.61463417e-01 6.39230551e-03 9.86857996e-01 1.15990889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:57.24, Z:11.61 [[ 5.47767543e-01 -8.31480730e-01 -9.26850310e-02 1.13977457e+02] [ 8.20959821e-01 5.55540354e-01 -1.31908633e-01 5.72431139e+01] [ 1.61169761e-01 -3.83541867e-03 9.86919246e-01 1.16072039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:57.27, Z:11.61 [[ 5.50782953e-01 -8.29455401e-01 -9.29616986e-02 1.13992081e+02] [ 8.18829276e-01 5.58563749e-01 -1.32382606e-01 5.72667741e+01] [ 1.61730502e-01 -3.20567778e-03 9.86829756e-01 1.16109396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:57.30, Z:11.61 [[ 5.50717022e-01 -8.30556163e-01 -8.29892833e-02 1.14001728e+02] [ 8.17895575e-01 5.56806550e-01 -1.44959630e-01 5.72957167e+01] [ 1.66606091e-01 1.19551681e-02 9.85951056e-01 1.16091414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:57.31, Z:11.63 [[ 5.53091254e-01 -8.26235145e-01 -1.06890359e-01 1.14027368e+02] [ 8.17042658e-01 5.63018780e-01 -1.24302650e-01 5.73083187e+01] [ 1.62884497e-01 -1.85832744e-02 9.86470122e-01 1.16254226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.04, Y:57.34, Z:11.62 [[ 5.55244768e-01 -8.26322539e-01 -9.43096404e-02 1.14036315e+02] [ 8.15300990e-01 5.63192903e-01 -1.34528990e-01 5.73378552e+01] [ 1.64278857e-01 -2.19422502e-03 9.86411498e-01 1.16227319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:57.36, Z:11.63 [[ 5.56313748e-01 -8.25891958e-01 -9.17468707e-02 1.14050714e+02] [ 8.14359347e-01 5.63825518e-01 -1.37548676e-01 5.73624130e+01] [ 1.65329572e-01 1.80529790e-03 9.86236723e-01 1.16254628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:57.38, Z:11.63 [[ 5.58087051e-01 -8.24158252e-01 -9.64469801e-02 1.14069268e+02] [ 8.13589938e-01 5.66337572e-01 -1.31655485e-01 5.73837758e+01] [ 1.63126503e-01 -4.99307105e-03 9.86592526e-01 1.16334035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.08, Y:57.41, Z:11.64 [[ 5.58733339e-01 -8.24094883e-01 -9.31916334e-02 1.14083083e+02] [ 8.13266300e-01 5.66450086e-01 -1.33162405e-01 5.74069679e+01] [ 1.62526865e-01 -1.38733969e-03 9.86703143e-01 1.16365841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:57.43, Z:11.64 [[ 5.59399983e-01 -8.23662708e-01 -9.30129130e-02 1.14098653e+02] [ 8.12857991e-01 5.67078708e-01 -1.32979793e-01 5.74295538e+01] [ 1.62276139e-01 -1.21739584e-03 9.86744634e-01 1.16412038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.11, Y:57.45, Z:11.65 [[ 5.60544384e-01 -8.22939344e-01 -9.25247547e-02 1.14114211e+02] [ 8.12226314e-01 5.68128434e-01 -1.32357460e-01 5.74527688e+01] [ 1.61488106e-01 -9.58809357e-04 9.86874193e-01 1.16459638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:57.47, Z:11.65 [[ 5.63439721e-01 -8.19930143e-01 -1.01243477e-01 1.14131804e+02] [ 8.10851210e-01 5.72312850e-01 -1.22385931e-01 5.74666060e+01] [ 1.58290857e-01 -1.31363011e-02 9.87305141e-01 1.16544423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.14, Y:57.50, Z:11.65 [[ 5.61108661e-01 -8.23883663e-01 -7.98296977e-02 1.14140106e+02] [ 8.12045703e-01 5.66594951e-01 -1.39828244e-01 5.75025804e+01] [ 1.60433310e-01 1.36334758e-02 9.86952522e-01 1.16490428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.16, Y:57.52, Z:11.66 [[ 5.61479056e-01 -8.22432464e-01 -9.13570538e-02 1.14160107e+02] [ 8.11956490e-01 5.68862322e-01 -1.30852272e-01 5.75194777e+01] [ 1.59586743e-01 -7.07142409e-04 9.87183656e-01 1.16595907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.18, Y:57.54, Z:11.66 [[ 5.62294871e-01 -8.21896010e-01 -9.11670275e-02 1.14175222e+02] [ 8.11441922e-01 5.69637339e-01 -1.30672527e-01 5.75419479e+01] [ 1.59331371e-01 -5.00256493e-04 9.87225032e-01 1.16632015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.19, Y:57.56, Z:11.67 [[ 5.62367877e-01 -8.21822577e-01 -9.13784555e-02 1.14191180e+02] [ 8.11307209e-01 5.69743327e-01 -1.31046384e-01 5.75645401e+01] [ 1.59759142e-01 -4.39722994e-04 9.87155926e-01 1.16675604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.21, Y:57.59, Z:11.67 [[ 5.62415033e-01 -8.21752733e-01 -9.17157331e-02 1.14207222e+02] [ 8.11145374e-01 5.69844105e-01 -1.31608807e-01 5.75876835e+01] [ 1.60413567e-01 -3.76021135e-04 9.87049820e-01 1.16718493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:57.61, Z:11.68 [[ 5.62172164e-01 -8.21830285e-01 -9.25064373e-02 1.14221928e+02] [ 8.11025865e-01 5.69732268e-01 -1.32823905e-01 5.76099947e+01] [ 1.61862610e-01 -3.55211101e-04 9.86813239e-01 1.16755768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:57.63, Z:11.68 [[ 5.61432787e-01 -8.22309858e-01 -9.27346955e-02 1.14237495e+02] [ 8.11446308e-01 5.69039799e-01 -1.33223858e-01 5.76326895e+01] [ 1.62321024e-01 -4.52984430e-04 9.86737898e-01 1.16796695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.25, Y:57.65, Z:11.68 [[ 5.60738902e-01 -8.22792109e-01 -9.26554281e-02 1.14252969e+02] [ 8.11940718e-01 5.68342191e-01 -1.33189428e-01 5.76541276e+01] [ 1.62247199e-01 -5.46221389e-04 9.86749993e-01 1.16840409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.431858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:114.27, Y:57.68, Z:11.69 [[ 5.58284993e-01 -8.24439929e-01 -9.28260168e-02 1.14268998e+02] [ 8.13558957e-01 5.65948614e-01 -1.33506516e-01 5.76760893e+01] [ 1.62602858e-01 -9.84752992e-04 9.86691107e-01 1.16888417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.28, Y:57.71, Z:11.68 [[ 5.55404459e-01 -8.28097244e-01 -7.60318488e-02 1.14275965e+02] [ 8.16487687e-01 5.60380441e-01 -1.39002227e-01 5.77053020e+01] [ 1.57714122e-01 1.51233885e-02 9.87368998e-01 1.16786239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.30, Y:57.72, Z:11.69 [[ 5.53899984e-01 -8.27321804e-01 -9.34528816e-02 1.14299832e+02] [ 8.17311382e-01 5.61703724e-01 -1.28417413e-01 5.77214090e+01] [ 1.58735357e-01 -5.24970102e-03 9.87307210e-01 1.16929165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:57.74, Z:11.71 [[ 5.51390692e-01 -8.27842735e-01 -1.03173213e-01 1.14320740e+02] [ 8.18175913e-01 5.60775189e-01 -1.26962054e-01 5.77397054e+01] [ 1.62961592e-01 -1.44081427e-02 9.86527204e-01 1.17079892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:57.77, Z:11.69 [[ 5.47931038e-01 -8.32878901e-01 -7.80020045e-02 1.14325145e+02] [ 8.21386423e-01 5.53330434e-01 -1.38382711e-01 5.77727949e+01] [ 1.58416923e-01 1.17543951e-02 9.87302341e-01 1.16936597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.581858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:114.33, Y:57.80, Z:11.68 [[ 5.42949049e-01 -8.37605098e-01 -6.01999110e-02 1.14328941e+02] [ 8.26065643e-01 5.45613245e-01 -1.41144397e-01 5.78018740e+01] [ 1.51069135e-01 2.69051378e-02 9.88156987e-01 1.16794955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.611858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.37, Y:57.80, Z:11.72 [[ 5.42262187e-01 -8.32896715e-01 -1.10610949e-01 1.14371106e+02] [ 8.25371695e-01 5.52681351e-01 -1.15346825e-01 5.78038255e+01] [ 1.57204600e-01 -2.87469248e-02 9.87147572e-01 1.17179381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.641858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:114.38, Y:57.83, Z:11.71 [[ 5.42001070e-01 -8.35581908e-01 -8.96533063e-02 1.14377329e+02] [ 8.25380106e-01 5.49355238e-01 -1.30217142e-01 5.78347370e+01] [ 1.58058601e-01 -3.42022502e-03 9.87423810e-01 1.17121040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.39, Y:57.86, Z:11.72 [[ 5.40337890e-01 -8.36665497e-01 -8.95868882e-02 1.14392414e+02] [ 8.26451981e-01 5.47702438e-01 -1.30380836e-01 5.78565264e+01] [ 1.58152104e-01 -3.58955568e-03 9.87408237e-01 1.17165615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:57.88, Z:11.72 [[ 5.39132886e-01 -8.37255366e-01 -9.13191329e-02 1.14409582e+02] [ 8.27229239e-01 5.46781064e-01 -1.29314553e-01 5.78796969e+01] [ 1.58200876e-01 -5.82412852e-03 9.87389772e-01 1.17227730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:57.90, Z:11.74 [[ 5.37497703e-01 -8.36857142e-01 -1.03760996e-01 1.14429785e+02] [ 8.27516778e-01 5.47120656e-01 -1.25995911e-01 5.78981041e+01] [ 1.62210362e-01 -1.81414520e-02 9.86589421e-01 1.17395913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:114.44, Y:57.93, Z:11.74 [[ 5.37139574e-01 -8.38890287e-01 -8.80009328e-02 1.14437522e+02] [ 8.27382647e-01 5.44298272e-01 -1.38482295e-01 5.79277191e+01] [ 1.64070208e-01 1.57387599e-03 9.86447409e-01 1.17364517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.791858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:114.46, Y:57.95, Z:11.75 [[ 5.37381456e-01 -8.37675963e-01 -9.75712683e-02 1.14456214e+02] [ 8.27754101e-01 5.46048244e-01 -1.29052175e-01 5.79460146e+01] [ 1.61382524e-01 -1.14147720e-02 9.86825914e-01 1.17458102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.47, Y:57.97, Z:11.75 [[ 5.39690182e-01 -8.36239151e-01 -9.71524081e-02 1.14474685e+02] [ 8.26074611e-01 5.48275559e-01 -1.30363524e-01 5.79725765e+01] [ 1.62281373e-01 -9.89922378e-03 9.86694867e-01 1.17504278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.49, Y:58.00, Z:11.76 [[ 5.40717740e-01 -8.35193067e-01 -1.00383598e-01 1.14492807e+02] [ 8.25142339e-01 5.49811425e-01 -1.29797989e-01 5.79956496e+01] [ 1.63598429e-01 -1.26466814e-02 9.86445952e-01 1.17583709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:114.51, Y:58.02, Z:11.77 [[ 5.41773318e-01 -8.33887558e-01 -1.05419228e-01 1.14511234e+02] [ 8.24128505e-01 5.51662313e-01 -1.28377955e-01 5.80177453e+01] [ 1.65208594e-01 -1.73272407e-02 9.86106428e-01 1.17677313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.51, Y:58.05, Z:11.75 [[ 5.38191231e-01 -8.39631733e-01 -7.32717639e-02 1.14505145e+02] [ 8.27481731e-01 5.42906132e-01 -1.43272176e-01 5.80523609e+01] [ 1.60075555e-01 1.64767826e-02 9.86967240e-01 1.17496129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:114.52, Y:58.07, Z:11.77 [[ 5.37814694e-01 -8.37897272e-01 -9.31853862e-02 1.14523380e+02] [ 8.27866044e-01 5.45776336e-01 -1.29483606e-01 5.80673556e+01] [ 1.59352339e-01 -7.50683124e-03 9.87193233e-01 1.17658696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:58.10, Z:11.77 [[ 5.37384874e-01 -8.38887472e-01 -8.65176635e-02 1.14535421e+02] [ 8.27912955e-01 5.44303866e-01 -1.35253247e-01 5.80955366e+01] [ 1.60554153e-01 1.05395474e-03 9.87026470e-01 1.17677554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.55, Y:58.12, Z:11.78 [[ 5.38946493e-01 -8.37094689e-01 -9.38571192e-02 1.14550867e+02] [ 8.27470026e-01 5.46979561e-01 -1.26912237e-01 5.81169127e+01] [ 1.57575485e-01 -9.26504817e-03 9.87463481e-01 1.17767315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:58.15, Z:11.77 [[ 5.41207027e-01 -8.37332776e-01 -7.72578624e-02 1.14562253e+02] [ 8.25093982e-01 5.46518986e-01 -1.43307077e-01 5.81483430e+01] [ 1.62218601e-01 1.38137998e-02 9.86658150e-01 1.17732924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:58.15, Z:11.79 [[ 5.42415795e-01 -8.33290082e-01 -1.06830447e-01 1.14581731e+02] [ 8.25761591e-01 5.52225205e-01 -1.14739346e-01 5.81539619e+01] [ 1.54605625e-01 -2.59800467e-02 9.87634618e-01 1.17908563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:58.20, Z:11.77 [[ 5.40373778e-01 -8.38606428e-01 -6.88145304e-02 1.14578425e+02] [ 8.26391955e-01 5.44331811e-01 -1.44149978e-01 5.81994943e+01] [ 1.58343036e-01 2.10270941e-02 9.87160242e-01 1.17703032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:114.61, Y:58.21, Z:11.79 [[ 5.43200740e-01 -8.33407838e-01 -1.01805362e-01 1.14609891e+02] [ 8.24353228e-01 5.52404482e-01 -1.23656960e-01 5.82115405e+01] [ 1.59294418e-01 -1.67530266e-02 9.87088965e-01 1.17915232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.62, Y:58.23, Z:11.80 [[ 5.42450000e-01 -8.34221499e-01 -9.91084710e-02 1.14618134e+02] [ 8.24268298e-01 5.51305174e-01 -1.29013089e-01 5.82347301e+01] [ 1.62264506e-01 -1.17088204e-02 9.86677827e-01 1.17968454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:58.26, Z:11.80 [[ 5.42794515e-01 -8.34711835e-01 -9.28992345e-02 1.14627816e+02] [ 8.23686199e-01 5.50678241e-01 -1.35257242e-01 5.82621140e+01] [ 1.64058408e-01 -3.10292829e-03 9.86445746e-01 1.17980501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.64, Y:58.29, Z:11.80 [[ 5.42705897e-01 -8.34728756e-01 -9.32642158e-02 1.14642063e+02] [ 8.23602406e-01 5.50652747e-01 -1.35869896e-01 5.82863014e+01] [ 1.64770706e-01 -3.07523855e-03 9.86327105e-01 1.18025983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.66, Y:58.31, Z:11.81 [[ 5.42649288e-01 -8.34749614e-01 -9.34068110e-02 1.14655592e+02] [ 8.23575770e-01 5.50621315e-01 -1.36158432e-01 5.83095693e+01] [ 1.65089980e-01 -3.04131003e-03 9.86273821e-01 1.18068208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.67, Y:58.34, Z:11.81 [[ 5.42241150e-01 -8.35553212e-01 -8.84610944e-02 1.14667577e+02] [ 8.23402103e-01 5.49393617e-01 -1.42040947e-01 5.83363129e+01] [ 1.67282730e-01 4.18139528e-03 9.85900098e-01 1.18086114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.301858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:114.68, Y:58.36, Z:11.81 [[ 5.40618941e-01 -8.36424496e-01 -9.01400209e-02 1.14680778e+02] [ 8.25276819e-01 5.48081571e-01 -1.36105710e-01 5.83605200e+01] [ 1.63246234e-01 -8.09144705e-04 9.86585025e-01 1.18105990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.331858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.70, Y:58.38, Z:11.83 [[ 5.41707517e-01 -8.34334360e-01 -1.02172116e-01 1.14701088e+02] [ 8.23904991e-01 5.51114377e-01 -1.32111729e-01 5.83793873e+01] [ 1.66533877e-01 -1.26141998e-02 9.85955045e-01 1.18252042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.361858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.70, Y:58.41, Z:11.82 [[ 5.38694614e-01 -8.38408401e-01 -8.29425415e-02 1.14703164e+02] [ 8.26415673e-01 5.44988339e-01 -1.41509171e-01 5.84117207e+01] [ 1.63845196e-01 7.68521217e-03 9.86456126e-01 1.18155264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.73, Y:58.43, Z:11.83 [[ 5.39240363e-01 -8.36095518e-01 -1.00817236e-01 1.14726124e+02] [ 8.25382289e-01 5.48473106e-01 -1.33870568e-01 5.84282163e+01] [ 1.67224125e-01 -1.10243472e-02 9.85857269e-01 1.18320471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:58.47, Z:11.82 [[ 5.35426418e-01 -8.41749363e-01 -6.91126745e-02 1.14723455e+02] [ 8.28389468e-01 5.39346731e-01 -1.51248116e-01 5.84661177e+01] [ 1.64588701e-01 2.37300254e-02 9.86076795e-01 1.18154531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.76, Y:58.47, Z:11.85 [[ 5.36754395e-01 -8.34721574e-01 -1.23022818e-01 1.14764685e+02] [ 8.26318738e-01 5.49529989e-01 -1.23345594e-01 5.84697322e+01] [ 1.70563956e-01 -3.54497701e-02 9.84708714e-01 1.18547162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:58.50, Z:11.85 [[ 5.35499413e-01 -8.38986937e-01 -9.66503910e-02 1.14767071e+02] [ 8.27068933e-01 5.44133437e-01 -1.40981499e-01 5.85032186e+01] [ 1.70872345e-01 -4.44102578e-03 9.85283167e-01 1.18486606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.78, Y:58.53, Z:11.85 [[ 5.34649646e-01 -8.40448256e-01 -8.82977052e-02 1.14776856e+02] [ 8.27021912e-01 5.41845779e-01 -1.49792884e-01 5.85309309e+01] [ 1.73736907e-01 7.06257521e-03 9.84766778e-01 1.18490706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:58.55, Z:11.86 [[ 5.34716091e-01 -8.38383098e-01 -1.05794529e-01 1.14797597e+02] [ 8.27765212e-01 5.44848244e-01 -1.33959490e-01 5.85479812e+01] [ 1.69951335e-01 -1.59427355e-02 9.85323486e-01 1.18620753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:114.80, Y:58.58, Z:11.85 [[ 5.33214488e-01 -8.41971957e-01 -8.22528631e-02 1.14799751e+02] [ 8.29591754e-01 5.39452641e-01 -1.44112353e-01 5.85816945e+01] [ 1.65710084e-01 8.60649788e-03 9.86136956e-01 1.18504315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.82, Y:58.60, Z:11.87 [[ 5.37458845e-01 -8.36546498e-01 -1.06432828e-01 1.14824934e+02] [ 8.25968067e-01 5.47659016e-01 -1.33590248e-01 5.85963716e+01] [ 1.70043352e-01 -1.61108568e-02 9.85304876e-01 1.18720427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.83, Y:58.62, Z:11.87 [[ 5.39682708e-01 -8.36471230e-01 -9.51759225e-02 1.14833493e+02] [ 8.24348668e-01 5.48007634e-01 -1.41904567e-01 5.86236009e+01] [ 1.70856220e-01 -1.87470408e-03 9.85294188e-01 1.18714515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.84, Y:58.65, Z:11.87 [[ 5.40082699e-01 -8.36883398e-01 -8.90890364e-02 1.14844865e+02] [ 8.23586061e-01 5.47336846e-01 -1.48756100e-01 5.86512071e+01] [ 1.73253222e-01 6.96810714e-03 9.84852662e-01 1.18738188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:58.67, Z:11.88 [[ 5.44406065e-01 -8.32926167e-01 -9.92775730e-02 1.14860989e+02] [ 8.21116090e-01 5.53358049e-01 -1.39868641e-01 5.86730716e+01] [ 1.71436295e-01 -5.37307596e-03 9.85180555e-01 1.18793785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:58.70, Z:11.89 [[ 5.47018755e-01 -8.30624534e-01 -1.04083455e-01 1.14877661e+02] [ 8.19003782e-01 5.56754650e-01 -1.38769829e-01 5.86951594e+01] [ 1.73214572e-01 -9.33504411e-03 9.84839870e-01 1.18882206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751858064 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:114.89, Y:58.72, Z:11.89 [[ 5.48871041e-01 -8.30183579e-01 -9.76514493e-02 1.14888994e+02] [ 8.17776939e-01 5.57488426e-01 -1.42994873e-01 5.87204609e+01] [ 1.73151549e-01 -1.37135817e-03 9.84894238e-01 1.18905993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.90, Y:58.74, Z:11.90 [[ 5.51038220e-01 -8.28836889e-01 -9.68828746e-02 1.14902800e+02] [ 8.16594497e-01 5.59489584e-01 -1.41932493e-01 5.87447491e+01] [ 1.71843845e-01 -9.03794026e-04 9.85123787e-01 1.18957840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:58.77, Z:11.90 [[ 5.52142397e-01 -8.28177661e-01 -9.62316768e-02 1.14916192e+02] [ 8.16055347e-01 5.60465367e-01 -1.41181594e-01 5.87664343e+01] [ 1.70857964e-01 -5.78030940e-04 9.85295500e-01 1.19002138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.93, Y:58.79, Z:11.91 [[ 5.51887961e-01 -8.28486066e-01 -9.50290303e-02 1.14930863e+02] [ 8.16516709e-01 5.60009656e-01 -1.40319809e-01 5.87907422e+01] [ 1.69470181e-01 -1.51977672e-04 9.85535304e-01 1.19052949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:58.81, Z:11.91 [[ 5.52006047e-01 -8.28369384e-01 -9.53597820e-02 1.14946604e+02] [ 8.16453079e-01 5.60181965e-01 -1.40001913e-01 5.88131277e+01] [ 1.69392128e-01 -5.74885227e-04 9.85548566e-01 1.19104586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901858064 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:114.96, Y:58.84, Z:11.91 [[ 5.52493263e-01 -8.28743636e-01 -8.90796243e-02 1.14958076e+02] [ 8.15721483e-01 5.59566638e-01 -1.46572985e-01 5.88373822e+01] [ 1.71317414e-01 8.31642328e-03 9.85180786e-01 1.19129021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:58.86, Z:11.92 [[ 5.52213577e-01 -8.27440965e-01 -1.01988306e-01 1.14980137e+02] [ 8.16354944e-01 5.61487410e-01 -1.35264533e-01 5.88562970e+01] [ 1.69188566e-01 -8.56374646e-03 9.85546494e-01 1.19228412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:58.88, Z:11.92 [[ 5.52964228e-01 -8.27760924e-01 -9.50916118e-02 1.14990784e+02] [ 8.15853380e-01 5.61080924e-01 -1.39898035e-01 5.88817446e+01] [ 1.69156216e-01 -2.22203732e-04 9.85589227e-01 1.19242094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.00, Y:58.91, Z:11.93 [[ 5.53501984e-01 -8.27799067e-01 -9.15655971e-02 1.15003762e+02] [ 8.15300298e-01 5.61004923e-01 -1.43383751e-01 5.89068114e+01] [ 1.70061686e-01 4.70973206e-03 9.85422164e-01 1.19269308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:58.93, Z:11.93 [[ 5.53197252e-01 -8.27745380e-01 -9.38636561e-02 1.15020309e+02] [ 8.15236096e-01 5.61096906e-01 -1.43388877e-01 5.89308569e+01] [ 1.71356087e-01 2.80129190e-03 9.85205179e-01 1.19330629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:58.95, Z:11.94 [[ 5.54862832e-01 -8.25676916e-01 -1.01906173e-01 1.15039492e+02] [ 8.14510847e-01 5.64089494e-01 -1.35554871e-01 5.89504885e+01] [ 1.69408729e-01 -7.78932359e-03 9.85515098e-01 1.19414426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:58.98, Z:11.94 [[ 5.55310430e-01 -8.26178042e-01 -9.51849224e-02 1.15052202e+02] [ 8.14175066e-01 5.63408967e-01 -1.40318559e-01 5.89760779e+01] [ 1.69556151e-01 4.23169096e-04 9.85520437e-01 1.19433376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:59.00, Z:11.95 [[ 5.55463862e-01 -8.26006327e-01 -9.57781113e-02 1.15067799e+02] [ 8.13834525e-01 5.63660598e-01 -1.41280209e-01 5.89986300e+01] [ 1.70684694e-01 5.28516906e-04 9.85325558e-01 1.19484104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:59.02, Z:11.95 [[ 5.56071612e-01 -8.25912074e-01 -9.30247708e-02 1.15081708e+02] [ 8.12883029e-01 5.63770143e-01 -1.46234080e-01 5.90220914e+01] [ 1.73221081e-01 5.69836324e-03 9.84866481e-01 1.19513647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:59.04, Z:11.96 [[ 5.55504226e-01 -8.25425203e-01 -1.00440476e-01 1.15102119e+02] [ 8.13456378e-01 5.64498215e-01 -1.40108840e-01 5.90427248e+01] [ 1.72347837e-01 -3.87289291e-03 9.85028540e-01 1.19592213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.12, Y:59.07, Z:11.96 [[ 5.54481050e-01 -8.26508672e-01 -9.71297044e-02 1.15117703e+02] [ 8.13955839e-01 5.62923756e-01 -1.43501699e-01 5.90664107e+01] [ 1.73282017e-01 5.09682823e-04 9.84872115e-01 1.19623928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:59.09, Z:11.97 [[ 5.53606843e-01 -8.27084291e-01 -9.72164519e-02 1.15134041e+02] [ 8.14502139e-01 5.62077780e-01 -1.43717901e-01 5.90883947e+01] [ 1.73510025e-01 3.80205261e-04 9.84832030e-01 1.19673227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:59.11, Z:11.97 [[ 5.52781910e-01 -8.27637987e-01 -9.71983653e-02 1.15150825e+02] [ 8.15053290e-01 5.61262234e-01 -1.43780524e-01 5.91105276e+01] [ 1.73551995e-01 2.57425242e-04 9.84824674e-01 1.19723156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:59.13, Z:11.98 [[ 5.51963753e-01 -8.28205108e-01 -9.70170800e-02 1.15167711e+02] [ 8.15660681e-01 5.60425091e-01 -1.43601432e-01 5.91327432e+01] [ 1.73302245e-01 1.29767885e-04 9.84868679e-01 1.19772275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:59.15, Z:11.98 [[ 5.51269224e-01 -8.28681163e-01 -9.69008428e-02 1.15184453e+02] [ 8.16158698e-01 5.59720939e-01 -1.43518117e-01 5.91548314e+01] [ 1.73168191e-01 3.06553823e-05 9.84892267e-01 1.19819084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:59.18, Z:11.99 [[ 5.50485327e-01 -8.29203001e-01 -9.68931762e-02 1.15202381e+02] [ 8.16674753e-01 5.58947561e-01 -1.43596562e-01 5.91760267e+01] [ 1.73228905e-01 -8.24102723e-05 9.84881587e-01 1.19867701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.22, Y:59.20, Z:11.99 [[ 5.50189669e-01 -8.29397408e-01 -9.69085543e-02 1.15218587e+02] [ 8.16852437e-01 5.58659047e-01 -1.43708613e-01 5.91972666e+01] [ 1.73330392e-01 -9.29943813e-05 9.84863730e-01 1.19918982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.24, Y:59.22, Z:12.01 [[ 5.51643125e-01 -8.27181961e-01 -1.07050768e-01 1.15243673e+02] [ 8.15264993e-01 5.61846865e-01 -1.40253670e-01 5.92171278e+01] [ 1.76161444e-01 -9.90477081e-03 9.84311455e-01 1.20051447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441858064 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:115.25, Y:59.24, Z:12.00 [[ 5.49770199e-01 -8.30478308e-01 -8.97691993e-02 1.15249466e+02] [ 8.17122824e-01 5.56988705e-01 -1.48572788e-01 5.92436907e+01] [ 1.73386908e-01 8.32842981e-03 9.84818571e-01 1.19990753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.28, Y:59.26, Z:12.02 [[ 5.50870281e-01 -8.27348349e-01 -1.09711636e-01 1.15278464e+02] [ 8.15523192e-01 5.61552521e-01 -1.39931018e-01 5.92594089e+01] [ 1.77380542e-01 -1.23885444e-02 9.84064361e-01 1.20165781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.28, Y:59.29, Z:12.01 [[ 5.48775454e-01 -8.31309830e-01 -8.81445899e-02 1.15282960e+02] [ 8.17676171e-01 5.55711850e-01 -1.50299764e-01 5.92874494e+01] [ 1.73928664e-01 1.04070902e-02 9.84703261e-01 1.20092569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:115.31, Y:59.30, Z:12.02 [[ 5.49924282e-01 -8.28628831e-01 -1.04678297e-01 1.15311018e+02] [ 8.16542240e-01 5.59743939e-01 -1.41228518e-01 5.93040483e+01] [ 1.75619064e-01 -7.80925931e-03 9.84427224e-01 1.20241775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.32, Y:59.33, Z:12.02 [[ 5.48831416e-01 -8.31171708e-01 -8.90935899e-02 1.15319821e+02] [ 8.17708842e-01 5.55941832e-01 -1.49267982e-01 5.93321289e+01] [ 1.73598177e-01 9.07034157e-03 9.84774798e-01 1.20200846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.34, Y:59.35, Z:12.03 [[ 5.48476449e-01 -8.30413696e-01 -9.79115855e-02 1.15338789e+02] [ 8.17937160e-01 5.57145457e-01 -1.43414582e-01 5.93514423e+01] [ 1.73644428e-01 -1.42600323e-03 9.84807382e-01 1.20284617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.36, Y:59.37, Z:12.04 [[ 5.48747987e-01 -8.29096861e-01 -1.07116951e-01 1.15359621e+02] [ 8.17220569e-01 5.59004737e-01 -1.40229263e-01 5.93697774e+01] [ 1.76142525e-01 -1.05876496e-02 9.84307733e-01 1.20398324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:59.39, Z:12.04 [[ 5.47030006e-01 -8.31790468e-01 -9.42485489e-02 1.15366248e+02] [ 8.18546241e-01 5.55077046e-01 -1.47890243e-01 5.93947452e+01] [ 1.75328900e-01 3.75360485e-03 9.84502761e-01 1.20355281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:115.38, Y:59.42, Z:12.04 [[ 5.46703013e-01 -8.31536230e-01 -9.83021516e-02 1.15384825e+02] [ 8.18517092e-01 5.55470420e-01 -1.46568696e-01 5.94154502e+01] [ 1.76481119e-01 -3.32443248e-04 9.84303969e-01 1.20416761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.711858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.42, Y:59.43, Z:12.06 [[ 5.49550569e-01 -8.26334398e-01 -1.23148831e-01 1.15422611e+02] [ 8.16081367e-01 5.62503498e-01 -1.32668823e-01 5.94268144e+01] [ 1.78900460e-01 -2.75912391e-02 9.83480223e-01 1.20637715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.43, Y:59.46, Z:12.06 [[ 5.47975125e-01 -8.30652663e-01 -9.86884757e-02 1.15430827e+02] [ 8.16785664e-01 5.56786494e-01 -1.51162099e-01 5.94606206e+01] [ 1.80511610e-01 2.22573795e-03 9.83570335e-01 1.20589488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:115.43, Y:59.48, Z:12.05 [[ 5.44157132e-01 -8.34762373e-01 -8.40523399e-02 1.15432957e+02] [ 8.20343702e-01 5.50391197e-01 -1.55260233e-01 5.94843264e+01] [ 1.75867069e-01 1.55341553e-02 9.84291351e-01 1.20504316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.47, Y:59.50, Z:12.07 [[ 5.46480535e-01 -8.30995965e-01 -1.03945809e-01 1.15468102e+02] [ 8.18236703e-01 5.56249063e-01 -1.45174642e-01 5.94995435e+01] [ 1.78459301e-01 -5.71716021e-03 9.83930685e-01 1.20670229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.831858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:115.48, Y:59.53, Z:12.06 [[ 5.44734456e-01 -8.33488201e-01 -9.25299538e-02 1.15477350e+02] [ 8.19855712e-01 5.52504840e-01 -1.50249837e-01 5.95259944e+01] [ 1.76354714e-01 5.98505231e-03 9.84308485e-01 1.20637496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.49, Y:59.55, Z:12.06 [[ 5.43863307e-01 -8.34824860e-01 -8.53238269e-02 1.15489788e+02] [ 8.21098580e-01 5.50380343e-01 -1.51256735e-01 5.95508639e+01] [ 1.73233440e-01 1.22037151e-02 9.84805181e-01 1.20614875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.52, Y:59.56, Z:12.08 [[ 5.45629893e-01 -8.30306743e-01 -1.13484501e-01 1.15518382e+02] [ 8.18983729e-01 5.57023867e-01 -1.37804439e-01 5.95589991e+01] [ 1.77633530e-01 -1.77517391e-02 9.83936586e-01 1.20848679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.53, Y:59.59, Z:12.08 [[ 5.47741892e-01 -8.31361409e-01 -9.38990297e-02 1.15531862e+02] [ 8.18068598e-01 5.55715312e-01 -1.48135957e-01 5.95892581e+01] [ 1.75335646e-01 4.32442163e-03 9.84499218e-01 1.20806388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.951858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:115.55, Y:59.61, Z:12.09 [[ 5.48438146e-01 -8.30608095e-01 -9.64665348e-02 1.15550330e+02] [ 8.17770244e-01 5.56856705e-01 -1.45473154e-01 5.96088567e+01] [ 1.74549216e-01 8.95565170e-04 9.84648043e-01 1.20853954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.57, Y:59.63, Z:12.10 [[ 5.48092918e-01 -8.29779698e-01 -1.05165613e-01 1.15566681e+02] [ 8.17646813e-01 5.58028402e-01 -1.41626244e-01 5.96260179e+01] [ 1.76203980e-01 -8.36398693e-03 9.84318140e-01 1.20957234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.011858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.58, Y:59.65, Z:12.09 [[ 5.48596095e-01 -8.31413525e-01 -8.82829265e-02 1.15578263e+02] [ 8.17706155e-01 5.55555090e-01 -1.50715580e-01 5.96547255e+01] [ 1.74353001e-01 1.04924860e-02 9.84627310e-01 1.20893305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.60, Y:59.67, Z:12.11 [[ 5.47551920e-01 -8.29975835e-01 -1.06428418e-01 1.15600541e+02] [ 8.17790137e-01 5.57722128e-01 -1.42004648e-01 5.96694224e+01] [ 1.77217910e-01 -9.28119301e-03 9.84127874e-01 1.21056796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:115.62, Y:59.69, Z:12.11 [[ 5.46917173e-01 -8.31299073e-01 -9.91133565e-02 1.15615613e+02] [ 8.17740111e-01 5.55824896e-01 -1.49531922e-01 5.96935739e+01] [ 1.79395420e-01 7.32609137e-04 9.83776777e-01 1.21068515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:115.63, Y:59.72, Z:12.11 [[ 5.46306127e-01 -8.31649448e-01 -9.95430126e-02 1.15632042e+02] [ 8.17960518e-01 5.55300588e-01 -1.50272578e-01 5.97152319e+01] [ 1.80250400e-01 6.72576002e-04 9.83620527e-01 1.21118482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:115.65, Y:59.74, Z:12.11 [[ 5.45407599e-01 -8.33133237e-01 -9.17581643e-02 1.15649463e+02] [ 8.18645117e-01 5.52992253e-01 -1.54983031e-01 5.97423464e+01] [ 1.79863068e-01 9.41154966e-03 9.83646633e-01 1.21099009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.67, Y:59.76, Z:12.12 [[ 5.43937432e-01 -8.32011147e-01 -1.09039084e-01 1.15668847e+02] [ 8.19151515e-01 5.54670982e-01 -1.46051007e-01 5.97571277e+01] [ 1.81996881e-01 -9.87692145e-03 9.83249501e-01 1.21243843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.191858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.68, Y:59.78, Z:12.12 [[ 5.42786532e-01 -8.33836953e-01 -1.00492376e-01 1.15680898e+02] [ 8.19882041e-01 5.52010808e-01 -1.51912826e-01 5.97828751e+01] [ 1.82143405e-01 6.43417351e-05 9.83271975e-01 1.21247414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:115.70, Y:59.80, Z:12.13 [[ 5.41206399e-01 -8.34880296e-01 -1.00352006e-01 1.15696563e+02] [ 8.20965285e-01 5.50431500e-01 -1.51793164e-01 5.98045644e+01] [ 1.81966027e-01 -2.34081269e-04 9.83304790e-01 1.21291308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.72, Y:59.83, Z:12.14 [[ 5.39880436e-01 -8.35085541e-01 -1.05646838e-01 1.15722974e+02] [ 8.21651078e-01 5.50085273e-01 -1.49317438e-01 5.98256525e+01] [ 1.82807603e-01 -6.19127425e-03 9.83129212e-01 1.21396204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.73, Y:59.85, Z:12.14 [[ 5.36257395e-01 -8.38378739e-01 -9.77194735e-02 1.15729392e+02] [ 8.24349010e-01 5.45086469e-01 -1.52739812e-01 5.98486024e+01] [ 1.81319373e-01 1.35290227e-03 9.83423334e-01 1.21386755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.75, Y:59.87, Z:12.14 [[ 5.34715481e-01 -8.39112765e-01 -9.98454869e-02 1.15746267e+02] [ 8.25361324e-01 5.43955417e-01 -1.51298346e-01 5.98700575e+01] [ 1.81267867e-01 -1.50703514e-03 9.83432605e-01 1.21445023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:59.89, Z:12.15 [[ 5.35718804e-01 -8.37766135e-01 -1.05609026e-01 1.15771931e+02] [ 8.24424415e-01 5.45981801e-01 -1.49091437e-01 5.98923424e+01] [ 1.82564363e-01 -7.19557315e-03 9.83167573e-01 1.21544312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.78, Y:59.91, Z:12.16 [[ 5.33242732e-01 -8.39569733e-01 -1.03801982e-01 1.15781799e+02] [ 8.26119449e-01 5.43220156e-01 -1.49794921e-01 5.99148206e+01] [ 1.82150611e-01 -5.87578374e-03 9.83253086e-01 1.21564793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.80, Y:59.93, Z:12.17 [[ 5.36859893e-01 -8.36256411e-01 -1.11609457e-01 1.15804073e+02] [ 8.23582428e-01 5.48167269e-01 -1.45686750e-01 5.99337388e+01] [ 1.83012130e-01 -1.37062147e-02 9.83015107e-01 1.21668801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.80, Y:59.96, Z:12.16 [[ 5.34277216e-01 -8.40873775e-01 -8.64820866e-02 1.15801218e+02] [ 8.25185263e-01 5.41011985e-01 -1.62404786e-01 5.99648115e+01] [ 1.83349771e-01 1.54054337e-02 9.82927024e-01 1.21559943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:59.98, Z:12.17 [[ 5.34069508e-01 -8.39444004e-01 -1.00516297e-01 1.15822616e+02] [ 8.25497547e-01 5.43443869e-01 -1.52389507e-01 5.99818763e+01] [ 1.82547423e-01 -1.58936756e-03 9.83195765e-01 1.21680338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.84, Y:60.00, Z:12.17 [[ 5.35253895e-01 -8.38855071e-01 -9.91233457e-02 1.15837621e+02] [ 8.25268700e-01 5.44353226e-01 -1.50370001e-01 6.00039935e+01] [ 1.80096751e-01 -1.31726571e-03 9.83648019e-01 1.21725014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:60.03, Z:12.18 [[ 5.34995368e-01 -8.38994375e-01 -9.93397982e-02 1.15851916e+02] [ 8.25331550e-01 5.44138514e-01 -1.50801557e-01 6.00281039e+01] [ 1.80576268e-01 -1.31013518e-03 9.83560113e-01 1.21774998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.87, Y:60.05, Z:12.18 [[ 5.35205964e-01 -8.38893043e-01 -9.90607790e-02 1.15866891e+02] [ 8.25286816e-01 5.44294944e-01 -1.50481508e-01 6.00519389e+01] [ 1.80156172e-01 -1.21495414e-03 9.83637269e-01 1.21820812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.88, Y:60.07, Z:12.19 [[ 5.35658329e-01 -8.38633361e-01 -9.88141708e-02 1.15881374e+02] [ 8.25074164e-01 5.44695266e-01 -1.50198838e-01 6.00740121e+01] [ 1.79785368e-01 -1.07376063e-03 9.83705275e-01 1.21869698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.611858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:115.90, Y:60.10, Z:12.19 [[ 5.37141740e-01 -8.37763036e-01 -9.81419772e-02 1.15896675e+02] [ 8.24359738e-01 5.46033481e-01 -1.49259705e-01 6.00975471e+01] [ 1.78633069e-01 -7.30676956e-04 9.83915491e-01 1.21916301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.641858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:115.91, Y:60.12, Z:12.20 [[ 5.37488671e-01 -8.37532106e-01 -9.82135464e-02 1.15910996e+02] [ 8.24088306e-01 5.46387782e-01 -1.49461884e-01 6.01206136e+01] [ 1.78841808e-01 -6.02565893e-04 9.83877657e-01 1.21964128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.92, Y:60.15, Z:12.19 [[ 5.37064982e-01 -8.39791088e-01 -7.94489392e-02 1.15916585e+02] [ 8.25310752e-01 5.42597517e-01 -1.56365267e-01 6.01510378e+01] [ 1.74422955e-01 1.84082454e-02 9.84498740e-01 1.21855111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.95, Y:60.16, Z:12.21 [[ 5.38057419e-01 -8.35194723e-01 -1.13771655e-01 1.15947210e+02] [ 8.23636624e-01 5.49641780e-01 -1.39701916e-01 6.01608561e+01] [ 1.79211958e-01 -1.85388490e-02 9.83635799e-01 1.22122599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.97, Y:60.19, Z:12.22 [[ 5.38997410e-01 -8.34724705e-01 -1.12767280e-01 1.15965214e+02] [ 8.22117275e-01 5.50478623e-01 -1.45246248e-01 6.01860551e+01] [ 1.83316608e-01 -1.44205772e-02 9.82948151e-01 1.22206830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.97, Y:60.22, Z:12.21 [[ 5.37678969e-01 -8.37912392e-01 -9.38304346e-02 1.15971549e+02] [ 8.23507136e-01 5.45772068e-01 -1.54818755e-01 6.02171549e+01] [ 1.80934583e-01 5.97275596e-03 9.83476997e-01 1.22133536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.99, Y:60.24, Z:12.22 [[ 5.37309069e-01 -8.37211241e-01 -1.01864132e-01 1.15990788e+02] [ 8.23652768e-01 5.46869970e-01 -1.50097815e-01 6.02372906e+01] [ 1.81370013e-01 -3.25175730e-03 9.83409551e-01 1.22226558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:60.26, Z:12.22 [[ 5.36102760e-01 -8.38960028e-01 -9.34874421e-02 1.15999142e+02] [ 8.24851808e-01 5.44169445e-01 -1.53294196e-01 6.02616357e+01] [ 1.79480713e-01 5.06815615e-03 9.83748437e-01 1.22216607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.851858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:116.01, Y:60.29, Z:12.22 [[ 5.34666913e-01 -8.40080833e-01 -9.16268905e-02 1.16013634e+02] [ 8.26388047e-01 5.42437335e-01 -1.51144082e-01 6.02853878e+01] [ 1.76675092e-01 5.09237240e-03 9.84256054e-01 1.22231222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:60.31, Z:12.23 [[ 5.33547774e-01 -8.40078880e-01 -9.79502392e-02 1.16030554e+02] [ 8.26667250e-01 5.42462940e-01 -1.49516612e-01 6.03065781e+01] [ 1.78740123e-01 -1.19799932e-03 9.83895591e-01 1.22330695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.05, Y:60.33, Z:12.24 [[ 5.33065520e-01 -8.39995466e-01 -1.01236201e-01 1.16046563e+02] [ 8.27461834e-01 5.42552969e-01 -1.44717617e-01 6.03271726e+01] [ 1.76488144e-01 -6.62512107e-03 9.84280470e-01 1.22394272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.06, Y:60.35, Z:12.24 [[ 5.31756306e-01 -8.41404323e-01 -9.63015936e-02 1.16059255e+02] [ 8.28368418e-01 5.40404508e-01 -1.47542307e-01 6.03516306e+01] [ 1.76184551e-01 -1.31664633e-03 9.84356272e-01 1.22421890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.971858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:116.07, Y:60.37, Z:12.25 [[ 5.29698803e-01 -8.42698901e-01 -9.63210331e-02 1.16074980e+02] [ 8.29663806e-01 5.38382457e-01 -1.47656014e-01 6.03747627e+01] [ 1.76287115e-01 -1.70086140e-03 9.84337320e-01 1.22469802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:60.40, Z:12.25 [[ 5.28308624e-01 -8.43588980e-01 -9.61646017e-02 1.16089306e+02] [ 8.30594774e-01 5.36985896e-01 -1.47507522e-01 6.03976822e+01] [ 1.76074755e-01 -1.94431954e-03 9.84374878e-01 1.22515135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:60.42, Z:12.26 [[ 5.27987294e-01 -8.43785315e-01 -9.62068588e-02 1.16104117e+02] [ 8.30768022e-01 5.36677257e-01 -1.47655052e-01 6.04215717e+01] [ 1.76221198e-01 -1.96559057e-03 9.84348630e-01 1.22564306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:116.12, Y:60.45, Z:12.26 [[ 5.27775563e-01 -8.43938976e-01 -9.60206273e-02 1.16118777e+02] [ 8.30958707e-01 5.36435598e-01 -1.47460085e-01 6.04450667e+01] [ 1.75956196e-01 -1.96334689e-03 9.84396039e-01 1.22608955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.091858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:116.13, Y:60.47, Z:12.27 [[ 5.27630457e-01 -8.44034859e-01 -9.59753023e-02 1.16133677e+02] [ 8.31052238e-01 5.36284790e-01 -1.47481530e-01 6.04684427e+01] [ 1.75949647e-01 -1.94474259e-03 9.84397247e-01 1.22653774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.15, Y:60.50, Z:12.26 [[ 5.27595386e-01 -8.44872950e-01 -8.85031447e-02 1.16147316e+02] [ 8.31442902e-01 5.34937353e-01 -1.50149024e-01 6.04963683e+01] [ 1.74200487e-01 5.63262067e-03 9.84694097e-01 1.22640615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:60.52, Z:12.27 [[ 5.26999939e-01 -8.44432639e-01 -9.59405121e-02 1.16165996e+02] [ 8.31750164e-01 5.35653659e-01 -1.45831483e-01 6.05176279e+01] [ 1.74535750e-01 -2.94535409e-03 9.84646432e-01 1.22729434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:60.54, Z:12.28 [[ 5.26820800e-01 -8.44419267e-01 -9.70358041e-02 1.16182233e+02] [ 8.31863908e-01 5.35665899e-01 -1.45136083e-01 6.05407812e+01] [ 1.74534476e-01 -4.25987569e-03 9.84641849e-01 1.22793890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.211858064 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:116.20, Y:60.56, Z:12.29 [[ 5.27837097e-01 -8.43016844e-01 -1.03492023e-01 1.16202504e+02] [ 8.30892890e-01 5.37782933e-01 -1.42851401e-01 6.05619827e+01] [ 1.76082381e-01 -1.05885174e-02 9.84318484e-01 1.22906645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24185806399998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:116.21, Y:60.59, Z:12.29 [[ 5.26071198e-01 -8.45051064e-01 -9.55918093e-02 1.16207749e+02] [ 8.32251427e-01 5.34679929e-01 -1.46543291e-01 6.05858715e+01] [ 1.74947585e-01 -2.46421536e-03 9.84574665e-01 1.22897491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.22, Y:60.61, Z:12.29 [[ 5.26174487e-01 -8.45003412e-01 -9.54444485e-02 1.16221956e+02] [ 8.32132015e-01 5.34756765e-01 -1.46940505e-01 6.06102635e+01] [ 1.75204793e-01 -2.10603645e-03 9.84529758e-01 1.22940240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.301858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:116.23, Y:60.63, Z:12.30 [[ 5.27552888e-01 -8.44155350e-01 -9.53398941e-02 1.16234234e+02] [ 8.31282230e-01 5.36095706e-01 -1.46871537e-01 6.06339561e+01] [ 1.75093702e-01 -1.77185618e-03 9.84550180e-01 1.22977541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.331858064 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:116.25, Y:60.66, Z:12.30 [[ 5.28067250e-01 -8.43846407e-01 -9.52272080e-02 1.16247907e+02] [ 8.30984224e-01 5.36582343e-01 -1.46780819e-01 6.06576040e+01] [ 1.74957705e-01 -1.62216425e-03 9.84574614e-01 1.23022191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.361858064 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:116.26, Y:60.68, Z:12.31 [[ 5.28705733e-01 -8.43465060e-01 -9.50628238e-02 1.16261928e+02] [ 8.30625195e-01 5.37182102e-01 -1.46619149e-01 6.06803495e+01] [ 1.74734177e-01 -1.44319198e-03 9.84614587e-01 1.23064022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.391858064 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:116.28, Y:60.70, Z:12.31 [[ 5.29070334e-01 -8.43234828e-01 -9.50768402e-02 1.16276532e+02] [ 8.30372700e-01 5.37543744e-01 -1.46723901e-01 6.07034493e+01] [ 1.74830664e-01 -1.32194936e-03 9.84597629e-01 1.23115139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.421858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:116.29, Y:60.73, Z:12.32 [[ 5.30311481e-01 -8.42426053e-01 -9.53314117e-02 1.16291372e+02] [ 8.29464993e-01 5.38811034e-01 -1.47209021e-01 6.07260801e+01] [ 1.75378331e-01 -1.00743465e-03 9.84500597e-01 1.23165755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.451858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:116.31, Y:60.75, Z:12.32 [[ 5.30165338e-01 -8.42522283e-01 -9.52938442e-02 1.16306578e+02] [ 8.29558395e-01 5.38660575e-01 -1.47233336e-01 6.07497647e+01] [ 1.75378404e-01 -9.93796806e-04 9.84500598e-01 1.23214184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481858064 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:116.32, Y:60.78, Z:12.32 [[ 5.30474936e-01 -8.42827033e-01 -9.07685745e-02 1.16318191e+02] [ 8.28810095e-01 5.38150702e-01 -1.53191539e-01 6.07752241e+01] [ 1.77961143e-01 6.03436099e-03 9.84019013e-01 1.23236246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.511858064 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:116.34, Y:60.80, Z:12.33 [[ 5.31088036e-01 -8.41265999e-01 -1.01079261e-01 1.16338228e+02] [ 8.28894047e-01 5.40571559e-01 -1.43934179e-01 6.07956532e+01] [ 1.75727505e-01 -7.34227687e-03 9.84411466e-01 1.23335026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:116.35, Y:60.82, Z:12.34 [[ 5.32217544e-01 -8.41222201e-01 -9.53398870e-02 1.16349900e+02] [ 8.28192916e-01 5.40689366e-01 -1.47483906e-01 6.08219491e+01] [ 1.75615999e-01 -4.66296923e-04 9.84458635e-01 1.23360526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:116.36, Y:60.85, Z:12.34 [[ 5.32484668e-01 -8.41445611e-01 -9.18115613e-02 1.16362475e+02] [ 8.27755388e-01 5.40322805e-01 -1.51235854e-01 6.08467139e+01] [ 1.76864626e-01 4.53325919e-03 9.84224747e-01 1.23391798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:116.38, Y:60.87, Z:12.35 [[ 5.32507866e-01 -8.40559545e-01 -9.94737364e-02 1.16379832e+02] [ 8.27971770e-01 5.41694782e-01 -1.45015557e-01 6.08666930e+01] [ 1.75778615e-01 -5.13952084e-03 9.84416306e-01 1.23477388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:116.39, Y:60.89, Z:12.35 [[ 5.33202963e-01 -8.40591538e-01 -9.53963626e-02 1.16391226e+02] [ 8.27484703e-01 5.41669508e-01 -1.47862131e-01 6.08917152e+01] [ 1.75964957e-01 -9.85046115e-05 9.84396426e-01 1.23503607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:116.41, Y:60.92, Z:12.36 [[ 5.33188779e-01 -8.40619842e-01 -9.52260897e-02 1.16405750e+02] [ 8.27545881e-01 5.41625588e-01 -1.47680520e-01 6.09158253e+01] [ 1.75720062e-01 -6.23620894e-05 9.84440174e-01 1.23551619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.42, Y:60.94, Z:12.36 [[ 5.33474043e-01 -8.40477989e-01 -9.48798981e-02 1.16419421e+02] [ 8.27481457e-01 5.41845687e-01 -1.47233456e-01 6.09381773e+01] [ 1.75156742e-01 3.38706720e-05 9.84540560e-01 1.23601267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:60.96, Z:12.37 [[ 5.33033669e-01 -8.40778654e-01 -9.46908777e-02 1.16433852e+02] [ 8.27822212e-01 5.41379030e-01 -1.47034458e-01 6.09618250e+01] [ 1.74887090e-01 -1.28950520e-05 9.84588496e-01 1.23654231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:60.98, Z:12.37 [[ 5.32829578e-01 -8.40931394e-01 -9.44829670e-02 1.16448202e+02] [ 8.28019061e-01 5.41141747e-01 -1.46799334e-01 6.09847953e+01] [ 1.74576846e-01 -1.46705197e-05 9.84643552e-01 1.23703576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.46, Y:61.01, Z:12.38 [[ 5.31966187e-01 -8.41507098e-01 -9.42219703e-02 1.16462894e+02] [ 8.28664058e-01 5.40246033e-01 -1.46458539e-01 6.10079584e+01] [ 1.74148946e-01 -1.67369568e-04 9.84719309e-01 1.23754074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.48, Y:61.03, Z:12.38 [[ 5.31309632e-01 -8.41901048e-01 -9.44071051e-02 1.16477312e+02] [ 8.28997747e-01 5.39631878e-01 -1.46833820e-01 6.10300144e+01] [ 1.74564630e-01 -2.49054852e-04 9.84645686e-01 1.23799793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.49, Y:61.05, Z:12.38 [[ 5.30523736e-01 -8.42402741e-01 -9.43514022e-02 1.16492099e+02] [ 8.29506376e-01 5.38848299e-01 -1.46838971e-01 6.10534158e+01] [ 1.74538644e-01 -3.63530192e-04 9.84650257e-01 1.23843422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:61.08, Z:12.39 [[ 5.28447949e-01 -8.43702284e-01 -9.43886733e-02 1.16505654e+02] [ 8.30800781e-01 5.36810862e-01 -1.46983536e-01 6.10762998e+01] [ 1.74679210e-01 -7.45035226e-04 9.84625116e-01 1.23878156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:61.10, Z:12.39 [[ 5.27306394e-01 -8.44397707e-01 -9.45541047e-02 1.16520758e+02] [ 8.31445395e-01 5.35716018e-01 -1.47332628e-01 6.11001056e+01] [ 1.75061481e-01 -9.27138399e-04 9.84557067e-01 1.23920593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:61.14, Z:12.37 [[ 5.24036025e-01 -8.49668195e-01 -5.87384220e-02 1.16517762e+02] [ 8.35237949e-01 5.26178444e-01 -1.59730442e-01 6.11363705e+01] [ 1.66624768e-01 3.46439469e-02 9.85411581e-01 1.23687630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.57, Y:61.13, Z:12.42 [[ 5.26339595e-01 -8.40153209e-01 -1.30802202e-01 1.16570692e+02] [ 8.31303403e-01 5.40785345e-01 -1.28397281e-01 6.11344356e+01] [ 1.78609302e-01 -4.11557427e-02 9.83058962e-01 1.24194706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99185806399998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:116.56, Y:61.17, Z:12.40 [[ 5.24234316e-01 -8.46623038e-01 -9.16941350e-02 1.16563870e+02] [ 8.32809032e-01 5.32181493e-01 -1.52354770e-01 6.11699232e+01] [ 1.77784980e-01 3.50589493e-03 9.84063113e-01 1.24044603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:61.19, Z:12.41 [[ 5.23088359e-01 -8.46854022e-01 -9.60043446e-02 1.16580871e+02] [ 8.33501176e-01 5.31822816e-01 -1.49800807e-01 6.11920485e+01] [ 1.77916716e-01 -1.66067608e-03 9.84044147e-01 1.24114775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.60, Y:61.22, Z:12.42 [[ 5.21452892e-01 -8.47900431e-01 -9.56647295e-02 1.16596369e+02] [ 8.34643326e-01 5.30151882e-01 -1.49363648e-01 6.12153861e+01] [ 1.77362338e-01 -1.95982168e-03 9.84143668e-01 1.24169922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.61, Y:61.24, Z:12.42 [[ 5.20758023e-01 -8.48348758e-01 -9.54749508e-02 1.16610363e+02] [ 8.35134992e-01 5.29433805e-01 -1.49162299e-01 6.12374619e+01] [ 1.77089317e-01 -2.05700841e-03 9.84192635e-01 1.24222891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.63, Y:61.26, Z:12.43 [[ 5.22553058e-01 -8.46685895e-01 -1.00306020e-01 1.16633500e+02] [ 8.33642656e-01 5.32057014e-01 -1.48173061e-01 6.12616112e+01] [ 1.78824562e-01 -6.19109071e-03 9.83861498e-01 1.24319020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.64, Y:61.29, Z:12.43 [[ 5.20063327e-01 -8.48963156e-01 -9.37853733e-02 1.16638004e+02] [ 8.35673404e-01 5.28451747e-01 -1.49628585e-01 6.12853560e+01] [ 1.76590200e-01 -5.57602213e-04 9.84284304e-01 1.24322767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:61.32, Z:12.42 [[ 5.19757403e-01 -8.50949607e-01 -7.57430461e-02 1.16647284e+02] [ 8.36690657e-01 5.24946244e-01 -1.56141554e-01 6.13170743e+01] [ 1.72629622e-01 1.77822296e-02 9.84826282e-01 1.24237144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:116.68, Y:61.33, Z:12.45 [[ 5.19861101e-01 -8.46861385e-01 -1.12117034e-01 1.16675060e+02] [ 8.35900953e-01 5.31350879e-01 -1.37607560e-01 6.13252972e+01] [ 1.76108013e-01 -2.21819181e-02 9.84120892e-01 1.24506299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.231858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:116.68, Y:61.36, Z:12.45 [[ 5.20880708e-01 -8.48376556e-01 -9.45542529e-02 1.16680880e+02] [ 8.35343310e-01 5.29390133e-01 -1.48147360e-01 6.13565507e+01] [ 1.75740836e-01 -1.81816066e-03 9.84434789e-01 1.24476505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.261858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.69, Y:61.38, Z:12.45 [[ 5.21278840e-01 -8.48108954e-01 -9.47606078e-02 1.16694703e+02] [ 8.34997467e-01 5.29819188e-01 -1.48562641e-01 6.13801471e+01] [ 1.76203294e-01 -1.68230649e-03 9.84352360e-01 1.24525205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:61.41, Z:12.45 [[ 5.21652179e-01 -8.48607122e-01 -8.80054376e-02 1.16708067e+02] [ 8.35020600e-01 5.28995391e-01 -1.51342243e-01 6.14081523e+01] [ 1.74984576e-01 5.46165772e-03 9.84556026e-01 1.24522524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.73, Y:61.43, Z:12.47 [[ 5.22922292e-01 -8.46348548e-01 -1.01224567e-01 1.16725447e+02] [ 8.33964097e-01 5.32556066e-01 -1.44526541e-01 6.14259167e+01] [ 1.76227585e-01 -8.84150488e-03 9.84309741e-01 1.24664214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.75, Y:61.45, Z:12.48 [[ 5.26350028e-01 -8.43437403e-01 -1.07559260e-01 1.16748021e+02] [ 8.31120605e-01 5.37058536e-01 -1.44245168e-01 6.14501288e+01] [ 1.79427388e-01 -1.34712690e-02 9.83678981e-01 1.24779100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:61.48, Z:12.47 [[ 5.25653745e-01 -8.46297250e-01 -8.64239857e-02 1.16745404e+02] [ 8.32231442e-01 5.32635222e-01 -1.53917338e-01 6.14795866e+01] [ 1.76292278e-01 8.98246661e-03 9.84296880e-01 1.24694052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.411858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:116.77, Y:61.50, Z:12.48 [[ 5.26832482e-01 -8.43989913e-01 -1.00640761e-01 1.16768073e+02] [ 8.31023866e-01 5.36326242e-01 -1.47490663e-01 6.14997927e+01] [ 1.78456913e-01 -5.93200199e-03 9.83929846e-01 1.24818764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:61.52, Z:12.49 [[ 5.27502589e-01 -8.43340038e-01 -1.02560223e-01 1.16783606e+02] [ 8.30324245e-01 5.37331936e-01 -1.47770223e-01 6.15234638e+01] [ 1.79729429e-01 -7.20906423e-03 9.83689667e-01 1.24892074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.79, Y:61.55, Z:12.48 [[ 5.27039439e-01 -8.45492434e-01 -8.58602000e-02 1.16787946e+02] [ 8.31408570e-01 5.33897949e-01 -1.53989514e-01 6.15516347e+01] [ 1.76037554e-01 9.77364117e-03 9.84334931e-01 1.24833972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.81, Y:61.57, Z:12.49 [[ 5.27227018e-01 -8.44481883e-01 -9.42444725e-02 1.16805422e+02] [ 8.31318159e-01 5.35584118e-01 -1.48525319e-01 6.15710242e+01] [ 1.75902784e-01 -4.05803274e-05 9.84407542e-01 1.24916794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:61.59, Z:12.50 [[ 5.28111654e-01 -8.42870341e-01 -1.03284408e-01 1.16825779e+02] [ 8.30154347e-01 5.38048295e-01 -1.46108838e-01 6.15929370e+01] [ 1.78722806e-01 -8.58021974e-03 9.83862053e-01 1.25035235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:61.62, Z:12.50 [[ 5.27463040e-01 -8.45028032e-01 -8.78086955e-02 1.16830927e+02] [ 8.31086140e-01 5.34665716e-01 -1.53063386e-01 6.16209972e+01] [ 1.76291151e-01 7.75868906e-03 9.84307489e-01 1.24993268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:61.64, Z:12.52 [[ 5.28314405e-01 -8.42280594e-01 -1.06992014e-01 1.16855584e+02] [ 8.29709297e-01 5.38907541e-01 -1.45468707e-01 6.16400668e+01] [ 1.80184272e-01 -1.19190550e-02 9.83560656e-01 1.25158796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.86, Y:61.67, Z:12.51 [[ 5.28496006e-01 -8.43546298e-01 -9.55071463e-02 1.16863515e+02] [ 8.29157593e-01 5.37049094e-01 -1.55164288e-01 6.16671172e+01] [ 1.82180287e-01 2.81323105e-03 9.83261119e-01 1.25149927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.651858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.87, Y:61.69, Z:12.51 [[ 5.26081827e-01 -8.45824607e-01 -8.84231021e-02 1.16871931e+02] [ 8.31752837e-01 5.33410091e-01 -1.53820975e-01 6.16920050e+01] [ 1.77271341e-01 7.37625367e-03 9.84134372e-01 1.25123744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:61.71, Z:12.52 [[ 5.25172398e-01 -8.45702635e-01 -9.47681673e-02 1.16889447e+02] [ 8.32342306e-01 5.33654376e-01 -1.49730731e-01 6.17134033e+01] [ 1.77201121e-01 -2.45107929e-04 9.84174630e-01 1.25201230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.711858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.91, Y:61.73, Z:12.53 [[ 5.24949769e-01 -8.44394932e-01 -1.06887503e-01 1.16912063e+02] [ 8.31726693e-01 5.35583582e-01 -1.46222213e-01 6.17340451e+01] [ 1.80716487e-01 -1.21418729e-02 9.83460282e-01 1.25343522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.92, Y:61.76, Z:12.54 [[ 5.22366010e-01 -8.46745358e-01 -1.00777235e-01 1.16923420e+02] [ 8.33293862e-01 5.31971002e-01 -1.50426701e-01 6.17602769e+01] [ 1.80983677e-01 -5.39925564e-03 9.83471279e-01 1.25385668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.93, Y:61.79, Z:12.53 [[ 5.19590934e-01 -8.50395898e-01 -8.27772854e-02 1.16926009e+02] [ 8.36055308e-01 5.26010310e-01 -1.55963699e-01 6.17882792e+01] [ 1.76172596e-01 1.18309354e-02 9.84288192e-01 1.25307408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:61.81, Z:12.55 [[ 5.19625119e-01 -8.48211069e-01 -1.02604673e-01 1.16952158e+02] [ 8.35562795e-01 5.29568930e-01 -1.46258555e-01 6.18059241e+01] [ 1.78394372e-01 -9.73302877e-03 9.83910929e-01 1.25474901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:61.83, Z:12.55 [[ 5.17335474e-01 -8.50260343e-01 -9.70636702e-02 1.16961593e+02] [ 8.36989735e-01 5.26348625e-01 -1.49684029e-01 6.18327290e+01] [ 1.78359723e-01 -3.80443776e-03 9.83957995e-01 1.25500870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.97, Y:61.86, Z:12.55 [[ 5.17391840e-01 -8.50914664e-01 -9.08290553e-02 1.16971271e+02] [ 8.36893562e-01 5.25291608e-01 -1.53876225e-01 6.18583328e+01] [ 1.78647277e-01 3.60005156e-03 9.83906596e-01 1.25504515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.891858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:116.98, Y:61.88, Z:12.55 [[ 5.15599280e-01 -8.51880612e-01 -9.19608941e-02 1.16983115e+02] [ 8.38631574e-01 5.23736023e-01 -1.49658484e-01 6.18815644e+01] [ 1.75654394e-01 4.24973567e-05 9.84451894e-01 1.25536090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.00, Y:61.91, Z:12.56 [[ 5.14573599e-01 -8.52308593e-01 -9.37233903e-02 1.16996312e+02] [ 8.39236835e-01 5.23034912e-01 -1.48714545e-01 6.19059633e+01] [ 1.75771289e-01 -2.13154292e-03 9.84428723e-01 1.25594796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.01, Y:61.93, Z:12.56 [[ 5.13741845e-01 -8.52796015e-01 -9.38523988e-02 1.17009896e+02] [ 8.39679312e-01 5.22239299e-01 -1.49012644e-01 6.19299186e+01] [ 1.76090800e-01 -2.25188682e-03 9.84371352e-01 1.25644575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:61.95, Z:12.57 [[ 5.12838162e-01 -8.53329405e-01 -9.39465122e-02 1.17023459e+02] [ 8.40178093e-01 5.21366693e-01 -1.49256640e-01 6.19535204e+01] [ 1.76345662e-01 -2.38730058e-03 9.84325408e-01 1.25689166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.011858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.04, Y:61.98, Z:12.57 [[ 5.12048912e-01 -8.53886755e-01 -9.31843379e-02 1.17038657e+02] [ 8.40520933e-01 5.20457314e-01 -1.50495003e-01 6.19791123e+01] [ 1.77004160e-01 -1.26258410e-03 9.84209293e-01 1.25743281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:62.00, Z:12.59 [[ 5.12672930e-01 -8.51410614e-01 -1.10753929e-01 1.17061731e+02] [ 8.39271149e-01 5.24160118e-01 -1.44499511e-01 6.19972998e+01] [ 1.81081209e-01 -1.88715894e-02 9.83287068e-01 1.25919925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.071858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:117.06, Y:62.03, Z:12.58 [[ 5.10872544e-01 -8.55518457e-01 -8.42461433e-02 1.17062661e+02] [ 8.41017571e-01 5.17686594e-01 -1.57130636e-01 6.20310099e+01] [ 1.78041258e-01 9.42124084e-03 9.83977922e-01 1.25809145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.09, Y:62.04, Z:12.61 [[ 5.12098602e-01 -8.49852129e-01 -1.24524616e-01 1.17094317e+02] [ 8.38767455e-01 5.26021709e-01 -1.40606962e-01 6.20409625e+01] [ 1.84997777e-01 -3.24425668e-02 9.82203290e-01 1.26123188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:62.07, Z:12.62 [[ 5.11866337e-01 -8.51510525e-01 -1.13677964e-01 1.17101140e+02] [ 8.38083132e-01 5.24040492e-01 -1.51651662e-01 6.20705582e+01] [ 1.88704843e-01 -1.76462034e-02 9.81875294e-01 1.26162832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.12, Y:62.10, Z:12.63 [[ 5.10321285e-01 -8.51948547e-01 -1.17285373e-01 1.17116176e+02] [ 8.38514424e-01 5.23215490e-01 -1.52115455e-01 6.20950046e+01] [ 1.90960065e-01 -2.07177231e-02 9.81379147e-01 1.26271646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.191858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.09, Y:62.14, Z:12.58 [[ 5.05439760e-01 -8.61701789e-01 -4.47289047e-02 1.17090576e+02] [ 8.43749285e-01 5.04429719e-01 -1.83406113e-01 6.21427600e+01] [ 1.80603965e-01 5.49607606e-02 9.82019105e-01 1.25849693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.13, Y:62.15, Z:12.61 [[ 5.04173162e-01 -8.57707462e-01 -1.00733971e-01 1.17129436e+02] [ 8.45057738e-01 5.14021897e-01 -1.47169664e-01 6.21466130e+01] [ 1.78007985e-01 -1.09270265e-02 9.83968372e-01 1.26117343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:62.17, Z:12.61 [[ 5.03212395e-01 -8.58921903e-01 -9.50286813e-02 1.17139694e+02] [ 8.45428365e-01 5.12090963e-01 -1.51702754e-01 6.21731146e+01] [ 1.78964147e-01 -4.00123636e-03 9.83847460e-01 1.26138215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:62.20, Z:12.62 [[ 5.02156864e-01 -8.59554591e-01 -9.48914592e-02 1.17150639e+02] [ 8.46094625e-01 5.11026906e-01 -1.51576340e-01 6.21992657e+01] [ 1.78780228e-01 -4.17205433e-03 9.83880188e-01 1.26180940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.16, Y:62.22, Z:12.62 [[ 5.02096401e-01 -8.59571572e-01 -9.50574348e-02 1.17163225e+02] [ 8.46046887e-01 5.10998638e-01 -1.51937675e-01 6.22237494e+01] [ 1.79175526e-01 -4.13568696e-03 9.83808430e-01 1.26227963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.18, Y:62.25, Z:12.63 [[ 5.02350619e-01 -8.59417273e-01 -9.51094426e-02 1.17175940e+02] [ 8.45857471e-01 5.11258921e-01 -1.52116583e-01 6.22482007e+01] [ 1.79357170e-01 -4.03317280e-03 9.83775757e-01 1.26275128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.19, Y:62.27, Z:12.63 [[ 5.03798412e-01 -8.58514639e-01 -9.56021715e-02 1.17187353e+02] [ 8.44778936e-01 5.12775845e-01 -1.53001573e-01 6.22739287e+01] [ 1.80376575e-01 -3.68075109e-03 9.83590740e-01 1.26326286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:62.30, Z:12.64 [[ 5.03571113e-01 -8.58652855e-01 -9.55584027e-02 1.17202192e+02] [ 8.44914437e-01 5.12544387e-01 -1.53028905e-01 6.22978575e+01] [ 1.80376629e-01 -3.67773771e-03 9.83590741e-01 1.26374813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:62.32, Z:12.64 [[ 5.04058439e-01 -8.58424344e-01 -9.50407055e-02 1.17215207e+02] [ 8.44445082e-01 5.12934219e-01 -1.54308101e-01 6.23235861e+01] [ 1.81211461e-01 -2.47635561e-03 9.83441037e-01 1.26424824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:62.33, Z:12.68 [[ 5.08299753e-01 -8.49617851e-01 -1.40644472e-01 1.17253589e+02] [ 8.39601210e-01 5.25240288e-01 -1.38536811e-01 6.23340715e+01] [ 1.91575490e-01 -4.76670419e-02 9.80319685e-01 1.26796668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:62.39, Z:12.64 [[ 5.05346417e-01 -8.60961609e-01 -5.80526216e-02 1.17223493e+02] [ 8.43968215e-01 5.07150811e-01 -1.74687456e-01 6.23851514e+01] [ 1.79840627e-01 3.92831124e-02 9.82911077e-01 1.26358077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:62.40, Z:12.65 [[ 5.06127166e-01 -8.57203757e-01 -9.50631904e-02 1.17250915e+02] [ 8.43438605e-01 5.14970164e-01 -1.53026307e-01 6.23978578e+01] [ 1.80129432e-01 -2.72919339e-03 9.83639131e-01 1.26536855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:62.42, Z:12.66 [[ 5.06292054e-01 -8.57068616e-01 -9.54030559e-02 1.17263866e+02] [ 8.43184196e-01 5.15195508e-01 -1.53668476e-01 6.24215432e+01] [ 1.80855653e-01 -2.64122088e-03 9.83506104e-01 1.26584595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.28, Y:62.45, Z:12.66 [[ 5.06318636e-01 -8.57039188e-01 -9.55262762e-02 1.17277781e+02] [ 8.43105504e-01 5.15244678e-01 -1.53935153e-01 6.24456031e+01] [ 1.81147864e-01 -2.59849285e-03 9.83452439e-01 1.26635413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:62.45, Z:12.72 [[ 5.10700756e-01 -8.44601635e-01 -1.60725902e-01 1.17327372e+02] [ 8.36689610e-01 5.31250700e-01 -1.33128473e-01 6.24506719e+01] [ 1.97826274e-01 -6.64888802e-02 9.77979547e-01 1.27170777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.641858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.28, Y:62.51, Z:12.66 [[ 5.08065140e-01 -8.60142754e-01 -4.49917413e-02 1.17282179e+02] [ 8.41662633e-01 5.06888651e-01 -1.86193200e-01 6.25114617e+01] [ 1.82958535e-01 5.67304070e-02 9.81482468e-01 1.26575465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:62.52, Z:12.68 [[ 5.07723977e-01 -8.56192122e-01 -9.56630161e-02 1.17318999e+02] [ 8.42158074e-01 5.16653015e-01 -1.54400259e-01 6.25179822e+01] [ 1.81620871e-01 -2.17066799e-03 9.83366233e-01 1.26809473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:62.54, Z:12.69 [[ 5.08939727e-01 -8.55545143e-01 -9.49887531e-02 1.17331326e+02] [ 8.41681326e-01 5.17724822e-01 -1.53406498e-01 6.25422630e+01] [ 1.80424220e-01 -1.87559832e-03 9.83587100e-01 1.26871751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.731858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.34, Y:62.57, Z:12.69 [[ 5.09558180e-01 -8.55153478e-01 -9.51997373e-02 1.17344709e+02] [ 8.41202839e-01 5.18372138e-01 -1.53844434e-01 6.25656686e+01] [ 1.80909494e-01 -1.68959980e-03 9.83498297e-01 1.26922954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.761858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.39, Y:62.57, Z:12.75 [[ 5.13439241e-01 -8.42384608e-01 -1.63610263e-01 1.17393910e+02] [ 8.34483235e-01 5.34580509e-01 -1.33646589e-01 6.25693620e+01] [ 2.00044687e-01 -6.79106187e-02 9.77430443e-01 1.27472001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:62.63, Z:12.68 [[ 5.11303204e-01 -8.58389019e-01 -4.16812268e-02 1.17349078e+02] [ 8.39837100e-01 5.09365509e-01 -1.87671051e-01 6.26328511e+01] [ 1.82325748e-01 6.09513689e-02 9.81347162e-01 1.26843023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.39, Y:62.64, Z:12.71 [[ 5.11469711e-01 -8.53919324e-01 -9.60235565e-02 1.17387170e+02] [ 8.39660149e-01 5.20404153e-01 -1.55403836e-01 6.26380245e+01] [ 1.82673396e-01 -1.14279877e-03 9.83172988e-01 1.27085251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:62.66, Z:12.71 [[ 5.11844512e-01 -8.53704065e-01 -9.59404259e-02 1.17400473e+02] [ 8.39448411e-01 5.20757468e-01 -1.55364172e-01 6.26612396e+01] [ 1.82596718e-01 -1.01473943e-03 9.83187372e-01 1.27136967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.41, Y:62.69, Z:12.72 [[ 5.12111359e-01 -8.53546324e-01 -9.59199080e-02 1.17413849e+02] [ 8.39281328e-01 5.21016144e-01 -1.55399582e-01 6.26853515e+01] [ 1.82616563e-01 -9.21896574e-04 9.83183778e-01 1.27188372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:62.71, Z:12.72 [[ 5.12459329e-01 -8.53317249e-01 -9.60994750e-02 1.17427292e+02] [ 8.38976051e-01 5.21391455e-01 -1.55788756e-01 6.27095293e+01] [ 1.83042677e-01 -7.89757034e-04 9.83104651e-01 1.27238288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.44, Y:62.73, Z:12.73 [[ 5.13012623e-01 -8.52942707e-01 -9.64716906e-02 1.17439814e+02] [ 8.38464069e-01 5.22004187e-01 -1.56491642e-01 6.27327879e+01] [ 1.83837031e-01 -6.05858366e-04 9.82956550e-01 1.27284008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:62.76, Z:12.73 [[ 5.13010226e-01 -8.52952644e-01 -9.63965554e-02 1.17453605e+02] [ 8.38480196e-01 5.21988000e-01 -1.56459223e-01 6.27552931e+01] [ 1.83770153e-01 -5.61421432e-04 9.82969082e-01 1.27332125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.47, Y:62.78, Z:12.74 [[ 5.12982651e-01 -8.52977741e-01 -9.63212002e-02 1.17468373e+02] [ 8.38511871e-01 5.21947029e-01 -1.56426154e-01 6.27788478e+01] [ 1.83702592e-01 -5.22566418e-04 9.82981732e-01 1.27384502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.48, Y:62.80, Z:12.74 [[ 5.12889154e-01 -8.53070461e-01 -9.59974161e-02 1.17481801e+02] [ 8.38686151e-01 5.21795492e-01 -1.55996811e-01 6.28017682e+01] [ 1.83167291e-01 -5.02630691e-04 9.83081630e-01 1.27436333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.50, Y:62.83, Z:12.75 [[ 5.12496272e-01 -8.53288947e-01 -9.61537528e-02 1.17495670e+02] [ 8.38848034e-01 5.21438085e-01 -1.56321140e-01 6.28260495e+01] [ 1.83525329e-01 -5.44385127e-04 9.83014831e-01 1.27482688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.51, Y:62.85, Z:12.75 [[ 5.11808216e-01 -8.53456628e-01 -9.83063259e-02 1.17511327e+02] [ 8.39450239e-01 5.21150814e-01 -1.54029628e-01 6.28503037e+01] [ 1.82690028e-01 -3.68963977e-03 9.83163639e-01 1.27536048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:62.87, Z:12.77 [[ 5.14762148e-01 -8.50396335e-01 -1.08839355e-01 1.17535947e+02] [ 8.36603735e-01 5.25999309e-01 -1.53032406e-01 6.28714299e+01] [ 1.87387623e-01 -1.22801208e-02 9.82209284e-01 1.27667354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:62.90, Z:12.76 [[ 5.10261222e-01 -8.55696641e-01 -8.61205215e-02 1.17535641e+02] [ 8.40169560e-01 5.17368760e-01 -1.62618193e-01 6.28998382e+01] [ 1.83707909e-01 1.06219170e-02 9.82923486e-01 1.27593960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.50, Y:62.95, Z:12.71 [[ 5.01739385e-01 -8.65017470e-01 1.53800599e-03 1.17504493e+02] [ 8.50037136e-01 4.92719248e-01 -1.86184345e-01 6.29527573e+01] [ 1.60294906e-01 9.47233810e-02 9.82513625e-01 1.27096690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:62.92, Z:12.79 [[ 5.04648117e-01 -8.47623139e-01 -1.63906350e-01 1.17596291e+02] [ 8.46030699e-01 5.23355099e-01 -1.01643972e-01 6.29186119e+01] [ 1.71937007e-01 -8.73753643e-02 9.81225362e-01 1.27903408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:62.97, Z:12.77 [[ 5.04545636e-01 -8.59081801e-01 -8.60939081e-02 1.17577465e+02] [ 8.45581750e-01 5.11824474e-01 -1.51747198e-01 6.29670456e+01] [ 1.74428225e-01 3.76394901e-03 9.84662697e-01 1.27657838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.56, Y:63.01, Z:12.73 [[ 5.00215143e-01 -8.65649766e-01 -2.08636819e-02 1.17559208e+02] [ 8.51267155e-01 4.96029636e-01 -1.71169012e-01 6.30126578e+01] [ 1.58521420e-01 6.78607648e-02 9.85020749e-01 1.27271064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:63.00, Z:12.79 [[ 5.04896432e-01 -8.53239531e-01 -1.30621192e-01 1.17629754e+02] [ 8.46270175e-01 5.19111266e-01 -1.19792671e-01 6.30009123e+01] [ 1.70018775e-01 -5.00579274e-02 9.84168593e-01 1.27850247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:63.04, Z:12.78 [[ 5.06661372e-01 -8.57054526e-01 -9.35510246e-02 1.17629203e+02] [ 8.44724450e-01 5.15195524e-01 -1.44962669e-01 6.30370351e+01] [ 1.72437981e-01 -5.57785288e-03 9.85004584e-01 1.27773485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:63.06, Z:12.78 [[ 5.08210919e-01 -8.56496157e-01 -9.01997540e-02 1.17643627e+02] [ 8.43734057e-01 5.16151911e-01 -1.47309354e-01 6.30615422e+01] [ 1.72726671e-01 -1.24038196e-03 9.84969014e-01 1.27814969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.66, Y:63.08, Z:12.80 [[ 5.08431867e-01 -8.55106117e-01 -1.01442420e-01 1.17659340e+02] [ 8.42832912e-01 5.18317439e-01 -1.44843761e-01 6.30783651e+01] [ 1.76436161e-01 -1.18558263e-02 9.84240682e-01 1.27959814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:63.10, Z:12.80 [[ 5.09551992e-01 -8.55567397e-01 -9.14395785e-02 1.17669113e+02] [ 8.42120772e-01 5.17691442e-01 -1.51089962e-01 6.31036755e+01] [ 1.76605132e-01 -1.49774322e-05 9.84281782e-01 1.27971709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.451858064 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:117.68, Y:63.13, Z:12.80 [[ 5.11612883e-01 -8.54280246e-01 -9.19647752e-02 1.17684178e+02] [ 8.40800992e-01 5.19812718e-01 -1.51156973e-01 6.31260634e+01] [ 1.76934876e-01 9.78081528e-06 9.84222561e-01 1.28016911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:63.16, Z:12.80 [[ 5.11648189e-01 -8.55071752e-01 -8.40739529e-02 1.17698730e+02] [ 8.41027845e-01 5.18442068e-01 -1.54563858e-01 6.31555769e+01] [ 1.75750663e-01 8.37378265e-03 9.84399098e-01 1.28009659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.72, Y:63.17, Z:12.81 [[ 5.13701483e-01 -8.52019456e-01 -1.00864428e-01 1.17722107e+02] [ 8.39720323e-01 5.23406691e-01 -1.44620936e-01 6.31689948e+01] [ 1.76012967e-01 -1.04059206e-02 9.84332846e-01 1.28137348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.541858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.73, Y:63.20, Z:12.81 [[ 5.12823748e-01 -8.54396683e-01 -8.37741717e-02 1.17731606e+02] [ 8.40241117e-01 5.19540284e-01 -1.55153982e-01 6.32002923e+01] [ 1.76087105e-01 9.17614325e-03 9.84331819e-01 1.28111441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:63.21, Z:12.83 [[ 5.11569961e-01 -8.53432573e-01 -9.97447691e-02 1.17748745e+02] [ 8.40616481e-01 5.21136407e-01 -1.47583120e-01 6.32149539e+01] [ 1.77932873e-01 -8.34800568e-03 9.84007217e-01 1.28251610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:63.24, Z:12.80 [[ 5.12132796e-01 -8.56103713e-01 -6.93284371e-02 1.17750183e+02] [ 8.43429150e-01 5.16517563e-01 -1.47773054e-01 6.32448767e+01] [ 1.62318416e-01 1.72058026e-02 9.86588411e-01 1.28036044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:63.26, Z:12.82 [[ 5.13320620e-01 -8.53447488e-01 -9.01627742e-02 1.17779357e+02] [ 8.39871976e-01 5.21174568e-01 -1.51631573e-01 6.32646333e+01] [ 1.76400130e-01 2.11042566e-03 9.84316281e-01 1.28242518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:63.30, Z:12.80 [[ 5.11066501e-01 -8.58276582e-01 -4.66083810e-02 1.17771857e+02] [ 8.43174278e-01 5.11128846e-01 -1.66746635e-01 6.33015233e+01] [ 1.66937620e-01 4.59196312e-02 9.84897568e-01 1.28025626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.691858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:117.83, Y:63.29, Z:12.86 [[ 5.12690071e-01 -8.47218072e-01 -1.39177694e-01 1.17827592e+02] [ 8.39232938e-01 5.28726045e-01 -1.27030888e-01 6.32930923e+01] [ 1.81209735e-01 -5.16750301e-02 9.82085904e-01 1.28574641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:63.33, Z:12.85 [[ 5.14224002e-01 -8.51876746e-01 -9.93966065e-02 1.17828812e+02] [ 8.39047022e-01 5.23687759e-01 -1.47482970e-01 6.33282161e+01] [ 1.77690098e-01 -7.55914374e-03 9.84057462e-01 1.28476542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:63.36, Z:12.84 [[ 5.14163475e-01 -8.53950200e-01 -8.00311007e-02 1.17834932e+02] [ 8.38382255e-01 5.20083280e-01 -1.63182647e-01 6.33574178e+01] [ 1.80972691e-01 1.68059021e-02 9.83344521e-01 1.28437785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.85, Y:63.38, Z:12.84 [[ 5.14070897e-01 -8.54420130e-01 -7.54808171e-02 1.17851027e+02] [ 8.40429004e-01 5.19331390e-01 -1.54835387e-01 6.33831121e+01] [ 1.71494029e-01 1.61600984e-02 9.85052612e-01 1.28382584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.811858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.88, Y:63.39, Z:12.87 [[ 5.14096353e-01 -8.49735817e-01 -1.16850252e-01 1.17884101e+02] [ 8.38816102e-01 5.26524293e-01 -1.38418626e-01 6.33905437e+01] [ 1.79143761e-01 -2.68553619e-02 9.83456304e-01 1.28667513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:63.43, Z:12.85 [[ 5.13770343e-01 -8.53989362e-01 -8.21109282e-02 1.17888834e+02] [ 8.39263345e-01 5.20141053e-01 -1.58399250e-01 6.34279351e+01] [ 1.77980539e-01 1.24681444e-02 9.83955016e-01 1.28547467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:63.44, Z:12.87 [[ 5.14561834e-01 -8.52155930e-01 -9.51650686e-02 1.17912342e+02] [ 8.38688064e-01 5.23283500e-01 -1.50919546e-01 6.34436240e+01] [ 1.78405296e-01 -2.15636882e-03 9.83954725e-01 1.28653449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:63.47, Z:12.86 [[ 5.10316726e-01 -8.55892543e-01 -8.38140495e-02 1.17921889e+02] [ 8.41401732e-01 5.17063428e-01 -1.57125862e-01 6.34742518e+01] [ 1.77820033e-01 9.66266901e-03 9.84015584e-01 1.28637096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.931858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.94, Y:63.49, Z:12.87 [[ 5.07822102e-01 -8.56277561e-01 -9.43686963e-02 1.17943255e+02] [ 8.44057168e-01 5.16476567e-01 -1.44289478e-01 6.34900203e+01] [ 1.72291063e-01 -6.37918847e-03 9.85025429e-01 1.28710092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.95, Y:63.52, Z:12.87 [[ 5.08346814e-01 -8.57117624e-01 -8.32640112e-02 1.17952623e+02] [ 8.43456594e-01 5.15068416e-01 -1.52595872e-01 6.35151654e+01] [ 1.73679274e-01 7.34204624e-03 9.84774900e-01 1.28719769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:63.55, Z:12.86 [[ 5.04534563e-01 -8.61395197e-01 -5.86787015e-02 1.17954481e+02] [ 8.47531553e-01 5.07088200e-01 -1.56690214e-01 6.35465691e+01] [ 1.64727475e-01 2.93235778e-02 9.85903133e-01 1.28576375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02185806399999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:117.99, Y:63.56, Z:12.89 [[ 5.04242878e-01 -8.57968711e-01 -9.81265062e-02 1.17994040e+02] [ 8.46540715e-01 5.13551923e-01 -1.40118662e-01 6.35568743e+01] [ 1.70610484e-01 -1.24142452e-02 9.85260346e-01 1.28855150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:63.58, Z:12.89 [[ 5.03434906e-01 -8.59250595e-01 -9.07838661e-02 1.18006873e+02] [ 8.46731903e-01 5.11544387e-01 -1.46176004e-01 6.35813442e+01] [ 1.72041796e-01 -3.27949260e-03 9.85084192e-01 1.28884000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.081858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.03, Y:63.60, Z:12.90 [[ 5.02401795e-01 -8.59083749e-01 -9.78138488e-02 1.18027356e+02] [ 8.46749969e-01 5.11741502e-01 -1.45379245e-01 6.36022592e+01] [ 1.74948353e-01 -9.78507976e-03 9.84528987e-01 1.28997930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.111858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:118.04, Y:63.63, Z:12.90 [[ 4.99228942e-01 -8.62543646e-01 -8.23949155e-02 1.18038242e+02] [ 8.48571682e-01 5.05929125e-01 -1.54796066e-01 6.36301485e+01] [ 1.75204351e-01 7.36068447e-03 9.84504574e-01 1.28956831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.141858064 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:118.05, Y:63.65, Z:12.89 [[ 4.97061882e-01 -8.64210965e-01 -7.79031005e-02 1.18051245e+02] [ 8.50774347e-01 5.03043308e-01 -1.52086948e-01 6.36530173e+01] [ 1.70623842e-01 9.31866530e-03 9.85292173e-01 1.28942372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.171858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:118.07, Y:63.67, Z:12.91 [[ 4.96082669e-01 -8.63287331e-01 -9.29352974e-02 1.18073173e+02] [ 8.50956628e-01 5.04665900e-01 -1.45551181e-01 6.36707359e+01] [ 1.72553766e-01 -6.87848915e-03 9.84976083e-01 1.29071778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.201858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:118.10, Y:63.68, Z:12.93 [[ 4.97513091e-01 -8.59875570e-01 -1.14432198e-01 1.18100840e+02] [ 8.48067529e-01 5.09877245e-01 -1.44245146e-01 6.36847264e+01] [ 1.82379251e-01 -2.52823827e-02 9.82903154e-01 1.29324739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.231858064 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:118.10, Y:63.72, Z:12.91 [[ 4.96447706e-01 -8.64769286e-01 -7.55894042e-02 1.18098417e+02] [ 8.50054450e-01 5.01946661e-01 -1.59552441e-01 6.37196080e+01] [ 1.75917899e-01 1.49543337e-02 9.84291248e-01 1.29130084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.261858064 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:118.12, Y:63.74, Z:12.92 [[ 4.96280007e-01 -8.63585601e-01 -8.90284515e-02 1.18118109e+02] [ 8.50106805e-01 5.04202186e-01 -1.51982158e-01 6.37384835e+01] [ 1.76137943e-01 -2.57985955e-04 9.84365460e-01 1.29235969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.291858064 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:118.14, Y:63.76, Z:12.94 [[ 4.98186107e-01 -8.61414629e-01 -9.88708256e-02 1.18142996e+02] [ 8.48851913e-01 5.07789497e-01 -1.46970256e-01 6.37584024e+01] [ 1.76807895e-01 -1.07081499e-02 9.84187128e-01 1.29356445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321858064 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:118.16, Y:63.78, Z:12.94 [[ 4.96440602e-01 -8.62737867e-01 -9.60734161e-02 1.18155595e+02] [ 8.49665560e-01 5.05599211e-01 -1.49792772e-01 6.37806053e+01] [ 1.77806540e-01 -7.26705893e-03 9.84038629e-01 1.29405727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.351858064 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:118.17, Y:63.80, Z:12.95 [[ 4.96622750e-01 -8.62854089e-01 -9.40673422e-02 1.18169132e+02] [ 8.49365618e-01 5.05433988e-01 -1.52034636e-01 6.38038156e+01] [ 1.78728539e-01 -4.39370754e-03 9.83888614e-01 1.29450897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381858064 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:118.18, Y:63.84, Z:12.93 [[ 4.96167823e-01 -8.65211933e-01 -7.22897047e-02 1.18175102e+02] [ 8.50349981e-01 5.01073298e-01 -1.60718571e-01 6.38357919e+01] [ 1.75278066e-01 1.82718343e-02 9.84349399e-01 1.29343326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.411858064 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:118.21, Y:63.84, Z:12.96 [[ 4.97116828e-01 -8.60951593e-01 -1.07875922e-01 1.18207236e+02] [ 8.48989645e-01 5.08301014e-01 -1.44383729e-01 6.38448072e+01] [ 1.79140842e-01 -1.98099595e-02 9.83623975e-01 1.29601461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441858064 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:118.22, Y:63.87, Z:12.96 [[ 4.96747251e-01 -8.62878327e-01 -9.31834805e-02 1.18216200e+02] [ 8.49463287e-01 5.05397091e-01 -1.51611032e-01 6.38719097e+01] [ 1.77916534e-01 -3.84358212e-03 9.84038075e-01 1.29581239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.471858064 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:118.23, Y:63.90, Z:12.96 [[ 4.96206424e-01 -8.63518196e-01 -9.00861188e-02 1.18230339e+02] [ 8.49944585e-01 5.04316892e-01 -1.52507948e-01 6.38954223e+01] [ 1.77125340e-01 -8.92785124e-04 9.84187897e-01 1.29616633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501858064 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:118.24, Y:63.92, Z:12.96 [[ 4.95701528e-01 -8.64545239e-01 -8.27135107e-02 1.18242743e+02] [ 8.49925700e-01 5.02486691e-01 -1.58535266e-01 6.39214224e+01] [ 1.78623348e-01 8.28583525e-03 9.83882638e-01 1.29627386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.531858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:118.26, Y:63.94, Z:12.97 [[ 4.95691302e-01 -8.63177356e-01 -9.59947159e-02 1.18263867e+02] [ 8.50383312e-01 5.04835422e-01 -1.48288299e-01 6.39382675e+01] [ 1.76460635e-01 -8.12708441e-03 9.84274146e-01 1.29741414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561858064 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:118.28, Y:63.96, Z:12.98 [[ 4.95188141e-01 -8.64011732e-01 -9.09529109e-02 1.18280141e+02] [ 8.50981400e-01 5.03460493e-01 -1.49526550e-01 6.39622473e+01] [ 1.74983891e-01 -3.35546097e-03 9.84565579e-01 1.29768910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.591858064 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:118.30, Y:63.99, Z:12.98 [[ 4.94757623e-01 -8.64474265e-01 -8.88771007e-02 1.18295066e+02] [ 8.51238446e-01 5.02675883e-01 -1.50698593e-01 6.39862474e+01] [ 1.74951431e-01 -1.09632731e-03 9.84576455e-01 1.29808678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621858064 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:118.31, Y:64.01, Z:12.98 [[ 4.94662893e-01 -8.65178265e-01 -8.23115565e-02 1.18306958e+02] [ 8.50954221e-01 5.01410898e-01 -1.56409800e-01 6.40118295e+01] [ 1.76594271e-01 7.32675775e-03 9.84256462e-01 1.29819702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.651858064 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:118.33, Y:64.03, Z:12.99 [[ 4.94682855e-01 -8.63790565e-01 -9.56803671e-02 1.18329773e+02] [ 8.51407671e-01 5.03766565e-01 -1.46028165e-01 6.40306168e+01] [ 1.74338321e-01 -9.22536890e-03 9.84642596e-01 1.29928379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:118.34, Y:64.06, Z:12.99 [[ 4.94706581e-01 -8.64552268e-01 -8.84012143e-02 1.18341573e+02] [ 8.51420865e-01 5.02541905e-01 -1.50113769e-01 6.40554625e+01] [ 1.74206514e-01 -1.00436880e-03 9.84708628e-01 1.29936096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.711858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:118.36, Y:64.08, Z:13.00 [[ 4.95005950e-01 -8.64358171e-01 -8.86231411e-02 1.18356993e+02] [ 8.51139030e-01 5.02875895e-01 -1.50592780e-01 6.40784399e+01] [ 1.74732541e-01 -8.86292423e-04 9.84615536e-01 1.29990729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.37, Y:64.10, Z:13.00 [[ 4.96365382e-01 -8.63644702e-01 -8.79729285e-02 1.18372335e+02] [ 8.50592132e-01 5.04100676e-01 -1.49584536e-01 6.41007152e+01] [ 1.73535105e-01 -5.80495600e-04 9.84827513e-01 1.30032252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77185806399999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:118.39, Y:64.12, Z:13.01 [[ 4.97031689e-01 -8.63280036e-01 -8.77899794e-02 1.18386214e+02] [ 8.50258481e-01 5.04725094e-01 -1.49375685e-01 6.41233020e+01] [ 1.73262852e-01 -3.99725497e-04 9.84875537e-01 1.30080396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:64.16, Z:12.99 [[ 4.94139020e-01 -8.67578095e-01 -5.59899742e-02 1.18382816e+02] [ 8.53665208e-01 4.96388916e-01 -1.57650743e-01 6.41561210e+01] [ 1.64567134e-01 3.01046907e-02 9.85906368e-01 1.29880586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.831858064 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:118.43, Y:64.16, Z:13.03 [[ 4.97959378e-01 -8.59906139e-01 -1.12240326e-01 1.18425544e+02] [ 8.49786419e-01 5.09662959e-01 -1.34561178e-01 6.41617681e+01] [ 1.72914719e-01 -2.83743043e-02 9.84528008e-01 1.30293820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:64.19, Z:13.02 [[ 4.98027687e-01 -8.62701216e-01 -8.78352652e-02 1.18430704e+02] [ 8.49627391e-01 5.05713950e-01 -1.49621848e-01 6.41933890e+01] [ 1.73498469e-01 -1.11424463e-04 9.84834133e-01 1.30227058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.45, Y:64.22, Z:13.03 [[ 4.97604195e-01 -8.62927245e-01 -8.80149706e-02 1.18445086e+02] [ 8.49785732e-01 5.05328161e-01 -1.50025527e-01 6.42167903e+01] [ 1.73937558e-01 -1.40534470e-04 9.84756674e-01 1.30274854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:64.24, Z:13.03 [[ 4.97416696e-01 -8.63013168e-01 -8.82320956e-02 1.18459307e+02] [ 8.49790189e-01 5.05181411e-01 -1.50493780e-01 6.42398110e+01] [ 1.74451328e-01 -1.20650297e-04 9.84665791e-01 1.30320446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.951858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:118.47, Y:64.26, Z:13.04 [[ 4.98384661e-01 -8.62470427e-01 -8.80766286e-02 1.18473391e+02] [ 8.49267639e-01 5.06107447e-01 -1.50332067e-01 6.42632156e+01] [ 1.74233199e-01 1.22565582e-04 9.84704411e-01 1.30371940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.981858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:118.49, Y:64.29, Z:13.04 [[ 4.98738149e-01 -8.62295833e-01 -8.77847078e-02 1.18486273e+02] [ 8.49161590e-01 5.06404820e-01 -1.49929156e-01 6.42869698e+01] [ 1.73737886e-01 2.31987559e-04 9.84791904e-01 1.30418922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.011858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:118.50, Y:64.31, Z:13.05 [[ 4.99020229e-01 -8.62135986e-01 -8.77516575e-02 1.18499539e+02] [ 8.48991392e-01 5.06676846e-01 -1.49973962e-01 6.43115503e+01] [ 1.73759683e-01 3.39638811e-04 9.84788027e-01 1.30469716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.51, Y:64.34, Z:13.05 [[ 4.99034285e-01 -8.62166622e-01 -8.73698874e-02 1.18511240e+02] [ 8.49120705e-01 5.06624687e-01 -1.49417051e-01 6.43365874e+01] [ 1.73086136e-01 3.76650838e-04 9.84906619e-01 1.30510151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:64.36, Z:13.05 [[ 4.99042374e-01 -8.62346858e-01 -8.55254635e-02 1.18522955e+02] [ 8.48870806e-01 5.06307869e-01 -1.51890411e-01 6.43603455e+01] [ 1.74284434e-01 3.19968223e-03 9.84690153e-01 1.30543873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:64.38, Z:13.06 [[ 4.98379277e-01 -8.62283526e-01 -8.99178363e-02 1.18539057e+02] [ 8.49332655e-01 5.06421220e-01 -1.48901274e-01 6.43833769e+01] [ 1.73931416e-01 -2.16084546e-03 9.84755398e-01 1.30616299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.55, Y:64.41, Z:13.06 [[ 4.97464468e-01 -8.63271809e-01 -8.53866897e-02 1.18550168e+02] [ 8.49596320e-01 5.04726385e-01 -1.53092682e-01 6.44079975e+01] [ 1.75257512e-01 3.61395253e-03 9.84515995e-01 1.30639153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:64.43, Z:13.07 [[ 4.95191901e-01 -8.63435078e-01 -9.62540755e-02 1.18569259e+02] [ 8.51473705e-01 5.04343652e-01 -1.43631510e-01 6.44282654e+01] [ 1.72561616e-01 -1.08326538e-02 9.84939157e-01 1.30738809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.58, Y:64.46, Z:13.07 [[ 4.94532620e-01 -8.65319195e-01 -8.16099129e-02 1.18576244e+02] [ 8.51634279e-01 5.01180743e-01 -1.53417461e-01 6.44566432e+01] [ 1.73656390e-01 6.36813939e-03 9.84785715e-01 1.30714554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:64.48, Z:13.08 [[ 4.93441228e-01 -8.65382633e-01 -8.73421585e-02 1.18592072e+02] [ 8.52280681e-01 5.01111490e-01 -1.50016387e-01 6.44776944e+01] [ 1.73589735e-01 -4.15764176e-04 9.84817968e-01 1.30784669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:64.50, Z:13.08 [[ 4.92459801e-01 -8.65936609e-01 -8.73907014e-02 1.18605639e+02] [ 8.52810595e-01 5.00153454e-01 -1.50201907e-01 6.45019115e+01] [ 1.73774091e-01 -5.59314978e-04 9.84785384e-01 1.30832303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.62, Y:64.52, Z:13.09 [[ 4.91839275e-01 -8.66150425e-01 -8.87556718e-02 1.18618513e+02] [ 8.53314441e-01 4.99776339e-01 -1.48586928e-01 6.45245745e+01] [ 1.73056615e-01 -2.65560985e-03 9.84908298e-01 1.30881372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.311858064 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:118.63, Y:64.55, Z:13.09 [[ 4.90269827e-01 -8.67742132e-01 -8.16032414e-02 1.18628580e+02] [ 8.54004142e-01 4.96981242e-01 -1.53904421e-01 6.45514669e+01] [ 1.74104631e-01 5.76518790e-03 9.84710282e-01 1.30892359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:64.57, Z:13.10 [[ 4.88541349e-01 -8.67849427e-01 -9.03588506e-02 1.18646841e+02] [ 8.54873724e-01 4.96809766e-01 -1.49569289e-01 6.45738019e+01] [ 1.74694781e-01 -4.17462500e-03 9.84613785e-01 1.30988151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:64.60, Z:13.10 [[ 4.85379822e-01 -8.69967440e-01 -8.69659763e-02 1.18660108e+02] [ 8.56965635e-01 4.93105919e-01 -1.49854774e-01 6.45988087e+01] [ 1.73252212e-01 -1.79036951e-03 9.84875863e-01 1.31026448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:64.62, Z:13.11 [[ 4.83677976e-01 -8.70929699e-01 -8.68163257e-02 1.18673654e+02] [ 8.57969573e-01 4.91403238e-01 -1.49703270e-01 6.46217041e+01] [ 1.73042848e-01 -2.07759126e-03 9.84912106e-01 1.31074642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:64.65, Z:13.11 [[ 4.82228652e-01 -8.71720257e-01 -8.69443505e-02 1.18688002e+02] [ 8.58716170e-01 4.89998410e-01 -1.50026990e-01 6.46455835e+01] [ 1.73384160e-01 -2.31320650e-03 9.84851553e-01 1.31125492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:64.67, Z:13.12 [[ 4.80792731e-01 -8.72502371e-01 -8.70514917e-02 1.18701407e+02] [ 8.59461458e-01 4.88603225e-01 -1.50309320e-01 6.46682039e+01] [ 1.73678878e-01 -2.54977346e-03 9.84799038e-01 1.31168225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:64.69, Z:13.12 [[ 4.80267855e-01 -8.72794289e-01 -8.70225099e-02 1.18714462e+02] [ 8.59748792e-01 4.88081296e-01 -1.50361777e-01 6.46925018e+01] [ 1.73708960e-01 -2.60356942e-03 9.84793592e-01 1.31211261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.73, Y:64.72, Z:13.12 [[ 4.80455908e-01 -8.73113191e-01 -8.26769357e-02 1.18728162e+02] [ 8.59742373e-01 4.87513196e-01 -1.52229878e-01 6.47198640e+01] [ 1.73220011e-01 2.05887924e-03 9.84881002e-01 1.31219038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.551858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:118.74, Y:64.74, Z:13.13 [[ 4.80173801e-01 -8.72343969e-01 -9.19191009e-02 1.18741664e+02] [ 8.59788619e-01 4.88825314e-01 -1.47693410e-01 6.47393052e+01] [ 1.73771839e-01 -8.11249065e-03 9.84752525e-01 1.31322509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:64.77, Z:13.13 [[ 4.81030303e-01 -8.72387020e-01 -8.68949619e-02 1.18751661e+02] [ 8.59331203e-01 4.88810230e-01 -1.50380991e-01 6.47661565e+01] [ 1.73665571e-01 -2.33373835e-03 9.84801921e-01 1.31347473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.76, Y:64.79, Z:13.14 [[ 4.81531148e-01 -8.72136637e-01 -8.66339431e-02 1.18764620e+02] [ 8.59138695e-01 4.89257496e-01 -1.50026015e-01 6.47900619e+01] [ 1.73229490e-01 -2.18837375e-03 9.84879056e-01 1.31397944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:64.81, Z:13.15 [[ 4.83569665e-01 -8.70086101e-01 -9.54492368e-02 1.18785971e+02] [ 8.57692057e-01 4.92779089e-01 -1.46741624e-01 6.48125268e+01] [ 1.74713235e-01 -1.09062546e-02 9.84558957e-01 1.31519786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:64.84, Z:13.16 [[ 4.84663994e-01 -8.69910805e-01 -9.14111775e-02 1.18797557e+02] [ 8.56933978e-01 4.93175813e-01 -1.49805794e-01 6.48386842e+01] [ 1.75399460e-01 -5.72786958e-03 9.84480686e-01 1.31563068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.701858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:118.80, Y:64.87, Z:13.15 [[ 4.82802460e-01 -8.72176257e-01 -7.88058458e-02 1.18799300e+02] [ 8.58632957e-01 4.89150975e-01 -1.53234357e-01 6.48650721e+01] [ 1.72195325e-01 6.31662821e-03 9.85042573e-01 1.31511392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:64.89, Z:13.16 [[ 4.82363122e-01 -8.71730120e-01 -8.60953919e-02 1.18814806e+02] [ 8.58863272e-01 4.89982409e-01 -1.49235110e-01 6.48866858e+01] [ 1.72277968e-01 -1.95865653e-03 9.85046428e-01 1.31583552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:64.91, Z:13.16 [[ 4.80900115e-01 -8.72513630e-01 -8.63426052e-02 1.18826897e+02] [ 8.59567195e-01 4.88584838e-01 -1.49763460e-01 6.49116860e+01] [ 1.72856347e-01 -2.19600600e-03 9.84944598e-01 1.31622939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.791858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:118.84, Y:64.94, Z:13.17 [[ 4.79839572e-01 -8.73082733e-01 -8.64900401e-02 1.18840416e+02] [ 8.60084378e-01 4.87566384e-01 -1.50112905e-01 6.49358483e+01] [ 1.73230622e-01 -2.35862026e-03 9.84878464e-01 1.31670839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:64.96, Z:13.17 [[ 4.78407908e-01 -8.73850639e-01 -8.66656473e-02 1.18854011e+02] [ 8.60794462e-01 4.86187548e-01 -1.50514327e-01 6.49600436e+01] [ 1.73662799e-01 -2.59406497e-03 9.84801758e-01 1.31719691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.87, Y:64.99, Z:13.18 [[ 4.77332883e-01 -8.74452482e-01 -8.65226916e-02 1.18869523e+02] [ 8.61183206e-01 4.85106782e-01 -1.51772514e-01 6.49851525e+01] [ 1.74690596e-01 -2.06587716e-03 9.84621210e-01 1.31773409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.88, Y:65.01, Z:13.18 [[ 4.76006547e-01 -8.75326939e-01 -8.49736250e-02 1.18879482e+02] [ 8.61603801e-01 4.83531460e-01 -1.54389821e-01 6.50085422e+01] [ 1.76228991e-01 2.76967294e-04 9.84349159e-01 1.31807431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:65.03, Z:13.19 [[ 4.76265329e-01 -8.74531899e-01 -9.14619850e-02 1.18896632e+02] [ 8.61682245e-01 4.84908718e-01 -1.49556827e-01 6.50315818e+01] [ 1.75142930e-01 -7.58243715e-03 9.84513820e-01 1.31898078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:65.06, Z:13.18 [[ 4.75038075e-01 -8.77143813e-01 -7.04099301e-02 1.18898632e+02] [ 8.63270750e-01 4.80043541e-01 -1.55954518e-01 6.50634954e+01] [ 1.70594373e-01 1.33015009e-02 9.85251557e-01 1.31794743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.971858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:118.91, Y:65.09, Z:13.18 [[ 4.75380752e-01 -8.77344483e-01 -6.54201626e-02 1.18906742e+02] [ 8.63892117e-01 4.79571424e-01 -1.53953431e-01 6.50902134e+01] [ 1.66443834e-01 1.66705352e-02 9.85910008e-01 1.31761593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.94, Y:65.10, Z:13.20 [[ 4.78231411e-01 -8.72269525e-01 -1.02179220e-01 1.18938320e+02] [ 8.61230145e-01 4.88570897e-01 -1.39932539e-01 6.51030499e+01] [ 1.71980682e-01 -2.10796886e-02 9.84874759e-01 1.32042291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.94, Y:65.14, Z:13.20 [[ 4.78112581e-01 -8.74846628e-01 -7.77929124e-02 1.18940150e+02] [ 8.61463783e-01 4.84363831e-01 -1.52551073e-01 6.51358106e+01] [ 1.71138865e-01 5.92081069e-03 9.85229127e-01 1.31959331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:65.16, Z:13.20 [[ 4.79036653e-01 -8.73576905e-01 -8.59492602e-02 1.18957277e+02] [ 8.60930819e-01 4.86676672e-01 -1.48134874e-01 6.51574409e+01] [ 1.71236705e-01 -3.03433261e-03 9.85225245e-01 1.32049621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:65.17, Z:13.22 [[ 4.82622812e-01 -8.69619243e-01 -1.04103759e-01 1.18977646e+02] [ 8.58116711e-01 4.93294046e-01 -1.42466466e-01 6.51744515e+01] [ 1.75245344e-01 -2.05756091e-02 9.84309765e-01 1.32246472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:65.20, Z:13.22 [[ 4.83679872e-01 -8.70899758e-01 -8.71056382e-02 1.18982916e+02] [ 8.57532596e-01 4.91459289e-01 -1.52005309e-01 6.52036654e+01] [ 1.75190262e-01 -1.17401569e-03 9.84533897e-01 1.32217808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.151858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:119.00, Y:65.23, Z:13.23 [[ 4.84442739e-01 -8.70594473e-01 -8.59098130e-02 1.18995624e+02] [ 8.56967346e-01 4.92000774e-01 -1.53434698e-01 6.52297813e+01] [ 1.75847094e-01 7.08420823e-04 9.84417238e-01 1.32262833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:65.25, Z:13.23 [[ 4.85434300e-01 -8.69749898e-01 -8.88181070e-02 1.19008996e+02] [ 8.56519238e-01 4.93485385e-01 -1.51152142e-01 6.52529044e+01] [ 1.75294998e-01 -2.69998313e-03 9.84512252e-01 1.32321678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:65.28, Z:13.24 [[ 4.85219901e-01 -8.70049942e-01 -8.70330183e-02 1.19022150e+02] [ 8.56639151e-01 4.92963065e-01 -1.52173524e-01 6.52779875e+01] [ 1.75302629e-01 -7.18268377e-04 9.84514333e-01 1.32362430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:65.30, Z:13.24 [[ 4.86359177e-01 -8.69455140e-01 -8.66170410e-02 1.19033564e+02] [ 8.56147672e-01 4.94011693e-01 -1.51537487e-01 6.53022917e+01] [ 1.74544878e-01 -4.55330441e-04 9.84649114e-01 1.32401449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:65.33, Z:13.24 [[ 4.86062751e-01 -8.69612898e-01 -8.66972312e-02 1.19046007e+02] [ 8.56264761e-01 4.93733932e-01 -1.51780974e-01 6.53254715e+01] [ 1.74796058e-01 -4.60705947e-04 9.84604553e-01 1.32447123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.06, Y:65.36, Z:13.24 [[ 4.86370331e-01 -8.70520513e-01 -7.50862057e-02 1.19056800e+02] [ 8.56503262e-01 4.91996072e-01 -1.56019317e-01 6.53552556e+01] [ 1.72760134e-01 1.15715869e-02 9.84895951e-01 1.32403722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.07, Y:65.38, Z:13.25 [[ 4.85215201e-01 -8.70240613e-01 -8.51321628e-02 1.19074082e+02] [ 8.57074543e-01 4.92626870e-01 -1.50804493e-01 6.53762529e+01] [ 1.73174585e-01 2.08022784e-04 9.84891121e-01 1.32485083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:65.40, Z:13.25 [[ 4.84850287e-01 -8.70601689e-01 -8.35038852e-02 1.19088132e+02] [ 8.57308102e-01 4.91984845e-01 -1.51570876e-01 6.54017803e+01] [ 1.73040507e-01 1.90062543e-03 9.84912875e-01 1.32527896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:65.42, Z:13.27 [[ 4.83399265e-01 -8.69473337e-01 -1.01692021e-01 1.19106193e+02] [ 8.57483923e-01 4.93682105e-01 -1.44911356e-01 6.54179206e+01] [ 1.76200091e-01 -1.71492304e-02 9.84204974e-01 1.32703083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.11, Y:65.45, Z:13.27 [[ 4.82725839e-01 -8.71414771e-01 -8.72471268e-02 1.19113026e+02] [ 8.57835269e-01 4.90546165e-01 -1.53242000e-01 6.54464648e+01] [ 1.76336086e-01 -8.69789276e-04 9.84329634e-01 1.32691347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:65.47, Z:13.27 [[ 4.81980324e-01 -8.71838728e-01 -8.71332242e-02 1.19126447e+02] [ 8.58285460e-01 4.89792074e-01 -1.53133253e-01 6.54705569e+01] [ 1.76184663e-01 -9.77964730e-04 9.84356647e-01 1.32741855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:65.49, Z:13.28 [[ 4.81387473e-01 -8.72153105e-01 -8.72643192e-02 1.19139914e+02] [ 8.58545399e-01 4.89231920e-01 -1.53466369e-01 6.54941767e+01] [ 1.76538661e-01 -1.04359198e-03 9.84293154e-01 1.32791302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:65.52, Z:13.28 [[ 4.80900202e-01 -8.72442811e-01 -8.70547974e-02 1.19153295e+02] [ 8.58887306e-01 4.88714989e-01 -1.53200049e-01 6.55172114e+01] [ 1.76203266e-01 -1.09632571e-03 9.84353192e-01 1.32834444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:65.54, Z:13.29 [[ 4.79756751e-01 -8.73087044e-01 -8.69049704e-02 1.19166226e+02] [ 8.59572536e-01 4.87562677e-01 -1.53028404e-01 6.55406672e+01] [ 1.75978737e-01 -1.28471569e-03 9.84393130e-01 1.32879867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:65.57, Z:13.29 [[ 4.77580911e-01 -8.74465185e-01 -8.50124338e-02 1.19179814e+02] [ 8.60790117e-01 4.85088124e-01 -1.54045077e-01 6.55656759e+01] [ 1.75945579e-01 3.91125530e-04 9.84399817e-01 1.32916959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:65.59, Z:13.30 [[ 4.76576407e-01 -8.74669336e-01 -8.84787020e-02 1.19195023e+02] [ 8.61477758e-01 4.84702962e-01 -1.51390591e-01 6.55872150e+01] [ 1.75302596e-01 -4.07325017e-03 9.84506175e-01 1.32980004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:65.62, Z:13.30 [[ 4.74673054e-01 -8.76538425e-01 -7.97864792e-02 1.19205304e+02] [ 8.61970956e-01 4.81283350e-01 -1.59287183e-01 6.56150796e+01] [ 1.78021241e-01 6.83570605e-03 9.84002902e-01 1.32988109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.23, Y:65.63, Z:13.31 [[ 4.74667807e-01 -8.75070906e-01 -9.45588896e-02 1.19225876e+02] [ 8.62597420e-01 4.83858761e-01 -1.47669873e-01 6.56326816e+01] [ 1.74974756e-01 -1.14721197e-02 9.84506082e-01 1.33110473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:65.66, Z:13.31 [[ 4.73221897e-01 -8.76729125e-01 -8.60643794e-02 1.19236097e+02] [ 8.63467407e-01 4.80978385e-01 -1.51933637e-01 6.56595640e+01] [ 1.74599751e-01 -2.41546252e-03 9.84636528e-01 1.33126476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.25, Y:65.69, Z:13.31 [[ 4.71767207e-01 -8.78161133e-01 -7.91752864e-02 1.19246325e+02] [ 8.63831273e-01 4.78324765e-01 -1.58116894e-01 6.56874604e+01] [ 1.76723611e-01 6.20027687e-03 9.84240988e-01 1.33136597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.751858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.27, Y:65.71, Z:13.32 [[ 4.71628596e-01 -8.76769123e-01 -9.40338952e-02 1.19265579e+02] [ 8.64349345e-01 4.80769074e-01 -1.47517139e-01 6.57059381e+01] [ 1.74547061e-01 -1.17048345e-02 9.84579260e-01 1.33242797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:65.73, Z:13.32 [[ 4.70248460e-01 -8.78273736e-01 -8.66119506e-02 1.19275256e+02] [ 8.64804233e-01 4.78149772e-01 -1.53252846e-01 6.57335955e+01] [ 1.76011434e-01 -2.83546678e-03 9.84384039e-01 1.33241150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.29, Y:65.76, Z:13.33 [[ 4.69303111e-01 -8.78758481e-01 -8.68223563e-02 1.19288508e+02] [ 8.65212690e-01 4.77257459e-01 -1.53728070e-01 6.57568820e+01] [ 1.76526463e-01 -2.97474286e-03 9.84291399e-01 1.33284796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:65.78, Z:13.33 [[ 4.68065099e-01 -8.79430833e-01 -8.66975964e-02 1.19302075e+02] [ 8.65919055e-01 4.76016079e-01 -1.53599750e-01 6.57814928e+01] [ 1.76349806e-01 -3.17841838e-03 9.84322429e-01 1.33332049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:65.81, Z:13.34 [[ 4.65953808e-01 -8.80590460e-01 -8.62988441e-02 1.19314603e+02] [ 8.67205160e-01 4.73864788e-01 -1.52994684e-01 6.58051605e+01] [ 1.75619643e-01 -3.55034701e-03 9.84451693e-01 1.33375475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.33, Y:65.83, Z:13.34 [[ 4.64829394e-01 -8.81193781e-01 -8.62041411e-02 1.19327591e+02] [ 8.67831941e-01 4.72740531e-01 -1.52918647e-01 6.58290249e+01] [ 1.75503152e-01 -3.72962497e-03 9.84471804e-01 1.33420533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:65.85, Z:13.35 [[ 4.64207542e-01 -8.81610567e-01 -8.52887210e-02 1.19340111e+02] [ 8.68045992e-01 4.71970871e-01 -1.54076778e-01 6.58531957e+01] [ 1.76089507e-01 -2.51093016e-03 9.84370957e-01 1.33459761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.36, Y:65.88, Z:13.36 [[ 4.66893524e-01 -8.79405530e-01 -9.30395171e-02 1.19363254e+02] [ 8.66433173e-01 4.75964404e-01 -1.50835811e-01 6.58757220e+01] [ 1.76929345e-01 -1.01882605e-02 9.84170822e-01 1.33559766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.36, Y:65.90, Z:13.35 [[ 4.63631569e-01 -8.82460443e-01 -7.94313160e-02 1.19364182e+02] [ 8.68398770e-01 4.70371341e-01 -1.56953425e-01 6.59034086e+01] [ 1.75867403e-01 3.79050560e-03 9.84406567e-01 1.33522739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:65.93, Z:13.36 [[ 4.63941095e-01 -8.81755421e-01 -8.52410653e-02 1.19379349e+02] [ 8.68166285e-01 4.71700509e-01 -1.54226885e-01 6.59258112e+01] [ 1.76198645e-01 -2.45122926e-03 9.84351578e-01 1.33590675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.051858064 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:119.39, Y:65.95, Z:13.37 [[ 4.65152070e-01 -8.80449725e-01 -9.18794555e-02 1.19394306e+02] [ 8.68026531e-01 4.74011727e-01 -1.47793181e-01 6.59459928e+01] [ 1.73676405e-01 -1.10075009e-02 9.84741256e-01 1.33657961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.081858064 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:119.40, Y:65.98, Z:13.36 [[ 4.66847262e-01 -8.81091939e-01 -7.57009171e-02 1.19399036e+02] [ 8.66521552e-01 4.72859031e-01 -1.59827210e-01 6.59763019e+01] [ 1.76618329e-01 9.01841932e-03 9.84238098e-01 1.33620363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.111858064 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:119.42, Y:66.00, Z:13.37 [[ 4.67436766e-01 -8.79836114e-01 -8.59725648e-02 1.19422410e+02] [ 8.66687802e-01 4.75263132e-01 -1.51582352e-01 6.60001295e+01] [ 1.74227218e-01 -3.65620864e-03 9.84698689e-01 1.33706083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.141858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:119.43, Y:66.02, Z:13.38 [[ 4.68493630e-01 -8.79291317e-01 -8.57933531e-02 1.19429654e+02] [ 8.65806968e-01 4.76278277e-01 -1.53418696e-01 6.60201115e+01] [ 1.75761237e-01 -2.40480145e-03 9.84429888e-01 1.33757406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.171858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.45, Y:66.04, Z:13.38 [[ 4.70076652e-01 -8.77925765e-01 -9.09631343e-02 1.19446698e+02] [ 8.65645022e-01 4.78696439e-01 -1.46657476e-01 6.60419888e+01] [ 1.72298105e-01 -9.80152911e-03 9.84996088e-01 1.33818300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:66.07, Z:13.39 [[ 4.70952035e-01 -8.78150750e-01 -8.39966706e-02 1.19456727e+02] [ 8.65260772e-01 4.78379519e-01 -1.49922752e-01 6.60680581e+01] [ 1.71837064e-01 -2.07259896e-03 9.85123204e-01 1.33850054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:66.09, Z:13.39 [[ 4.74501063e-01 -8.76417101e-01 -8.21085104e-02 1.19467868e+02] [ 8.63272863e-01 4.81551975e-01 -1.51220564e-01 6.60892482e+01] [ 1.72071803e-01 8.72269258e-04 9.85084024e-01 1.33883075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:66.12, Z:13.39 [[ 4.77159374e-01 -8.74924435e-01 -8.26206065e-02 1.19485427e+02] [ 8.61820462e-01 4.84258840e-01 -1.50860424e-01 6.61164603e+01] [ 1.72001230e-01 7.80336075e-04 9.85096426e-01 1.33929246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.291858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.50, Y:66.14, Z:13.40 [[ 4.75672113e-01 -8.75405732e-01 -8.60281645e-02 1.19497569e+02] [ 8.62867297e-01 4.83372483e-01 -1.47685719e-01 6.61401502e+01] [ 1.70868572e-01 -3.98091184e-03 9.85285788e-01 1.33984396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:66.17, Z:13.40 [[ 4.76993522e-01 -8.75457469e-01 -7.77907461e-02 1.19509817e+02] [ 8.62258174e-01 4.83267119e-01 -1.51537895e-01 6.61673879e+01] [ 1.70258692e-01 5.20688742e-03 9.85385643e-01 1.33987153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.351858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.52, Y:66.19, Z:13.41 [[ 4.77597840e-01 -8.74416471e-01 -8.54174427e-02 1.19524080e+02] [ 8.61756766e-01 4.85168063e-01 -1.48280908e-01 6.61876491e+01] [ 1.71101083e-01 -2.79041790e-03 9.85249528e-01 1.34074170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.54, Y:66.21, Z:13.41 [[ 4.78222449e-01 -8.74213379e-01 -8.39896211e-02 1.19536568e+02] [ 8.61533755e-01 4.85539882e-01 -1.48359739e-01 6.62117962e+01] [ 1.70478379e-01 -1.41093602e-03 9.85360407e-01 1.34107207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:66.24, Z:13.41 [[ 4.77177289e-01 -8.75544415e-01 -7.56558825e-02 1.19548680e+02] [ 8.61849160e-01 4.83062611e-01 -1.54487992e-01 6.62421533e+01] [ 1.71807627e-01 8.51420265e-03 9.85093725e-01 1.34106583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.56, Y:66.26, Z:13.42 [[ 4.75869696e-01 -8.75670598e-01 -8.21525169e-02 1.19564120e+02] [ 8.62613301e-01 4.82908188e-01 -1.50658469e-01 6.62640155e+01] [ 1.71599315e-01 8.27945960e-04 9.85166478e-01 1.34169676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.471858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:119.58, Y:66.28, Z:13.43 [[ 4.74573577e-01 -8.75561713e-01 -9.03969355e-02 1.19581465e+02] [ 8.62993722e-01 4.83043885e-01 -1.48021758e-01 6.62848227e+01] [ 1.73267871e-01 -7.76477250e-03 9.84844126e-01 1.34265030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.60, Y:66.31, Z:13.44 [[ 4.75845838e-01 -8.74521914e-01 -9.37131838e-02 1.19599634e+02] [ 8.62235642e-01 4.84859123e-01 -1.46496855e-01 6.63071422e+01] [ 1.73552402e-01 -1.10929284e-02 9.84762159e-01 1.34353963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.531858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.61, Y:66.34, Z:13.43 [[ 4.72962728e-01 -8.77256544e-01 -8.20195943e-02 1.19606908e+02] [ 8.64274875e-01 4.80021775e-01 -1.50359689e-01 6.63354415e+01] [ 1.71275212e-01 2.27053883e-04 9.85223198e-01 1.34339153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.62, Y:66.36, Z:13.44 [[ 4.72073156e-01 -8.78179779e-01 -7.71181687e-02 1.19617949e+02] [ 8.64316170e-01 4.78282552e-01 -1.55574289e-01 6.63605466e+01] [ 1.73506470e-01 6.78796548e-03 9.84809336e-01 1.34357714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.591858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.64, Y:66.38, Z:13.45 [[ 4.70406854e-01 -8.77818173e-01 -9.02920127e-02 1.19638510e+02] [ 8.65682619e-01 4.78897979e-01 -1.45774929e-01 6.63798759e+01] [ 1.71204544e-01 -9.59070036e-03 9.85188826e-01 1.34460030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.65, Y:66.41, Z:13.45 [[ 4.70244699e-01 -8.78816524e-01 -8.09409716e-02 1.19648130e+02] [ 8.65698820e-01 4.77158651e-01 -1.51278468e-01 6.64063620e+01] [ 1.71567702e-01 1.06739387e-03 9.85171754e-01 1.34458988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:66.43, Z:13.45 [[ 4.68261451e-01 -8.80105811e-01 -7.83898894e-02 1.19661679e+02] [ 8.66441808e-01 4.74756757e-01 -1.54546484e-01 6.64303124e+01] [ 1.73233388e-01 4.44788333e-03 9.84870758e-01 1.34494477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:66.45, Z:13.47 [[ 4.69896260e-01 -8.76187705e-01 -1.07203592e-01 1.19692636e+02] [ 8.64816016e-01 4.81294136e-01 -1.43000742e-01 6.64452794e+01] [ 1.76891952e-01 -2.55158700e-02 9.83899475e-01 1.34729154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:66.48, Z:13.47 [[ 4.69824276e-01 -8.78570769e-01 -8.58985126e-02 1.19697274e+02] [ 8.65430910e-01 4.77601462e-01 -1.51413948e-01 6.64755197e+01] [ 1.74053124e-01 -3.20127952e-03 9.84731061e-01 1.34662831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:66.50, Z:13.47 [[ 4.69335435e-01 -8.79005718e-01 -8.41023059e-02 1.19710883e+02] [ 8.65391141e-01 4.76811014e-01 -1.54108500e-01 6.65009879e+01] [ 1.75563158e-01 -4.52810638e-04 9.84468066e-01 1.34707405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.72, Y:66.52, Z:13.47 [[ 4.68700000e-01 -8.79218806e-01 -8.54084363e-02 1.19723848e+02] [ 8.65909681e-01 4.76411547e-01 -1.52421985e-01 6.65237928e+01] [ 1.74701841e-01 -2.51580746e-03 9.84618168e-01 1.34746321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:66.55, Z:13.48 [[ 4.68287328e-01 -8.78707036e-01 -9.26332719e-02 1.19743500e+02] [ 8.66555914e-01 4.77214294e-01 -1.46107379e-01 6.65477166e+01] [ 1.72591503e-01 -1.18516755e-02 9.84922185e-01 1.34840937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.831858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:119.74, Y:66.58, Z:13.47 [[ 4.65993090e-01 -8.82629748e-01 -6.17670545e-02 1.19738029e+02] [ 8.68553960e-01 4.69638448e-01 -1.58283756e-01 6.65779610e+01] [ 1.68714135e-01 2.01111168e-02 9.85459834e-01 1.34696384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:66.59, Z:13.49 [[ 4.64662588e-01 -8.81375656e-01 -8.52386844e-02 1.19763841e+02] [ 8.69919728e-01 4.72344495e-01 -1.41881443e-01 6.65918540e+01] [ 1.65312873e-01 -8.22381492e-03 9.86206886e-01 1.34852033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:66.61, Z:13.50 [[ 4.65512407e-01 -8.79765280e-01 -9.64948281e-02 1.19787488e+02] [ 8.68615966e-01 4.75057155e-01 -1.40808396e-01 6.66140095e+01] [ 1.69718896e-01 -1.82688930e-02 9.85323167e-01 1.35007657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:66.65, Z:13.49 [[ 4.64090029e-01 -8.83458770e-01 -6.41953806e-02 1.19784174e+02] [ 8.69589992e-01 4.68201592e-01 -1.56845515e-01 6.66461306e+01] [ 1.68622925e-01 1.69667793e-02 9.85534595e-01 1.34874473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:66.66, Z:13.50 [[ 4.64563421e-01 -8.81424907e-01 -8.52699340e-02 1.19807441e+02] [ 8.69569893e-01 4.72270312e-01 -1.44253089e-01 6.66632349e+01] [ 1.67418724e-01 -7.13345878e-03 9.85860074e-01 1.35013499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:66.69, Z:13.50 [[ 4.64643453e-01 -8.82435009e-01 -7.35861127e-02 1.19814785e+02] [ 8.68954043e-01 4.70373920e-01 -1.53841628e-01 6.66911785e+01] [ 1.70368226e-01 7.53855499e-03 9.85351631e-01 1.34999804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.84, Y:66.71, Z:13.51 [[ 4.65070508e-01 -8.80799329e-01 -8.88929994e-02 1.19835472e+02] [ 8.69105941e-01 4.73372200e-01 -1.43435083e-01 6.67105308e+01] [ 1.68417000e-01 -1.05500068e-02 9.85659379e-01 1.35118104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:66.74, Z:13.51 [[ 4.67040522e-01 -8.80645166e-01 -7.96067917e-02 1.19843859e+02] [ 8.67904706e-01 4.73776011e-01 -1.49257201e-01 6.67358413e+01] [ 1.69158421e-01 6.18051816e-04 9.85588680e-01 1.35118700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.86, Y:66.76, Z:13.52 [[ 4.66736404e-01 -8.80636766e-01 -8.14617440e-02 1.19857239e+02] [ 8.68057716e-01 4.73789697e-01 -1.48321019e-01 6.67584676e+01] [ 1.69212677e-01 -1.48667639e-03 9.85578439e-01 1.35173445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:119.87, Y:66.78, Z:13.52 [[ 4.66704562e-01 -8.80718050e-01 -8.07624196e-02 1.19870223e+02] [ 8.67898777e-01 4.73640865e-01 -1.49719887e-01 6.67842818e+01] [ 1.70113389e-01 -2.18650899e-04 9.85424471e-01 1.35219938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.89, Y:66.81, Z:13.53 [[ 4.66420446e-01 -8.80408695e-01 -8.56300006e-02 1.19885353e+02] [ 8.67040689e-01 4.74206561e-01 -1.52867854e-01 6.68072551e+01] [ 1.75192496e-01 -2.94400202e-03 9.84529797e-01 1.35313081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161858064 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:119.89, Y:66.83, Z:13.53 [[ 4.66571319e-01 -8.81129819e-01 -7.69509390e-02 1.19894789e+02] [ 8.67290193e-01 4.72837752e-01 -1.55666894e-01 6.68339990e+01] [ 1.73548051e-01 5.89091345e-03 9.84807784e-01 1.35293242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.191858064 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:119.91, Y:66.85, Z:13.54 [[ 4.66504175e-01 -8.79960953e-01 -8.96804044e-02 1.19913894e+02] [ 8.67658100e-01 4.74955539e-01 -1.46923986e-01 6.68535341e+01] [ 1.71881575e-01 -9.27127651e-03 9.85073991e-01 1.35395963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:66.88, Z:13.54 [[ 4.65457776e-01 -8.80971834e-01 -8.50746003e-02 1.19924049e+02] [ 8.68140738e-01 4.73150943e-01 -1.49866088e-01 6.68785452e+01] [ 1.72280930e-01 -4.10039013e-03 9.85039323e-01 1.35420485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.251858064 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:119.94, Y:66.90, Z:13.55 [[ 4.64812013e-01 -8.81588791e-01 -8.21644469e-02 1.19936256e+02] [ 8.68647223e-01 4.72016107e-01 -1.50508464e-01 6.69033667e+01] [ 1.71469517e-01 -1.41377647e-03 9.85188411e-01 1.35451496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.95, Y:66.93, Z:13.55 [[ 4.62544467e-01 -8.83039179e-01 -7.93374102e-02 1.19946881e+02] [ 8.70447720e-01 4.69299159e-01 -1.48590264e-01 6.69264213e+01] [ 1.68444004e-01 -3.29463407e-04 9.85711169e-01 1.35468333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.96, Y:66.95, Z:13.56 [[ 4.62963435e-01 -8.82372520e-01 -8.41640949e-02 1.19963695e+02] [ 8.69743508e-01 4.70531830e-01 -1.48815412e-01 6.69487006e+01] [ 1.70912516e-01 -4.30508074e-03 9.85276803e-01 1.35568427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:119.98, Y:66.97, Z:13.56 [[ 4.62116231e-01 -8.82730203e-01 -8.50645559e-02 1.19977258e+02] [ 8.70291781e-01 4.69845110e-01 -1.47776143e-01 6.69729037e+01] [ 1.70413630e-01 -5.74122984e-03 9.85355892e-01 1.35620609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.371858064 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:119.99, Y:67.00, Z:13.57 [[ 4.61060730e-01 -8.83420059e-01 -8.36181969e-02 1.19989939e+02] [ 8.70902067e-01 4.68560609e-01 -1.48258373e-01 6.69980131e+01] [ 1.70154614e-01 -4.46714687e-03 9.85407252e-01 1.35658904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:120.00, Y:67.02, Z:13.57 [[ 4.60283870e-01 -8.84105151e-01 -8.06029908e-02 1.20000508e+02] [ 8.71157888e-01 4.67287274e-01 -1.50753237e-01 6.70209469e+01] [ 1.70946465e-01 -8.28647751e-04 9.85279970e-01 1.35693772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:67.05, Z:13.57 [[ 4.58461000e-01 -8.84941233e-01 -8.18078579e-02 1.20012964e+02] [ 8.72187936e-01 4.65694823e-01 -1.49721527e-01 6.70453092e+01] [ 1.70592248e-01 -2.71034590e-03 9.85337982e-01 1.35734319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:67.07, Z:13.58 [[ 4.59268795e-01 -8.84472286e-01 -8.23465175e-02 1.20026568e+02] [ 8.71522357e-01 4.66586029e-01 -1.50818632e-01 6.70685119e+01] [ 1.71816635e-01 -2.50053952e-03 9.85125774e-01 1.35796848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:67.10, Z:13.58 [[ 4.56464500e-01 -8.86613065e-01 -7.45481910e-02 1.20031777e+02] [ 8.73385846e-01 4.62489357e-01 -1.52645861e-01 6.70970077e+01] [ 1.69815559e-01 4.56808163e-03 9.85465275e-01 1.35754108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.05, Y:67.12, Z:13.59 [[ 4.56225292e-01 -8.85481606e-01 -8.82088949e-02 1.20051536e+02] [ 8.72836570e-01 4.64590254e-01 -1.49372747e-01 6.71182666e+01] [ 1.73247813e-01 -8.84432420e-03 9.84838552e-01 1.35887870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:67.15, Z:13.58 [[ 4.55277892e-01 -8.87174047e-01 -7.51282350e-02 1.20057268e+02] [ 8.73832356e-01 4.61416184e-01 -1.53336619e-01 6.71460446e+01] [ 1.70701652e-01 4.16129024e-03 9.85313975e-01 1.35843778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.581858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:120.08, Y:67.17, Z:13.60 [[ 4.56150921e-01 -8.85368281e-01 -8.97181331e-02 1.20079342e+02] [ 8.72613048e-01 4.64786255e-01 -1.50067336e-01 6.71653922e+01] [ 1.74564615e-01 -9.83585982e-03 9.84596593e-01 1.36006201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.08, Y:67.19, Z:13.59 [[ 4.52725357e-01 -8.88429770e-01 -7.57119170e-02 1.20083374e+02] [ 8.74914014e-01 4.58997905e-01 -1.54422768e-01 6.71940622e+01] [ 1.71945396e-01 3.66968564e-03 9.85099647e-01 1.35946344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.10, Y:67.22, Z:13.60 [[ 4.52346252e-01 -8.88014292e-01 -8.25438400e-02 1.20099670e+02] [ 8.75135119e-01 4.59798035e-01 -1.50745783e-01 6.72165514e+01] [ 1.71817905e-01 -4.04772330e-03 9.85120411e-01 1.36023065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:67.24, Z:13.61 [[ 4.52840540e-01 -8.88068972e-01 -7.91766771e-02 1.20110412e+02] [ 8.74664632e-01 4.59710098e-01 -1.53715346e-01 6.72419932e+01] [ 1.72908147e-01 3.55500934e-04 9.84937890e-01 1.36052688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:67.26, Z:13.62 [[ 4.54321256e-01 -8.86095639e-01 -9.17971449e-02 1.20129104e+02] [ 8.73193004e-01 4.63359572e-01 -1.51102231e-01 6.72620972e+01] [ 1.76426113e-01 -1.15076695e-02 9.84246615e-01 1.36201555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:67.29, Z:13.62 [[ 4.54012286e-01 -8.86977360e-01 -8.45222343e-02 1.20138640e+02] [ 8.73268768e-01 4.61801341e-01 -1.55374321e-01 6.72895651e+01] [ 1.76845986e-01 -3.26877682e-03 9.84233109e-01 1.36217225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.761858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:120.15, Y:67.32, Z:13.62 [[ 4.52422021e-01 -8.88073913e-01 -8.14803051e-02 1.20148893e+02] [ 8.73790528e-01 4.59700333e-01 -1.58637061e-01 6.73155703e+01] [ 1.78337959e-01 5.74181092e-04 9.83969127e-01 1.36240421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:67.34, Z:13.63 [[ 4.52742247e-01 -8.87300707e-01 -8.78744119e-02 1.20163292e+02] [ 8.74240902e-01 4.61120963e-01 -1.51889113e-01 6.73368892e+01] [ 1.75292051e-01 -8.05678690e-03 9.84483512e-01 1.36329467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:120.17, Y:67.36, Z:13.64 [[ 4.52104793e-01 -8.88045316e-01 -8.35270795e-02 1.20173929e+02] [ 8.74620141e-01 4.59742695e-01 -1.53870930e-01 6.73629416e+01] [ 1.75045323e-01 -3.48868134e-03 9.84554196e-01 1.36360185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:67.39, Z:13.63 [[ 4.50447822e-01 -8.89668242e-01 -7.47474377e-02 1.20182097e+02] [ 8.75843281e-01 4.56580766e-01 -1.56309154e-01 6.73907947e+01] [ 1.73191533e-01 4.94207705e-03 9.84875763e-01 1.36335170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:67.41, Z:13.65 [[ 4.50385967e-01 -8.88654529e-01 -8.62879444e-02 1.20200825e+02] [ 8.75350290e-01 4.58531592e-01 -1.53331830e-01 6.74113568e+01] [ 1.75824773e-01 -6.47367278e-03 9.84400193e-01 1.36468637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.20, Y:67.44, Z:13.64 [[ 4.48874064e-01 -8.90846308e-01 -7.00352044e-02 1.20204288e+02] [ 8.77159799e-01 4.54225330e-01 -1.55788438e-01 6.74408221e+01] [ 1.70595319e-01 8.49732346e-03 9.85304538e-01 1.36380747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941858064 meters Centerline goodness : 0.996200 Centerline is valid? [True, True] Translation: X:120.23, Y:67.46, Z:13.66 [[ 4.49581287e-01 -8.88498927e-01 -9.19038809e-02 1.20225576e+02] [ 8.76225948e-01 4.58663149e-01 -1.47838441e-01 6.74569205e+01] [ 1.73507220e-01 -1.40631686e-02 9.84732183e-01 1.36560889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.971858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:120.23, Y:67.49, Z:13.65 [[ 4.47492879e-01 -8.91752096e-01 -6.72928125e-02 1.20225120e+02] [ 8.78006364e-01 4.52393402e-01 -1.56349081e-01 6.74920833e+01] [ 1.69867445e-01 1.08815828e-02 9.85406841e-01 1.36456403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.24, Y:67.51, Z:13.65 [[ 4.46747345e-01 -8.91538576e-01 -7.46711273e-02 1.20240326e+02] [ 8.78590378e-01 4.52940200e-01 -1.51407147e-01 6.75140457e+01] [ 1.68806868e-01 2.03540694e-03 9.85647046e-01 1.36520307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:67.54, Z:13.66 [[ 4.46862342e-01 -8.90731270e-01 -8.31375487e-02 1.20256640e+02] [ 8.78139669e-01 4.54487236e-01 -1.49372269e-01 6.75363765e+01] [ 1.70835505e-01 -6.25753755e-03 9.85279693e-01 1.36616685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:67.56, Z:13.67 [[ 4.45271633e-01 -8.91671954e-01 -8.15738871e-02 1.20267134e+02] [ 8.78577922e-01 4.52665731e-01 -1.52297640e-01 6.75620333e+01] [ 1.72725237e-01 -3.85519734e-03 9.84962502e-01 1.36656950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.27, Y:67.59, Z:13.66 [[ 4.43189364e-01 -8.93464286e-01 -7.28337685e-02 1.20273947e+02] [ 8.79913660e-01 4.49110220e-01 -1.55086950e-01 6.75888291e+01] [ 1.71275041e-01 4.64545898e-03 9.85212302e-01 1.36641410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:67.61, Z:13.69 [[ 4.44620881e-01 -8.90040767e-01 -1.00696101e-01 1.20301915e+02] [ 8.78032971e-01 4.55308486e-01 -1.47486559e-01 6.76055455e+01] [ 1.77116840e-01 -2.28388932e-02 9.83924799e-01 1.36885387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.151858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:120.31, Y:67.63, Z:13.70 [[ 4.44367740e-01 -8.90815960e-01 -9.47852193e-02 1.20311384e+02] [ 8.77459296e-01 4.54130567e-01 -1.54371668e-01 6.76328114e+01] [ 1.80561611e-01 -1.45723825e-02 9.83455718e-01 1.36952064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:67.66, Z:13.70 [[ 4.43500332e-01 -8.92128810e-01 -8.61025106e-02 1.20318848e+02] [ 8.77862355e-01 4.51752624e-01 -1.58988212e-01 6.76594045e+01] [ 1.80735000e-01 -5.07482774e-03 9.83518737e-01 1.36964823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:67.68, Z:13.70 [[ 4.42861322e-01 -8.92463614e-01 -8.59217472e-02 1.20330867e+02] [ 8.78242853e-01 4.51090009e-01 -1.58768055e-01 6.76841792e+01] [ 1.80453154e-01 -5.14792943e-03 9.83570108e-01 1.37015042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.34, Y:67.71, Z:13.71 [[ 4.42908676e-01 -8.92463106e-01 -8.56826088e-02 1.20341942e+02] [ 8.78302434e-01 4.51091742e-01 -1.58433189e-01 6.77083739e+01] [ 1.80046493e-01 -5.08380989e-03 9.83644964e-01 1.37071028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.35, Y:67.74, Z:13.70 [[ 4.42099185e-01 -8.93810526e-01 -7.51734939e-02 1.20348065e+02] [ 8.79317414e-01 4.48419097e-01 -1.60378302e-01 6.77373169e+01] [ 1.77057045e-01 4.80175434e-03 9.84188877e-01 1.37036966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.301858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:120.38, Y:67.75, Z:13.73 [[ 4.45334090e-01 -8.88958401e-01 -1.06913563e-01 1.20376762e+02] [ 8.76553740e-01 4.57206449e-01 -1.50385518e-01 6.77525021e+01] [ 1.82568040e-01 -2.67436854e-02 9.82829429e-01 1.37300179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:67.79, Z:13.71 [[ 4.46074578e-01 -8.92490571e-01 -6.69182471e-02 1.20367265e+02] [ 8.77098335e-01 4.50808553e-01 -1.65741241e-01 6.77915078e+01] [ 1.78089813e-01 1.52390710e-02 9.83896229e-01 1.37122527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:67.81, Z:13.73 [[ 4.48349870e-01 -8.89081075e-01 -9.22888740e-02 1.20390427e+02] [ 8.75427097e-01 4.57616970e-01 -1.55608825e-01 6.78079546e+01] [ 1.80581816e-01 -1.10249848e-02 9.83498174e-01 1.37311927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:67.84, Z:13.73 [[ 4.49867399e-01 -8.88948145e-01 -8.59681342e-02 1.20398875e+02] [ 8.74546812e-01 4.57994683e-01 -1.59401206e-01 6.78351096e+01] [ 1.81072355e-01 -3.47375170e-03 9.83463642e-01 1.37331748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:67.85, Z:13.75 [[ 4.53075649e-01 -8.84842875e-01 -1.08515172e-01 1.20423682e+02] [ 8.71781913e-01 4.65216035e-01 -1.53526341e-01 6.78539875e+01] [ 1.86329687e-01 -2.50425182e-02 9.82168071e-01 1.37541584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.451858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.41, Y:67.89, Z:13.74 [[ 4.54031771e-01 -8.88370098e-01 -6.82181774e-02 1.20412910e+02] [ 8.72149070e-01 4.58788773e-01 -1.69908392e-01 6.78910923e+01] [ 1.82239269e-01 1.76473880e-02 9.83095834e-01 1.37359594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.481858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.44, Y:67.90, Z:13.76 [[ 4.56844207e-01 -8.83945811e-01 -9.96653134e-02 1.20441979e+02] [ 8.70777280e-01 4.67283385e-01 -1.52948249e-01 6.79042256e+01] [ 1.81769909e-01 -1.69127691e-02 9.83195636e-01 1.37561872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:67.94, Z:13.75 [[ 4.56100951e-01 -8.87071023e-01 -7.12525277e-02 1.20436562e+02] [ 8.70963051e-01 4.61389243e-01 -1.68947716e-01 6.79396519e+01] [ 1.82743773e-01 1.49988951e-02 9.83046157e-01 1.37463173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:67.96, Z:13.77 [[ 4.58813306e-01 -8.82252102e-01 -1.05458896e-01 1.20467941e+02] [ 8.68791021e-01 4.70328419e-01 -1.54897839e-01 6.79553637e+01] [ 1.86259260e-01 -2.05525525e-02 9.82285641e-01 1.37708582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.571858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.46, Y:67.99, Z:13.76 [[ 4.57195988e-01 -8.86504331e-01 -7.12874425e-02 1.20461396e+02] [ 8.70520500e-01 4.62481568e-01 -1.68240476e-01 6.79913993e+01] [ 1.82115039e-01 1.48616904e-02 9.83164911e-01 1.37567375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:68.01, Z:13.77 [[ 4.57108796e-01 -8.85088977e-01 -8.75731187e-02 1.20480121e+02] [ 8.70614099e-01 4.65409758e-01 -1.59451713e-01 6.80113369e+01] [ 1.81886338e-01 -3.35561118e-03 9.83313836e-01 1.37688540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:68.04, Z:13.78 [[ 4.58010784e-01 -8.84507894e-01 -8.87237724e-02 1.20490269e+02] [ 8.70175781e-01 4.66503104e-01 -1.58647295e-01 6.80351438e+01] [ 1.81714700e-01 -4.54310622e-03 9.83340800e-01 1.37760045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.50, Y:68.06, Z:13.78 [[ 4.58310719e-01 -8.84657025e-01 -8.56342920e-02 1.20500516e+02] [ 8.70089721e-01 4.66240742e-01 -1.59885733e-01 6.80600914e+01] [ 1.81370233e-01 -1.23217215e-03 9.83414114e-01 1.37799393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:68.09, Z:13.79 [[ 4.58330831e-01 -8.84653661e-01 -8.55613739e-02 1.20512490e+02] [ 8.70092881e-01 4.66247254e-01 -1.59849543e-01 6.80850521e+01] [ 1.81304239e-01 -1.18236848e-03 9.83426344e-01 1.37851113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:68.11, Z:13.79 [[ 4.58552634e-01 -8.84541127e-01 -8.55364092e-02 1.20523872e+02] [ 8.69966429e-01 4.66460951e-01 -1.59914335e-01 6.81089340e+01] [ 1.81350201e-01 -1.08466506e-03 9.83417982e-01 1.37896693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:68.13, Z:13.79 [[ 4.58482031e-01 -8.84522383e-01 -8.61068004e-02 1.20534243e+02] [ 8.69731731e-01 4.66496602e-01 -1.61082702e-01 6.81343157e+01] [ 1.82649785e-01 -1.03629238e-03 9.83177493e-01 1.37942124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.55, Y:68.16, Z:13.80 [[ 4.59815713e-01 -8.83110615e-01 -9.31941591e-02 1.20552439e+02] [ 8.68608844e-01 4.69103605e-01 -1.59563415e-01 6.81579751e+01] [ 1.84629861e-01 -7.57950557e-03 9.82778900e-01 1.38042061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.56, Y:68.18, Z:13.80 [[ 4.58082491e-01 -8.85163273e-01 -8.15255349e-02 1.20556187e+02] [ 8.69687024e-01 4.65257610e-01 -1.64863084e-01 6.81847259e+01] [ 1.83861122e-01 4.61919222e-03 9.82941377e-01 1.38032716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:120.57, Y:68.21, Z:13.81 [[ 4.57403219e-01 -8.85032381e-01 -8.66024272e-02 1.20571143e+02] [ 8.70035417e-01 4.65528077e-01 -1.62240508e-01 6.82076928e+01] [ 1.83903964e-01 -1.13784838e-03 9.82943558e-01 1.38105371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:68.23, Z:13.82 [[ 4.56489507e-01 -8.85508472e-01 -8.65567754e-02 1.20583383e+02] [ 8.70515355e-01 4.64621475e-01 -1.62264913e-01 6.82321630e+01] [ 1.83903092e-01 -1.27677193e-03 9.82943550e-01 1.38158277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.59, Y:68.26, Z:13.82 [[ 4.55170588e-01 -8.86183899e-01 -8.65900242e-02 1.20594661e+02] [ 8.71170344e-01 4.63331258e-01 -1.62438839e-01 6.82568447e+01] [ 1.84070549e-01 -1.49727906e-03 9.82911894e-01 1.38208099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.931858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.61, Y:68.28, Z:13.83 [[ 4.54480920e-01 -8.86536475e-01 -8.66035353e-02 1.20607007e+02] [ 8.71505603e-01 4.62655965e-01 -1.62565191e-01 6.82812046e+01] [ 1.84187614e-01 -1.59268853e-03 9.82889814e-01 1.38256843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:68.31, Z:13.83 [[ 4.53799196e-01 -8.86889162e-01 -8.65673392e-02 1.20619677e+02] [ 8.71856491e-01 4.61979201e-01 -1.62608352e-01 6.83056495e+01] [ 1.84207895e-01 -1.68275750e-03 9.82885863e-01 1.38307716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.63, Y:68.33, Z:13.84 [[ 4.53567894e-01 -8.87011959e-01 -8.65213911e-02 1.20632800e+02] [ 8.71976840e-01 4.61743396e-01 -1.62632797e-01 6.83305226e+01] [ 1.84207917e-01 -1.67963422e-03 9.82885864e-01 1.38358273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.65, Y:68.36, Z:13.84 [[ 4.52773516e-01 -8.87433636e-01 -8.63578867e-02 1.20645681e+02] [ 8.72443902e-01 4.60931998e-01 -1.62429464e-01 6.83551249e+01] [ 1.83950483e-01 -1.79865214e-03 9.82933866e-01 1.38412761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:68.38, Z:13.85 [[ 4.52203894e-01 -8.87734567e-01 -8.62495072e-02 1.20657581e+02] [ 8.72767482e-01 4.60351881e-01 -1.62336278e-01 6.83792210e+01] [ 1.83816648e-01 -1.86666846e-03 9.82958776e-01 1.38462122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:68.40, Z:13.85 [[ 4.51669844e-01 -8.88025458e-01 -8.60531139e-02 1.20669569e+02] [ 8.73110589e-01 4.59790253e-01 -1.62082763e-01 6.84047370e+01] [ 1.83500003e-01 -1.92598891e-03 9.83017823e-01 1.38510518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:68.43, Z:13.86 [[ 4.51226969e-01 -8.88257124e-01 -8.59854916e-02 1.20681710e+02] [ 8.73349815e-01 4.59342366e-01 -1.62063851e-01 6.84298715e+01] [ 1.83451149e-01 -1.96783289e-03 9.83026858e-01 1.38556822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:68.46, Z:13.85 [[ 4.48800426e-01 -8.91019545e-01 -6.82813911e-02 1.20685014e+02] [ 8.75568127e-01 4.53728332e-01 -1.65864570e-01 6.84610292e+01] [ 1.78769775e-01 1.46550797e-02 9.83781783e-01 1.38476415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:68.47, Z:13.87 [[ 4.50489656e-01 -8.87116914e-01 -1.00412404e-01 1.20713019e+02] [ 8.73719665e-01 4.61191146e-01 -1.54650163e-01 6.84745934e+01] [ 1.83502087e-01 -1.80639932e-02 9.82853334e-01 1.38715563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.201858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.72, Y:68.50, Z:13.87 [[ 4.50092469e-01 -8.88830556e-01 -8.60058849e-02 1.20719268e+02] [ 8.73875819e-01 4.58231312e-01 -1.62373389e-01 6.85034025e+01] [ 1.83733019e-01 -2.07542373e-03 9.82973993e-01 1.38709660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.231858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.73, Y:68.53, Z:13.88 [[ 4.49410067e-01 -8.89181392e-01 -8.59479105e-02 1.20731173e+02] [ 8.74232249e-01 4.57549741e-01 -1.62376749e-01 6.85271994e+01] [ 1.83707828e-01 -2.16468962e-03 9.82978508e-01 1.38752047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:68.55, Z:13.88 [[ 4.49083044e-01 -8.89333900e-01 -8.60792272e-02 1.20743916e+02] [ 8.74322240e-01 4.57253156e-01 -1.62727292e-01 6.85519327e+01] [ 1.84078896e-01 -2.18291509e-03 9.82909047e-01 1.38802359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:68.58, Z:13.88 [[ 4.48837865e-01 -8.89456566e-01 -8.60905850e-02 1.20756379e+02] [ 8.74422284e-01 4.57014505e-01 -1.62860100e-01 6.85762830e+01] [ 1.84201632e-01 -2.18174621e-03 9.82886056e-01 1.38844282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:68.60, Z:13.89 [[ 4.49163377e-01 -8.89322509e-01 -8.57772425e-02 1.20767842e+02] [ 8.74375447e-01 4.57275846e-01 -1.62377271e-01 6.86011200e+01] [ 1.83629624e-01 -2.06759111e-03 9.82993330e-01 1.38886647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:68.63, Z:13.89 [[ 4.49470597e-01 -8.89239564e-01 -8.50245875e-02 1.20779898e+02] [ 8.74236775e-01 4.57440169e-01 -1.62660854e-01 6.86259174e+01] [ 1.83538128e-01 -1.22035029e-03 9.83011834e-01 1.38931015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.79, Y:68.65, Z:13.90 [[ 4.49927094e-01 -8.88904146e-01 -8.61105637e-02 1.20793383e+02] [ 8.74087476e-01 4.58086195e-01 -1.61641958e-01 6.86504169e+01] [ 1.83130267e-01 -2.54106894e-03 9.83085372e-01 1.38987256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:68.67, Z:13.90 [[ 4.50861197e-01 -8.88503188e-01 -8.53596270e-02 1.20806191e+02] [ 8.73567251e-01 4.58868241e-01 -1.62235002e-01 6.86745569e+01] [ 1.83315138e-01 -1.42190746e-03 9.83053172e-01 1.39036349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:68.70, Z:13.91 [[ 4.50244407e-01 -8.89394813e-01 -7.91001914e-02 1.20816217e+02] [ 8.73430557e-01 4.57093669e-01 -1.67882220e-01 6.87011397e+01] [ 1.85469772e-01 6.49950612e-03 9.82628475e-01 1.39064741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:68.72, Z:13.92 [[ 4.51004634e-01 -8.87730873e-01 -9.23510583e-02 1.20835211e+02] [ 8.73719780e-01 4.60260546e-01 -1.57397507e-01 6.87191912e+01] [ 1.82232175e-01 -9.70194128e-03 9.83207662e-01 1.39163953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:68.75, Z:13.92 [[ 4.51278823e-01 -8.88353253e-01 -8.47108059e-02 1.20844272e+02] [ 8.73636077e-01 4.59158708e-01 -1.61038148e-01 6.87457268e+01] [ 1.81954467e-01 -1.33331023e-03 9.83306053e-01 1.39184393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:68.77, Z:13.92 [[ 4.51684050e-01 -8.88148420e-01 -8.46988958e-02 1.20856806e+02] [ 8.73411271e-01 4.59555162e-01 -1.61126674e-01 6.87702482e+01] [ 1.82028215e-01 -1.19862173e-03 9.83292577e-01 1.39228007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:68.79, Z:13.93 [[ 4.51845970e-01 -8.88068037e-01 -8.46781067e-02 1.20869559e+02] [ 8.73316206e-01 4.59710693e-01 -1.61198274e-01 6.87947574e+01] [ 1.82082466e-01 -1.11397244e-03 9.83282632e-01 1.39272586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:68.82, Z:13.93 [[ 4.52525812e-01 -8.87696843e-01 -8.49394237e-02 1.20883077e+02] [ 8.72825769e-01 4.60427495e-01 -1.61807600e-01 6.88175979e+01] [ 1.82744542e-01 -9.15202313e-04 9.83160005e-01 1.39316765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.90, Y:68.84, Z:13.94 [[ 4.52925172e-01 -8.87511798e-01 -8.47443100e-02 1.20896827e+02] [ 8.72687708e-01 4.60784313e-01 -1.61536314e-01 6.88418751e+01] [ 1.82414233e-01 -7.91454803e-04 9.83221451e-01 1.39365965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:68.87, Z:13.94 [[ 4.53282112e-01 -8.87334520e-01 -8.46922468e-02 1.20910109e+02] [ 8.72504966e-01 4.61125802e-01 -1.61549000e-01 6.88662384e+01] [ 1.82401784e-01 -6.67134077e-04 9.83223852e-01 1.39414644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:68.89, Z:13.95 [[ 4.55118001e-01 -8.86385712e-01 -8.47819275e-02 1.20922643e+02] [ 8.71487505e-01 4.62947422e-01 -1.61830818e-01 6.88894590e+01] [ 1.82694099e-01 -2.34272215e-04 9.83169777e-01 1.39453741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:68.91, Z:13.95 [[ 4.55992463e-01 -8.85932052e-01 -8.48249541e-02 1.20935886e+02] [ 8.70995461e-01 4.63815048e-01 -1.61995396e-01 6.89142540e+01] [ 1.82860004e-01 -1.34704213e-05 9.83138962e-01 1.39495352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:68.94, Z:13.95 [[ 4.56885534e-01 -8.85456085e-01 -8.49889992e-02 1.20949507e+02] [ 8.70431984e-01 4.64723001e-01 -1.62421347e-01 6.89386241e+01] [ 1.83313313e-01 2.30820475e-04 9.83054513e-01 1.39542577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:68.96, Z:13.96 [[ 4.57703247e-01 -8.85026843e-01 -8.50601253e-02 1.20962850e+02] [ 8.69948785e-01 4.65539771e-01 -1.62670938e-01 6.89622527e+01] [ 1.83567018e-01 4.57063681e-04 9.83007091e-01 1.39586709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:68.99, Z:13.95 [[ 4.58118372e-01 -8.86376231e-01 -6.68186633e-02 1.20969886e+02] [ 8.70768044e-01 4.62610194e-01 -1.66597783e-01 6.89929165e+01] [ 1.78579310e-01 1.81379485e-02 9.83758326e-01 1.39505020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.00, Y:69.00, Z:13.97 [[ 4.59324095e-01 -8.82598077e-01 -1.00209828e-01 1.20998859e+02] [ 8.69168361e-01 4.69847281e-01 -1.54239725e-01 6.90045517e+01] [ 1.83215000e-01 -1.62531897e-02 9.82938501e-01 1.39742412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:69.03, Z:13.97 [[ 4.59658771e-01 -8.84252938e-01 -8.25260989e-02 1.21004029e+02] [ 8.68840601e-01 4.66992208e-01 -1.64421069e-01 6.90338633e+01] [ 1.83928858e-01 3.87556101e-03 9.82931918e-01 1.39719979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.02, Y:69.06, Z:13.98 [[ 4.58775257e-01 -8.84310190e-01 -8.67222671e-02 1.21021239e+02] [ 8.69529479e-01 4.66897335e-01 -1.61013551e-01 6.90566969e+01] [ 1.82876319e-01 -1.53853429e-03 9.83134724e-01 1.39793078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:69.08, Z:13.98 [[ 4.58164987e-01 -8.84857870e-01 -8.43290824e-02 1.21034339e+02] [ 8.69961827e-01 4.65860538e-01 -1.61679862e-01 6.90814993e+01] [ 1.82349290e-01 7.12969011e-04 9.83233557e-01 1.39836300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.05, Y:69.10, Z:13.99 [[ 4.56841079e-01 -8.85570613e-01 -8.40292703e-02 1.21049932e+02] [ 8.70772193e-01 4.64504530e-01 -1.61218269e-01 6.91035478e+01] [ 1.81802138e-01 4.80775957e-04 9.83335015e-01 1.39888761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:69.13, Z:13.99 [[ 4.55821831e-01 -8.86119390e-01 -8.37787809e-02 1.21064025e+02] [ 8.71404597e-01 4.63456942e-01 -1.60815707e-01 6.91277149e+01] [ 1.81329774e-01 2.98095241e-04 9.83422302e-01 1.39937034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.08, Y:69.15, Z:14.00 [[ 4.54647125e-01 -8.86729368e-01 -8.37079439e-02 1.21077317e+02] [ 8.72028907e-01 4.62288889e-01 -1.60793560e-01 6.91512549e+01] [ 1.81277624e-01 1.08583132e-04 9.83431956e-01 1.39983086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:69.17, Z:14.00 [[ 4.51834816e-01 -8.88188143e-01 -8.34692895e-02 1.21091593e+02] [ 8.73577960e-01 4.59479751e-01 -1.60436613e-01 6.91735500e+01] [ 1.80850346e-01 -4.26084131e-04 9.83510534e-01 1.40023229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.071858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.11, Y:69.20, Z:14.01 [[ 4.50141627e-01 -8.89042266e-01 -8.35246340e-02 1.21105738e+02] [ 8.74412828e-01 4.57824543e-01 -1.60620343e-01 6.91971109e+01] [ 1.81037901e-01 -7.33108884e-04 9.83475847e-01 1.40076737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:69.22, Z:14.01 [[ 4.48211150e-01 -8.90036492e-01 -8.33175123e-02 1.21119851e+02] [ 8.75476674e-01 4.55888010e-01 -1.60333141e-01 6.92208745e+01] [ 1.80685801e-01 -1.07943696e-03 9.83540277e-01 1.40125400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.131858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.13, Y:69.24, Z:14.02 [[ 4.46238728e-01 -8.91049763e-01 -8.30741634e-02 1.21133767e+02] [ 8.76572714e-01 4.53903364e-01 -1.59975037e-01 6.92442449e+01] [ 1.80253362e-01 -1.43348759e-03 9.83619170e-01 1.40174709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:69.27, Z:14.02 [[ 4.43342767e-01 -8.93086521e-01 -7.64438190e-02 1.21145841e+02] [ 8.77792915e-01 4.49846182e-01 -1.64675472e-01 6.92678352e+01] [ 1.81457405e-01 5.90583679e-03 9.83381071e-01 1.40198304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:69.29, Z:14.03 [[ 4.42347564e-01 -8.93229894e-01 -8.04300324e-02 1.21165812e+02] [ 8.78825646e-01 4.49600219e-01 -1.59765849e-01 6.92929077e+01] [ 1.78868993e-01 -1.19411829e-05 9.83872900e-01 1.40255984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:69.31, Z:14.04 [[ 4.39630387e-01 -8.93481626e-01 -9.17371567e-02 1.21180919e+02] [ 8.79972792e-01 4.48926882e-01 -1.55282132e-01 6.93108051e+01] [ 1.79925008e-01 -1.24594581e-02 9.83601420e-01 1.40367005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:69.34, Z:14.04 [[ 4.37462175e-01 -8.95346659e-01 -8.35536053e-02 1.21191871e+02] [ 8.80736421e-01 4.45359082e-01 -1.61116866e-01 6.93371226e+01] [ 1.81466805e-01 -3.10616848e-03 9.83392165e-01 1.40373409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.21, Y:69.36, Z:14.05 [[ 4.38127704e-01 -8.94168077e-01 -9.22364641e-02 1.21213352e+02] [ 8.79786570e-01 4.47596241e-01 -1.60103705e-01 6.93601415e+01] [ 1.84444317e-01 -1.10025337e-02 9.82781379e-01 1.40480229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.22, Y:69.39, Z:14.04 [[ 4.34960943e-01 -8.97026374e-01 -7.84389082e-02 1.21218623e+02] [ 8.81735753e-01 4.41969488e-01 -1.64939484e-01 6.93850176e+01] [ 1.82622671e-01 2.57984358e-03 9.83179691e-01 1.40442742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.23, Y:69.41, Z:14.05 [[ 4.34324745e-01 -8.96843819e-01 -8.38640610e-02 1.21234944e+02] [ 8.82095792e-01 4.42332613e-01 -1.62015042e-01 6.94075591e+01] [ 1.82397998e-01 -3.60899362e-03 9.83218158e-01 1.40511540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.371858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.25, Y:69.43, Z:14.06 [[ 4.33632403e-01 -8.97174565e-01 -8.39091086e-02 1.21248267e+02] [ 8.82395447e-01 4.41660638e-01 -1.62216390e-01 6.94313380e+01] [ 1.82595769e-01 -3.69873248e-03 9.83181115e-01 1.40558960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:69.45, Z:14.07 [[ 4.34959444e-01 -8.94841627e-01 -1.00343137e-01 1.21273202e+02] [ 8.80810687e-01 4.45969736e-01 -1.59007953e-01 6.94516735e+01] [ 1.87036937e-01 -1.92212963e-02 9.82164816e-01 1.40730974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:69.47, Z:14.08 [[ 4.34999710e-01 -8.95046133e-01 -9.83243169e-02 1.21287722e+02] [ 8.80373592e-01 4.45686145e-01 -1.62191855e-01 6.94748216e+01] [ 1.88990979e-01 -1.60087221e-02 9.81848324e-01 1.40813285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:121.28, Y:69.51, Z:14.06 [[ 4.32505707e-01 -8.99529875e-01 -6.15208737e-02 1.21280520e+02] [ 8.83159341e-01 4.36398407e-01 -1.72005837e-01 6.95081317e+01] [ 1.81572000e-01 2.00607717e-02 9.83173013e-01 1.40617785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:69.52, Z:14.08 [[ 4.32397794e-01 -8.97886848e-01 -8.26520199e-02 1.21304238e+02] [ 8.83481456e-01 4.40210460e-01 -1.60235038e-01 6.95246321e+01] [ 1.80257217e-01 -3.73624990e-03 9.83612412e-01 1.40763487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52185806399999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:121.32, Y:69.55, Z:14.08 [[ 4.33276511e-01 -8.97511651e-01 -8.21236970e-02 1.21318619e+02] [ 8.83265033e-01 4.40976791e-01 -1.59318400e-01 6.95471928e+01] [ 1.79204764e-01 -3.50806951e-03 9.83805543e-01 1.40821101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.551858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.35, Y:69.56, Z:14.11 [[ 4.36258606e-01 -8.93115011e-01 -1.09654025e-01 1.21348359e+02] [ 8.80654584e-01 4.48801972e-01 -1.51737582e-01 6.95646890e+01] [ 1.84732055e-01 -3.03704933e-02 9.82319551e-01 1.41072184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.581858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:121.33, Y:69.60, Z:14.08 [[ 4.34833868e-01 -8.98540172e-01 -5.95404685e-02 1.21333570e+02] [ 8.82609963e-01 4.38375234e-01 -1.69784590e-01 6.96029291e+01] [ 1.78659341e-01 2.12770791e-02 9.83680906e-01 1.40814693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:69.61, Z:14.12 [[ 4.39907349e-01 -8.91306914e-01 -1.09788478e-01 1.21374141e+02] [ 8.78644180e-01 4.52449289e-01 -1.52558337e-01 6.96137151e+01] [ 1.85650019e-01 -2.93534732e-02 9.82177399e-01 1.41168902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.37, Y:69.65, Z:14.11 [[ 4.40920156e-01 -8.93916331e-01 -8.06412393e-02 1.21373360e+02] [ 8.77974272e-01 4.48221572e-01 -1.68102943e-01 6.96465807e+01] [ 1.86415109e-01 3.31904271e-03 9.82465466e-01 1.41074428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:69.67, Z:14.10 [[ 4.40051242e-01 -8.95445583e-01 -6.73209690e-02 1.21376470e+02] [ 8.79773177e-01 4.44936477e-01 -1.67423679e-01 6.96735794e+01] [ 1.79872349e-01 1.44478151e-02 9.83583855e-01 1.40984259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.701858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.40, Y:69.69, Z:14.11 [[ 4.40413902e-01 -8.94013548e-01 -8.23126379e-02 1.21395622e+02] [ 8.79538387e-01 4.48036203e-01 -1.60236660e-01 6.96919772e+01] [ 1.80132787e-01 -1.82667210e-03 9.83640606e-01 1.41092528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.731858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:121.41, Y:69.72, Z:14.11 [[ 4.40795949e-01 -8.94003829e-01 -8.03497676e-02 1.21407458e+02] [ 8.79192138e-01 4.48058615e-01 -1.62063759e-01 6.97171842e+01] [ 1.80887026e-01 7.94164216e-04 9.83503560e-01 1.41127648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.42, Y:69.74, Z:14.12 [[ 4.40150352e-01 -8.93956986e-01 -8.43123611e-02 1.21421658e+02] [ 8.79615225e-01 4.48135429e-01 -1.59535869e-01 6.97401320e+01] [ 1.80401561e-01 -3.94266755e-03 9.83585142e-01 1.41186506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:69.76, Z:14.15 [[ 4.43023213e-01 -8.88190471e-01 -1.21852862e-01 1.21456998e+02] [ 8.76171615e-01 4.57741896e-01 -1.50982308e-01 6.97555035e+01] [ 1.89878207e-01 -3.98753518e-02 9.80997565e-01 1.41518751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:69.80, Z:14.11 [[ 4.39607872e-01 -8.96748198e-01 -5.08683378e-02 1.21432015e+02] [ 8.79709340e-01 4.41301125e-01 -1.77101088e-01 6.97997771e+01] [ 1.81263336e-01 3.31056805e-02 9.82877214e-01 1.41139650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.851858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:121.46, Y:69.81, Z:14.13 [[ 4.40271016e-01 -8.94302850e-01 -7.98989720e-02 1.21456738e+02] [ 8.79206832e-01 4.47458589e-01 -1.63634220e-01 6.98133156e+01] [ 1.82090030e-01 1.79568224e-03 9.83280223e-01 1.41310665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:121.47, Y:69.84, Z:14.14 [[ 4.40094964e-01 -8.94202947e-01 -8.19604267e-02 1.21470421e+02] [ 8.79288410e-01 4.47661533e-01 -1.62637769e-01 6.98377211e+01] [ 1.82121703e-01 -4.90790026e-04 9.83275874e-01 1.41370814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:69.86, Z:14.17 [[ 4.42521644e-01 -8.89355689e-01 -1.14982841e-01 1.21505046e+02] [ 8.76082211e-01 4.56124909e-01 -1.56301081e-01 6.98556501e+01] [ 1.91453793e-01 -3.15678101e-02 9.80993842e-01 1.41695018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:121.49, Y:69.90, Z:14.14 [[ 4.38115024e-01 -8.96900209e-01 -6.02099796e-02 1.21486158e+02] [ 8.80555185e-01 4.41670700e-01 -1.71899854e-01 6.98954858e+01] [ 1.80769999e-01 2.22936991e-02 9.83272698e-01 1.41384708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.971858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:121.51, Y:69.91, Z:14.15 [[ 4.38047863e-01 -8.95218412e-01 -8.18417091e-02 1.21507065e+02] [ 8.80604171e-01 4.45625121e-01 -1.61104146e-01 6.99118176e+01] [ 1.80694119e-01 -1.49882348e-03 9.83538199e-01 1.41521336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:69.93, Z:14.19 [[ 4.40137328e-01 -8.89434283e-01 -1.23230632e-01 1.21543998e+02] [ 8.77503453e-01 4.55161187e-01 -1.51049608e-01 6.99264747e+01] [ 1.90438501e-01 -4.16527342e-02 9.80815083e-01 1.41884131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:69.97, Z:14.15 [[ 4.34950315e-01 -8.99050376e-01 -5.02657417e-02 1.21515372e+02] [ 8.81802505e-01 4.36579671e-01 -1.78388714e-01 6.99715117e+01] [ 1.82325441e-01 3.32657703e-02 9.82675339e-01 1.41483914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:121.56, Y:69.97, Z:14.20 [[ 4.37827100e-01 -8.90916394e-01 -1.20728665e-01 1.21564749e+02] [ 8.78102763e-01 4.52572798e-01 -1.55284904e-01 6.99749937e+01] [ 1.92984376e-01 -3.80242352e-02 9.80464782e-01 1.41979276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:70.01, Z:14.18 [[ 4.35053565e-01 -8.96607231e-01 -8.26067182e-02 1.21559766e+02] [ 8.80372072e-01 4.42825136e-01 -1.69855567e-01 7.00137167e+01] [ 1.88874061e-01 1.17162216e-03 9.82000619e-01 1.41823799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:70.04, Z:14.17 [[ 4.30988877e-01 -9.00439501e-01 -5.87987413e-02 1.21554682e+02] [ 8.83954216e-01 4.34394693e-01 -1.72991895e-01 7.00445144e+01] [ 1.81310597e-01 2.25821873e-02 9.83166574e-01 1.41664173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:70.05, Z:14.21 [[ 4.32805630e-01 -8.93979640e-01 -1.16102064e-01 1.21597268e+02] [ 8.81178548e-01 4.46715130e-01 -1.54822350e-01 7.00537546e+01] [ 1.90272577e-01 -3.52986638e-02 9.81096504e-01 1.42072626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:70.09, Z:14.20 [[ 4.31974147e-01 -8.98223970e-01 -8.11913484e-02 1.21592245e+02] [ 8.81084545e-01 4.39520580e-01 -1.74675941e-01 7.00879336e+01] [ 1.92583386e-01 3.91904857e-03 9.81272786e-01 1.41956082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:70.11, Z:14.21 [[ 4.29850654e-01 -8.97525877e-01 -9.83652146e-02 1.21613692e+02] [ 8.82382147e-01 4.40675265e-01 -1.64945616e-01 7.01083872e+01] [ 1.91390076e-01 -1.58937284e-02 9.81385362e-01 1.42105408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24185806399998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.60, Y:70.15, Z:14.19 [[ 4.27022536e-01 -9.02667605e-01 -5.33193059e-02 1.21601111e+02] [ 8.84518757e-01 4.29230156e-01 -1.82723947e-01 7.01463843e+01] [ 1.87825242e-01 3.08653171e-02 9.81717378e-01 1.41872652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.63, Y:70.16, Z:14.21 [[ 4.26319719e-01 -8.99948749e-01 -9.13441145e-02 1.21629500e+02] [ 8.85469941e-01 4.35826571e-01 -1.61239520e-01 7.01590034e+01] [ 1.84917497e-01 -1.21428808e-02 9.82679027e-01 1.42078300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.66, Y:70.18, Z:14.23 [[ 4.29333731e-01 -8.96017710e-01 -1.13246680e-01 1.21656779e+02] [ 8.82659384e-01 4.42839110e-01 -1.57499001e-01 7.01795200e+01] [ 1.91271953e-01 -3.23386115e-02 9.81004207e-01 1.42319432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.331858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.64, Y:70.22, Z:14.20 [[ 4.26706301e-01 -9.02530206e-01 -5.79737832e-02 1.21636731e+02] [ 8.84887903e-01 4.29886529e-01 -1.79362680e-01 7.02190675e+01] [ 1.86802385e-01 2.52348861e-02 9.82073352e-01 1.42040062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.361858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.66, Y:70.24, Z:14.22 [[ 4.27154584e-01 -9.00205768e-01 -8.46672144e-02 1.21660803e+02] [ 8.84893525e-01 4.35443782e-01 -1.65384889e-01 7.02354812e+01] [ 1.85748243e-01 -4.27655633e-03 9.82588063e-01 1.42206325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:70.25, Z:14.24 [[ 4.31199231e-01 -8.95800176e-01 -1.07746314e-01 1.21684686e+02] [ 8.82588034e-01 4.43579697e-01 -1.55805695e-01 7.02506037e+01] [ 1.87364846e-01 -2.79123112e-02 9.81893740e-01 1.42419438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.421858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:121.68, Y:70.28, Z:14.23 [[ 4.30077127e-01 -8.99222025e-01 -8.02085699e-02 1.21684559e+02] [ 8.83529215e-01 4.37491263e-01 -1.67264822e-01 7.02847720e+01] [ 1.85498760e-01 1.07015929e-03 9.82643916e-01 1.42334666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.451858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:121.70, Y:70.31, Z:14.24 [[ 4.30033629e-01 -8.98983602e-01 -8.30636020e-02 1.21697932e+02] [ 8.83885004e-01 4.37972998e-01 -1.64094342e-01 7.03084613e+01] [ 1.83897737e-01 -2.85258688e-03 9.82941242e-01 1.42391489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.481858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:121.71, Y:70.33, Z:14.25 [[ 4.31225504e-01 -8.98321023e-01 -8.40470390e-02 1.21709366e+02] [ 8.82891513e-01 4.39331330e-01 -1.65802769e-01 7.03325450e+01] [ 1.85868610e-01 -2.70603487e-03 9.82570881e-01 1.42456792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.511858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.73, Y:70.35, Z:14.26 [[ 4.32006887e-01 -8.96737794e-01 -9.60800620e-02 1.21727165e+02] [ 8.82048074e-01 4.42320381e-01 -1.62307969e-01 7.03541077e+01] [ 1.88045859e-01 -1.46290732e-02 9.82051294e-01 1.42593046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.74, Y:70.38, Z:14.26 [[ 4.32975204e-01 -8.96944636e-01 -8.95700444e-02 1.21735821e+02] [ 8.81679677e-01 4.42078340e-01 -1.64947529e-01 7.03796649e+01] [ 1.87545778e-01 -7.55389782e-03 9.82226817e-01 1.42620536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:70.41, Z:14.24 [[ 4.30606162e-01 -9.00764234e-01 -5.65873456e-02 1.21729216e+02] [ 8.84737090e-01 4.33673447e-01 -1.70785311e-01 7.04146452e+01] [ 1.78377729e-01 2.34762838e-02 9.83681986e-01 1.42433516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.77, Y:70.42, Z:14.29 [[ 4.33961752e-01 -8.92751478e-01 -1.21128017e-01 1.21774785e+02] [ 8.81015308e-01 4.48628779e-01 -1.50147411e-01 7.04218108e+01] [ 1.88385838e-01 -4.15574039e-02 9.81215450e-01 1.42895136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.631858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.77, Y:70.46, Z:14.28 [[ 4.34492637e-01 -8.96143071e-01 -9.02427007e-02 1.21774523e+02] [ 8.80686958e-01 4.43703546e-01 -1.65884437e-01 7.04568841e+01] [ 1.88697195e-01 -7.40000296e-03 9.82007438e-01 1.42823260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.76, Y:70.49, Z:14.25 [[ 4.30509495e-01 -9.01511661e-01 -4.40261243e-02 1.21760497e+02] [ 8.84967015e-01 4.31194011e-01 -1.75798486e-01 7.04938448e+01] [ 1.77468186e-01 3.67212495e-02 9.83441200e-01 1.42532151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:70.50, Z:14.30 [[ 4.34387430e-01 -8.92688007e-01 -1.20065326e-01 1.21812189e+02] [ 8.81307267e-01 4.48759226e-01 -1.48029248e-01 7.04960951e+01] [ 1.86024357e-01 -4.15123999e-02 9.81667795e-01 1.43049155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:70.53, Z:14.29 [[ 4.34136340e-01 -8.97050869e-01 -8.26158368e-02 1.21808502e+02] [ 8.81679723e-01 4.41926043e-01 -1.65354886e-01 7.05339156e+01] [ 1.84841834e-01 -1.05414303e-03 9.82767717e-01 1.42922879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:70.56, Z:14.30 [[ 4.33700880e-01 -8.97101865e-01 -8.43314325e-02 1.21820762e+02] [ 8.82367528e-01 4.41804170e-01 -1.61977222e-01 7.05587656e+01] [ 1.82568047e-01 -4.16165392e-03 9.83184413e-01 1.42966441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.83, Y:70.58, Z:14.30 [[ 4.34954523e-01 -8.96851544e-01 -8.04479406e-02 1.21830210e+02] [ 8.81807263e-01 4.42331622e-01 -1.63580828e-01 7.05836336e+01] [ 1.82292386e-01 2.10642869e-04 9.83244345e-01 1.42994959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.811858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.83, Y:70.62, Z:14.28 [[ 4.30616351e-01 -9.01071577e-01 -5.13767584e-02 1.21825250e+02] [ 8.85204033e-01 4.32764578e-01 -1.70671145e-01 7.06180504e+01] [ 1.76020959e-01 2.80148722e-02 9.83987697e-01 1.42820234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:70.63, Z:14.30 [[ 4.31306191e-01 -8.98286195e-01 -8.40052469e-02 1.21854495e+02] [ 8.84653194e-01 4.39355041e-01 -1.56063689e-01 7.06340851e+01] [ 1.77097986e-01 -7.00427461e-03 9.84168300e-01 1.43024457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:70.66, Z:14.30 [[ 4.30486211e-01 -8.99128889e-01 -7.90497555e-02 1.21864169e+02] [ 8.85048307e-01 4.37680546e-01 -1.58509412e-01 7.06606779e+01] [ 1.77118932e-01 -1.72673604e-03 9.84187941e-01 1.43043853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:70.68, Z:14.31 [[ 4.27536786e-01 -9.00580781e-01 -7.85274057e-02 1.21873485e+02] [ 8.86576205e-01 4.34684192e-01 -1.58215951e-01 7.06838165e+01] [ 1.76620866e-01 -1.97739035e-03 9.84276973e-01 1.43073237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:70.71, Z:14.32 [[ 4.29290233e-01 -8.98333484e-01 -9.33104854e-02 1.21897275e+02] [ 8.84846706e-01 4.39035214e-01 -1.55866571e-01 7.07062772e+01] [ 1.80986749e-01 -1.56534790e-02 9.83360954e-01 1.43244646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:70.74, Z:14.32 [[ 4.27874238e-01 -9.00121123e-01 -8.18877322e-02 1.21904414e+02] [ 8.85635539e-01 4.35624110e-01 -1.60876743e-01 7.07353618e+01] [ 1.80480825e-01 -3.68767223e-03 9.83571590e-01 1.43240969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:121.91, Y:70.76, Z:14.33 [[ 4.25284405e-01 -9.01702313e-01 -7.78852533e-02 1.21913242e+02] [ 8.87128316e-01 4.32357209e-01 -1.61463911e-01 7.07616029e+01] [ 1.79266633e-01 -4.26130120e-04 9.83800433e-01 1.43251356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:70.79, Z:14.32 [[ 4.23038024e-01 -9.03265936e-01 -7.17598750e-02 1.21922541e+02] [ 8.88748708e-01 4.29057754e-01 -1.61354196e-01 7.07895551e+01] [ 1.76534880e-01 4.48246414e-03 9.84284178e-01 1.43246072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:70.81, Z:14.33 [[ 4.23176814e-01 -9.02480123e-01 -8.03181847e-02 1.21940316e+02] [ 8.88779299e-01 4.30701820e-01 -1.56739592e-01 7.08111616e+01] [ 1.76047555e-01 -5.05657849e-03 9.84368676e-01 1.43334131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:70.83, Z:14.35 [[ 4.22876914e-01 -9.01322832e-01 -9.37670903e-02 1.21959673e+02] [ 8.88464461e-01 4.32745275e-01 -1.52847728e-01 7.08330560e+01] [ 1.78342413e-01 -1.86729517e-02 9.83791291e-01 1.43487573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:70.86, Z:14.34 [[ 4.21488141e-01 -9.04167680e-01 -6.94877877e-02 1.21956397e+02] [ 8.90068331e-01 4.27145755e-01 -1.59137896e-01 7.08624166e+01] [ 1.73568756e-01 5.22585688e-03 9.84807889e-01 1.43381090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:70.89, Z:14.34 [[ 4.20181471e-01 -9.04485983e-01 -7.31617222e-02 1.21969813e+02] [ 8.90548461e-01 4.26501340e-01 -1.58177259e-01 7.08886381e+01] [ 1.74272686e-01 1.30909431e-03 9.84696561e-01 1.43442626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:70.91, Z:14.35 [[ 4.21512775e-01 -9.03381530e-01 -7.89226942e-02 1.21983372e+02] [ 8.89782286e-01 4.28815426e-01 -1.56220403e-01 7.09132351e+01] [ 1.74969895e-01 -4.37511965e-03 9.84564063e-01 1.43515774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.201858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.99, Y:70.94, Z:14.36 [[ 4.20302163e-01 -9.03705405e-01 -8.16249541e-02 1.21991437e+02] [ 8.90413176e-01 4.28085687e-01 -1.54618953e-01 7.09355098e+01] [ 1.74672458e-01 -7.69325424e-03 9.84596540e-01 1.43572041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.231858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:122.00, Y:70.96, Z:14.36 [[ 4.21593258e-01 -9.03490813e-01 -7.72235423e-02 1.21999799e+02] [ 8.89857537e-01 4.28598400e-01 -1.56387262e-01 7.09626933e+01] [ 1.74392341e-01 -2.78613606e-03 9.84672305e-01 1.43599639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:70.99, Z:14.36 [[ 4.22257973e-01 -9.03182708e-01 -7.71958584e-02 1.22011014e+02] [ 8.89534647e-01 4.29248396e-01 -1.56441444e-01 7.09879045e+01] [ 1.74431406e-01 -2.60974345e-03 9.84665869e-01 1.43648765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:71.01, Z:14.37 [[ 4.22704839e-01 -9.02968770e-01 -7.72529558e-02 1.22022109e+02] [ 8.89276871e-01 4.29699055e-01 -1.56669614e-01 7.10136097e+01] [ 1.74663291e-01 -2.47426273e-03 9.84625113e-01 1.43695651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:71.04, Z:14.37 [[ 4.23329278e-01 -9.02680133e-01 -7.72068608e-02 1.22033911e+02] [ 8.88980096e-01 4.30306013e-01 -1.56687980e-01 7.10391030e+01] [ 1.74661703e-01 -2.30475323e-03 9.84625806e-01 1.43740524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:71.07, Z:14.38 [[ 4.24620582e-01 -9.02239944e-01 -7.52359286e-02 1.22043691e+02] [ 8.88080617e-01 4.31233646e-01 -1.59217969e-01 7.10657129e+01] [ 1.76097075e-01 7.91656691e-04 9.84372487e-01 1.43775079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:71.09, Z:14.38 [[ 4.26256338e-01 -9.01423151e-01 -7.57749108e-02 1.22059305e+02] [ 8.87459815e-01 4.32939128e-01 -1.58046794e-01 7.10936187e+01] [ 1.75272963e-01 1.21259440e-04 9.84519870e-01 1.43821870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:71.11, Z:14.39 [[ 4.25246088e-01 -9.01274018e-01 -8.28909480e-02 1.22069045e+02] [ 8.87841672e-01 4.33182989e-01 -1.55208454e-01 7.11140300e+01] [ 1.75792296e-01 -7.59224983e-03 9.84398002e-01 1.43895306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.08, Y:71.14, Z:14.39 [[ 4.26868958e-01 -9.01109803e-01 -7.60527139e-02 1.22076432e+02] [ 8.86926180e-01 4.33590642e-01 -1.59251705e-01 7.11404040e+01] [ 1.76479018e-01 5.26466185e-04 9.84304262e-01 1.43909949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:71.17, Z:14.40 [[ 4.27586457e-01 -9.00554488e-01 -7.85584818e-02 1.22088856e+02] [ 8.86704810e-01 4.34736654e-01 -1.57348725e-01 7.11662842e+01] [ 1.75853352e-01 -2.37800000e-03 9.84413502e-01 1.43971046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.10, Y:71.19, Z:14.40 [[ 4.28398749e-01 -9.00263399e-01 -7.74617591e-02 1.22100115e+02] [ 8.86322265e-01 4.35344370e-01 -1.57823073e-01 7.11917147e+01] [ 1.75804877e-01 -1.04487468e-03 9.84424478e-01 1.44015952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.531858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.11, Y:71.22, Z:14.41 [[ 4.28891095e-01 -9.00039647e-01 -7.73373273e-02 1.22111127e+02] [ 8.86119593e-01 4.35807093e-01 -1.57684004e-01 7.12163750e+01] [ 1.75626011e-01 -9.00855682e-04 9.84456547e-01 1.44059313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.12, Y:71.25, Z:14.40 [[ 4.31284373e-01 -8.99705225e-01 -6.72629030e-02 1.22120936e+02] [ 8.85383446e-01 4.36394002e-01 -1.60176240e-01 7.12456764e+01] [ 1.73464527e-01 9.52804817e-03 9.84794026e-01 1.44011489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.591858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.14, Y:71.26, Z:14.42 [[ 4.30367814e-01 -8.98722731e-01 -8.41486626e-02 1.22136883e+02] [ 8.85367631e-01 4.38444673e-01 -1.54565284e-01 7.12622458e+01] [ 1.75805867e-01 -7.98257857e-03 9.84392491e-01 1.44166520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.15, Y:71.29, Z:14.42 [[ 4.29160711e-01 -8.99806332e-01 -7.85471146e-02 1.22146944e+02] [ 8.86114652e-01 4.36282469e-01 -1.56391913e-01 7.12900811e+01] [ 1.74991163e-01 -2.48448438e-03 9.84566869e-01 1.44193039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.651858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.16, Y:71.31, Z:14.42 [[ 4.28566760e-01 -9.00250331e-01 -7.66803305e-02 1.22157619e+02] [ 8.86510827e-01 4.35371858e-01 -1.56684072e-01 7.13143697e+01] [ 1.74439346e-01 -8.28358225e-04 9.84667573e-01 1.44229454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:71.34, Z:14.43 [[ 4.27047740e-01 -9.00980266e-01 -7.65818999e-02 1.22169515e+02] [ 8.87266796e-01 4.33858745e-01 -1.56602117e-01 7.13389675e+01] [ 1.74321144e-01 -1.07199681e-03 9.84688270e-01 1.44274622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.711858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.18, Y:71.36, Z:14.43 [[ 4.25985062e-01 -9.01490024e-01 -7.65014027e-02 1.22181519e+02] [ 8.87793999e-01 4.32798134e-01 -1.56549003e-01 7.13632136e+01] [ 1.74237029e-01 -1.22994962e-03 9.84702973e-01 1.44317682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:71.39, Z:14.43 [[ 4.25899039e-01 -9.02327365e-01 -6.64479838e-02 1.22190361e+02] [ 8.87675136e-01 4.30932503e-01 -1.62265311e-01 7.13915083e+01] [ 1.75051026e-01 1.01244169e-02 9.84507305e-01 1.44302648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:71.41, Z:14.44 [[ 4.23570107e-01 -9.01843625e-01 -8.52434205e-02 1.22211886e+02] [ 8.88703260e-01 4.31931825e-01 -1.53757645e-01 7.14111376e+01] [ 1.75484698e-01 -1.06289636e-02 9.84424779e-01 1.44444304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:71.44, Z:14.45 [[ 4.23342182e-01 -9.02681658e-01 -7.71182251e-02 1.22220448e+02] [ 8.88790762e-01 4.30305406e-01 -1.57760066e-01 7.14389202e+01] [ 1.75591507e-01 -1.75547556e-03 9.84461549e-01 1.44461734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.831858064 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:122.23, Y:71.46, Z:14.45 [[ 4.22564189e-01 -9.02983380e-01 -7.78493570e-02 1.22231074e+02] [ 8.89443905e-01 4.29662038e-01 -1.55820644e-01 7.14603246e+01] [ 1.74152365e-01 -3.39841228e-03 9.84712854e-01 1.44499080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.861858064 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:122.24, Y:71.48, Z:14.45 [[ 4.21331394e-01 -9.03784804e-01 -7.51856657e-02 1.22241349e+02] [ 8.90062539e-01 4.27986406e-01 -1.56895863e-01 7.14848467e+01] [ 1.73978540e-01 -8.14791767e-04 9.84749107e-01 1.44533718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.891858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:122.26, Y:71.51, Z:14.46 [[ 4.19341980e-01 -9.04501037e-01 -7.76542226e-02 1.22255774e+02] [ 8.90873678e-01 4.26456473e-01 -1.56457559e-01 7.15107498e+01] [ 1.74632170e-01 -3.57088055e-03 9.84627267e-01 1.44595171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.921858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:122.27, Y:71.54, Z:14.46 [[ 4.19193063e-01 -9.04916373e-01 -7.35087304e-02 1.22265121e+02] [ 8.90973001e-01 4.25588593e-01 -1.58244944e-01 7.15352281e+01] [ 1.74482918e-01 8.40888427e-04 9.84659842e-01 1.44615530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.951858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.28, Y:71.56, Z:14.47 [[ 4.19555290e-01 -9.04394733e-01 -7.77401206e-02 1.22278622e+02] [ 8.90696481e-01 4.26682973e-01 -1.56848397e-01 7.15564612e+01] [ 1.75023250e-01 -3.43627721e-03 9.84558304e-01 1.44676962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.981858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.29, Y:71.58, Z:14.47 [[ 4.18788368e-01 -9.04673492e-01 -7.86268171e-02 1.22290568e+02] [ 8.91515817e-01 4.26067721e-01 -1.53837075e-01 7.15799194e+01] [ 1.72672672e-01 -5.67187369e-03 9.84962932e-01 1.44713968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.011858064 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:122.30, Y:71.60, Z:14.47 [[ 4.19003260e-01 -9.04864775e-01 -7.52064332e-02 1.22300058e+02] [ 8.91444632e-01 4.25694508e-01 -1.55276058e-01 7.16041267e+01] [ 1.72518801e-01 -1.98119672e-03 9.85004233e-01 1.44739227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.041858064 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:122.31, Y:71.63, Z:14.48 [[ 4.17832622e-01 -9.05616230e-01 -7.26301920e-02 1.22310685e+02] [ 8.91730968e-01 4.24096332e-01 -1.57981589e-01 7.16301901e+01] [ 1.73872889e-01 1.24327014e-03 9.84767319e-01 1.44779854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.071858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:122.32, Y:71.66, Z:14.47 [[ 4.17528853e-01 -9.06552663e-01 -6.19025543e-02 1.22319370e+02] [ 8.92363068e-01 4.21932053e-01 -1.60192063e-01 7.16580005e+01] [ 1.71341213e-01 1.16452552e-02 9.85142922e-01 1.44744154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101858064 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:122.34, Y:71.67, Z:14.49 [[ 4.17804582e-01 -9.04260921e-01 -8.80427035e-02 1.22342228e+02] [ 8.91818198e-01 4.26691014e-01 -1.50316599e-01 7.16735029e+01] [ 1.73492457e-01 -1.57151212e-02 9.84709806e-01 1.44930400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.131858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.34, Y:71.71, Z:14.49 [[ 4.17045379e-01 -9.06504019e-01 -6.57542049e-02 1.22343283e+02] [ 8.91156492e-01 4.22058481e-01 -1.66453434e-01 7.17050641e+01] [ 1.78642826e-01 1.08213487e-02 9.83854481e-01 1.44905642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:71.72, Z:14.52 [[ 4.18660306e-01 -9.00858291e-01 -1.14794980e-01 1.22383156e+02] [ 8.89852078e-01 4.32179579e-01 -1.46233000e-01 7.17158148e+01] [ 1.81347256e-01 -4.09285990e-02 9.82567057e-01 1.45226294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:71.75, Z:14.51 [[ 4.19615789e-01 -9.03264894e-01 -8.96388341e-02 1.22387860e+02] [ 8.89785012e-01 4.28846696e-01 -1.56119005e-01 7.17503753e+01] [ 1.79458134e-01 -1.42492915e-02 9.83662409e-01 1.45144641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:71.78, Z:14.51 [[ 4.17296677e-01 -9.06648215e-01 -6.20684850e-02 1.22384378e+02] [ 8.91634352e-01 4.21672835e-01 -1.64864197e-01 7.17808942e+01] [ 1.75646424e-01 1.34548883e-02 9.84361366e-01 1.45064419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:122.41, Y:71.80, Z:14.52 [[ 4.17807739e-01 -9.04825852e-01 -8.20175053e-02 1.22406577e+02] [ 8.91024366e-01 4.25720400e-01 -1.57599876e-01 7.17987440e+01] [ 1.77516967e-01 -7.23314788e-03 9.84091158e-01 1.45215611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:122.42, Y:71.82, Z:14.53 [[ 4.17096132e-01 -9.05473991e-01 -7.84070637e-02 1.22419321e+02] [ 8.91478827e-01 4.24385317e-01 -1.58627245e-01 7.18249870e+01] [ 1.76907651e-01 -3.73542704e-03 9.84220366e-01 1.45262475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.43, Y:71.85, Z:14.53 [[ 4.16274875e-01 -9.05838893e-01 -7.85565286e-02 1.22430621e+02] [ 8.92233487e-01 4.23593441e-01 -1.56486426e-01 7.18477043e+01] [ 1.75027521e-01 -4.94939811e-03 9.84551101e-01 1.45289399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341858064 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:122.43, Y:71.88, Z:14.52 [[ 4.15139158e-01 -9.07983921e-01 -5.67862652e-02 1.22432210e+02] [ 8.92945212e-01 4.18617287e-01 -1.65554871e-01 7.18792173e+01] [ 1.74092873e-01 1.80212862e-02 9.84564322e-01 1.45228553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.46, Y:71.89, Z:14.54 [[ 4.16269924e-01 -9.04900684e-01 -8.87361428e-02 1.22461729e+02] [ 8.92677062e-01 4.25279184e-01 -1.49215544e-01 7.18912179e+01] [ 1.72762882e-01 -1.70987762e-02 9.84815017e-01 1.45405858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:122.47, Y:71.92, Z:14.54 [[ 4.16377232e-01 -9.05812638e-01 -7.83164471e-02 1.22471476e+02] [ 8.92295764e-01 4.23649742e-01 -1.55978093e-01 7.19202967e+01] [ 1.74465670e-01 -4.93570754e-03 9.84650887e-01 1.45435168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.48, Y:71.95, Z:14.54 [[ 4.14689576e-01 -9.07516280e-01 -6.66840105e-02 1.22477333e+02] [ 8.93779864e-01 4.19978603e-01 -1.57402440e-01 7.19482909e+01] [ 1.70851134e-01 5.67232523e-03 9.85280526e-01 1.45389512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:122.50, Y:71.97, Z:14.55 [[ 4.15951184e-01 -9.06104558e-01 -7.71954860e-02 1.22496742e+02] [ 8.93057488e-01 4.23022161e-01 -1.53298973e-01 7.19695780e+01] [ 1.71560299e-01 -5.17511763e-03 9.85160029e-01 1.45488360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.51, Y:71.99, Z:14.55 [[ 4.16326775e-01 -9.06303206e-01 -7.27084217e-02 1.22506527e+02] [ 8.92888668e-01 4.22628016e-01 -1.55355675e-01 7.19943919e+01] [ 1.71527963e-01 -2.41798473e-04 9.85179222e-01 1.45499534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:72.02, Z:14.55 [[ 4.16290921e-01 -9.06599432e-01 -6.91327612e-02 1.22518346e+02] [ 8.93137822e-01 4.21981141e-01 -1.55681561e-01 7.20201024e+01] [ 1.70313536e-01 3.06373674e-03 9.85385160e-01 1.45505673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:72.04, Z:14.56 [[ 4.15866762e-01 -9.06639783e-01 -7.11276283e-02 1.22531337e+02] [ 8.93503017e-01 4.21905373e-01 -1.53779761e-01 7.20444171e+01] [ 1.69431978e-01 3.99140940e-04 9.85541803e-01 1.45560361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.54, Y:72.07, Z:14.56 [[ 4.14145160e-01 -9.07640383e-01 -6.83573050e-02 1.22541541e+02] [ 8.94730058e-01 4.19743801e-01 -1.52555775e-01 7.20698927e+01] [ 1.67158337e-01 2.01890045e-03 9.85927997e-01 1.45561370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:72.09, Z:14.56 [[ 4.14137264e-01 -9.07362547e-01 -7.19967707e-02 1.22556281e+02] [ 8.94655722e-01 4.20345309e-01 -1.51330632e-01 7.20929319e+01] [ 1.67575252e-01 -1.74066910e-03 9.85857751e-01 1.45619364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.641858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:122.57, Y:72.11, Z:14.57 [[ 4.13918655e-01 -9.06807754e-01 -7.98188295e-02 1.22574814e+02] [ 8.94155229e-01 4.21452920e-01 -1.51208013e-01 7.21149248e+01] [ 1.70756478e-01 -8.78260638e-03 9.85274120e-01 1.45728755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.671858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:122.59, Y:72.14, Z:14.58 [[ 4.14070998e-01 -9.06852993e-01 -7.85038729e-02 1.22586989e+02] [ 8.94035838e-01 4.21385491e-01 -1.52099276e-01 7.21394344e+01] [ 1.71012076e-01 -7.20537704e-03 9.85242586e-01 1.45779424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:72.16, Z:14.58 [[ 4.14972800e-01 -9.06581436e-01 -7.68614050e-02 1.22598469e+02] [ 8.93760374e-01 4.21993681e-01 -1.52031995e-01 7.21627568e+01] [ 1.70264412e-01 -5.60653528e-03 9.85382462e-01 1.45792969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.731858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.60, Y:72.20, Z:14.57 [[ 4.12970430e-01 -9.08927175e-01 -5.75049093e-02 1.22601161e+02] [ 8.95052356e-01 4.16715568e-01 -1.58837700e-01 7.21953415e+01] [ 1.68335092e-01 1.41253686e-02 9.85628617e-01 1.45730737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:72.21, Z:14.59 [[ 4.14145503e-01 -9.06913522e-01 -7.74039076e-02 1.22623464e+02] [ 8.94174899e-01 4.21267823e-01 -1.51606965e-01 7.22105326e+01] [ 1.70102183e-01 -6.42528828e-03 9.85405482e-01 1.45882671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.63, Y:72.24, Z:14.59 [[ 4.11546964e-01 -9.08710067e-01 -6.98219854e-02 1.22632647e+02] [ 8.95892016e-01 4.17427852e-01 -1.52090380e-01 7.22392804e+01] [ 1.67351701e-01 3.93749052e-05 9.85897260e-01 1.45860051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:72.26, Z:14.59 [[ 4.11924682e-01 -9.08422584e-01 -7.13194561e-02 1.22646445e+02] [ 8.95867193e-01 4.18048850e-01 -1.50522861e-01 7.22620159e+01] [ 1.66553383e-01 -1.88867916e-03 9.86030630e-01 1.45931141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.851858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.66, Y:72.28, Z:14.60 [[ 4.13849551e-01 -9.07587176e-01 -7.08100729e-02 1.22658698e+02] [ 8.94836868e-01 4.19863224e-01 -1.51597669e-01 7.22845247e+01] [ 1.67318646e-01 -6.24836461e-04 9.85902673e-01 1.45979563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:72.31, Z:14.60 [[ 4.11632662e-01 -9.09091711e-01 -6.41156209e-02 1.22666347e+02] [ 8.95739794e-01 4.16544932e-01 -1.55372263e-01 7.23120541e+01] [ 1.67954673e-01 6.52538508e-03 9.85773122e-01 1.45979919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:72.33, Z:14.61 [[ 4.13945568e-01 -9.06739007e-01 -8.04576934e-02 1.22687583e+02] [ 8.94990239e-01 4.21532916e-01 -1.45953665e-01 7.23311032e+01] [ 1.66257448e-01 -1.15919775e-02 9.86014243e-01 1.46112382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:72.36, Z:14.61 [[ 4.14889832e-01 -9.07301220e-01 -6.83441545e-02 1.22693834e+02] [ 8.94512902e-01 4.20477203e-01 -1.51807741e-01 7.23600976e+01] [ 1.66472507e-01 1.84875989e-03 9.86044363e-01 1.46113417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.971858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:122.71, Y:72.38, Z:14.62 [[ 4.14813465e-01 -9.07185498e-01 -7.03154469e-02 1.22706106e+02] [ 8.94617403e-01 4.20730603e-01 -1.50484094e-01 7.23837071e+01] [ 1.66100848e-01 -4.82593975e-04 9.86108653e-01 1.46168518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.72, Y:72.41, Z:14.62 [[ 4.16785553e-01 -9.05927420e-01 -7.47349502e-02 1.22718612e+02] [ 8.93307675e-01 4.23414705e-01 -1.50736145e-01 7.24063167e+01] [ 1.68199883e-01 -3.93665731e-03 9.85745049e-01 1.46246801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.031858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:122.73, Y:72.43, Z:14.63 [[ 4.16037125e-01 -9.06360118e-01 -7.36508463e-02 1.22729084e+02] [ 8.93603258e-01 4.22496996e-01 -1.51556940e-01 7.24329251e+01] [ 1.68482427e-01 -2.76132275e-03 9.85700790e-01 1.46298661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.74, Y:72.46, Z:14.63 [[ 4.17283937e-01 -9.06201979e-01 -6.83526786e-02 1.22737653e+02] [ 8.92568126e-01 4.22822579e-01 -1.56662719e-01 7.24600921e+01] [ 1.70869121e-01 4.36341363e-03 9.85284073e-01 1.46325020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:72.48, Z:14.64 [[ 4.18294776e-01 -9.04877254e-01 -7.89090338e-02 1.22753268e+02] [ 8.92399315e-01 4.25603045e-01 -1.49951697e-01 7.24801494e+01] [ 1.69271805e-01 -7.69435616e-03 9.85539372e-01 1.46404255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:72.51, Z:14.65 [[ 4.17198189e-01 -9.05395436e-01 -7.87703965e-02 1.22765691e+02] [ 8.93052195e-01 4.24492136e-01 -1.49211942e-01 7.25056031e+01] [ 1.68533225e-01 -8.09512343e-03 9.85662732e-01 1.46459846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:72.53, Z:14.64 [[ 4.17694498e-01 -9.06178878e-01 -6.61146539e-02 1.22771145e+02] [ 8.92548381e-01 4.22845440e-01 -1.56713504e-01 7.25337370e+01] [ 1.69966747e-01 6.44784095e-03 9.85428704e-01 1.46446837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:72.56, Z:14.65 [[ 4.16043155e-01 -9.06490136e-01 -7.19981015e-02 1.22785495e+02] [ 8.93553206e-01 4.22226148e-01 -1.52603238e-01 7.25571165e+01] [ 1.68732811e-01 -8.44601823e-04 9.85661466e-01 1.46505803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:72.58, Z:14.66 [[ 4.16755624e-01 -9.06372503e-01 -6.93082613e-02 1.22795317e+02] [ 8.92649839e-01 4.22463845e-01 -1.57164133e-01 7.25817632e+01] [ 1.71729483e-01 3.63102790e-03 9.85137452e-01 1.46550225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.81, Y:72.61, Z:14.66 [[ 4.17009958e-01 -9.06103041e-01 -7.12739312e-02 1.22808128e+02] [ 8.92454659e-01 4.23053523e-01 -1.56685669e-01 7.26054236e+01] [ 1.72126049e-01 1.73073240e-03 9.85073412e-01 1.46607313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:72.63, Z:14.67 [[ 4.17214437e-01 -9.05998345e-01 -7.14080689e-02 1.22820113e+02] [ 8.92142551e-01 4.23275745e-01 -1.57858523e-01 7.26307103e+01] [ 1.73244864e-01 2.15467818e-03 9.84876426e-01 1.46652622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.301858064 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:122.84, Y:72.65, Z:14.67 [[ 4.17274830e-01 -9.05241040e-01 -8.01272476e-02 1.22835154e+02] [ 8.92498974e-01 4.24818024e-01 -1.51575812e-01 7.26504063e+01] [ 1.71252145e-01 -8.26471509e-03 9.85192569e-01 1.46731452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.331858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.84, Y:72.68, Z:14.67 [[ 4.15933035e-01 -9.06987743e-01 -6.61282395e-02 1.22840775e+02] [ 8.92693629e-01 4.21085575e-01 -1.60577157e-01 7.26804065e+01] [ 1.73487161e-01 7.75708637e-03 9.84805581e-01 1.46720266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:72.70, Z:14.68 [[ 4.15253474e-01 -9.06759855e-01 -7.31513349e-02 1.22856206e+02] [ 8.93243387e-01 4.21647056e-01 -1.55980803e-01 7.27033764e+01] [ 1.72281176e-01 -5.70375760e-04 9.85047649e-01 1.46797238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.391858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.87, Y:72.73, Z:14.69 [[ 4.13980428e-01 -9.07391239e-01 -7.25351197e-02 1.22867725e+02] [ 8.94092504e-01 4.20286256e-01 -1.54783905e-01 7.27273416e+01] [ 1.70935073e-01 -7.75599465e-04 9.85281990e-01 1.46857566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:72.75, Z:14.69 [[ 4.14146538e-01 -9.07125383e-01 -7.48744591e-02 1.22879961e+02] [ 8.94245879e-01 4.20842829e-01 -1.52366733e-01 7.27502001e+01] [ 1.69726110e-01 -3.85402139e-03 9.85483736e-01 1.46919440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:72.78, Z:14.69 [[ 4.13015006e-01 -9.08116960e-01 -6.88635725e-02 1.22889314e+02] [ 8.94641360e-01 4.18707395e-01 -1.55887636e-01 7.27779550e+01] [ 1.70397893e-01 2.77573272e-03 9.85371429e-01 1.46941319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:72.80, Z:14.70 [[ 4.12913678e-01 -9.07761007e-01 -7.39746427e-02 1.22903924e+02] [ 8.94797558e-01 4.19476566e-01 -1.52894544e-01 7.27995352e+01] [ 1.69822334e-01 -3.06008125e-03 9.85469944e-01 1.47025688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:72.82, Z:14.71 [[ 4.12946952e-01 -9.07478771e-01 -7.71822211e-02 1.22917152e+02] [ 8.95138163e-01 4.20032374e-01 -1.49333436e-01 7.28225051e+01] [ 1.67935955e-01 -7.42196434e-03 9.85769968e-01 1.47092239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:72.85, Z:14.71 [[ 4.11142481e-01 -9.09380872e-01 -6.31529179e-02 1.22922744e+02] [ 8.95339930e-01 4.15866882e-01 -1.59440103e-01 7.28546158e+01] [ 1.71254987e-01 9.00927034e-03 9.85185547e-01 1.47073541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:72.87, Z:14.73 [[ 4.12494037e-01 -9.06109550e-01 -9.38837261e-02 1.22950761e+02] [ 8.93612417e-01 4.22501183e-01 -1.51491251e-01 7.28724935e+01] [ 1.76933654e-01 -2.14064259e-02 9.83989963e-01 1.47307589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:122.95, Y:72.90, Z:14.73 [[ 4.12370699e-01 -9.08007516e-01 -7.39780848e-02 1.22953048e+02] [ 8.93618338e-01 4.18953777e-01 -1.61009311e-01 7.29025839e+01] [ 1.77191063e-01 2.87348833e-04 9.84176430e-01 1.47259108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:72.93, Z:14.72 [[ 4.10058077e-01 -9.09897962e-01 -6.27540621e-02 1.22954862e+02] [ 8.95651029e-01 4.14719146e-01 -1.60677515e-01 7.29281081e+01] [ 1.72225454e-01 9.68137242e-03 9.85009982e-01 1.47200739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:72.95, Z:14.73 [[ 4.08574090e-01 -9.09728538e-01 -7.38999359e-02 1.22971204e+02] [ 8.96266897e-01 4.15195902e-01 -1.55942337e-01 7.29489861e+01] [ 1.72548145e-01 -2.52006780e-03 9.84997861e-01 1.47294844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:72.97, Z:14.73 [[ 4.08470915e-01 -9.09893889e-01 -7.24197655e-02 1.22982358e+02] [ 8.96330275e-01 4.14839918e-01 -1.56524376e-01 7.29749135e+01] [ 1.72463183e-01 -9.76373226e-04 9.85015481e-01 1.47335388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:73.00, Z:14.75 [[ 4.09545316e-01 -9.08208715e-01 -8.61949219e-02 1.23004997e+02] [ 8.95416871e-01 4.18259893e-01 -1.52601733e-01 7.29968911e+01] [ 1.74646103e-01 -1.46830622e-02 9.84521786e-01 1.47480953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:73.03, Z:14.73 [[ 4.04636232e-01 -9.13145906e-01 -4.93363385e-02 1.22997751e+02] [ 8.98363758e-01 4.07010517e-01 -1.65181711e-01 7.30337786e+01] [ 1.70915411e-01 2.25165266e-02 9.85028390e-01 1.47306581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.03, Y:73.05, Z:14.76 [[ 4.05979409e-01 -9.09048354e-01 -9.38712401e-02 1.23034889e+02] [ 8.96791746e-01 4.16051923e-01 -1.50550194e-01 7.30476356e+01] [ 1.75912716e-01 -2.30626748e-02 9.84135575e-01 1.47614890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:73.07, Z:14.76 [[ 4.06059590e-01 -9.10396061e-01 -7.93386519e-02 1.23039980e+02] [ 8.96831803e-01 4.13669794e-01 -1.56748265e-01 7.30746527e+01] [ 1.75523007e-01 -7.50429007e-03 9.84446728e-01 1.47597436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.03, Y:73.11, Z:14.75 [[ 4.00548369e-01 -9.14530009e-01 -5.65319899e-02 1.23033974e+02] [ 8.99404410e-01 4.04209251e-01 -1.66392877e-01 7.31064056e+01] [ 1.75022033e-01 1.58032746e-02 9.84437679e-01 1.47497250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:73.12, Z:14.78 [[ 4.03431824e-01 -9.10368412e-01 -9.20441111e-02 1.23069537e+02] [ 8.97536563e-01 4.13285315e-01 -1.53698945e-01 7.31244958e+01] [ 1.77963144e-01 -2.06059092e-02 9.83821384e-01 1.47755683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.07, Y:73.15, Z:14.77 [[ 4.02875623e-01 -9.12242067e-01 -7.42000229e-02 1.23072590e+02] [ 8.97871292e-01 4.09648285e-01 -1.61292981e-01 7.31539236e+01] [ 1.77534155e-01 -1.64106023e-03 9.84113271e-01 1.47724196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.931858064 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:123.08, Y:73.18, Z:14.78 [[ 4.01899489e-01 -9.12749383e-01 -7.32486553e-02 1.23082818e+02] [ 8.98571315e-01 4.08517532e-01 -1.60259224e-01 7.31799511e+01] [ 1.76199867e-01 -1.41104039e-03 9.84353400e-01 1.47752406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961858064 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:123.10, Y:73.20, Z:14.78 [[ 4.03294587e-01 -9.11103369e-01 -8.51124415e-02 1.23097608e+02] [ 8.98525658e-01 4.11893172e-01 -1.51643189e-01 7.31979188e+01] [ 1.73219854e-01 -1.53188350e-02 9.84764040e-01 1.47848070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99185806399998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:123.09, Y:73.23, Z:14.78 [[ 4.00653899e-01 -9.13971853e-01 -6.42798962e-02 1.23090145e+02] [ 8.99823864e-01 4.05727239e-01 -1.60319746e-01 7.32261965e+01] [ 1.72607840e-01 6.39214656e-03 9.84969885e-01 1.47775331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.10, Y:73.25, Z:14.78 [[ 3.99133794e-01 -9.14531496e-01 -6.57598403e-02 1.23101289e+02] [ 9.00055867e-01 4.04476780e-01 -1.62166492e-01 7.32525351e+01] [ 1.74904693e-01 5.53859732e-03 9.84569790e-01 1.47833067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.051858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.12, Y:73.28, Z:14.79 [[ 3.98583168e-01 -9.14177030e-01 -7.35650487e-02 1.23115399e+02] [ 9.00301912e-01 4.05304205e-01 -1.58697731e-01 7.32751524e+01] [ 1.74894044e-01 -2.97650948e-03 9.84582761e-01 1.47909607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.081858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.12, Y:73.31, Z:14.79 [[ 3.98197736e-01 -9.15082921e-01 -6.37323405e-02 1.23123923e+02] [ 9.00765236e-01 4.03207444e-01 -1.61386949e-01 7.33059715e+01] [ 1.73379795e-01 6.85604092e-03 9.84831174e-01 1.47885415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.111858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.14, Y:73.32, Z:14.81 [[ 3.96411369e-01 -9.14277715e-01 -8.33923587e-02 1.23141420e+02] [ 9.01280667e-01 4.04845513e-01 -1.54250671e-01 7.33238459e+01] [ 1.74788974e-01 -1.40132008e-02 9.84506193e-01 1.48052790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:73.35, Z:14.80 [[ 3.96649264e-01 -9.15479262e-01 -6.75801836e-02 1.23147401e+02] [ 9.01859177e-01 4.02362512e-01 -1.57335418e-01 7.33542976e+01] [ 1.71229045e-01 1.45916894e-03 9.85230169e-01 1.47997089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:73.38, Z:14.81 [[ 3.93706755e-01 -9.15931407e-01 -7.78758579e-02 1.23160116e+02] [ 9.02505614e-01 4.01241139e-01 -1.56490146e-01 7.33774600e+01] [ 1.74581237e-01 -8.67217159e-03 9.84604583e-01 1.48129717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.201858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.17, Y:73.40, Z:14.82 [[ 3.93207236e-01 -9.16521739e-01 -7.33210188e-02 1.23168420e+02] [ 9.02689080e-01 3.99966897e-01 -1.58678622e-01 7.34041284e+01] [ 1.74758387e-01 -3.79250053e-03 9.84604044e-01 1.48153136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.231858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:123.18, Y:73.43, Z:14.82 [[ 3.92636407e-01 -9.16778545e-01 -7.31693369e-02 1.23178661e+02] [ 9.02986914e-01 3.99377359e-01 -1.58468791e-01 7.34285303e+01] [ 1.74502964e-01 -3.85033722e-03 9.84649121e-01 1.48198856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:73.45, Z:14.82 [[ 3.92379150e-01 -9.16890967e-01 -7.31406694e-02 1.23189587e+02] [ 9.03090048e-01 3.99119213e-01 -1.58531447e-01 7.34535914e+01] [ 1.74547898e-01 -3.84817644e-03 9.84641165e-01 1.48248623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.20, Y:73.48, Z:14.83 [[ 3.93286881e-01 -9.16312609e-01 -7.54760383e-02 1.23199547e+02] [ 9.02875247e-01 4.00409335e-01 -1.56488508e-01 7.34759447e+01] [ 1.73613704e-01 -6.60056933e-03 9.84791711e-01 1.48305957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:73.50, Z:14.83 [[ 3.92461848e-01 -9.17152371e-01 -6.93197322e-02 1.23207554e+02] [ 9.03139157e-01 3.98536726e-01 -1.59712682e-01 7.35046698e+01] [ 1.74107324e-01 7.57698520e-05 9.84726680e-01 1.48328682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.351858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.20, Y:73.54, Z:14.81 [[ 3.91194253e-01 -9.19512191e-01 -3.82672975e-02 1.23203528e+02] [ 9.05217254e-01 3.91945968e-01 -1.64195250e-01 7.35404346e+01] [ 1.65978247e-01 2.95920203e-02 9.85685312e-01 1.48141663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:73.55, Z:14.86 [[ 3.94566794e-01 -9.13208337e-01 -1.01821303e-01 1.23242121e+02] [ 9.02682211e-01 4.05936356e-01 -1.42760289e-01 7.35473517e+01] [ 1.71702855e-01 -3.55838090e-02 9.84505928e-01 1.48555370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.411858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.24, Y:73.58, Z:14.85 [[ 3.95635054e-01 -9.15596130e-01 -7.18096868e-02 1.23238864e+02] [ 9.02183759e-01 4.02087972e-01 -1.56172111e-01 7.35812824e+01] [ 1.71864391e-01 -2.99837170e-03 9.85116054e-01 1.48476420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.25, Y:73.61, Z:14.85 [[ 3.98182179e-01 -9.14478902e-01 -7.19672844e-02 1.23248380e+02] [ 9.00968490e-01 4.04626032e-01 -1.56631905e-01 7.36070636e+01] [ 1.72356409e-01 -2.47222242e-03 9.85031551e-01 1.48524932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:73.63, Z:14.86 [[ 3.99253086e-01 -9.14005639e-01 -7.20462671e-02 1.23258618e+02] [ 9.00436827e-01 4.05695400e-01 -1.56922795e-01 7.36321219e+01] [ 1.72657159e-01 -2.22120182e-03 9.84979478e-01 1.48570698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:73.66, Z:14.86 [[ 4.00311777e-01 -9.13534950e-01 -7.21413683e-02 1.23268956e+02] [ 8.99900415e-01 4.06755478e-01 -1.57255285e-01 7.36576671e+01] [ 1.73002096e-01 -1.96890457e-03 9.84919488e-01 1.48613477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:73.68, Z:14.87 [[ 4.02982199e-01 -9.12334788e-01 -7.24608974e-02 1.23277794e+02] [ 8.98537923e-01 4.09442607e-01 -1.58070721e-01 7.36835079e+01] [ 1.73881997e-01 -1.40917740e-03 9.84765488e-01 1.48652413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.29, Y:73.71, Z:14.87 [[ 4.03988285e-01 -9.11909692e-01 -7.22092688e-02 1.23287947e+02] [ 8.98180697e-01 4.10389259e-01 -1.57645463e-01 7.37097639e+01] [ 1.73392334e-01 -1.17005094e-03 9.84852136e-01 1.48690251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:73.74, Z:14.87 [[ 4.04836532e-01 -9.11541485e-01 -7.21075830e-02 1.23298014e+02] [ 8.97825062e-01 4.11206999e-01 -1.57540352e-01 7.37361964e+01] [ 1.73255710e-01 -9.61905278e-04 9.84876405e-01 1.48731543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.31, Y:73.76, Z:14.88 [[ 4.07151675e-01 -9.10533540e-01 -7.18065922e-02 1.23307029e+02] [ 8.96896319e-01 4.13434930e-01 -1.56998572e-01 7.37614586e+01] [ 1.72639819e-01 -4.80836889e-04 9.84984904e-01 1.48776851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.651858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.32, Y:73.79, Z:14.88 [[ 4.09353176e-01 -9.10247850e-01 -6.22802499e-02 1.23317556e+02] [ 8.96284171e-01 4.13959219e-01 -1.59098870e-01 7.37927156e+01] [ 1.70600888e-01 9.30682553e-03 9.85296260e-01 1.48761485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:73.81, Z:14.89 [[ 4.08301780e-01 -9.09516651e-01 -7.79045494e-02 1.23330535e+02] [ 8.96253316e-01 4.15615461e-01 -1.54899267e-01 7.38109039e+01] [ 1.73261798e-01 -6.57656420e-03 9.84853846e-01 1.48890211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:73.84, Z:14.89 [[ 4.09056987e-01 -9.09897912e-01 -6.89794949e-02 1.23336288e+02] [ 8.95795805e-01 4.14817483e-01 -1.59613071e-01 7.38385269e+01] [ 1.73845501e-01 3.49929986e-03 9.84766722e-01 1.48896166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.36, Y:73.87, Z:14.90 [[ 4.11707893e-01 -9.07542701e-01 -8.28423642e-02 1.23359469e+02] [ 8.94615777e-01 4.19812929e-01 -1.53035014e-01 7.38654451e+01] [ 1.73664105e-01 -1.11063629e-02 9.84742315e-01 1.49019507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77185806399999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:123.36, Y:73.89, Z:14.90 [[ 4.09260580e-01 -9.09820315e-01 -6.87951445e-02 1.23357077e+02] [ 8.96083326e-01 4.14992791e-01 -1.57529861e-01 7.38917781e+01] [ 1.71873357e-01 2.82458039e-03 9.85115004e-01 1.48991447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.801858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.37, Y:73.92, Z:14.90 [[ 4.09537570e-01 -9.09499308e-01 -7.13441455e-02 1.23368507e+02] [ 8.95911873e-01 4.15705373e-01 -1.56623620e-01 7.39167975e+01] [ 1.72107219e-01 2.25189597e-04 9.85078197e-01 1.49045075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:73.94, Z:14.91 [[ 4.09888191e-01 -9.09357307e-01 -7.11404190e-02 1.23377844e+02] [ 8.95825131e-01 4.16015837e-01 -1.56295097e-01 7.39422605e+01] [ 1.71723630e-01 3.34139579e-04 9.85145108e-01 1.49084986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.861858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:123.39, Y:73.97, Z:14.91 [[ 4.09259170e-01 -9.09652649e-01 -7.09858451e-02 1.23388103e+02] [ 8.96162330e-01 4.15369703e-01 -1.56080391e-01 7.39677006e+01] [ 1.71464310e-01 2.62490869e-04 9.85190297e-01 1.49133553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.891858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:123.40, Y:73.99, Z:14.92 [[ 4.08675540e-01 -9.09918529e-01 -7.09406296e-02 1.23398274e+02] [ 8.96428997e-01 4.14786969e-01 -1.56098762e-01 7.39934448e+01] [ 1.71462404e-01 2.00508354e-04 9.85190643e-01 1.49180911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.921858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.41, Y:74.02, Z:14.92 [[ 4.06825364e-01 -9.10778209e-01 -7.05420332e-02 1.23407793e+02] [ 8.97433273e-01 4.12895922e-01 -1.55339881e-01 7.40195115e+01] [ 1.70606697e-01 -1.10564059e-04 9.85339202e-01 1.49227920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.42, Y:74.04, Z:14.93 [[ 4.05559153e-01 -9.11360900e-01 -7.03070682e-02 1.23418635e+02] [ 8.98093772e-01 4.11608087e-01 -1.54939861e-01 7.40448294e+01] [ 1.70145089e-01 -3.05061386e-04 9.85418975e-01 1.49276612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.981858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:123.43, Y:74.07, Z:14.93 [[ 4.04378557e-01 -9.11896192e-01 -7.01663613e-02 1.23429287e+02] [ 8.98670365e-01 4.10420644e-01 -1.54746473e-01 7.40694412e+01] [ 1.69910442e-01 -4.80274213e-04 9.85459391e-01 1.49326802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:74.09, Z:14.95 [[ 4.05413499e-01 -9.10273947e-01 -8.39120719e-02 1.23452153e+02] [ 8.97665702e-01 4.13774440e-01 -1.51614646e-01 7.40943081e+01] [ 1.72731533e-01 -1.38583648e-02 9.84871445e-01 1.49489220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.041858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.46, Y:74.12, Z:14.95 [[ 4.04072229e-01 -9.11568142e-01 -7.59549669e-02 1.23458313e+02] [ 8.98416021e-01 4.11107402e-01 -1.54399992e-01 7.41217480e+01] [ 1.71971763e-01 -5.85041023e-03 9.85084507e-01 1.49515616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:74.15, Z:14.96 [[ 4.04974130e-01 -9.11318286e-01 -7.41278268e-02 1.23469745e+02] [ 8.97953100e-01 4.11687044e-01 -1.55544232e-01 7.41476784e+01] [ 1.72267769e-01 -3.57192161e-03 9.85043683e-01 1.49569557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.48, Y:74.17, Z:14.96 [[ 4.01613591e-01 -9.12298938e-01 -8.01072534e-02 1.23478847e+02] [ 8.99585125e-01 4.09378499e-01 -1.52170455e-01 7.41714380e+01] [ 1.71619132e-01 -1.09495707e-02 9.85102523e-01 1.49642374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.131858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.49, Y:74.20, Z:14.97 [[ 4.03032129e-01 -9.12019054e-01 -7.60680521e-02 1.23491844e+02] [ 8.98864136e-01 4.10102165e-01 -1.54465140e-01 7.41998762e+01] [ 1.72070824e-01 -6.12042968e-03 9.85065567e-01 1.49693373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.48, Y:74.23, Z:14.96 [[ 3.97721921e-01 -9.16066731e-01 -5.13713652e-02 1.23481838e+02] [ 9.02245540e-01 4.00662619e-01 -1.59444195e-01 7.42274446e+01] [ 1.66644108e-01 1.70648664e-02 9.85869429e-01 1.49574108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:74.24, Z:15.00 [[ 4.00799456e-01 -9.10161046e-01 -1.04721854e-01 1.23522193e+02] [ 8.99276056e-01 4.12679118e-01 -1.44908665e-01 7.42413134e+01] [ 1.75106744e-01 -3.60945413e-02 9.83887601e-01 1.49956129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:74.28, Z:14.99 [[ 3.99873454e-01 -9.13603571e-01 -7.36867391e-02 1.23518831e+02] [ 8.99999921e-01 4.06591084e-01 -1.57110893e-01 7.42759706e+01] [ 1.73497444e-01 -3.49358397e-03 9.84828123e-01 1.49882102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:74.31, Z:14.97 [[ 3.95145846e-01 -9.17752067e-01 -3.98861315e-02 1.23505853e+02] [ 9.03742515e-01 3.96162671e-01 -1.62186942e-01 7.43078341e+01] [ 1.64648798e-01 2.80407035e-02 9.85953595e-01 1.49679167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:74.33, Z:14.98 [[ 3.94861555e-01 -9.16245474e-01 -6.76652359e-02 1.23528814e+02] [ 9.03816339e-01 4.00613432e-01 -1.50415769e-01 7.43255762e+01] [ 1.64925370e-01 -1.76354129e-03 9.86304472e-01 1.49818109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.56, Y:74.35, Z:15.00 [[ 3.97489398e-01 -9.13008052e-01 -9.17522480e-02 1.23555198e+02] [ 9.01401204e-01 4.07221670e-01 -1.47127090e-01 7.43469666e+01] [ 1.71691722e-01 -2.42241282e-02 9.84852854e-01 1.50039979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:74.38, Z:14.99 [[ 3.97218629e-01 -9.16435205e-01 -4.86197180e-02 1.23540064e+02] [ 9.02246460e-01 3.99659886e-01 -1.61936103e-01 7.43811352e+01] [ 1.67835297e-01 2.04570685e-02 9.85602771e-01 1.49861235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.371858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.56, Y:74.40, Z:15.00 [[ 3.96589367e-01 -9.15272148e-01 -7.06666021e-02 1.23561418e+02] [ 9.02782655e-01 4.02816060e-01 -1.50740504e-01 7.44016117e+01] [ 1.66434227e-01 -4.01450157e-03 9.86044386e-01 1.49986960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.57, Y:74.43, Z:15.00 [[ 3.97030446e-01 -9.15289840e-01 -6.79068065e-02 1.23569318e+02] [ 9.02765910e-01 4.02793461e-01 -1.50901091e-01 7.44274169e+01] [ 1.65470653e-01 -1.39162252e-03 9.86213733e-01 1.50024586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:74.45, Z:15.02 [[ 3.98447264e-01 -9.13519131e-01 -8.19913154e-02 1.23588597e+02] [ 9.01501643e-01 4.06527351e-01 -1.48426076e-01 7.44500483e+01] [ 1.68921772e-01 -1.47753417e-02 9.85518708e-01 1.50175411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.58, Y:74.48, Z:15.01 [[ 3.97064235e-01 -9.16077332e-01 -5.60563563e-02 1.23583916e+02] [ 9.02893630e-01 4.00849891e-01 -1.55249663e-01 7.44813171e+01] [ 1.64690881e-01 1.10311617e-02 9.86283543e-01 1.50076488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:74.50, Z:15.03 [[ 3.99333239e-01 -9.12683863e-01 -8.68396785e-02 1.23611462e+02] [ 9.01076963e-01 4.08187695e-01 -1.46434671e-01 7.44995603e+01] [ 1.69095449e-01 -1.97730023e-02 9.85401318e-01 1.50299171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:74.53, Z:15.02 [[ 3.98068169e-01 -9.15950893e-01 -5.07513092e-02 1.23602316e+02] [ 9.02662786e-01 4.00954542e-01 -1.56318106e-01 7.45332382e+01] [ 1.63528676e-01 1.64139438e-02 9.86402025e-01 1.50157980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:74.56, Z:15.02 [[ 3.97772085e-01 -9.15306375e-01 -6.31791777e-02 1.23618448e+02] [ 9.02596386e-01 4.02743482e-01 -1.52044244e-01 7.45551431e+01] [ 1.64612068e-01 3.45365871e-03 9.86352340e-01 1.50249805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:74.58, Z:15.03 [[ 3.98248000e-01 -9.14537421e-01 -7.08508013e-02 1.23631580e+02] [ 9.02564767e-01 4.04468255e-01 -1.47588184e-01 7.45791615e+01] [ 1.63631817e-01 -5.17073775e-03 9.86507928e-01 1.50313356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:74.61, Z:15.03 [[ 3.97980122e-01 -9.14953136e-01 -6.68773636e-02 1.23641196e+02] [ 9.02678799e-01 4.03559050e-01 -1.49368934e-01 7.46059716e+01] [ 1.63654540e-01 -9.22911671e-04 9.86517278e-01 1.50347649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:74.63, Z:15.04 [[ 3.97758644e-01 -9.15049522e-01 -6.68762558e-02 1.23650283e+02] [ 9.02758621e-01 4.03340465e-01 -1.49476891e-01 7.46310911e+01] [ 1.63752658e-01 -9.17391113e-04 9.86501001e-01 1.50385237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.66, Y:74.66, Z:15.04 [[ 3.97961038e-01 -9.14966248e-01 -6.68115093e-02 1.23660084e+02] [ 9.02680651e-01 4.03529505e-01 -1.49437551e-01 7.46575419e+01] [ 1.63690731e-01 -8.39133660e-04 9.86511348e-01 1.50423520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:74.68, Z:15.05 [[ 3.98987001e-01 -9.14503164e-01 -6.70323482e-02 1.23669552e+02] [ 9.02109545e-01 4.04578298e-01 -1.50049225e-01 7.46831282e+01] [ 1.64340325e-01 -6.02830759e-04 9.86403515e-01 1.50462297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:74.71, Z:15.05 [[ 3.99661123e-01 -9.14204124e-01 -6.70955058e-02 1.23680745e+02] [ 9.01765236e-01 4.05253784e-01 -1.50295807e-01 7.47083560e+01] [ 1.64591754e-01 -4.37003537e-04 9.86361680e-01 1.50510796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:74.73, Z:15.06 [[ 4.00076329e-01 -9.14021431e-01 -6.71100125e-02 1.23691474e+02] [ 9.01555188e-01 4.05665779e-01 -1.50444405e-01 7.47336175e+01] [ 1.64733646e-01 -3.14134538e-04 9.86338039e-01 1.50555477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:74.76, Z:15.06 [[ 4.01232051e-01 -9.13476908e-01 -6.76223259e-02 1.23700049e+02] [ 9.00790686e-01 4.06890570e-01 -1.51710923e-01 7.47587420e+01] [ 1.66099312e-01 -4.22763739e-05 9.86109029e-01 1.50592463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:74.78, Z:15.06 [[ 4.01513227e-01 -9.13325854e-01 -6.79927408e-02 1.23710117e+02] [ 9.00479140e-01 4.07229517e-01 -1.52648089e-01 7.47847404e+01] [ 1.67106098e-01 6.41820609e-05 9.85938917e-01 1.50631161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:74.81, Z:15.07 [[ 4.01948770e-01 -9.13091965e-01 -6.85583657e-02 1.23720288e+02] [ 9.00005216e-01 4.07753624e-01 -1.54037639e-01 7.48099702e+01] [ 1.68605453e-01 2.12352784e-04 9.85683598e-01 1.50669362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:74.84, Z:15.07 [[ 4.01765291e-01 -9.13111190e-01 -6.93729405e-02 1.23730522e+02] [ 8.99690596e-01 4.07710548e-01 -1.55977370e-01 7.48354150e+01] [ 1.70708762e-01 2.52111412e-04 9.85321498e-01 1.50709031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:74.85, Z:15.11 [[ 4.04476572e-01 -9.07536328e-01 -1.13033250e-01 1.23766861e+02] [ 8.95769804e-01 4.18051192e-01 -1.51094865e-01 7.48521708e+01] [ 1.84377764e-01 -4.01374392e-02 9.82035552e-01 1.51053180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:74.89, Z:15.10 [[ 4.05816089e-01 -9.09833258e-01 -8.66991598e-02 1.23771086e+02] [ 8.94696380e-01 4.14844500e-01 -1.65597188e-01 7.48873441e+01] [ 1.86632499e-01 -1.03674211e-02 9.82375095e-01 1.51045221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:74.92, Z:15.08 [[ 3.98967916e-01 -9.16293269e-01 -3.50891371e-02 1.23749202e+02] [ 8.99768266e-01 3.98575224e-01 -1.77636871e-01 7.49227365e+01] [ 1.76753130e-01 3.92993203e-02 9.83470332e-01 1.50771100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:74.94, Z:15.09 [[ 3.95931516e-01 -9.15420974e-01 -7.24063135e-02 1.23778978e+02] [ 9.00999192e-01 4.02496096e-01 -1.61855948e-01 7.49360725e+01] [ 1.77309588e-01 -1.15415902e-03 9.84154448e-01 1.50941390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:74.96, Z:15.10 [[ 3.92862646e-01 -9.16834044e-01 -7.12339650e-02 1.23790018e+02] [ 9.02289072e-01 3.99268331e-01 -1.62662934e-01 7.49615898e+01] [ 1.77576382e-01 -3.69437635e-04 9.84106952e-01 1.50983846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:74.99, Z:15.10 [[ 3.90663243e-01 -9.17682425e-01 -7.23961074e-02 1.23801724e+02] [ 9.03128041e-01 3.97310694e-01 -1.62800350e-01 7.49857909e+01] [ 1.78162768e-01 -1.78284188e-03 9.83999415e-01 1.51035507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.091858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.81, Y:75.01, Z:15.11 [[ 3.88911969e-01 -9.18428556e-01 -7.23634495e-02 1.23813454e+02] [ 9.03876492e-01 3.95581473e-01 -1.62857561e-01 7.50104884e+01] [ 1.78198675e-01 -2.07036614e-03 9.83992351e-01 1.51078935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.83, Y:75.03, Z:15.11 [[ 3.86003565e-01 -9.19641611e-01 -7.25296811e-02 1.23826960e+02] [ 9.05020764e-01 3.92750077e-01 -1.63354807e-01 7.50347498e+01] [ 1.78713916e-01 -2.58532932e-03 9.83897684e-01 1.51129654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:75.06, Z:15.12 [[ 3.85098943e-01 -9.20214434e-01 -7.00299973e-02 1.23838431e+02] [ 9.05177956e-01 3.91414394e-01 -1.65673295e-01 7.50605402e+01] [ 1.79865706e-01 4.11001017e-04 9.83691089e-01 1.51169619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:75.08, Z:15.16 [[ 3.88116165e-01 -9.14009509e-01 -1.18120531e-01 1.23880188e+02] [ 9.01852900e-01 4.03059813e-01 -1.55576781e-01 7.50752175e+01] [ 1.89808296e-01 -4.61454802e-02 9.80736155e-01 1.51551818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:75.12, Z:15.12 [[ 3.84144232e-01 -9.22517579e-01 -3.73433481e-02 1.23846790e+02] [ 9.05441279e-01 3.84327571e-01 -1.80189923e-01 7.51184548e+01] [ 1.80580450e-01 3.54067109e-02 9.82922716e-01 1.51158442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:75.13, Z:15.13 [[ 3.84046811e-01 -9.20407374e-01 -7.32004956e-02 1.23877016e+02] [ 9.05657122e-01 3.90947162e-01 -1.64150826e-01 7.51338136e+01] [ 1.79703156e-01 -3.25294910e-03 9.83715505e-01 1.51334230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:75.16, Z:15.14 [[ 3.84041378e-01 -9.20456383e-01 -7.26103765e-02 1.23888274e+02] [ 9.05731385e-01 3.90835411e-01 -1.64007133e-01 7.51576473e+01] [ 1.79340119e-01 -2.77997133e-03 9.83783204e-01 1.51383219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:75.18, Z:15.14 [[ 3.84462065e-01 -9.20292902e-01 -7.24561633e-02 1.23900074e+02] [ 9.05610270e-01 3.91221044e-01 -1.63756327e-01 7.51823679e+01] [ 1.79050161e-01 -2.65895007e-03 9.83836353e-01 1.51436365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.331858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.91, Y:75.21, Z:15.15 [[ 3.84698045e-01 -9.20439332e-01 -6.92737306e-02 1.23911015e+02] [ 9.05399167e-01 3.90884093e-01 -1.65716546e-01 7.52089043e+01] [ 1.79610027e-01 1.03045342e-03 9.83737351e-01 1.51477732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:75.23, Z:15.15 [[ 3.84926442e-01 -9.20061415e-01 -7.29289181e-02 1.23923683e+02] [ 9.05363478e-01 3.91762929e-01 -1.63825455e-01 7.52320772e+01] [ 1.79300327e-01 -2.96642951e-03 9.83789913e-01 1.51540571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:75.26, Z:15.16 [[ 3.85480628e-01 -9.19623651e-01 -7.54786436e-02 1.23935789e+02] [ 9.05368775e-01 3.92753013e-01 -1.61407723e-01 7.52551171e+01] [ 1.78078824e-01 -6.11645671e-03 9.83997216e-01 1.51600463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:75.28, Z:15.16 [[ 3.85595852e-01 -9.19879401e-01 -7.16779373e-02 1.23945552e+02] [ 9.05417602e-01 3.92194916e-01 -1.62487274e-01 7.52803929e+01] [ 1.77580419e-01 -2.24404730e-03 9.84103734e-01 1.51636569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:75.31, Z:15.17 [[ 3.85411592e-01 -9.19951638e-01 -7.17418134e-02 1.23956599e+02] [ 9.05441842e-01 3.92025533e-01 -1.62760721e-01 7.53052820e+01] [ 1.77856614e-01 -2.22817109e-03 9.84053891e-01 1.51684928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:75.33, Z:15.19 [[ 3.89936284e-01 -9.15789429e-01 -9.63297283e-02 1.23989055e+02] [ 9.02297231e-01 4.00875647e-01 -1.58614071e-01 7.53289486e+01] [ 1.83873331e-01 -2.50686658e-02 9.82630226e-01 1.51903342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.96, Y:75.37, Z:15.16 [[ 3.83338432e-01 -9.22687085e-01 -4.12333482e-02 1.23963789e+02] [ 9.06290238e-01 3.84380403e-01 -1.75754688e-01 7.53653452e+01] [ 1.78015871e-01 3.00041455e-02 9.83570079e-01 1.51632126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:75.38, Z:15.19 [[ 3.83238484e-01 -9.19339356e-01 -8.91258211e-02 1.23995761e+02] [ 9.05510564e-01 3.92988325e-01 -1.60033733e-01 7.53772241e+01] [ 1.82150716e-01 -1.93732872e-02 9.83079749e-01 1.51907528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:75.41, Z:15.20 [[ 3.84059407e-01 -9.18947566e-01 -8.96311516e-02 1.24010369e+02] [ 9.04219293e-01 3.93980357e-01 -1.64823990e-01 7.54050103e+01] [ 1.86777518e-01 -1.77440125e-02 9.82241981e-01 1.52005611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.01, Y:75.44, Z:15.19 [[ 3.80492757e-01 -9.22365672e-01 -6.68343349e-02 1.24008183e+02] [ 9.06198539e-01 3.86287107e-01 -1.72007207e-01 7.54371613e+01] [ 1.84470785e-01 4.88231965e-03 9.82825871e-01 1.51930591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:75.46, Z:15.20 [[ 3.78257856e-01 -9.23082296e-01 -6.95706076e-02 1.24017460e+02] [ 9.07481170e-01 3.84601679e-01 -1.68995485e-01 7.54596226e+01] [ 1.82753713e-01 7.89853463e-04 9.83158409e-01 1.51972392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:75.49, Z:15.20 [[ 3.75914677e-01 -9.23802033e-01 -7.26495638e-02 1.24029896e+02] [ 9.08442202e-01 3.82859303e-01 -1.67784147e-01 7.54854747e+01] [ 1.82813898e-01 -2.92540619e-03 9.83143184e-01 1.52034170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:75.51, Z:15.21 [[ 3.75138082e-01 -9.23942655e-01 -7.48424395e-02 1.24040725e+02] [ 9.08788148e-01 3.82491989e-01 -1.66745256e-01 7.55092168e+01] [ 1.82689688e-01 -5.46342647e-03 9.83155445e-01 1.52088507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:75.54, Z:15.21 [[ 3.72494698e-01 -9.25126780e-01 -7.34039582e-02 1.24049604e+02] [ 9.09840107e-01 3.79633078e-01 -1.67540163e-01 7.55350604e+01] [ 1.82862462e-01 -4.37804272e-03 9.83128757e-01 1.52131672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:75.56, Z:15.22 [[ 3.72209049e-01 -9.25267948e-01 -7.30728953e-02 1.24059601e+02] [ 9.10102240e-01 3.79288815e-01 -1.66894903e-01 7.55587086e+01] [ 1.82138236e-01 -4.38401257e-03 9.83263161e-01 1.52177265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:75.59, Z:15.22 [[ 3.72156671e-01 -9.25708857e-01 -6.75464654e-02 1.24069767e+02] [ 9.10436221e-01 3.78235947e-01 -1.67461804e-01 7.55874839e+01] [ 1.80569377e-01 8.25278918e-04 9.83561904e-01 1.52189610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:75.61, Z:15.23 [[ 3.72263649e-01 -9.24885397e-01 -7.75034103e-02 1.24083085e+02] [ 9.10523766e-01 3.80114076e-01 -1.62664563e-01 7.56077349e+01] [ 1.79906216e-01 -1.00145931e-02 9.83632788e-01 1.52302054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.08, Y:75.64, Z:15.22 [[ 3.73318185e-01 -9.26152249e-01 -5.36241064e-02 1.24084134e+02] [ 9.10823312e-01 3.76889129e-01 -1.68390850e-01 7.56418233e+01] [ 1.76165907e-01 1.40212802e-02 9.84260625e-01 1.52229591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:75.66, Z:15.24 [[ 3.74024036e-01 -9.23173244e-01 -8.86407461e-02 1.24108868e+02] [ 9.10058923e-01 3.83748924e-01 -1.56619028e-01 7.56567045e+01] [ 1.78602287e-01 -2.20890211e-02 9.83673370e-01 1.52442816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:75.69, Z:15.24 [[ 3.77077975e-01 -9.23321349e-01 -7.27316127e-02 1.24110429e+02] [ 9.08720620e-01 3.84003044e-01 -1.63610808e-01 7.56867582e+01] [ 1.78994512e-01 -4.39868423e-03 9.83840239e-01 1.52440088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.12, Y:75.71, Z:15.25 [[ 3.79070730e-01 -9.22647800e-01 -7.08972367e-02 1.24118919e+02] [ 9.07816774e-01 3.85638986e-01 -1.64776449e-01 7.57114867e+01] [ 1.79371367e-01 -1.89977182e-03 9.83779601e-01 1.52479916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:75.74, Z:15.25 [[ 3.80989714e-01 -9.21804881e-01 -7.15723353e-02 1.24128936e+02] [ 9.07057936e-01 3.87647082e-01 -1.64242631e-01 7.57364099e+01] [ 1.79144465e-01 -2.34550182e-03 9.83819983e-01 1.52526242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:75.76, Z:15.26 [[ 3.82438942e-01 -9.21202443e-01 -7.15996896e-02 1.24137824e+02] [ 9.06409850e-01 3.89078413e-01 -1.64435921e-01 7.57604579e+01] [ 1.79336666e-01 -2.01196422e-03 9.83785704e-01 1.52569881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:75.79, Z:15.26 [[ 3.84925802e-01 -9.20161475e-01 -7.16588237e-02 1.24146956e+02] [ 9.05301311e-01 3.91536323e-01 -1.64708361e-01 7.57867140e+01] [ 1.79615321e-01 -1.47232890e-03 9.83735823e-01 1.52614299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:75.81, Z:15.27 [[ 3.85675312e-01 -9.19824660e-01 -7.19524011e-02 1.24157363e+02] [ 9.04812168e-01 3.92327646e-01 -1.65511206e-01 7.58119199e+01] [ 1.80470205e-01 -1.26982183e-03 9.83579632e-01 1.52664087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:75.84, Z:15.27 [[ 3.86258426e-01 -9.19571198e-01 -7.20641338e-02 1.24167643e+02] [ 9.04483186e-01 3.92921875e-01 -1.65899266e-01 7.58366688e+01] [ 1.80871762e-01 -1.10080773e-03 9.83506072e-01 1.52713920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.18, Y:75.86, Z:15.28 [[ 3.86749489e-01 -9.19359637e-01 -7.21296804e-02 1.24177999e+02] [ 9.04218376e-01 3.93417012e-01 -1.66169137e-01 7.58627122e+01] [ 1.81146241e-01 -9.55153640e-04 9.83455707e-01 1.52762018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:75.89, Z:15.28 [[ 3.86790437e-01 -9.19343385e-01 -7.21172534e-02 1.24189201e+02] [ 9.04183199e-01 3.93455129e-01 -1.66270278e-01 7.58884973e+01] [ 1.81234383e-01 -8.95455508e-04 9.83439524e-01 1.52810844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.20, Y:75.91, Z:15.29 [[ 3.86586244e-01 -9.19417570e-01 -7.22662330e-02 1.24199634e+02] [ 9.04170979e-01 3.93281781e-01 -1.66746161e-01 7.59126029e+01] [ 1.81730343e-01 -8.79258759e-04 9.83348010e-01 1.52858318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:75.94, Z:15.29 [[ 3.86004261e-01 -9.19671757e-01 -7.21427004e-02 1.24211057e+02] [ 9.04460053e-01 3.92686844e-01 -1.66580477e-01 7.59382159e+01] [ 1.81528849e-01 -9.49416618e-04 9.83385161e-01 1.52906946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:75.96, Z:15.30 [[ 3.84339936e-01 -9.20361862e-01 -7.22278089e-02 1.24222237e+02] [ 9.05101848e-01 3.91065908e-01 -1.66907460e-01 7.59621452e+01] [ 1.81861094e-01 -1.22432096e-03 9.83323468e-01 1.52955210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:75.99, Z:15.30 [[ 3.83314051e-01 -9.20991625e-01 -6.96043431e-02 1.24232541e+02] [ 9.05282743e-01 3.89577656e-01 -1.69388328e-01 7.59893429e+01] [ 1.83121528e-01 1.91731552e-03 9.83088414e-01 1.52998700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:76.01, Z:15.31 [[ 3.82838530e-01 -9.20728191e-01 -7.54603076e-02 1.24246425e+02] [ 9.05662301e-01 3.90174917e-01 -1.65949782e-01 7.60121165e+01] [ 1.82237362e-01 -4.80958514e-03 9.83242804e-01 1.53065400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:76.04, Z:15.32 [[ 3.83796109e-01 -9.20129105e-01 -7.78651198e-02 1.24263782e+02] [ 9.04918412e-01 3.91561745e-01 -1.66739518e-01 7.60384855e+01] [ 1.83910886e-01 -6.46760234e-03 9.82921643e-01 1.53160276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:76.07, Z:15.31 [[ 3.82548789e-01 -9.21600607e-01 -6.56410344e-02 1.24269032e+02] [ 9.05997198e-01 3.88105261e-01 -1.68947875e-01 7.60680988e+01] [ 1.81178095e-01 5.16021166e-03 9.83436765e-01 1.53143270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:76.09, Z:15.32 [[ 3.82606298e-01 -9.21113762e-01 -7.18460685e-02 1.24282266e+02] [ 9.06104770e-01 3.89289642e-01 -1.65613168e-01 7.60901920e+01] [ 1.80517498e-01 -1.73542442e-03 9.83570242e-01 1.53203542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:76.12, Z:15.33 [[ 3.82530830e-01 -9.21213812e-01 -7.09596900e-02 1.24293665e+02] [ 9.06183927e-01 3.89055642e-01 -1.65729892e-01 7.61165766e+01] [ 1.80279933e-01 -9.05737402e-04 9.83614927e-01 1.53252195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:76.14, Z:15.33 [[ 3.82993262e-01 -9.20955181e-01 -7.18172381e-02 1.24305300e+02] [ 9.05993107e-01 3.89664629e-01 -1.65341969e-01 7.61401711e+01] [ 1.80257180e-01 -1.74106278e-03 9.83617973e-01 1.53307170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:76.16, Z:15.34 [[ 3.80831693e-01 -9.21230284e-01 -7.93850474e-02 1.24315267e+02] [ 9.06581866e-01 3.88900506e-01 -1.63907648e-01 7.61603565e+01] [ 1.81869574e-01 -9.54781735e-03 9.83276308e-01 1.53395142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:76.19, Z:15.34 [[ 3.80746715e-01 -9.21901514e-01 -7.16207902e-02 1.24322667e+02] [ 9.06606271e-01 3.87422278e-01 -1.67239494e-01 7.61882693e+01] [ 1.81925832e-01 -1.25596964e-03 9.83311453e-01 1.53418276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.33, Y:76.22, Z:15.34 [[ 3.82727657e-01 -9.21764608e-01 -6.22056868e-02 1.24334129e+02] [ 9.06000798e-01 3.87652496e-01 -1.69964984e-01 7.62192304e+01] [ 1.80781897e-01 8.69189821e-03 9.83484802e-01 1.53405135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:76.24, Z:15.36 [[ 3.79862974e-01 -9.21388115e-01 -8.21465922e-02 1.24351499e+02] [ 9.06957332e-01 3.88438918e-01 -1.62922084e-01 7.62356606e+01] [ 1.82023405e-01 -1.26153867e-02 9.83213269e-01 1.53558390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:76.26, Z:15.36 [[ 3.79598051e-01 -9.22387351e-01 -7.14625412e-02 1.24358590e+02] [ 9.07117170e-01 3.86263748e-01 -1.67148907e-01 7.62635434e+01] [ 1.81779426e-01 -1.37549888e-03 9.83338369e-01 1.53578604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:76.30, Z:15.36 [[ 3.80595448e-01 -9.22785291e-01 -6.01199692e-02 1.24369403e+02] [ 9.07125961e-01 3.85184701e-01 -1.69573693e-01 7.62951105e+01] [ 1.79637402e-01 1.00025910e-02 9.83682038e-01 1.53558582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:76.31, Z:15.37 [[ 3.78181658e-01 -9.21948116e-01 -8.36080413e-02 1.24387928e+02] [ 9.07562579e-01 3.87049708e-01 -1.62857879e-01 7.63103140e+01] [ 1.82506983e-01 -1.42896667e-02 9.83100710e-01 1.53723059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:76.34, Z:15.37 [[ 3.77887805e-01 -9.23064825e-01 -7.17783844e-02 1.24394043e+02] [ 9.07609788e-01 3.84641170e-01 -1.68213086e-01 7.63382243e+01] [ 1.82880504e-01 -1.58109057e-03 9.83133878e-01 1.53727358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.711858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:76.37, Z:15.37 [[ 3.79591946e-01 -9.22617848e-01 -6.84562745e-02 1.24407862e+02] [ 9.06913695e-01 3.85708676e-01 -1.69518044e-01 7.63650343e+01] [ 1.82804551e-01 2.26375120e-03 9.83146668e-01 1.53743634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:76.39, Z:15.38 [[ 3.76901248e-01 -9.23373383e-01 -7.29866084e-02 1.24417780e+02] [ 9.07753880e-01 3.83894931e-01 -1.69137739e-01 7.63865469e+01] [ 1.84196476e-01 -2.50565186e-03 9.82886250e-01 1.53828447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:76.42, Z:15.38 [[ 3.77514902e-01 -9.23884849e-01 -6.26041921e-02 1.24430202e+02] [ 9.08334071e-01 3.82608182e-01 -1.68938437e-01 7.64168224e+01] [ 1.80032538e-01 6.91125683e-03 9.83636376e-01 1.53805511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.45, Y:76.43, Z:15.40 [[ 3.76081325e-01 -9.22749092e-01 -8.42434059e-02 1.24447178e+02] [ 9.08578500e-01 3.85082477e-01 -1.61853623e-01 7.64323260e+01] [ 1.81790943e-01 -1.56716223e-02 9.83212313e-01 1.53971898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.45, Y:76.46, Z:15.40 [[ 3.75650263e-01 -9.24140324e-01 -6.96530152e-02 1.24453534e+02] [ 9.08844415e-01 3.82053006e-01 -1.67443514e-01 7.64605734e+01] [ 1.81352447e-01 -4.03553951e-04 9.83418084e-01 1.53972995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:76.48, Z:15.40 [[ 3.74942265e-01 -9.24257023e-01 -7.18836137e-02 1.24466979e+02] [ 9.09218439e-01 3.81758329e-01 -1.66079525e-01 7.64849910e+01] [ 1.80942335e-01 -3.08767400e-03 9.83488860e-01 1.54029070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:76.51, Z:15.41 [[ 3.74032395e-01 -9.24723700e-01 -7.06105247e-02 1.24478374e+02] [ 9.09647978e-01 3.80633648e-01 -1.66308694e-01 7.65089213e+01] [ 1.80666333e-01 -2.02588192e-03 9.83542359e-01 1.54069124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:76.53, Z:15.41 [[ 3.73263450e-01 -9.25040627e-01 -7.05282520e-02 1.24490621e+02] [ 9.09980568e-01 3.79862251e-01 -1.66252926e-01 7.65334284e+01] [ 1.80581732e-01 -2.12319797e-03 9.83557690e-01 1.54114227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:76.56, Z:15.42 [[ 3.72915153e-01 -9.25171832e-01 -7.06496246e-02 1.24505027e+02] [ 9.10037712e-01 3.79542489e-01 -1.66669917e-01 7.65578549e+01] [ 1.81012847e-01 -2.14008511e-03 9.83478403e-01 1.54160462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:76.58, Z:15.42 [[ 3.72863676e-01 -9.25193029e-01 -7.06437451e-02 1.24517175e+02] [ 9.10037695e-01 3.79491043e-01 -1.66787115e-01 7.65826480e+01] [ 1.81118945e-01 -2.09961414e-03 9.83458957e-01 1.54205149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:76.62, Z:15.40 [[ 3.71862145e-01 -9.27523366e-01 -3.76689682e-02 1.24514985e+02] [ 9.12006067e-01 3.72605712e-01 -1.71493200e-01 7.66189784e+01] [ 1.73099623e-01 2.94175018e-02 9.84464896e-01 1.54013248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:76.63, Z:15.43 [[ 3.75511431e-01 -9.23108886e-01 -8.28320576e-02 1.24550523e+02] [ 9.09820076e-01 3.84187390e-01 -1.56931445e-01 7.66298861e+01] [ 1.76687844e-01 -1.64327173e-02 9.84129754e-01 1.54269208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.56, Y:76.65, Z:15.44 [[ 3.75689250e-01 -9.23374425e-01 -7.89763225e-02 1.24558565e+02] [ 9.08695030e-01 3.83769301e-01 -1.64299927e-01 7.66537114e+01] [ 1.82019039e-01 -1.00396755e-02 9.83243751e-01 1.54365817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.57, Y:76.68, Z:15.44 [[ 3.78166137e-01 -9.22864191e-01 -7.28838588e-02 1.24567609e+02] [ 9.08021576e-01 3.85106567e-01 -1.64893148e-01 7.66773993e+01] [ 1.80242034e-01 -3.82311137e-03 9.83614860e-01 1.54381814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:76.71, Z:15.44 [[ 3.79896751e-01 -9.22540421e-01 -6.78058263e-02 1.24582683e+02] [ 9.07916691e-01 3.85900013e-01 -1.63610705e-01 7.67056324e+01] [ 1.77103758e-01 5.93133983e-04 9.84192007e-01 1.54372205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:76.73, Z:15.44 [[ 3.79974355e-01 -9.22275525e-01 -7.09037770e-02 1.24598279e+02] [ 9.07608650e-01 3.86527428e-01 -1.63838595e-01 7.67317449e+01] [ 1.78510581e-01 -2.09841688e-03 9.83935755e-01 1.54442347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:76.76, Z:15.45 [[ 3.80475902e-01 -9.22183878e-01 -6.93900835e-02 1.24609257e+02] [ 9.07585140e-01 3.86750912e-01 -1.63440953e-01 7.67551441e+01] [ 1.77559290e-01 -7.92064703e-04 9.84109786e-01 1.54473188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:76.78, Z:15.45 [[ 3.79455186e-01 -9.23295512e-01 -5.94908299e-02 1.24617707e+02] [ 9.08496768e-01 3.83996021e-01 -1.64865637e-01 7.67839084e+01] [ 1.75063945e-01 8.51189413e-03 9.84520270e-01 1.54462297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.251858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:124.64, Y:76.80, Z:15.47 [[ 3.79995613e-01 -9.21479655e-01 -8.04896188e-02 1.24640707e+02] [ 9.07557257e-01 3.88233956e-01 -1.60044432e-01 7.67974529e+01] [ 1.78726491e-01 -1.22327556e-02 9.83822749e-01 1.54651793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:76.83, Z:15.46 [[ 3.79482752e-01 -9.22624402e-01 -6.89714036e-02 1.24651534e+02] [ 9.08126378e-01 3.85698793e-01 -1.62919988e-01 7.68285244e+01] [ 1.76916144e-01 -8.09425298e-04 9.84225596e-01 1.54638946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:76.85, Z:15.47 [[ 3.78670883e-01 -9.23235797e-01 -6.51461908e-02 1.24662404e+02] [ 9.08667057e-01 3.84224560e-01 -1.63388085e-01 7.68531980e+01] [ 1.75876495e-01 2.67411281e-03 9.84408608e-01 1.54657704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:124.69, Y:76.87, Z:15.48 [[ 3.80257973e-01 -9.21644307e-01 -7.73022979e-02 1.24685025e+02] [ 9.07117901e-01 3.87951890e-01 -1.63188374e-01 7.68720592e+01] [ 1.80391208e-01 -8.06861799e-03 9.83561848e-01 1.54792380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.371858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:124.70, Y:76.90, Z:15.48 [[ 3.79294036e-01 -9.22341697e-01 -7.36330643e-02 1.24697391e+02] [ 9.07913934e-01 3.86340399e-01 -1.62583471e-01 7.68997786e+01] [ 1.78404942e-01 -5.18554411e-03 9.83943488e-01 1.54825595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:76.92, Z:15.49 [[ 3.80370684e-01 -9.21987868e-01 -7.25018219e-02 1.24709001e+02] [ 9.07464707e-01 3.87200360e-01 -1.63045045e-01 7.69231460e+01] [ 1.78398285e-01 -3.77528918e-03 9.83951116e-01 1.54868022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:76.95, Z:15.49 [[ 3.79189779e-01 -9.22671775e-01 -6.99421716e-02 1.24720883e+02] [ 9.07834775e-01 3.85584994e-01 -1.64803624e-01 7.69499578e+01] [ 1.79028304e-01 -1.00408581e-03 9.83843411e-01 1.54906124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:76.97, Z:15.50 [[ 3.80299661e-01 -9.22095357e-01 -7.15004897e-02 1.24735886e+02] [ 9.07115935e-01 3.86958045e-01 -1.65541994e-01 7.69710594e+01] [ 1.80313193e-01 -1.90366945e-03 9.83607406e-01 1.54956503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:77.00, Z:15.50 [[ 3.77701801e-01 -9.23656479e-01 -6.48078619e-02 1.24742102e+02] [ 9.08601123e-01 3.83202005e-01 -1.66133150e-01 7.69959370e+01] [ 1.78284463e-01 3.86429381e-03 9.83971401e-01 1.54955704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:77.02, Z:15.51 [[ 3.78808095e-01 -9.22015451e-01 -7.99495850e-02 1.24765810e+02] [ 9.07488216e-01 3.87006143e-01 -1.63374976e-01 7.70182914e+01] [ 1.81575233e-01 -1.06655427e-02 9.83319216e-01 1.55100852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:77.04, Z:15.52 [[ 3.77543203e-01 -9.22791312e-01 -7.69241437e-02 1.24781246e+02] [ 9.07766543e-01 3.85233637e-01 -1.65996834e-01 7.70417167e+01] [ 1.82814204e-01 -7.15818750e-03 9.83121420e-01 1.55163908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:77.07, Z:15.52 [[ 3.78144279e-01 -9.23199230e-01 -6.86300672e-02 1.24789236e+02] [ 9.07615175e-01 3.84318442e-01 -1.68920184e-01 7.70670195e+01] [ 1.82322785e-01 1.58651081e-03 9.83237451e-01 1.55173918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:77.09, Z:15.51 [[ 3.77294101e-01 -9.24011582e-01 -6.20625261e-02 1.24791440e+02] [ 9.08987484e-01 3.82313529e-01 -1.66066610e-01 7.70927531e+01] [ 1.77174814e-01 6.24189282e-03 9.84159603e-01 1.55149248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:77.12, Z:15.52 [[ 3.78422675e-01 -9.23208634e-01 -6.69484654e-02 1.24803070e+02] [ 9.08417925e-01 3.84296309e-01 -1.64600184e-01 7.71165843e+01] [ 1.77688359e-01 1.47125600e-03 9.84085709e-01 1.55209472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:77.14, Z:15.53 [[ 3.79842868e-01 -9.21851196e-01 -7.68750110e-02 1.24821173e+02] [ 9.07064098e-01 3.87477047e-01 -1.64609420e-01 7.71416836e+01] [ 1.81532693e-01 -7.20484843e-03 9.83358516e-01 1.55333235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:77.17, Z:15.53 [[ 3.78259538e-01 -9.23470563e-01 -6.42015638e-02 1.24821609e+02] [ 9.08441315e-01 3.83643320e-01 -1.65988494e-01 7.71673410e+01] [ 1.77915989e-01 4.46337819e-03 9.84035558e-01 1.55289081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.731858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:124.84, Y:77.19, Z:15.54 [[ 3.76705774e-01 -9.23014419e-01 -7.83399219e-02 1.24841853e+02] [ 9.08668542e-01 3.84635285e-01 -1.62410522e-01 7.71908278e+01] [ 1.80039552e-01 -1.00040413e-02 9.83608499e-01 1.55443502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:77.22, Z:15.55 [[ 3.74603002e-01 -9.24442338e-01 -7.12667855e-02 1.24851793e+02] [ 9.09649876e-01 3.81309146e-01 -1.64743552e-01 7.72203996e+01] [ 1.79470591e-01 -3.11439358e-03 9.83758409e-01 1.55481781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:77.25, Z:15.54 [[ 3.70675694e-01 -9.27372688e-01 -5.07880690e-02 1.24847096e+02] [ 9.12003215e-01 3.73783737e-01 -1.68925584e-01 7.72486755e+01] [ 1.75640728e-01 1.62977260e-02 9.84319419e-01 1.55393133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:77.27, Z:15.56 [[ 3.68314666e-01 -9.26037426e-01 -8.24560016e-02 1.24873857e+02] [ 9.12618426e-01 3.77046063e-01 -1.57999601e-01 7.72663425e+01] [ 1.77403255e-01 -1.70572961e-02 9.83990413e-01 1.55619247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.88, Y:77.30, Z:15.56 [[ 3.65503002e-01 -9.28282648e-01 -6.85483865e-02 1.24878768e+02] [ 9.13558071e-01 3.71867513e-01 -1.64700342e-01 7.72963996e+01] [ 1.78379388e-01 -2.42446231e-03 9.83958798e-01 1.55605216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.88, Y:77.33, Z:15.56 [[ 3.61023731e-01 -9.30933600e-01 -5.49954447e-02 1.24880735e+02] [ 9.15738977e-01 3.65045285e-01 -1.67821532e-01 7.73251458e+01] [ 1.76306530e-01 1.02260831e-02 9.84282193e-01 1.55554517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.911858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.90, Y:77.34, Z:15.57 [[ 3.60217528e-01 -9.29566731e-01 -7.84157181e-02 1.24902755e+02] [ 9.15433410e-01 3.68409701e-01 -1.62036923e-01 7.73430044e+01] [ 1.79513244e-01 -1.34158284e-02 9.83664074e-01 1.55734235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:77.37, Z:15.57 [[ 3.55858196e-01 -9.32631604e-01 -5.96928484e-02 1.24901362e+02] [ 9.17746277e-01 3.60804430e-01 -1.66017874e-01 7.73717184e+01] [ 1.76370960e-01 4.29593173e-03 9.84314396e-01 1.55657860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:77.39, Z:15.58 [[ 3.55586750e-01 -9.31181215e-01 -8.03716823e-02 1.24925219e+02] [ 9.17098816e-01 3.64202826e-01 -1.62129775e-01 7.73932990e+01] [ 1.80243795e-01 -1.60575749e-02 9.83490889e-01 1.55840713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.93, Y:77.42, Z:15.59 [[ 3.53658918e-01 -9.32560639e-01 -7.24984387e-02 1.24932640e+02] [ 9.17113389e-01 3.60951886e-01 -1.69164912e-01 7.74221902e+01] [ 1.83924987e-01 -6.66260906e-03 9.82917702e-01 1.55882644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.031858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.93, Y:77.45, Z:15.58 [[ 3.50454517e-01 -9.34341952e-01 -6.47050880e-02 1.24932013e+02] [ 9.20005869e-01 3.56369808e-01 -1.63063670e-01 7.74460049e+01] [ 1.75416167e-01 -2.38266093e-03 9.84491489e-01 1.55824443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.95, Y:77.47, Z:15.60 [[ 3.52110648e-01 -9.32284831e-01 -8.28437393e-02 1.24952821e+02] [ 9.19170329e-01 3.61126847e-01 -1.57204665e-01 7.74660150e+01] [ 1.76476623e-01 -2.07940707e-02 9.84085163e-01 1.55984131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:77.50, Z:15.60 [[ 3.51676569e-01 -9.33825740e-01 -6.55215882e-02 1.24955287e+02] [ 9.18938442e-01 3.57723702e-01 -1.66090014e-01 7.74976968e+01] [ 1.78537755e-01 -1.80033983e-03 9.83931415e-01 1.55967835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.97, Y:77.52, Z:15.61 [[ 3.52176244e-01 -9.33085181e-01 -7.29653201e-02 1.24968705e+02] [ 9.18803290e-01 3.59525556e-01 -1.62916817e-01 7.75214000e+01] [ 1.78248165e-01 -9.66534359e-03 9.83938094e-01 1.56058004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.151858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:124.96, Y:77.55, Z:15.59 [[ 3.51282576e-01 -9.34852548e-01 -5.14904480e-02 1.24962996e+02] [ 9.20160945e-01 3.54873899e-01 -1.65433827e-01 7.75508895e+01] [ 1.72928850e-01 1.07345215e-02 9.84875821e-01 1.55934055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:77.57, Z:15.61 [[ 3.53979941e-01 -9.32382913e-01 -7.32141069e-02 1.24986856e+02] [ 9.18413712e-01 3.61327941e-01 -1.61116021e-01 7.75723392e+01] [ 1.76676127e-01 -1.02090002e-02 9.84216095e-01 1.56112177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.211858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:77.60, Z:15.62 [[ 3.52864961e-01 -9.32831213e-01 -7.28851625e-02 1.24995351e+02] [ 9.19090456e-01 3.60158425e-01 -1.59870708e-01 7.75987040e+01] [ 1.75382592e-01 -1.05752859e-02 9.84443553e-01 1.56159743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:77.63, Z:15.61 [[ 3.54206150e-01 -9.33671424e-01 -5.28741430e-02 1.24992082e+02] [ 9.19217873e-01 3.58005859e-01 -1.63921650e-01 7.76274024e+01] [ 1.71978213e-01 9.45919914e-03 9.85055337e-01 1.56088840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.01, Y:77.65, Z:15.62 [[ 3.55211811e-01 -9.32321555e-01 -6.78313119e-02 1.25008348e+02] [ 9.19110704e-01 3.61567546e-01 -1.56538891e-01 7.76486480e+01] [ 1.70470183e-01 -6.74002196e-03 9.85339783e-01 1.56201047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:77.68, Z:15.63 [[ 3.57546897e-01 -9.31519256e-01 -6.65739573e-02 1.25020619e+02] [ 9.17932229e-01 3.63665266e-01 -1.58581203e-01 7.76767304e+01] [ 1.71932080e-01 -4.41016411e-03 9.85098934e-01 1.56261877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:77.70, Z:15.63 [[ 3.58608980e-01 -9.31224743e-01 -6.49621211e-02 1.25025926e+02] [ 9.17758605e-01 3.64432900e-01 -1.57822065e-01 7.77005975e+01] [ 1.70642146e-01 -3.02313597e-03 9.85328432e-01 1.56281940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:77.73, Z:15.63 [[ 3.59035891e-01 -9.31036022e-01 -6.53081542e-02 1.25035996e+02] [ 9.17480749e-01 3.64914334e-01 -1.58324363e-01 7.77263288e+01] [ 1.71237566e-01 -3.07484556e-03 9.85224970e-01 1.56328345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.05, Y:77.75, Z:15.64 [[ 3.58524402e-01 -9.31407109e-01 -6.27777849e-02 1.25045746e+02] [ 9.17507233e-01 3.63979095e-01 -1.60311244e-01 7.77531472e+01] [ 1.72164834e-01 -1.23578880e-04 9.85068147e-01 1.56360834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.06, Y:77.78, Z:15.64 [[ 3.58277695e-01 -9.31360229e-01 -6.48476402e-02 1.25057240e+02] [ 9.17609296e-01 3.64091342e-01 -1.59469981e-01 7.77787390e+01] [ 1.72134463e-01 -2.37026019e-03 9.85070611e-01 1.56417124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.451858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.07, Y:77.81, Z:15.65 [[ 3.57694976e-01 -9.31504450e-01 -6.59830606e-02 1.25070832e+02] [ 9.17544271e-01 3.63717030e-01 -1.60693598e-01 7.78052256e+01] [ 1.73685965e-01 -3.06308642e-03 9.84796326e-01 1.56474754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:77.83, Z:15.65 [[ 3.56444758e-01 -9.32065263e-01 -6.48188333e-02 1.25080926e+02] [ 9.18139594e-01 3.62283168e-01 -1.60532218e-01 7.78316666e+01] [ 1.73109276e-01 -2.29186990e-03 9.84899957e-01 1.56512411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:77.86, Z:15.66 [[ 3.54565345e-01 -9.32663520e-01 -6.64994274e-02 1.25090015e+02] [ 9.18855096e-01 3.60720803e-01 -1.59955662e-01 7.78556853e+01] [ 1.73172538e-01 -4.38860320e-03 9.84881725e-01 1.56567544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:77.88, Z:15.67 [[ 3.53959771e-01 -9.32115545e-01 -7.66360954e-02 1.25108119e+02] [ 9.18081294e-01 3.61922868e-01 -1.61674290e-01 7.78808328e+01] [ 1.78435474e-01 -1.31319710e-02 9.83863981e-01 1.56694919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:77.91, Z:15.67 [[ 3.52078095e-01 -9.33812813e-01 -6.35188558e-02 1.25110885e+02] [ 9.18954841e-01 3.57761971e-01 -1.65916765e-01 7.79090996e+01] [ 1.77659832e-01 4.46983388e-05 9.84091958e-01 1.56663291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.12, Y:77.93, Z:15.67 [[ 3.51288596e-01 -9.33864987e-01 -6.70261757e-02 1.25123508e+02] [ 9.19238843e-01 3.57605948e-01 -1.64675242e-01 7.79344777e+01] [ 1.77753402e-01 -3.76452966e-03 9.84067862e-01 1.56719199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:77.96, Z:15.67 [[ 3.47871845e-01 -9.35375772e-01 -6.36972953e-02 1.25129963e+02] [ 9.20959370e-01 3.53651099e-01 -1.63599326e-01 7.79575725e+01] [ 1.75553465e-01 -1.75102152e-03 9.84468341e-01 1.56736593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:77.98, Z:15.69 [[ 3.49157974e-01 -9.34023350e-01 -7.54260664e-02 1.25151539e+02] [ 9.20110749e-01 3.56970398e-01 -1.61146970e-01 7.79826636e+01] [ 1.77439905e-01 -1.31345850e-02 9.84043984e-01 1.56863677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:78.02, Z:15.67 [[ 3.43489201e-01 -9.38339314e-01 -3.91727004e-02 1.25138516e+02] [ 9.23436620e-01 3.45045446e-01 -1.67953714e-01 7.80151322e+01] [ 1.71113935e-01 2.15167809e-02 9.85016269e-01 1.56660772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:78.03, Z:15.70 [[ 3.45398014e-01 -9.34517395e-01 -8.58920818e-02 1.25172299e+02] [ 9.21755310e-01 3.55017377e-01 -1.55980160e-01 7.80281935e+01] [ 1.76259354e-01 -2.52962451e-02 9.84018669e-01 1.56990202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:78.06, Z:15.70 [[ 3.47945191e-01 -9.34302730e-01 -7.75406472e-02 1.25185189e+02] [ 9.20268192e-01 3.56165621e-01 -1.62026248e-01 7.80585079e+01] [ 1.78998879e-01 -1.49819372e-02 9.83735200e-01 1.57033496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:125.18, Y:78.09, Z:15.69 [[ 3.44220041e-01 -9.37645114e-01 -4.83135968e-02 1.25176790e+02] [ 9.22632187e-01 3.47346126e-01 -1.67632083e-01 7.80898844e+01] [ 1.73960944e-01 1.31266430e-02 9.84665060e-01 1.56891561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.811858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.21, Y:78.10, Z:15.72 [[ 3.48606726e-01 -9.32754580e-01 -9.18816877e-02 1.25212527e+02] [ 9.19960011e-01 3.59273667e-01 -1.56831150e-01 7.81044692e+01] [ 1.79295644e-01 -2.98550848e-02 9.83342131e-01 1.57215633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:125.20, Y:78.14, Z:15.70 [[ 3.46826338e-01 -9.36476592e-01 -5.21831804e-02 1.25199320e+02] [ 9.21167567e-01 3.50571902e-01 -1.68966433e-01 7.81376407e+01] [ 1.76527066e-01 1.05325559e-02 9.84239432e-01 1.57048257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.871858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:125.22, Y:78.16, Z:15.72 [[ 3.47146582e-01 -9.35496604e-01 -6.58434128e-02 1.25216136e+02] [ 9.21083242e-01 3.53314771e-01 -1.63628649e-01 7.81600941e+01] [ 1.76337496e-01 -3.84413777e-03 9.84322259e-01 1.57153335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.23, Y:78.19, Z:15.72 [[ 3.47545038e-01 -9.35359679e-01 -6.56865128e-02 1.25226850e+02] [ 9.20990075e-01 3.53678440e-01 -1.63367201e-01 7.81853802e+01] [ 1.76038996e-01 -3.71916642e-03 9.84376168e-01 1.57200819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.931858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.24, Y:78.21, Z:15.72 [[ 3.48122518e-01 -9.35155383e-01 -6.55371814e-02 1.25237273e+02] [ 9.20824316e-01 3.54219902e-01 -1.63128293e-01 7.82099440e+01] [ 1.75764876e-01 -3.55959792e-03 9.84425740e-01 1.57248998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:78.24, Z:15.73 [[ 3.48366657e-01 -9.35085713e-01 -6.52332827e-02 1.25247563e+02] [ 9.20862457e-01 3.54404787e-01 -1.62510251e-01 7.82353183e+01] [ 1.75080002e-01 -3.45772818e-03 9.84548139e-01 1.57294713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.26, Y:78.26, Z:15.73 [[ 3.48541432e-01 -9.35028141e-01 -6.51248397e-02 1.25258232e+02] [ 9.20827818e-01 3.54557450e-01 -1.62373473e-01 7.82605642e+01] [ 1.74914264e-01 -3.37488124e-03 9.84577884e-01 1.57347108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:78.29, Z:15.73 [[ 3.47142975e-01 -9.36206744e-01 -5.48515121e-02 1.25263505e+02] [ 9.22062135e-01 3.51402894e-01 -1.62226462e-01 7.82890932e+01] [ 1.71152488e-01 5.73927417e-03 9.85227835e-01 1.57308204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.28, Y:78.31, Z:15.75 [[ 3.47460563e-01 -9.34883385e-01 -7.25548999e-02 1.25284291e+02] [ 9.21554629e-01 3.54750516e-01 -1.57762914e-01 7.83093196e+01] [ 1.73228815e-01 -1.20469131e-02 9.84807925e-01 1.57473209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.081858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.29, Y:78.34, Z:15.75 [[ 3.46883892e-01 -9.35697662e-01 -6.43541094e-02 1.25290262e+02] [ 9.21776959e-01 3.52785269e-01 -1.60840892e-01 7.83357773e+01] [ 1.73201629e-01 -3.52702051e-03 9.84880072e-01 1.57494092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:78.36, Z:15.75 [[ 3.46410301e-01 -9.35881608e-01 -6.42302019e-02 1.25300610e+02] [ 9.21991857e-01 3.52296682e-01 -1.60680004e-01 7.83615398e+01] [ 1.73005547e-01 -3.55851466e-03 9.84914421e-01 1.57540287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.31, Y:78.39, Z:15.76 [[ 3.46226085e-01 -9.35963807e-01 -6.40253843e-02 1.25310703e+02] [ 9.22141611e-01 3.52078419e-01 -1.60298582e-01 7.83867517e+01] [ 1.72575627e-01 -3.54092073e-03 9.84989906e-01 1.57584224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.171858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:125.32, Y:78.41, Z:15.76 [[ 3.45836847e-01 -9.36107305e-01 -6.40311517e-02 1.25321190e+02] [ 9.22260767e-01 3.51696482e-01 -1.60451431e-01 7.84123823e+01] [ 1.72719288e-01 -3.56340192e-03 9.84964644e-01 1.57630601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.33, Y:78.44, Z:15.77 [[ 3.45779195e-01 -9.36140688e-01 -6.38542087e-02 1.25331841e+02] [ 9.22348651e-01 3.51608023e-01 -1.60139829e-01 7.84382401e+01] [ 1.72365062e-01 -3.52282190e-03 9.85026840e-01 1.57672621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.231858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.34, Y:78.46, Z:15.77 [[ 3.46012277e-01 -9.36045798e-01 -6.39825643e-02 1.25341469e+02] [ 9.22173144e-01 3.51861422e-01 -1.60593378e-01 7.84627585e+01] [ 1.72835753e-01 -3.43572195e-03 9.84944668e-01 1.57713931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.35, Y:78.49, Z:15.78 [[ 3.46926134e-01 -9.35631321e-01 -6.50867829e-02 1.25351007e+02] [ 9.21836797e-01 3.52950809e-01 -1.60133212e-01 7.84855906e+01] [ 1.72798081e-01 -4.44499547e-03 9.84947240e-01 1.57754900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.36, Y:78.51, Z:15.78 [[ 3.46506730e-01 -9.35948826e-01 -6.27126964e-02 1.25359758e+02] [ 9.21837729e-01 3.52131923e-01 -1.61920693e-01 7.85122775e+01] [ 1.73632625e-01 -1.70431973e-03 9.84809021e-01 1.57785331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:78.54, Z:15.78 [[ 3.47341314e-01 -9.35554907e-01 -6.39611398e-02 1.25370248e+02] [ 9.21636559e-01 3.53167723e-01 -1.60806136e-01 7.85365241e+01] [ 1.73031979e-01 -3.09431041e-03 9.84911346e-01 1.57835746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:78.56, Z:15.79 [[ 3.47381114e-01 -9.35559053e-01 -6.36837565e-02 1.25380095e+02] [ 9.21737623e-01 3.53157280e-01 -1.60248836e-01 7.85623473e+01] [ 1.72412631e-01 -3.03229528e-03 9.85020147e-01 1.57881760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:125.39, Y:78.59, Z:15.79 [[ 3.47988104e-01 -9.35350266e-01 -6.34362664e-02 1.25389639e+02] [ 9.21610459e-01 3.53711245e-01 -1.59757682e-01 7.85882735e+01] [ 1.71867512e-01 -2.86975355e-03 9.85115893e-01 1.57922977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:78.62, Z:15.78 [[ 3.47396537e-01 -9.36558079e-01 -4.66327149e-02 1.25392947e+02] [ 9.22558112e-01 3.50263342e-01 -1.61870695e-01 7.86199139e+01] [ 1.67935038e-01 1.32119295e-02 9.85709525e-01 1.57844599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:78.64, Z:15.81 [[ 3.49368570e-01 -9.32943902e-01 -8.69326062e-02 1.25425150e+02] [ 9.20974281e-01 3.58995771e-01 -1.51421301e-01 7.86362740e+01] [ 1.72476018e-01 -2.71608509e-02 9.84639178e-01 1.58136779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.471858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:125.42, Y:78.67, Z:15.80 [[ 3.46971454e-01 -9.36194771e-01 -5.61262858e-02 1.25416677e+02] [ 9.22105371e-01 3.51453985e-01 -1.61869640e-01 7.86670972e+01] [ 1.71267317e-01 4.40979476e-03 9.85214728e-01 1.58028325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.43, Y:78.69, Z:15.81 [[ 3.46667166e-01 -9.35880959e-01 -6.28387374e-02 1.25429605e+02] [ 9.22315835e-01 3.52304370e-01 -1.58792734e-01 7.86909013e+01] [ 1.70749458e-01 -2.90893533e-03 9.85310185e-01 1.58106057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.531858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:125.44, Y:78.72, Z:15.81 [[ 3.46628261e-01 -9.35924046e-01 -6.24101656e-02 1.25438624e+02] [ 9.22523511e-01 3.52190256e-01 -1.57836607e-01 7.87165502e+01] [ 1.69703328e-01 -2.86421638e-03 9.85491033e-01 1.58148804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.45, Y:78.74, Z:15.82 [[ 3.46583575e-01 -9.35947003e-01 -6.23139816e-02 1.25448083e+02] [ 9.22565279e-01 3.52129576e-01 -1.57727828e-01 7.87424933e+01] [ 1.69567484e-01 -2.82284138e-03 9.85514536e-01 1.58191095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:78.77, Z:15.82 [[ 3.47088587e-01 -9.36212962e-01 -5.50890505e-02 1.25454008e+02] [ 9.21893171e-01 3.51384218e-01 -1.63224116e-01 7.87708836e+01] [ 1.72169956e-01 5.86700836e-03 9.85049788e-01 1.58199684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:125.47, Y:78.79, Z:15.83 [[ 3.47188147e-01 -9.35189873e-01 -6.98590802e-02 1.25470349e+02] [ 9.22322563e-01 3.53987136e-01 -1.54965149e-01 7.87939462e+01] [ 1.69651053e-01 -1.06305430e-02 9.85446859e-01 1.58311318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.651858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:125.48, Y:78.82, Z:15.83 [[ 3.46782765e-01 -9.35878923e-01 -6.22282595e-02 1.25475975e+02] [ 9.22473002e-01 3.52311742e-01 -1.57860691e-01 7.88207517e+01] [ 1.69662240e-01 -2.66052239e-03 9.85498679e-01 1.58320112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.49, Y:78.85, Z:15.84 [[ 3.45987344e-01 -9.36183500e-01 -6.20742505e-02 1.25485463e+02] [ 9.22825034e-01 3.51500894e-01 -1.57610524e-01 7.88469488e+01] [ 1.69371526e-01 -2.75242596e-03 9.85548431e-01 1.58362355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.49, Y:78.87, Z:15.84 [[ 3.44550058e-01 -9.36719321e-01 -6.19852447e-02 1.25494283e+02] [ 9.23385395e-01 3.50068746e-01 -1.57515986e-01 7.88733256e+01] [ 1.69247365e-01 -2.96412743e-03 9.85569147e-01 1.58404639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.50, Y:78.90, Z:15.84 [[ 3.43603371e-01 -9.37082012e-01 -6.17578028e-02 1.25503296e+02] [ 9.23829486e-01 3.49095681e-01 -1.57070962e-01 7.88981927e+01] [ 1.68747755e-01 -3.08356718e-03 9.85654446e-01 1.58445884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.51, Y:78.92, Z:15.85 [[ 3.42791448e-01 -9.37383231e-01 -6.16984799e-02 1.25512288e+02] [ 9.24137089e-01 3.48285191e-01 -1.57060712e-01 7.89228870e+01] [ 1.68714744e-01 -3.17878481e-03 9.85659794e-01 1.58491800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.801858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:125.52, Y:78.95, Z:15.85 [[ 3.41599272e-01 -9.37841842e-01 -6.13401796e-02 1.25521109e+02] [ 9.24734240e-01 3.47046896e-01 -1.56285119e-01 7.89491011e+01] [ 1.67858642e-01 -3.33648169e-03 9.85805429e-01 1.58540344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.831858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.53, Y:78.98, Z:15.86 [[ 3.40860268e-01 -9.38130975e-01 -6.10291042e-02 1.25529879e+02] [ 9.25139803e-01 3.46263783e-01 -1.55620492e-01 7.89753693e+01] [ 1.67124573e-01 -3.41561079e-03 9.85929871e-01 1.58585423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.861858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:125.54, Y:79.00, Z:15.86 [[ 3.41040510e-01 -9.38201954e-01 -5.88936623e-02 1.25535601e+02] [ 9.25080185e-01 3.46086351e-01 -1.56367803e-01 7.90018489e+01] [ 1.67086871e-01 -1.15360471e-03 9.85941503e-01 1.58616093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.55, Y:79.03, Z:15.87 [[ 3.39802364e-01 -9.38432670e-01 -6.22774142e-02 1.25546241e+02] [ 9.25634084e-01 3.45424070e-01 -1.54543696e-01 7.90276876e+01] [ 1.66540971e-01 -5.13178405e-03 9.86021181e-01 1.58673022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.921858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:125.55, Y:79.05, Z:15.87 [[ 3.39192605e-01 -9.38737471e-01 -6.09945601e-02 1.25554247e+02] [ 9.25710574e-01 3.44614407e-01 -1.55887281e-01 7.90534451e+01] [ 1.67356837e-01 -3.58749612e-03 9.85889862e-01 1.58714127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.951858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.56, Y:79.08, Z:15.88 [[ 3.39576749e-01 -9.38483128e-01 -6.27459194e-02 1.25563566e+02] [ 9.25662359e-01 3.45280479e-01 -1.54695148e-01 7.90779598e+01] [ 1.66843728e-01 -5.55066019e-03 9.85967728e-01 1.58765702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.57, Y:79.11, Z:15.88 [[ 3.37116152e-01 -9.39647369e-01 -5.84424665e-02 1.25569833e+02] [ 9.26369345e-01 3.42142761e-01 -1.57410821e-01 7.91080664e+01] [ 1.67906331e-01 -1.07357916e-03 9.85802369e-01 1.58801125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.011858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:125.58, Y:79.13, Z:15.88 [[ 3.37714615e-01 -9.39471733e-01 -5.78074544e-02 1.25577463e+02] [ 9.26010101e-01 3.42626419e-01 -1.58469021e-01 7.91343418e+01] [ 1.68683527e-01 -1.29821566e-05 9.85670263e-01 1.58839109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:79.16, Z:15.89 [[ 3.36127791e-01 -9.39941253e-01 -5.94015833e-02 1.25586263e+02] [ 9.26553869e-01 3.41330959e-01 -1.58085753e-01 7.91606556e+01] [ 1.68866920e-01 -1.90175191e-03 9.85637026e-01 1.58886679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.58, Y:79.19, Z:15.88 [[ 3.34039193e-01 -9.41688620e-01 -4.05013640e-02 1.25580125e+02] [ 9.27828211e-01 3.36082070e-01 -1.61813636e-01 7.91893216e+01] [ 1.65989842e-01 1.64737884e-02 9.85989851e-01 1.58784183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:79.21, Z:15.91 [[ 3.36994839e-01 -9.37807369e-01 -8.33775622e-02 1.25611313e+02] [ 9.26007617e-01 3.46147446e-01 -1.50638104e-01 7.92057237e+01] [ 1.70130454e-01 -2.64439940e-02 9.85066670e-01 1.59071906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.59, Y:79.24, Z:15.88 [[ 3.32632460e-01 -9.42412036e-01 -3.48597286e-02 1.25592771e+02] [ 9.28541334e-01 3.33749367e-01 -1.62549533e-01 7.92449669e+01] [ 1.64823049e-01 2.17005521e-02 9.86084402e-01 1.58846664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:125.62, Y:79.27, Z:15.90 [[ 3.33514228e-01 -9.40615404e-01 -6.33318380e-02 1.25615916e+02] [ 9.27915409e-01 3.39394914e-01 -1.54220903e-01 7.92655783e+01] [ 1.66557061e-01 -7.33172296e-03 9.86004560e-01 1.59020704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:79.29, Z:15.91 [[ 3.33772313e-01 -9.40202505e-01 -6.79359531e-02 1.25625548e+02] [ 9.27409489e-01 3.40429304e-01 -1.54982354e-01 7.92920102e+01] [ 1.68842186e-01 -1.12756290e-02 9.85578600e-01 1.59111996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.63, Y:79.32, Z:15.91 [[ 3.33275543e-01 -9.41069132e-01 -5.75873373e-02 1.25628931e+02] [ 9.27500430e-01 3.38214089e-01 -1.59229969e-01 7.93216428e+01] [ 1.69323257e-01 -3.44825806e-04 9.85560508e-01 1.59115944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:79.35, Z:15.92 [[ 3.32444225e-01 -9.41332705e-01 -5.80824872e-02 1.25637124e+02] [ 9.27813347e-01 3.37478374e-01 -1.58967734e-01 7.93483104e+01] [ 1.69243111e-01 -1.04180171e-03 9.85573784e-01 1.59156769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.65, Y:79.37, Z:15.93 [[ 3.31526197e-01 -9.41132046e-01 -6.60367510e-02 1.25648976e+02] [ 9.27511577e-01 3.37937537e-01 -1.59751358e-01 7.93746698e+01] [ 1.72663419e-01 -8.28809098e-03 9.84946014e-01 1.59252470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.66, Y:79.40, Z:15.93 [[ 3.30796220e-01 -9.41497453e-01 -6.44701993e-02 1.25656667e+02] [ 9.27728497e-01 3.36953582e-01 -1.60568118e-01 7.94002026e+01] [ 1.72897938e-01 -6.69551469e-03 9.84916988e-01 1.59291299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.67, Y:79.43, Z:15.93 [[ 3.30665213e-01 -9.41684546e-01 -6.23757304e-02 1.25665835e+02] [ 9.27729530e-01 3.36467688e-01 -1.61577892e-01 7.94270228e+01] [ 1.73142821e-01 -4.43961902e-03 9.84886721e-01 1.59333555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:79.45, Z:15.95 [[ 3.28010162e-01 -9.41652353e-01 -7.54995307e-02 1.25680195e+02] [ 9.28031218e-01 3.36136486e-01 -1.60531369e-01 7.94494081e+01] [ 1.76542889e-01 -1.74100011e-02 9.84138964e-01 1.59476544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:79.48, Z:15.94 [[ 3.24916809e-01 -9.44467450e-01 -4.90948439e-02 1.25676477e+02] [ 9.29507191e-01 3.28485926e-01 -1.67670447e-01 7.94842867e+01] [ 1.74486245e-01 8.84493618e-03 9.84619885e-01 1.59387641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.431858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:125.70, Y:79.50, Z:15.96 [[ 3.24213107e-01 -9.42993983e-01 -7.51545713e-02 1.25698397e+02] [ 9.29354791e-01 3.32337851e-01 -1.60783165e-01 7.95032572e+01] [ 1.76594266e-01 -1.77172514e-02 9.84124263e-01 1.59572597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:79.53, Z:15.96 [[ 3.22188954e-01 -9.44423598e-01 -6.52560045e-02 1.25701872e+02] [ 9.30014314e-01 3.28641248e-01 -1.64524483e-01 7.95323756e+01] [ 1.76826619e-01 -7.68104716e-03 9.84212044e-01 1.59589916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49185806399998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:125.70, Y:79.56, Z:15.95 [[ 3.18141975e-01 -9.46921220e-01 -4.61073367e-02 1.25698239e+02] [ 9.32197036e-01 3.21309065e-01 -1.66640847e-01 7.95647431e+01] [ 1.72610459e-01 1.00343256e-02 9.84939055e-01 1.59514440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52185806399999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:125.72, Y:79.58, Z:15.97 [[ 3.19644431e-01 -9.44167481e-01 -7.98448809e-02 1.25723894e+02] [ 9.30927088e-01 3.28633009e-01 -1.59295642e-01 7.95820232e+01] [ 1.76641428e-01 -2.34117978e-02 9.83996796e-01 1.59749350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.73, Y:79.61, Z:15.98 [[ 3.19370512e-01 -9.45078735e-01 -6.94885612e-02 1.25727532e+02] [ 9.31082643e-01 3.26592563e-01 -1.62549715e-01 7.96105699e+01] [ 1.76316726e-01 -1.27860074e-02 9.84250441e-01 1.59774345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:79.65, Z:15.97 [[ 3.17041799e-01 -9.47241413e-01 -4.70978060e-02 1.25723045e+02] [ 9.32496013e-01 3.20396277e-01 -1.66725556e-01 7.96451198e+01] [ 1.73019313e-01 8.94045390e-03 9.84877853e-01 1.59699842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.74, Y:79.66, Z:15.99 [[ 3.17127726e-01 -9.44970366e-01 -8.03804238e-02 1.25744801e+02] [ 9.32230365e-01 3.26180745e-01 -1.56692909e-01 7.96611536e+01] [ 1.74288702e-01 -2.52414060e-02 9.84371028e-01 1.59904176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.641858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:125.74, Y:79.69, Z:15.99 [[ 3.17574739e-01 -9.46144785e-01 -6.28993767e-02 1.25743738e+02] [ 9.31893840e-01 3.23676129e-01 -1.63730369e-01 7.96904798e+01] [ 1.75271662e-01 -6.61891234e-03 9.84497859e-01 1.59887514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:79.72, Z:15.99 [[ 3.17321822e-01 -9.46334996e-01 -6.12938597e-02 1.25750305e+02] [ 9.31794620e-01 3.23153859e-01 -1.65318995e-01 7.97174946e+01] [ 1.76254498e-01 -4.65396389e-03 9.84333629e-01 1.59930411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:79.74, Z:16.00 [[ 3.19446100e-01 -9.45449285e-01 -6.38736150e-02 1.25756183e+02] [ 9.30888353e-01 3.25702145e-01 -1.65423658e-01 7.97435005e+01] [ 1.77203453e-01 -6.61526189e-03 9.84152008e-01 1.59981012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:79.77, Z:16.01 [[ 3.22815014e-01 -9.43202385e-01 -7.84839338e-02 1.25775064e+02] [ 9.28832960e-01 3.31641378e-01 -1.65176658e-01 7.97688793e+01] [ 1.81823537e-01 -1.95769596e-02 9.83136279e-01 1.60139195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:79.80, Z:16.01 [[ 3.22822293e-01 -9.44935210e-01 -5.36955826e-02 1.25770066e+02] [ 9.29236257e-01 3.27211138e-01 -1.71618329e-01 7.98015937e+01] [ 1.79737994e-01 5.50634021e-03 9.83699107e-01 1.60052965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:79.83, Z:16.01 [[ 3.22945616e-01 -9.44473909e-01 -6.06231344e-02 1.25775821e+02] [ 9.28865028e-01 3.28584624e-01 -1.71002645e-01 7.98252025e+01] [ 1.81427366e-01 -1.08615498e-03 9.83403748e-01 1.60108791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:79.85, Z:16.02 [[ 3.22190272e-01 -9.44037884e-01 -7.06109201e-02 1.25788349e+02] [ 9.29516083e-01 3.29606078e-01 -1.65407629e-01 7.98481619e+01] [ 1.79424857e-01 -1.23412569e-02 9.83694269e-01 1.60189005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:79.88, Z:16.02 [[ 3.21840729e-01 -9.44555430e-01 -6.50659996e-02 1.25793998e+02] [ 9.29603390e-01 3.28286304e-01 -1.67528026e-01 7.98759509e+01] [ 1.79599783e-01 -6.56823174e-03 9.83717834e-01 1.60222577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:79.90, Z:16.03 [[ 3.20291502e-01 -9.45338301e-01 -6.12278652e-02 1.25801406e+02] [ 9.30334839e-01 3.26075321e-01 -1.67785493e-01 7.99045672e+01] [ 1.78578949e-01 -3.22214861e-03 9.83920310e-01 1.60251009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:79.93, Z:16.05 [[ 3.20077321e-01 -9.43241380e-01 -8.85788178e-02 1.25823170e+02] [ 9.29592192e-01 3.30726634e-01 -1.62721390e-01 7.99260612e+01] [ 1.82780923e-01 -3.02587508e-02 9.82687917e-01 1.60483001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.81, Y:79.96, Z:16.03 [[ 3.17264658e-01 -9.47282272e-01 -4.47150275e-02 1.25807536e+02] [ 9.31504350e-01 3.20131042e-01 -1.72672415e-01 7.99608682e+01] [ 1.77884186e-01 1.31306121e-02 9.83963822e-01 1.60314302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.971858064 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:125.82, Y:79.98, Z:16.04 [[ 3.15656397e-01 -9.46752251e-01 -6.34130488e-02 1.25824822e+02] [ 9.32258746e-01 3.21887346e-01 -1.65173143e-01 7.99821601e+01] [ 1.76789902e-01 -6.97941034e-03 9.84223866e-01 1.60424001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:80.01, Z:16.05 [[ 3.12838872e-01 -9.47684913e-01 -6.34440365e-02 1.25831362e+02] [ 9.33170575e-01 3.19120065e-01 -1.65393660e-01 8.00076158e+01] [ 1.76987341e-01 -7.46254194e-03 9.84184836e-01 1.60474813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:80.03, Z:16.05 [[ 3.11577192e-01 -9.48110100e-01 -6.33000093e-02 1.25839590e+02] [ 9.33644359e-01 3.17850430e-01 -1.65164507e-01 8.00338982e+01] [ 1.76714072e-01 -7.63820329e-03 9.84232592e-01 1.60520726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:80.06, Z:16.06 [[ 3.10203095e-01 -9.48574649e-01 -6.30886253e-02 1.25846046e+02] [ 9.34190688e-01 3.16456661e-01 -1.64751146e-01 8.00598280e+01] [ 1.76243576e-01 -7.83049089e-03 9.84315440e-01 1.60567354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:80.09, Z:16.06 [[ 3.10246420e-01 -9.48569922e-01 -6.29464939e-02 1.25854538e+02] [ 9.34225159e-01 3.16472495e-01 -1.64525110e-01 8.00866762e+01] [ 1.75984405e-01 -7.76287194e-03 9.84362345e-01 1.60616747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:80.11, Z:16.07 [[ 3.10944843e-01 -9.48348080e-01 -6.28428466e-02 1.25863024e+02] [ 9.34022394e-01 3.17141059e-01 -1.64388920e-01 8.01133153e+01] [ 1.75827963e-01 -7.58073910e-03 9.84391721e-01 1.60668960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.151858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.87, Y:80.14, Z:16.07 [[ 3.12412610e-01 -9.47902941e-01 -6.22766003e-02 1.25870519e+02] [ 9.33473530e-01 3.18490533e-01 -1.64896785e-01 8.01395399e+01] [ 1.76140656e-01 -6.61772270e-03 9.84342763e-01 1.60718219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.88, Y:80.17, Z:16.08 [[ 3.15801435e-01 -9.46693324e-01 -6.35704688e-02 1.25877291e+02] [ 9.32234463e-01 3.22056613e-01 -1.64980131e-01 8.01656285e+01] [ 1.76658879e-01 -7.16161973e-03 9.84246083e-01 1.60769163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.88, Y:80.19, Z:16.08 [[ 3.17432004e-01 -9.46174446e-01 -6.31731011e-02 1.25884999e+02] [ 9.31597737e-01 3.23595843e-01 -1.65563844e-01 8.01923104e+01] [ 1.77094832e-01 -6.29665523e-03 9.84173650e-01 1.60814094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24185806399998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.89, Y:80.22, Z:16.09 [[ 3.19836043e-01 -9.45379030e-01 -6.29554950e-02 1.25891727e+02] [ 9.30863611e-01 3.25921744e-01 -1.65130117e-01 8.02199272e+01] [ 1.76629115e-01 -5.78841622e-03 9.84260459e-01 1.60857018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:80.25, Z:16.09 [[ 3.20350767e-01 -9.45218621e-01 -6.27466759e-02 1.25900151e+02] [ 9.30772746e-01 3.26389342e-01 -1.64718224e-01 8.02455919e+01] [ 1.76174579e-01 -5.63528646e-03 9.84342807e-01 1.60904200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:80.27, Z:16.10 [[ 3.20622424e-01 -9.45131233e-01 -6.26754605e-02 1.25909127e+02] [ 9.30691145e-01 3.26644051e-01 -1.64674394e-01 8.02722233e+01] [ 1.76111479e-01 -5.53319275e-03 9.84354677e-01 1.60954224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:80.30, Z:16.10 [[ 3.20081034e-01 -9.45325444e-01 -6.25134969e-02 1.25917894e+02] [ 9.30940159e-01 3.26080763e-01 -1.64382954e-01 8.02986320e+01] [ 1.75779838e-01 -5.58045870e-03 9.84413687e-01 1.60997486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.93, Y:80.33, Z:16.10 [[ 3.19126845e-01 -9.45653087e-01 -6.24363362e-02 1.25925473e+02] [ 9.31285049e-01 3.25127148e-01 -1.64318274e-01 8.03253178e+01] [ 1.75687831e-01 -5.70765400e-03 9.84429382e-01 1.61044863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.391858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.93, Y:80.35, Z:16.11 [[ 3.18721657e-01 -9.45809057e-01 -6.21428384e-02 1.25934318e+02] [ 9.31554710e-01 3.24672943e-01 -1.63686596e-01 8.03510898e+01] [ 1.74992363e-01 -5.71899066e-03 9.84553181e-01 1.61091893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:80.38, Z:16.11 [[ 3.18261549e-01 -9.45976988e-01 -6.19445366e-02 1.25942861e+02] [ 9.31792219e-01 3.24182862e-01 -1.63305643e-01 8.03765361e+01] [ 1.74564737e-01 -5.74553044e-03 9.84628936e-01 1.61136702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:80.40, Z:16.12 [[ 3.17924207e-01 -9.46088832e-01 -6.19687084e-02 1.25951798e+02] [ 9.31872281e-01 3.23855928e-01 -1.63497372e-01 8.04031920e+01] [ 1.74751971e-01 -5.76714921e-03 9.84595596e-01 1.61184402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:80.43, Z:16.12 [[ 3.18103260e-01 -9.46018747e-01 -6.21196072e-02 1.25960483e+02] [ 9.31705951e-01 3.24061842e-01 -1.64036409e-01 8.04290607e+01] [ 1.75312113e-01 -5.69669111e-03 9.84496425e-01 1.61226837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:80.46, Z:16.13 [[ 3.18545862e-01 -9.45868042e-01 -6.21464488e-02 1.25970238e+02] [ 9.31514949e-01 3.24503656e-01 -1.64247610e-01 8.04551239e+01] [ 1.75523315e-01 -5.56994957e-03 9.84459517e-01 1.61271242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.541858064 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.98, Y:80.48, Z:16.13 [[ 3.18775880e-01 -9.46003029e-01 -5.88235204e-02 1.25978520e+02] [ 9.31131926e-01 3.24154267e-01 -1.67084852e-01 8.04828438e+01] [ 1.77130671e-01 -1.50983704e-03 9.84186184e-01 1.61308459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:80.51, Z:16.14 [[ 3.20961896e-01 -9.44764520e-01 -6.63586002e-02 1.25991373e+02] [ 9.30468029e-01 3.27623262e-01 -1.63988550e-01 8.05062028e+01] [ 1.76671185e-01 -9.11047982e-03 9.84227764e-01 1.61368685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:80.54, Z:16.12 [[ 3.19593049e-01 -9.47297509e-01 -2.20842080e-02 1.25977322e+02] [ 9.32493350e-01 3.18566601e-01 -1.70210085e-01 8.05431664e+01] [ 1.68274881e-01 3.38045830e-02 9.85160299e-01 1.61164488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:80.55, Z:16.16 [[ 3.23688366e-01 -9.41149808e-01 -9.72773401e-02 1.26025901e+02] [ 9.29805338e-01 3.35441831e-01 -1.51462245e-01 8.05502324e+01] [ 1.75179552e-01 -4.14224235e-02 9.83664733e-01 1.61559158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:80.59, Z:16.15 [[ 3.25493419e-01 -9.43909089e-01 -5.55847731e-02 1.26016037e+02] [ 9.28669284e-01 3.30188171e-01 -1.68964885e-01 8.05856532e+01] [ 1.77840925e-01 3.37708673e-03 9.84053454e-01 1.61487380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:80.61, Z:16.16 [[ 3.27691811e-01 -9.42639183e-01 -6.36352760e-02 1.26029132e+02] [ 9.28168180e-01 3.33774100e-01 -1.64616763e-01 8.06083989e+01] [ 1.76414018e-01 -5.12067302e-03 9.84302734e-01 1.61552402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:80.63, Z:16.16 [[ 3.28326487e-01 -9.42212793e-01 -6.66090942e-02 1.26040750e+02] [ 9.28223443e-01 3.34903512e-01 -1.61990361e-01 8.06329831e+01] [ 1.74937010e-01 -8.64239652e-03 9.84541696e-01 1.61605195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:80.66, Z:16.16 [[ 3.28905578e-01 -9.42359584e-01 -6.14779173e-02 1.26048998e+02] [ 9.28089161e-01 3.34585498e-01 -1.63410689e-01 8.06589424e+01] [ 1.74561249e-01 -3.31030155e-03 9.84640753e-01 1.61639138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:80.68, Z:16.17 [[ 3.29690021e-01 -9.42100483e-01 -6.12467972e-02 1.26060746e+02] [ 9.27911020e-01 3.35316214e-01 -1.62923834e-01 8.06837289e+01] [ 1.74027667e-01 -3.11721566e-03 9.84735830e-01 1.61695779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:80.71, Z:16.17 [[ 3.29726413e-01 -9.42104463e-01 -6.09891303e-02 1.26070498e+02] [ 9.28010783e-01 3.35305571e-01 -1.62376603e-01 8.07090816e+01] [ 1.73425718e-01 -3.05871557e-03 9.84842203e-01 1.61742441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:80.73, Z:16.18 [[ 3.30751773e-01 -9.41729712e-01 -6.12243009e-02 1.26080101e+02] [ 9.27643386e-01 3.36356157e-01 -1.62303062e-01 8.07338507e+01] [ 1.73438787e-01 -3.11229211e-03 9.84839734e-01 1.61789828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:80.76, Z:16.18 [[ 3.29733635e-01 -9.42169539e-01 -5.99357181e-02 1.26089731e+02] [ 9.28046622e-01 3.35130478e-01 -1.62533167e-01 8.07604455e+01] [ 1.73220085e-01 -2.03048893e-03 9.84881048e-01 1.61834157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:80.79, Z:16.19 [[ 3.28532094e-01 -9.42533290e-01 -6.08083891e-02 1.26101545e+02] [ 9.28474849e-01 3.34097247e-01 -1.62214319e-01 8.07855127e+01] [ 1.73208311e-01 -3.16644995e-03 9.84880122e-01 1.61881960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:80.81, Z:16.19 [[ 3.27524903e-01 -9.42888832e-01 -6.07296440e-02 1.26111991e+02] [ 9.28847908e-01 3.33091208e-01 -1.62147495e-01 8.08098748e+01] [ 1.73115572e-01 -3.30126032e-03 9.84895985e-01 1.61924550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.12, Y:80.84, Z:16.20 [[ 3.26419162e-01 -9.43270109e-01 -6.07620985e-02 1.26123229e+02] [ 9.29197797e-01 3.32008314e-01 -1.62363586e-01 8.08356343e+01] [ 1.73326239e-01 -3.46142220e-03 9.84858382e-01 1.61975858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99185806399998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.14, Y:80.86, Z:16.20 [[ 3.23769116e-01 -9.44153156e-01 -6.12239940e-02 1.26135902e+02] [ 9.29853757e-01 3.29483688e-01 -1.63745200e-01 8.08598706e+01] [ 1.74772855e-01 -3.91372204e-03 9.84601001e-01 1.62018053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:80.89, Z:16.21 [[ 3.22961234e-01 -9.44450650e-01 -6.09016518e-02 1.26147047e+02] [ 9.30284728e-01 3.28628817e-01 -1.63013573e-01 8.08854485e+01] [ 1.73972313e-01 -4.00881175e-03 9.84742384e-01 1.62070261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.16, Y:80.91, Z:16.21 [[ 3.21990447e-01 -9.44775768e-01 -6.09991891e-02 1.26157516e+02] [ 9.30544039e-01 3.27691299e-01 -1.63420329e-01 8.09112830e+01] [ 1.74384470e-01 -4.14264695e-03 9.84668927e-01 1.62112387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:80.94, Z:16.22 [[ 3.21355932e-01 -9.44986147e-01 -6.10863865e-02 1.26167398e+02] [ 9.30691466e-01 3.27083194e-01 -1.63798593e-01 8.09363293e+01] [ 1.74767732e-01 -4.21492912e-03 9.84600667e-01 1.62151617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:80.96, Z:16.22 [[ 3.21528160e-01 -9.44937313e-01 -6.09353468e-02 1.26178758e+02] [ 9.30689953e-01 3.27225273e-01 -1.63523188e-01 8.09619437e+01] [ 1.74458747e-01 -4.13460522e-03 9.84655803e-01 1.62192507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:80.99, Z:16.22 [[ 3.21849866e-01 -9.44828956e-01 -6.09172130e-02 1.26189090e+02] [ 9.30562849e-01 3.27539352e-01 -1.63617717e-01 8.09860213e+01] [ 1.74543541e-01 -4.02695504e-03 9.84641222e-01 1.62240754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:81.01, Z:16.23 [[ 3.22376774e-01 -9.44657469e-01 -6.07904696e-02 1.26199687e+02] [ 9.30421461e-01 3.28035435e-01 -1.63427838e-01 8.10104228e+01] [ 1.74324756e-01 -3.87541839e-03 9.84680588e-01 1.62287054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:81.04, Z:16.23 [[ 3.25196639e-01 -9.43774583e-01 -5.94700157e-02 1.26210983e+02] [ 9.29426526e-01 3.30583894e-01 -1.63953107e-01 8.10353073e+01] [ 1.74394604e-01 -1.95601086e-03 9.84673903e-01 1.62340052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:81.06, Z:16.24 [[ 3.25013313e-01 -9.43776269e-01 -6.04375724e-02 1.26220824e+02] [ 9.29490645e-01 3.30571261e-01 -1.63614738e-01 8.10605511e+01] [ 1.74394631e-01 -2.99919021e-03 9.84671274e-01 1.62390430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:81.08, Z:16.24 [[ 3.27586893e-01 -9.42914254e-01 -5.99961395e-02 1.26230348e+02] [ 9.28654700e-01 3.33028364e-01 -1.63378568e-01 8.10846251e+01] [ 1.74032397e-01 -2.19501935e-03 9.84737481e-01 1.62437913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:81.11, Z:16.25 [[ 3.30768701e-01 -9.41755234e-01 -6.07383303e-02 1.26242043e+02] [ 9.27849391e-01 3.36285589e-01 -1.61268441e-01 8.11119251e+01] [ 1.72300823e-01 -3.01347011e-03 9.85039768e-01 1.62488759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:81.14, Z:16.25 [[ 3.33162738e-01 -9.40954983e-01 -6.00525568e-02 1.26251564e+02] [ 9.26920942e-01 3.38527344e-01 -1.61916043e-01 8.11368025e+01] [ 1.72685140e-01 -1.71958029e-03 9.84975576e-01 1.62531865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:81.16, Z:16.26 [[ 3.35449793e-01 -9.40137303e-01 -6.01272674e-02 1.26261754e+02] [ 9.26028238e-01 3.40793631e-01 -1.62269540e-01 8.11622407e+01] [ 1.73046638e-01 -1.24626371e-03 9.84912843e-01 1.62577929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:81.19, Z:16.26 [[ 3.37780643e-01 -9.39309124e-01 -6.00217271e-02 1.26272121e+02] [ 9.25211621e-01 3.43071099e-01 -1.62128581e-01 8.11872494e+01] [ 1.72880575e-01 -7.68903214e-04 9.84942494e-01 1.62624238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:81.21, Z:16.27 [[ 3.42912313e-01 -9.37456529e-01 -5.98865796e-02 1.26283461e+02] [ 9.23367921e-01 3.48102292e-01 -1.61915029e-01 8.12123289e+01] [ 1.72634957e-01 2.25310536e-04 9.84985848e-01 1.62673896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.29, Y:81.24, Z:16.27 [[ 3.45299919e-01 -9.36590702e-01 -5.97145065e-02 1.26293287e+02] [ 9.22545641e-01 3.50424534e-01 -1.61592656e-01 8.12384203e+01] [ 1.72271607e-01 7.08573280e-04 9.85049233e-01 1.62717631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:81.26, Z:16.28 [[ 3.47598415e-01 -9.35733481e-01 -5.98180112e-02 1.26302629e+02] [ 9.21600896e-01 3.52705880e-01 -1.62019598e-01 8.12633927e+01] [ 1.72705327e-01 1.18942287e-03 9.84972820e-01 1.62760256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:81.29, Z:16.28 [[ 3.51251595e-01 -9.34346054e-01 -6.01645062e-02 1.26313380e+02] [ 9.20004037e-01 3.56361766e-01 -1.63091580e-01 8.12895780e+01] [ 1.73824304e-01 1.93458909e-03 9.84774781e-01 1.62798469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.32, Y:81.32, Z:16.28 [[ 3.52315458e-01 -9.33932964e-01 -6.03575702e-02 1.26324050e+02] [ 9.19466551e-01 3.57441446e-01 -1.63758584e-01 8.13154858e+01] [ 1.74513837e-01 2.19791351e-03 9.84652269e-01 1.62845899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:81.34, Z:16.29 [[ 3.52627175e-01 -9.33799911e-01 -6.05954014e-02 1.26334787e+02] [ 9.19189603e-01 3.57788078e-01 -1.64554446e-01 8.13409404e+01] [ 1.75341239e-01 2.32770636e-03 9.84504968e-01 1.62892521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.35, Y:81.36, Z:16.29 [[ 3.51182482e-01 -9.34336850e-01 -6.07084425e-02 1.26347370e+02] [ 9.19652620e-01 3.56384851e-01 -1.65011806e-01 8.13643633e+01] [ 1.75812180e-01 2.11857727e-03 9.84421449e-01 1.62940206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:81.39, Z:16.30 [[ 3.49064300e-01 -9.35138864e-01 -6.05757333e-02 1.26359156e+02] [ 9.20507147e-01 3.54277018e-01 -1.64785881e-01 8.13894194e+01] [ 1.75558272e-01 1.76047284e-03 9.84467467e-01 1.62994198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:81.41, Z:16.30 [[ 3.46449011e-01 -9.36131535e-01 -6.02563818e-02 1.26371138e+02] [ 9.21643807e-01 3.51647618e-01 -1.64062936e-01 8.14147378e+01] [ 1.74773501e-01 1.30452079e-03 9.84607801e-01 1.63044314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:81.44, Z:16.31 [[ 3.43261083e-01 -9.37309538e-01 -6.01885277e-02 1.26383081e+02] [ 9.22846640e-01 3.48497138e-01 -1.64023850e-01 8.14401326e+01] [ 1.74716648e-01 7.58223661e-04 9.84618463e-01 1.63093596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:81.46, Z:16.31 [[ 3.36385312e-01 -9.39799913e-01 -6.01751175e-02 1.26397486e+02] [ 9.25356485e-01 3.41724890e-01 -1.64132491e-01 8.14634866e+01] [ 1.74815036e-01 -4.71676052e-04 9.84601178e-01 1.63136919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74185806399998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.41, Y:81.49, Z:16.32 [[ 3.33416277e-01 -9.40960368e-01 -5.85420532e-02 1.26408135e+02] [ 9.26451432e-01 3.38516128e-01 -1.64604299e-01 8.14876231e+01] [ 1.74703551e-01 6.45383694e-04 9.84620867e-01 1.63174849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:81.51, Z:16.34 [[ 3.32862898e-01 -9.38940568e-01 -8.71372552e-02 1.26438915e+02] [ 9.25537782e-01 3.42998320e-01 -1.60411866e-01 8.15084223e+01] [ 1.80505141e-01 -2.72536633e-02 9.83196385e-01 1.63416608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:81.54, Z:16.32 [[ 3.25506026e-01 -9.45002200e-01 -3.18852579e-02 1.26422184e+02] [ 9.29078865e-01 3.25922247e-01 -1.74891827e-01 8.15417909e+01] [ 1.75665276e-01 2.73044245e-02 9.84071227e-01 1.63186080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:81.56, Z:16.35 [[ 3.26479625e-01 -9.41734891e-01 -8.09101307e-02 1.26461090e+02] [ 9.27790362e-01 3.35644143e-01 -1.62935733e-01 8.15555825e+01] [ 1.80599277e-01 -2.18724424e-02 9.83313530e-01 1.63485466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.861858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:126.45, Y:81.59, Z:16.33 [[ 3.22206132e-01 -9.45510653e-01 -4.68274840e-02 1.26452118e+02] [ 9.30621070e-01 3.25425735e-01 -1.67458994e-01 8.15880785e+01] [ 1.73573131e-01 1.03776716e-02 9.84766303e-01 1.63333521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:81.60, Z:16.36 [[ 3.23110506e-01 -9.42402705e-01 -8.64681530e-02 1.26487625e+02] [ 9.29234304e-01 3.33240086e-01 -1.59607809e-01 8.16040306e+01] [ 1.79229486e-01 -2.87782141e-02 9.83386295e-01 1.63607261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.921858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.47, Y:81.64, Z:16.34 [[ 3.19959814e-01 -9.46783404e-01 -3.50271629e-02 1.26470024e+02] [ 9.30926196e-01 3.21041730e-01 -1.74093726e-01 8.16404402e+01] [ 1.76074232e-01 2.30952927e-02 9.84105925e-01 1.63383518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:81.65, Z:16.38 [[ 3.24184624e-01 -9.40882076e-01 -9.82102282e-02 1.26518207e+02] [ 9.28112081e-01 3.36428148e-01 -1.59449261e-01 8.16542296e+01] [ 1.83063637e-01 -3.94591006e-02 9.82308854e-01 1.63774307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:81.68, Z:16.37 [[ 3.27618743e-01 -9.42122253e-01 -7.12153108e-02 1.26520147e+02] [ 9.25842665e-01 3.35155825e-01 -1.74602212e-01 8.16833374e+01] [ 1.88364855e-01 -8.73121610e-03 9.82060307e-01 1.63741448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.011858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.50, Y:81.72, Z:16.35 [[ 3.20953386e-01 -9.46674320e-01 -2.82250949e-02 1.26501338e+02] [ 9.29572630e-01 3.20581540e-01 -1.81995059e-01 8.17167579e+01] [ 1.81338493e-01 3.21746548e-02 9.82894268e-01 1.63495713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:81.73, Z:16.39 [[ 3.24659678e-01 -9.41818738e-01 -8.70261981e-02 1.26547777e+02] [ 9.26865422e-01 3.35133352e-01 -1.69133456e-01 8.17302674e+01] [ 1.88458440e-01 -2.57507604e-02 9.81743508e-01 1.63865047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:81.76, Z:16.37 [[ 3.17948237e-01 -9.46393557e-01 -5.69925844e-02 1.26541086e+02] [ 9.30513396e-01 3.23010476e-01 -1.72652983e-01 8.17614947e+01] [ 1.81806873e-01 1.86234850e-03 9.83332493e-01 1.63732126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:81.79, Z:16.38 [[ 3.16798012e-01 -9.46851843e-01 -5.57728221e-02 1.26550727e+02] [ 9.31081997e-01 3.21659534e-01 -1.72108858e-01 8.17859084e+01] [ 1.80901449e-01 2.59467340e-03 9.83497805e-01 1.63756370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.131858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.56, Y:81.81, Z:16.38 [[ 3.14241528e-01 -9.47807460e-01 -5.39748119e-02 1.26559784e+02] [ 9.32829726e-01 3.18834248e-01 -1.67849408e-01 8.18106899e+01] [ 1.76297940e-01 2.39594565e-03 9.84333935e-01 1.63769004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:126.56, Y:81.84, Z:16.37 [[ 3.10636594e-01 -9.49977219e-01 -3.23757664e-02 1.26557631e+02] [ 9.35060111e-01 3.11523898e-01 -1.69161020e-01 8.18407758e+01] [ 1.70784940e-01 2.22743156e-02 9.85056526e-01 1.63668182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:81.85, Z:16.40 [[ 3.14486919e-01 -9.45464387e-01 -8.48237604e-02 1.26599154e+02] [ 9.32856517e-01 3.24356546e-01 -1.56753146e-01 8.18534116e+01] [ 1.75717659e-01 -2.98315837e-02 9.83988506e-01 1.64031218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:81.88, Z:16.40 [[ 3.14865729e-01 -9.46604755e-01 -6.92748926e-02 1.26602645e+02] [ 9.33032892e-01 3.22085782e-01 -1.60344542e-01 8.18825548e+01] [ 1.74095364e-01 -1.41487522e-02 9.84627146e-01 1.64019844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.251858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:126.60, Y:81.91, Z:16.40 [[ 3.15809844e-01 -9.47643462e-01 -4.72864755e-02 1.26602501e+02] [ 9.32030651e-01 3.19169844e-01 -1.71608496e-01 8.19128240e+01] [ 1.77716086e-01 1.01232078e-02 9.84029732e-01 1.63982976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:126.61, Y:81.94, Z:16.39 [[ 3.15701167e-01 -9.48021003e-01 -3.98616470e-02 1.26609584e+02] [ 9.32856752e-01 3.17785779e-01 -1.69677571e-01 8.19401145e+01] [ 1.73525366e-01 1.63822007e-02 9.84693135e-01 1.63934226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.311858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:126.63, Y:81.96, Z:16.41 [[ 3.17557189e-01 -9.45915772e-01 -6.63384059e-02 1.26633581e+02] [ 9.32462844e-01 3.24217143e-01 -1.59362133e-01 8.19590293e+01] [ 1.72251203e-01 -1.12515078e-02 9.84988795e-01 1.64091081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:126.64, Y:81.99, Z:16.41 [[ 3.18912437e-01 -9.46505320e-01 -4.92192762e-02 1.26635715e+02] [ 9.31682312e-01 3.22603172e-01 -1.67018747e-01 8.19890905e+01] [ 1.73962427e-01 7.40762665e-03 9.84724429e-01 1.64061592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.371858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:126.66, Y:82.01, Z:16.42 [[ 3.21955574e-01 -9.44329340e-01 -6.77252272e-02 1.26656552e+02] [ 9.30057204e-01 3.28842683e-01 -1.63878269e-01 8.20113513e+01] [ 1.77026003e-01 -1.02268135e-02 9.84153040e-01 1.64218239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401858064 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:126.67, Y:82.04, Z:16.43 [[ 3.26211198e-01 -9.42349606e-01 -7.45887061e-02 1.26672185e+02] [ 9.27664707e-01 3.34297323e-01 -1.66383569e-01 8.20350510e+01] [ 1.81726295e-01 -1.49171268e-02 9.83236001e-01 1.64329825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.431858064 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:126.66, Y:82.07, Z:16.41 [[ 3.24535361e-01 -9.45504470e-01 -2.64215028e-02 1.26657018e+02] [ 9.29297705e-01 3.23930205e-01 -1.77411943e-01 8.20727333e+01] [ 1.76302508e-01 3.30230071e-02 9.83781941e-01 1.64071155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46185806399998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:126.69, Y:82.09, Z:16.43 [[ 3.25783632e-01 -9.43555721e-01 -5.97296050e-02 1.26685358e+02] [ 9.28365569e-01 3.31213429e-01 -1.68626910e-01 8.20906759e+01] [ 1.78892133e-01 -5.15021370e-04 9.83868558e-01 1.64267762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49185806399998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:126.70, Y:82.12, Z:16.43 [[ 3.27459562e-01 -9.42952682e-01 -6.00872266e-02 1.26699739e+02] [ 9.27542791e-01 3.32926749e-01 -1.69776769e-01 8.21168857e+01] [ 1.80096104e-01 -1.38447587e-04 9.83649010e-01 1.64327346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52185806399999 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:126.72, Y:82.14, Z:16.45 [[ 3.29122858e-01 -9.40580806e-01 -8.35816541e-02 1.26723200e+02] [ 9.26558763e-01 3.38747136e-01 -1.63521365e-01 8.21355353e+01] [ 1.82118104e-01 -2.36246949e-02 9.82992813e-01 1.64525756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.551858064 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:126.73, Y:82.16, Z:16.46 [[ 3.28386971e-01 -9.42014762e-01 -6.90665259e-02 1.26726618e+02] [ 9.26112275e-01 3.35491767e-01 -1.72514717e-01 8.21639961e+01] [ 1.85682661e-01 -7.31177209e-03 9.82582560e-01 1.64554226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.581858064 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:126.74, Y:82.19, Z:16.46 [[ 3.26930024e-01 -9.42899011e-01 -6.37041211e-02 1.26737945e+02] [ 9.26938081e-01 3.33068878e-01 -1.72774178e-01 8.21883544e+01] [ 1.84126461e-01 -2.56470974e-03 9.82899216e-01 1.64596632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.611858064 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:126.75, Y:82.22, Z:16.46 [[ 3.24787484e-01 -9.43973603e-01 -5.85399642e-02 1.26746895e+02] [ 9.27701167e-01 3.30012390e-01 -1.74534716e-01 8.22153599e+01] [ 1.84075078e-01 2.37909818e-03 9.82909307e-01 1.64635292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.641858064 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:126.76, Y:82.24, Z:16.47 [[ 3.23089705e-01 -9.44340915e-01 -6.19134843e-02 1.26759668e+02] [ 9.28513447e-01 3.28963198e-01 -1.72180121e-01 8.22402426e+01] [ 1.82963991e-01 -1.85787817e-03 9.83117860e-01 1.64706186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.671858064 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:126.78, Y:82.26, Z:16.49 [[ 3.22480244e-01 -9.42339713e-01 -8.94558995e-02 1.26783551e+02] [ 9.30182721e-01 3.32989085e-01 -1.54526293e-01 8.22568561e+01] [ 1.75404100e-01 -3.33786555e-02 9.83930519e-01 1.64875231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.701858064 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:126.76, Y:82.30, Z:16.47 [[ 3.18141787e-01 -9.47557423e-01 -3.03436026e-02 1.26764925e+02] [ 9.30177463e-01 3.18170894e-01 -1.83131563e-01 8.22979184e+01] [ 1.83182123e-01 3.00368676e-02 9.82620016e-01 1.64670639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.731858064 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:126.79, Y:82.31, Z:16.49 [[ 3.18052808e-01 -9.45456039e-01 -7.03938218e-02 1.26792844e+02] [ 9.30881595e-01 3.25499090e-01 -1.65860783e-01 8.23134900e+01] [ 1.79727203e-01 -1.27758254e-02 9.83633525e-01 1.64875147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.761858064 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:126.79, Y:82.34, Z:16.48 [[ 3.17163924e-01 -9.46929054e-01 -5.22724777e-02 1.26792383e+02] [ 9.30502238e-01 3.21364118e-01 -1.75757472e-01 8.23443475e+01] [ 1.83228355e-01 7.10427184e-03 9.83044709e-01 1.64845268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.791858064 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:126.81, Y:82.37, Z:16.49 [[ 3.17155826e-01 -9.46346120e-01 -6.19774418e-02 1.26806394e+02] [ 9.30384280e-01 3.23142982e-01 -1.73100274e-01 8.23665707e+01] [ 1.83840348e-01 -2.76307723e-03 9.82952233e-01 1.64930730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821858064 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:126.82, Y:82.39, Z:16.50 [[ 3.16932834e-01 -9.46385596e-01 -6.25130580e-02 1.26815899e+02] [ 9.30123607e-01 3.23027260e-01 -1.74709658e-01 8.23916665e+01] [ 1.85536125e-01 -2.77364403e-03 9.82633529e-01 1.64987253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.851858064 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:126.82, Y:82.42, Z:16.50 [[ 3.16785156e-01 -9.46421810e-01 -6.27130235e-02 1.26824574e+02] [ 9.30024152e-01 3.22921347e-01 -1.75433408e-01 8.24175697e+01] [ 1.86285378e-01 -2.74992687e-03 9.82491830e-01 1.65037549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881858064 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:126.82, Y:82.45, Z:16.48 [[ 3.15280543e-01 -9.48527270e-01 -2.99031193e-02 1.26816687e+02] [ 9.31806309e-01 3.15385820e-01 -1.79635153e-01 8.24527827e+01] [ 1.79819861e-01 2.87715533e-02 9.83278707e-01 1.64832393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.911858064 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:126.86, Y:82.46, Z:16.53 [[ 3.16097976e-01 -9.43999012e-01 -9.45935271e-02 1.26855508e+02] [ 9.29939649e-01 3.28038438e-01 -1.66141602e-01 8.24622438e+01] [ 1.87867821e-01 -3.54492472e-02 9.81554396e-01 1.65261550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941858064 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:126.85, Y:82.50, Z:16.52 [[ 3.15739663e-01 -9.46904997e-01 -6.06579981e-02 1.26847038e+02] [ 9.29742759e-01 3.21513383e-01 -1.79464609e-01 8.24959380e+01] [ 1.89438293e-01 2.67760520e-04 9.81892592e-01 1.65163784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.971858064 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:126.86, Y:82.52, Z:16.52 [[ 3.15520359e-01 -9.46789404e-01 -6.35352468e-02 1.26856548e+02] [ 9.29872110e-01 3.21841085e-01 -1.78202623e-01 8.25215627e+01] [ 1.89168608e-01 -2.85309854e-03 9.81940476e-01 1.65226012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001858064 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:126.86, Y:82.55, Z:16.53 [[ 3.15410867e-01 -9.46832563e-01 -6.34356619e-02 1.26864706e+02] [ 9.29939618e-01 3.21714357e-01 -1.78079138e-01 8.25476594e+01] [ 1.89019289e-01 -2.82324007e-03 9.81969316e-01 1.65273957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.031858064 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:126.87, Y:82.57, Z:16.53 [[ 3.14838097e-01 -9.47036208e-01 -6.32407532e-02 1.26873682e+02] [ 9.30221977e-01 3.21113837e-01 -1.77687863e-01 8.25736071e+01] [ 1.88584321e-01 -2.88502972e-03 9.82052764e-01 1.65328655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061858064 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:126.88, Y:82.60, Z:16.54 [[ 3.14095091e-01 -9.47297571e-01 -6.30205213e-02 1.26882525e+02] [ 9.30576014e-01 3.20341128e-01 -1.77228225e-01 8.25998190e+01] [ 1.88075932e-01 -2.97887002e-03 9.82149973e-01 1.65382717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.091858064 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:126.89, Y:82.63, Z:16.54 [[ 3.12400943e-01 -9.47899140e-01 -6.23928784e-02 1.26890376e+02] [ 9.31494080e-01 3.18553960e-01 -1.75619340e-01 8.26261555e+01] [ 1.86344920e-01 -3.25494958e-03 9.82478995e-01 1.65440432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121858064 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:126.90, Y:82.65, Z:16.55 [[ 3.11795158e-01 -9.48121167e-01 -6.20486302e-02 1.26899434e+02] [ 9.31873188e-01 3.17891876e-01 -1.74805939e-01 8.26522491e+01] [ 1.85461967e-01 -3.31780934e-03 9.82645842e-01 1.65494533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.151858064 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:126.91, Y:82.68, Z:16.55 [[ 3.11631759e-01 -9.48178074e-01 -6.19998898e-02 1.26908723e+02] [ 9.31927778e-01 3.17722294e-01 -1.74823225e-01 8.26787614e+01] [ 1.85462296e-01 -3.29895038e-03 9.82645843e-01 1.65545910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181858064 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:126.92, Y:82.70, Z:16.56 [[ 3.11262717e-01 -9.48304785e-01 -6.19157105e-02 1.26917879e+02] [ 9.32082837e-01 3.17343494e-01 -1.74684546e-01 8.27046197e+01] [ 1.85302739e-01 -3.33778459e-03 9.82675813e-01 1.65600929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21185806399998 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:126.93, Y:82.73, Z:16.57 [[ 3.11496449e-01 -9.48246382e-01 -6.16340857e-02 1.26925995e+02] [ 9.32142721e-01 3.17519003e-01 -1.74044907e-01 8.27312271e+01] [ 1.84607447e-01 -3.23739391e-03 9.82807005e-01 1.65650049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24185806399998 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:126.94, Y:82.76, Z:16.57 [[ 3.11774329e-01 -9.47618558e-01 -6.93962257e-02 1.26938377e+02] [ 9.32530745e-01 3.19176156e-01 -1.68857902e-01 8.27558148e+01] [ 1.82162502e-01 -1.20685548e-02 9.83194372e-01 1.65733187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27185806399999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:126.94, Y:82.78, Z:16.57 [[ 3.12529951e-01 -9.48401364e-01 -5.34778729e-02 1.26938152e+02] [ 9.31814206e-01 3.17026552e-01 -1.76681778e-01 8.27849902e+01] [ 1.84519145e-01 5.38690590e-03 9.82814157e-01 1.65710776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.301858064 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:126.91, Y:82.82, Z:16.54 [[ 3.05440973e-01 -9.52204117e-01 -3.62385638e-03 1.26910229e+02] [ 9.36352891e-01 3.01043650e-01 -1.80598958e-01 8.28199002e+01] [ 1.73058010e-01 5.17691132e-02 9.83550143e-01 1.65377212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.331858064 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:126.98, Y:82.82, Z:16.60 [[ 3.14135627e-01 -9.42975115e-01 -1.10076067e-01 1.26980565e+02] [ 9.30756350e-01 3.28748591e-01 -1.60053056e-01 8.28232517e+01] [ 1.87113401e-01 -5.21756314e-02 9.80951721e-01 1.66040820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.361858064 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:126.93, Y:82.87, Z:16.54 [[ 3.05584287e-01 -9.52163523e-01 1.69371387e-03 1.26925017e+02] [ 9.35869476e-01 3.00026294e-01 -1.84749960e-01 8.28739139e+01] [ 1.75404014e-01 5.80417798e-02 9.82784098e-01 1.65449623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.391858064 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:127.00, Y:82.87, Z:16.62 [[ 3.13849144e-01 -9.42264514e-01 -1.16774570e-01 1.27001655e+02] [ 9.30306451e-01 3.29766123e-01 -1.60574627e-01 8.28738892e+01] [ 1.89812070e-01 -5.82399264e-02 9.80091572e-01 1.66181110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.421858064 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:126.99, Y:82.91, Z:16.60 [[ 3.14374649e-01 -9.46521116e-01 -7.25696694e-02 1.26989330e+02] [ 9.30578584e-01 3.22380077e-01 -1.73477910e-01 8.29095580e+01] [ 1.87595521e-01 -1.29947231e-02 9.82160403e-01 1.66047163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.451858064 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:126.99, Y:82.94, Z:16.60 [[ 3.12134165e-01 -9.48586682e-01 -5.24935239e-02 1.26987787e+02] [ 9.30808965e-01 3.16409906e-01 -1.82973886e-01 8.29425491e+01] [ 1.90176062e-01 8.25095838e-03 9.81715329e-01 1.66010333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.481858064 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:127.00, Y:82.97, Z:16.61 [[ 3.10520042e-01 -9.48478042e-01 -6.29817976e-02 1.27001198e+02] [ 9.31502095e-01 3.16826853e-01 -1.78674543e-01 8.29666582e+01] [ 1.89423205e-01 -3.18564994e-03 9.81890371e-01 1.66102555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.511858064 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:127.01, Y:82.99, Z:16.62 [[ 3.07185685e-01 -9.49584502e-01 -6.26596299e-02 1.27009692e+02] [ 9.32775204e-01 3.13488258e-01 -1.77920010e-01 8.29928448e+01] [ 1.88593142e-01 -3.79286916e-03 9.82047983e-01 1.66159362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.541858064 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:127.02, Y:83.02, Z:16.62 [[ 3.05276479e-01 -9.50219730e-01 -6.23597367e-02 1.27018543e+02] [ 9.33555184e-01 3.11553442e-01 -1.77226331e-01 8.30184601e+01] [ 1.87832347e-01 -4.11322513e-03 9.82192492e-01 1.66211925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.571858064 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:127.03, Y:83.04, Z:16.63 [[ 3.03692759e-01 -9.50746333e-01 -6.20654304e-02 1.27027229e+02] [ 9.34220930e-01 3.09939254e-01 -1.76547194e-01 8.30433643e+01] [ 1.87088111e-01 -4.36671968e-03 9.82333432e-01 1.66264102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601858064 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:127.04, Y:83.07, Z:16.63 [[ 3.02553145e-01 -9.51115522e-01 -6.19746592e-02 1.27036468e+02] [ 9.34614918e-01 3.08802029e-01 -1.76454700e-01 8.30691254e+01] [ 1.86966704e-01 -4.53551661e-03 9.82355781e-01 1.66319445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.631858064 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:127.04, Y:83.10, Z:16.64 [[ 3.00847336e-01 -9.51662101e-01 -6.18880138e-02 1.27044549e+02] [ 9.35189915e-01 3.07109142e-01 -1.76362686e-01 8.30957689e+01] [ 1.86844059e-01 -4.81880214e-03 9.82377767e-01 1.66372234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661858064 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:127.05, Y:83.12, Z:16.64 [[ 3.00435461e-01 -9.51792831e-01 -6.18784280e-02 1.27052147e+02] [ 9.35298784e-01 3.06703243e-01 -1.76491658e-01 8.31211050e+01] [ 1.86961809e-01 -4.85046599e-03 9.82355208e-01 1.66417184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.691858064 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:127.06, Y:83.15, Z:16.65 [[ 3.00423664e-01 -9.51798722e-01 -6.18450890e-02 1.27059716e+02] [ 9.35291440e-01 3.06685755e-01 -1.76560950e-01 8.31473083e+01] [ 1.87017495e-01 -4.80009469e-03 9.82344856e-01 1.66463187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721858064 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:127.07, Y:83.17, Z:16.65 [[ 3.00901288e-01 -9.51645762e-01 -6.18769601e-02 1.27067455e+02] [ 9.35088695e-01 3.07162229e-01 -1.76806382e-01 8.31725075e+01] [ 1.87263309e-01 -4.65917784e-03 9.82298705e-01 1.66510977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.751858064 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:127.08, Y:83.20, Z:16.66 [[ 3.01744708e-01 -9.51399923e-01 -6.15493106e-02 1.27075123e+02] [ 9.34992612e-01 3.07925999e-01 -1.75984076e-01 8.31984159e+01] [ 1.86383869e-01 -4.44588697e-03 9.82466940e-01 1.66563616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781858064 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:127.08, Y:83.23, Z:16.66 [[ 3.03880860e-01 -9.51052397e-01 -5.61761541e-02 1.27084416e+02] [ 9.33856746e-01 3.09021460e-01 -1.80048089e-01 8.32296830e+01] [ 1.88594804e-01 2.25268779e-03 9.82052405e-01 1.66594612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.811858064 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:127.10, Y:83.25, Z:16.67 [[ 3.02697327e-01 -9.50429972e-01 -7.11139714e-02 1.27095013e+02] [ 9.34156738e-01 3.10655391e-01 -1.75625788e-01 8.32479378e+01] [ 1.89011951e-01 -1.32701390e-02 9.81885118e-01 1.66714639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841858064 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:127.10, Y:83.28, Z:16.67 [[ 3.03833174e-01 -9.50666360e-01 -6.26009142e-02 1.27098223e+02] [ 9.33429263e-01 3.10193519e-01 -1.80249252e-01 8.32763614e+01] [ 1.90775298e-01 -3.66782296e-03 9.81626881e-01 1.66726063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.871858064 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:127.11, Y:83.31, Z:16.67 [[ 3.06936657e-01 -9.50206296e-01 -5.38319999e-02 1.27108994e+02] [ 9.32351966e-01 3.11561590e-01 -1.83437148e-01 8.33096465e+01] [ 1.91075117e-01 6.11321410e-03 9.81556381e-01 1.66731833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901858064 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:127.12, Y:83.33, Z:16.68 [[ 3.06756226e-01 -9.49512621e-01 -6.57753735e-02 1.27122321e+02] [ 9.32412817e-01 3.13666226e-01 -1.79498850e-01 8.33317626e+01] [ 1.91067937e-01 -6.26741145e-03 9.81556806e-01 1.66822481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.931858064 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:127.13, Y:83.36, Z:16.69 [[ 3.06013408e-01 -9.49724423e-01 -6.61763868e-02 1.27130622e+02] [ 9.32557474e-01 3.13016087e-01 -1.79881868e-01 8.33585675e+01] [ 1.91552477e-01 -6.66702057e-03 9.81459729e-01 1.66880911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96185806399998 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:127.13, Y:83.39, Z:16.68 [[ 3.03321163e-01 -9.51818087e-01 -4.51508769e-02 1.27126703e+02] [ 9.34636080e-01 3.06406658e-01 -1.80472598e-01 8.33875979e+01] [ 1.85611612e-01 1.25415197e-02 9.82543149e-01 1.66780831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99185806399998 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:127.15, Y:83.40, Z:16.71 [[ 3.03487076e-01 -9.48212046e-01 -9.37523941e-02 1.27154780e+02] [ 9.33991502e-01 3.15513072e-01 -1.67664471e-01 8.33959456e+01] [ 1.88561577e-01 -3.66799393e-02 9.81376133e-01 1.67107986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02185806399999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:127.15, Y:83.43, Z:16.70 [[ 3.01783859e-01 -9.51597479e-01 -5.82128869e-02 1.27147272e+02] [ 9.34389803e-01 3.07347096e-01 -1.80148433e-01 8.34309901e+01] [ 1.89320357e-01 -2.76384994e-05 9.81915374e-01 1.67025588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.051858064 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:127.15, Y:83.46, Z:16.70 [[ 3.02627182e-01 -9.51889427e-01 -4.82007046e-02 1.27154926e+02] [ 9.34536335e-01 3.06285321e-01 -1.81193655e-01 8.34612254e+01] [ 1.87239492e-01 9.78881520e-03 9.82265520e-01 1.67008488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.081858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:127.17, Y:83.48, Z:16.71 [[ 2.99768094e-01 -9.52066204e-01 -6.09018267e-02 1.27167411e+02] [ 9.35392733e-01 3.05868732e-01 -1.77439436e-01 8.34829393e+01] [ 1.87562055e-01 -3.77644471e-03 9.82245496e-01 1.67122501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:83.50, Z:16.73 [[ 2.98299137e-01 -9.51640688e-01 -7.34685320e-02 1.27178454e+02] [ 9.35618054e-01 3.06762866e-01 -1.74686581e-01 8.35024288e+01] [ 1.88776276e-01 -1.66296285e-02 9.81879307e-01 1.67262586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.141858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:127.18, Y:83.53, Z:16.73 [[ 2.98116944e-01 -9.52568993e-01 -6.11440987e-02 1.27181495e+02] [ 9.35725067e-01 3.04295983e-01 -1.78388769e-01 8.35305630e+01] [ 1.88533514e-01 -4.03335103e-03 9.82058474e-01 1.67266191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.171858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:127.19, Y:83.55, Z:16.73 [[ 2.97252714e-01 -9.52619210e-01 -6.44784021e-02 1.27191011e+02] [ 9.36329678e-01 3.04055625e-01 -1.75604413e-01 8.35548805e+01] [ 1.86889158e-01 -8.17415317e-03 9.82346999e-01 1.67332117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.201858064 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:127.19, Y:83.59, Z:16.73 [[ 2.96545386e-01 -9.53801281e-01 -4.82073590e-02 1.27192433e+02] [ 9.36795717e-01 3.00329918e-01 -1.79487393e-01 8.35875444e+01] [ 1.85673418e-01 8.06571084e-03 9.82578407e-01 1.67291701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:83.61, Z:16.74 [[ 2.94579765e-01 -9.53406343e-01 -6.51084211e-02 1.27206668e+02] [ 9.37509967e-01 3.01527190e-01 -1.73656027e-01 8.36098330e+01] [ 1.85196717e-01 -9.88424214e-03 9.82651758e-01 1.67409495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.261858064 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:127.22, Y:83.64, Z:16.75 [[ 2.95224355e-01 -9.53216363e-01 -6.49703500e-02 1.27216821e+02] [ 9.36974574e-01 3.02152519e-01 -1.75449429e-01 8.36370109e+01] [ 1.86872222e-01 -9.07862149e-03 9.82342278e-01 1.67470139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:83.66, Z:16.75 [[ 2.94398671e-01 -9.53429152e-01 -6.55917247e-02 1.27221652e+02] [ 9.37168498e-01 3.01458719e-01 -1.75607079e-01 8.36577209e+01] [ 1.87202105e-01 -9.77200768e-03 9.82272813e-01 1.67522287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.23, Y:83.68, Z:16.75 [[ 2.94273614e-01 -9.53849484e-01 -5.97846227e-02 1.27226619e+02] [ 9.37191869e-01 3.00261225e-01 -1.77523513e-01 8.36835428e+01] [ 1.87281716e-01 -3.78917634e-03 9.82298937e-01 1.67542810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.24, Y:83.71, Z:16.76 [[ 2.93739089e-01 -9.53860316e-01 -6.21919946e-02 1.27235960e+02] [ 9.37474570e-01 3.00179117e-01 -1.76164493e-01 8.37098543e+01] [ 1.86705057e-01 -6.55701561e-03 9.82394130e-01 1.67599921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:83.74, Z:16.76 [[ 2.92685542e-01 -9.54480562e-01 -5.74632919e-02 1.27241565e+02] [ 9.37623436e-01 2.98268805e-01 -1.78600147e-01 8.37376153e+01] [ 1.87609876e-01 -1.60524817e-03 9.82242311e-01 1.67633003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.411858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:127.25, Y:83.76, Z:16.77 [[ 2.94152368e-01 -9.53944575e-01 -5.88568848e-02 1.27248587e+02] [ 9.37096927e-01 2.99971254e-01 -1.78512172e-01 8.37613826e+01] [ 1.87946091e-01 -2.64482791e-03 9.82175785e-01 1.67674836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:83.79, Z:16.77 [[ 2.93936653e-01 -9.53766309e-01 -6.26982578e-02 1.27258041e+02] [ 9.37304736e-01 3.00470754e-01 -1.76570545e-01 8.37871823e+01] [ 1.87246030e-01 -6.86681896e-03 9.82289047e-01 1.67741132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:83.81, Z:16.78 [[ 2.94272068e-01 -9.53993008e-01 -5.74568667e-02 1.27263108e+02] [ 9.37020801e-01 2.99826768e-01 -1.79153364e-01 8.38144316e+01] [ 1.88138163e-01 -1.11844837e-03 9.82141935e-01 1.67769470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:83.84, Z:16.78 [[ 2.93332587e-01 -9.54128840e-01 -5.99512321e-02 1.27272482e+02] [ 9.37330359e-01 2.99370989e-01 -1.78294166e-01 8.38410186e+01] [ 1.88063265e-01 -3.89462086e-03 9.82149194e-01 1.67831011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:83.87, Z:16.79 [[ 2.93090455e-01 -9.54162624e-01 -6.05943206e-02 1.27281546e+02] [ 9.37326007e-01 2.99255152e-01 -1.78511374e-01 8.38672576e+01] [ 1.88462043e-01 -4.47665296e-03 9.82070271e-01 1.67887936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:83.89, Z:16.79 [[ 2.93777256e-01 -9.53920646e-01 -6.10763899e-02 1.27289982e+02] [ 9.37065931e-01 3.00021134e-01 -1.78591043e-01 8.38927887e+01] [ 1.88685891e-01 -4.76661742e-03 9.82025923e-01 1.67942697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:83.92, Z:16.80 [[ 2.92379142e-01 -9.54670475e-01 -5.58455194e-02 1.27295268e+02] [ 9.37329868e-01 2.97664086e-01 -1.81132027e-01 8.39206102e+01] [ 1.89544604e-01 6.13553295e-04 9.81871920e-01 1.67975903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.30, Y:83.95, Z:16.80 [[ 2.92657599e-01 -9.54224404e-01 -6.17034549e-02 1.27304337e+02] [ 9.37559943e-01 2.99034195e-01 -1.77651073e-01 8.39454059e+01] [ 1.87970432e-01 -5.85975140e-03 9.82157207e-01 1.68042086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:83.97, Z:16.81 [[ 2.92886542e-01 -9.54128756e-01 -6.20950066e-02 1.27312283e+02] [ 9.37719547e-01 2.99324112e-01 -1.76315422e-01 8.39721930e+01] [ 1.86814147e-01 -6.58728723e-03 9.82373189e-01 1.68093143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:84.00, Z:16.81 [[ 2.93488509e-01 -9.54487832e-01 -5.30798869e-02 1.27314755e+02] [ 9.37184104e-01 2.98230908e-01 -1.80953811e-01 8.39987226e+01] [ 1.88548273e-01 3.36223787e-03 9.82058167e-01 1.68109783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:84.02, Z:16.82 [[ 2.94952711e-01 -9.53180612e-01 -6.67054642e-02 1.27328834e+02] [ 9.37209795e-01 3.02195530e-01 -1.74113934e-01 8.40197515e+01] [ 1.86120119e-01 -1.11616377e-02 9.82463597e-01 1.68208339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:84.05, Z:16.82 [[ 2.94939843e-01 -9.53988175e-01 -5.40097268e-02 1.27331127e+02] [ 9.36839837e-01 2.99833673e-01 -1.80085779e-01 8.40497670e+01] [ 1.87993639e-01 2.51600778e-03 9.82167023e-01 1.68205008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:84.07, Z:16.83 [[ 2.95584816e-01 -9.53070341e-01 -6.54716899e-02 1.27344945e+02] [ 9.37061866e-01 3.02588604e-01 -1.74227426e-01 8.40719542e+01] [ 1.85861979e-01 -9.85204219e-03 9.82526469e-01 1.68298465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:84.11, Z:16.82 [[ 2.95857661e-01 -9.54541736e-01 -3.63086480e-02 1.27340383e+02] [ 9.37446188e-01 2.97439906e-01 -1.80898165e-01 8.41064702e+01] [ 1.83474489e-01 1.94827043e-02 9.82831387e-01 1.68184795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:84.12, Z:16.85 [[ 2.95573576e-01 -9.51891590e-01 -8.08619935e-02 1.27368351e+02] [ 9.37101604e-01 3.05348040e-01 -1.69124684e-01 8.41220559e+01] [ 1.85679416e-01 -2.57871160e-02 9.82271948e-01 1.68464568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:84.15, Z:16.84 [[ 2.95823642e-01 -9.53559750e-01 -5.66760614e-02 1.27364996e+02] [ 9.36712714e-01 3.01203774e-01 -1.78453291e-01 8.41534247e+01] [ 1.87236919e-01 -2.98484924e-04 9.82314739e-01 1.68421134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:84.18, Z:16.85 [[ 2.94948081e-01 -9.53498468e-01 -6.20185555e-02 1.27376153e+02] [ 9.37130708e-01 3.01334044e-01 -1.76022243e-01 8.41780246e+01] [ 1.86525241e-01 -6.20207010e-03 9.82430592e-01 1.68490095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:84.20, Z:16.85 [[ 2.95527263e-01 -9.53751761e-01 -5.49655806e-02 1.27381013e+02] [ 9.36508283e-01 3.00589483e-01 -1.80549710e-01 8.42047216e+01] [ 1.88721679e-01 1.88163994e-03 9.82028812e-01 1.68513048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.951858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:127.39, Y:84.23, Z:16.86 [[ 2.94582998e-01 -9.53473025e-01 -6.41096596e-02 1.27394251e+02] [ 9.37036872e-01 3.01369753e-01 -1.76460119e-01 8.42295286e+01] [ 1.87570676e-01 -8.09096379e-03 9.82217785e-01 1.68605707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:84.26, Z:16.86 [[ 2.94553067e-01 -9.54159476e-01 -5.30865858e-02 1.27397361e+02] [ 9.36763512e-01 2.99275749e-01 -1.81406030e-01 8.42585760e+01] [ 1.88977811e-01 3.70412603e-03 9.81974372e-01 1.68613384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.41, Y:84.28, Z:16.87 [[ 2.93580677e-01 -9.53705421e-01 -6.52407614e-02 1.27412231e+02] [ 9.37870900e-01 3.00566326e-01 -1.73372600e-01 8.42818992e+01] [ 1.84955565e-01 -1.02885662e-02 9.82693027e-01 1.68717166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.42, Y:84.31, Z:16.87 [[ 2.93300905e-01 -9.54214626e-01 -5.87284091e-02 1.27417677e+02] [ 9.37933171e-01 2.99101219e-01 -1.75555765e-01 8.43093097e+01] [ 1.85083618e-01 -3.59265819e-03 9.82716209e-01 1.68744541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:84.33, Z:16.88 [[ 2.93481682e-01 -9.54196540e-01 -5.81159635e-02 1.27424856e+02] [ 9.37579310e-01 2.99170467e-01 -1.77319114e-01 8.43341211e+01] [ 1.86583865e-01 -2.44841299e-03 9.82435986e-01 1.68790540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:84.36, Z:16.89 [[ 2.93158798e-01 -9.54131903e-01 -6.07472764e-02 1.27437226e+02] [ 9.37502882e-01 2.99345860e-01 -1.77427174e-01 8.43629023e+01] [ 1.87473373e-01 -4.93640975e-03 9.82257281e-01 1.68871928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:84.39, Z:16.90 [[ 2.94492656e-01 -9.53422647e-01 -6.52635525e-02 1.27447480e+02] [ 9.36545180e-01 3.01518768e-01 -1.78800331e-01 8.43854427e+01] [ 1.90150471e-01 -8.46688121e-03 9.81718448e-01 1.68959425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:84.42, Z:16.89 [[ 2.93449043e-01 -9.54501065e-01 -5.30601223e-02 1.27449627e+02] [ 9.37260806e-01 2.98189546e-01 -1.80624405e-01 8.44159961e+01] [ 1.88228161e-01 3.27288580e-03 9.82119874e-01 1.68942762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:84.44, Z:16.91 [[ 2.95648519e-01 -9.52578612e-01 -7.20134809e-02 1.27466543e+02] [ 9.36437836e-01 3.03892159e-01 -1.75310395e-01 8.44358032e+01] [ 1.88881265e-01 -1.56058897e-02 9.81875921e-01 1.69092333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:84.47, Z:16.91 [[ 2.94844649e-01 -9.54157434e-01 -5.14803208e-02 1.27465032e+02] [ 9.36320014e-01 2.99245636e-01 -1.83730458e-01 8.44692259e+01] [ 1.90713043e-01 5.96988761e-03 9.81627677e-01 1.69061498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:84.49, Z:16.91 [[ 2.94661006e-01 -9.53698471e-01 -6.02836536e-02 1.27474096e+02] [ 9.37183477e-01 3.00732074e-01 -1.76769202e-01 8.44927133e+01] [ 1.86713745e-01 -4.40985331e-03 9.82404464e-01 1.69117802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:84.52, Z:16.92 [[ 2.97514955e-01 -9.52902341e-01 -5.88385882e-02 1.27479027e+02] [ 9.36339890e-01 3.03267334e-01 -1.76908268e-01 8.45188968e+01] [ 1.86420125e-01 -2.46006178e-03 9.82467040e-01 1.69158843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:84.55, Z:16.92 [[ 2.99107577e-01 -9.52463360e-01 -5.78636707e-02 1.27488061e+02] [ 9.35689685e-01 3.04651796e-01 -1.77966559e-01 8.45467664e+01] [ 1.87134898e-01 -9.11293707e-04 9.82333803e-01 1.69210973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:84.57, Z:16.93 [[ 2.99617066e-01 -9.52186703e-01 -5.97502862e-02 1.27496976e+02] [ 9.35467282e-01 3.05505162e-01 -1.77672623e-01 8.45731727e+01] [ 1.87431530e-01 -2.66068762e-03 9.82274067e-01 1.69272414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:84.60, Z:16.92 [[ 2.99082212e-01 -9.53128630e-01 -4.57782094e-02 1.27496187e+02] [ 9.36226762e-01 3.02376746e-01 -1.79018865e-01 8.46028044e+01] [ 1.84470272e-01 1.06825734e-02 9.82780037e-01 1.69230564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:84.63, Z:16.93 [[ 2.99600964e-01 -9.52324672e-01 -5.75932374e-02 1.27510269e+02] [ 9.35922418e-01 3.05084146e-01 -1.75991165e-01 8.46276917e+01] [ 1.85171513e-01 -1.17567918e-03 9.82705515e-01 1.69331842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.431858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.52, Y:84.65, Z:16.94 [[ 2.99687097e-01 -9.52361374e-01 -5.65283801e-02 1.27517576e+02] [ 9.35936799e-01 3.04971798e-01 -1.76109370e-01 8.46543701e+01] [ 1.84959324e-01 -1.29285101e-04 9.82746169e-01 1.69377237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.53, Y:84.68, Z:16.95 [[ 3.00460882e-01 -9.51737855e-01 -6.25964330e-02 1.27529339e+02] [ 9.35360202e-01 3.06859177e-01 -1.75894110e-01 8.46797466e+01] [ 1.86613373e-01 -5.70091260e-03 9.82416891e-01 1.69475027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.53, Y:84.71, Z:16.95 [[ 3.00056639e-01 -9.52414163e-01 -5.36029383e-02 1.27531577e+02] [ 9.35862396e-01 3.04793236e-01 -1.76812497e-01 8.47076894e+01] [ 1.84736539e-01 2.88878927e-03 9.82783835e-01 1.69472891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.54, Y:84.73, Z:16.96 [[ 3.00624448e-01 -9.51705335e-01 -6.23048756e-02 1.27544561e+02] [ 9.35290631e-01 3.06966510e-01 -1.76076680e-01 8.47326069e+01] [ 1.86698626e-01 -5.34021157e-03 9.82402720e-01 1.69584741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:84.76, Z:16.96 [[ 3.00307576e-01 -9.52163319e-01 -5.65718444e-02 1.27550064e+02] [ 9.35483555e-01 3.05589399e-01 -1.77441930e-01 8.47604970e+01] [ 1.86241453e-01 3.65125700e-04 9.82503938e-01 1.69614068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:84.79, Z:16.97 [[ 2.99872931e-01 -9.52354019e-01 -5.56601027e-02 1.27557372e+02] [ 9.35774676e-01 3.04993242e-01 -1.76931849e-01 8.47863111e+01] [ 1.85477712e-01 9.71757513e-04 9.82647991e-01 1.69660573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.611858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.56, Y:84.81, Z:16.97 [[ 2.99242748e-01 -9.52903059e-01 -4.92903379e-02 1.27561222e+02] [ 9.35814086e-01 3.03177716e-01 -1.79820104e-01 8.48121590e+01] [ 1.86294859e-01 7.68326951e-03 9.82463838e-01 1.69675166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:84.84, Z:16.98 [[ 2.99476680e-01 -9.51725733e-01 -6.73190055e-02 1.27579152e+02] [ 9.35561761e-01 3.06767374e-01 -1.74979914e-01 8.48363384e+01] [ 1.87184161e-01 -1.05786838e-02 9.82267877e-01 1.69815444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:84.86, Z:16.98 [[ 2.97884200e-01 -9.53145039e-01 -5.27213296e-02 1.27578649e+02] [ 9.36614973e-01 3.02495931e-01 -1.76772744e-01 8.48642400e+01] [ 1.84438052e-01 3.27822083e-03 9.82838674e-01 1.69782275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.701858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.60, Y:84.88, Z:17.00 [[ 2.98141210e-01 -9.51616443e-01 -7.44174990e-02 1.27596887e+02] [ 9.35422586e-01 3.06804326e-01 -1.75657881e-01 8.48836391e+01] [ 1.89990539e-01 -1.72409562e-02 9.81634527e-01 1.69978060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:84.91, Z:17.00 [[ 2.96460506e-01 -9.52939747e-01 -6.33798669e-02 1.27598941e+02] [ 9.35909210e-01 3.03098073e-01 -1.79458933e-01 8.49131581e+01] [ 1.90223865e-01 -6.11531519e-03 9.81721694e-01 1.69990045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:84.94, Z:17.00 [[ 2.94812827e-01 -9.54164745e-01 -5.15270372e-02 1.27600114e+02] [ 9.35863528e-01 2.99208137e-01 -1.86101984e-01 8.49407501e+01] [ 1.92989261e-01 6.64297711e-03 9.81178381e-01 1.69996528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:84.96, Z:17.01 [[ 2.93738149e-01 -9.53447092e-01 -6.82388696e-02 1.27615609e+02] [ 9.36529879e-01 3.01349311e-01 -1.79165787e-01 8.49616374e+01] [ 1.91388835e-01 -1.12799135e-02 9.81449478e-01 1.70100473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:127.62, Y:84.99, Z:17.01 [[ 2.91244986e-01 -9.54883205e-01 -5.80897882e-02 1.27618922e+02] [ 9.36984076e-01 2.96980420e-01 -1.84020304e-01 8.49898146e+01] [ 1.92969427e-01 -8.34215747e-04 9.81204415e-01 1.70115705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.851858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:127.63, Y:85.01, Z:17.02 [[ 2.89921344e-01 -9.55053228e-01 -6.17976141e-02 1.27628546e+02] [ 9.37448439e-01 2.96392309e-01 -1.82597982e-01 8.50141775e+01] [ 1.92707129e-01 -4.99302466e-03 9.81243615e-01 1.70180214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:85.04, Z:17.02 [[ 2.89044400e-01 -9.55450134e-01 -5.97358918e-02 1.27635618e+02] [ 9.37825052e-01 2.95135082e-01 -1.82700450e-01 8.50408976e+01] [ 1.92191327e-01 -3.21327398e-03 9.81352214e-01 1.70225748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.911858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:127.64, Y:85.07, Z:17.03 [[ 2.88169892e-01 -9.55699214e-01 -5.99760358e-02 1.27643578e+02] [ 9.37913669e-01 2.94325888e-01 -1.83548961e-01 8.50669298e+01] [ 1.93070098e-01 -3.35905946e-03 9.81179216e-01 1.70276365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:85.09, Z:17.03 [[ 2.87485277e-01 -9.55902855e-01 -6.00162315e-02 1.27650737e+02] [ 9.38061585e-01 2.93662861e-01 -1.83854799e-01 8.50929941e+01] [ 1.93371865e-01 -3.44337347e-03 9.81119496e-01 1.70328049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:85.12, Z:17.04 [[ 2.87315757e-01 -9.55964038e-01 -5.98532639e-02 1.27658378e+02] [ 9.38185309e-01 2.93463909e-01 -1.83540893e-01 8.51181022e+01] [ 1.93023266e-01 -3.41926226e-03 9.81188222e-01 1.70380399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001858064 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:127.67, Y:85.14, Z:17.04 [[ 2.87119058e-01 -9.56034339e-01 -5.96740317e-02 1.27666812e+02] [ 9.38328603e-01 2.93235018e-01 -1.83173845e-01 8.51448845e+01] [ 1.92619001e-01 -3.40114907e-03 9.81267727e-01 1.70432012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.031858064 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:127.68, Y:85.17, Z:17.05 [[ 2.87395789e-01 -9.55584889e-01 -6.52777219e-02 1.27677739e+02] [ 9.38528345e-01 2.94561703e-01 -1.79994302e-01 8.51690634e+01] [ 1.91228152e-01 -9.53538780e-03 9.81499297e-01 1.70506211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.68, Y:85.20, Z:17.05 [[ 2.87742768e-01 -9.56192793e-01 -5.38464728e-02 1.27680779e+02] [ 9.38079858e-01 2.92724347e-01 -1.85252902e-01 8.51973573e+01] [ 1.92899663e-01 2.79289122e-03 9.81214513e-01 1.70521387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:85.22, Z:17.06 [[ 2.87973348e-01 -9.55772242e-01 -5.97559418e-02 1.27691446e+02] [ 9.37921753e-01 2.94091576e-01 -1.83882927e-01 8.52217002e+01] [ 1.93323917e-01 -3.09301541e-03 9.81130112e-01 1.70590797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:85.25, Z:17.06 [[ 2.88339395e-01 -9.55650641e-01 -5.99353501e-02 1.27699513e+02] [ 9.37652812e-01 2.94487789e-01 -1.84618919e-01 8.52479616e+01] [ 1.94081417e-01 -2.96564206e-03 9.80980942e-01 1.70644291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.151858064 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:127.71, Y:85.27, Z:17.07 [[ 2.89383995e-01 -9.55334591e-01 -5.99393308e-02 1.27708284e+02] [ 9.37293017e-01 2.95514002e-01 -1.84806048e-01 8.52745867e+01] [ 1.94264522e-01 -2.70080374e-03 9.80945463e-01 1.70696603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:85.30, Z:17.07 [[ 2.89581327e-01 -9.55274640e-01 -5.99417900e-02 1.27716280e+02] [ 9.37195720e-01 2.95708575e-01 -1.84988166e-01 8.52996230e+01] [ 1.94439805e-01 -2.60807041e-03 9.80910985e-01 1.70749007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:85.32, Z:17.08 [[ 2.90238146e-01 -9.55077021e-01 -5.99141365e-02 1.27724648e+02] [ 9.36974387e-01 2.96347826e-01 -1.85086369e-01 8.53245833e+01] [ 1.94527162e-01 -2.41888695e-03 9.80894149e-01 1.70792828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24185806399998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:127.73, Y:85.35, Z:17.08 [[ 2.90217049e-01 -9.55086472e-01 -5.98656512e-02 1.27733098e+02] [ 9.36977410e-01 2.96317776e-01 -1.85119175e-01 8.53500334e+01] [ 1.94544077e-01 -2.36802205e-03 9.80890919e-01 1.70844172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:85.38, Z:17.09 [[ 2.90133850e-01 -9.55113597e-01 -5.98361636e-02 1.27741446e+02] [ 9.36985641e-01 2.96230650e-01 -1.85216929e-01 8.53753947e+01] [ 1.94628513e-01 -2.32792546e-03 9.80874264e-01 1.70898181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:85.40, Z:17.09 [[ 2.90084316e-01 -9.55128904e-01 -5.98319821e-02 1.27749509e+02] [ 9.36964652e-01 2.96181676e-01 -1.85401339e-01 8.53995177e+01] [ 1.94803315e-01 -2.27843159e-03 9.80839680e-01 1.70948780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.331858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.76, Y:85.43, Z:17.10 [[ 2.89690657e-01 -9.55237603e-01 -6.00037164e-02 1.27758732e+02] [ 9.36940068e-01 2.95830650e-01 -1.86084756e-01 8.54253685e+01] [ 1.95506095e-01 -2.31287079e-03 9.80699759e-01 1.71002403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:85.45, Z:17.11 [[ 2.88792383e-01 -9.55505889e-01 -6.00621029e-02 1.27767545e+02] [ 9.37142063e-01 2.94961915e-01 -1.86446299e-01 8.54500197e+01] [ 1.95866570e-01 -2.44245200e-03 9.80627514e-01 1.71053371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:85.47, Z:17.11 [[ 2.87853781e-01 -9.55791478e-01 -6.00237654e-02 1.27776463e+02] [ 9.37419395e-01 2.94034024e-01 -1.86517750e-01 8.54738844e+01] [ 1.95921105e-01 -2.57760230e-03 9.80616274e-01 1.71100424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:85.50, Z:17.12 [[ 2.86898467e-01 -9.56080460e-01 -5.99951924e-02 1.27785342e+02] [ 9.37692029e-01 2.93091782e-01 -1.86630295e-01 8.54984055e+01] [ 1.96017676e-01 -2.71306819e-03 9.80596609e-01 1.71150764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.451858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.79, Y:85.53, Z:17.11 [[ 2.84518223e-01 -9.57844288e-01 -3.97957398e-02 1.27786526e+02] [ 9.39376939e-01 2.86838119e-01 -1.87869261e-01 8.55297090e+01] [ 1.91364434e-01 1.60690281e-02 9.81387508e-01 1.71075681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:85.54, Z:17.13 [[ 2.84236068e-01 -9.55570724e-01 -7.80669562e-02 1.27813459e+02] [ 9.38658601e-01 2.93938220e-01 -1.80334006e-01 8.55449932e+01] [ 1.95268759e-01 -2.20207910e-02 9.80502523e-01 1.71326857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.511858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.81, Y:85.57, Z:17.13 [[ 2.84352753e-01 -9.56807752e-01 -6.05180804e-02 1.27814512e+02] [ 9.38525508e-01 2.90695832e-01 -1.86187551e-01 8.55737431e+01] [ 1.95738046e-01 -3.85481933e-03 9.80648641e-01 1.71314857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:85.60, Z:17.13 [[ 2.83992822e-01 -9.57608038e-01 -4.83210413e-02 1.27821546e+02] [ 9.39168820e-01 2.87969420e-01 -1.87177830e-01 8.56047858e+01] [ 1.93157977e-01 7.77554495e-03 9.81136859e-01 1.71288874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:85.62, Z:17.15 [[ 2.83800969e-01 -9.56307754e-01 -7.02316779e-02 1.27840268e+02] [ 9.38835029e-01 2.92019908e-01 -1.82518935e-01 8.56228739e+01] [ 1.95053321e-01 -1.41369088e-02 9.80690751e-01 1.71466884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:85.65, Z:17.15 [[ 2.84446181e-01 -9.56844400e-01 -5.94908715e-02 1.27844844e+02] [ 9.38604742e-01 2.90585845e-01 -1.85959685e-01 8.56509807e+01] [ 1.95221689e-01 -2.94289170e-03 9.80754726e-01 1.71483959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:85.68, Z:17.15 [[ 2.86608411e-01 -9.56189115e-01 -5.96489317e-02 1.27854645e+02] [ 9.37800513e-01 2.92739457e-01 -1.86638174e-01 8.56774165e+01] [ 1.95922986e-01 -2.44672830e-03 9.80616233e-01 1.71529901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.86, Y:85.70, Z:17.16 [[ 2.87898798e-01 -9.55793896e-01 -5.97688065e-02 1.27863242e+02] [ 9.37285214e-01 2.94029771e-01 -1.87197547e-01 8.57031149e+01] [ 1.96496082e-01 -2.12646978e-03 9.80502304e-01 1.71576870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:85.73, Z:17.16 [[ 2.90078819e-01 -9.54969990e-01 -6.23425780e-02 1.27872900e+02] [ 9.36608303e-01 2.96671027e-01 -1.86416708e-01 8.57268707e+01] [ 1.96517598e-01 -4.31503781e-03 9.80490803e-01 1.71629024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.88, Y:85.75, Z:17.17 [[ 2.92378063e-01 -9.54615390e-01 -5.67849114e-02 1.27880356e+02] [ 9.35726541e-01 2.97833810e-01 -1.88973178e-01 8.57539202e+01] [ 1.97309171e-01 2.11646315e-03 9.80339029e-01 1.71660905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:85.78, Z:17.17 [[ 2.94113206e-01 -9.54092260e-01 -5.66160913e-02 1.27888938e+02] [ 9.35204188e-01 2.99501435e-01 -1.88923310e-01 8.57773141e+01] [ 1.97206868e-01 2.61723472e-03 9.80358404e-01 1.71705779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:85.80, Z:17.18 [[ 2.93366640e-01 -9.54016907e-01 -6.15447410e-02 1.27901215e+02] [ 9.35764339e-01 2.99736783e-01 -1.85749733e-01 8.58030940e+01] [ 1.95655608e-01 -3.09859896e-03 9.80667773e-01 1.71782849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:85.83, Z:17.18 [[ 2.93516739e-01 -9.54353679e-01 -5.52899580e-02 1.27906946e+02] [ 9.35652463e-01 2.98658815e-01 -1.88035585e-01 8.58284805e+01] [ 1.95965286e-01 3.45940632e-03 9.80604731e-01 1.71810078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:127.92, Y:85.85, Z:17.19 [[ 2.92207910e-01 -9.54344175e-01 -6.19817105e-02 1.27921525e+02] [ 9.36583399e-01 2.98675545e-01 -1.83315182e-01 8.58526925e+01] [ 1.93458198e-01 -4.48489476e-03 9.81098268e-01 1.71894658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:85.88, Z:17.19 [[ 2.92775707e-01 -9.54330896e-01 -5.94552404e-02 1.27929335e+02] [ 9.36448400e-01 2.98745979e-01 -1.83889190e-01 8.58775298e+01] [ 1.93253150e-01 -1.83847716e-03 9.81147206e-01 1.71939107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.94, Y:85.91, Z:17.20 [[ 2.90695747e-01 -9.55159923e-01 -5.62628107e-02 1.27938175e+02] [ 9.37005686e-01 2.96088121e-01 -1.85343380e-01 8.59052954e+01] [ 1.93691318e-01 1.15995874e-03 9.81061837e-01 1.71980733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:85.93, Z:17.20 [[ 2.89803571e-01 -9.55306447e-01 -5.83393810e-02 1.27948862e+02] [ 9.37366540e-01 2.95614525e-01 -1.84271600e-01 8.59310602e+01] [ 1.93281816e-01 -1.28281596e-03 9.81142443e-01 1.72036670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:85.96, Z:17.21 [[ 2.89640228e-01 -9.55359081e-01 -5.82886275e-02 1.27957218e+02] [ 9.37417000e-01 2.95444460e-01 -1.84287654e-01 8.59578503e+01] [ 1.93281936e-01 -1.26363220e-03 9.81142445e-01 1.72089312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99185806399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:127.97, Y:85.98, Z:17.21 [[ 2.89417649e-01 -9.55520414e-01 -5.67288510e-02 1.27966923e+02] [ 9.37236830e-01 2.94924205e-01 -1.86029130e-01 8.59826020e+01] [ 1.94485343e-01 6.71744999e-04 9.80905194e-01 1.72128741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:86.01, Z:17.22 [[ 2.87805567e-01 -9.55829851e-01 -5.96426941e-02 1.27977688e+02] [ 9.37795178e-01 2.93907784e-01 -1.84819963e-01 8.60076108e+01] [ 1.94185890e-01 -2.74041644e-03 9.80960922e-01 1.72189404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:86.03, Z:17.22 [[ 2.87127723e-01 -9.56117739e-01 -5.82798382e-02 1.27986537e+02] [ 9.38123647e-01 2.92977999e-01 -1.84629128e-01 8.60334939e+01] [ 1.93601895e-01 -1.66155323e-03 9.81078766e-01 1.72232887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.081858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.00, Y:86.06, Z:17.23 [[ 2.87037569e-01 -9.56053310e-01 -5.97620483e-02 1.27997898e+02] [ 9.38432112e-01 2.93170444e-01 -1.82746440e-01 8.60561420e+01] [ 1.92235805e-01 -3.62753135e-03 9.81342059e-01 1.72291185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.111858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:128.01, Y:86.08, Z:17.23 [[ 2.84745719e-01 -9.57033503e-01 -5.48338348e-02 1.28005482e+02] [ 9.39101243e-01 2.89975601e-01 -1.84399040e-01 8.60831817e+01] [ 1.92376533e-01 1.01231473e-03 9.81320664e-01 1.72324927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.141858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.02, Y:86.11, Z:17.24 [[ 2.84042479e-01 -9.57068526e-01 -5.77902049e-02 1.28016759e+02] [ 9.39297350e-01 2.89853894e-01 -1.83589785e-01 8.61077364e+01] [ 1.92458720e-01 -2.13488887e-03 9.81302748e-01 1.72389098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.171858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.03, Y:86.13, Z:17.24 [[ 2.82791805e-01 -9.57445957e-01 -5.76717816e-02 1.28028254e+02] [ 9.39718239e-01 2.88603210e-01 -1.83406157e-01 8.61335069e+01] [ 1.92245745e-01 -2.32946682e-03 9.81344051e-01 1.72437430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:86.16, Z:17.25 [[ 2.82523518e-01 -9.57975288e-01 -4.96367789e-02 1.28032965e+02] [ 9.39223515e-01 2.86772439e-01 -1.88734619e-01 8.61600415e+01] [ 1.95037561e-01 6.70193858e-03 9.80772876e-01 1.72452966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:86.18, Z:17.26 [[ 2.81485732e-01 -9.57312286e-01 -6.57188747e-02 1.28050295e+02] [ 9.40023015e-01 2.88857342e-01 -1.81433644e-01 8.61827519e+01] [ 1.92672036e-01 -1.07062725e-02 9.81204801e-01 1.72566796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.06, Y:86.21, Z:17.26 [[ 2.81007997e-01 -9.57966925e-01 -5.77397294e-02 1.28055505e+02] [ 9.40102481e-01 2.86867502e-01 -1.84158522e-01 8.62095694e+01] [ 1.92981425e-01 -2.53124557e-03 9.81199145e-01 1.72578278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:86.24, Z:17.26 [[ 2.81073626e-01 -9.58099903e-01 -5.51560827e-02 1.28067934e+02] [ 9.40406570e-01 2.86434026e-01 -1.83278566e-01 8.62382090e+01] [ 1.91397755e-01 -3.54371587e-04 9.81512493e-01 1.72603541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:86.26, Z:17.27 [[ 2.81117575e-01 -9.57384925e-01 -6.62345468e-02 1.28083465e+02] [ 9.40197937e-01 2.88589743e-01 -1.80952481e-01 8.62618036e+01] [ 1.92355789e-01 -1.14046616e-02 9.81258979e-01 1.72726069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.351858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.08, Y:86.29, Z:17.27 [[ 2.78762638e-01 -9.58876446e-01 -5.33606033e-02 1.28083059e+02] [ 9.41230999e-01 2.83822640e-01 -1.83109026e-01 8.62871367e+01] [ 1.90723880e-01 8.19301250e-04 9.81643383e-01 1.72716887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:128.09, Y:86.31, Z:17.28 [[ 2.78243223e-01 -9.58837691e-01 -5.66656178e-02 1.28094022e+02] [ 9.41507896e-01 2.83940406e-01 -1.81495807e-01 8.63108741e+01] [ 1.90114679e-01 -2.85114839e-03 9.81757750e-01 1.72782489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.411858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.10, Y:86.34, Z:17.28 [[ 2.78378077e-01 -9.59441707e-01 -4.44663490e-02 1.28102500e+02] [ 9.42071972e-01 2.81770952e-01 -1.81949253e-01 8.63426784e+01] [ 1.87099028e-01 8.76018221e-03 9.82301997e-01 1.72751024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.12, Y:86.36, Z:17.29 [[ 2.77220688e-01 -9.58330016e-01 -6.89367095e-02 1.28119231e+02] [ 9.41996673e-01 2.85220592e-01 -1.76893983e-01 8.63597399e+01] [ 1.89184983e-01 -1.58994794e-02 9.81812736e-01 1.72937010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:86.39, Z:17.29 [[ 2.78583095e-01 -9.59290870e-01 -4.63948973e-02 1.28121458e+02] [ 9.41941955e-01 2.82334896e-01 -1.81748065e-01 8.63935831e+01] [ 1.87448158e-01 6.93063812e-03 9.82250047e-01 1.72867538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.14, Y:86.42, Z:17.30 [[ 2.79518332e-01 -9.58422189e-01 -5.74143661e-02 1.28136627e+02] [ 9.41563947e-01 2.85325669e-01 -1.79015633e-01 8.64153362e+01] [ 1.87954347e-01 -4.02114611e-03 9.82169534e-01 1.72966737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:86.44, Z:17.31 [[ 2.79117077e-01 -9.57904523e-01 -6.71757480e-02 1.28146493e+02] [ 9.41309800e-01 2.86767599e-01 -1.78045510e-01 8.64352246e+01] [ 1.89814427e-01 -1.35376475e-02 9.81726650e-01 1.73084329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:86.47, Z:17.30 [[ 2.81168088e-01 -9.58653117e-01 -4.39170472e-02 1.28147625e+02] [ 9.40751201e-01 2.84379077e-01 -1.84704409e-01 8.64681392e+01] [ 1.89556547e-01 1.06179706e-02 9.81812393e-01 1.73007113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:86.49, Z:17.32 [[ 2.81180806e-01 -9.57176406e-01 -6.89251934e-02 1.28169981e+02] [ 9.40336701e-01 2.89147578e-01 -1.79333675e-01 8.64910943e+01] [ 1.91583516e-01 -1.43877016e-02 9.81370853e-01 1.73201530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.17, Y:86.52, Z:17.32 [[ 2.80889743e-01 -9.58054111e-01 -5.68618694e-02 1.28170121e+02] [ 9.40620629e-01 2.86577508e-01 -1.81950996e-01 8.65159746e+01] [ 1.90614233e-01 -2.37727888e-03 9.81662143e-01 1.73193241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:86.54, Z:17.32 [[ 2.80566306e-01 -9.58713766e-01 -4.63730878e-02 1.28173500e+02] [ 9.40192008e-01 2.84227870e-01 -1.87759171e-01 8.65440335e+01] [ 1.93187826e-01 9.07929046e-03 9.81119784e-01 1.73197854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:128.19, Y:86.56, Z:17.33 [[ 2.80457060e-01 -9.57451590e-01 -6.80462411e-02 1.28192517e+02] [ 9.41042111e-01 2.88235983e-01 -1.77086879e-01 8.65639838e+01] [ 1.89165489e-01 -1.43691129e-02 9.81840082e-01 1.73337868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.20, Y:86.59, Z:17.33 [[ 2.80086994e-01 -9.58354734e-01 -5.57447655e-02 1.28195749e+02] [ 9.41242594e-01 2.85573685e-01 -1.80305432e-01 8.65927175e+01] [ 1.88715803e-01 -1.96814116e-03 9.82029772e-01 1.73338030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74185806399998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:128.20, Y:86.62, Z:17.34 [[ 2.80070763e-01 -9.58483421e-01 -5.35714478e-02 1.28203901e+02] [ 9.41345235e-01 2.85148243e-01 -1.80442867e-01 8.66181610e+01] [ 1.88227300e-01 1.07544194e-04 9.82125487e-01 1.73380455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77185806399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.21, Y:86.64, Z:17.34 [[ 2.79276056e-01 -9.58514309e-01 -5.70543870e-02 1.28214074e+02] [ 9.41636278e-01 2.85020398e-01 -1.79121445e-01 8.66440415e+01] [ 1.87952133e-01 -3.70014978e-03 9.82171220e-01 1.73448501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:86.67, Z:17.36 [[ 2.81963172e-01 -9.56746349e-01 -7.16463061e-02 1.28235891e+02] [ 9.39256173e-01 2.90496417e-01 -1.82783131e-01 8.66708856e+01] [ 1.95690088e-01 -1.57561239e-02 9.80539206e-01 1.73636985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:86.70, Z:17.34 [[ 2.76034510e-01 -9.60426399e-01 -3.72301126e-02 1.28221478e+02] [ 9.43318376e-01 2.78136967e-01 -1.81080834e-01 8.67019854e+01] [ 1.84269884e-01 1.48647099e-02 9.82763273e-01 1.73440713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:86.72, Z:17.36 [[ 2.76992439e-01 -9.58798904e-01 -6.30860465e-02 1.28241707e+02] [ 9.42387847e-01 2.83893792e-01 -1.76944794e-01 8.67223818e+01] [ 1.87564212e-01 -1.04391534e-02 9.82196870e-01 1.73640809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:86.75, Z:17.37 [[ 2.75661440e-01 -9.59686057e-01 -5.48948381e-02 1.28245186e+02] [ 9.42696906e-01 2.81065626e-01 -1.79790593e-01 8.67511259e+01] [ 1.87971577e-01 -2.18786030e-03 9.82172032e-01 1.73662097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:86.78, Z:17.37 [[ 2.74865106e-01 -9.59932457e-01 -5.45788553e-02 1.28252670e+02] [ 9.43111840e-01 2.80222094e-01 -1.78929135e-01 8.67773794e+01] [ 1.87054086e-01 -2.29258887e-03 9.82346941e-01 1.73713831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:86.80, Z:17.38 [[ 2.73273029e-01 -9.60406969e-01 -5.42245868e-02 1.28259861e+02] [ 9.43613888e-01 2.78591409e-01 -1.78828567e-01 8.68031226e+01] [ 1.86854706e-01 -2.29804907e-03 9.82384873e-01 1.73764625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.981858064 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:128.27, Y:86.83, Z:17.38 [[ 2.71047928e-01 -9.60882385e-01 -5.69039772e-02 1.28267726e+02] [ 9.44672311e-01 2.76889797e-01 -1.75858651e-01 8.68273040e+01] [ 1.84735611e-01 -6.08948869e-03 9.82769389e-01 1.73833477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:86.85, Z:17.39 [[ 2.68762717e-01 -9.61877337e-01 -5.05825027e-02 1.28272145e+02] [ 9.45231464e-01 2.73481228e-01 -1.78172660e-01 8.68545619e+01] [ 1.85213609e-01 7.39952617e-05 9.82698282e-01 1.73858506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.041858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.28, Y:86.88, Z:17.39 [[ 2.67185204e-01 -9.61894360e-01 -5.80629674e-02 1.28283266e+02] [ 9.46110750e-01 2.73288845e-01 -1.73745950e-01 8.68780204e+01] [ 1.82993211e-01 -8.51165065e-03 9.83077330e-01 1.73944226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.071858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.29, Y:86.91, Z:17.40 [[ 2.63279921e-01 -9.63490555e-01 -4.86788833e-02 1.28285379e+02] [ 9.47115507e-01 2.67741918e-01 -1.76879852e-01 8.69060389e+01] [ 1.83455444e-01 4.64388243e-04 9.83027916e-01 1.73951540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.29, Y:86.93, Z:17.40 [[ 2.60956157e-01 -9.63906373e-01 -5.27862566e-02 1.28293949e+02] [ 9.47610051e-01 2.66212113e-01 -1.76539803e-01 8.69306673e+01] [ 1.84220182e-01 -3.95163869e-03 9.82877057e-01 1.74019964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:86.96, Z:17.41 [[ 2.59193071e-01 -9.64297007e-01 -5.43160665e-02 1.28302081e+02] [ 9.48274292e-01 2.64752723e-01 -1.75162388e-01 8.69567639e+01] [ 1.83288893e-01 -6.10565216e-03 9.83040133e-01 1.74073071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:128.31, Y:86.98, Z:17.41 [[ 2.58934275e-01 -9.64479467e-01 -5.22723592e-02 1.28307928e+02] [ 9.48255601e-01 2.64128406e-01 -1.76203009e-01 8.69819539e+01] [ 1.83750799e-01 -3.94255897e-03 9.82964954e-01 1.74112075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:87.00, Z:17.44 [[ 2.59691681e-01 -9.62152072e-01 -8.26052094e-02 1.28330971e+02] [ 9.47442497e-01 2.70401310e-01 -1.70984931e-01 8.70034558e+01] [ 1.86850062e-01 -3.38603219e-02 9.81804733e-01 1.74354227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:87.05, Z:17.41 [[ 2.56806398e-01 -9.66308983e-01 -1.72459524e-02 1.28302797e+02] [ 9.47948497e-01 2.55322767e-01 -1.90273310e-01 8.70451444e+01] [ 1.88266093e-01 3.25151287e-02 9.81579668e-01 1.74072904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:87.06, Z:17.42 [[ 2.56079090e-01 -9.65471634e-01 -4.78332875e-02 1.28322726e+02] [ 9.49397117e-01 2.60507751e-01 -1.75444649e-01 8.70633981e+01] [ 1.81847774e-01 -4.85079154e-04 9.83326574e-01 1.74182079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:87.08, Z:17.46 [[ 2.62186097e-01 -9.59736550e-01 -1.00817687e-01 1.28358338e+02] [ 9.45287211e-01 2.76437783e-01 -1.73246188e-01 8.70789872e+01] [ 1.94140516e-01 -4.98789279e-02 9.79704829e-01 1.74640428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.311858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:128.33, Y:87.13, Z:17.43 [[ 2.59797868e-01 -9.65431245e-01 -2.11560611e-02 1.28325103e+02] [ 9.45846671e-01 2.58821024e-01 -1.95922824e-01 8.71250599e+01] [ 1.94625650e-01 3.08899420e-02 9.80391079e-01 1.74302672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:128.35, Y:87.14, Z:17.45 [[ 2.62220717e-01 -9.62713383e-01 -6.65074205e-02 1.28352550e+02] [ 9.45929457e-01 2.70061888e-01 -1.79677599e-01 8.71380471e+01] [ 1.90939149e-01 -1.57961392e-02 9.81474770e-01 1.74525683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.371858064 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:128.35, Y:87.17, Z:17.45 [[ 2.61295168e-01 -9.63958999e-01 -5.00787751e-02 1.28350950e+02] [ 9.45946099e-01 2.66048589e-01 -1.85483493e-01 8.71704709e+01] [ 1.92121870e-01 1.09411855e-03 9.81370465e-01 1.74522732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:87.19, Z:17.46 [[ 2.63873019e-01 -9.62331620e-01 -6.54895619e-02 1.28363829e+02] [ 9.45516395e-01 2.71491224e-01 -1.79697695e-01 8.71922423e+01] [ 1.90708616e-01 -1.45040811e-02 9.81539533e-01 1.74641361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.431858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:128.36, Y:87.22, Z:17.47 [[ 2.62854302e-01 -9.62900308e-01 -6.10787472e-02 1.28364791e+02] [ 9.46227808e-01 2.69640657e-01 -1.78736820e-01 8.72181642e+01] [ 1.88575053e-01 -1.08126668e-02 9.81999254e-01 1.74661868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:128.37, Y:87.25, Z:17.47 [[ 2.64606244e-01 -9.62991509e-01 -5.12921928e-02 1.28366204e+02] [ 9.45520335e-01 2.69531669e-01 -1.82603330e-01 8.72452918e+01] [ 1.89670327e-01 -1.79830063e-04 9.81847817e-01 1.74672369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:87.27, Z:17.48 [[ 2.64100676e-01 -9.62833759e-01 -5.65860873e-02 1.28375384e+02] [ 9.46045792e-01 2.70022928e-01 -1.79122799e-01 8.72713232e+01] [ 1.87745019e-01 -6.22657749e-03 9.82198064e-01 1.74756451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.38, Y:87.30, Z:17.48 [[ 2.63808227e-01 -9.63225434e-01 -5.10096413e-02 1.28379597e+02] [ 9.45930026e-01 2.68694372e-01 -1.81713294e-01 8.72987144e+01] [ 1.88736870e-01 -3.14089420e-04 9.82027645e-01 1.74784796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.39, Y:87.32, Z:17.48 [[ 2.63202540e-01 -9.63241452e-01 -5.37617630e-02 1.28388054e+02] [ 9.46035906e-01 2.68618668e-01 -1.81273486e-01 8.73247668e+01] [ 1.89051549e-01 -3.14891601e-03 9.81962115e-01 1.74847393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.581858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:128.40, Y:87.35, Z:17.49 [[ 2.61107684e-01 -9.63807913e-01 -5.38245636e-02 1.28395558e+02] [ 9.46536645e-01 2.66574544e-01 -1.81676616e-01 8.73518347e+01] [ 1.89449619e-01 -3.50976149e-03 9.81884170e-01 1.74896939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.40, Y:87.38, Z:17.49 [[ 2.59245985e-01 -9.64850559e-01 -4.30687528e-02 1.28397925e+02] [ 9.47667960e-01 2.62725812e-01 -1.81385185e-01 8.73820531e+01] [ 1.86324870e-01 6.20850380e-03 9.82468573e-01 1.74868511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:87.40, Z:17.50 [[ 2.58725791e-01 -9.63854153e-01 -6.36092596e-02 1.28415947e+02] [ 9.47299998e-01 2.66057416e-01 -1.78426917e-01 8.74031378e+01] [ 1.88901241e-01 -1.40934061e-02 9.81894952e-01 1.75041559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:87.43, Z:17.50 [[ 2.56455406e-01 -9.65485590e-01 -4.54774689e-02 1.28415239e+02] [ 9.48163007e-01 2.60431847e-01 -1.82104817e-01 8.74349775e+01] [ 1.87663358e-01 3.58171118e-03 9.82226876e-01 1.74989944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:87.46, Z:17.51 [[ 2.56719058e-01 -9.64839446e-01 -5.63929924e-02 1.28426927e+02] [ 9.48001499e-01 2.62737187e-01 -1.79617174e-01 8.74576143e+01] [ 1.88118271e-01 -7.34948972e-03 9.82118883e-01 1.75087765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:87.49, Z:17.51 [[ 2.55698898e-01 -9.65539933e-01 -4.84841339e-02 1.28430422e+02] [ 9.48132170e-01 2.60254005e-01 -1.82519155e-01 8.74875937e+01] [ 1.88847722e-01 7.00579598e-04 9.82006134e-01 1.75098503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.44, Y:87.51, Z:17.52 [[ 2.55489021e-01 -9.64869300e-01 -6.12584202e-02 1.28443414e+02] [ 9.48564296e-01 2.62415385e-01 -1.77098679e-01 8.75102302e+01] [ 1.86952230e-01 -1.28607821e-02 9.82284818e-01 1.75214363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.791858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:128.44, Y:87.54, Z:17.52 [[ 2.54749926e-01 -9.65873479e-01 -4.68070267e-02 1.28443152e+02] [ 9.48259871e-01 2.59003257e-01 -1.83631505e-01 8.75392294e+01] [ 1.89487973e-01 2.39488711e-03 9.81880121e-01 1.75193805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:87.57, Z:17.53 [[ 2.52849675e-01 -9.66120106e-01 -5.17588922e-02 1.28453112e+02] [ 9.48906559e-01 2.58073059e-01 -1.81589200e-01 8.75659240e+01] [ 1.88794553e-01 -3.19958194e-03 9.82011395e-01 1.75264685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.46, Y:87.59, Z:17.53 [[ 2.52607225e-01 -9.66116590e-01 -5.29936225e-02 1.28461528e+02] [ 9.48950910e-01 2.58067271e-01 -1.81365525e-01 8.75926472e+01] [ 1.88896162e-01 -4.47410434e-03 9.81986875e-01 1.75324873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:128.47, Y:87.62, Z:17.54 [[ 2.50966418e-01 -9.66470403e-01 -5.43214275e-02 1.28470198e+02] [ 9.49482749e-01 2.56701397e-01 -1.80518424e-01 8.76184824e+01] [ 1.88410101e-01 -6.27319591e-03 9.82070405e-01 1.75388475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.48, Y:87.64, Z:17.55 [[ 2.50203059e-01 -9.66558583e-01 -5.62399708e-02 1.28478735e+02] [ 9.50076413e-01 2.56291210e-01 -1.77959618e-01 8.76418701e+01] [ 1.86422207e-01 -8.90622876e-03 9.82429356e-01 1.75450012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.48, Y:87.67, Z:17.55 [[ 2.49053937e-01 -9.67094692e-01 -5.19614512e-02 1.28484616e+02] [ 9.50392094e-01 2.54371474e-01 -1.79025197e-01 8.76679603e+01] [ 1.86351829e-01 -4.79682211e-03 9.82471367e-01 1.75495007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.971858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:128.50, Y:87.69, Z:17.56 [[ 2.48544099e-01 -9.66960743e-01 -5.66811433e-02 1.28497350e+02] [ 9.49860326e-01 2.54773815e-01 -1.81261315e-01 8.76944259e+01] [ 1.89713447e-01 -8.78773915e-03 9.81800175e-01 1.75610350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.51, Y:87.72, Z:17.57 [[ 2.47961810e-01 -9.66341638e-01 -6.85476466e-02 1.28513318e+02] [ 9.50330842e-01 2.56372008e-01 -1.76478566e-01 8.77158047e+01] [ 1.88112284e-01 -2.13829981e-02 9.81914730e-01 1.75740661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.031858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:128.52, Y:87.74, Z:17.58 [[ 2.47079651e-01 -9.67293662e-01 -5.73987641e-02 1.28517304e+02] [ 9.49366231e-01 2.53511896e-01 -1.85567990e-01 8.77448710e+01] [ 1.94050010e-01 -8.64237415e-03 9.80953568e-01 1.75789480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:128.52, Y:87.77, Z:17.58 [[ 2.46308836e-01 -9.68099061e-01 -4.60017892e-02 1.28519827e+02] [ 9.50398456e-01 2.50562197e-01 -1.84286082e-01 8.77745183e+01] [ 1.89933492e-01 1.67126094e-03 9.81795536e-01 1.75755761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:87.80, Z:17.59 [[ 2.47423394e-01 -9.66456734e-01 -6.88697677e-02 1.28539237e+02] [ 9.49656676e-01 2.55992673e-01 -1.80609935e-01 8.77969940e+01] [ 1.92181844e-01 -2.07155117e-02 9.81140666e-01 1.75940860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:87.83, Z:17.60 [[ 2.49227782e-01 -9.66818036e-01 -5.61105849e-02 1.28541416e+02] [ 9.48556970e-01 2.55381148e-01 -1.87136699e-01 8.78267107e+01] [ 1.95256721e-01 -6.58442185e-03 9.80730064e-01 1.75950097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:87.86, Z:17.58 [[ 2.48393347e-01 -9.68178110e-01 -3.05269072e-02 1.28533953e+02] [ 9.49178412e-01 2.49565526e-01 -1.91774321e-01 8.78569574e+01] [ 1.93290163e-01 1.86599840e-02 9.80964178e-01 1.75829795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:87.87, Z:17.61 [[ 2.51156497e-01 -9.64756082e-01 -7.85246240e-02 1.28566325e+02] [ 9.47863120e-01 2.61574585e-01 -1.82028136e-01 8.78725542e+01] [ 1.96152797e-01 -2.87130463e-02 9.80152866e-01 1.76118125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.57, Y:87.90, Z:17.61 [[ 2.51647922e-01 -9.66124766e-01 -5.72386313e-02 1.28565019e+02] [ 9.47451244e-01 2.57990221e-01 -1.89148580e-01 8.79029502e+01] [ 1.97508134e-01 -6.63196559e-03 9.80278814e-01 1.76080964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24185806399998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:128.56, Y:87.93, Z:17.60 [[ 2.49297066e-01 -9.67892170e-01 -3.21826125e-02 1.28558715e+02] [ 9.49111379e-01 2.50793898e-01 -1.90499374e-01 8.79335141e+01] [ 1.92454055e-01 1.69460513e-02 9.81159655e-01 1.75961581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.59, Y:87.95, Z:17.62 [[ 2.48078621e-01 -9.66158728e-01 -7.06704298e-02 1.28586500e+02] [ 9.49060097e-01 2.57021072e-01 -1.82277538e-01 8.79516573e+01] [ 1.94272824e-01 -2.18513248e-02 9.80704130e-01 1.76211258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.301858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:128.58, Y:87.98, Z:17.61 [[ 2.46838344e-01 -9.68342727e-01 -3.71913363e-02 1.28577810e+02] [ 9.49904487e-01 2.49374148e-01 -1.88398513e-01 8.79846807e+01] [ 1.91708888e-01 1.11757597e-02 9.81388203e-01 1.76091048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.331858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.59, Y:88.01, Z:17.62 [[ 2.45819225e-01 -9.67853480e-01 -5.32217008e-02 1.28593102e+02] [ 9.50205666e-01 2.51458292e-01 -1.84059555e-01 8.80078531e+01] [ 1.91525719e-01 -5.32618454e-03 9.81473143e-01 1.76208430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.59, Y:88.04, Z:17.62 [[ 2.42374415e-01 -9.69165262e-01 -4.44222740e-02 1.28594945e+02] [ 9.51556266e-01 2.46400832e-01 -1.83922000e-01 8.80369700e+01] [ 1.89196499e-01 2.30769410e-03 9.81936535e-01 1.76181924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.391858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:128.61, Y:88.06, Z:17.63 [[ 2.40679557e-01 -9.69060481e-01 -5.47278328e-02 1.28605489e+02] [ 9.51930221e-01 2.46680737e-01 -1.81596997e-01 8.80598027e+01] [ 1.89478775e-01 -8.39039334e-03 9.81848968e-01 1.76269858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.61, Y:88.09, Z:17.63 [[ 2.39712641e-01 -9.69508779e-01 -5.08977179e-02 1.28610311e+02] [ 9.52183909e-01 2.45011304e-01 -1.82524693e-01 8.80876651e+01] [ 1.89429809e-01 -4.71051176e-03 9.81882966e-01 1.76302297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:88.11, Z:17.64 [[ 2.40961573e-01 -9.68770035e-01 -5.84990504e-02 1.28622872e+02] [ 9.51101697e-01 2.47708867e-01 -1.84515254e-01 8.81130164e+01] [ 1.93243583e-01 -1.11774602e-02 9.81087143e-01 1.76421697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:88.14, Z:17.64 [[ 2.38605082e-01 -9.69967894e-01 -4.72218151e-02 1.28621945e+02] [ 9.52057051e-01 2.43232016e-01 -1.85541259e-01 8.81417979e+01] [ 1.91454921e-01 -6.86774674e-04 9.81501167e-01 1.76388448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:88.17, Z:17.65 [[ 2.39220879e-01 -9.69189503e-01 -5.86947969e-02 1.28634923e+02] [ 9.51129380e-01 2.46061691e-01 -1.86565125e-01 8.81671688e+01] [ 1.95259502e-01 -1.11960727e-02 9.80687705e-01 1.76521241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:88.19, Z:17.66 [[ 2.40216056e-01 -9.68376247e-01 -6.74069016e-02 1.28646067e+02] [ 9.50260140e-01 2.48767078e-01 -1.87404927e-01 8.81913323e+01] [ 1.98247098e-01 -1.90364192e-02 9.79967195e-01 1.76634871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:88.22, Z:17.67 [[ 2.41946480e-01 -9.67922215e-01 -6.77383712e-02 1.28653249e+02] [ 9.48595092e-01 2.50639906e-01 -1.93253689e-01 8.82168375e+01] [ 2.04032478e-01 -1.74992368e-02 9.78807706e-01 1.76732948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601858064 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:128.64, Y:88.25, Z:17.66 [[ 2.42768562e-01 -9.69377784e-01 -3.70153624e-02 1.28644705e+02] [ 9.48367591e-01 2.45189534e-01 -2.01198916e-01 8.82516798e+01] [ 2.04113539e-01 1.37406015e-02 9.78850785e-01 1.76649934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:88.27, Z:17.69 [[ 2.42305935e-01 -9.66946346e-01 -7.93888981e-02 1.28668597e+02] [ 9.48765733e-01 2.53263212e-01 -1.88947952e-01 8.82652013e+01] [ 2.02808819e-01 -2.95382561e-02 9.78772739e-01 1.76860736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.66, Y:88.30, Z:17.67 [[ 2.43030503e-01 -9.69021065e-01 -4.39812552e-02 1.28656963e+02] [ 9.49011638e-01 2.46907758e-01 -1.95993545e-01 8.83001579e+01] [ 2.00781187e-01 5.89368692e-03 9.79618385e-01 1.76726050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.691858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.68, Y:88.32, Z:17.70 [[ 2.46049478e-01 -9.66376327e-01 -7.46756271e-02 1.28678745e+02] [ 9.46806726e-01 2.56122076e-01 -1.94829427e-01 8.83207775e+01] [ 2.07404623e-01 -2.27657071e-02 9.77990309e-01 1.76966052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:88.35, Z:17.69 [[ 2.46236946e-01 -9.67806422e-01 -5.21353595e-02 1.28673932e+02] [ 9.47340230e-01 2.51694895e-01 -1.97980224e-01 8.83535918e+01] [ 2.04728736e-01 -6.39877779e-04 9.78818541e-01 1.76896237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.751858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.66, Y:88.38, Z:17.67 [[ 2.44674827e-01 -9.69269050e-01 -2.55291693e-02 1.28660373e+02] [ 9.49137746e-01 2.44808238e-01 -1.98006225e-01 8.83842364e+01] [ 1.98171057e-01 2.42164406e-02 9.79868255e-01 1.76736442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:88.40, Z:17.71 [[ 2.48333278e-01 -9.65343302e-01 -8.02676255e-02 1.28696089e+02] [ 9.46878266e-01 2.59389942e-01 -1.90101046e-01 8.84007757e+01] [ 2.04333387e-01 -2.87952541e-02 9.78477747e-01 1.77085498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.811858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.69, Y:88.43, Z:17.71 [[ 2.49454509e-01 -9.66567102e-01 -5.93336726e-02 1.28692051e+02] [ 9.46169693e-01 2.56322619e-01 -1.97640146e-01 8.84310747e+01] [ 2.06241026e-01 -6.83749725e-03 9.78477331e-01 1.77070503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:88.46, Z:17.72 [[ 2.51403382e-01 -9.65804855e-01 -6.33823408e-02 1.28698659e+02] [ 9.45371509e-01 2.59070439e-01 -1.97876773e-01 8.84583357e+01] [ 2.07530839e-01 -1.01729693e-02 9.78175578e-01 1.77156554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:88.49, Z:17.70 [[ 2.52067835e-01 -9.67398635e-01 -2.45293360e-02 1.28684183e+02] [ 9.46198050e-01 2.51700208e-01 -2.03362375e-01 8.84930705e+01] [ 2.02906523e-01 2.80515035e-02 9.78796228e-01 1.76988612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.72, Y:88.50, Z:17.74 [[ 2.53975097e-01 -9.62605001e-01 -9.42775852e-02 1.28724229e+02] [ 9.45171612e-01 2.67695647e-01 -1.87055245e-01 8.85025638e+01] [ 2.05298013e-01 -4.16011233e-02 9.77814948e-01 1.77391415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.69, Y:88.55, Z:17.70 [[ 2.53629067e-01 -9.67141786e-01 -1.75801782e-02 1.28689595e+02] [ 9.46615800e-01 2.51902705e-01 -2.01155550e-01 8.85470420e+01] [ 1.98974432e-01 3.43772199e-02 9.79401543e-01 1.77035814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.71, Y:88.57, Z:17.72 [[ 2.53247024e-01 -9.65888846e-01 -5.40803257e-02 1.28712819e+02] [ 9.46850838e-01 2.58941065e-01 -1.90848145e-01 8.85662338e+01] [ 1.98341712e-01 -2.87427686e-03 9.80128718e-01 1.77210804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.72, Y:88.59, Z:17.73 [[ 2.53195258e-01 -9.65900069e-01 -5.41222542e-02 1.28718438e+02] [ 9.46790492e-01 2.58899680e-01 -1.91203345e-01 8.85921334e+01] [ 1.98695558e-01 -2.83065553e-03 9.80057173e-01 1.77262455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02185806399999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:128.72, Y:88.62, Z:17.73 [[ 2.53173875e-01 -9.65927485e-01 -5.37315790e-02 1.28724404e+02] [ 9.47053280e-01 2.58797982e-01 -1.90036023e-01 8.86181660e+01] [ 1.97466642e-01 -2.77451167e-03 9.80305681e-01 1.77310222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.051858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.73, Y:88.64, Z:17.74 [[ 2.51820247e-01 -9.65990821e-01 -5.87221964e-02 1.28731376e+02] [ 9.47573473e-01 2.58442381e-01 -1.87915005e-01 8.86421895e+01] [ 1.96700475e-01 -8.32279253e-03 9.80428302e-01 1.77380838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.081858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.73, Y:88.67, Z:17.74 [[ 2.49634240e-01 -9.67146043e-01 -4.80757584e-02 1.28731804e+02] [ 9.47843758e-01 2.54209809e-01 -1.92274759e-01 8.86707973e+01] [ 1.98179102e-01 2.43005584e-03 9.80162812e-01 1.77394933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.111858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.74, Y:88.70, Z:17.75 [[ 2.48212238e-01 -9.67215139e-01 -5.37174120e-02 1.28740347e+02] [ 9.48264233e-01 2.53932342e-01 -1.90560515e-01 8.86964647e+01] [ 1.97953603e-01 -3.63884855e-03 9.80204637e-01 1.77461487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:88.72, Z:17.76 [[ 2.48283413e-01 -9.65975075e-01 -7.24396426e-02 1.28755138e+02] [ 9.47638643e-01 2.57712801e-01 -1.88587153e-01 8.87196364e+01] [ 2.00839112e-01 -2.18235427e-02 9.79381123e-01 1.77626973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:88.75, Z:17.75 [[ 2.45675954e-01 -9.68683326e-01 -3.59991707e-02 1.28743059e+02] [ 9.48726122e-01 2.47902833e-01 -1.96119686e-01 8.87547277e+01] [ 1.98902166e-01 1.40285372e-02 9.79918940e-01 1.77494994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.201858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:128.76, Y:88.78, Z:17.76 [[ 2.44534194e-01 -9.68145404e-01 -5.38284800e-02 1.28758248e+02] [ 9.49037869e-01 2.50352230e-01 -1.91444205e-01 8.87782176e+01] [ 1.98821908e-01 -4.27061148e-03 9.80026332e-01 1.77610137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.231858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.76, Y:88.81, Z:17.77 [[ 2.43015727e-01 -9.68539538e-01 -5.36145531e-02 1.28763528e+02] [ 9.49553494e-01 2.48818647e-01 -1.90885941e-01 8.88051116e+01] [ 1.98220881e-01 -4.52160060e-03 9.80146947e-01 1.77660717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:88.83, Z:17.78 [[ 2.42541440e-01 -9.67358386e-01 -7.34261722e-02 1.28779850e+02] [ 9.48814379e-01 2.52311721e-01 -1.89973865e-01 8.88272562e+01] [ 2.02299096e-01 -2.35912731e-02 9.79039595e-01 1.77837765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.77, Y:88.86, Z:17.77 [[ 2.41773122e-01 -9.69696342e-01 -3.51391694e-02 1.28767642e+02] [ 9.49881162e-01 2.43917908e-01 -1.95524508e-01 8.88622054e+01] [ 1.98170473e-01 1.38945357e-02 9.80069082e-01 1.77703912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.79, Y:88.88, Z:17.79 [[ 2.40059690e-01 -9.68626368e-01 -6.42985568e-02 1.28787992e+02] [ 9.51186396e-01 2.47936421e-01 -1.83771519e-01 8.88831120e+01] [ 1.93947893e-01 -1.70437786e-02 9.80863765e-01 1.77872921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.351858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:128.78, Y:88.91, Z:17.78 [[ 2.41339037e-01 -9.69526920e-01 -4.21072481e-02 1.28783156e+02] [ 9.50244367e-01 2.44899935e-01 -1.92508869e-01 8.89123475e+01] [ 1.96954593e-01 6.44772988e-03 9.80391409e-01 1.77848058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:88.93, Z:17.82 [[ 2.43662501e-01 -9.65275198e-01 -9.41932952e-02 1.28819921e+02] [ 9.49256692e-01 2.57271123e-01 -1.80895834e-01 8.89295005e+01] [ 1.98847477e-01 -4.53360845e-02 9.78981267e-01 1.78191983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.411858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.78, Y:88.97, Z:17.79 [[ 2.41035550e-01 -9.70360871e-01 -1.73678876e-02 1.28783258e+02] [ 9.51002855e-01 2.39721921e-01 -1.95261285e-01 8.89693614e+01] [ 1.93637374e-01 3.05480006e-02 9.80597464e-01 1.77873315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:88.99, Z:17.80 [[ 2.41007512e-01 -9.69146078e-01 -5.16842101e-02 1.28806661e+02] [ 9.51091519e-01 2.46450089e-01 -1.86245206e-01 8.89886572e+01] [ 1.93236389e-01 -4.26992006e-03 9.81142938e-01 1.78038423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.471858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.81, Y:89.02, Z:17.81 [[ 2.41291295e-01 -9.69073938e-01 -5.17128097e-02 1.28813923e+02] [ 9.50967402e-01 2.46735211e-01 -1.86501302e-01 8.90151198e+01] [ 1.93492922e-01 -4.17605572e-03 9.81092783e-01 1.78090604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:89.04, Z:17.81 [[ 2.42289670e-01 -9.68821888e-01 -5.17674096e-02 1.28820487e+02] [ 9.50629410e-01 2.47727147e-01 -1.86909029e-01 8.90404307e+01] [ 1.93905751e-01 -3.92549513e-03 9.81012309e-01 1.78149959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:89.07, Z:17.82 [[ 2.43182936e-01 -9.68602015e-01 -5.16932906e-02 1.28827389e+02] [ 9.50413671e-01 2.48589083e-01 -1.86861771e-01 8.90667765e+01] [ 1.93845076e-01 -3.68841592e-03 9.81025220e-01 1.78202213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.83, Y:89.09, Z:17.82 [[ 2.44224906e-01 -9.68497377e-01 -4.86521015e-02 1.28832787e+02] [ 9.50059939e-01 2.49023590e-01 -1.88078082e-01 8.90930209e+01] [ 1.94268650e-01 -2.89060792e-04 9.80948321e-01 1.78241654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:89.12, Z:17.83 [[ 2.45280140e-01 -9.67662279e-01 -5.88843486e-02 1.28845091e+02] [ 9.50236846e-01 2.52007938e-01 -1.83144576e-01 8.91169179e+01] [ 1.92061421e-01 -1.10323505e-02 9.81320894e-01 1.78331553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:128.81, Y:89.15, Z:17.80 [[ 2.41408070e-01 -9.70411349e-01 4.89460537e-03 1.28812303e+02] [ 9.53145517e-01 2.36159297e-01 -1.89056630e-01 8.91524979e+01] [ 1.82306793e-01 5.03050673e-02 9.81953987e-01 1.78007673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:89.16, Z:17.86 [[ 2.49773568e-01 -9.63672724e-01 -9.45941136e-02 1.28878122e+02] [ 9.48458919e-01 2.63161031e-01 -1.76555802e-01 8.91632064e+01] [ 1.95035495e-01 -4.56196582e-02 9.79734659e-01 1.78589558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:89.20, Z:17.85 [[ 2.51430269e-01 -9.66456039e-01 -5.23979471e-02 1.28866994e+02] [ 9.47840153e-01 2.56822692e-01 -1.88788636e-01 8.91963135e+01] [ 1.95912899e-01 -2.19770077e-03 9.80618838e-01 1.78496184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:89.22, Z:17.85 [[ 2.52976872e-01 -9.66008586e-01 -5.31988130e-02 1.28874817e+02] [ 9.47448440e-01 2.58495629e-01 -1.88471386e-01 8.92218783e+01] [ 1.95816638e-01 -2.72423066e-03 9.80636744e-01 1.78548773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:89.25, Z:17.86 [[ 2.52825964e-01 -9.66122973e-01 -5.18211573e-02 1.28881326e+02] [ 9.47488726e-01 2.58078594e-01 -1.88840018e-01 8.92482407e+01] [ 1.95816611e-01 -1.35630273e-03 9.80639595e-01 1.78595505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:89.28, Z:17.86 [[ 2.52454042e-01 -9.66268695e-01 -5.09093898e-02 1.28888426e+02] [ 9.47607050e-01 2.57535486e-01 -1.88987703e-01 8.92757149e+01] [ 1.95723876e-01 -5.31387201e-04 9.80658902e-01 1.78638351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:89.31, Z:17.83 [[ 2.42414806e-01 -9.70032801e-01 1.64750606e-02 1.28852921e+02] [ 9.53121607e-01 2.34950177e-01 -1.90676734e-01 8.93108608e+01] [ 1.81091868e-01 6.19255997e-02 9.81514623e-01 1.78283556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.831858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.93, Y:89.32, Z:17.90 [[ 2.51818024e-01 -9.61555881e-01 -1.09535246e-01 1.28933083e+02] [ 9.47929815e-01 2.67872446e-01 -1.72259743e-01 8.93154199e+01] [ 1.94978843e-01 -6.04536175e-02 9.78942598e-01 1.78963613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.87, Y:89.36, Z:17.84 [[ 2.42478595e-01 -9.70044141e-01 1.47816036e-02 1.28871024e+02] [ 9.53087436e-01 2.35339151e-01 -1.90367603e-01 8.93616816e+01] [ 1.81186288e-01 6.02482296e-02 9.81601589e-01 1.78397812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.95, Y:89.37, Z:17.91 [[ 2.50148458e-01 -9.62164782e-01 -1.08003150e-01 1.28950880e+02] [ 9.48394420e-01 2.65951539e-01 -1.72678324e-01 8.93663286e+01] [ 1.94868606e-01 -5.92343683e-02 9.79039078e-01 1.79086356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.93, Y:89.40, Z:17.89 [[ 2.49436438e-01 -9.66984846e-01 -5.21705923e-02 1.28933306e+02] [ 9.48413571e-01 2.54822288e-01 -1.88619459e-01 8.94040685e+01] [ 1.95686389e-01 -2.43073173e-03 9.80663515e-01 1.78932780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:89.43, Z:17.90 [[ 2.48135200e-01 -9.67314568e-01 -5.22632717e-02 1.28941329e+02] [ 9.48641825e-01 2.53565678e-01 -1.89164307e-01 8.94296823e+01] [ 1.96233562e-01 -2.64080229e-03 9.80553627e-01 1.78982634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.95, Y:89.46, Z:17.90 [[ 2.46238317e-01 -9.67791567e-01 -5.24039499e-02 1.28950857e+02] [ 9.48996096e-01 2.51735095e-01 -1.89831111e-01 8.94562592e+01] [ 1.96908862e-01 -2.98745042e-03 9.80417245e-01 1.79031811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.96, Y:89.48, Z:17.91 [[ 2.44957347e-01 -9.68116027e-01 -5.24142754e-02 1.28959275e+02] [ 9.49277983e-01 2.50481844e-01 -1.90079343e-01 8.94820055e+01] [ 1.97147682e-01 -3.19438609e-03 9.80368598e-01 1.79082314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:89.51, Z:17.92 [[ 2.42340937e-01 -9.68579348e-01 -5.59009532e-02 1.28967167e+02] [ 9.49771679e-01 2.48605367e-01 -1.90076640e-01 8.95055467e+01] [ 1.98001585e-01 -7.02979093e-03 9.80176491e-01 1.79151308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.071858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.98, Y:89.53, Z:17.92 [[ 2.40792862e-01 -9.69157891e-01 -5.24574068e-02 1.28976492e+02] [ 9.50097920e-01 2.46411691e-01 -1.91298772e-01 8.95313079e+01] [ 1.98324833e-01 -3.77629425e-03 9.80129073e-01 1.79197900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:89.55, Z:17.94 [[ 2.41533135e-01 -9.67535875e-01 -7.44048021e-02 1.28997274e+02] [ 9.49568344e-01 2.51453411e-01 -1.87326298e-01 8.95525575e+01] [ 1.99954255e-01 -2.54069365e-02 9.79475770e-01 1.79390591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:89.58, Z:17.94 [[ 2.40342777e-01 -9.68850133e-01 -5.97056967e-02 1.29000204e+02] [ 9.49425630e-01 2.47436512e-01 -1.93303246e-01 8.95836764e+01] [ 2.02055245e-01 -1.02270796e-02 9.79320726e-01 1.79418691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:89.61, Z:17.94 [[ 2.40256458e-01 -9.69521715e-01 -4.80049783e-02 1.29004354e+02] [ 9.49444478e-01 2.45000287e-01 -1.96290711e-01 8.96118790e+01] [ 2.02069340e-01 1.58204934e-03 9.79369940e-01 1.79416454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.191858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.01, Y:89.64, Z:17.95 [[ 2.41544916e-01 -9.69065370e-01 -5.06790094e-02 1.29014062e+02] [ 9.49064589e-01 2.46802937e-01 -1.95869128e-01 8.96364158e+01] [ 2.02317717e-01 -7.86461233e-04 9.79319622e-01 1.79474291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:89.66, Z:17.95 [[ 2.40740698e-01 -9.69050665e-01 -5.46326377e-02 1.29024940e+02] [ 9.49454783e-01 2.46807644e-01 -1.93962889e-01 8.96625319e+01] [ 2.01443619e-01 -5.17645800e-03 9.79486433e-01 1.79545115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:89.69, Z:17.96 [[ 2.41239515e-01 -9.69203651e-01 -4.94750296e-02 1.29031195e+02] [ 9.49641186e-01 2.46260477e-01 -1.93745698e-01 8.96899120e+01] [ 1.99962783e-01 -2.44407359e-04 9.79803463e-01 1.79567310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:89.72, Z:17.95 [[ 2.40869881e-01 -9.69864295e-01 -3.66735698e-02 1.29032515e+02] [ 9.50659042e-01 2.43375230e-01 -1.92395124e-01 8.97194546e+01] [ 1.95522600e-01 1.14781300e-02 9.80632023e-01 1.79524896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.311858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.04, Y:89.75, Z:17.95 [[ 2.40456471e-01 -9.69969370e-01 -3.66074733e-02 1.29038760e+02] [ 9.51589169e-01 2.43003634e-01 -1.88221379e-01 8.97458547e+01] [ 1.91464721e-01 1.04237733e-02 9.81444143e-01 1.79528157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.06, Y:89.77, Z:17.97 [[ 2.44669764e-01 -9.67478576e-01 -6.42021168e-02 1.29061905e+02] [ 9.49764465e-01 2.52463829e-01 -1.84958041e-01 8.97663108e+01] [ 1.95151654e-01 -1.57232489e-02 9.80647037e-01 1.79739938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.371858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:129.07, Y:89.79, Z:17.98 [[ 2.47542290e-01 -9.66718688e-01 -6.46358501e-02 1.29071948e+02] [ 9.48329929e-01 2.55419010e-01 -1.88232501e-01 8.97932569e+01] [ 1.98477101e-01 -1.47006068e-02 9.79995272e-01 1.79842612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:89.82, Z:17.97 [[ 2.47663744e-01 -9.68112242e-01 -3.77008802e-02 1.29065891e+02] [ 9.49033972e-01 2.50244690e-01 -1.91604060e-01 8.98241792e+01] [ 1.94928681e-01 1.16739627e-02 9.80747943e-01 1.79746748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.431858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.08, Y:89.85, Z:17.99 [[ 2.49627407e-01 -9.66898568e-01 -5.28518423e-02 1.29080844e+02] [ 9.48726951e-01 2.55136219e-01 -1.86608364e-01 8.98464740e+01] [ 1.93915779e-01 -3.55940517e-03 9.81011723e-01 1.79857501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:89.87, Z:18.00 [[ 2.51569853e-01 -9.66062431e-01 -5.86173055e-02 1.29093002e+02] [ 9.47637283e-01 2.58176488e-01 -1.87958720e-01 8.98725413e+01] [ 1.96713468e-01 -8.26319648e-03 9.80426199e-01 1.79969584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:89.90, Z:17.99 [[ 2.52240249e-01 -9.66898217e-01 -3.85057665e-02 1.29089093e+02] [ 9.47917802e-01 2.54895039e-01 -1.90998322e-01 8.99002587e+01] [ 1.94490866e-01 1.16771629e-02 9.80834821e-01 1.79908401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.11, Y:89.93, Z:18.00 [[ 2.51029498e-01 -9.66432139e-01 -5.47093382e-02 1.29106342e+02] [ 9.48368435e-01 2.56869786e-01 -1.86051672e-01 8.99259703e+01] [ 1.93859491e-01 -5.18015156e-03 9.81015629e-01 1.80028469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.551858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:129.12, Y:89.95, Z:18.01 [[ 2.50045156e-01 -9.66587302e-01 -5.64482763e-02 1.29117551e+02] [ 9.48353719e-01 2.56247990e-01 -1.86981792e-01 8.99523527e+01] [ 1.95198983e-01 -6.77904141e-03 9.80740231e-01 1.80118722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.12, Y:89.98, Z:18.01 [[ 2.49457135e-01 -9.67171456e-01 -4.84820901e-02 1.29121348e+02] [ 9.48955867e-01 2.54124021e-01 -1.86825440e-01 8.99783487e+01] [ 1.93012697e-01 5.97575265e-04 9.81196077e-01 1.80124810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.611858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:129.12, Y:90.01, Z:18.01 [[ 2.47374518e-01 -9.68333853e-01 -3.36956417e-02 1.29121771e+02] [ 9.49742746e-01 2.49216501e-01 -1.89419775e-01 9.00080558e+01] [ 1.91819091e-01 1.48554343e-02 9.81317865e-01 1.80077750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.641858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:129.15, Y:90.03, Z:18.03 [[ 2.46306586e-01 -9.66892596e-01 -6.67216152e-02 1.29148342e+02] [ 9.49977561e-01 2.54490831e-01 -1.81044334e-01 9.00272938e+01] [ 1.92030466e-01 -1.87916255e-02 9.81209037e-01 1.80313305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.671858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:129.13, Y:90.07, Z:18.01 [[ 2.41010318e-01 -9.70411216e-01 -1.47002903e-02 1.29128787e+02] [ 9.52703859e-01 2.39447387e-01 -1.87137132e-01 9.00652027e+01] [ 1.85119918e-01 3.10969563e-02 9.82223801e-01 1.80062333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.701858064 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:129.15, Y:90.09, Z:18.02 [[ 2.37429828e-01 -9.70526339e-01 -4.13001532e-02 1.29149721e+02] [ 9.53695435e-01 2.40971817e-01 -1.79993336e-01 9.00873586e+01] [ 1.84640447e-01 3.34801932e-03 9.82800436e-01 1.80206688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.731858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:129.18, Y:90.11, Z:18.06 [[ 2.39927614e-01 -9.67180097e-01 -8.36504615e-02 1.29181418e+02] [ 9.51384159e-01 2.51399870e-01 -1.77950240e-01 9.01054042e+01] [ 1.93139646e-01 -3.68885475e-02 9.80477594e-01 1.80552323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.761858064 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:129.17, Y:90.14, Z:18.03 [[ 2.38071288e-01 -9.70330769e-01 -4.21931321e-02 1.29166449e+02] [ 9.53738077e-01 2.41770362e-01 -1.78691835e-01 9.01384699e+01] [ 1.83591234e-01 2.30019860e-03 9.82999984e-01 1.80344252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.791858064 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:129.19, Y:90.16, Z:18.06 [[ 2.37134323e-01 -9.69664536e-01 -5.93127408e-02 1.29185767e+02] [ 9.51843277e-01 2.44121000e-01 -1.85470518e-01 9.01621955e+01] [ 1.94323670e-01 -1.24750077e-02 9.80858137e-01 1.80561491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821858064 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:129.19, Y:90.19, Z:18.05 [[ 2.35252440e-01 -9.70604386e-01 -5.08273172e-02 1.29185644e+02] [ 9.52884009e-01 2.40628936e-01 -1.84688334e-01 9.01863708e+01] [ 1.91489831e-01 -4.98415649e-03 9.81481942e-01 1.80516896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.851858064 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:129.20, Y:90.21, Z:18.06 [[ 2.36221474e-01 -9.70161554e-01 -5.46440702e-02 1.29199389e+02] [ 9.52008955e-01 2.42332039e-01 -1.86960244e-01 9.02139155e+01] [ 1.94623650e-01 -7.85761982e-03 9.80846518e-01 1.80629456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881858064 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:129.21, Y:90.24, Z:18.07 [[ 2.35646701e-01 -9.69741476e-01 -6.38130301e-02 1.29211872e+02] [ 9.52120015e-01 2.43527248e-01 -1.84829536e-01 9.02397965e+01] [ 1.94777079e-01 -1.72031928e-02 9.80696660e-01 1.80721094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.911858064 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:129.20, Y:90.27, Z:18.06 [[ 2.33773150e-01 -9.71838361e-01 -2.96701105e-02 1.29196901e+02] [ 9.52090349e-01 2.34997639e-01 -1.95704056e-01 9.02703374e+01] [ 1.97165115e-01 1.75017277e-02 9.80214062e-01 1.80572611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941858064 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:129.21, Y:90.29, Z:18.07 [[ 2.33492846e-01 -9.71016404e-01 -5.10708665e-02 1.29213702e+02] [ 9.52236514e-01 2.38975142e-01 -1.90096036e-01 9.02917199e+01] [ 1.96791037e-01 -4.24547954e-03 9.80436262e-01 1.80704999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.971858064 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:129.22, Y:90.31, Z:18.08 [[ 2.35405781e-01 -9.70165860e-01 -5.79855350e-02 1.29223818e+02] [ 9.52369781e-01 2.42164718e-01 -1.85332266e-01 9.03129903e+01] [ 1.93845088e-01 -1.15953844e-02 9.80963623e-01 1.80769030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001858064 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:129.22, Y:90.34, Z:18.08 [[ 2.34035026e-01 -9.71303694e-01 -4.23879745e-02 1.29223499e+02] [ 9.52240680e-01 2.37800769e-01 -1.91542374e-01 9.03436375e+01] [ 1.96125708e-01 4.46407079e-03 9.80568600e-01 1.80763797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.031858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:129.24, Y:90.37, Z:18.09 [[ 2.34114694e-01 -9.70884569e-01 -5.07293242e-02 1.29235333e+02] [ 9.52234153e-01 2.39515103e-01 -1.89427119e-01 9.03686240e+01] [ 1.96062306e-01 -3.95852288e-03 9.80583450e-01 1.80852203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061858064 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:129.24, Y:90.40, Z:18.09 [[ 2.35100041e-01 -9.70653231e-01 -5.05991711e-02 1.29244041e+02] [ 9.52052009e-01 2.40454964e-01 -1.89151744e-01 9.03950435e+01] [ 1.95767573e-01 -3.70345981e-03 9.80643331e-01 1.80910567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.091858064 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:129.25, Y:90.42, Z:18.10 [[ 2.35510862e-01 -9.70556319e-01 -5.05476582e-02 1.29251773e+02] [ 9.51947673e-01 2.40847917e-01 -1.89176926e-01 9.04217673e+01] [ 1.95781159e-01 -3.56550472e-03 9.80641130e-01 1.80967042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121858064 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:129.26, Y:90.45, Z:18.10 [[ 2.35741639e-01 -9.70506686e-01 -5.04247189e-02 1.29259110e+02] [ 9.51945116e-01 2.41049343e-01 -1.88933084e-01 9.04484037e+01] [ 1.95515667e-01 -3.46216995e-03 9.80694467e-01 1.81024750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.151858064 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:129.27, Y:90.47, Z:18.11 [[ 2.36647313e-01 -9.70284644e-01 -5.04555153e-02 1.29266423e+02] [ 9.51651540e-01 2.41944827e-01 -1.89267131e-01 9.04742439e+01] [ 1.95850442e-01 -3.22651091e-03 9.80628469e-01 1.81082702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181858064 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:129.29, Y:90.50, Z:18.13 [[ 2.38781550e-01 -9.68198896e-01 -7.46610315e-02 1.29289978e+02] [ 9.50757409e-01 2.48738606e-01 -1.84903908e-01 9.04981892e+01] [ 1.97594841e-01 -2.68328872e-02 9.79916463e-01 1.81303489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21185806399998 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:129.28, Y:90.53, Z:18.12 [[ 2.39055270e-01 -9.69833234e-01 -4.77082432e-02 1.29283338e+02] [ 9.50294483e-01 2.43767437e-01 -1.93695202e-01 9.05270446e+01] [ 1.99481761e-01 9.66978612e-04 9.79901062e-01 1.81239168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24185806399998 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:129.28, Y:90.55, Z:18.12 [[ 2.37087367e-01 -9.70845070e-01 -3.53472885e-02 1.29280296e+02] [ 9.51202159e-01 2.39379571e-01 -1.94709717e-01 9.05532315e+01] [ 1.97494388e-01 1.25407971e-02 9.80223799e-01 1.81167826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27185806399999 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:129.29, Y:90.58, Z:18.13 [[ 2.36641597e-01 -9.70277922e-01 -5.06113495e-02 1.29294327e+02] [ 9.51304106e-01 2.41975239e-01 -1.90967229e-01 9.05767668e+01] [ 1.97537980e-01 -2.95599448e-03 9.80290778e-01 1.81277787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.301858064 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:129.30, Y:90.60, Z:18.13 [[ 2.36077733e-01 -9.70401307e-01 -5.08783562e-02 1.29300915e+02] [ 9.51182503e-01 2.41479141e-01 -1.92196960e-01 9.06036231e+01] [ 1.98794243e-01 -3.02117960e-03 9.80036592e-01 1.81327658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.331858064 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:129.31, Y:90.63, Z:18.14 [[ 2.35207748e-01 -9.70613909e-01 -5.08522916e-02 1.29307359e+02] [ 9.51373906e-01 2.40621613e-01 -1.92325067e-01 9.06292543e+01] [ 1.98909546e-01 -3.14319740e-03 9.80012813e-01 1.81374429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.361858064 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:129.31, Y:90.66, Z:18.14 [[ 2.34531261e-01 -9.70778422e-01 -5.08364349e-02 1.29314906e+02] [ 9.51506187e-01 2.39955966e-01 -1.92502236e-01 9.06557415e+01] [ 1.99075523e-01 -3.22339009e-03 9.79978850e-01 1.81430164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.391858064 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:129.32, Y:90.68, Z:18.15 [[ 2.33562497e-01 -9.71010137e-01 -5.08711507e-02 1.29322453e+02] [ 9.51671586e-01 2.39014570e-01 -1.92855459e-01 9.06812061e+01] [ 1.99423552e-01 -3.36882604e-03 9.79907597e-01 1.81490188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.421858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:129.33, Y:90.71, Z:18.16 [[ 2.32041159e-01 -9.71381834e-01 -5.07369046e-02 1.29330361e+02] [ 9.52107902e-01 2.37495730e-01 -1.92578090e-01 9.07070464e+01] [ 1.99116656e-01 -3.62096453e-03 9.79969105e-01 1.81550377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.451858064 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:129.34, Y:90.73, Z:18.16 [[ 2.29181165e-01 -9.72062587e-01 -5.06983259e-02 1.29338751e+02] [ 9.52789261e-01 2.34685078e-01 -1.92653933e-01 9.07333970e+01] [ 1.99169821e-01 -4.15216780e-03 9.79956194e-01 1.81612481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.481858064 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:129.35, Y:90.76, Z:18.17 [[ 2.26664482e-01 -9.72019619e-01 -6.16528347e-02 1.29351278e+02] [ 9.54188462e-01 2.34308715e-01 -1.86074728e-01 9.07587142e+01] [ 1.95314083e-01 -1.66518917e-02 9.80599370e-01 1.81709160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.511858064 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:129.35, Y:90.79, Z:18.17 [[ 2.25744539e-01 -9.73330874e-01 -4.08217181e-02 1.29346677e+02] [ 9.53323391e-01 2.29341686e-01 -1.96410040e-01 9.07851168e+01] [ 2.00534077e-01 5.42219508e-03 9.79671722e-01 1.81664835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.541858064 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:129.36, Y:90.81, Z:18.18 [[ 2.24624029e-01 -9.73122202e-01 -5.07663793e-02 1.29358526e+02] [ 9.53633079e-01 2.30237817e-01 -1.93841425e-01 9.08100327e+01] [ 2.00319735e-01 -4.87105686e-03 9.79718468e-01 1.81756900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.571858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:129.37, Y:90.84, Z:18.18 [[ 2.23518126e-01 -9.73399420e-01 -5.03310620e-02 1.29365307e+02] [ 9.54209226e-01 2.29059698e-01 -1.92396484e-01 9.08367276e+01] [ 1.98807444e-01 -5.02226209e-03 9.80025702e-01 1.81807336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601858064 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:129.36, Y:90.86, Z:18.18 [[ 2.20603815e-01 -9.74599897e-01 -3.85875197e-02 1.29362978e+02] [ 9.55762652e-01 2.23892782e-01 -1.90761044e-01 9.08646342e+01] [ 1.94555161e-01 5.20210401e-03 9.80877784e-01 1.81751764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.631858064 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:129.38, Y:90.89, Z:18.19 [[ 2.22426508e-01 -9.73168150e-01 -5.89084072e-02 1.29382315e+02] [ 9.54710602e-01 2.29658701e-01 -1.89168043e-01 9.08875810e+01] [ 1.97621142e-01 -1.41644937e-02 9.80176133e-01 1.81940954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661858064 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:129.39, Y:90.92, Z:18.20 [[ 2.22277039e-01 -9.73702107e-01 -4.99712379e-02 1.29385209e+02] [ 9.54697198e-01 2.27766970e-01 -1.91508402e-01 9.09165508e+01] [ 1.97853932e-01 -5.13948032e-03 9.80218041e-01 1.81958338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.691858064 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:129.39, Y:90.95, Z:18.19 [[ 2.21074950e-01 -9.74313982e-01 -4.28734424e-02 1.29385243e+02] [ 9.56240848e-01 2.25193643e-01 -1.86792031e-01 9.09451711e+01] [ 1.91648915e-01 2.97702067e-04 9.81463502e-01 1.81925253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:129.39, Y:90.97, Z:18.20 [[ 2.22254015e-01 -9.74048442e-01 -4.28110475e-02 1.29392160e+02] [ 9.55795655e-01 2.26338244e-01 -1.87685018e-01 9.09733195e+01] [ 1.92504076e-01 7.95135471e-04 9.81295852e-01 1.81972992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.751858064 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:129.40, Y:91.00, Z:18.21 [[ 2.24132362e-01 -9.73054699e-01 -5.41224193e-02 1.29403660e+02] [ 9.55431540e-01 2.30343060e-01 -1.84641943e-01 9.09960862e+01] [ 1.92133434e-01 -1.03260315e-02 9.81314484e-01 1.82082356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781858064 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:129.41, Y:91.02, Z:18.21 [[ 2.25594996e-01 -9.72895163e-01 -5.08124056e-02 1.29407992e+02] [ 9.54879332e-01 2.31156590e-01 -1.86472767e-01 9.10220817e+01] [ 1.93164075e-01 -6.45239290e-03 9.81145253e-01 1.82138761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.811858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:129.41, Y:91.05, Z:18.22 [[ 2.26900611e-01 -9.72786177e-01 -4.69379045e-02 1.29410672e+02] [ 9.54959174e-01 2.31688277e-01 -1.85400967e-01 9.10490582e+01] [ 1.91230460e-01 -2.75618985e-03 9.81541295e-01 1.82171575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841858064 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:129.41, Y:91.08, Z:18.21 [[ 2.27849053e-01 -9.73198720e-01 -3.11297370e-02 1.29405984e+02] [ 9.55484771e-01 2.29627604e-01 -1.85256622e-01 9.10758472e+01] [ 1.87439754e-01 1.24665562e-02 9.82196988e-01 1.82109877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.871858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:129.42, Y:91.10, Z:18.22 [[ 2.32188938e-01 -9.71956801e-01 -3.72595621e-02 1.29416162e+02] [ 9.54938320e-01 2.35069816e-01 -1.81204270e-01 9.11024399e+01] [ 1.84881321e-01 6.49304348e-03 9.82739405e-01 1.82173742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:129.43, Y:91.12, Z:18.24 [[ 2.32650671e-01 -9.70468903e-01 -6.37477348e-02 1.29434878e+02] [ 9.53854295e-01 2.40478968e-01 -1.79810593e-01 9.11240497e+01] [ 1.89830579e-01 -1.89729955e-02 9.81633525e-01 1.82387350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.931858064 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:129.43, Y:91.15, Z:18.24 [[ 2.33205145e-01 -9.71217573e-01 -4.84952128e-02 1.29433790e+02] [ 9.53934658e-01 2.38165131e-01 -1.82444616e-01 9.11543227e+01] [ 1.88743286e-01 -3.71424119e-03 9.82019438e-01 1.82375618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96185806399998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:129.46, Y:91.18, Z:18.26 [[ 2.39570507e-01 -9.68422206e-01 -6.90246615e-02 1.29455892e+02] [ 9.51610236e-01 2.48315582e-01 -1.81045108e-01 9.11794041e+01] [ 1.92468002e-01 -2.23115060e-02 9.81049573e-01 1.82574839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99185806399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:129.42, Y:91.21, Z:18.23 [[ 2.32432250e-01 -9.72591694e-01 -6.37544700e-03 1.29423883e+02] [ 9.55196849e-01 2.29500287e-01 -1.86891941e-01 9.12148211e+01] [ 1.83232716e-01 3.73499074e-02 9.82359790e-01 1.82259932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.48, Y:91.23, Z:18.28 [[ 2.40008365e-01 -9.66151096e-01 -9.45941069e-02 1.29480167e+02] [ 9.50551051e-01 2.53675181e-01 -1.79169198e-01 9.12251419e+01] [ 1.97100694e-01 -4.69144215e-02 9.79260105e-01 1.82830613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.051858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:129.47, Y:91.26, Z:18.28 [[ 2.38852836e-01 -9.69125932e-01 -6.11902771e-02 1.29473536e+02] [ 9.51150042e-01 2.46185169e-01 -1.86296700e-01 9.12597076e+01] [ 1.95609101e-01 -1.37036397e-02 9.80586197e-01 1.82755459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.081858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:129.46, Y:91.29, Z:18.26 [[ 2.34344414e-01 -9.71578591e-01 -3.34325657e-02 1.29464121e+02] [ 9.53574313e-01 2.36421097e-01 -1.86550514e-01 9.12900461e+01] [ 1.89152650e-01 1.18366352e-02 9.81876351e-01 1.82618251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.49, Y:91.31, Z:18.28 [[ 2.34816313e-01 -9.70199100e-01 -5.97913439e-02 1.29485554e+02] [ 9.52661133e-01 2.41920407e-01 -1.84150161e-01 9.13127433e+01] [ 1.93127067e-01 -1.37194274e-02 9.81077832e-01 1.82818427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.141858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.46, Y:91.35, Z:18.26 [[ 2.25993156e-01 -9.73989737e-01 -1.64646658e-02 1.29464639e+02] [ 9.56982421e-01 2.25140810e-01 -1.83019841e-01 9.13457979e+01] [ 1.81966315e-01 2.56048357e-02 9.82971339e-01 1.82564083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:91.36, Z:18.27 [[ 2.24428452e-01 -9.73490252e-01 -4.41429463e-02 1.29484236e+02] [ 9.57696532e-01 2.28707845e-01 -1.74671332e-01 9.13641398e+01] [ 1.80136677e-01 -3.07432993e-03 9.83636786e-01 1.82710883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:91.38, Z:18.31 [[ 2.26372863e-01 -9.69573245e-01 -9.31828865e-02 1.29520837e+02] [ 9.55792896e-01 2.39544080e-01 -1.70524409e-01 9.13844282e+01] [ 1.87657313e-01 -5.04614424e-02 9.80937498e-01 1.83106682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.231858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:129.51, Y:91.42, Z:18.30 [[ 2.26390519e-01 -9.72658315e-01 -5.17989899e-02 1.29509220e+02] [ 9.55331155e-01 2.32100700e-01 -1.82952590e-01 9.14179252e+01] [ 1.89972940e-01 -8.06645692e-03 9.81756189e-01 1.83002619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.261858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:129.52, Y:91.45, Z:18.30 [[ 2.24424117e-01 -9.73214144e-01 -4.98803157e-02 1.29515721e+02] [ 9.55723149e-01 2.29810712e-01 -1.83794178e-01 9.14468000e+01] [ 1.90334124e-01 -6.42392634e-03 9.81698352e-01 1.83041812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:91.47, Z:18.31 [[ 2.21493389e-01 -9.73929857e-01 -4.90031784e-02 1.29520037e+02] [ 9.56890175e-01 2.26750759e-01 -1.81508362e-01 9.14744257e+01] [ 1.87887921e-01 -6.68775768e-03 9.82167706e-01 1.83058688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:129.53, Y:91.50, Z:18.31 [[ 2.20766816e-01 -9.74153109e-01 -4.78302594e-02 1.29526618e+02] [ 9.57666019e-01 2.25798594e-01 -1.78579928e-01 9.15020110e+01] [ 1.84764197e-01 -6.38089208e-03 9.82762166e-01 1.83081500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.351858064 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:129.53, Y:91.53, Z:18.31 [[ 2.20966653e-01 -9.74362993e-01 -4.23142623e-02 1.29528577e+02] [ 9.56758952e-01 2.24981538e-01 -1.84378999e-01 9.15269305e+01] [ 1.89172001e-01 2.57061122e-04 9.81943933e-01 1.83105556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.54, Y:91.55, Z:18.32 [[ 2.20605624e-01 -9.73674100e-01 -5.73751295e-02 1.29541420e+02] [ 9.56774793e-01 2.27456199e-01 -1.81233750e-01 9.15484141e+01] [ 1.89512938e-01 -1.49138932e-02 9.81764953e-01 1.83214381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.51, Y:91.59, Z:18.28 [[ 2.11535663e-01 -9.77370279e-01 3.22757952e-05 1.29511719e+02] [ 9.61877537e-01 2.08176658e-01 -1.77352988e-01 9.15854832e+01] [ 1.73332820e-01 3.75475274e-02 9.84147304e-01 1.82826496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:91.59, Z:18.37 [[ 2.18359011e-01 -9.67758717e-01 -1.25548427e-01 1.29587006e+02] [ 9.56691855e-01 2.37668508e-01 -1.68090380e-01 9.15934093e+01] [ 1.92509838e-01 -8.34071084e-02 9.77743942e-01 1.83673634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.56, Y:91.64, Z:18.34 [[ 2.21474757e-01 -9.74337671e-01 -4.01874979e-02 1.29555421e+02] [ 9.54883921e-01 2.25045466e-01 -1.93781412e-01 9.16358656e+01] [ 1.97852544e-01 4.54329564e-03 9.80221265e-01 1.83362025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:91.66, Z:18.36 [[ 2.20152860e-01 -9.72026460e-01 -8.18369034e-02 1.29583728e+02] [ 9.55830392e-01 2.31709016e-01 -1.80829183e-01 9.16588068e+01] [ 1.94733099e-01 -3.84121377e-02 9.80103835e-01 1.83617789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:91.70, Z:18.29 [[ 2.11365421e-01 -9.76639740e-01 3.87230746e-02 1.29518323e+02] [ 9.60598365e-01 2.00251584e-01 -1.92743570e-01 9.17009883e+01] [ 1.80486673e-01 7.79366481e-02 9.80484798e-01 1.82943554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:91.70, Z:18.38 [[ 2.16377830e-01 -9.69419187e-01 -1.15788921e-01 1.29605414e+02] [ 9.57783835e-01 2.33768099e-01 -1.67339780e-01 9.16994645e+01] [ 1.89290150e-01 -7.46921387e-02 9.79076260e-01 1.83795044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.54, Y:91.75, Z:18.31 [[ 2.11808858e-01 -9.77139066e-01 1.83372396e-02 1.29540612e+02] [ 9.61085435e-01 2.04850867e-01 -1.85339982e-01 9.17483188e+01] [ 1.77346537e-01 5.68803037e-02 9.82503352e-01 1.83123363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:91.76, Z:18.34 [[ 2.12401322e-01 -9.76389727e-01 -3.93545471e-02 1.29574762e+02] [ 9.61232435e-01 2.16011722e-01 -1.71380107e-01 9.17625664e+01] [ 1.75834819e-01 -1.42750591e-03 9.84418650e-01 1.83388981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:91.78, Z:18.40 [[ 2.15940048e-01 -9.68853461e-01 -1.21214137e-01 1.29625404e+02] [ 9.58029687e-01 2.34208915e-01 -1.65303667e-01 9.17782694e+01] [ 1.88544461e-01 -8.04310601e-02 9.78765463e-01 1.83979495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:91.83, Z:18.32 [[ 2.09104430e-01 -9.77487237e-01 2.81786828e-02 1.29551765e+02] [ 9.62273578e-01 2.00549267e-01 -1.83873742e-01 9.18294978e+01] [ 1.74083022e-01 6.55644161e-02 9.82545881e-01 1.83212473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:91.84, Z:18.35 [[ 2.08526067e-01 -9.77085658e-01 -4.26672793e-02 1.29592155e+02] [ 9.62778813e-01 2.12752759e-01 -1.66712992e-01 9.18424819e+01] [ 1.71970455e-01 -6.31514800e-03 9.85081865e-01 1.83515306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:129.63, Y:91.86, Z:18.40 [[ 2.13332691e-01 -9.71616373e-01 -1.02229093e-01 1.29631782e+02] [ 9.59898244e-01 2.27933386e-01 -1.63222951e-01 9.18584515e+01] [ 1.81891515e-01 -6.33087355e-02 9.81278493e-01 1.83969614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:91.90, Z:18.37 [[ 2.13536077e-01 -9.76491968e-01 -2.94241614e-02 1.29602935e+02] [ 9.60035902e-01 2.15324942e-01 -1.78791043e-01 9.18972571e+01] [ 1.80923773e-01 9.93008645e-03 9.83446990e-01 1.83673959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:91.92, Z:18.37 [[ 2.12815760e-01 -9.76239788e-01 -4.08084440e-02 1.29611855e+02] [ 9.60550189e-01 2.16682892e-01 -1.74332611e-01 9.19243974e+01] [ 1.79032923e-01 -2.09783146e-03 9.83840847e-01 1.83739852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:91.96, Z:18.34 [[ 2.06573674e-01 -9.78430028e-01 1.41341513e-03 1.29587417e+02] [ 9.64207625e-01 2.03325087e-01 -1.70183915e-01 9.19562757e+01] [ 1.66225670e-01 3.65183423e-02 9.85411304e-01 1.83432891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:91.97, Z:18.41 [[ 2.13089861e-01 -9.71340642e-01 -1.05309395e-01 1.29650210e+02] [ 9.59769786e-01 2.28277312e-01 -1.63497481e-01 9.19679666e+01] [ 1.82851494e-01 -6.62331197e-02 9.80906981e-01 1.84113765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:92.01, Z:18.38 [[ 2.13803173e-01 -9.76267514e-01 -3.44955815e-02 1.29623046e+02] [ 9.59795535e-01 2.16508329e-01 -1.78652384e-01 9.20077406e+01] [ 1.81881099e-01 5.08774141e-03 9.83307368e-01 1.83841452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.921858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.63, Y:92.03, Z:18.39 [[ 2.12566769e-01 -9.76419425e-01 -3.76891917e-02 1.29628583e+02] [ 9.60523511e-01 2.15879365e-01 -1.75472747e-01 9.20335740e+01] [ 1.79471317e-01 1.09832012e-03 9.83762593e-01 1.83871672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:92.06, Z:18.37 [[ 2.07485882e-01 -9.78219209e-01 -6.06526621e-03 1.29611515e+02] [ 9.63711867e-01 2.05465456e-01 -1.70421198e-01 9.20623868e+01] [ 1.67955492e-01 2.95148234e-02 9.85352641e-01 1.83650340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.981858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.66, Y:92.08, Z:18.41 [[ 2.11065760e-01 -9.74425999e-01 -7.71052386e-02 1.29656475e+02] [ 9.61497025e-01 2.21172328e-01 -1.63114291e-01 9.20776823e+01] [ 1.75996351e-01 -3.97086157e-02 9.83589605e-01 1.84103278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.011858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.64, Y:92.11, Z:18.40 [[ 2.12798679e-01 -9.76090363e-01 -4.43207187e-02 1.29644816e+02] [ 9.61245533e-01 2.17268260e-01 -1.69710130e-01 9.21092587e+01] [ 1.75281908e-01 -6.48900128e-03 9.84496900e-01 1.84017132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:92.14, Z:18.38 [[ 2.08602578e-01 -9.77983733e-01 -5.72564938e-03 1.29625827e+02] [ 9.63006880e-01 2.06422202e-01 -1.73227088e-01 9.21428855e+01] [ 1.70595175e-01 3.06217775e-02 9.84865266e-01 1.83819626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:92.16, Z:18.42 [[ 2.11172409e-01 -9.74734536e-01 -7.27928469e-02 1.29666950e+02] [ 9.61529921e-01 2.20542144e-01 -1.63772325e-01 9.21596287e+01] [ 1.75688431e-01 -3.54083039e-02 9.83808837e-01 1.84200229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:92.19, Z:18.41 [[ 2.12867223e-01 -9.76291862e-01 -3.92650762e-02 1.29656580e+02] [ 9.60965051e-01 2.16455757e-01 -1.72316788e-01 9.21918019e+01] [ 1.76730630e-01 -1.05176973e-03 9.84258695e-01 1.84113030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:92.22, Z:18.41 [[ 2.12252221e-01 -9.76836780e-01 -2.71827305e-02 1.29652851e+02] [ 9.62070815e-01 2.13760200e-01 -1.69488417e-01 9.22207694e+01] [ 1.71373106e-01 9.82258128e-03 9.85157234e-01 1.84050245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:129.65, Y:92.25, Z:18.40 [[ 2.10482264e-01 -9.77210447e-01 -2.75128748e-02 1.29654535e+02] [ 9.63329315e-01 2.12118842e-01 -1.64323549e-01 9.22462924e+01] [ 1.66414687e-01 8.08323372e-03 9.86022724e-01 1.84036531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:92.27, Z:18.41 [[ 2.11990602e-01 -9.76595644e-01 -3.63446373e-02 1.29663769e+02] [ 9.62824823e-01 2.15083300e-01 -1.63424398e-01 9.22699357e+01] [ 1.67416680e-01 -3.49082409e-04 9.85886167e-01 1.84110611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:92.30, Z:18.42 [[ 2.15204679e-01 -9.75459121e-01 -4.65451380e-02 1.29676967e+02] [ 9.61601379e-01 2.19978140e-01 -1.64110957e-01 9.22980367e+01] [ 1.70322443e-01 -9.44042293e-03 9.85343160e-01 1.84230249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:92.32, Z:18.42 [[ 2.14657725e-01 -9.76108266e-01 -3.36855209e-02 1.29672075e+02] [ 9.61915772e-01 2.17261098e-01 -1.65878458e-01 9.23240173e+01] [ 1.69233887e-01 3.20445853e-03 9.85570709e-01 1.84194161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.68, Y:92.35, Z:18.43 [[ 2.15920247e-01 -9.75636204e-01 -3.88901602e-02 1.29679432e+02] [ 9.61718221e-01 2.19386011e-01 -1.64218885e-01 9.23506618e+01] [ 1.68749847e-01 -1.94319347e-03 9.85656996e-01 1.84264420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.311858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:129.68, Y:92.38, Z:18.43 [[ 2.16562895e-01 -9.75496654e-01 -3.88173891e-02 1.29684734e+02] [ 9.61593199e-01 2.20007031e-01 -1.64120157e-01 9.23768618e+01] [ 1.68638762e-01 -1.78420113e-03 9.85676308e-01 1.84312793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:92.41, Z:18.44 [[ 2.15064491e-01 -9.75885445e-01 -3.73478692e-02 1.29689250e+02] [ 9.61837082e-01 2.18282858e-01 -1.64990974e-01 9.24062835e+01] [ 1.69164690e-01 -4.38865557e-04 9.85587700e-01 1.84363528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:92.43, Z:18.44 [[ 2.17783436e-01 -9.75211271e-01 -3.91580302e-02 1.29695869e+02] [ 9.61291321e-01 2.21267775e-01 -1.64193690e-01 9.24339864e+01] [ 1.68787948e-01 -1.88360859e-03 9.85650588e-01 1.84417088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:92.46, Z:18.45 [[ 2.17800872e-01 -9.74707507e-01 -5.00804896e-02 1.29706544e+02] [ 9.61736465e-01 2.23075033e-01 -1.59061315e-01 9.24587600e+01] [ 1.66209965e-01 -1.35205398e-02 9.85997689e-01 1.84503081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:92.49, Z:18.46 [[ 2.19471986e-01 -9.74331326e-01 -5.01050434e-02 1.29714015e+02] [ 9.60077368e-01 2.24821128e-01 -1.66453921e-01 9.24869632e+01] [ 1.73445942e-01 -1.15727454e-02 9.84775394e-01 1.84619941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46185806399998 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:129.71, Y:92.51, Z:18.46 [[ 2.16130468e-01 -9.75662730e-01 -3.70116013e-02 1.29710723e+02] [ 9.61478068e-01 2.19276492e-01 -1.65764127e-01 9.25145986e+01] [ 1.69845654e-01 2.40835444e-04 9.85470647e-01 1.84588272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.71, Y:92.54, Z:18.46 [[ 2.16506035e-01 -9.75795245e-01 -3.08022059e-02 1.29713254e+02] [ 9.61155383e-01 2.18577815e-01 -1.68535070e-01 9.25388990e+01] [ 1.71188398e-01 6.88315362e-03 9.85214268e-01 1.84616113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:92.56, Z:18.49 [[ 2.17467672e-01 -9.73332946e-01 -7.30122499e-02 1.29745572e+02] [ 9.60128217e-01 2.26780191e-01 -1.63476457e-01 9.25623915e+01] [ 1.75674753e-01 -3.45502768e-02 9.83841786e-01 1.84925293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:92.59, Z:18.49 [[ 2.17197779e-01 -9.75158743e-01 -4.34804657e-02 1.29738273e+02] [ 9.60216354e-01 2.21455153e-01 -1.70123979e-01 9.25949109e+01] [ 1.75526859e-01 -4.80010382e-03 9.84462940e-01 1.84865333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:92.63, Z:18.47 [[ 2.12614188e-01 -9.77107090e-01 -7.54593075e-03 1.29721859e+02] [ 9.61137904e-01 2.10518597e-01 -1.78594091e-01 9.26277607e+01] [ 1.76094111e-01 3.07189576e-02 9.83893902e-01 1.84726665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.77, Y:92.64, Z:18.51 [[ 2.12223226e-01 -9.73810596e-01 -8.15734329e-02 1.29765834e+02] [ 9.60577785e-01 2.23221173e-01 -1.65718515e-01 9.26415976e+01] [ 1.79587363e-01 -4.31883098e-02 9.82793543e-01 1.85106412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:92.68, Z:18.50 [[ 2.09388896e-01 -9.77203208e-01 -3.50739171e-02 1.29750266e+02] [ 9.61385456e-01 2.12285597e-01 -1.75136606e-01 9.26783469e+01] [ 1.78589740e-01 2.95210683e-03 9.83919199e-01 1.84953895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:92.71, Z:18.48 [[ 2.04071812e-01 -9.78858877e-01 -1.37838735e-02 1.29739116e+02] [ 9.63290932e-01 2.03295182e-01 -1.75332967e-01 9.27055066e+01] [ 1.74428426e-01 2.25026359e-02 9.84412696e-01 1.84822169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:92.73, Z:18.50 [[ 2.02396118e-01 -9.78191401e-01 -4.66625527e-02 1.29760848e+02] [ 9.64114698e-01 2.07390153e-01 -1.65747318e-01 9.27268329e+01] [ 1.71809955e-01 -1.14414392e-02 9.85063669e-01 1.84981958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:92.75, Z:18.52 [[ 2.03897688e-01 -9.76965897e-01 -6.29553005e-02 1.29776571e+02] [ 9.62989605e-01 2.11729201e-01 -1.66798582e-01 9.27504769e+01] [ 1.76286002e-01 -2.66154547e-02 9.83979097e-01 1.85157829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.761858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.76, Y:92.79, Z:18.50 [[ 2.00468727e-01 -9.79572213e-01 -1.58293891e-02 1.29755719e+02] [ 9.64649993e-01 2.00184575e-01 -1.71395818e-01 9.27855325e+01] [ 1.71063380e-01 1.90896812e-02 9.85075075e-01 1.84950817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.791858064 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:129.78, Y:92.81, Z:18.52 [[ 2.00924376e-01 -9.78141226e-01 -5.35643356e-02 1.29779385e+02] [ 9.63939407e-01 2.07155296e-01 -1.67055391e-01 9.28065796e+01] [ 1.74499900e-01 -1.80672738e-02 9.84491421e-01 1.85166338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:92.83, Z:18.52 [[ 2.01085544e-01 -9.78285643e-01 -5.02175691e-02 1.29780357e+02] [ 9.63438491e-01 2.06779580e-01 -1.70377464e-01 9.28346637e+01] [ 1.77061795e-01 -1.41210940e-02 9.84098428e-01 1.85213788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:92.86, Z:18.52 [[ 2.00181647e-01 -9.79061501e-01 -3.69578794e-02 1.29777926e+02] [ 9.63638969e-01 2.03562395e-01 -1.73096181e-01 9.28639600e+01] [ 1.76995041e-01 -9.63374153e-04 9.84211272e-01 1.85205513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.77, Y:92.89, Z:18.51 [[ 1.97794163e-01 -9.79938234e-01 -2.44648087e-02 1.29774397e+02] [ 9.64990170e-01 1.99041410e-01 -1.70811266e-01 9.28935310e+01] [ 1.72254000e-01 1.01771714e-02 9.84999992e-01 1.85148715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:92.92, Z:18.53 [[ 1.97671628e-01 -9.79038947e-01 -4.90781895e-02 1.29789427e+02] [ 9.65077281e-01 2.03144211e-01 -1.65403358e-01 9.29178733e+01] [ 1.71906280e-01 -1.46686946e-02 9.85004092e-01 1.85302042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:92.95, Z:18.53 [[ 1.97247068e-01 -9.79903762e-01 -2.97020485e-02 1.29782512e+02] [ 9.65192483e-01 1.99415208e-01 -1.69224838e-01 9.29476654e+01] [ 1.71747096e-01 4.71090934e-03 9.85129810e-01 1.85256929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:92.97, Z:18.54 [[ 1.96910286e-01 -9.78718783e-01 -5.77571039e-02 1.29800037e+02] [ 9.65590630e-01 2.03802699e-01 -1.61552452e-01 9.29700297e+01] [ 1.69885473e-01 -2.39583788e-02 9.85172534e-01 1.85407242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001858064 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:129.79, Y:93.00, Z:18.54 [[ 1.97231287e-01 -9.79480644e-01 -4.14425763e-02 1.29793978e+02] [ 9.65280018e-01 2.01409728e-01 -1.66338834e-01 9.30004357e+01] [ 1.71272606e-01 -7.19646851e-03 9.85197394e-01 1.85421730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:93.03, Z:18.55 [[ 1.97750898e-01 -9.79748442e-01 -3.14256791e-02 1.29792960e+02] [ 9.64292165e-01 2.00192701e-01 -1.73388303e-01 9.30272003e+01] [ 1.76168111e-01 3.98415661e-03 9.84352032e-01 1.85459492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:93.05, Z:18.54 [[ 1.97414396e-01 -9.79931989e-01 -2.75835685e-02 1.29793749e+02] [ 9.65364403e-01 1.99221828e-01 -1.68470270e-01 9.30548951e+01] [ 1.70584656e-01 6.63026148e-03 9.85320717e-01 1.85445072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.091858064 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:129.80, Y:93.08, Z:18.55 [[ 1.97692614e-01 -9.79673054e-01 -3.40343524e-02 1.29798139e+02] [ 9.64662588e-01 2.00598652e-01 -1.70839902e-01 9.30808244e+01] [ 1.74194494e-01 9.42120296e-04 9.84710816e-01 1.85529790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121858064 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:129.81, Y:93.10, Z:18.56 [[ 1.99054417e-01 -9.78895719e-01 -4.62656591e-02 1.29808105e+02] [ 9.65018427e-01 2.04015475e-01 -1.64672771e-01 9.31038432e+01] [ 1.70636381e-01 -1.18683712e-02 9.85262588e-01 1.85602968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:93.13, Z:18.57 [[ 2.00983418e-01 -9.77261229e-01 -6.75733334e-02 1.29823394e+02] [ 9.64150261e-01 2.09544271e-01 -1.62805016e-01 9.31267615e+01] [ 1.73262635e-01 -3.24297384e-02 9.84341593e-01 1.85742167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:93.16, Z:18.56 [[ 2.01443153e-01 -9.79059287e-01 -2.93865576e-02 1.29808871e+02] [ 9.64207184e-01 2.03489564e-01 -1.69989719e-01 9.31589431e+01] [ 1.72409871e-01 5.90853506e-03 9.85007576e-01 1.85631637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:93.19, Z:18.55 [[ 1.98803957e-01 -9.79980774e-01 -1.07083331e-02 1.29799822e+02] [ 9.66094559e-01 1.97800179e-01 -1.65940928e-01 9.31861181e+01] [ 1.64737030e-01 2.26444509e-02 9.86077553e-01 1.85512053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:93.21, Z:18.56 [[ 2.00891830e-01 -9.78957354e-01 -3.58465097e-02 1.29815762e+02] [ 9.65684125e-01 2.04051550e-01 -1.60677116e-01 9.32095632e+01] [ 1.64610580e-01 -2.33768537e-03 9.86355865e-01 1.85636305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:93.23, Z:18.60 [[ 2.06587900e-01 -9.74307992e-01 -8.96960262e-02 1.29851596e+02] [ 9.62185577e-01 2.18937490e-01 -1.62065697e-01 9.32314736e+01] [ 1.77539727e-01 -5.28234108e-02 9.82694934e-01 1.86036537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:93.27, Z:18.56 [[ 2.03070751e-01 -9.79086093e-01 1.23568732e-02 1.29801450e+02] [ 9.65218859e-01 1.98040415e-01 -1.70682597e-01 9.32725756e+01] [ 1.64665797e-01 4.65877303e-02 9.85248577e-01 1.85587232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:93.29, Z:18.61 [[ 2.09673752e-01 -9.73735593e-01 -8.87463411e-02 1.29859413e+02] [ 9.61568371e-01 2.21803181e-01 -1.61832067e-01 9.32875528e+01] [ 1.77265864e-01 -5.14037379e-02 9.82819652e-01 1.86114431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:93.33, Z:18.55 [[ 2.03580992e-01 -9.78215446e-01 4.06118216e-02 1.29792028e+02] [ 9.66096123e-01 1.93985418e-01 -1.70375875e-01 9.33313255e+01] [ 1.58786212e-01 7.39202130e-02 9.84541894e-01 1.85513247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:93.34, Z:18.59 [[ 2.08074465e-01 -9.76183837e-01 -6.14014106e-02 1.29850019e+02] [ 9.64274162e-01 2.15248415e-01 -1.54413276e-01 9.33436780e+01] [ 1.63952300e-01 -2.70783340e-02 9.86096551e-01 1.85921652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:93.37, Z:18.59 [[ 2.08996363e-01 -9.77273438e-01 -3.54562799e-02 1.29842826e+02] [ 9.64068063e-01 2.11981392e-01 -1.60114518e-01 9.33726478e+01] [ 1.63991737e-01 -7.18915187e-04 9.86461450e-01 1.85888375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:93.40, Z:18.59 [[ 2.09684292e-01 -9.77123053e-01 -3.55392401e-02 1.29848125e+02] [ 9.63812954e-01 2.12674015e-01 -1.60730683e-01 9.33996618e+01] [ 1.64611928e-01 -5.50480671e-04 9.86358256e-01 1.85934607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:93.43, Z:18.60 [[ 2.10160363e-01 -9.77019328e-01 -3.55788615e-02 1.29852895e+02] [ 9.63641873e-01 2.13150309e-01 -1.61125062e-01 9.34256699e+01] [ 1.65005945e-01 -4.23179322e-04 9.86292482e-01 1.85975456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:93.45, Z:18.60 [[ 2.12103396e-01 -9.76601016e-01 -3.55331681e-02 1.29857652e+02] [ 9.63214469e-01 2.15059188e-01 -1.61144137e-01 9.34533731e+01] [ 1.65015262e-01 -4.68430646e-05 9.86291012e-01 1.86023339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:93.48, Z:18.61 [[ 2.12826480e-01 -9.76449960e-01 -3.53604993e-02 1.29863145e+02] [ 9.63156858e-01 2.15743973e-01 -1.60572120e-01 9.34808020e+01] [ 1.64419455e-01 1.16291630e-04 9.86390506e-01 1.86067111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:93.50, Z:18.65 [[ 2.18220279e-01 -9.70352856e-01 -1.03900165e-01 1.29909153e+02] [ 9.59515740e-01 2.32764001e-01 -1.58588979e-01 9.35011852e+01] [ 1.78071487e-01 -6.50865120e-02 9.81862664e-01 1.86547904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:93.54, Z:18.60 [[ 2.14855375e-01 -9.76316646e-01 2.53569461e-02 1.29844872e+02] [ 9.62837970e-01 2.07395922e-01 -1.73002817e-01 9.35434880e+01] [ 1.63646603e-01 6.15852157e-02 9.84594866e-01 1.85996891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:93.56, Z:18.62 [[ 2.17338799e-01 -9.75470112e-01 -3.49557761e-02 1.29880449e+02] [ 9.62343838e-01 2.20129532e-01 -1.59490837e-01 9.35598673e+01] [ 1.63273344e-01 1.02407130e-03 9.86580340e-01 1.86196264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:93.59, Z:18.62 [[ 2.18755646e-01 -9.75150802e-01 -3.50268571e-02 1.29886337e+02] [ 9.61925532e-01 2.21538185e-01 -1.60062810e-01 9.35860093e+01] [ 1.63845164e-01 1.32141520e-03 9.86485183e-01 1.86241333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:93.61, Z:18.63 [[ 2.20893671e-01 -9.74673786e-01 -3.48854767e-02 1.29892598e+02] [ 9.61511770e-01 2.23624785e-01 -1.59646706e-01 9.36109319e+01] [ 1.63404717e-01 1.72215046e-03 9.86557618e-01 1.86278457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.90, Y:93.64, Z:18.63 [[ 2.21419789e-01 -9.74558748e-01 -3.47638333e-02 1.29898952e+02] [ 9.61447847e-01 2.24124530e-01 -1.59330578e-01 9.36371345e+01] [ 1.63068436e-01 1.85533023e-03 9.86613016e-01 1.86320565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.751858064 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:129.90, Y:93.67, Z:18.64 [[ 2.17857210e-01 -9.75389268e-01 -3.39707436e-02 1.29904106e+02] [ 9.62238636e-01 2.20479937e-01 -1.59641488e-01 9.36680406e+01] [ 1.63202462e-01 2.09108723e-03 9.86590383e-01 1.86369660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781858064 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:129.91, Y:93.69, Z:18.64 [[ 2.20145706e-01 -9.74974022e-01 -3.10084670e-02 1.29910994e+02] [ 9.61486112e-01 2.22243486e-01 -1.61716692e-01 9.36902128e+01] [ 1.64561004e-01 5.78702504e-03 9.86349931e-01 1.86400521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:93.72, Z:18.65 [[ 2.17860298e-01 -9.75510538e-01 -3.02668252e-02 1.29916994e+02] [ 9.61530411e-01 2.19848207e-01 -1.64699830e-01 9.37167829e+01] [ 1.67320527e-01 6.77908107e-03 9.85879245e-01 1.86455047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:93.75, Z:18.64 [[ 2.16338347e-01 -9.76150508e-01 -1.81081616e-02 1.29920438e+02] [ 9.62771211e-01 2.16378815e-01 -1.62024086e-01 9.37469539e+01] [ 1.62078116e-01 1.76180062e-02 9.86620641e-01 1.86420221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:93.76, Z:18.67 [[ 2.16775615e-01 -9.73970242e-01 -6.62593461e-02 1.29951278e+02] [ 9.61635762e-01 2.24733284e-01 -1.57326450e-01 9.37640361e+01] [ 1.68121961e-01 -2.96128190e-02 9.85321312e-01 1.86688947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:93.79, Z:18.66 [[ 2.14859121e-01 -9.76008062e-01 -3.52678523e-02 1.29944554e+02] [ 9.62101744e-01 2.17730242e-01 -1.64176053e-01 9.37941325e+01] [ 1.67916029e-01 1.34346015e-03 9.85800387e-01 1.86631813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:93.82, Z:18.67 [[ 2.14852605e-01 -9.75986531e-01 -3.58977728e-02 1.29952099e+02] [ 9.62135125e-01 2.17829865e-01 -1.63847953e-01 9.38193111e+01] [ 1.67733002e-01 6.64651395e-04 9.85832236e-01 1.86678604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.96, Y:93.85, Z:18.67 [[ 2.11587913e-01 -9.76770729e-01 -3.39042577e-02 1.29961160e+02] [ 9.62818964e-01 2.14276113e-01 -1.64515623e-01 9.38480075e+01] [ 1.67958917e-01 2.16585500e-03 9.85791617e-01 1.86725159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:93.87, Z:18.68 [[ 2.09354910e-01 -9.77212408e-01 -3.50204341e-02 1.29969874e+02] [ 9.63423719e-01 2.12263166e-01 -1.63582048e-01 9.38731122e+01] [ 1.67287956e-01 5.07188031e-04 9.85907948e-01 1.86767324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:93.90, Z:18.68 [[ 2.06920587e-01 -9.77734822e-01 -3.49068479e-02 1.29978104e+02] [ 9.64002119e-01 2.09844224e-01 -1.63295180e-01 9.38989278e+01] [ 1.66984385e-01 1.38859269e-04 9.85959531e-01 1.86806285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:93.93, Z:18.69 [[ 2.05560454e-01 -9.78022901e-01 -3.48726937e-02 1.29986056e+02] [ 9.64280694e-01 2.08497489e-01 -1.63375458e-01 9.39260350e+01] [ 1.67055809e-01 -4.35319533e-05 9.85947440e-01 1.86852596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:93.95, Z:18.69 [[ 2.03677725e-01 -9.78416979e-01 -3.48654345e-02 1.29993591e+02] [ 9.64647836e-01 2.06640057e-01 -1.63567841e-01 9.39524128e+01] [ 1.67242148e-01 -3.17740220e-04 9.85915799e-01 1.86898376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:93.98, Z:18.69 [[ 2.03424534e-01 -9.78471284e-01 -3.48196134e-02 1.29999359e+02] [ 9.64701261e-01 2.06382769e-01 -1.63577594e-01 9.39799890e+01] [ 1.67242147e-01 -3.14829062e-04 9.85915800e-01 1.86945564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:94.01, Z:18.70 [[ 2.01601364e-01 -9.78778752e-01 -3.67293555e-02 1.30008102e+02] [ 9.65196462e-01 2.04902245e-01 -1.62514180e-01 9.40051267e+01] [ 1.66591354e-01 -2.68796366e-03 9.86022361e-01 1.86997961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:94.03, Z:18.70 [[ 2.00402315e-01 -9.79162920e-01 -3.28464417e-02 1.30013842e+02] [ 9.65407516e-01 2.03073484e-01 -1.63552708e-01 9.40319348e+01] [ 1.66814988e-01 1.06613949e-03 9.85987638e-01 1.87030798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:94.06, Z:18.73 [[ 2.03737881e-01 -9.77078663e-01 -6.17103146e-02 1.30041532e+02] [ 9.63405482e-01 2.11303224e-01 -1.64926726e-01 9.40571926e+01] [ 1.74185973e-01 -2.58502338e-02 9.84373411e-01 1.87279006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:94.09, Z:18.71 [[ 2.00221991e-01 -9.79684032e-01 -1.14171481e-02 1.30020128e+02] [ 9.65333251e-01 1.99254036e-01 -1.68610629e-01 9.40881773e+01] [ 1.67460053e-01 2.27382030e-02 9.85616611e-01 1.87064781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.04, Y:94.11, Z:18.72 [[ 2.00775160e-01 -9.78913153e-01 -3.76613134e-02 1.30039488e+02] [ 9.65214627e-01 2.04245524e-01 -1.63231397e-01 9.41098305e+01] [ 1.67481517e-01 -3.57844073e-03 9.85868722e-01 1.87187349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:94.14, Z:18.72 [[ 2.00737804e-01 -9.79069686e-01 -3.35690841e-02 1.30043624e+02] [ 9.64991025e-01 2.03523667e-01 -1.65440135e-01 9.41357223e+01] [ 1.68809524e-01 8.16224512e-04 9.85648354e-01 1.87208291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:94.16, Z:18.75 [[ 2.05462721e-01 -9.76006289e-01 -7.20887954e-02 1.30076034e+02] [ 9.62077147e-01 2.14936029e-01 -1.67958525e-01 9.41598164e+01] [ 1.79423056e-01 -3.48457672e-02 9.83154688e-01 1.87515123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.351858064 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:130.06, Y:94.19, Z:18.73 [[ 2.04715993e-01 -9.78657901e-01 -1.78906505e-02 1.30057497e+02] [ 9.63142247e-01 2.04661494e-01 -1.74558546e-01 9.41916538e+01] [ 1.74494628e-01 1.85036849e-02 9.84484250e-01 1.87332308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:94.21, Z:18.74 [[ 2.03948861e-01 -9.78426335e-01 -3.29661946e-02 1.30072161e+02] [ 9.63303263e-01 2.06571237e-01 -1.71391797e-01 9.42145263e+01] [ 1.74504115e-01 3.19871891e-03 9.84651249e-01 1.87426807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:94.24, Z:18.77 [[ 2.04972563e-01 -9.76359131e-01 -6.86228475e-02 1.30101103e+02] [ 9.61621560e-01 2.13952103e-01 -1.71780303e-01 9.42361509e+01] [ 1.82401270e-01 -3.07789609e-02 9.82742302e-01 1.87694964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:94.27, Z:18.76 [[ 2.05253795e-01 -9.77877914e-01 -4.03195364e-02 1.30094807e+02] [ 9.61549098e-01 2.09164451e-01 -1.77970683e-01 9.42697360e+01] [ 1.82467014e-01 -2.24005583e-03 9.83209424e-01 1.87646034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:94.30, Z:18.77 [[ 2.04652710e-01 -9.77906906e-01 -4.26069451e-02 1.30101522e+02] [ 9.61789287e-01 2.08986204e-01 -1.76878869e-01 9.42968364e+01] [ 1.81875331e-01 -4.78016356e-03 9.83309979e-01 1.87699226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.10, Y:94.32, Z:18.77 [[ 2.03215061e-01 -9.78494803e-01 -3.53773754e-02 1.30103535e+02] [ 9.62458857e-01 2.06263579e-01 -1.76432098e-01 9.43248258e+01] [ 1.79934956e-01 1.80439150e-03 9.83676855e-01 1.87693615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:94.35, Z:18.75 [[ 2.01037738e-01 -9.79570983e-01 -4.95151063e-03 1.30090793e+02] [ 9.64410103e-01 1.98807432e-01 -1.74323719e-01 9.43515626e+01] [ 1.71746854e-01 3.02703593e-02 9.84675949e-01 1.87509757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.13, Y:94.37, Z:18.79 [[ 2.04117772e-01 -9.76834545e-01 -6.42666804e-02 1.30132412e+02] [ 9.62146744e-01 2.12292064e-01 -1.70896821e-01 9.43716352e+01] [ 1.80581225e-01 -2.69508988e-02 9.83190760e-01 1.87895846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:94.40, Z:18.79 [[ 2.04579588e-01 -9.77674291e-01 -4.79601267e-02 1.30133820e+02] [ 9.62457391e-01 2.09841273e-01 -1.72169717e-01 9.44010017e+01] [ 1.78389920e-01 -1.09371685e-02 9.83899088e-01 1.87897756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.13, Y:94.43, Z:18.78 [[ 2.04167492e-01 -9.78557818e-01 -2.72072225e-02 1.30129396e+02] [ 9.63100508e-01 2.05765989e-01 -1.73487085e-01 9.44306224e+01] [ 1.75365464e-01 9.21713308e-03 9.84460257e-01 1.87830772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:94.45, Z:18.78 [[ 2.04756471e-01 -9.78446122e-01 -2.67950383e-02 1.30133691e+02] [ 9.63009017e-01 2.06274365e-01 -1.73391235e-01 9.44544639e+01] [ 1.75181111e-01 9.69911394e-03 9.84488449e-01 1.87843145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.15, Y:94.48, Z:18.80 [[ 2.03858235e-01 -9.77901700e-01 -4.63690062e-02 1.30150536e+02] [ 9.63297903e-01 2.08812354e-01 -1.68684770e-01 9.44802165e+01] [ 1.74639545e-01 -1.02793868e-02 9.84578775e-01 1.87970471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71185806399998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:130.15, Y:94.51, Z:18.80 [[ 2.03530585e-01 -9.78445989e-01 -3.49105703e-02 1.30153006e+02] [ 9.63421076e-01 2.06499793e-01 -1.70814711e-01 9.45091479e+01] [ 1.74341994e-01 1.13243881e-03 9.84684511e-01 1.87959874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.16, Y:94.53, Z:18.80 [[ 2.04548440e-01 -9.78329871e-01 -3.21029385e-02 1.30158152e+02] [ 9.63562849e-01 2.07019019e-01 -1.69380525e-01 9.45333340e+01] [ 1.72355946e-01 3.71332333e-03 9.85027735e-01 1.87974250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:94.56, Z:18.80 [[ 2.02351852e-01 -9.78695728e-01 -3.47620651e-02 1.30167325e+02] [ 9.63957800e-01 2.05314733e-01 -1.69207626e-01 9.45621384e+01] [ 1.72739945e-01 7.30312597e-04 9.84967196e-01 1.88039228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.801858064 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:130.17, Y:94.59, Z:18.81 [[ 2.01688699e-01 -9.78932135e-01 -3.18361911e-02 1.30172677e+02] [ 9.63905670e-01 2.04150846e-01 -1.70904335e-01 9.45867317e+01] [ 1.73803131e-01 3.78238787e-03 9.84773154e-01 1.88074214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.831858064 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:130.18, Y:94.61, Z:18.81 [[ 2.01409991e-01 -9.78938821e-01 -3.33586526e-02 1.30180216e+02] [ 9.63677499e-01 2.04138071e-01 -1.72201410e-01 9.46136733e+01] [ 1.75384416e-01 2.53610143e-03 9.84496762e-01 1.88127255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.861858064 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:130.20, Y:94.64, Z:18.83 [[ 2.00300250e-01 -9.78352181e-01 -5.20271150e-02 1.30197601e+02] [ 9.63979097e-01 2.06286235e-01 -1.67899641e-01 9.46394890e+01] [ 1.74997458e-01 -1.65227113e-02 9.84430236e-01 1.88274082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.891858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:130.21, Y:94.67, Z:18.83 [[ 2.00599294e-01 -9.78737569e-01 -4.28099771e-02 1.30206205e+02] [ 9.63760864e-01 2.04996505e-01 -1.70708612e-01 9.46697562e+01] [ 1.75854827e-01 -7.01455353e-03 9.84391119e-01 1.88316124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.921858064 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:130.21, Y:94.70, Z:18.83 [[ 1.98087395e-01 -9.79636014e-01 -3.27820578e-02 1.30206141e+02] [ 9.64242915e-01 2.00764057e-01 -1.73001141e-01 9.46957918e+01] [ 1.76059608e-01 2.65947842e-03 9.84375915e-01 1.88317855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.951858064 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:130.22, Y:94.72, Z:18.84 [[ 1.99121968e-01 -9.79279444e-01 -3.69081599e-02 1.30218116e+02] [ 9.63953489e-01 2.02509994e-01 -1.72578599e-01 9.47237673e+01] [ 1.76476946e-01 -1.21355922e-03 9.84304026e-01 1.88385923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.981858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:130.21, Y:94.75, Z:18.83 [[ 1.95053693e-01 -9.80539445e-01 -2.22812428e-02 1.30212989e+02] [ 9.65204501e-01 1.95938252e-01 -1.73171803e-01 9.47472478e+01] [ 1.74167532e-01 1.22718438e-02 9.84639565e-01 1.88316711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.011858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:130.24, Y:94.77, Z:18.87 [[ 1.96533664e-01 -9.78101757e-01 -6.84943266e-02 1.30244852e+02] [ 9.63430645e-01 2.05618025e-01 -1.71821476e-01 9.47686318e+01] [ 1.82142556e-01 -3.22208290e-02 9.82744070e-01 1.88655898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.041858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:130.23, Y:94.80, Z:18.85 [[ 1.95055098e-01 -9.80262223e-01 -3.22410220e-02 1.30232791e+02] [ 9.63974198e-01 1.97668245e-01 -1.77991600e-01 9.47997437e+01] [ 1.80851468e-01 3.63865575e-03 9.83503689e-01 1.88535886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.071858064 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:130.23, Y:94.83, Z:18.84 [[ 1.91492943e-01 -9.81438629e-01 -1.04245423e-02 1.30226648e+02] [ 9.66064671e-01 1.90347856e-01 -1.74604539e-01 9.48285420e+01] [ 1.73347929e-01 2.33647550e-02 9.84583457e-01 1.88391408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101858064 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:130.27, Y:94.85, Z:18.88 [[ 1.93356857e-01 -9.78658914e-01 -6.95690664e-02 1.30266575e+02] [ 9.64042302e-01 2.02686823e-01 -1.71873476e-01 9.48484361e+01] [ 1.82306242e-01 -3.38346078e-02 9.82659480e-01 1.88789462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.131858064 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:130.24, Y:94.88, Z:18.85 [[ 1.90233055e-01 -9.81722088e-01 -5.75566804e-03 1.30237955e+02] [ 9.66077753e-01 1.88238156e-01 -1.76805464e-01 9.48822412e+01] [ 1.74657265e-01 2.80738206e-02 9.84228988e-01 1.88475954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.26, Y:94.90, Z:18.86 [[ 1.89611223e-01 -9.81227525e-01 -3.52154597e-02 1.30258617e+02] [ 9.66174680e-01 1.92847385e-01 -1.71220252e-01 9.49046230e+01] [ 1.74797233e-01 -1.55900407e-03 9.84603218e-01 1.88631066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.191858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:130.26, Y:94.93, Z:18.87 [[ 1.89934483e-01 -9.81163458e-01 -3.52584847e-02 1.30264753e+02] [ 9.66028874e-01 1.93173898e-01 -1.71674284e-01 9.49297745e+01] [ 1.75251553e-01 -1.45384791e-03 9.84522615e-01 1.88671736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221858064 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:130.27, Y:94.96, Z:18.87 [[ 1.89581138e-01 -9.81190614e-01 -3.63864046e-02 1.30271071e+02] [ 9.66100075e-01 1.93023193e-01 -1.71442972e-01 9.49568298e+01] [ 1.75241655e-01 -2.65055438e-03 9.84521882e-01 1.88720698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.251858064 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:130.28, Y:94.98, Z:18.88 [[ 1.90240747e-01 -9.80964292e-01 -3.89553027e-02 1.30277603e+02] [ 9.66151386e-01 1.94115527e-01 -1.69913690e-01 9.49803692e+01] [ 1.74241092e-01 -5.31221236e-03 9.84688693e-01 1.88765970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281858064 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:130.28, Y:95.01, Z:18.88 [[ 1.90535084e-01 -9.80895670e-01 -3.92436694e-02 1.30283828e+02] [ 9.66267866e-01 1.94449682e-01 -1.68866017e-01 9.50061540e+01] [ 1.73270864e-01 -5.74499594e-03 9.84857453e-01 1.88815404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.311858064 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:130.28, Y:95.04, Z:18.88 [[ 1.90231990e-01 -9.81342604e-01 -2.79013208e-02 1.30284702e+02] [ 9.66144575e-01 1.92180061e-01 -1.72137982e-01 9.50350955e+01] [ 1.74288413e-01 5.78944112e-03 9.84677628e-01 1.88820582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341858064 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:130.29, Y:95.06, Z:18.89 [[ 1.89971602e-01 -9.81229801e-01 -3.31491700e-02 1.30294326e+02] [ 9.66099090e-01 1.92841220e-01 -1.71653174e-01 9.50599921e+01] [ 1.74823736e-01 5.83845447e-04 9.84599574e-01 1.88895538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.371858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:130.30, Y:95.08, Z:18.89 [[ 1.90331320e-01 -9.81096278e-01 -3.49868819e-02 1.30300811e+02] [ 9.65984014e-01 1.93516865e-01 -1.71540399e-01 9.50845872e+01] [ 1.75068198e-01 -1.14725810e-03 9.84555641e-01 1.88947129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401858064 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:130.32, Y:95.11, Z:18.92 [[ 1.93202162e-01 -9.79400995e-01 -5.87078864e-02 1.30322506e+02] [ 9.64213028e-01 2.00597769e-01 -1.73360239e-01 9.51096739e+01] [ 1.81565861e-01 -2.31133360e-02 9.83107121e-01 1.89178610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.431858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:130.30, Y:95.14, Z:18.90 [[ 1.92594187e-01 -9.81160538e-01 -1.52143741e-02 1.30301472e+02] [ 9.65360817e-01 1.92228599e-01 -1.76427489e-01 9.51409368e+01] [ 1.76028328e-01 1.92915482e-02 9.84196050e-01 1.88956858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:130.32, Y:95.17, Z:18.91 [[ 1.92071789e-01 -9.80753426e-01 -3.50876732e-02 1.30316951e+02] [ 9.65490786e-01 1.95248867e-01 -1.72352612e-01 9.51657469e+01] [ 1.75886244e-01 -7.72750533e-04 9.84410195e-01 1.89085563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49185806399998 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:130.32, Y:95.19, Z:18.91 [[ 1.93604037e-01 -9.80433947e-01 -3.55914547e-02 1.30322078e+02] [ 9.65148585e-01 1.96845996e-01 -1.72452491e-01 9.51913327e+01] [ 1.76084312e-01 -9.63543684e-04 9.84374617e-01 1.89137755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52185806399999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:130.33, Y:95.22, Z:18.92 [[ 1.93363244e-01 -9.80503343e-01 -3.49835631e-02 1.30326945e+02] [ 9.65171914e-01 1.96502055e-01 -1.72713978e-01 9.52188434e+01] [ 1.76220975e-01 -3.68617568e-04 9.84350564e-01 1.89186252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.551858064 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:130.33, Y:95.25, Z:18.92 [[ 1.93144842e-01 -9.80548633e-01 -3.49206112e-02 1.30332473e+02] [ 9.65229345e-01 1.96275953e-01 -1.72650115e-01 9.52462169e+01] [ 1.76145910e-01 -3.59919581e-04 9.84364002e-01 1.89235512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.581858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:130.34, Y:95.27, Z:18.93 [[ 1.92312595e-01 -9.80711881e-01 -3.49295372e-02 1.30337332e+02] [ 9.65342584e-01 1.95458424e-01 -1.72944208e-01 9.52730146e+01] [ 1.76435712e-01 -4.59620171e-04 9.84312058e-01 1.89288877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.611858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:130.34, Y:95.30, Z:18.93 [[ 1.91519644e-01 -9.80870528e-01 -3.48315090e-02 1.30341998e+02] [ 9.65545614e-01 1.94660476e-01 -1.72710646e-01 9.52992931e+01] [ 1.76187101e-01 -5.53929415e-04 9.84356540e-01 1.89332609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.641858064 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:130.35, Y:95.33, Z:18.94 [[ 1.90797411e-01 -9.81011306e-01 -3.48305164e-02 1.30346680e+02] [ 9.65641944e-01 1.93949526e-01 -1.72971725e-01 9.53267145e+01] [ 1.76442580e-01 -6.31250227e-04 9.84310732e-01 1.89375423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.671858064 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:130.35, Y:95.35, Z:18.94 [[ 1.88872025e-01 -9.81381461e-01 -3.48968004e-02 1.30351326e+02] [ 9.65914131e-01 1.92066570e-01 -1.73552078e-01 9.53526703e+01] [ 1.77023300e-01 -9.28180233e-04 9.84206223e-01 1.89417876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.701858064 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:130.36, Y:95.38, Z:18.95 [[ 1.87600746e-01 -9.81621961e-01 -3.49898090e-02 1.30356864e+02] [ 9.66041046e-01 1.90832573e-01 -1.74205700e-01 9.53794463e+01] [ 1.77681336e-01 -1.12047243e-03 9.84087439e-01 1.89470334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.731858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:130.36, Y:95.41, Z:18.95 [[ 1.86208051e-01 -9.81884948e-01 -3.50501055e-02 1.30362201e+02] [ 9.66207649e-01 1.89473474e-01 -1.74764363e-01 9.54057316e+01] [ 1.78239562e-01 -1.32314866e-03 9.83986233e-01 1.89518962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.761858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:130.37, Y:95.43, Z:18.96 [[ 1.85055627e-01 -9.82102107e-01 -3.50694616e-02 1.30367805e+02] [ 9.66362226e-01 1.88343460e-01 -1.75130776e-01 9.54331384e+01] [ 1.78601408e-01 -1.48086748e-03 9.83920395e-01 1.89569386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.791858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:130.37, Y:95.46, Z:18.95 [[ 1.82367554e-01 -9.82963240e-01 -2.29203959e-02 1.30365711e+02] [ 9.67182498e-01 1.83536808e-01 -1.75705025e-01 9.54602386e+01] [ 1.76918317e-01 9.87468983e-03 9.84176000e-01 1.89541685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:95.48, Z:18.97 [[ 1.82655856e-01 -9.82110927e-01 -4.57707811e-02 1.30383439e+02] [ 9.66565071e-01 1.87896619e-01 -1.74490186e-01 9.54834954e+01] [ 1.79968894e-01 -1.23687839e-02 9.83594536e-01 1.89715209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.38, Y:95.51, Z:18.97 [[ 1.82009694e-01 -9.82660514e-01 -3.53664461e-02 1.30383394e+02] [ 9.66507946e-01 1.85404320e-01 -1.77447539e-01 9.55123492e+01] [ 1.80927782e-01 -1.88477897e-03 9.83494578e-01 1.89727573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:95.54, Z:18.98 [[ 1.81679908e-01 -9.82723080e-01 -3.53236391e-02 1.30386896e+02] [ 9.66564185e-01 1.85072287e-01 -1.77487817e-01 9.55375650e+01] [ 1.80958801e-01 -1.89659412e-03 9.83488849e-01 1.89768983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:95.56, Z:18.99 [[ 1.83202051e-01 -9.82258704e-01 -4.00605333e-02 1.30395223e+02] [ 9.65963950e-01 1.87433716e-01 -1.78275771e-01 9.55640159e+01] [ 1.82621622e-01 -6.03654418e-03 9.83164739e-01 1.89852189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.38, Y:95.59, Z:18.97 [[ 1.80475931e-01 -9.83543837e-01 -8.36409168e-03 1.30380084e+02] [ 9.67857463e-01 1.79099072e-01 -1.76565722e-01 9.55941418e+01] [ 1.75158129e-01 2.37706145e-02 9.84253315e-01 1.89675076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.41, Y:95.61, Z:19.00 [[ 1.81100072e-01 -9.81850118e-01 -5.63303715e-02 1.30409662e+02] [ 9.66760423e-01 1.88243699e-01 -1.73027728e-01 9.56138763e+01] [ 1.80491133e-01 -2.31226398e-02 9.83304782e-01 1.89989335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.40, Y:95.64, Z:19.00 [[ 1.80660029e-01 -9.82925164e-01 -3.49295848e-02 1.30404665e+02] [ 9.66899248e-01 1.83996603e-01 -1.76779793e-01 9.56440429e+01] [ 1.80188232e-01 -1.83634659e-03 9.83630433e-01 1.89958001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.41, Y:95.67, Z:19.00 [[ 1.79320942e-01 -9.83178460e-01 -3.47003761e-02 1.30409809e+02] [ 9.67320302e-01 1.82636276e-01 -1.75884691e-01 9.56706458e+01] [ 1.79263587e-01 -2.02656987e-03 9.83798993e-01 1.90007786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.42, Y:95.70, Z:19.01 [[ 1.77697250e-01 -9.83485370e-01 -3.43542572e-02 1.30415027e+02] [ 9.67900638e-01 1.80973531e-01 -1.74404517e-01 9.56974886e+01] [ 1.77741502e-01 -2.26030435e-03 9.84074616e-01 1.90065951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.42, Y:95.72, Z:19.01 [[ 1.77206646e-01 -9.83580072e-01 -3.41766961e-02 1.30419186e+02] [ 9.68112246e-01 1.80457684e-01 -1.73763356e-01 9.57246426e+01] [ 1.77077621e-01 -2.29485657e-03 9.84194213e-01 1.90115389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:95.75, Z:19.02 [[ 1.76738971e-01 -9.83672569e-01 -3.39354297e-02 1.30422750e+02] [ 9.68379601e-01 1.79952443e-01 -1.72794871e-01 9.57523290e+01] [ 1.76080338e-01 -2.32279011e-03 9.84373059e-01 1.90158940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:95.78, Z:19.02 [[ 1.77776657e-01 -9.83498866e-01 -3.35475871e-02 1.30425556e+02] [ 9.68507707e-01 1.80902360e-01 -1.71076468e-01 9.57785857e+01] [ 1.74322350e-01 -2.07769399e-03 9.84686448e-01 1.90208255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:130.43, Y:95.80, Z:19.03 [[ 1.78590071e-01 -9.83357703e-01 -3.33648621e-02 1.30429297e+02] [ 9.68480349e-01 1.81670302e-01 -1.70416297e-01 9.58042969e+01] [ 1.73641583e-01 -1.87855455e-03 9.84807124e-01 1.90252127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:95.83, Z:19.04 [[ 1.77766927e-01 -9.82837855e-01 -4.92815413e-02 1.30440245e+02] [ 9.69287872e-01 1.83524696e-01 -1.63706160e-01 9.58299291e+01] [ 1.69940991e-01 -1.86664594e-02 9.85277435e-01 1.90357717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.41, Y:95.87, Z:19.01 [[ 1.80490616e-01 -9.83393527e-01 1.89818058e-02 1.30407514e+02] [ 9.69306646e-01 1.74563413e-01 -1.73124930e-01 9.58685282e+01] [ 1.66936407e-01 4.96466158e-02 9.84716939e-01 1.90076929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27185806399999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.46, Y:95.88, Z:19.06 [[ 1.84884450e-01 -9.79892483e-01 -7.50230765e-02 1.30458192e+02] [ 9.66634950e-01 1.95092388e-01 -1.65999501e-01 9.58799736e+01] [ 1.77298095e-01 -4.18292013e-02 9.83267870e-01 1.90594539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:95.92, Z:19.04 [[ 1.88010871e-01 -9.81956891e-01 -2.03119840e-02 1.30438527e+02] [ 9.66606530e-01 1.88659332e-01 -1.73434347e-01 9.59183661e+01] [ 1.74137097e-01 1.29738461e-02 9.84635948e-01 1.90393556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.331858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.45, Y:95.94, Z:19.06 [[ 1.88501750e-01 -9.80911179e-01 -4.77529935e-02 1.30452745e+02] [ 9.65974556e-01 1.93960527e-01 -1.71091997e-01 9.59379906e+01] [ 1.77088248e-01 -1.38770359e-02 9.84097140e-01 1.90583033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.361858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.45, Y:95.97, Z:19.06 [[ 1.88341512e-01 -9.81522970e-01 -3.37658799e-02 1.30451435e+02] [ 9.66008082e-01 1.91344310e-01 -1.73826757e-01 9.59678359e+01] [ 1.77075864e-01 1.20681316e-04 9.84197198e-01 1.90580429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:95.99, Z:19.06 [[ 1.91851206e-01 -9.80772617e-01 -3.57517742e-02 1.30453969e+02] [ 9.65552732e-01 1.95148221e-01 -1.72119416e-01 9.59924771e+01] [ 1.75786905e-01 -1.49890574e-03 9.84427101e-01 1.90635195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:96.03, Z:19.04 [[ 1.90777190e-01 -9.81531985e-01 1.41077044e-02 1.30432347e+02] [ 9.67667214e-01 1.85627834e-01 -1.70770224e-01 9.60298110e+01] [ 1.64997655e-01 4.62306265e-02 9.85209878e-01 1.90370113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.451858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.48, Y:96.04, Z:19.09 [[ 1.93681292e-01 -9.78265620e-01 -7.40535847e-02 1.30479099e+02] [ 9.64904798e-01 2.03591408e-01 -1.65859183e-01 9.60440282e+01] [ 1.77331011e-01 -3.93308382e-02 9.83365038e-01 1.90885996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.481858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.46, Y:96.08, Z:19.08 [[ 1.93991760e-01 -9.80424658e-01 -3.36851062e-02 1.30464420e+02] [ 9.64860130e-01 1.96890616e-01 -1.74008664e-01 9.60776157e+01] [ 1.77234666e-01 1.25483102e-03 9.84167820e-01 1.90780978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.511858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:130.47, Y:96.10, Z:19.08 [[ 1.93324702e-01 -9.80553915e-01 -3.37576501e-02 1.30468905e+02] [ 9.64875077e-01 1.96246265e-01 -1.74652483e-01 9.61045699e+01] [ 1.77880989e-01 1.19272400e-03 9.84051285e-01 1.90827633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.541858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.47, Y:96.13, Z:19.09 [[ 1.90308581e-01 -9.81150284e-01 -3.35673061e-02 1.30473344e+02] [ 9.65610376e-01 1.93245043e-01 -1.73933769e-01 9.61311918e+01] [ 1.77141883e-01 6.88149770e-04 9.84185084e-01 1.90870066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.571858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.48, Y:96.16, Z:19.09 [[ 1.88134692e-01 -9.81573857e-01 -3.34380285e-02 1.30478460e+02] [ 9.66110775e-01 1.91082823e-01 -1.73543442e-01 9.61582994e+01] [ 1.76735139e-01 3.44702345e-04 9.84258387e-01 1.90914013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.48, Y:96.19, Z:19.10 [[ 1.85746160e-01 -9.82030858e-01 -3.33730269e-02 1.30483764e+02] [ 9.66588555e-01 1.88720411e-01 -1.73468074e-01 9.61852202e+01] [ 1.76649173e-01 -3.69572223e-05 9.84273879e-01 1.90961563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.631858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.49, Y:96.21, Z:19.10 [[ 1.83314512e-01 -9.82488311e-01 -3.33542994e-02 1.30489491e+02] [ 9.67023022e-01 1.86323749e-01 -1.73637369e-01 9.62122023e+01] [ 1.76811384e-01 -4.24125763e-04 9.84244662e-01 1.91006383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.50, Y:96.24, Z:19.11 [[ 1.79523634e-01 -9.83187235e-01 -3.33785123e-02 1.30495401e+02] [ 9.67663381e-01 1.82597216e-01 -1.74028267e-01 9.62386890e+01] [ 1.77197194e-01 -1.05697718e-03 9.84174800e-01 1.91054350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:96.27, Z:19.11 [[ 1.80321057e-01 -9.83270470e-01 -2.57584686e-02 1.30501787e+02] [ 9.67572259e-01 1.82029899e-01 -1.75125783e-01 9.62712052e+01] [ 1.76884822e-01 6.65568663e-03 9.84209054e-01 1.91066258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.51, Y:96.30, Z:19.11 [[ 1.77515118e-01 -9.83452877e-01 -3.61776424e-02 1.30509407e+02] [ 9.67903494e-01 1.81118027e-01 -1.74238593e-01 9.62989239e+01] [ 1.77907868e-01 -4.08648215e-03 9.84038663e-01 1.91142869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:96.32, Z:19.12 [[ 1.74362022e-01 -9.83734826e-01 -4.31703341e-02 1.30511895e+02] [ 9.68337741e-01 1.79257782e-01 -1.73748859e-01 9.63200311e+01] [ 1.78661422e-01 -1.15082614e-02 9.83843309e-01 1.91216230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:96.35, Z:19.12 [[ 1.73717452e-01 -9.84234117e-01 -3.32483104e-02 1.30512207e+02] [ 9.68339431e-01 1.76863430e-01 -1.76176259e-01 9.63490426e+01] [ 1.79279095e-01 -1.59075903e-03 9.83796969e-01 1.91227839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.811858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.52, Y:96.37, Z:19.13 [[ 1.73727017e-01 -9.84204134e-01 -3.40755829e-02 1.30517623e+02] [ 9.68322607e-01 1.77021063e-01 -1.76110396e-01 9.63739540e+01] [ 1.79360676e-01 -2.40102347e-03 9.83780455e-01 1.91273813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:96.41, Z:19.13 [[ 1.73966156e-01 -9.84410207e-01 -2.59291707e-02 1.30524498e+02] [ 9.68317936e-01 1.75793959e-01 -1.77360814e-01 9.64069941e+01] [ 1.79153987e-01 5.74709784e-03 9.83804259e-01 1.91285526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.871858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.53, Y:96.44, Z:19.14 [[ 1.71595701e-01 -9.84637852e-01 -3.22988584e-02 1.30533088e+02] [ 9.68696744e-01 1.74606087e-01 -1.76463405e-01 9.64357429e+01] [ 1.79392125e-01 -1.00743742e-03 9.83777135e-01 1.91358804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:96.46, Z:19.14 [[ 1.71001656e-01 -9.84720993e-01 -3.29089681e-02 1.30538880e+02] [ 9.68930270e-01 1.74129676e-01 -1.75650185e-01 9.64609319e+01] [ 1.78696852e-01 -1.85002286e-03 9.83902441e-01 1.91396296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:96.49, Z:19.15 [[ 1.70151171e-01 -9.84253658e-01 -4.78885769e-02 1.30551929e+02] [ 9.68530253e-01 1.75996041e-01 -1.75995862e-01 9.64884859e+01] [ 1.81652771e-01 -1.64356335e-02 9.83225376e-01 1.91544986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96185806399998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:130.54, Y:96.51, Z:19.15 [[ 1.64046315e-01 -9.85928260e-01 -3.21601150e-02 1.30542580e+02] [ 9.70126647e-01 1.67152373e-01 -1.75824839e-01 9.65118905e+01] [ 1.78726317e-01 -2.35596769e-03 9.83896007e-01 1.91497236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:96.54, Z:19.15 [[ 1.66961946e-01 -9.85717853e-01 -2.20005217e-02 1.30546393e+02] [ 9.70040562e-01 1.68218680e-01 -1.75282015e-01 9.65413544e+01] [ 1.76479510e-01 7.92402796e-03 9.84272418e-01 1.91492704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:96.56, Z:19.16 [[ 1.65615474e-01 -9.85710510e-01 -3.07620652e-02 1.30554609e+02] [ 9.70061647e-01 1.68445949e-01 -1.74946744e-01 9.65646749e+01] [ 1.77628590e-01 -8.67211639e-04 9.84097217e-01 1.91571673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:96.59, Z:19.17 [[ 1.62282723e-01 -9.85510587e-01 -4.93274799e-02 1.30564607e+02] [ 9.70603379e-01 1.68433438e-01 -1.71928060e-01 9.65865936e+01] [ 1.77745320e-01 -1.99764650e-02 9.83873743e-01 1.91727745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.081858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.55, Y:96.62, Z:19.16 [[ 1.64339122e-01 -9.86343524e-01 -1.09135703e-02 1.30554783e+02] [ 9.70063992e-01 1.63612411e-01 -1.79462616e-01 9.66242849e+01] [ 1.78797385e-01 1.89058671e-02 9.83704256e-01 1.91608117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.111858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.57, Y:96.65, Z:19.18 [[ 1.62696296e-01 -9.85913659e-01 -3.87836644e-02 1.30573737e+02] [ 9.70345336e-01 1.67001789e-01 -1.74757924e-01 9.66512368e+01] [ 1.78773165e-01 -9.20108089e-03 9.83847293e-01 1.91756838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.141858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.57, Y:96.68, Z:19.18 [[ 1.66611886e-01 -9.85478239e-01 -3.27585060e-02 1.30573626e+02] [ 9.69898889e-01 1.69780476e-01 -1.74558687e-01 9.66753647e+01] [ 1.77585542e-01 -2.68888658e-03 9.84101694e-01 1.91773787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:96.70, Z:19.19 [[ 1.65139838e-01 -9.85551352e-01 -3.76479399e-02 1.30575976e+02] [ 9.69604114e-01 1.69218704e-01 -1.76728300e-01 9.66984111e+01] [ 1.80545551e-01 -7.31871452e-03 9.83539395e-01 1.91867500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:96.73, Z:19.19 [[ 1.66701191e-01 -9.85177575e-01 -4.04457467e-02 1.30581508e+02] [ 9.69892535e-01 1.71224519e-01 -1.73178045e-01 9.67258080e+01] [ 1.77536430e-01 -1.03590414e-02 9.84059707e-01 1.91923765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:96.75, Z:19.19 [[ 1.67847247e-01 -9.85289629e-01 -3.21192796e-02 1.30581266e+02] [ 9.69641273e-01 1.70883464e-01 -1.74913245e-01 9.67521781e+01] [ 1.77828860e-01 -1.78547266e-03 9.84059810e-01 1.91942897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:96.78, Z:19.19 [[ 1.70183904e-01 -9.85209619e-01 -1.99861224e-02 1.30583064e+02] [ 9.69591900e-01 1.71036945e-01 -1.75036885e-01 9.67839723e+01] [ 1.75866388e-01 1.04100780e-02 9.84359001e-01 1.91905310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:96.81, Z:19.22 [[ 1.72606527e-01 -9.83343349e-01 -5.69459804e-02 1.30609458e+02] [ 9.67931874e-01 1.80046629e-01 -1.75188751e-01 9.68102974e+01] [ 1.82523624e-01 -2.48811076e-02 9.82886594e-01 1.92171528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.59, Y:96.84, Z:19.20 [[ 1.69755322e-01 -9.85219082e-01 -2.29453896e-02 1.30590000e+02] [ 9.69051369e-01 1.71113549e-01 -1.77931439e-01 9.68354089e+01] [ 1.79227716e-01 7.96954757e-03 9.83775336e-01 1.92043695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:96.86, Z:19.22 [[ 1.73723792e-01 -9.83732426e-01 -4.57226195e-02 1.30612874e+02] [ 9.67504885e-01 1.79151492e-01 -1.78434977e-01 9.68648907e+01] [ 1.83723549e-01 -1.32384568e-02 9.82888804e-01 1.92227059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.60, Y:96.89, Z:19.21 [[ 1.70097026e-01 -9.85279381e-01 -1.70746655e-02 1.30596595e+02] [ 9.68555530e-01 1.70352242e-01 -1.81329257e-01 9.68899185e+01] [ 1.81568685e-01 1.43058056e-02 9.83274202e-01 1.92120692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.411858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.62, Y:96.92, Z:19.23 [[ 1.72257659e-01 -9.84226845e-01 -4.03090153e-02 1.30615795e+02] [ 9.68053575e-01 1.76712539e-01 -1.77890288e-01 9.69169968e+01] [ 1.82207505e-01 -8.37832173e-03 9.83224404e-01 1.92259452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:96.95, Z:19.23 [[ 1.70322992e-01 -9.84822411e-01 -3.33900822e-02 1.30616378e+02] [ 9.68539464e-01 1.73553942e-01 -1.78354524e-01 9.69464261e+01] [ 1.81442513e-01 -1.96173610e-03 9.83399596e-01 1.92276072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.471858064 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:130.63, Y:96.97, Z:19.24 [[ 1.72471319e-01 -9.84164390e-01 -4.09157380e-02 1.30628610e+02] [ 9.67892487e-01 1.77038293e-01 -1.78442084e-01 9.69740786e+01] [ 1.82859997e-01 -8.82589382e-03 9.83099347e-01 1.92374020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:97.00, Z:19.23 [[ 1.67958496e-01 -9.85517606e-01 -2.33450483e-02 1.30617781e+02] [ 9.68663059e-01 1.69389137e-01 -1.81656816e-01 9.69964691e+01] [ 1.82980388e-01 7.89731959e-03 9.83084844e-01 1.92331556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.63, Y:97.02, Z:19.24 [[ 1.65750404e-01 -9.85612202e-01 -3.30966851e-02 1.30627973e+02] [ 9.69088847e-01 1.69007026e-01 -1.79731553e-01 9.70208509e+01] [ 1.82739184e-01 -2.28305086e-03 9.83158776e-01 1.92411256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561858064 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:130.63, Y:97.05, Z:19.25 [[ 1.63849057e-01 -9.85944813e-01 -3.26544356e-02 1.30632608e+02] [ 9.69548389e-01 1.67055230e-01 -1.79076719e-01 9.70474830e+01] [ 1.82014857e-01 -2.31850386e-03 9.83293047e-01 1.92456867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:97.08, Z:19.25 [[ 1.63031260e-01 -9.85922342e-01 -3.71206760e-02 1.30641772e+02] [ 9.69266797e-01 1.67075910e-01 -1.80575515e-01 9.70756219e+01] [ 1.84235405e-01 -6.54038496e-03 9.82860386e-01 1.92537231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.63, Y:97.10, Z:19.24 [[ 1.59219912e-01 -9.87075446e-01 -1.81957177e-02 1.30634114e+02] [ 9.70913878e-01 1.59898095e-01 -1.78210102e-01 9.71043735e+01] [ 1.78816277e-01 1.07081220e-02 9.83824210e-01 1.92448918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:97.13, Z:19.26 [[ 1.57215777e-01 -9.86873014e-01 -3.69439370e-02 1.30649448e+02] [ 9.70868060e-01 1.61299396e-01 -1.77194004e-01 9.71296331e+01] [ 1.80827015e-01 -8.00999543e-03 9.83482298e-01 1.92597024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.66, Y:97.15, Z:19.27 [[ 1.57328941e-01 -9.86376583e-01 -4.80504027e-02 1.30661606e+02] [ 9.70326011e-01 1.63449217e-01 -1.78190308e-01 9.71549655e+01] [ 1.83616547e-01 -1.85900632e-02 9.82822147e-01 1.92740686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.65, Y:97.18, Z:19.27 [[ 1.54376109e-01 -9.87585797e-01 -2.90225851e-02 1.30654099e+02] [ 9.71243355e-01 1.57079508e-01 -1.78920019e-01 9.71822723e+01] [ 1.81257723e-01 -5.67016563e-04 9.83435466e-01 1.92702263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.66, Y:97.21, Z:19.27 [[ 1.52982269e-01 -9.87859273e-01 -2.70274322e-02 1.30658509e+02] [ 9.71258343e-01 1.55345625e-01 -1.80346801e-01 9.72091041e+01] [ 1.82355853e-01 1.33924391e-03 9.83231686e-01 1.92745519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:97.24, Z:19.28 [[ 1.53421759e-01 -9.87806333e-01 -2.64653194e-02 1.30664273e+02] [ 9.71359619e-01 1.55676864e-01 -1.79513800e-01 9.72375905e+01] [ 1.81444907e-01 1.83398049e-03 9.83399401e-01 1.92773326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.801858064 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:130.67, Y:97.26, Z:19.29 [[ 1.52666353e-01 -9.87714915e-01 -3.33501291e-02 1.30671239e+02] [ 9.71539006e-01 1.56179679e-01 -1.78100722e-01 9.72613987e+01] [ 1.81121352e-01 -5.21096367e-03 9.83446949e-01 1.92855291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.831858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.68, Y:97.29, Z:19.29 [[ 1.53405105e-01 -9.87642603e-01 -3.20774511e-02 1.30675645e+02] [ 9.71711818e-01 1.56670371e-01 -1.76721640e-01 9.72886114e+01] [ 1.79563406e-01 -4.06003672e-03 9.83738024e-01 1.92884775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:97.32, Z:19.29 [[ 1.55380681e-01 -9.87515975e-01 -2.58658546e-02 1.30677794e+02] [ 9.71092490e-01 1.57494824e-01 -1.79373234e-01 9.73176539e+01] [ 1.81207673e-01 2.75299817e-03 9.83441000e-01 1.92902650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.891858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.68, Y:97.34, Z:19.29 [[ 1.54280727e-01 -9.87858115e-01 -1.82702690e-02 1.30675620e+02] [ 9.72158875e-01 1.55077752e-01 -1.75664487e-01 9.73426065e+01] [ 1.76364901e-01 9.34004055e-03 9.84280542e-01 1.92858808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:97.37, Z:19.31 [[ 1.58899670e-01 -9.85963279e-01 -5.12572660e-02 1.30701713e+02] [ 9.69607416e-01 1.65625661e-01 -1.80082200e-01 9.73681212e+01] [ 1.86043955e-01 -2.10844230e-02 9.82315170e-01 1.93145398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.951858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.70, Y:97.39, Z:19.31 [[ 1.60473149e-01 -9.86253770e-01 -3.93937696e-02 1.30696714e+02] [ 9.70185751e-01 1.64951325e-01 -1.77568774e-01 9.73933305e+01] [ 1.81625927e-01 -9.72425368e-03 9.83319613e-01 1.93124605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.981858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.68, Y:97.43, Z:19.29 [[ 1.60484498e-01 -9.87036097e-01 -2.11400333e-03 1.30681500e+02] [ 9.70912502e-01 1.58247768e-01 -1.79684607e-01 9.74280390e+01] [ 1.77689729e-01 2.67840817e-02 9.83722000e-01 1.92946674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.011858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.71, Y:97.45, Z:19.33 [[ 1.63296831e-01 -9.85199377e-01 -5.21184569e-02 1.30710911e+02] [ 9.68940409e-01 1.70097854e-01 -1.79502658e-01 9.74470511e+01] [ 1.85711144e-01 -2.11874637e-02 9.82375927e-01 1.93257352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.041858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.71, Y:97.48, Z:19.32 [[ 1.66321074e-01 -9.85648647e-01 -2.88798237e-02 1.30706243e+02] [ 9.69049025e-01 1.68798227e-01 -1.80142016e-01 9.74801283e+01] [ 1.82431597e-01 1.97544851e-03 9.83216563e-01 1.93191324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.071858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:130.69, Y:97.51, Z:19.30 [[ 1.64052960e-01 -9.86446437e-01 3.17078761e-03 1.30689459e+02] [ 9.71569762e-01 1.61020969e-01 -1.73563951e-01 9.75088390e+01] [ 1.70700978e-01 3.15543213e-02 9.84817496e-01 1.93012407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:97.53, Z:19.35 [[ 1.69634392e-01 -9.83091764e-01 -6.89547404e-02 1.30733434e+02] [ 9.68316669e-01 1.79278521e-01 -1.73844877e-01 9.75253064e+01] [ 1.83267570e-01 -3.72799545e-02 9.82355945e-01 1.93473291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.131858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.72, Y:97.56, Z:19.34 [[ 1.70899544e-01 -9.84774472e-01 -3.18211287e-02 1.30720614e+02] [ 9.68300010e-01 1.73836744e-01 -1.79376358e-01 9.75571074e+01] [ 1.82176940e-01 -1.57061462e-04 9.83265751e-01 1.93388679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:97.59, Z:19.32 [[ 1.71247187e-01 -9.85224399e-01 2.69904484e-03 1.30707054e+02] [ 9.69622401e-01 1.68048391e-01 -1.77741772e-01 9.75900977e+01] [ 1.74661960e-01 3.30548327e-02 9.84073462e-01 1.93212977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.191858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.74, Y:97.61, Z:19.36 [[ 1.73381150e-01 -9.83245854e-01 -5.62722603e-02 1.30741964e+02] [ 9.67558695e-01 1.80719235e-01 -1.76552344e-01 9.76067045e+01] [ 1.83763840e-01 -2.38358662e-02 9.82681384e-01 1.93567692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.74, Y:97.64, Z:19.35 [[ 1.74295007e-01 -9.83953059e-01 -3.81788952e-02 1.30739014e+02] [ 9.67722127e-01 1.78329670e-01 -1.78079796e-01 9.76368256e+01] [ 1.82030590e-01 -5.90814232e-03 9.83275118e-01 1.93547858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.74, Y:97.66, Z:19.36 [[ 1.74004896e-01 -9.84398278e-01 -2.61213775e-02 1.30738184e+02] [ 9.67573207e-01 1.75842577e-01 -1.81332504e-01 9.76647920e+01] [ 1.83096655e-01 6.27839845e-03 9.83074868e-01 1.93550655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:97.69, Z:19.36 [[ 1.75031404e-01 -9.83926608e-01 -3.53898099e-02 1.30747939e+02] [ 9.67583783e-01 1.78548455e-01 -1.78611509e-01 9.76886530e+01] [ 1.82059412e-01 -2.97998285e-03 9.83283016e-01 1.93629973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:97.72, Z:19.37 [[ 1.74805056e-01 -9.84137006e-01 -3.02910128e-02 1.30750092e+02] [ 9.67635678e-01 1.77398138e-01 -1.79474498e-01 9.77171467e+01] [ 1.82001064e-01 2.06238488e-03 9.83296171e-01 1.93662245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:97.74, Z:19.37 [[ 1.74343402e-01 -9.84218464e-01 -3.03050128e-02 1.30756542e+02] [ 9.67648718e-01 1.76946010e-01 -1.79850125e-01 9.77436591e+01] [ 1.82374165e-01 2.03107582e-03 9.83227104e-01 1.93714265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.371858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.76, Y:97.77, Z:19.38 [[ 1.74213685e-01 -9.84241558e-01 -3.03009437e-02 1.30762512e+02] [ 9.67618681e-01 1.76817138e-01 -1.80138245e-01 9.77710035e+01] [ 1.82657273e-01 2.06278825e-03 9.83174484e-01 1.93763531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.77, Y:97.80, Z:19.38 [[ 1.73957070e-01 -9.84285364e-01 -3.03522641e-02 1.30768335e+02] [ 9.67547440e-01 1.76572953e-01 -1.80759350e-01 9.77981704e+01] [ 1.83278171e-01 2.07711151e-03 9.83058898e-01 1.93812253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.77, Y:97.83, Z:19.38 [[ 1.74070832e-01 -9.84604574e-01 -1.59115799e-02 1.30771315e+02] [ 9.67729315e-01 1.74032532e-01 -1.82243384e-01 9.78313637e+01] [ 1.82206802e-01 1.63251552e-02 9.83124697e-01 1.93770622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:97.86, Z:19.39 [[ 1.73554226e-01 -9.84381188e-01 -2.95399421e-02 1.30783199e+02] [ 9.67546758e-01 1.76026601e-01 -1.81295084e-01 9.78572643e+01] [ 1.83663286e-01 2.88325283e-03 9.82984987e-01 1.93871497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:97.88, Z:19.40 [[ 1.72893055e-01 -9.83677608e-01 -4.98633709e-02 1.30794808e+02] [ 9.67637649e-01 1.79085644e-01 -1.77779955e-01 9.78752398e+01] [ 1.83807975e-01 -1.75127553e-02 9.82806152e-01 1.94022918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:97.91, Z:19.39 [[ 1.72235207e-01 -9.84817545e-01 -2.16664944e-02 1.30787569e+02] [ 9.68021759e-01 1.73288615e-01 -1.81397162e-01 9.79088912e+01] [ 1.82397664e-01 1.02693397e-02 9.83171212e-01 1.93936904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:97.94, Z:19.39 [[ 1.69041163e-01 -9.85486463e-01 -1.55407753e-02 1.30789911e+02] [ 9.69078541e-01 1.69061079e-01 -1.79736288e-01 9.79364400e+01] [ 1.79755019e-01 1.53225992e-02 9.83592065e-01 1.93916293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.81, Y:97.96, Z:19.41 [[ 1.69440791e-01 -9.84690299e-01 -4.09247344e-02 1.30810286e+02] [ 9.68176101e-01 1.74072446e-01 -1.79816077e-01 9.79592213e+01] [ 1.84187015e-01 -9.15417149e-03 9.82848587e-01 1.94103745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:97.99, Z:19.41 [[ 1.66629733e-01 -9.85627778e-01 -2.77923551e-02 1.30811136e+02] [ 9.68509049e-01 1.68893967e-01 -1.82934551e-01 9.79860896e+01] [ 1.84999337e-01 3.56518799e-03 9.82732179e-01 1.94102301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.82, Y:98.01, Z:19.42 [[ 1.65392126e-01 -9.85509594e-01 -3.76335490e-02 1.30821959e+02] [ 9.69055808e-01 1.69483825e-01 -1.79460507e-01 9.80092073e+01] [ 1.83238329e-01 -6.78765453e-03 9.83045087e-01 1.94194241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.671858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.83, Y:98.03, Z:19.43 [[ 1.63956400e-01 -9.85694343e-01 -3.90507491e-02 1.30828472e+02] [ 9.68905164e-01 1.68347735e-01 -1.81333458e-01 9.80342746e+01] [ 1.85313469e-01 -8.10569142e-03 9.82646028e-01 1.94292643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:98.06, Z:19.42 [[ 1.62857362e-01 -9.86442120e-01 -2.02342033e-02 1.30826666e+02] [ 9.69378758e-01 1.63793329e-01 -1.82966032e-01 9.80647912e+01] [ 1.83799628e-01 1.01827584e-02 9.82910987e-01 1.94240379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:98.09, Z:19.44 [[ 1.58417622e-01 -9.86855215e-01 -3.19474788e-02 1.30839365e+02] [ 9.69520615e-01 1.61596869e-01 -1.84163595e-01 9.80883744e+01] [ 1.86905417e-01 -1.79898050e-03 9.82376266e-01 1.94355836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.85, Y:98.11, Z:19.44 [[ 1.56645515e-01 -9.86979229e-01 -3.65264922e-02 1.30847416e+02] [ 9.70147630e-01 1.60696059e-01 -1.81632467e-01 9.81122603e+01] [ 1.85137135e-01 -6.98417848e-03 9.82687876e-01 1.94416138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.791858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:130.86, Y:98.14, Z:19.45 [[ 1.56961716e-01 -9.86637765e-01 -4.36914200e-02 1.30862098e+02] [ 9.69521823e-01 1.62363913e-01 -1.83481320e-01 9.81408823e+01] [ 1.88123509e-01 -1.35602424e-02 9.82051763e-01 1.94548408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:98.17, Z:19.45 [[ 1.57394160e-01 -9.87161814e-01 -2.71777607e-02 1.30857750e+02] [ 9.69586674e-01 1.59698105e-01 -1.85467511e-01 9.81686527e+01] [ 1.87426682e-01 2.84030851e-03 9.82274489e-01 1.94530495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.851858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.87, Y:98.19, Z:19.47 [[ 1.57880966e-01 -9.86522240e-01 -4.29822163e-02 1.30870663e+02] [ 9.69625089e-01 1.63117871e-01 -1.82262854e-01 9.81912345e+01] [ 1.86817527e-01 -1.29007998e-02 9.82309921e-01 1.94668366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.87, Y:98.22, Z:19.46 [[ 1.56555041e-01 -9.87341773e-01 -2.54311404e-02 1.30866607e+02] [ 9.70069849e-01 1.58553537e-01 -1.83916460e-01 9.82197223e+01] [ 1.85620601e-01 4.12306640e-03 9.82612840e-01 1.94630195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:98.25, Z:19.47 [[ 1.53087912e-01 -9.87821281e-01 -2.78066182e-02 1.30871472e+02] [ 9.70920102e-01 1.55590435e-01 -1.81949915e-01 9.82473112e+01] [ 1.84060442e-01 8.56328002e-04 9.82914554e-01 1.94678436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.87, Y:98.27, Z:19.47 [[ 1.51286605e-01 -9.88094495e-01 -2.79576890e-02 1.30872257e+02] [ 9.71920941e-01 1.53848020e-01 -1.78046259e-01 9.82684001e+01] [ 1.80227764e-01 -2.36649336e-04 9.83624876e-01 1.94700403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:98.30, Z:19.47 [[ 1.48222296e-01 -9.88715960e-01 -2.17002823e-02 1.30873701e+02] [ 9.72075489e-01 1.49694162e-01 -1.80723276e-01 9.82975044e+01] [ 1.81932393e-01 5.69290638e-03 9.83294562e-01 1.94724018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.88, Y:98.32, Z:19.48 [[ 1.47225171e-01 -9.88493482e-01 -3.47186457e-02 1.30884142e+02] [ 9.72639851e-01 1.51063062e-01 -1.76498360e-01 9.83202145e+01] [ 1.79712184e-01 -7.78373711e-03 9.83688439e-01 1.94817677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.88, Y:98.35, Z:19.48 [[ 1.44452696e-01 -9.89225723e-01 -2.37883873e-02 1.30883761e+02] [ 9.73282681e-01 1.46378631e-01 -1.76901440e-01 9.83489772e+01] [ 1.78477566e-01 2.40106446e-03 9.83941052e-01 1.94804678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061858064 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:130.89, Y:98.37, Z:19.49 [[ 1.42553998e-01 -9.89444629e-01 -2.60323697e-02 1.30887754e+02] [ 9.72911601e-01 1.44911022e-01 -1.80121659e-01 9.83736858e+01] [ 1.81992785e-01 3.49868175e-04 9.83299804e-01 1.94891649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.90, Y:98.40, Z:19.50 [[ 1.41262054e-01 -9.88860485e-01 -4.69038755e-02 1.30902679e+02] [ 9.72979790e-01 1.47422121e-01 -1.77699315e-01 9.83950988e+01] [ 1.82634500e-01 -2.05343527e-02 9.82966419e-01 1.95030176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:130.89, Y:98.43, Z:19.49 [[ 1.40250798e-01 -9.89922514e-01 -1.95737057e-02 1.30892398e+02] [ 9.73272979e-01 1.41468925e-01 -1.80903985e-01 9.84258379e+01] [ 1.81849999e-01 6.32136949e-03 9.83305964e-01 1.94935075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.151858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.90, Y:98.45, Z:19.50 [[ 1.38541683e-01 -9.89958566e-01 -2.80755951e-02 1.30900504e+02] [ 9.73040784e-01 1.41342677e-01 -1.82246759e-01 9.84540283e+01] [ 1.84385020e-01 -2.06992642e-03 9.82851911e-01 1.95026107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:98.47, Z:19.52 [[ 1.41509433e-01 -9.88643064e-01 -5.05961768e-02 1.30914912e+02] [ 9.73384341e-01 1.48268875e-01 -1.74754874e-01 9.84748569e+01] [ 1.80272032e-01 -2.45200631e-02 9.83311121e-01 1.95187456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.90, Y:98.51, Z:19.51 [[ 1.40811498e-01 -9.89870225e-01 -1.81400297e-02 1.30903507e+02] [ 9.71949376e-01 1.41702117e-01 -1.87709670e-01 9.85090302e+01] [ 1.88378694e-01 8.80048924e-03 9.82057035e-01 1.95130199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.89, Y:98.53, Z:19.51 [[ 1.40623441e-01 -9.90059671e-01 -2.62595885e-03 1.30894098e+02] [ 9.71909937e-01 1.38550141e-01 -1.90249658e-01 9.85345801e+01] [ 1.88722341e-01 2.42013661e-02 9.81732230e-01 1.95063965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.92, Y:98.55, Z:19.53 [[ 1.42580095e-01 -9.88740812e-01 -4.54150070e-02 1.30917356e+02] [ 9.72461268e-01 1.48483917e-01 -1.79643004e-01 9.85515357e+01] [ 1.84363768e-01 -1.85508186e-02 9.82682995e-01 1.95262885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.301858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:130.91, Y:98.58, Z:19.52 [[ 1.41585896e-01 -9.89655930e-01 -2.31208821e-02 1.30909790e+02] [ 9.72355109e-01 1.43415883e-01 -1.84275408e-01 9.85837502e+01] [ 1.85685152e-01 3.60909083e-03 9.82602666e-01 1.95230340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.331858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:130.92, Y:98.61, Z:19.54 [[ 1.42098837e-01 -9.88984556e-01 -4.14423489e-02 1.30923325e+02] [ 9.72170463e-01 1.47316213e-01 -1.82160708e-01 9.86085986e+01] [ 1.86259257e-01 -1.44042027e-02 9.82395037e-01 1.95376722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.361858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:130.91, Y:98.64, Z:19.53 [[ 1.40731301e-01 -9.89862183e-01 -1.91718514e-02 1.30913338e+02] [ 9.72888152e-01 1.41855900e-01 -1.82662387e-01 9.86366319e+01] [ 1.83530230e-01 7.05424837e-03 9.82988755e-01 1.95324088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:98.66, Z:19.55 [[ 1.42176055e-01 -9.88791239e-01 -4.55834984e-02 1.30931974e+02] [ 9.72830106e-01 1.48085366e-01 -1.77967159e-01 9.86610262e+01] [ 1.82722617e-01 -1.90423310e-02 9.82980079e-01 1.95497890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:98.69, Z:19.54 [[ 1.38891856e-01 -9.90248359e-01 -1.08277246e-02 1.30913464e+02] [ 9.73299017e-01 1.38515934e-01 -1.83036498e-01 9.86919310e+01] [ 1.82751404e-01 1.48836652e-02 9.83046490e-01 1.95408455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.451858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.93, Y:98.71, Z:19.56 [[ 1.39467382e-01 -9.89511200e-01 -3.76355388e-02 1.30929270e+02] [ 9.73769949e-01 1.43950805e-01 -1.76210818e-01 9.87131931e+01] [ 1.79780245e-01 -1.20726952e-02 9.83632713e-01 1.95551851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:98.74, Z:19.56 [[ 1.39764106e-01 -9.89569284e-01 -3.49088469e-02 1.30933770e+02] [ 9.73140833e-01 1.43786022e-01 -1.79784593e-01 9.87440773e+01] [ 1.82928715e-01 -8.84379152e-03 9.83086401e-01 1.95606670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.511858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.92, Y:98.77, Z:19.56 [[ 1.37985345e-01 -9.90270495e-01 -1.80108749e-02 1.30924537e+02] [ 9.73476078e-01 1.38951026e-01 -1.81760659e-01 9.87703387e+01] [ 1.82494848e-01 7.54715151e-03 9.83177843e-01 1.95565588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:98.79, Z:19.56 [[ 1.39356042e-01 -9.89864369e-01 -2.73573549e-02 1.30931535e+02] [ 9.73128331e-01 1.42009416e-01 -1.81258316e-01 9.87937993e+01] [ 1.83306151e-01 -1.36277553e-03 9.83054931e-01 1.95645214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:98.82, Z:19.58 [[ 1.43143535e-01 -9.88872814e-01 -4.05029152e-02 1.30943040e+02] [ 9.72519331e-01 1.48133222e-01 -1.79618205e-01 9.88209358e+01] [ 1.83619387e-01 -1.36786832e-02 9.82902240e-01 1.95752471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.93, Y:98.85, Z:19.57 [[ 1.40350962e-01 -9.89892981e-01 -2.03345248e-02 1.30932631e+02] [ 9.73108691e-01 1.41701759e-01 -1.81604202e-01 9.88490871e+01] [ 1.82650163e-01 5.70062175e-03 9.83161442e-01 1.95702887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:98.88, Z:19.58 [[ 1.41670444e-01 -9.89297484e-01 -3.49281222e-02 1.30945337e+02] [ 9.72444677e-01 1.45683125e-01 -1.82010375e-01 9.88781114e+01] [ 1.85150844e-01 -8.18017599e-03 9.82676066e-01 1.95841235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:98.90, Z:19.59 [[ 1.42941898e-01 -9.89162087e-01 -3.35556222e-02 1.30947885e+02] [ 9.72263420e-01 1.46679980e-01 -1.82178005e-01 9.89043214e+01] [ 1.85125514e-01 -6.58403412e-03 9.82692828e-01 1.95890099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:98.93, Z:19.59 [[ 1.42883076e-01 -9.89480623e-01 -2.26389993e-02 1.30942364e+02] [ 9.72735318e-01 1.44613313e-01 -1.81309102e-01 9.89304744e+01] [ 1.82675744e-01 3.88424809e-03 9.83165543e-01 1.95861295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:98.96, Z:19.59 [[ 1.42232081e-01 -9.89486641e-01 -2.61958670e-02 1.30947090e+02] [ 9.72562192e-01 1.44623626e-01 -1.82227302e-01 9.89572175e+01] [ 1.84100023e-01 4.41458559e-04 9.82907415e-01 1.95920327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:98.98, Z:19.60 [[ 1.42538892e-01 -9.89284773e-01 -3.15959043e-02 1.30953257e+02] [ 9.72217801e-01 1.45925329e-01 -1.83025535e-01 9.89838227e+01] [ 1.85675017e-01 -4.62984357e-03 9.82600301e-01 1.96007439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:99.01, Z:19.60 [[ 1.43817091e-01 -9.89189763e-01 -2.86401206e-02 1.30952600e+02] [ 9.72245779e-01 1.46632086e-01 -1.82310659e-01 9.90114750e+01] [ 1.84539398e-01 -1.62584784e-03 9.82823772e-01 1.96036492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:99.04, Z:19.61 [[ 1.44619755e-01 -9.88945667e-01 -3.27352124e-02 1.30957380e+02] [ 9.72094759e-01 1.48175559e-01 -1.81867486e-01 9.90391118e+01] [ 1.84707621e-01 -5.52009703e-03 9.82778013e-01 1.96118454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:99.07, Z:19.62 [[ 1.45308346e-01 -9.88817193e-01 -3.35565677e-02 1.30960526e+02] [ 9.71708523e-01 1.49012723e-01 -1.83242342e-01 9.90664405e+01] [ 1.86193533e-01 -5.98056125e-03 9.82494886e-01 1.96181395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.871858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.96, Y:99.09, Z:19.62 [[ 1.45700102e-01 -9.88966388e-01 -2.67761712e-02 1.30957132e+02] [ 9.72023385e-01 1.48139128e-01 -1.82278191e-01 9.90938013e+01] [ 1.84233603e-01 5.30886436e-04 9.82882342e-01 1.96187541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:99.12, Z:19.62 [[ 1.45187491e-01 -9.89020404e-01 -2.75541865e-02 1.30960584e+02] [ 9.72385189e-01 1.47777937e-01 -1.80634233e-01 9.91209219e+01] [ 1.82722843e-01 -5.67451784e-04 9.83164300e-01 1.96231144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:99.15, Z:19.63 [[ 1.46078139e-01 -9.88844959e-01 -2.91002322e-02 1.30965126e+02] [ 9.71798398e-01 1.48940163e-01 -1.82824237e-01 9.91482637e+01] [ 1.85119018e-01 -1.57293482e-03 9.82714849e-01 1.96311709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.96, Y:99.17, Z:19.63 [[ 1.43898975e-01 -9.89368896e-01 -2.10302779e-02 1.30961242e+02] [ 9.73033719e-01 1.45330548e-01 -1.79121225e-01 9.91732411e+01] [ 1.80273310e-01 5.31219116e-03 9.83602213e-01 1.96301050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.96, Y:99.20, Z:19.64 [[ 1.43829455e-01 -9.89244417e-01 -2.66190060e-02 1.30964998e+02] [ 9.73024726e-01 1.46271752e-01 -1.78402516e-01 9.91993574e+01] [ 1.80377301e-01 -2.41414369e-04 9.83597464e-01 1.96374416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02185806399999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:130.97, Y:99.23, Z:19.65 [[ 1.44826465e-01 -9.88809698e-01 -3.57865300e-02 1.30973821e+02] [ 9.72187924e-01 1.48933457e-01 -1.80746967e-01 9.92274737e+01] [ 1.84054166e-01 -8.61428793e-03 9.82878354e-01 1.96477410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.051858064 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:130.97, Y:99.25, Z:19.65 [[ 1.43558983e-01 -9.89340250e-01 -2.44272104e-02 1.30968254e+02] [ 9.72986347e-01 1.45609277e-01 -1.79152191e-01 9.92531775e+01] [ 1.80799301e-01 1.95156409e-03 9.83518075e-01 1.96461051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:99.29, Z:19.63 [[ 1.42077487e-01 -9.89702424e-01 1.74097327e-02 1.30948435e+02] [ 9.73573863e-01 1.36541989e-01 -1.83057967e-01 9.92873296e+01] [ 1.78795754e-01 4.29580765e-02 9.82947955e-01 1.96291146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:99.30, Z:19.67 [[ 1.44961963e-01 -9.87428955e-01 -6.30086342e-02 1.30990187e+02] [ 9.71783344e-01 1.54062386e-01 -1.78611067e-01 9.93020436e+01] [ 1.86073000e-01 -3.53389304e-02 9.81900198e-01 1.96723555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:99.33, Z:19.67 [[ 1.45820513e-01 -9.88926332e-01 -2.75878053e-02 1.30976017e+02] [ 9.71651965e-01 1.48407237e-01 -1.84031928e-01 9.93334906e+01] [ 1.86088249e-01 2.98847737e-05 9.82533034e-01 1.96650853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:99.36, Z:19.67 [[ 1.45457186e-01 -9.88977291e-01 -2.76789762e-02 1.30979879e+02] [ 9.71706730e-01 1.48067221e-01 -1.84016653e-01 9.93605343e+01] [ 1.86086640e-01 -1.29302966e-04 9.82533331e-01 1.96700885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.98, Y:99.39, Z:19.67 [[ 1.46421690e-01 -9.88882029e-01 -2.59426441e-02 1.30981204e+02] [ 9.71369105e-01 1.48689620e-01 -1.85292898e-01 9.93863913e+01] [ 1.87090218e-01 1.93101616e-03 9.82340838e-01 1.96745350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:99.42, Z:19.67 [[ 1.46862114e-01 -9.88988859e-01 -1.82361389e-02 1.30980927e+02] [ 9.71269092e-01 1.47672010e-01 -1.86626173e-01 9.94157676e+01] [ 1.87264173e-01 9.69611620e-03 9.82261734e-01 1.96747886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:99.45, Z:19.66 [[ 1.41702062e-01 -9.89884378e-01 7.03159475e-03 1.30965066e+02] [ 9.74034366e-01 1.38159074e-01 -1.79357531e-01 9.94469901e+01] [ 1.76571739e-01 3.22643469e-02 9.83758829e-01 1.96616304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:99.46, Z:19.71 [[ 1.44505345e-01 -9.87032588e-01 -6.98918798e-02 1.31007534e+02] [ 9.71641682e-01 1.54902638e-01 -1.78655017e-01 9.94629701e+01] [ 1.87164761e-01 -4.20932588e-02 9.81426263e-01 1.97061821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321858064 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:130.99, Y:99.50, Z:19.69 [[ 1.44196614e-01 -9.89288944e-01 -2.26874987e-02 1.30987771e+02] [ 9.71708946e-01 1.45893633e-01 -1.85733067e-01 9.94951029e+01] [ 1.87053631e-01 4.73643392e-03 9.82338285e-01 1.96945320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351858064 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:130.99, Y:99.52, Z:19.70 [[ 1.41174949e-01 -9.89597022e-01 -2.77014191e-02 1.30991810e+02] [ 9.72188545e-01 1.43864613e-01 -1.84803696e-01 9.95202549e+01] [ 1.86866441e-01 -8.41349997e-04 9.82384968e-01 1.97017728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:99.56, Z:19.69 [[ 1.37536605e-01 -9.90321765e-01 1.86140604e-02 1.30970988e+02] [ 9.73523471e-01 1.31691799e-01 -1.86840365e-01 9.95567828e+01] [ 1.82580761e-01 4.38186141e-02 9.82213925e-01 1.96868421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:99.57, Z:19.75 [[ 1.44727494e-01 -9.85336915e-01 -9.03610348e-02 1.31035124e+02] [ 9.69213264e-01 1.59556756e-01 -1.87529439e-01 9.95730994e+01] [ 1.99197392e-01 -6.04384477e-02 9.78093857e-01 1.97501494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.00, Y:99.61, Z:19.73 [[ 1.42954883e-01 -9.89495749e-01 -2.14956766e-02 1.31003032e+02] [ 9.69665898e-01 1.44374850e-01 -1.97240842e-01 9.96065015e+01] [ 1.98272410e-01 7.35291692e-03 9.80119373e-01 1.97313753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:99.63, Z:19.74 [[ 1.42242062e-01 -9.89302554e-01 -3.23674604e-02 1.31008797e+02] [ 9.69990413e-01 1.45830733e-01 -1.94555896e-01 9.96313871e+01] [ 1.97194815e-01 -3.72209452e-03 9.80357257e-01 1.97404432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:99.67, Z:19.71 [[ 1.38138749e-01 -9.90130405e-01 2.36530651e-02 1.30978502e+02] [ 9.72571808e-01 1.31099089e-01 -1.92138248e-01 9.96658115e+01] [ 1.87141026e-01 4.95460415e-02 9.81082783e-01 1.97114521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:99.68, Z:19.76 [[ 1.44055772e-01 -9.87054758e-01 -7.05041818e-02 1.31032331e+02] [ 9.69981101e-01 1.54951249e-01 -1.87421380e-01 9.96804873e+01] [ 1.95919876e-01 -4.13885922e-02 9.79746083e-01 1.97604234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:99.72, Z:19.72 [[ 1.37691903e-01 -9.90123172e-01 2.64015956e-02 1.30982162e+02] [ 9.72902569e-01 1.30202223e-01 -1.91070595e-01 9.97211586e+01] [ 1.85745877e-01 5.19950541e-02 9.81221169e-01 1.97187520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:99.74, Z:19.77 [[ 1.44530611e-01 -9.87012810e-01 -7.01185882e-02 1.31037824e+02] [ 9.68952612e-01 1.55539656e-01 -1.92193266e-01 9.97396730e+01] [ 2.00603437e-01 -4.01637790e-02 9.78848881e-01 1.97705090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.00, Y:99.78, Z:19.74 [[ 1.40931561e-01 -9.90018813e-01 1.02231208e-03 1.31000931e+02] [ 9.71007708e-01 1.38023742e-01 -1.95175507e-01 9.97750451e+01] [ 1.93086320e-01 2.84990617e-02 9.80767800e-01 1.97444063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:99.80, Z:19.75 [[ 1.39993054e-01 -9.90013955e-01 -1.65623913e-02 1.31011577e+02] [ 9.71202975e-01 1.40551497e-01 -1.92379981e-01 9.98002141e+01] [ 1.92786735e-01 1.08464175e-02 9.81180733e-01 1.97540109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.03, Y:99.82, Z:19.77 [[ 1.41277058e-01 -9.89035159e-01 -4.30145012e-02 1.31028636e+02] [ 9.70215667e-01 1.46963948e-01 -1.92569875e-01 9.98248791e+01] [ 1.96779958e-01 -1.45276377e-02 9.80340041e-01 1.97739068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:99.85, Z:19.80 [[ 1.42876022e-01 -9.87698228e-01 -6.35503956e-02 1.31043695e+02] [ 9.68285676e-01 1.52787247e-01 -1.97683855e-01 9.98479093e+01] [ 2.04961683e-01 -3.32906549e-02 9.78203681e-01 1.97974773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:99.88, Z:19.77 [[ 1.40038096e-01 -9.90057932e-01 1.32145202e-02 1.31006170e+02] [ 9.70193646e-01 1.34538228e-01 -2.01553352e-01 9.98825176e+01] [ 1.97771636e-01 4.10457911e-02 9.79388392e-01 1.97660228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:99.90, Z:19.81 [[ 1.41464698e-01 -9.87532582e-01 -6.90444623e-02 1.31053411e+02] [ 9.68515810e-01 1.52498449e-01 -1.96777410e-01 9.99007921e+01] [ 2.04853277e-01 -3.90335964e-02 9.78014066e-01 1.98108026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:99.93, Z:19.78 [[ 1.38686806e-01 -9.90262254e-01 1.21094385e-02 1.31013095e+02] [ 9.70663576e-01 1.33496575e-01 -1.99977214e-01 9.99344482e+01] [ 1.96413318e-01 3.94883920e-02 9.79725714e-01 1.97774382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:99.96, Z:19.82 [[ 1.40729071e-01 -9.88003744e-01 -6.35919071e-02 1.31056761e+02] [ 9.68599354e-01 1.50693421e-01 -1.97754352e-01 9.99550009e+01] [ 2.04964922e-01 -3.37652939e-02 9.78186734e-01 1.98194028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.861858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.06, Y:99.99, Z:19.83 [[ 1.44085063e-01 -9.87960270e-01 -5.63382673e-02 1.31062468e+02] [ 9.67140885e-01 1.52642978e-01 -2.03319035e-01 9.99863079e+01] [ 2.09470770e-01 -2.51918056e-02 9.77490342e-01 1.98299730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:100.02, Z:19.81 [[ 1.40662907e-01 -9.89981422e-01 -1.22772461e-02 1.31039721e+02] [ 9.68723577e-01 1.40181697e-01 -2.04752835e-01 1.00015174e+02] [ 2.04422548e-01 1.69078713e-02 9.78736709e-01 1.98146825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:100.04, Z:19.81 [[ 1.39337700e-01 -9.90240531e-01 -2.94876834e-03 1.31036940e+02] [ 9.70109089e-01 1.37101233e-01 -2.00228889e-01 1.00043567e+02] [ 1.98679041e-01 2.50388060e-02 9.79744710e-01 1.98092403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:100.07, Z:19.83 [[ 1.40363428e-01 -9.89551106e-01 -3.29653804e-02 1.31057188e+02] [ 9.69355521e-01 1.44126189e-01 -1.98940983e-01 1.00069208e+02] [ 2.01613445e-01 -4.03113500e-03 9.79456874e-01 1.98270472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.981858064 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:131.06, Y:100.09, Z:19.84 [[ 1.40542459e-01 -9.89191044e-01 -4.18198127e-02 1.31064611e+02] [ 9.68667448e-01 1.46117003e-01 -2.00831266e-01 1.00092103e+02] [ 2.04771076e-01 -1.22841713e-02 9.78732806e-01 1.98373680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:100.12, Z:19.84 [[ 1.39441295e-01 -9.89563493e-01 -3.63348114e-02 1.31065718e+02] [ 9.69059976e-01 1.43915072e-01 -2.00527343e-01 1.00119915e+02] [ 2.03663665e-01 -7.24881903e-03 9.79014079e-01 1.98404850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:100.15, Z:19.84 [[ 1.40058766e-01 -9.89848128e-01 -2.41707476e-02 1.31064532e+02] [ 9.68383751e-01 1.42029596e-01 -2.05086577e-01 1.00146883e+02] [ 2.06437526e-01 5.31761378e-03 9.78445334e-01 1.98418689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:100.17, Z:19.85 [[ 1.39065355e-01 -9.89745700e-01 -3.26232570e-02 1.31073030e+02] [ 9.68466792e-01 1.42804712e-01 -2.04154075e-01 1.00173603e+02] [ 2.06719373e-01 -3.20378207e-03 9.78395031e-01 1.98503997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:100.20, Z:19.85 [[ 1.39898782e-01 -9.89826908e-01 -2.59040987e-02 1.31074412e+02] [ 9.68126619e-01 1.42227036e-01 -2.06160908e-01 1.00198929e+02] [ 2.07747878e-01 3.76321251e-03 9.78175167e-01 1.98535567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:100.22, Z:19.86 [[ 1.38830241e-01 -9.89555530e-01 -3.88074313e-02 1.31085293e+02] [ 9.68767753e-01 1.43835304e-01 -2.01991205e-01 1.00224893e+02] [ 2.05463393e-01 -9.55290031e-03 9.78618177e-01 1.98627917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.08, Y:100.25, Z:19.86 [[ 1.38099238e-01 -9.90268350e-01 -1.72393637e-02 1.31079486e+02] [ 9.68101184e-01 1.38641224e-01 -2.08707231e-01 1.00254548e+02] [ 2.09066252e-01 1.21328612e-02 9.77826210e-01 1.98621325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:100.28, Z:19.87 [[ 1.34261613e-01 -9.90323712e-01 -3.51107525e-02 1.31094404e+02] [ 9.68318651e-01 1.38641908e-01 -2.07695480e-01 1.00280160e+02] [ 2.10553581e-01 -6.11286626e-03 9.77563206e-01 1.98729202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:100.31, Z:19.88 [[ 1.33359454e-01 -9.90459117e-01 -3.47274205e-02 1.31099950e+02] [ 9.68594904e-01 1.37675122e-01 -2.07049444e-01 1.00305584e+02] [ 2.09855111e-01 -6.02480193e-03 9.77713933e-01 1.98787545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:100.33, Z:19.89 [[ 1.31656492e-01 -9.90640229e-01 -3.60347613e-02 1.31106514e+02] [ 9.69138126e-01 1.36271408e-01 -2.05429785e-01 1.00331388e+02] [ 2.08417517e-01 -7.87649621e-03 9.78008231e-01 1.98851913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:100.37, Z:19.88 [[ 1.31812573e-01 -9.91226689e-01 -9.75172427e-03 1.31102838e+02] [ 9.69696003e-01 1.30978421e-01 -2.06238491e-01 1.00365616e+02] [ 2.05706362e-01 1.77286182e-02 9.78453161e-01 1.98797985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:100.38, Z:19.90 [[ 1.27287329e-01 -9.90513710e-01 -5.17738070e-02 1.31127691e+02] [ 9.69857839e-01 1.35228210e-01 -2.02704475e-01 1.00381472e+02] [ 2.07782841e-01 -2.44115215e-02 9.77870323e-01 1.99018823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.12, Y:100.41, Z:19.90 [[ 1.26315284e-01 -9.91535244e-01 -3.00384529e-02 1.31123657e+02] [ 9.69964608e-01 1.29799588e-01 -2.05720021e-01 1.00410817e+02] [ 2.07877630e-01 -3.15065326e-03 9.78149766e-01 1.99004808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:100.44, Z:19.91 [[ 1.27001000e-01 -9.91402364e-01 -3.14976033e-02 1.31129949e+02] [ 9.70091535e-01 1.30768293e-01 -2.04504442e-01 1.00435922e+02] [ 2.06865075e-01 -4.58328964e-03 9.78358745e-01 1.99070438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401858064 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.15, Y:100.47, Z:19.92 [[ 1.30260276e-01 -9.90761316e-01 -3.77395571e-02 1.31147323e+02] [ 9.68752025e-01 1.35285363e-01 -2.07887913e-01 1.00467849e+02] [ 2.11072912e-01 -9.48073543e-03 9.77424341e-01 1.99213648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:100.50, Z:19.93 [[ 1.30771824e-01 -9.90744236e-01 -3.63948927e-02 1.31152809e+02] [ 9.68660828e-01 1.35504070e-01 -2.08170235e-01 1.00496217e+02] [ 2.11175117e-01 -8.03150547e-03 9.77415247e-01 1.99276207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46185806399998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:131.16, Y:100.52, Z:19.94 [[ 1.32408822e-01 -9.90487038e-01 -3.74610704e-02 1.31159437e+02] [ 9.68138289e-01 1.37340685e-01 -2.09393863e-01 1.00522451e+02] [ 2.12546836e-01 -8.54190187e-03 9.77113544e-01 1.99353133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:100.55, Z:19.94 [[ 1.35388664e-01 -9.89994160e-01 -3.97677362e-02 1.31167734e+02] [ 9.68035687e-01 1.40725443e-01 -2.07613240e-01 1.00548455e+02] [ 2.11132228e-01 -1.03881086e-02 9.77402307e-01 1.99425605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52185806399999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:131.15, Y:100.57, Z:19.93 [[ 1.30111082e-01 -9.91431330e-01 -1.16199650e-02 1.31152813e+02] [ 9.69830164e-01 1.29695544e-01 -2.06418312e-01 1.00574604e+02] [ 2.06156640e-01 1.55879174e-02 9.78394837e-01 1.99301298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.551858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:131.17, Y:100.60, Z:19.94 [[ 1.30952787e-01 -9.90958490e-01 -2.91999635e-02 1.31167129e+02] [ 9.69668738e-01 1.34159755e-01 -2.04312749e-01 1.00599152e+02] [ 2.06382913e-01 -1.55896776e-03 9.78470062e-01 1.99416997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.581858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.18, Y:100.63, Z:19.95 [[ 1.32074647e-01 -9.90808211e-01 -2.92468095e-02 1.31175139e+02] [ 9.69357406e-01 1.35268183e-01 -2.05057891e-01 1.00626132e+02] [ 2.07129205e-01 -1.26766291e-03 9.78312775e-01 1.99475427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.611858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:131.18, Y:100.65, Z:19.95 [[ 1.31733631e-01 -9.90852781e-01 -2.92748408e-02 1.31180921e+02] [ 9.69273053e-01 1.34941186e-01 -2.05671156e-01 1.00652721e+02] [ 2.07740219e-01 -1.28150613e-03 9.78183193e-01 1.99532466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.641858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:131.19, Y:100.68, Z:19.96 [[ 1.31530338e-01 -9.90880291e-01 -2.92578150e-02 1.31186950e+02] [ 9.69237759e-01 1.34739175e-01 -2.05969710e-01 1.00678820e+02] [ 2.08033500e-01 -1.26651350e-03 9.78120882e-01 1.99592401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.671858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.20, Y:100.70, Z:19.97 [[ 1.30880056e-01 -9.90967321e-01 -2.92263462e-02 1.31195922e+02] [ 9.69274862e-01 1.34096888e-01 -2.06214128e-01 1.00704922e+02] [ 2.08270624e-01 -1.33904610e-03 9.78070322e-01 1.99658342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.701858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:131.20, Y:100.73, Z:19.97 [[ 1.30612772e-01 -9.91002967e-01 -2.92133913e-02 1.31202056e+02] [ 9.69238887e-01 1.33833229e-01 -2.06554224e-01 1.00731679e+02] [ 2.08605571e-01 -1.33613506e-03 9.77998942e-01 1.99720556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.731858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.21, Y:100.76, Z:19.98 [[ 1.30349143e-01 -9.91039407e-01 -2.91546795e-02 1.31207925e+02] [ 9.69273432e-01 1.33563159e-01 -2.06566930e-01 1.00758832e+02] [ 2.08609959e-01 -1.33303399e-03 9.77998010e-01 1.99782461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.761858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.23, Y:100.79, Z:20.00 [[ 1.34690163e-01 -9.89447429e-01 -5.34073615e-02 1.31233638e+02] [ 9.67138933e-01 1.43000507e-01 -2.10221642e-01 1.00786215e+02] [ 2.15640543e-01 -2.33375514e-02 9.76193892e-01 2.00021877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:100.82, Z:20.01 [[ 1.34869078e-01 -9.89860420e-01 -4.45722043e-02 1.31236456e+02] [ 9.67065293e-01 1.41296163e-01 -2.11707614e-01 1.00815695e+02] [ 2.15858870e-01 -1.45514211e-02 9.76316140e-01 2.00068163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.24, Y:100.84, Z:20.01 [[ 1.35238663e-01 -9.90376867e-01 -2.93966968e-02 1.31235568e+02] [ 9.66880381e-01 1.38395544e-01 -2.14450466e-01 1.00844372e+02] [ 2.16455152e-01 5.78904859e-04 9.76292391e-01 2.00052934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:100.87, Z:19.99 [[ 1.33017190e-01 -9.91106365e-01 -3.82115105e-03 1.31223003e+02] [ 9.68328997e-01 1.30780221e-01 -2.12686357e-01 1.00868498e+02] [ 2.11294533e-01 2.45908103e-02 9.77113050e-01 1.99934523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.24, Y:100.89, Z:20.01 [[ 1.33745763e-01 -9.90584214e-01 -2.92401277e-02 1.31243262e+02] [ 9.68081299e-01 1.36904573e-01 -2.09942224e-01 1.00890389e+02] [ 2.11968560e-01 -2.27937905e-04 9.77276459e-01 2.00084401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:100.92, Z:20.04 [[ 1.37513647e-01 -9.88555698e-01 -6.20292609e-02 1.31271173e+02] [ 9.66094542e-01 1.47678071e-01 -2.11784145e-01 1.00917423e+02] [ 2.18520784e-01 -3.08029202e-02 9.75346014e-01 2.00375551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.24, Y:100.95, Z:20.01 [[ 1.34461735e-01 -9.90905693e-01 -5.09409506e-03 1.31244789e+02] [ 9.67609096e-01 1.32405485e-01 -2.14945169e-01 1.00947756e+02] [ 2.13664878e-01 2.39728077e-02 9.76612832e-01 2.00131630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.28, Y:100.97, Z:20.04 [[ 1.36860520e-01 -9.89174062e-01 -5.29516207e-02 1.31278450e+02] [ 9.66520415e-01 1.45056224e-01 -2.11652969e-01 1.00969435e+02] [ 2.17042589e-01 -2.22118871e-02 9.75909395e-01 2.00436942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.28, Y:101.00, Z:20.04 [[ 1.35306030e-01 -9.90179127e-01 -3.51791698e-02 1.31279445e+02] [ 9.67198806e-01 1.39703252e-01 -2.12154357e-01 1.01000285e+02] [ 2.14985460e-01 -5.31948729e-03 9.76602762e-01 2.00429108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:101.03, Z:20.05 [[ 1.36319310e-01 -9.90158083e-01 -3.16862104e-02 1.31286039e+02] [ 9.67083819e-01 1.39943461e-01 -2.12519915e-01 1.01029702e+02] [ 2.14862589e-01 -1.67265331e-03 9.76642857e-01 2.00491246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:101.05, Z:20.06 [[ 1.38070751e-01 -9.89846980e-01 -3.37553600e-02 1.31292786e+02] [ 9.66383031e-01 1.42104663e-01 -2.14266429e-01 1.01053052e+02] [ 2.16887772e-01 -3.03668034e-03 9.76191822e-01 2.00571349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:101.08, Z:20.07 [[ 1.38738096e-01 -9.89555556e-01 -3.91349121e-02 1.31301905e+02] [ 9.66081219e-01 1.43926472e-01 -2.14411402e-01 1.01077369e+02] [ 2.17804544e-01 -8.06047382e-03 9.75959123e-01 2.00673076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:101.11, Z:20.07 [[ 1.38236661e-01 -9.89823103e-01 -3.37764701e-02 1.31302900e+02] [ 9.66245262e-01 1.42272775e-01 -2.14775585e-01 1.01105141e+02] [ 2.17395308e-01 -2.94649457e-03 9.76079197e-01 2.00705026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.151858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.31, Y:101.13, Z:20.08 [[ 1.37270737e-01 -9.89745426e-01 -3.95061497e-02 1.31310044e+02] [ 9.67205423e-01 1.42536071e-01 -2.10231152e-01 1.01133039e+02] [ 2.13706372e-01 -9.35197715e-03 9.76853176e-01 2.00770660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:101.16, Z:20.08 [[ 1.38601227e-01 -9.89644171e-01 -3.73378362e-02 1.31314278e+02] [ 9.66812535e-01 1.43381688e-01 -2.11459719e-01 1.01160260e+02] [ 2.14623440e-01 -6.79011161e-03 9.76673268e-01 2.00835140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:101.19, Z:20.06 [[ 1.35325305e-01 -9.90783454e-01 5.93377295e-03 1.31290243e+02] [ 9.69363308e-01 1.31155835e-01 -2.07684676e-01 1.01187886e+02] [ 2.04992291e-01 3.38569738e-02 9.78177829e-01 2.00582165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:101.21, Z:20.08 [[ 1.37955036e-01 -9.90064711e-01 -2.72080024e-02 1.31310151e+02] [ 9.69040547e-01 1.40602988e-01 -2.02956197e-01 1.01208948e+02] [ 2.04765295e-01 1.63317201e-03 9.78809740e-01 2.00768475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.33, Y:101.23, Z:20.11 [[ 1.42469176e-01 -9.88152468e-01 -5.70721864e-02 1.31334397e+02] [ 9.66576593e-01 1.51311971e-01 -2.06964676e-01 1.01234261e+02] [ 2.13148360e-01 -2.56785525e-02 9.76682338e-01 2.01061106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.301858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.33, Y:101.26, Z:20.11 [[ 1.44038006e-01 -9.88573672e-01 -4.44426256e-02 1.31334108e+02] [ 9.65750961e-01 1.50223661e-01 -2.11560707e-01 1.01264082e+02] [ 2.15819679e-01 -1.24477260e-02 9.76353891e-01 2.01104945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:101.29, Z:20.11 [[ 1.43010609e-01 -9.89387192e-01 -2.57089478e-02 1.31328242e+02] [ 9.66357224e-01 1.45198299e-01 -2.12299715e-01 1.01293983e+02] [ 2.13779514e-01 5.51708411e-03 9.76866358e-01 2.01058885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.361858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.34, Y:101.32, Z:20.12 [[ 1.42557609e-01 -9.88744689e-01 -4.54011877e-02 1.31342143e+02] [ 9.65597677e-01 1.49006113e-01 -2.13115709e-01 1.01319002e+02] [ 2.17482080e-01 -1.34580153e-02 9.75971530e-01 2.01230729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.34, Y:101.35, Z:20.13 [[ 1.41949044e-01 -9.89188552e-01 -3.68303860e-02 1.31341981e+02] [ 9.65572301e-01 1.46562120e-01 -2.14917837e-01 1.01347556e+02] [ 2.17992203e-01 -5.05501915e-03 9.75937419e-01 2.01258551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:101.38, Z:20.12 [[ 1.37965829e-01 -9.90337584e-01 -1.40320838e-02 1.31333142e+02] [ 9.67431579e-01 1.37783512e-01 -2.12348401e-01 1.01377132e+02] [ 2.12229992e-01 1.57217423e-02 9.77093270e-01 2.01163881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:101.40, Z:20.13 [[ 1.36054638e-01 -9.90237720e-01 -3.03050198e-02 1.31344118e+02] [ 9.67889499e-01 1.39386158e-01 -2.09192297e-01 1.01401388e+02] [ 2.11374203e-01 -8.70328255e-04 9.77404823e-01 2.01277141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:101.43, Z:20.14 [[ 1.34093926e-01 -9.90202055e-01 -3.89706305e-02 1.31351505e+02] [ 9.68157894e-01 1.39295087e-01 -2.08007622e-01 1.01425434e+02] [ 2.11397992e-01 -9.83716479e-03 9.77350561e-01 2.01377726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:101.45, Z:20.11 [[ 1.28403104e-01 -9.91715765e-01 3.53331435e-03 1.31328293e+02] [ 9.70315232e-01 1.24894399e-01 -2.07098381e-01 1.01454479e+02] [ 2.04941438e-01 3.00205036e-02 9.78313741e-01 2.01149844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:101.48, Z:20.15 [[ 1.27008009e-01 -9.90473940e-01 -5.32009396e-02 1.31363360e+02] [ 9.69209648e-01 1.35330734e-01 -2.05714000e-01 1.01475613e+02] [ 2.10954078e-01 -2.54355384e-02 9.77164986e-01 2.01535506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.571858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.34, Y:101.51, Z:20.13 [[ 1.20150517e-01 -9.92755406e-01 -7.46785313e-04 1.31336218e+02] [ 9.71151284e-01 1.17691840e-01 -2.07397720e-01 1.01507666e+02] [ 2.05983099e-01 2.41937017e-02 9.78256422e-01 2.01282220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:101.53, Z:20.14 [[ 1.16647418e-01 -9.92824225e-01 -2.63331973e-02 1.31351038e+02] [ 9.71654204e-01 1.19569334e-01 -2.03939409e-01 1.01529264e+02] [ 2.05624629e-01 -1.79775630e-03 9.78629286e-01 2.01435079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.631858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:131.38, Y:101.56, Z:20.17 [[ 1.18378302e-01 -9.91193157e-01 -5.93523554e-02 1.31376545e+02] [ 9.70025197e-01 1.28211132e-01 -2.06429222e-01 1.01555919e+02] [ 2.12220865e-01 -3.31365394e-02 9.76659754e-01 2.01737382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:101.59, Z:20.17 [[ 1.13649312e-01 -9.92587081e-01 -4.30664678e-02 1.31372692e+02] [ 9.70672209e-01 1.20174170e-01 -2.08215347e-01 1.01586982e+02] [ 2.11847341e-01 -1.81398925e-02 9.77134407e-01 2.01745626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:101.62, Z:20.17 [[ 1.11051239e-01 -9.93658429e-01 -1.76224194e-02 1.31362542e+02] [ 9.71208765e-01 1.12268672e-01 -2.10117299e-01 1.01615978e+02] [ 2.10763271e-01 6.21873834e-03 9.77517351e-01 2.01668675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.35, Y:101.64, Z:20.16 [[ 1.02006367e-01 -9.94777687e-01 -3.47186786e-03 1.31349088e+02] [ 9.73252435e-01 1.00520112e-01 -2.06580262e-01 1.01638719e+02] [ 2.05850428e-01 1.76934983e-02 9.78423498e-01 2.01562569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:101.66, Z:20.17 [[ 1.00219403e-01 -9.94624443e-01 -2.60439654e-02 1.31362017e+02] [ 9.73355174e-01 1.03434947e-01 -2.04648276e-01 1.01663346e+02] [ 2.06242034e-01 -4.84030044e-03 9.78489037e-01 2.01706012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.38, Y:101.69, Z:20.20 [[ 1.02681638e-01 -9.93364880e-01 -5.17947601e-02 1.31382206e+02] [ 9.71814026e-01 1.11290220e-01 -2.07826816e-01 1.01690645e+02] [ 2.12212110e-01 -2.89948765e-02 9.76793385e-01 2.01962739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:101.72, Z:20.17 [[ 9.87686619e-02 -9.95098548e-01 -4.86116151e-03 1.31356100e+02] [ 9.73090438e-01 9.76039146e-02 -2.08730630e-01 1.01720952e+02] [ 2.08182016e-01 1.58856953e-02 9.77961090e-01 2.01742568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:101.74, Z:20.21 [[ 1.00751173e-01 -9.93558306e-01 -5.18757553e-02 1.31383440e+02] [ 9.71801501e-01 1.09449961e-01 -2.08860116e-01 1.01743165e+02] [ 2.13192503e-01 -2.93700352e-02 9.76568665e-01 2.02072559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:101.78, Z:20.19 [[ 1.00526813e-01 -9.94830780e-01 -1.43554355e-02 1.31366558e+02] [ 9.72537943e-01 1.01297866e-01 -2.09544010e-01 1.01776099e+02] [ 2.09915006e-01 7.10358588e-03 9.77693832e-01 2.01924882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:101.80, Z:20.21 [[ 1.03405118e-01 -9.93873860e-01 -3.90145113e-02 1.31378683e+02] [ 9.71582128e-01 1.09327112e-01 -2.09942259e-01 1.01800701e+02] [ 2.12921467e-01 -1.61966979e-02 9.76935062e-01 2.02111343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:101.83, Z:20.22 [[ 1.04979341e-01 -9.93904191e-01 -3.36719165e-02 1.31378297e+02] [ 9.71132287e-01 1.09749385e-01 -2.11795076e-01 1.01828814e+02] [ 2.14199485e-01 -1.04657779e-02 9.76733868e-01 2.02161339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96185806399998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.38, Y:101.86, Z:20.22 [[ 1.06421519e-01 -9.93769946e-01 -3.31021773e-02 1.31380631e+02] [ 9.71054877e-01 1.11033346e-01 -2.11480550e-01 1.01856581e+02] [ 2.13838460e-01 -9.63794930e-03 9.76821490e-01 2.02219492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99185806399998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:131.36, Y:101.89, Z:20.20 [[ 1.04463988e-01 -9.94526773e-01 1.94227535e-03 1.31361406e+02] [ 9.72777965e-01 1.01772919e-01 -2.08195352e-01 1.01885780e+02] [ 2.06858181e-01 2.36383194e-02 9.78085335e-01 2.02024353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02185806399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.40, Y:101.91, Z:20.25 [[ 1.10471781e-01 -9.91450728e-01 -6.94365912e-02 1.31400810e+02] [ 9.70003691e-01 1.22775951e-01 -2.09806827e-01 1.01906341e+02] [ 2.16538275e-01 -4.41760159e-02 9.75274144e-01 2.02517996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.051858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:131.38, Y:101.94, Z:20.24 [[ 1.12608615e-01 -9.93289833e-01 -2.63554234e-02 1.31383695e+02] [ 9.69174185e-01 1.15646945e-01 -2.17548117e-01 1.01940000e+02] [ 2.19136257e-01 -1.04520403e-03 9.75693706e-01 2.02408829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.081858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.37, Y:101.97, Z:20.22 [[ 1.11781307e-01 -9.93725330e-01 3.86119387e-03 1.31365751e+02] [ 9.71263516e-01 1.08431397e-01 -2.11872167e-01 1.01968135e+02] [ 2.10124064e-01 2.74335845e-02 9.77289761e-01 2.02209659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.41, Y:101.99, Z:20.27 [[ 1.16372472e-01 -9.90777176e-01 -6.94120748e-02 1.31408295e+02] [ 9.68510939e-01 1.28688899e-01 -2.13133122e-01 1.01988727e+02] [ 2.20099996e-01 -4.24235256e-02 9.74554378e-01 2.02692315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.141858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.36, Y:102.02, Z:20.23 [[ 1.16320154e-01 -9.93169103e-01 9.20627621e-03 1.31364907e+02] [ 9.70516523e-01 1.11687122e-01 -2.13596968e-01 1.02020448e+02] [ 2.11109686e-01 3.37804754e-02 9.76878488e-01 2.02290943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.171858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.41, Y:102.04, Z:20.28 [[ 1.21016961e-01 -9.90591572e-01 -6.39001754e-02 1.31406831e+02] [ 9.68117475e-01 1.32004480e-01 -2.12892863e-01 1.02039041e+02] [ 2.19324985e-01 -3.60992292e-02 9.74983793e-01 2.02754953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.201858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.39, Y:102.07, Z:20.26 [[ 1.19288509e-01 -9.92664998e-01 -1.96584128e-02 1.31385660e+02] [ 9.69188989e-01 1.20719405e-01 -2.14708010e-01 1.02071659e+02] [ 2.15506278e-01 6.55948116e-03 9.76480423e-01 2.02587570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.231858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.37, Y:102.10, Z:20.24 [[ 1.17524991e-01 -9.93063069e-01 3.69027069e-03 1.31369597e+02] [ 9.71255272e-01 1.14167936e-01 -2.08875274e-01 1.02099308e+02] [ 2.07005010e-01 2.81322596e-02 9.77935326e-01 2.02422427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.41, Y:102.12, Z:20.29 [[ 1.22514199e-01 -9.90470169e-01 -6.29215004e-02 1.31410059e+02] [ 9.68858646e-01 1.33105193e-01 -2.08796386e-01 1.02120992e+02] [ 2.15181771e-01 -3.53815176e-02 9.75932863e-01 2.02852725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.37, Y:102.15, Z:20.25 [[ 1.18108743e-01 -9.92975243e-01 7.10570593e-03 1.31371653e+02] [ 9.71263233e-01 1.14031248e-01 -2.08912915e-01 1.02152500e+02] [ 2.06635080e-01 3.15759528e-02 9.77908433e-01 2.02516035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321858064 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:131.39, Y:102.17, Z:20.27 [[ 1.17811494e-01 -9.92570725e-01 -3.03942096e-02 1.31391115e+02] [ 9.71562369e-01 1.21540591e-01 -2.03210355e-01 1.02174716e+02] [ 2.05394779e-01 -5.58935480e-03 9.78663243e-01 2.02692730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.351858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:131.39, Y:102.20, Z:20.27 [[ 1.15953143e-01 -9.93081504e-01 -1.85471167e-02 1.31388605e+02] [ 9.71417065e-01 1.17278095e-01 -2.06384916e-01 1.02203185e+02] [ 2.07132213e-01 5.91399392e-03 9.78295084e-01 2.02703716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381858064 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:131.39, Y:102.23, Z:20.28 [[ 1.14412879e-01 -9.93127983e-01 -2.46272830e-02 1.31394507e+02] [ 9.71628847e-01 1.17032640e-01 -2.05525533e-01 1.02229981e+02] [ 2.06995353e-01 -4.13810689e-04 9.78341838e-01 2.02782878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.411858064 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:131.40, Y:102.26, Z:20.28 [[ 1.12176991e-01 -9.93385908e-01 -2.45104348e-02 1.31397038e+02] [ 9.71992252e-01 1.14820572e-01 -2.05054380e-01 1.02256661e+02] [ 2.06512433e-01 -8.21569324e-04 9.78443631e-01 2.02834044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.40, Y:102.29, Z:20.29 [[ 1.10928990e-01 -9.93659657e-01 -1.83097108e-02 1.31397550e+02] [ 9.72468070e-01 1.12325531e-01 -2.04178422e-01 1.02286138e+02] [ 2.04940509e-01 4.84369714e-03 9.78762446e-01 2.02855468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.471858064 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:131.41, Y:102.31, Z:20.29 [[ 1.11125708e-01 -9.93369740e-01 -2.94556600e-02 1.31406760e+02] [ 9.72620723e-01 1.14796289e-01 -2.02066181e-01 1.02310678e+02] [ 2.04107830e-01 -6.19443776e-03 9.78928814e-01 2.02946645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501858064 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:131.41, Y:102.34, Z:20.30 [[ 1.08207262e-01 -9.93813358e-01 -2.50239418e-02 1.31406458e+02] [ 9.72309793e-01 1.11043597e-01 -2.05628272e-01 1.02336596e+02] [ 2.07134872e-01 -2.08055140e-03 9.78310184e-01 2.02988279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.531858064 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:131.41, Y:102.37, Z:20.30 [[ 1.05986813e-01 -9.94164368e-01 -2.00998890e-02 1.31409438e+02] [ 9.72510628e-01 1.07850826e-01 -2.06376545e-01 1.02365640e+02] [ 2.07339997e-01 2.32583668e-03 9.78266179e-01 2.03028907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561858064 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:131.42, Y:102.39, Z:20.31 [[ 1.04836525e-01 -9.93978997e-01 -3.18599482e-02 1.31417542e+02] [ 9.72676277e-01 1.09157458e-01 -2.04903657e-01 1.02388370e+02] [ 2.07147683e-01 -9.50802848e-03 9.78263479e-01 2.03122751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.591858064 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:131.42, Y:102.42, Z:20.31 [[ 1.02990769e-01 -9.94464099e-01 -2.08340248e-02 1.31416090e+02] [ 9.72738546e-01 1.05071894e-01 -2.06735623e-01 1.02417707e+02] [ 2.07780226e-01 1.02580191e-03 9.78174997e-01 2.03139280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621858064 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:131.42, Y:102.44, Z:20.32 [[ 1.01001538e-01 -9.94551318e-01 -2.58140551e-02 1.31422267e+02] [ 9.73154574e-01 1.04155591e-01 -2.05235931e-01 1.02443841e+02] [ 2.06806344e-01 -4.39192095e-03 9.78372039e-01 2.03207831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.651858064 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:131.42, Y:102.47, Z:20.32 [[ 1.00205024e-01 -9.94713723e-01 -2.24402032e-02 1.31424380e+02] [ 9.73154825e-01 1.02679962e-01 -2.05976968e-01 1.02470306e+02] [ 2.07192276e-01 -1.19786495e-03 9.78299507e-01 2.03244160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681858064 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:131.43, Y:102.50, Z:20.33 [[ 9.96000135e-02 -9.94735291e-01 -2.41150929e-02 1.31428868e+02] [ 9.73264844e-01 1.02434039e-01 -2.05579208e-01 1.02495481e+02] [ 2.06967100e-01 -2.99468023e-03 9.78343320e-01 2.03296676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71185806399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:131.45, Y:102.52, Z:20.35 [[ 1.02749183e-01 -9.93879762e-01 -4.05662937e-02 1.31446409e+02] [ 9.72028337e-01 1.08981839e-01 -2.08047761e-01 1.02524192e+02] [ 2.11195448e-01 -1.80548495e-02 9.77277087e-01 2.03489404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74185806399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:131.44, Y:102.55, Z:20.35 [[ 1.01934181e-01 -9.94517977e-01 -2.33112986e-02 1.31441229e+02] [ 9.72129672e-01 1.04558002e-01 -2.09836901e-01 1.02552395e+02] [ 2.11123953e-01 -1.27205241e-03 9.77458469e-01 2.03461583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77185806399999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:131.44, Y:102.58, Z:20.34 [[ 9.94808609e-02 -9.94909189e-01 -1.61016647e-02 1.31436983e+02] [ 9.73106798e-01 1.00654180e-01 -2.07200133e-01 1.02576141e+02] [ 2.07766016e-01 4.94380824e-03 9.78166060e-01 2.03430264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.801858064 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:131.44, Y:102.60, Z:20.35 [[ 9.95772344e-02 -9.94757322e-01 -2.32861465e-02 1.31444141e+02] [ 9.73263383e-01 1.02240442e-01 -2.05682475e-01 1.02600608e+02] [ 2.06984934e-01 -2.18226170e-03 9.78341696e-01 2.03508588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.831858064 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:131.45, Y:102.63, Z:20.36 [[ 9.91693183e-02 -9.94786904e-01 -2.37584246e-02 1.31447684e+02] [ 9.73381230e-01 1.01937965e-01 -2.05274532e-01 1.02625902e+02] [ 2.06626301e-01 -2.76906921e-03 9.78416018e-01 2.03564141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.861858064 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:131.47, Y:102.66, Z:20.38 [[ 1.03875937e-01 -9.93791265e-01 -3.98586325e-02 1.31466589e+02] [ 9.72419180e-01 1.09893326e-01 -2.05728936e-01 1.02655722e+02] [ 2.08831817e-01 -1.73890129e-02 9.77796960e-01 2.03758808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.891858064 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:131.45, Y:102.68, Z:20.36 [[ 1.01100216e-01 -9.94803750e-01 -1.20101969e-02 1.31451594e+02] [ 9.73305739e-01 1.01401195e-01 -2.05897390e-01 1.02680672e+02] [ 2.06045344e-01 9.12667710e-03 9.78499882e-01 2.03644449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.921858064 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:131.46, Y:102.71, Z:20.37 [[ 1.01558296e-01 -9.94551470e-01 -2.35220257e-02 1.31460671e+02] [ 9.73281145e-01 1.04225241e-01 -2.04599392e-01 1.02705692e+02] [ 2.05936215e-01 -2.11477859e-03 9.78563132e-01 2.03742055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.951858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:131.46, Y:102.73, Z:20.38 [[ 1.02855008e-01 -9.94419801e-01 -2.34543697e-02 1.31464192e+02] [ 9.73152406e-01 1.05480227e-01 -2.04568610e-01 1.02732099e+02] [ 2.05901049e-01 -1.78377023e-03 9.78571191e-01 2.03792532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.981858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:131.47, Y:102.76, Z:20.38 [[ 1.02572475e-01 -9.94450461e-01 -2.33916428e-02 1.31467143e+02] [ 9.73182222e-01 1.05190833e-01 -2.04575784e-01 1.02759182e+02] [ 2.05901069e-01 -1.78048655e-03 9.78571193e-01 2.03845681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.011858064 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:131.47, Y:102.79, Z:20.39 [[ 1.02832728e-01 -9.94424788e-01 -2.33403214e-02 1.31470479e+02] [ 9.73138768e-01 1.05435091e-01 -2.04656736e-01 1.02785329e+02] [ 2.05976620e-01 -1.66796122e-03 9.78555492e-01 2.03895235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.041858064 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:131.47, Y:102.81, Z:20.39 [[ 1.03162980e-01 -9.94392697e-01 -2.32500215e-02 1.31474168e+02] [ 9.73151692e-01 1.05739333e-01 -2.04438203e-01 1.02811512e+02] [ 2.05750298e-01 -1.53534354e-03 9.78603320e-01 2.03946857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.071858064 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:131.48, Y:102.84, Z:20.40 [[ 1.03411452e-01 -9.94369367e-01 -2.31437662e-02 1.31477516e+02] [ 9.73203594e-01 1.05960118e-01 -2.04076502e-01 1.02836568e+02] [ 2.05379739e-01 -1.41974909e-03 9.78681331e-01 2.03999015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101858064 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:131.48, Y:102.86, Z:20.40 [[ 1.04892092e-01 -9.94318300e-01 -1.81319201e-02 1.31479338e+02] [ 9.72945948e-01 1.06377333e-01 -2.05085458e-01 1.02863896e+02] [ 2.05849049e-01 3.87046448e-03 9.78576103e-01 2.04038245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.131858064 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:131.49, Y:102.89, Z:20.41 [[ 1.05400310e-01 -9.94028903e-01 -2.82367539e-02 1.31487749e+02] [ 9.73050103e-01 1.08948965e-01 -2.03232922e-01 1.02888747e+02] [ 2.05095763e-01 -6.05496341e-03 9.78723181e-01 2.04136142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:131.49, Y:102.92, Z:20.42 [[ 1.05810424e-01 -9.94098762e-01 -2.39124529e-02 1.31489516e+02] [ 9.73188745e-01 1.08463705e-01 -2.02828229e-01 1.02916838e+02] [ 2.04224925e-01 -1.80998905e-03 9.78922318e-01 2.04178221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.191858064 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:131.49, Y:102.94, Z:20.42 [[ 1.06766182e-01 -9.94041128e-01 -2.19822118e-02 1.31491992e+02] [ 9.73027533e-01 1.09005204e-01 -2.03310812e-01 1.02942498e+02] [ 2.04495485e-01 3.17421856e-04 9.78867456e-01 2.04224818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:131.50, Y:102.97, Z:20.43 [[ 1.07183557e-01 -9.93978095e-01 -2.27866368e-02 1.31495136e+02] [ 9.72947150e-01 1.09578321e-01 -2.03387402e-01 1.02968922e+02] [ 2.04659544e-01 -3.70408131e-04 9.78833149e-01 2.04283013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.251858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:131.50, Y:103.00, Z:20.43 [[ 1.07808294e-01 -9.93912052e-01 -2.27201517e-02 1.31498338e+02] [ 9.72882695e-01 1.10176230e-01 -2.03372714e-01 1.02995183e+02] [ 2.04637812e-01 -1.78777109e-04 9.78837747e-01 2.04328728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281858064 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:131.50, Y:103.02, Z:20.44 [[ 1.07751718e-01 -9.93918846e-01 -2.26912845e-02 1.31502069e+02] [ 9.72822119e-01 1.10114991e-01 -2.03695395e-01 1.03021286e+02] [ 2.04955343e-01 -1.26054712e-04 9.78771317e-01 2.04383511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.311858064 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:131.51, Y:103.05, Z:20.44 [[ 1.07476168e-01 -9.93947869e-01 -2.27268046e-02 1.31506326e+02] [ 9.72662979e-01 1.09852724e-01 -2.04594986e-01 1.03046301e+02] [ 2.05853351e-01 -1.16436332e-04 9.78582845e-01 2.04446005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:131.51, Y:103.07, Z:20.45 [[ 1.07110264e-01 -9.93988232e-01 -2.26889056e-02 1.31509183e+02] [ 9.72680273e-01 1.09486870e-01 -2.04708848e-01 1.03071881e+02] [ 2.05962324e-01 -1.42632192e-04 9.78559912e-01 2.04501655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.371858064 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:131.51, Y:103.10, Z:20.46 [[ 1.06473095e-01 -9.94057257e-01 -2.26638538e-02 1.31512046e+02] [ 9.72701304e-01 1.08858256e-01 -2.04944027e-01 1.03098154e+02] [ 2.06193245e-01 -2.24135349e-04 9.78511265e-01 2.04558420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401858064 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:131.51, Y:103.13, Z:20.46 [[ 1.05670234e-01 -9.94145941e-01 -2.25310640e-02 1.31514730e+02] [ 9.72921709e-01 1.08045077e-01 -2.04327214e-01 1.03125959e+02] [ 2.05565442e-01 -3.29656664e-04 9.78643316e-01 2.04613005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.431858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:131.52, Y:103.15, Z:20.47 [[ 1.04839886e-01 -9.94236728e-01 -2.24037396e-02 1.31518406e+02] [ 9.73144920e-01 1.07206020e-01 -2.03705261e-01 1.03152734e+02] [ 2.04933068e-01 -4.45649098e-04 9.78775888e-01 2.04673206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46185806399998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:131.52, Y:103.18, Z:20.47 [[ 1.04199579e-01 -9.94304754e-01 -2.23719675e-02 1.31521466e+02] [ 9.73162577e-01 1.06572919e-01 -2.03952964e-01 1.03178662e+02] [ 2.05175647e-01 -5.19748689e-04 9.78725030e-01 2.04730983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49185806399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:131.52, Y:103.20, Z:20.48 [[ 1.03651650e-01 -9.94362872e-01 -2.23341384e-02 1.31524713e+02] [ 9.73175215e-01 1.06029011e-01 -2.04176026e-01 1.03204761e+02] [ 2.05393126e-01 -5.71847985e-04 9.78679384e-01 2.04787212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52185806399999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:131.53, Y:103.23, Z:20.48 [[ 1.02795008e-01 -9.94450818e-01 -2.23775812e-02 1.31528249e+02] [ 9.73056255e-01 1.05200293e-01 -2.05169257e-01 1.03232097e+02] [ 2.06384863e-01 -6.84269908e-04 9.78470654e-01 2.04846535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.551858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.53, Y:103.26, Z:20.49 [[ 1.02026779e-01 -9.94530741e-01 -2.23414637e-02 1.31530895e+02] [ 9.73092489e-01 1.04441312e-01 -2.05385052e-01 1.03259223e+02] [ 2.06595120e-01 -7.85535248e-04 9.78426205e-01 2.04896876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:103.29, Z:20.50 [[ 1.01365363e-01 -9.94597998e-01 -2.23581257e-02 1.31533803e+02] [ 9.73012073e-01 1.03798245e-01 -2.06090831e-01 1.03287076e+02] [ 2.07298262e-01 -8.64254354e-04 9.78277406e-01 2.04951104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:103.31, Z:20.50 [[ 9.99252333e-02 -9.94745680e-01 -2.22706213e-02 1.31537204e+02] [ 9.73217738e-01 1.02370939e-01 -2.05833491e-01 1.03314682e+02] [ 2.07031840e-01 -1.10620405e-03 9.78333580e-01 2.05006741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.641858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.54, Y:103.34, Z:20.51 [[ 9.89462243e-02 -9.94845423e-01 -2.21862456e-02 1.31540052e+02] [ 9.73367493e-01 1.01395361e-01 -2.05608132e-01 1.03340569e+02] [ 2.06797891e-01 -1.25122196e-03 9.78382883e-01 2.05061539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.671858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.54, Y:103.37, Z:20.51 [[ 9.68194654e-02 -9.95057235e-01 -2.20701119e-02 1.31543405e+02] [ 9.73675177e-01 9.92897871e-02 -2.05178429e-01 1.03366430e+02] [ 2.06355617e-01 -1.62385436e-03 9.78475714e-01 2.05117783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:103.39, Z:20.52 [[ 9.60872922e-02 -9.95066772e-01 -2.46850438e-02 1.31547924e+02] [ 9.73906753e-01 9.91087950e-02 -2.04164352e-01 1.03392384e+02] [ 2.05603668e-01 -4.42333107e-03 9.78625345e-01 2.05180503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:103.42, Z:20.52 [[ 9.43457625e-02 -9.95362338e-01 -1.87801387e-02 1.31548422e+02] [ 9.73888695e-01 9.61903366e-02 -2.05641019e-01 1.03420184e+02] [ 2.06493794e-01 1.11159404e-03 9.78447279e-01 2.05211777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.55, Y:103.45, Z:20.53 [[ 9.30669110e-02 -9.95418138e-01 -2.19380894e-02 1.31553249e+02] [ 9.74006423e-01 9.55910195e-02 -2.05362718e-01 1.03446893e+02] [ 2.06518859e-01 -2.25536620e-03 9.78440021e-01 2.05279173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:103.47, Z:20.53 [[ 9.12171952e-02 -9.95589892e-01 -2.19132259e-02 1.31556250e+02] [ 9.74115748e-01 9.37767930e-02 -2.05680392e-01 1.03473283e+02] [ 2.06828271e-01 -2.58442996e-03 9.78373848e-01 2.05332934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.56, Y:103.50, Z:20.54 [[ 9.02423977e-02 -9.95679727e-01 -2.18675631e-02 1.31558715e+02] [ 9.74209223e-01 9.28135579e-02 -2.05674580e-01 1.03500107e+02] [ 2.06815616e-01 -2.74301444e-03 9.78376092e-01 2.05386227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.56, Y:103.53, Z:20.54 [[ 8.95525886e-02 -9.95743658e-01 -2.17922527e-02 1.31561003e+02] [ 9.74295281e-01 9.21227669e-02 -2.05577480e-01 1.03526826e+02] [ 2.06710035e-01 -2.82209344e-03 9.78398179e-01 2.05434599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:103.55, Z:20.55 [[ 8.87923053e-02 -9.95813546e-01 -2.17096359e-02 1.31562574e+02] [ 9.74402635e-01 9.13612782e-02 -2.05408427e-01 1.03553272e+02] [ 2.06531914e-01 -2.91523863e-03 9.78435522e-01 2.05477338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:103.58, Z:20.55 [[ 8.85837395e-02 -9.95833867e-01 -2.16293758e-02 1.31564858e+02] [ 9.74454291e-01 9.11401862e-02 -2.05261544e-01 1.03580040e+02] [ 2.06377702e-01 -2.89400298e-03 9.78468124e-01 2.05524779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.57, Y:103.61, Z:20.56 [[ 8.82365434e-02 -9.95865822e-01 -2.15772165e-02 1.31566673e+02] [ 9.74462343e-01 9.07900265e-02 -2.05378463e-01 1.03606462e+02] [ 2.06488388e-01 -2.90429925e-03 9.78444741e-01 2.05572961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:103.63, Z:20.56 [[ 8.80440996e-02 -9.95884341e-01 -2.15084887e-02 1.31568386e+02] [ 9.74489597e-01 9.05874093e-02 -2.05338613e-01 1.03632127e+02] [ 2.06441908e-01 -2.88094524e-03 9.78454618e-01 2.05615534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:103.66, Z:20.57 [[ 8.75826225e-02 -9.95927002e-01 -2.14170642e-02 1.31569821e+02] [ 9.74581815e-01 9.01162884e-02 -2.05108121e-01 1.03658341e+02] [ 2.06202742e-01 -2.90877418e-03 9.78504966e-01 2.05655541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:103.68, Z:20.57 [[ 8.74183471e-02 -9.95944158e-01 -2.12900839e-02 1.31572173e+02] [ 9.74721306e-01 8.99276600e-02 -2.04527240e-01 1.03684252e+02] [ 2.05612277e-01 -2.87246509e-03 9.78629317e-01 2.05700094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.57, Y:103.71, Z:20.57 [[ 8.70511056e-02 -9.95979669e-01 -2.11330102e-02 1.31574415e+02] [ 9.74942380e-01 8.95333896e-02 -2.03644612e-01 1.03710415e+02] [ 2.04718004e-01 -2.87597862e-03 9.78816769e-01 2.05749568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:103.74, Z:20.58 [[ 8.66900870e-02 -9.96014115e-01 -2.09931171e-02 1.31577013e+02] [ 9.75129791e-01 8.91492334e-02 -2.02914524e-01 1.03737621e+02] [ 2.03977250e-01 -2.88033617e-03 9.78971391e-01 2.05800684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:103.76, Z:20.58 [[ 8.61822264e-02 -9.96062890e-01 -2.07687923e-02 1.31579397e+02] [ 9.75513563e-01 8.86015928e-02 -2.01303370e-01 1.03763094e+02] [ 2.02350965e-01 -2.91146599e-03 9.79308741e-01 2.05844946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.151858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.58, Y:103.79, Z:20.59 [[ 8.56591803e-02 -9.96110505e-01 -2.06486619e-02 1.31582026e+02] [ 9.75668346e-01 8.80634912e-02 -2.00788695e-01 1.03790648e+02] [ 2.01826122e-01 -2.94685078e-03 9.79416935e-01 2.05896171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:103.82, Z:20.59 [[ 8.50044990e-02 -9.96169958e-01 -2.04853433e-02 1.31584425e+02] [ 9.75939953e-01 8.73861731e-02 -1.99762022e-01 1.03818442e+02] [ 2.00787061e-01 -3.01179435e-03 9.79630280e-01 2.05946124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:103.84, Z:20.60 [[ 8.44982568e-02 -9.96218367e-01 -2.02239710e-02 1.31586744e+02] [ 9.76395767e-01 8.68317283e-02 -1.97766420e-01 1.03844825e+02] [ 1.98774623e-01 -3.03568186e-03 9.80040527e-01 2.05991781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:103.87, Z:20.60 [[ 8.40188167e-02 -9.96261530e-01 -2.00948574e-02 1.31589445e+02] [ 9.76577092e-01 8.63340609e-02 -1.97087832e-01 1.03872030e+02] [ 1.98085896e-01 -3.06509096e-03 9.80179873e-01 2.06041468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:103.90, Z:20.61 [[ 8.39238540e-02 -9.96271974e-01 -1.99735139e-02 1.31592162e+02] [ 9.76716696e-01 8.62149805e-02 -1.96447123e-01 1.03897560e+02] [ 1.97436779e-01 -3.02186483e-03 9.80310964e-01 2.06087582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:103.92, Z:20.61 [[ 8.25491721e-02 -9.96318652e-01 -2.31252581e-02 1.31594703e+02] [ 9.77078414e-01 8.54802856e-02 -1.94963826e-01 1.03923053e+02] [ 1.96222850e-01 -6.50108806e-03 9.80537775e-01 2.06138600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.331858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.60, Y:103.95, Z:20.62 [[ 8.36298816e-02 -9.96375559e-01 -1.55495611e-02 1.31595446e+02] [ 9.77054823e-01 8.50555830e-02 -1.95267562e-01 1.03952505e+02] [ 1.95882403e-01 1.13742938e-03 9.80626733e-01 2.06164706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.60, Y:103.98, Z:20.62 [[ 8.38434314e-02 -9.96285618e-01 -1.96276702e-02 1.31600242e+02] [ 9.77085073e-01 8.60628317e-02 -1.94673955e-01 1.03979538e+02] [ 1.95640075e-01 -2.85577117e-03 9.80671610e-01 2.06231080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.391858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.60, Y:104.01, Z:20.63 [[ 8.41971256e-02 -9.96257237e-01 -1.95540508e-02 1.31602959e+02] [ 9.77088167e-01 8.63948542e-02 -1.94511293e-01 1.04006025e+02] [ 1.95472653e-01 -2.72873988e-03 9.80705356e-01 2.06277099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:104.03, Z:20.63 [[ 8.42911028e-02 -9.96251597e-01 -1.94361761e-02 1.31605575e+02] [ 9.77196705e-01 8.64624418e-02 -1.93935157e-01 1.04032190e+02] [ 1.94888709e-01 -2.64595897e-03 9.80821793e-01 2.06323292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:104.06, Z:20.64 [[ 8.43920897e-02 -9.96245137e-01 -1.93287747e-02 1.31608147e+02] [ 9.77285697e-01 8.65393124e-02 -1.93451837e-01 1.04059739e+02] [ 1.94398151e-01 -2.56393027e-03 9.80919357e-01 2.06376941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:104.09, Z:20.64 [[ 8.44291410e-02 -9.96243750e-01 -1.92382569e-02 1.31610709e+02] [ 9.77352023e-01 8.65571923e-02 -1.93108457e-01 1.04087220e+02] [ 1.94048303e-01 -2.49856816e-03 9.80988794e-01 2.06426190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:104.11, Z:20.65 [[ 8.42560791e-02 -9.96261743e-01 -1.90644413e-02 1.31613074e+02] [ 9.77604229e-01 8.63507597e-02 -1.91920603e-01 1.04114315e+02] [ 1.92849384e-01 -2.46700089e-03 9.81225269e-01 2.06468099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.541858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.62, Y:104.14, Z:20.65 [[ 8.41382108e-02 -9.96273676e-01 -1.89611418e-02 1.31615493e+02] [ 9.77704825e-01 8.62140686e-02 -1.91469083e-01 1.04141569e+02] [ 1.92390325e-01 -2.42853370e-03 9.81315477e-01 2.06515004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.62, Y:104.17, Z:20.66 [[ 8.38331795e-02 -9.96300901e-01 -1.88815461e-02 1.31618497e+02] [ 9.77776986e-01 8.58988491e-02 -1.91242135e-01 1.04168619e+02] [ 1.92156615e-01 -2.42950496e-03 9.81361265e-01 2.06565880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.62, Y:104.19, Z:20.66 [[ 8.34215717e-02 -9.96338231e-01 -1.87342065e-02 1.31622102e+02] [ 9.77998775e-01 8.54642729e-02 -1.90300431e-01 1.04194422e+02] [ 1.91204700e-01 -2.44686995e-03 9.81547134e-01 2.06618153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.631858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.62, Y:104.22, Z:20.67 [[ 8.31249087e-02 -9.96365174e-01 -1.86196291e-02 1.31624632e+02] [ 9.78126092e-01 8.51498979e-02 -1.89786310e-01 1.04220828e+02] [ 1.90681929e-01 -2.43637535e-03 9.81648851e-01 2.06670739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:104.25, Z:20.67 [[ 8.36562795e-02 -9.96324465e-01 -1.84170162e-02 1.31626274e+02] [ 9.78366551e-01 8.56296323e-02 -1.88325404e-01 1.04248764e+02] [ 1.89210250e-01 -2.26399005e-03 9.81933988e-01 2.06713935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:104.28, Z:20.70 [[ 8.71813426e-02 -9.95149125e-01 -4.55810632e-02 1.31646125e+02] [ 9.76915082e-01 9.43624676e-02 -1.91657631e-01 1.04275111e+02] [ 1.95029066e-01 -2.78198585e-02 9.80402835e-01 2.06971781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.62, Y:104.31, Z:20.67 [[ 8.43945309e-02 -9.96418389e-01 5.28752957e-03 1.31619490e+02] [ 9.78303492e-01 8.18502822e-02 -1.90322907e-01 1.04305096e+02] [ 1.89208458e-01 2.12350211e-02 9.81707305e-01 2.06728358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.751858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.63, Y:104.33, Z:20.69 [[ 8.52048877e-02 -9.96196715e-01 -1.82272560e-02 1.31633233e+02] [ 9.78254386e-01 8.71142402e-02 -1.88227166e-01 1.04329255e+02] [ 1.89099138e-01 -1.79301850e-03 9.81956364e-01 2.06866262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.64, Y:104.36, Z:20.69 [[ 8.55592983e-02 -9.96167891e-01 -1.81421830e-02 1.31635862e+02] [ 9.78275424e-01 8.74457363e-02 -1.87963926e-01 1.04355725e+02] [ 1.88830084e-01 -1.66599017e-03 9.82008362e-01 2.06913319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.811858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.64, Y:104.38, Z:20.70 [[ 8.54931318e-02 -9.96173623e-01 -1.81394113e-02 1.31638415e+02] [ 9.78166237e-01 8.73812381e-02 -1.88561215e-01 1.04380859e+02] [ 1.89424753e-01 -1.62267089e-03 9.81893900e-01 2.06964575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.64, Y:104.41, Z:20.70 [[ 8.54703910e-02 -9.96176999e-01 -1.80609865e-02 1.31640642e+02] [ 9.78200295e-01 8.73437998e-02 -1.88401814e-01 1.04406704e+02] [ 1.89259069e-01 -1.56448561e-03 9.81925943e-01 2.07012517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.871858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.64, Y:104.43, Z:20.71 [[ 8.53976190e-02 -9.96184885e-01 -1.79700072e-02 1.31642931e+02] [ 9.78266019e-01 8.72546628e-02 -1.88101620e-01 1.04434369e+02] [ 1.88951958e-01 -1.51601693e-03 9.81985163e-01 2.07061746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.65, Y:104.46, Z:20.71 [[ 8.56823721e-02 -9.96160817e-01 -1.79487427e-02 1.31645384e+02] [ 9.78174555e-01 8.75307797e-02 -1.88448674e-01 1.04460530e+02] [ 1.89296253e-01 -1.41027400e-03 9.81919009e-01 2.07117047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.931858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.65, Y:104.49, Z:20.72 [[ 8.54652526e-02 -9.96180493e-01 -1.78917796e-02 1.31647817e+02] [ 9.78193529e-01 8.73068049e-02 -1.88454082e-01 1.04487646e+02] [ 1.89296355e-01 -1.39534733e-03 9.81919010e-01 2.07170172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.65, Y:104.51, Z:20.72 [[ 8.52185967e-02 -9.96203126e-01 -1.78079076e-02 1.31650772e+02] [ 9.78302125e-01 8.70481011e-02 -1.88009520e-01 1.04514619e+02] [ 1.88845817e-01 -1.39960638e-03 9.82005753e-01 2.07221932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99185806399998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.65, Y:104.54, Z:20.73 [[ 8.49760074e-02 -9.96224554e-01 -1.77684040e-02 1.31653656e+02] [ 9.78281336e-01 8.68027258e-02 -1.88231012e-01 1.04539701e+02] [ 1.89062702e-01 -1.38737816e-03 9.81964037e-01 2.07273512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02185806399999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:131.66, Y:104.57, Z:20.73 [[ 8.39660574e-02 -9.96312115e-01 -1.76598710e-02 1.31656544e+02] [ 9.78498113e-01 8.57894304e-02 -1.87567634e-01 1.04566186e+02] [ 1.88390937e-01 -1.53083571e-03 9.82092924e-01 2.07321513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.051858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.66, Y:104.59, Z:20.74 [[ 8.34083312e-02 -9.96359414e-01 -1.76343141e-02 1.31659107e+02] [ 9.78476710e-01 8.52374507e-02 -1.87930586e-01 1.04592869e+02] [ 1.88749512e-01 -1.57978913e-03 9.82023995e-01 2.07371294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.081858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.66, Y:104.62, Z:20.74 [[ 8.31759347e-02 -9.96377498e-01 -1.77100559e-02 1.31663104e+02] [ 9.78214239e-01 8.50259472e-02 -1.89387145e-01 1.04619919e+02] [ 1.90206904e-01 -1.57177598e-03 9.81742768e-01 2.07422810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.111858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.67, Y:104.65, Z:20.75 [[ 8.27690125e-02 -9.96410682e-01 -1.77494773e-02 1.31666563e+02] [ 9.78052416e-01 8.46356298e-02 -1.90395067e-01 1.04647199e+02] [ 1.91213916e-01 -1.60110755e-03 9.81547082e-01 2.07474036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.141858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.67, Y:104.67, Z:20.75 [[ 8.44382840e-02 -9.96335659e-01 -1.36173103e-02 1.31667662e+02] [ 9.77678019e-01 8.54803133e-02 -1.91934384e-01 1.04672272e+02] [ 1.92395083e-01 2.89326507e-03 9.81313284e-01 2.07499713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.171858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.67, Y:104.70, Z:20.76 [[ 8.33677806e-02 -9.96302712e-01 -2.07537816e-02 1.31674261e+02] [ 9.77730511e-01 8.58032771e-02 -1.91522444e-01 1.04698581e+02] [ 1.92595072e-01 -4.32480442e-03 9.81268788e-01 2.07578000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.64, Y:104.73, Z:20.72 [[ 7.65740598e-02 -9.96439618e-01 3.52774814e-02 1.31640199e+02] [ 9.80428090e-01 6.88130729e-02 -1.84460082e-01 1.04725094e+02] [ 1.81375782e-01 4.87118911e-02 9.82206688e-01 2.07228617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:104.75, Z:20.79 [[ 8.39565500e-02 -9.94467669e-01 -6.31296591e-02 1.31701223e+02] [ 9.77496055e-01 9.44965551e-02 -1.88605049e-01 1.04747400e+02] [ 1.93527159e-01 -4.58743635e-02 9.80021827e-01 2.07862050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.68, Y:104.78, Z:20.77 [[ 8.52453326e-02 -9.96222074e-01 -1.65774744e-02 1.31682883e+02] [ 9.77184528e-01 8.68416644e-02 -1.93827046e-01 1.04777397e+02] [ 1.94534398e-01 3.23599506e-04 9.80895643e-01 2.07722684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.291858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.70, Y:104.80, Z:20.79 [[ 8.56733250e-02 -9.95773566e-01 -3.30920963e-02 1.31697750e+02] [ 9.76438340e-01 9.05198274e-02 -1.95893666e-01 1.04804804e+02] [ 1.98061225e-01 -1.55295298e-02 9.80066623e-01 2.07897256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321858064 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:131.69, Y:104.83, Z:20.78 [[ 8.53602037e-02 -9.96349695e-01 -9.60105710e-04 1.31685002e+02] [ 9.76561384e-01 8.38559023e-02 -1.98232316e-01 1.04833999e+02] [ 1.97589218e-01 1.59835487e-02 9.80154593e-01 2.07797086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.351858064 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:131.70, Y:104.86, Z:20.79 [[ 8.39525710e-02 -9.96270181e-01 -1.99422175e-02 1.31697645e+02] [ 9.76677532e-01 8.62375155e-02 -1.96631864e-01 1.04859036e+02] [ 1.97618230e-01 -2.96936529e-03 9.80274563e-01 2.07933336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.70, Y:104.88, Z:20.80 [[ 8.43385905e-02 -9.96196120e-01 -2.19155867e-02 1.31702631e+02] [ 9.76647668e-01 8.70051851e-02 -1.96441924e-01 1.04883143e+02] [ 1.97601452e-01 -4.83617170e-03 9.80270512e-01 2.07992334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.411858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.70, Y:104.91, Z:20.80 [[ 8.34094738e-02 -9.96366617e-01 -1.72169929e-02 1.31703914e+02] [ 9.76526095e-01 8.51672984e-02 -1.97846700e-01 1.04912357e+02] [ 1.98594172e-01 -3.10553684e-04 9.80081761e-01 2.08024912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441858064 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:131.71, Y:104.94, Z:20.81 [[ 8.42710258e-02 -9.96249884e-01 -1.96102799e-02 1.31708762e+02] [ 9.76435667e-01 8.64869258e-02 -1.97720510e-01 1.04936165e+02] [ 1.98675068e-01 -2.48606649e-03 9.80062262e-01 2.08080322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:104.96, Z:20.81 [[ 8.17007408e-02 -9.96556399e-01 -1.41538787e-02 1.31709764e+02] [ 9.75992177e-01 8.28755799e-02 -2.01422213e-01 1.04964069e+02] [ 2.01901606e-01 2.64226912e-03 9.79402246e-01 2.08127525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501858064 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:131.73, Y:104.99, Z:20.83 [[ 8.32628734e-02 -9.95788930e-01 -3.83627452e-02 1.31727159e+02] [ 9.76238503e-01 8.92357854e-02 -1.97472426e-01 1.04989112e+02] [ 2.00064186e-01 -2.10090674e-02 9.79557523e-01 2.08301716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:105.02, Z:20.82 [[ 7.92645484e-02 -9.96771451e-01 -1.27986591e-02 1.31716297e+02] [ 9.76485108e-01 8.02207060e-02 -2.00103656e-01 1.05015972e+02] [ 2.00484329e-01 3.36342591e-03 9.79691136e-01 2.08237803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:131.73, Y:105.04, Z:20.84 [[ 7.82442556e-02 -9.96439034e-01 -3.14179672e-02 1.31728696e+02] [ 9.76845662e-01 8.29241361e-02 -1.97221044e-01 1.05041394e+02] [ 1.99124055e-01 -1.52590912e-02 9.79855485e-01 2.08378905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.591858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:131.72, Y:105.07, Z:20.84 [[ 7.93901806e-02 -9.96767394e-01 -1.23272415e-02 1.31722928e+02] [ 9.76579760e-01 8.02511384e-02 -1.99628973e-01 1.05070124e+02] [ 1.99972926e-01 3.81004567e-03 9.79794015e-01 2.08353813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621858064 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:131.75, Y:105.09, Z:20.88 [[ 8.04089561e-02 -9.94490527e-01 -6.72531963e-02 1.31751354e+02] [ 9.74287894e-01 9.26637397e-02 -2.05369254e-01 1.05089846e+02] [ 2.10469710e-01 -4.90104477e-02 9.76371075e-01 2.08754419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.651858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.71, Y:105.13, Z:20.82 [[ 7.73869927e-02 -9.96636889e-01 2.69474556e-02 1.31706265e+02] [ 9.77938358e-01 7.06194840e-02 -1.96594652e-01 1.05126227e+02] [ 1.94030467e-01 4.15668194e-02 9.80114472e-01 2.08245526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:131.73, Y:105.15, Z:20.85 [[ 7.69479251e-02 -9.96888607e-01 -1.70916057e-02 1.31729449e+02] [ 9.77865469e-01 7.88027351e-02 -1.93827897e-01 1.05148853e+02] [ 1.94571688e-01 -1.79863647e-03 9.80886652e-01 2.08468673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71185806399998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:131.75, Y:105.17, Z:20.88 [[ 7.89694334e-02 -9.94905993e-01 -6.26569473e-02 1.31754661e+02] [ 9.75676662e-01 9.00307299e-02 -1.99873760e-01 1.05170151e+02] [ 2.04496652e-01 -4.53490036e-02 9.77816234e-01 2.08836610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.71, Y:105.21, Z:20.85 [[ 7.86668240e-02 -9.96705859e-01 1.97220825e-02 1.31714862e+02] [ 9.76550306e-01 7.30688846e-02 -2.02510339e-01 1.05208154e+02] [ 2.00402171e-01 3.51904510e-02 9.79081509e-01 2.08476422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77185806399999 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:131.75, Y:105.22, Z:20.89 [[ 7.96035328e-02 -9.95497226e-01 -5.14640731e-02 1.31751930e+02] [ 9.75686540e-01 8.83876031e-02 -2.00557739e-01 1.05224533e+02] [ 2.04203459e-01 -3.42476989e-02 9.78329210e-01 2.08867401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.801858064 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:131.76, Y:105.26, Z:20.90 [[ 8.08791977e-02 -9.95543280e-01 -4.84987907e-02 1.31755003e+02] [ 9.74752258e-01 8.91629578e-02 -2.04714441e-01 1.05257602e+02] [ 2.08126382e-01 -3.07171659e-02 9.77619489e-01 2.08973221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.831858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.72, Y:105.29, Z:20.87 [[ 7.76912086e-02 -9.96783755e-01 1.96525135e-02 1.31721913e+02] [ 9.75800248e-01 7.19848626e-02 -2.06475314e-01 1.05288745e+02] [ 2.04396556e-01 3.52182443e-02 9.78254427e-01 2.08669145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.861858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.73, Y:105.31, Z:20.87 [[ 7.30643762e-02 -9.97284745e-01 9.20516595e-03 1.31725109e+02] [ 9.77408959e-01 6.97666854e-02 -1.99510243e-01 1.05312988e+02] [ 1.98326308e-01 2.35743031e-02 9.79852503e-01 2.08672336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.891858064 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:131.74, Y:105.34, Z:20.89 [[ 7.12919211e-02 -9.97261449e-01 -1.96739295e-02 1.31740618e+02] [ 9.77396440e-01 7.37803757e-02 -1.98122828e-01 1.05336307e+02] [ 1.99031809e-01 -5.10467162e-03 9.79979735e-01 2.08855242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.921858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.74, Y:105.36, Z:20.89 [[ 6.87201379e-02 -9.97583056e-01 -1.02757008e-02 1.31737538e+02] [ 9.77260542e-01 6.93841072e-02 -2.00368859e-01 1.05363257e+02] [ 2.00597549e-01 3.72733869e-03 9.79666642e-01 2.08873623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.951858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:131.74, Y:105.39, Z:20.89 [[ 6.50168534e-02 -9.97762071e-01 -1.56095559e-02 1.31740182e+02] [ 9.77969175e-01 6.68210527e-02 -1.97765617e-01 1.05389715e+02] [ 1.98366079e-01 -2.40756634e-03 9.80125044e-01 2.08935503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.981858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:131.77, Y:105.41, Z:20.93 [[ 6.84928376e-02 -9.96274560e-01 -5.23997417e-02 1.31765445e+02] [ 9.76198572e-01 7.77610927e-02 -2.02458787e-01 1.05413203e+02] [ 2.05779200e-01 -3.72855762e-02 9.77887880e-01 2.09269450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.011858064 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:131.73, Y:105.44, Z:20.89 [[ 6.14723835e-02 -9.98022877e-01 1.30951877e-02 1.31730025e+02] [ 9.78994429e-01 5.77346120e-02 -1.95541868e-01 1.05444722e+02] [ 1.94399212e-01 2.48405405e-02 9.80607921e-01 2.08917049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.041858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:131.74, Y:105.47, Z:20.91 [[ 5.91646663e-02 -9.98139780e-01 -1.47147067e-02 1.31744466e+02] [ 9.79398928e-01 6.08921856e-02 -1.92535404e-01 1.05467096e+02] [ 1.93073256e-01 -3.02027506e-03 9.81179696e-01 2.09070881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.071858064 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:131.75, Y:105.49, Z:20.91 [[ 5.58591248e-02 -9.98341533e-01 -1.39262843e-02 1.31746617e+02] [ 9.79203682e-01 5.75023256e-02 -1.94560096e-01 1.05493008e+02] [ 1.95038218e-01 -2.76871214e-03 9.80791735e-01 2.09135985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:131.75, Y:105.52, Z:20.92 [[ 5.37918074e-02 -9.98432817e-01 -1.54386085e-02 1.31749098e+02] [ 9.79306064e-01 5.57696130e-02 -1.94549182e-01 1.05518231e+02] [ 1.95105293e-01 -4.65397081e-03 9.80771260e-01 2.09192204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.75, Y:105.55, Z:20.92 [[ 5.17322675e-02 -9.98542829e-01 -1.53620363e-02 1.31749896e+02] [ 9.79453153e-01 5.37337291e-02 -1.94381603e-01 1.05545406e+02] [ 1.94923815e-01 -4.99059379e-03 9.80805689e-01 2.09240226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.75, Y:105.57, Z:20.93 [[ 5.10817067e-02 -9.98576883e-01 -1.53253800e-02 1.31751004e+02] [ 9.79425929e-01 5.30900822e-02 -1.94695387e-01 1.05571975e+02] [ 1.95231939e-01 -5.06470191e-03 9.80744023e-01 2.09293518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.191858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.75, Y:105.60, Z:20.93 [[ 5.11859967e-02 -9.98572287e-01 -1.52768058e-02 1.31752335e+02] [ 9.79388897e-01 5.31837060e-02 -1.94856052e-01 1.05597811e+02] [ 1.95390331e-01 -4.98803276e-03 9.80712872e-01 2.09344530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.76, Y:105.63, Z:20.94 [[ 5.59287070e-02 -9.98268439e-01 -1.82236814e-02 1.31758579e+02] [ 9.79131171e-01 5.84100046e-02 -1.94654619e-01 1.05626296e+02] [ 1.95382008e-01 -6.95659333e-03 9.80702542e-01 2.09432635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:105.66, Z:20.96 [[ 5.66072790e-02 -9.98071689e-01 -2.54660630e-02 1.31764950e+02] [ 9.78377629e-01 6.05364249e-02 -1.97768947e-01 1.05655826e+02] [ 1.98929211e-01 -1.37202644e-02 9.79917815e-01 2.09553892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.75, Y:105.68, Z:20.95 [[ 5.39177475e-02 -9.98521838e-01 -6.85675330e-03 1.31752317e+02] [ 9.79094143e-01 5.42149522e-02 -1.96049476e-01 1.05680632e+02] [ 1.96131422e-01 3.85713917e-03 9.80570032e-01 2.09476542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:105.71, Z:20.96 [[ 5.57698520e-02 -9.98299531e-01 -1.69637690e-02 1.31757449e+02] [ 9.79122920e-01 5.80089961e-02 -1.94815975e-01 1.05705452e+02] [ 1.95468748e-01 -5.74475693e-03 9.80693105e-01 2.09564837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.76, Y:105.73, Z:20.96 [[ 5.74361429e-02 -9.98257579e-01 -1.35239153e-02 1.31757366e+02] [ 9.78982928e-01 5.89720305e-02 -1.95229932e-01 1.05731422e+02] [ 1.95687292e-01 -2.02642789e-03 9.80664253e-01 2.09601570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:105.76, Z:20.97 [[ 5.74613024e-02 -9.98266803e-01 -1.27117239e-02 1.31758055e+02] [ 9.78912988e-01 5.88382686e-02 -1.95620604e-01 1.05758772e+02] [ 1.96029491e-01 -1.20305690e-03 9.80597263e-01 2.09651481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.76, Y:105.79, Z:20.97 [[ 5.89774160e-02 -9.98101901e-01 -1.77273854e-02 1.31760890e+02] [ 9.79187572e-01 6.12961920e-02 -1.93479908e-01 1.05785286e+02] [ 1.94199285e-01 -5.94749043e-03 9.80944068e-01 2.09718875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:105.81, Z:20.97 [[ 6.08447134e-02 -9.98065365e-01 -1.27846652e-02 1.31762318e+02] [ 9.79186694e-01 6.21686787e-02 -1.93205781e-01 1.05814089e+02] [ 1.93626804e-01 -7.63023713e-04 9.81074961e-01 2.09747695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.76, Y:105.84, Z:20.98 [[ 6.03579360e-02 -9.98011545e-01 -1.81624928e-02 1.31763202e+02] [ 9.79289249e-01 6.27289572e-02 -1.92503622e-01 1.05837531e+02] [ 1.93260152e-01 -6.16721262e-03 9.81128167e-01 2.09823885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:105.86, Z:20.99 [[ 6.09986685e-02 -9.98034495e-01 -1.43634827e-02 1.31762594e+02] [ 9.79355535e-01 6.26231400e-02 -1.92200623e-01 1.05863458e+02] [ 1.92722338e-01 -2.34297422e-03 9.81250534e-01 2.09855510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.76, Y:105.89, Z:20.99 [[ 6.30745904e-02 -9.97907043e-01 -1.42523750e-02 1.31763403e+02] [ 9.79351910e-01 6.46375623e-02 -1.91551095e-01 1.05890593e+02] [ 1.92071426e-01 -1.87608384e-03 9.81379156e-01 2.09902904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.551858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.75, Y:105.92, Z:20.98 [[ 6.24122627e-02 -9.98018941e-01 7.93119521e-03 1.31754082e+02] [ 9.80428261e-01 5.98216169e-02 -1.87568121e-01 1.05922588e+02] [ 1.86722080e-01 1.94825188e-02 9.82219576e-01 2.09794156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:105.94, Z:21.01 [[ 6.70138210e-02 -9.96996523e-01 -3.88211326e-02 1.31780887e+02] [ 9.79072144e-01 7.32030596e-02 -1.89892205e-01 1.05944072e+02] [ 1.92163694e-01 -2.52832872e-02 9.81037140e-01 2.10114249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.611858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.76, Y:105.97, Z:21.00 [[ 6.48055098e-02 -9.97878240e-01 -6.26614003e-03 1.31764008e+02] [ 9.79150640e-01 6.47982205e-02 -1.92523285e-01 1.05973287e+02] [ 1.92520831e-01 6.34107458e-03 9.81272399e-01 2.10020384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.77, Y:106.00, Z:21.01 [[ 6.53360664e-02 -9.97733940e-01 -1.60680986e-02 1.31769237e+02] [ 9.79202717e-01 6.72054624e-02 -1.91430052e-01 1.06000327e+02] [ 1.92076124e-01 -3.22663917e-03 9.81374725e-01 2.10107925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.77, Y:106.03, Z:21.01 [[ 6.57307602e-02 -9.97765550e-01 -1.19739342e-02 1.31768308e+02] [ 9.79050592e-01 6.68061497e-02 -1.92345720e-01 1.06025623e+02] [ 1.92715866e-01 9.19942997e-04 9.81254171e-01 2.10134539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:106.05, Z:21.02 [[ 6.61527817e-02 -9.97652798e-01 -1.76834650e-02 1.31772576e+02] [ 9.79175993e-01 6.83161760e-02 -1.91173416e-01 1.06051321e+02] [ 1.91932760e-01 -4.66857111e-03 9.81396974e-01 2.10203708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:106.08, Z:21.02 [[ 6.37418123e-02 -9.97854497e-01 -1.49460631e-02 1.31772981e+02] [ 9.79385933e-01 6.54245369e-02 -1.91109457e-01 1.06078159e+02] [ 1.91677270e-01 -2.45630076e-03 9.81454936e-01 2.10238182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.77, Y:106.11, Z:21.02 [[ 6.31885596e-02 -9.98001541e-01 -3.59891407e-04 1.31768830e+02] [ 9.79315661e-01 6.20749085e-02 -1.92581261e-01 1.06105687e+02] [ 1.92218735e-01 1.18164852e-02 9.81280963e-01 2.10194612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.78, Y:106.13, Z:21.03 [[ 6.29057909e-02 -9.97926714e-01 -1.36064523e-02 1.31776967e+02] [ 9.79317623e-01 6.43482008e-02 -1.91823623e-01 1.06131535e+02] [ 1.92301468e-01 -1.25822182e-03 9.81335092e-01 2.10298075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:106.16, Z:21.04 [[ 6.11375514e-02 -9.97784434e-01 -2.62378326e-02 1.31786399e+02] [ 9.79373438e-01 6.50400135e-02 -1.91304639e-01 1.06158774e+02] [ 1.92587300e-01 -1.40007391e-02 9.81179959e-01 2.10424400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:106.19, Z:21.04 [[ 5.82144926e-02 -9.98169295e-01 -1.64052485e-02 1.31784998e+02] [ 9.79427346e-01 6.02865789e-02 -1.92581418e-01 1.06186643e+02] [ 1.93217874e-01 -4.85671946e-03 9.81143856e-01 2.10438687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:131.79, Y:106.21, Z:21.05 [[ 5.83483848e-02 -9.98140877e-01 -1.76140844e-02 1.31788945e+02] [ 9.78979346e-01 6.06646133e-02 -1.94728645e-01 1.06213127e+02] [ 1.95435172e-01 -5.88172292e-03 9.80698985e-01 2.10518318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:106.24, Z:21.05 [[ 5.30916428e-02 -9.98517127e-01 -1.20342907e-02 1.31784584e+02] [ 9.80104942e-01 5.44131223e-02 -1.90875654e-01 1.06238062e+02] [ 1.91247433e-01 -1.66096573e-03 9.81540453e-01 2.10517965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.79, Y:106.26, Z:21.06 [[ 5.29536391e-02 -9.98522792e-01 -1.21715073e-02 1.31786189e+02] [ 9.80075431e-01 5.43042444e-02 -1.91058101e-01 1.06263923e+02] [ 1.91436833e-01 -1.81177359e-03 9.81503264e-01 2.10568273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:106.29, Z:21.06 [[ 5.33935791e-02 -9.98490839e-01 -1.28518803e-02 1.31790254e+02] [ 9.79800029e-01 5.48693195e-02 -1.92305126e-01 1.06291469e+02] [ 1.92720080e-01 -2.32441375e-03 9.81251022e-01 2.10618712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:106.32, Z:21.06 [[ 5.26010111e-02 -9.98601392e-01 -5.32857506e-03 1.31788243e+02] [ 9.80066981e-01 5.26469131e-02 -1.91564650e-01 1.06317205e+02] [ 1.91577260e-01 4.85413382e-03 9.81465532e-01 2.10613870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.031858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.79, Y:106.34, Z:21.07 [[ 4.92896198e-02 -9.98657835e-01 -1.59079347e-02 1.31792689e+02] [ 9.80377784e-01 5.14188000e-02 -1.90303727e-01 1.06342387e+02] [ 1.90866275e-01 -6.21578741e-03 9.81596368e-01 2.10702268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:106.37, Z:21.08 [[ 4.96184240e-02 -9.98634366e-01 -1.63528285e-02 1.31793163e+02] [ 9.80103242e-01 5.18351761e-02 -1.91600496e-01 1.06366595e+02] [ 1.92186492e-01 -6.52054553e-03 9.81336759e-01 2.10773678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.79, Y:106.39, Z:21.08 [[ 4.90327065e-02 -9.98652394e-01 -1.70055609e-02 1.31793922e+02] [ 9.80373306e-01 5.13764003e-02 -1.90338244e-01 1.06393241e+02] [ 1.90955428e-01 -7.33899866e-03 9.81571273e-01 2.10826881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:106.42, Z:21.08 [[ 4.89347534e-02 -9.98787128e-01 -5.44632371e-03 1.31790360e+02] [ 9.80616639e-01 4.90788725e-02 -1.89689936e-01 1.06423841e+02] [ 1.89727165e-01 3.94167456e-03 9.81828939e-01 2.10804504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:106.45, Z:21.09 [[ 4.93331297e-02 -9.98742362e-01 -8.94071732e-03 1.31795371e+02] [ 9.80747289e-01 5.01338204e-02 -1.88736205e-01 1.06453568e+02] [ 1.88947075e-01 5.42363384e-04 9.81987122e-01 2.10864794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18185806399998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.80, Y:106.48, Z:21.10 [[ 4.99946617e-02 -9.98505522e-01 -2.20738775e-02 1.31803371e+02] [ 9.80767479e-01 5.32576134e-02 -1.87773209e-01 1.06475818e+02] [ 1.88668188e-01 -1.22616831e-02 9.81964340e-01 2.10967214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21185806399998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:131.80, Y:106.50, Z:21.10 [[ 5.04285945e-02 -9.98655107e-01 -1.20388839e-02 1.31798211e+02] [ 9.80070115e-01 5.18020297e-02 -1.91778829e-01 1.06500010e+02] [ 1.92144545e-01 -2.12781356e-03 9.81364329e-01 2.11004440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24185806399998 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:131.80, Y:106.53, Z:21.11 [[ 4.95679829e-02 -9.98633599e-01 -1.65514425e-02 1.31800755e+02] [ 9.80338159e-01 5.18155841e-02 -1.90400211e-01 1.06526256e+02] [ 1.90997670e-01 -6.78825630e-03 9.81567017e-01 2.11072966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27185806399999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:131.80, Y:106.55, Z:21.11 [[ 5.05425549e-02 -9.98639142e-01 -1.28574716e-02 1.31799886e+02] [ 9.80387192e-01 5.20660651e-02 -1.90079139e-01 1.06554004e+02] [ 1.90489906e-01 -2.99821511e-03 9.81684576e-01 2.11104721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.301858064 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:131.80, Y:106.58, Z:21.11 [[ 5.40421915e-02 -9.98508808e-01 -7.72019662e-03 1.31799886e+02] [ 9.80222273e-01 5.45233597e-02 -1.90240633e-01 1.06580111e+02] [ 1.90377879e-01 2.71351206e-03 9.81707136e-01 2.11115650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.331858064 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:131.80, Y:106.61, Z:21.12 [[ 5.38416981e-02 -9.98399429e-01 -1.73104283e-02 1.31803193e+02] [ 9.80137895e-01 5.61546263e-02 -1.90200851e-01 1.06606358e+02] [ 1.90868482e-01 -6.72586990e-03 9.81592576e-01 2.11216172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.361858064 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:131.80, Y:106.63, Z:21.13 [[ 5.49865337e-02 -9.98406169e-01 -1.27123214e-02 1.31802787e+02] [ 9.80064384e-01 5.64020147e-02 -1.90506211e-01 1.06634276e+02] [ 1.90919577e-01 -1.98361720e-03 9.81603678e-01 2.11253716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.391858064 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:131.80, Y:106.66, Z:21.13 [[ 5.62206804e-02 -9.98399791e-01 -6.09042612e-03 1.31800997e+02] [ 9.79725127e-01 5.63419231e-02 -1.92260927e-01 1.06659722e+02] [ 1.92296416e-01 4.84209665e-03 9.81324942e-01 2.11278170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.421858064 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:131.81, Y:106.68, Z:21.14 [[ 5.73502278e-02 -9.98245720e-01 -1.47116953e-02 1.31806322e+02] [ 9.79805505e-01 5.91059476e-02 -1.91017433e-01 1.06684658e+02] [ 1.91551884e-01 -3.45970670e-03 9.81476391e-01 2.11362283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.451858064 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:131.81, Y:106.71, Z:21.14 [[ 5.90905096e-02 -9.98147645e-01 -1.44772314e-02 1.31806847e+02] [ 9.79988999e-01 6.07647666e-02 -1.89550008e-01 1.06710984e+02] [ 1.90078600e-01 -2.98692093e-03 9.81764332e-01 2.11409739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.481858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:131.81, Y:106.74, Z:21.14 [[ 5.82572075e-02 -9.98247372e-01 -1.04058689e-02 1.31805711e+02] [ 9.80031851e-01 5.91729924e-02 -1.89831843e-01 1.06739349e+02] [ 1.90114885e-01 8.60990098e-04 9.81761473e-01 2.11447790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.511858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:131.81, Y:106.77, Z:21.15 [[ 5.73573831e-02 -9.98245852e-01 -1.46748246e-02 1.31809296e+02] [ 9.80260636e-01 5.90975575e-02 -1.88670518e-01 1.06766559e+02] [ 1.89206809e-01 -3.56350573e-03 9.81930794e-01 2.11518335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.541858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:131.81, Y:106.79, Z:21.16 [[ 5.54484735e-02 -9.98386265e-01 -1.22609929e-02 1.31809551e+02] [ 9.80429711e-01 5.67662288e-02 -1.88507764e-01 1.06793971e+02] [ 1.88899573e-01 -1.56857397e-03 9.81995158e-01 2.11556230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.571858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:131.81, Y:106.82, Z:21.16 [[ 5.39336433e-02 -9.98469727e-01 -1.22215185e-02 1.31811366e+02] [ 9.80471342e-01 5.52716037e-02 -1.88735258e-01 1.06821094e+02] [ 1.89121945e-01 -1.80366852e-03 9.81951952e-01 2.11608453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.81, Y:106.85, Z:21.17 [[ 5.25102519e-02 -9.98546130e-01 -1.21778089e-02 1.31813075e+02] [ 9.80519569e-01 5.38659230e-02 -1.88891072e-01 1.06846963e+02] [ 1.89272418e-01 -2.02186218e-03 9.81922535e-01 2.11650226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.631858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.81, Y:106.87, Z:21.17 [[ 4.98806273e-02 -9.98680569e-01 -1.22083786e-02 1.31814321e+02] [ 9.80423511e-01 5.12926551e-02 -1.90102086e-01 1.06873751e+02] [ 1.90477460e-01 -2.48697011e-03 9.81688419e-01 2.11698162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:106.90, Z:21.17 [[ 4.83628746e-02 -9.98755238e-01 -1.22068339e-02 1.31815511e+02] [ 9.80319934e-01 4.98049515e-02 -1.91029564e-01 1.06900208e+02] [ 1.91399738e-01 -2.72786378e-03 9.81508380e-01 2.11749293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.691858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.81, Y:106.93, Z:21.18 [[ 4.72248129e-02 -9.98870062e-01 -5.33069896e-03 1.31813601e+02] [ 9.79987093e-01 4.73638848e-02 -1.93344148e-01 1.06927448e+02] [ 1.93378164e-01 3.90662506e-03 9.81116519e-01 2.11768365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.82, Y:106.95, Z:21.19 [[ 4.44661883e-02 -9.98834934e-01 -1.87491983e-02 1.31821750e+02] [ 9.80411782e-01 4.72352562e-02 -1.91210795e-01 1.06952743e+02] [ 1.91873645e-01 -9.87951970e-03 9.81369910e-01 2.11870477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.751858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.82, Y:106.98, Z:21.19 [[ 4.30049710e-02 -9.99001913e-01 -1.20727296e-02 1.31820307e+02] [ 9.80438657e-01 4.45227952e-02 -1.91723134e-01 1.06979381e+02] [ 1.92069289e-01 -3.59152296e-03 9.81374795e-01 2.11896229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.82, Y:107.01, Z:21.19 [[ 4.13590851e-02 -9.99072373e-01 -1.19924769e-02 1.31821896e+02] [ 9.80567939e-01 4.28909446e-02 -1.91433759e-01 1.07005781e+02] [ 1.91770548e-01 -3.84191325e-03 9.81432268e-01 2.11948471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.811858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:131.87, Y:107.03, Z:21.26 [[ 4.51044549e-02 -9.94169825e-01 -9.79384848e-02 1.31872446e+02] [ 9.76983858e-01 6.43595501e-02 -2.03372539e-01 1.07027559e+02] [ 2.08490118e-01 -8.65113112e-02 9.74190774e-01 2.12636948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.84, Y:107.06, Z:21.24 [[ 4.46794188e-02 -9.98584095e-01 -2.88713565e-02 1.31844982e+02] [ 9.77618477e-01 4.96522627e-02 -2.04442576e-01 1.07064447e+02] [ 2.05586633e-01 -1.90907961e-02 9.78452696e-01 2.12407588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.871858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.83, Y:107.09, Z:21.23 [[ 4.34096434e-02 -9.99054080e-01 -2.55882080e-03 1.31833696e+02] [ 9.77963960e-01 4.30165089e-02 -2.04294082e-01 1.07092747e+02] [ 2.04210908e-01 6.36589873e-03 9.78906216e-01 2.12316525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:107.12, Z:21.23 [[ 4.42301783e-02 -9.98994108e-01 7.37994324e-03 1.31831738e+02] [ 9.77480853e-01 4.17495848e-02 -2.06852979e-01 1.07119713e+02] [ 2.06336798e-01 1.63628974e-02 9.78344204e-01 2.12315264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.86, Y:107.14, Z:21.26 [[ 4.25851483e-02 -9.98106693e-01 -4.43794489e-02 1.31857230e+02] [ 9.78792265e-01 5.05875982e-02 -1.98510951e-01 1.07144568e+02] [ 2.00380158e-01 -3.49846430e-02 9.79093390e-01 2.12569121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:107.17, Z:21.25 [[ 4.29778658e-02 -9.98936633e-01 -1.66884815e-02 1.31845296e+02] [ 9.78875234e-01 4.54450416e-02 -1.99343985e-01 1.07174377e+02] [ 1.99890418e-01 -7.76856218e-03 9.79787462e-01 2.12507316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99185806399998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:131.85, Y:107.20, Z:21.26 [[ 4.32274606e-02 -9.98927158e-01 -1.66108288e-02 1.31845689e+02] [ 9.79022150e-01 4.56680489e-02 -1.98570035e-01 1.07201500e+02] [ 1.99115585e-01 -7.67869098e-03 9.79945928e-01 2.12550313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02185806399999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:131.80, Y:107.23, Z:21.21 [[ 3.87033971e-02 -9.98212174e-01 4.55467082e-02 1.31804355e+02] [ 9.81733435e-01 2.94880633e-02 -1.87962543e-01 1.07226348e+02] [ 1.86283415e-01 5.19895152e-02 9.81119554e-01 2.12140341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.051858064 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:131.86, Y:107.25, Z:21.27 [[ 4.58516257e-02 -9.97515482e-01 -5.34835682e-02 1.31860567e+02] [ 9.79406226e-01 5.54284891e-02 -1.94142027e-01 1.07247985e+02] [ 1.96624191e-01 -4.34804121e-02 9.79514360e-01 2.12749029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.081858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:131.85, Y:107.28, Z:21.27 [[ 5.10534011e-02 -9.98332807e-01 -2.69287501e-02 1.31853514e+02] [ 9.78736146e-01 5.53787348e-02 -1.97506333e-01 1.07283466e+02] [ 1.98668332e-01 -1.62727710e-02 9.79931677e-01 2.12735178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.111858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:131.81, Y:107.31, Z:21.24 [[ 4.80902674e-02 -9.98299806e-01 3.29366679e-02 1.31814246e+02] [ 9.80321453e-01 4.08521694e-02 -1.93134536e-01 1.07308764e+02] [ 1.91460635e-01 4.15764136e-02 9.80619308e-01 2.12399401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.141858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:131.84, Y:107.33, Z:21.26 [[ 4.96759640e-02 -9.98642697e-01 -1.56544638e-02 1.31838837e+02] [ 9.80468016e-01 5.17463523e-02 -1.89749266e-01 1.07331182e+02] [ 1.90301780e-01 -5.92272334e-03 9.81707774e-01 2.12625899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.171858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:131.84, Y:107.36, Z:21.26 [[ 5.01665621e-02 -9.98721240e-01 -6.26112795e-03 1.31835379e+02] [ 9.80107897e-01 5.04349618e-02 -1.91950060e-01 1.07358558e+02] [ 1.92020382e-01 3.49289366e-03 9.81384722e-01 2.12644161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.201858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:131.84, Y:107.38, Z:21.27 [[ 5.17351355e-02 -9.98528258e-01 -1.62724589e-02 1.31841723e+02] [ 9.80177711e-01 5.38912834e-02 -1.90649898e-01 1.07382881e+02] [ 1.91246254e-01 -6.08660324e-03 9.81523216e-01 2.12729410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.231858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:131.84, Y:107.41, Z:21.27 [[ 5.15209585e-02 -9.98651462e-01 -6.39130287e-03 1.31839319e+02] [ 9.79911877e-01 5.17867355e-02 -1.92589844e-01 1.07410357e+02] [ 1.92661114e-01 3.65949977e-03 9.81258530e-01 2.12743344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.261858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:131.85, Y:107.44, Z:21.28 [[ 5.13725470e-02 -9.98554382e-01 -1.58116083e-02 1.31845603e+02] [ 9.80212170e-01 5.34469176e-02 -1.90597820e-01 1.07435988e+02] [ 1.91167370e-01 -5.70723545e-03 9.81540862e-01 2.12834334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.291858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:131.84, Y:107.46, Z:21.28 [[ 4.98748870e-02 -9.98744633e-01 -4.65325907e-03 1.31842281e+02] [ 9.80091229e-01 4.98388185e-02 -1.92190728e-01 1.07464659e+02] [ 1.92181371e-01 5.02487243e-03 9.81346560e-01 2.12848564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:131.85, Y:107.49, Z:21.29 [[ 4.90110610e-02 -9.98747897e-01 -1.00276499e-02 1.31846391e+02] [ 9.79986445e-01 5.00249002e-02 -1.92676095e-01 1.07489021e+02] [ 1.92936477e-01 -3.83701102e-04 9.81211174e-01 2.12919962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.351858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.85, Y:107.51, Z:21.30 [[ 4.81978606e-02 -9.98552544e-01 -2.38701108e-02 1.31854278e+02] [ 9.80713536e-01 5.18416552e-02 -1.88450001e-01 1.07513559e+02] [ 1.89414694e-01 -1.43268539e-02 9.81792654e-01 2.13013364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.85, Y:107.54, Z:21.30 [[ 4.75836023e-02 -9.98772149e-01 -1.37838462e-02 1.31851189e+02] [ 9.80871708e-01 4.93294915e-02 -1.88301074e-01 1.07540928e+02] [ 1.88749818e-01 -4.56014137e-03 9.82014619e-01 2.13024079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:107.57, Z:21.30 [[ 4.82328994e-02 -9.98828557e-01 -3.88610496e-03 1.31849326e+02] [ 9.80321008e-01 4.80841034e-02 -1.91464464e-01 1.07565306e+02] [ 1.91427034e-01 5.42525589e-03 9.81491853e-01 2.13040101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:107.59, Z:21.31 [[ 4.76270894e-02 -9.98810323e-01 -1.04689557e-02 1.31854148e+02] [ 9.80284452e-01 4.87507205e-02 -1.91483057e-01 1.07591423e+02] [ 1.91765623e-01 -1.14277376e-03 9.81440085e-01 2.13118153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:107.62, Z:21.31 [[ 4.65608125e-02 -9.98891011e-01 6.98854697e-03 1.31847157e+02] [ 9.80865150e-01 4.43943677e-02 -1.89559220e-01 1.07622912e+02] [ 1.89038749e-01 1.56808535e-02 9.81844419e-01 2.13051483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.86, Y:107.65, Z:21.32 [[ 4.51976750e-02 -9.98841731e-01 -1.65035516e-02 1.31858904e+02] [ 9.81867743e-01 4.74620022e-02 -1.83529546e-01 1.07647203e+02] [ 1.84100261e-01 -7.90919620e-03 9.82875648e-01 2.13159784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.531858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.85, Y:107.68, Z:21.31 [[ 4.33627365e-02 -9.99041673e-01 5.95057357e-03 1.31849649e+02] [ 9.81209716e-01 4.14663759e-02 -1.88435751e-01 1.07677642e+02] [ 1.88008419e-01 1.40098504e-02 9.82067492e-01 2.13111781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.86, Y:107.70, Z:21.32 [[ 4.19665073e-02 -9.99061577e-01 -1.07134802e-02 1.31859793e+02] [ 9.81141436e-01 4.32340066e-02 -1.88394009e-01 1.07703162e+02] [ 1.88680402e-01 -2.60520084e-03 9.82035090e-01 2.13227880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.591858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:131.87, Y:107.73, Z:21.33 [[ 3.93981634e-02 -9.99127949e-01 -1.38248480e-02 1.31865530e+02] [ 9.80743366e-01 4.13144169e-02 -1.90881033e-01 1.07731325e+02] [ 1.91285741e-01 -6.03826579e-03 9.81515820e-01 2.13314278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.87, Y:107.76, Z:21.34 [[ 3.76292561e-02 -9.99218670e-01 -1.20867255e-02 1.31867190e+02] [ 9.80730334e-01 3.92480171e-02 -1.91383400e-01 1.07757143e+02] [ 1.91708247e-01 -4.65220331e-03 9.81440933e-01 2.13361745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.651858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.87, Y:107.79, Z:21.34 [[ 3.58004233e-02 -9.99349456e-01 -4.35822747e-03 1.31865706e+02] [ 9.80927909e-01 3.59735191e-02 -1.91013988e-01 1.07785960e+02] [ 1.91046505e-01 2.56327466e-03 9.81577640e-01 2.13370240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.87, Y:107.81, Z:21.35 [[ 3.42975335e-02 -9.99329632e-01 -1.28049346e-02 1.31872276e+02] [ 9.80937103e-01 3.61129122e-02 -1.90940457e-01 1.07812848e+02] [ 1.91274880e-01 -6.01204875e-03 9.81518097e-01 2.13467284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.87, Y:107.84, Z:21.35 [[ 3.40870033e-02 -9.99375435e-01 -9.31754200e-03 1.31872037e+02] [ 9.80873856e-01 3.52406963e-02 -1.91427721e-01 1.07841326e+02] [ 1.91636519e-01 -2.61413598e-03 9.81462486e-01 2.13509708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:107.87, Z:21.36 [[ 3.04318909e-02 -9.99090687e-01 -2.98613327e-02 1.31884300e+02] [ 9.82266245e-01 3.54223443e-02 -1.84114857e-01 1.07866705e+02] [ 1.85005198e-01 -2.37288159e-02 9.82451027e-01 2.13645749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.86, Y:107.90, Z:21.35 [[ 3.10753197e-02 -9.99350723e-01 1.82334057e-02 1.31862149e+02] [ 9.81487574e-01 2.70604737e-02 -1.89604519e-01 1.07898094e+02] [ 1.88988008e-01 2.37878821e-02 9.81691229e-01 2.13487614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:107.92, Z:21.37 [[ 3.02150783e-02 -9.99457934e-01 -1.30724213e-02 1.31879289e+02] [ 9.81976029e-01 3.21227091e-02 -1.86255763e-01 1.07920619e+02] [ 1.86574722e-01 -7.20907189e-03 9.82414323e-01 2.13651533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.88, Y:107.95, Z:21.37 [[ 3.09155050e-02 -9.99508537e-01 -5.18800705e-03 1.31880504e+02] [ 9.81310984e-01 3.13381192e-02 -1.89859621e-01 1.07950034e+02] [ 1.89928894e-01 7.78557757e-04 9.81797540e-01 2.13699817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:107.97, Z:21.38 [[ 3.19443789e-02 -9.99258459e-01 -2.14962720e-02 1.31891525e+02] [ 9.81764961e-01 3.54030497e-02 -1.86773083e-01 1.07973287e+02] [ 1.87395617e-01 -1.51379365e-02 9.82167870e-01 2.13814592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:108.00, Z:21.38 [[ 3.07807953e-02 -9.99518055e-01 -4.02503247e-03 1.31883806e+02] [ 9.81249962e-01 3.09842798e-02 -1.90232714e-01 1.08001289e+02] [ 1.90265745e-01 1.90595129e-03 9.81730774e-01 2.13807383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:108.02, Z:21.40 [[ 3.42727871e-02 -9.99052080e-01 -2.68387509e-02 1.31900372e+02] [ 9.80247416e-01 3.88373139e-02 -1.93924385e-01 1.08024802e+02] [ 1.94782905e-01 -1.96622871e-02 9.80649282e-01 2.14045693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:108.05, Z:21.40 [[ 3.52024654e-02 -9.99302836e-01 -1.24349889e-02 1.31896126e+02] [ 9.80303688e-01 3.69473674e-02 -1.94009206e-01 1.08052931e+02] [ 1.94333390e-01 -5.36046305e-03 9.80920893e-01 2.14040375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:108.08, Z:21.41 [[ 3.56366676e-02 -9.99338786e-01 -7.21233643e-03 1.31895902e+02] [ 9.80231788e-01 3.63589129e-02 -1.94483088e-01 1.08080985e+02] [ 1.94616726e-01 -1.39032262e-04 9.80879356e-01 2.14072834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:108.11, Z:21.41 [[ 3.62554402e-02 -9.99293963e-01 -9.85485424e-03 1.31898993e+02] [ 9.80095724e-01 3.74815198e-02 -1.94955145e-01 1.08106301e+02] [ 1.95186874e-01 -2.59051590e-03 9.80762649e-01 2.14134017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:108.13, Z:21.42 [[ 3.85127518e-02 -9.99210588e-01 -9.74515519e-03 1.31901976e+02] [ 9.80167914e-01 3.96723721e-02 -1.94157058e-01 1.08134086e+02] [ 1.94390401e-01 -2.07436586e-03 9.80922050e-01 2.14184789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:108.16, Z:21.42 [[ 3.97467144e-02 -9.99162997e-01 -9.66975512e-03 1.31903795e+02] [ 9.80196922e-01 4.08674477e-02 -1.93762344e-01 1.08161652e+02] [ 1.93995343e-01 -1.77684764e-03 9.81000841e-01 2.14236478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.91, Y:108.19, Z:21.43 [[ 4.05089644e-02 -9.99132879e-01 -9.61838796e-03 1.31905150e+02] [ 9.80149807e-01 4.16053937e-02 -1.93843614e-01 1.08188083e+02] [ 1.94075705e-01 -1.57505703e-03 9.80985290e-01 2.14281931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:108.22, Z:21.43 [[ 4.16669126e-02 -9.99085985e-01 -9.54269927e-03 1.31906779e+02] [ 9.80240884e-01 4.27257219e-02 -1.93138089e-01 1.08215575e+02] [ 1.93369276e-01 -1.30667611e-03 9.81125178e-01 2.14337696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:108.24, Z:21.44 [[ 4.31155773e-02 -9.99025247e-01 -9.46587801e-03 1.31908850e+02] [ 9.80266316e-01 4.41317678e-02 -1.92692337e-01 1.08243236e+02] [ 1.92922256e-01 -9.71039996e-04 9.81213565e-01 2.14395074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:108.27, Z:21.44 [[ 4.33110736e-02 -9.99017579e-01 -9.38227333e-03 1.31910560e+02] [ 9.80371797e-01 4.43069551e-02 -1.92114636e-01 1.08271169e+02] [ 1.92341598e-01 -8.77425045e-04 9.81327641e-01 2.14447189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:108.30, Z:21.45 [[ 4.36120536e-02 -9.99005195e-01 -9.30635328e-03 1.31912214e+02] [ 9.80443589e-01 4.45873828e-02 -1.91682902e-01 1.08297342e+02] [ 1.91907161e-01 -7.64669413e-04 9.81412786e-01 2.14494856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:108.32, Z:21.45 [[ 4.32257149e-02 -9.99022680e-01 -9.23160844e-03 1.31913667e+02] [ 9.80503369e-01 4.41937097e-02 -1.91468169e-01 1.08322915e+02] [ 1.91689022e-01 -7.75274696e-04 9.81455408e-01 2.14543246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:108.35, Z:21.46 [[ 4.27477295e-02 -9.99043825e-01 -9.16882396e-03 1.31915465e+02] [ 9.80589548e-01 4.37122754e-02 -1.91137059e-01 1.08349726e+02] [ 1.91355089e-01 -8.20177623e-04 9.81520533e-01 2.14594657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:108.38, Z:21.46 [[ 4.19996064e-02 -9.99076221e-01 -9.09603228e-03 1.31916971e+02] [ 9.80675159e-01 4.29637953e-02 -1.90867346e-01 1.08376793e+02] [ 1.91081827e-01 -9.03899481e-04 9.81573695e-01 2.14647195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:131.92, Y:108.40, Z:21.47 [[ 4.10512645e-02 -9.99116227e-01 -9.03098922e-03 1.31918572e+02] [ 9.80737047e-01 4.20203781e-02 -1.90759355e-01 1.08403228e+02] [ 1.90970253e-01 -1.02611294e-03 9.81595288e-01 2.14694563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:108.43, Z:21.47 [[ 4.06903435e-02 -9.99131494e-01 -8.97513107e-03 1.31919281e+02] [ 9.80736866e-01 4.16555147e-02 -1.90840293e-01 1.08429894e+02] [ 1.91048411e-01 -1.03688483e-03 9.81580068e-01 2.14742630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:108.46, Z:21.50 [[ 4.30180636e-02 -9.98526060e-01 -3.30931067e-02 1.31934116e+02] [ 9.79358262e-01 4.86940478e-02 -1.96179213e-01 1.08456833e+02] [ 1.97501494e-01 -2.39707576e-02 9.80009471e-01 2.14965314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:108.49, Z:21.48 [[ 4.02402274e-02 -9.99109630e-01 1.26756486e-02 1.31909622e+02] [ 9.80611283e-01 3.70538634e-02 -1.92427970e-01 1.08486653e+02] [ 1.91786956e-01 2.01732293e-02 9.81229231e-01 2.14751458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:108.51, Z:21.49 [[ 3.94073738e-02 -9.99183882e-01 -8.86725111e-03 1.31920780e+02] [ 9.80567783e-01 4.03768931e-02 -1.91980546e-01 1.08511565e+02] [ 1.92181900e-01 -1.12949161e-03 9.81358671e-01 2.14886507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.92, Y:108.54, Z:21.49 [[ 3.70674364e-02 -9.99274030e-01 -8.79881542e-03 1.31921422e+02] [ 9.80688903e-01 3.80671684e-02 -1.91833696e-01 1.08537190e+02] [ 1.92029376e-01 -1.51811732e-03 9.81388004e-01 2.14934629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.92, Y:108.56, Z:21.50 [[ 3.57949288e-02 -9.99321165e-01 -8.71389650e-03 1.31922683e+02] [ 9.80825747e-01 3.68012403e-02 -1.91380572e-01 1.08564223e+02] [ 1.91571339e-01 -1.69636007e-03 9.81477226e-01 2.14988817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:108.59, Z:21.50 [[ 3.42471845e-02 -9.99376027e-01 -8.64212123e-03 1.31923743e+02] [ 9.80928344e-01 3.52679236e-02 -1.91143291e-01 1.08590565e+02] [ 1.91328812e-01 -1.93118213e-03 9.81524099e-01 2.15043908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.92, Y:108.62, Z:21.51 [[ 3.28987268e-02 -9.99422109e-01 -8.55109904e-03 1.31924495e+02] [ 9.81107108e-01 3.39254872e-02 -1.90467592e-01 1.08618097e+02] [ 1.90647623e-01 -2.12340277e-03 9.81656241e-01 2.15094692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:108.64, Z:21.54 [[ 3.36879981e-02 -9.98751971e-01 -3.68730205e-02 1.31943971e+02] [ 9.79890311e-01 4.02669545e-02 -1.95431703e-01 1.08644695e+02] [ 1.96672562e-01 -2.95478127e-02 9.80023893e-01 2.15364957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.641858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.91, Y:108.67, Z:21.51 [[ 2.82132605e-02 -9.99476120e-01 1.58587008e-02 1.31913588e+02] [ 9.81309417e-01 2.46722561e-02 -1.90848388e-01 1.08673162e+02] [ 1.90357137e-01 2.09467478e-02 9.81491413e-01 2.15095122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:108.70, Z:21.52 [[ 2.62623472e-02 -9.99606257e-01 -9.88032867e-03 1.31926729e+02] [ 9.81599508e-01 2.76567648e-02 -1.88937847e-01 1.08697874e+02] [ 1.89136711e-01 -4.73657443e-03 9.81939341e-01 2.15243777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.701858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.93, Y:108.72, Z:21.53 [[ 2.52469067e-02 -9.99617038e-01 -1.13301213e-02 1.31927741e+02] [ 9.81882801e-01 2.69249665e-02 -1.87566554e-01 1.08721096e+02] [ 1.87799787e-01 -6.38937590e-03 9.82186549e-01 2.15287054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.731858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.92, Y:108.75, Z:21.53 [[ 2.27497258e-02 -9.99739734e-01 -1.70695468e-03 1.31923658e+02] [ 9.81566011e-01 2.26601932e-02 -1.89775343e-01 1.08749567e+02] [ 1.89764631e-01 2.64184832e-03 9.81826057e-01 2.15301960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.93, Y:108.78, Z:21.54 [[ 2.22708067e-02 -9.99711775e-01 -8.96541721e-03 1.31927732e+02] [ 9.81628571e-01 2.35659731e-02 -1.89340947e-01 1.08775166e+02] [ 1.89497653e-01 -4.58393405e-03 9.81870474e-01 2.15378587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:108.80, Z:21.54 [[ 2.08776283e-02 -9.99693859e-01 -1.32782875e-02 1.31930321e+02] [ 9.81947271e-01 2.30007863e-02 -1.87751223e-01 1.08802343e+02] [ 1.87999156e-01 -9.11877789e-03 9.82126858e-01 2.15443607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:108.83, Z:21.56 [[ 2.39197836e-02 -9.99324506e-01 -2.78994028e-02 1.31942758e+02] [ 9.80785303e-01 2.88626730e-02 -1.92943348e-01 1.08831659e+02] [ 1.93618268e-01 -2.27481611e-02 9.80813177e-01 2.15630911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:108.86, Z:21.55 [[ 2.01400104e-02 -9.99728355e-01 1.17301519e-02 1.31917133e+02] [ 9.81295409e-01 1.75192814e-02 -1.91709141e-01 1.08858522e+02] [ 1.91451560e-01 1.53717683e-02 9.81381684e-01 2.15450880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.93, Y:108.88, Z:21.56 [[ 1.97018119e-02 -9.99773009e-01 -8.10978166e-03 1.31926673e+02] [ 9.81536759e-01 2.08847061e-02 -1.90130007e-01 1.08882577e+02] [ 1.90256220e-01 -4.21414317e-03 9.81725426e-01 2.15573209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.911858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.93, Y:108.91, Z:21.56 [[ 2.13498521e-02 -9.99626965e-01 -1.70327600e-02 1.31930825e+02] [ 9.81845612e-01 2.41757330e-02 -1.88134865e-01 1.08905797e+02] [ 1.88476464e-01 -1.27068892e-02 9.81995498e-01 2.15649489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941858064 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:131.92, Y:108.94, Z:21.56 [[ 2.22410069e-02 -9.99750425e-01 2.10349664e-03 1.31920603e+02] [ 9.81137852e-01 2.14227194e-02 -1.92118669e-01 1.08936591e+02] [ 1.92025659e-01 6.33673283e-03 9.81369447e-01 2.15633859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.971858064 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:131.91, Y:108.96, Z:21.55 [[ 1.65809983e-02 -9.99673102e-01 1.94617443e-02 1.31906243e+02] [ 9.82721202e-01 1.27049352e-02 -1.84655419e-01 1.08962509e+02] [ 1.84347795e-01 2.21872400e-02 9.82610613e-01 2.15507630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:131.94, Y:108.99, Z:21.59 [[ 2.36640350e-02 -9.99200161e-01 -3.22343315e-02 1.31936962e+02] [ 9.81129680e-01 2.94010614e-02 -1.91102404e-01 1.08987120e+02] [ 1.91897276e-01 -2.71038054e-02 9.81040682e-01 2.15876052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.031858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:131.94, Y:109.02, Z:21.60 [[ 2.66060681e-02 -9.99275810e-01 -2.72024261e-02 1.31936192e+02] [ 9.80414951e-01 3.13965348e-02 -1.94424232e-01 1.09017118e+02] [ 1.95137494e-01 -2.14968008e-02 9.80540283e-01 2.15984279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:131.92, Y:109.05, Z:21.58 [[ 2.55399356e-02 -9.99634227e-01 8.89513338e-03 1.31915767e+02] [ 9.81005085e-01 2.33503984e-02 -1.92571499e-01 1.09045838e+02] [ 1.92293357e-01 1.36444348e-02 9.81242628e-01 2.15834242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.091858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:131.93, Y:109.07, Z:21.60 [[ 2.59278349e-02 -9.99399022e-01 -2.30074549e-02 1.31931212e+02] [ 9.80868329e-01 2.98756042e-02 -1.92366240e-01 1.09071382e+02] [ 1.92937993e-01 -1.75796437e-02 9.81053458e-01 2.16046125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121858064 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:131.92, Y:109.10, Z:21.59 [[ 2.67728991e-02 -9.99625380e-01 5.68435842e-03 1.31916598e+02] [ 9.80867360e-01 2.51727681e-02 -1.93042880e-01 1.09098761e+02] [ 1.92827471e-01 1.07439192e-02 9.81173856e-01 2.15948763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.151858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.93, Y:109.12, Z:21.62 [[ 2.69628291e-02 -9.99326226e-01 -2.49017963e-02 1.31932865e+02] [ 9.80548341e-01 3.12846193e-02 -1.93768480e-01 1.09124269e+02] [ 1.94416967e-01 -1.91928686e-02 9.80731195e-01 2.16163104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:109.15, Z:21.60 [[ 2.84703160e-02 -9.99565697e-01 7.60645450e-03 1.31914917e+02] [ 9.80271533e-01 2.64301629e-02 -1.95880492e-01 1.09152738e+02] [ 1.95594381e-01 1.30331703e-02 9.80598274e-01 2.16046100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21185806399998 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:131.92, Y:109.18, Z:21.62 [[ 2.84040104e-02 -9.99513817e-01 -1.28585560e-02 1.31924256e+02] [ 9.80485343e-01 3.03620393e-02 -1.94233463e-01 1.09178383e+02] [ 1.94529442e-01 -7.09061635e-03 9.80871051e-01 2.16171209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:109.21, Z:21.62 [[ 2.85372922e-02 -9.99592527e-01 -6.35428288e-04 1.31917486e+02] [ 9.79871653e-01 2.80999203e-02 -1.97640933e-01 1.09206207e+02] [ 1.97578255e-01 5.01749889e-03 9.80274277e-01 2.16190133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:109.23, Z:21.65 [[ 3.09399279e-02 -9.98636321e-01 -4.20502075e-02 1.31937295e+02] [ 9.78709118e-01 3.88093216e-02 -2.01549745e-01 1.09227779e+02] [ 2.02906835e-01 -3.49189869e-02 9.78575230e-01 2.16487920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:109.26, Z:21.62 [[ 3.03706219e-02 -9.99207335e-01 2.57357314e-02 1.31905491e+02] [ 9.79862400e-01 2.46792402e-02 -1.98142908e-01 1.09263658e+02] [ 1.97350709e-01 3.12351989e-02 9.79835221e-01 2.16210521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:109.29, Z:21.65 [[ 3.01134320e-02 -9.99362168e-01 -1.91947295e-02 1.31927943e+02] [ 9.80094945e-01 3.32920115e-02 -1.95718014e-01 1.09285496e+02] [ 1.96232210e-01 -1.29189163e-02 9.80472346e-01 2.16455346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.92, Y:109.31, Z:21.64 [[ 3.10744024e-02 -9.99516993e-01 -4.03037506e-04 1.31919081e+02] [ 9.80064095e-01 3.05487852e-02 -1.96318977e-01 1.09311974e+02] [ 1.96236466e-01 5.70549231e-03 9.80540003e-01 2.16407620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.391858064 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:131.93, Y:109.34, Z:21.65 [[ 2.96043469e-02 -9.99135873e-01 -2.91734437e-02 1.31932111e+02] [ 9.80984395e-01 3.46425880e-02 -1.90969916e-01 1.09335079e+02] [ 1.91815538e-01 -2.29651534e-02 9.81162271e-01 2.16548584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.421858064 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:131.92, Y:109.36, Z:21.65 [[ 2.76524702e-02 -9.99597609e-01 -6.32154967e-03 1.31921807e+02] [ 9.81189926e-01 2.83508441e-02 -1.90951719e-01 1.09363354e+02] [ 1.91054103e-01 -9.22354124e-04 9.81579074e-01 2.16509091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.451858064 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:131.92, Y:109.39, Z:21.66 [[ 2.57543268e-02 -9.99629168e-01 -8.84542076e-03 1.31923086e+02] [ 9.81252589e-01 2.69694707e-02 -1.90829781e-01 1.09388418e+02] [ 1.90997571e-01 -3.76489947e-03 9.81583289e-01 2.16560582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.481858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:131.92, Y:109.41, Z:21.66 [[ 2.35459511e-02 -9.99710169e-01 -5.01654059e-03 1.31921093e+02] [ 9.81404454e-01 2.40704081e-02 -1.90436112e-01 1.09413851e+02] [ 1.90501668e-01 -4.39255895e-04 9.81686774e-01 2.16582903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.511858064 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:131.92, Y:109.44, Z:21.66 [[ 2.15965664e-02 -9.99741731e-01 -7.07526173e-03 1.31922809e+02] [ 9.81252516e-01 2.25517324e-02 -1.91402507e-01 1.09440394e+02] [ 1.91512634e-01 -2.80898141e-03 9.81486129e-01 2.16634594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.541858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.91, Y:109.47, Z:21.66 [[ 1.88680768e-02 -9.99744563e-01 1.24420256e-02 1.31912327e+02] [ 9.80410921e-01 1.60601123e-02 -1.96307153e-01 1.09468987e+02] [ 1.96057189e-01 1.59022362e-02 9.80463512e-01 2.16598400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.571858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.93, Y:109.49, Z:21.68 [[ 1.50770238e-02 -9.99634307e-01 -2.24485092e-02 1.31927326e+02] [ 9.80751680e-01 1.91559542e-02 -1.94317247e-01 1.09490562e+02] [ 1.94676209e-01 -1.90866873e-02 9.80681840e-01 2.16794155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.92, Y:109.52, Z:21.68 [[ 1.51357392e-02 -9.99872414e-01 -5.10537408e-03 1.31920045e+02] [ 9.80741495e-01 1.58401159e-02 -1.94666923e-01 1.09519961e+02] [ 1.94722956e-01 -2.06062444e-03 9.80856118e-01 2.16782585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.631858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.91, Y:109.55, Z:21.68 [[ 1.51392982e-02 -9.99824159e-01 1.10658825e-02 1.31914056e+02] [ 9.80578409e-01 1.26817172e-02 -1.95717037e-01 1.09551715e+02] [ 1.95542288e-01 1.38139841e-02 9.80597975e-01 2.16754917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:131.92, Y:109.58, Z:21.69 [[ 1.43061245e-02 -9.99845090e-01 -1.02533117e-02 1.31923709e+02] [ 9.80928792e-01 1.60218991e-02 -1.93705971e-01 1.09575674e+02] [ 1.93840242e-01 -7.28658695e-03 9.81006048e-01 2.16881254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.691858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.92, Y:109.60, Z:21.69 [[ 1.37107183e-02 -9.99877372e-01 -7.56678868e-03 1.31922683e+02] [ 9.80945480e-01 1.49170568e-02 -1.93709699e-01 1.09602464e+02] [ 1.93798819e-01 -4.76670803e-03 9.81029712e-01 2.16912561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:109.63, Z:21.69 [[ 1.24320863e-02 -9.99922716e-01 -7.03815723e-05 1.31918550e+02] [ 9.80759370e-01 1.22075416e-02 -1.94838482e-01 1.09631446e+02] [ 1.94824284e-01 2.35322144e-03 9.80835338e-01 2.16927690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:109.66, Z:21.70 [[ 1.19760285e-02 -9.99908282e-01 -6.32472464e-03 1.31921657e+02] [ 9.80868637e-01 1.29766016e-02 -1.94237803e-01 1.09657172e+02] [ 1.94302061e-01 -3.87752656e-03 9.80934082e-01 2.16996677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:109.68, Z:21.66 [[ 2.72357001e-03 -9.98288785e-01 5.84130390e-02 1.31877845e+02] [ 9.83556964e-01 -7.87394420e-03 -1.80426436e-01 1.09684819e+02] [ 1.80577629e-01 5.79439553e-02 9.81852442e-01 2.16605800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:109.71, Z:21.73 [[ 1.20543769e-02 -9.97878130e-01 -6.39838182e-02 1.31948248e+02] [ 9.81106275e-01 2.41599117e-02 -1.91955138e-01 1.09706565e+02] [ 1.93093678e-01 -6.04610260e-02 9.79315728e-01 2.17319747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:109.74, Z:21.72 [[ 1.20426242e-02 -9.99908332e-01 -6.18896002e-03 1.31921251e+02] [ 9.81030695e-01 1.30124160e-02 -1.93415232e-01 1.09737822e+02] [ 1.93478035e-01 -3.74233280e-03 9.81097470e-01 2.17152901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:109.76, Z:21.72 [[ 1.33396235e-02 -9.99826886e-01 -1.29712205e-02 1.31923874e+02] [ 9.81871854e-01 1.55508465e-02 -1.88906943e-01 1.09759311e+02] [ 1.89075954e-01 -1.02161288e-02 9.81909321e-01 2.17200221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.91, Y:109.79, Z:21.72 [[ 1.30357982e-02 -9.99892470e-01 6.71682268e-03 1.31914257e+02] [ 9.81610859e-01 1.15174613e-02 -1.90545189e-01 1.09788822e+02] [ 1.90447339e-01 9.07721471e-03 9.81655446e-01 2.17173851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93185806399998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.92, Y:109.81, Z:21.73 [[ 1.38272150e-02 -9.99890489e-01 -5.27435396e-03 1.31920584e+02] [ 9.81821083e-01 1.45756099e-02 -1.89248282e-01 1.09814892e+02] [ 1.89304434e-01 -2.56169524e-03 9.81915103e-01 2.17261632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:109.84, Z:21.73 [[ 1.43230816e-02 -9.99888298e-01 -4.27094071e-03 1.31921110e+02] [ 9.81826555e-01 1.48724915e-02 -1.89196790e-01 1.09841611e+02] [ 1.89239176e-01 -1.48344193e-03 9.81929903e-01 2.17301778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.92, Y:109.87, Z:21.73 [[ 1.51873954e-02 -9.99884372e-01 -7.65450888e-04 1.31919575e+02] [ 9.81828838e-01 1.50579644e-02 -1.89170270e-01 1.09868421e+02] [ 1.89159923e-01 2.12146193e-03 9.81944002e-01 2.17336355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:109.90, Z:21.75 [[ 1.72517984e-02 -9.99565191e-01 -2.39124235e-02 1.31933501e+02] [ 9.81074398e-01 2.15361243e-02 -1.92429781e-01 1.09895235e+02] [ 1.92861092e-01 -2.01401067e-02 9.81019355e-01 2.17529330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.051858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:131.92, Y:109.93, Z:21.74 [[ 1.46774754e-02 -9.99858329e-01 8.23973245e-03 1.31916837e+02] [ 9.81368257e-01 1.28262056e-02 -1.91707674e-01 1.09925323e+02] [ 1.91574830e-01 1.08999966e-02 9.81417482e-01 2.17434675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.081858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.92, Y:109.95, Z:21.75 [[ 1.65231847e-02 -9.99860133e-01 2.58803115e-03 1.31919003e+02] [ 9.81779108e-01 1.57342144e-02 -1.89373221e-01 1.09947388e+02] [ 1.89306013e-01 5.66992362e-03 9.81901770e-01 2.17468427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.93, Y:109.98, Z:21.76 [[ 1.45346820e-02 -9.99833673e-01 -1.10167923e-02 1.31928087e+02] [ 9.81413162e-01 1.63737391e-02 -1.91206970e-01 1.09977081e+02] [ 1.91355554e-01 -8.03289248e-03 9.81487914e-01 2.17596866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.93, Y:110.00, Z:21.76 [[ 1.40233836e-02 -9.99885062e-01 -5.76259299e-03 1.31926678e+02] [ 9.81371742e-01 1.48676417e-02 -1.91542314e-01 1.10004226e+02] [ 1.91605974e-01 -2.96917457e-03 9.81467439e-01 2.17625673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.171858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.93, Y:110.03, Z:21.77 [[ 1.35137114e-02 -9.99892379e-01 -5.71054289e-03 1.31927943e+02] [ 9.81329401e-01 1.43582179e-02 -1.91797935e-01 1.10031941e+02] [ 1.91859286e-01 -3.01202170e-03 9.81417822e-01 2.17675295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.93, Y:110.06, Z:21.77 [[ 1.17633913e-02 -9.99914868e-01 -5.64610745e-03 1.31929435e+02] [ 9.81411624e-01 1.26270266e-02 -1.91498782e-01 1.10059507e+02] [ 1.91553773e-01 -3.28848038e-03 9.81476611e-01 2.17721849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:110.09, Z:21.76 [[ 9.83405782e-03 -9.99805720e-01 1.70825377e-02 1.31916023e+02] [ 9.82579004e-01 6.49122646e-03 -1.85731971e-01 1.10085422e+02] [ 1.85585000e-01 1.86114418e-02 9.82451944e-01 2.17607221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.94, Y:110.11, Z:21.79 [[ 1.09592439e-02 -9.99481802e-01 -3.02658573e-02 1.31943815e+02] [ 9.81952454e-01 1.64723594e-02 -1.88409235e-01 1.10109909e+02] [ 1.88810152e-01 -2.76548101e-02 9.81624133e-01 2.17892237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.93, Y:110.14, Z:21.78 [[ 7.83483386e-03 -9.99964474e-01 3.10897368e-03 1.31931061e+02] [ 9.81854923e-01 7.10377044e-03 -1.89500519e-01 1.10143691e+02] [ 1.89471701e-01 4.53726620e-03 9.81875699e-01 2.17833513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.94, Y:110.17, Z:21.79 [[ 6.86985302e-03 -9.99939880e-01 -8.54647503e-03 1.31938253e+02] [ 9.81873929e-01 8.36411216e-03 -1.89350548e-01 1.10169035e+02] [ 1.89410648e-01 -7.09075058e-03 9.81872358e-01 2.17935119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.94, Y:110.20, Z:21.80 [[ 6.40468812e-03 -9.99964462e-01 -5.48215795e-03 1.31939037e+02] [ 9.82033626e-01 7.32361612e-03 -1.88563840e-01 1.10197367e+02] [ 1.88597288e-01 -4.17597087e-03 9.82045632e-01 2.17973783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:110.22, Z:21.80 [[ 6.36968417e-03 -9.99964987e-01 -5.42693539e-03 1.31940207e+02] [ 9.82046843e-01 7.27854270e-03 -1.88496738e-01 1.10222667e+02] [ 1.88529638e-01 -4.12884008e-03 9.82058821e-01 2.18021315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.411858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.94, Y:110.25, Z:21.80 [[ 6.47845959e-03 -9.99976876e-01 -2.06811951e-03 1.31940204e+02] [ 9.82177105e-01 6.75161913e-03 -1.87836496e-01 1.10252091e+02] [ 1.87846116e-01 -8.14368481e-04 9.82198134e-01 2.18048317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:110.28, Z:21.81 [[ 7.96409052e-03 -9.99953602e-01 -5.41916019e-03 1.31943625e+02] [ 9.82074033e-01 8.84210016e-03 -1.88288107e-01 1.10280569e+02] [ 1.88327287e-01 -3.82247297e-03 9.82098886e-01 2.18117810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.471858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.93, Y:110.31, Z:21.79 [[ 4.20832330e-03 -9.99748410e-01 2.20319479e-02 1.31925466e+02] [ 9.83637079e-01 1.70202927e-04 -1.80161226e-01 1.10307013e+02] [ 1.80112149e-01 2.24296176e-02 9.83390322e-01 2.17945413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.96, Y:110.33, Z:21.84 [[ 1.17502756e-02 -9.99126466e-01 -4.01028242e-02 1.31963683e+02] [ 9.81389271e-01 1.92106443e-02 -1.91065566e-01 1.10332517e+02] [ 1.91669065e-01 -3.71114084e-02 9.80757724e-01 2.18390934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.531858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.94, Y:110.36, Z:21.83 [[ 1.32495350e-02 -9.99898893e-01 5.16270528e-03 1.31941974e+02] [ 9.81350418e-01 1.20131780e-02 -1.91851610e-01 1.10359833e+02] [ 1.91770192e-01 7.60836760e-03 9.81410366e-01 2.18251638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561858064 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:131.96, Y:110.39, Z:21.85 [[ 1.75363461e-02 -9.99553649e-01 -2.41863458e-02 1.31961458e+02] [ 9.81019463e-01 2.18732837e-02 -1.92671670e-01 1.10389090e+02] [ 1.93114705e-01 -2.03485189e-02 9.80965162e-01 2.18451062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.591858064 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:131.95, Y:110.41, Z:21.84 [[ 2.09138412e-02 -9.99765860e-01 5.55298444e-03 1.31948492e+02] [ 9.80638801e-01 1.94314258e-02 -1.94858826e-01 1.10413758e+02] [ 1.94705300e-01 9.52071855e-03 9.80815580e-01 2.18393603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:110.44, Z:21.84 [[ 1.68599710e-02 -9.99844211e-01 -5.22446670e-03 1.31949500e+02] [ 9.81587151e-01 1.75459958e-02 -1.90207262e-01 1.10438530e+02] [ 1.90269299e-01 -1.92138047e-03 9.81730056e-01 2.18439081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:110.47, Z:21.85 [[ 1.79996339e-02 -9.99824828e-01 -5.13085887e-03 1.31951217e+02] [ 9.81643477e-01 1.86463854e-02 -1.89811477e-01 1.10465507e+02] [ 1.89873899e-01 -1.62013705e-03 9.81807149e-01 2.18488188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.97, Y:110.49, Z:21.87 [[ 2.02648699e-02 -9.99468408e-01 -2.55389188e-02 1.31966752e+02] [ 9.80567129e-01 2.48542308e-02 -1.94603117e-01 1.10493396e+02] [ 1.95134418e-01 -2.10990174e-02 9.80549535e-01 2.18696962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71185806399998 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:131.96, Y:110.52, Z:21.86 [[ 2.41165006e-02 -9.99709031e-01 4.98268302e-04 1.31959053e+02] [ 9.80700144e-01 2.35612007e-02 -1.94093014e-01 1.10520897e+02] [ 1.94024799e-01 5.16949608e-03 9.80983004e-01 2.18637200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.96, Y:110.55, Z:21.87 [[ 1.69388754e-02 -9.99840115e-01 -5.72874177e-03 1.31960073e+02] [ 9.80893582e-01 1.77279300e-02 -1.93735647e-01 1.10547260e+02] [ 1.93806231e-01 -2.33762205e-03 9.81037043e-01 2.18711173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.96, Y:110.57, Z:21.88 [[ 1.62598046e-02 -9.99852982e-01 -5.44369855e-03 1.31962362e+02] [ 9.80992131e-01 1.70055126e-02 -1.93300935e-01 1.10574214e+02] [ 1.93365089e-01 -2.19719001e-03 9.81124414e-01 2.18756463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.96, Y:110.60, Z:21.87 [[ 1.50263737e-02 -9.99879345e-01 3.93750448e-03 1.31956413e+02] [ 9.81210537e-01 1.39880206e-02 -1.92432370e-01 1.10596868e+02] [ 1.92354074e-01 6.75508159e-03 9.81302338e-01 2.18736627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:110.62, Z:21.89 [[ 1.13451197e-02 -9.99821415e-01 -1.51137942e-02 1.31970635e+02] [ 9.80892390e-01 1.40635655e-02 -1.94042099e-01 1.10623744e+02] [ 1.94220000e-01 -1.26235749e-02 9.80876770e-01 2.18882791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:110.65, Z:21.89 [[ 1.28159825e-02 -9.99877776e-01 -8.95454834e-03 1.31970172e+02] [ 9.80823253e-01 1.43124862e-02 -1.94373094e-01 1.10649036e+02] [ 1.94477499e-01 -6.29174706e-03 9.80886801e-01 2.18912405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.891858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.96, Y:110.67, Z:21.89 [[ 1.10393945e-02 -9.99932324e-01 3.67149479e-03 1.31963160e+02] [ 9.81259364e-01 1.01267059e-02 -1.92425336e-01 1.10674675e+02] [ 1.92375133e-01 5.72694783e-03 9.81304749e-01 2.18889737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:110.70, Z:21.91 [[ 1.19269407e-02 -9.99721135e-01 -2.03813732e-02 1.31980682e+02] [ 9.80290853e-01 1.57100392e-02 -1.96934098e-01 1.10700775e+02] [ 1.97199372e-01 -1.76308524e-02 9.80204857e-01 2.19080733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:110.73, Z:21.91 [[ 1.03100809e-02 -9.99850288e-01 -1.38961534e-02 1.31979073e+02] [ 9.80606251e-01 1.28296912e-02 -1.95567838e-01 1.10732075e+02] [ 1.95716842e-01 -1.16103347e-02 9.80591718e-01 2.19112324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.981858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.98, Y:110.76, Z:21.91 [[ 1.26024037e-02 -9.99906855e-01 -5.24039767e-03 1.31977003e+02] [ 9.80189245e-01 1.33895435e-02 -1.97610132e-01 1.10757743e+02] [ 1.97661892e-01 -2.64621877e-03 9.80266685e-01 2.19127375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:110.79, Z:21.90 [[ 8.12264839e-03 -9.99705670e-01 2.28603485e-02 1.31959157e+02] [ 9.81301312e-01 3.57246347e-03 -1.92444727e-01 1.10786042e+02] [ 1.92306418e-01 2.39960508e-02 9.81041503e-01 2.18984506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.041858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.97, Y:110.81, Z:21.91 [[ 8.62897382e-03 -9.99955064e-01 -3.92578062e-03 1.31974822e+02] [ 9.81234332e-01 9.22355858e-03 -1.92598319e-01 1.10809274e+02] [ 1.92625874e-01 -2.19018488e-03 9.81269828e-01 2.19133599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.071858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.98, Y:110.84, Z:21.92 [[ 9.12383861e-03 -9.99951900e-01 -3.59906444e-03 1.31975865e+02] [ 9.81201800e-01 9.64648636e-03 -1.92743282e-01 1.10836075e+02] [ 1.92768729e-01 -1.77284991e-03 9.81242617e-01 2.19184539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:110.86, Z:21.92 [[ 9.29070383e-03 -9.99956706e-01 -5.18399036e-04 1.31974938e+02] [ 9.81131793e-01 9.21591731e-03 -1.93120355e-01 1.10863567e+02] [ 1.93116772e-01 1.28560625e-03 9.81174938e-01 2.19225702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.98, Y:110.90, Z:21.94 [[ 1.23016916e-02 -9.99847287e-01 -1.24125093e-02 1.31984911e+02] [ 9.80905289e-01 1.44763679e-02 -1.93946509e-01 1.10895601e+02] [ 1.94096579e-01 -9.78962585e-03 9.80933576e-01 2.19359008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:131.97, Y:110.92, Z:21.93 [[ 1.03413335e-02 -9.99945755e-01 1.24248112e-03 1.31974280e+02] [ 9.81144243e-01 9.90704998e-03 -1.93022861e-01 1.10919479e+02] [ 1.93000082e-01 3.21516698e-03 9.81193473e-01 2.19330114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.191858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.98, Y:110.95, Z:21.94 [[ 1.23462545e-02 -9.99916814e-01 3.73286641e-03 1.31975499e+02] [ 9.81054290e-01 1.13913653e-02 -1.93397823e-01 1.10950043e+02] [ 1.93339212e-01 6.04988334e-03 9.81113321e-01 2.19360972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.98, Y:110.97, Z:21.95 [[ 1.11631258e-02 -9.99805552e-01 -1.62555226e-02 1.31982139e+02] [ 9.81268740e-01 1.40799157e-02 -1.92128643e-01 1.10972946e+02] [ 1.92320161e-01 -1.38062799e-02 9.81235111e-01 2.19498428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.251858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.98, Y:111.00, Z:21.95 [[ 1.16073707e-02 -9.99925096e-01 -3.88212669e-03 1.31975928e+02] [ 9.81205011e-01 1.21377631e-02 -1.92586087e-01 1.10999992e+02] [ 1.92618782e-01 -1.57374405e-03 9.81272403e-01 2.19505794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281858064 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:131.98, Y:111.03, Z:21.96 [[ 1.13530525e-02 -9.99928266e-01 -3.81714180e-03 1.31975984e+02] [ 9.81211568e-01 1.18756616e-02 -1.92569022e-01 1.11026931e+02] [ 1.92600539e-01 -1.55917748e-03 9.81276007e-01 2.19558393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.311858064 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:131.98, Y:111.05, Z:21.96 [[ 1.00234315e-02 -9.99942686e-01 -3.76226867e-03 1.31975390e+02] [ 9.81167186e-01 1.05609018e-02 -1.92871511e-01 1.11053725e+02] [ 1.92900190e-01 -1.75818020e-03 9.81216809e-01 2.19607381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341858064 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:131.98, Y:111.08, Z:21.97 [[ 8.62157979e-03 -9.99955974e-01 -3.70372764e-03 1.31975242e+02] [ 9.81162951e-01 9.17426459e-03 -1.92963977e-01 1.11079327e+02] [ 1.92989461e-01 -1.97030602e-03 9.81198851e-01 2.19657500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.371858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:131.98, Y:111.11, Z:21.97 [[ 7.30586009e-03 -9.99966696e-01 -3.63761017e-03 1.31975506e+02] [ 9.81206525e-01 7.87015072e-03 -1.92799938e-01 1.11105649e+02] [ 1.92822146e-01 -2.16067746e-03 9.81231345e-01 2.19705513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401858064 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:131.97, Y:111.13, Z:21.97 [[ 3.11516666e-03 -9.99977544e-01 5.93348775e-03 1.31970413e+02] [ 9.80585617e-01 1.89127812e-03 -1.96082308e-01 1.11134794e+02] [ 1.96066683e-01 6.42912181e-03 9.80569489e-01 2.19729829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43185806399998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:131.98, Y:111.16, Z:21.98 [[ 1.22714178e-03 -9.99987592e-01 -4.82813873e-03 1.31975773e+02] [ 9.80546463e-01 2.15094077e-03 -1.96275335e-01 1.11160142e+02] [ 1.96283285e-01 -4.49335669e-03 9.80536936e-01 2.19821351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46185806399998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:131.98, Y:111.18, Z:21.99 [[ 1.83437334e-03 -9.99896841e-01 -1.42457805e-02 1.31980892e+02] [ 9.81159958e-01 4.55176338e-03 -1.93143518e-01 1.11183253e+02] [ 1.93188437e-01 -1.36230920e-02 9.81067092e-01 2.19899951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49185806399998 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:131.97, Y:111.21, Z:21.99 [[-2.42410957e-03 -9.99954772e-01 9.19657338e-03 1.31969817e+02] [ 9.80424462e-01 -4.18720095e-03 -1.96851064e-01 1.11212864e+02] [ 1.96880669e-01 8.53935696e-03 9.80390270e-01 2.19870078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52185806399999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:131.98, Y:111.24, Z:22.00 [[-3.05551797e-03 -9.99983612e-01 -4.84138263e-03 1.31976759e+02] [ 9.80445908e-01 -2.04312517e-03 -1.96778168e-01 1.11237336e+02] [ 1.96765052e-01 -5.34797301e-03 9.80436083e-01 2.19973585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.551858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.98, Y:111.26, Z:22.01 [[-2.60506354e-03 -9.99849254e-01 -1.71663208e-02 1.31983028e+02] [ 9.81129666e-01 7.63308046e-04 -1.93349416e-01 1.11259787e+02] [ 1.93333373e-01 -1.73460741e-02 9.80979776e-01 2.20059921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.581858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.98, Y:111.29, Z:22.01 [[-3.00209855e-03 -9.99990404e-01 -3.19041021e-03 1.31976566e+02] [ 9.80925152e-01 -2.32473014e-03 -1.94371916e-01 1.11286729e+02] [ 1.94362634e-01 -3.71307727e-03 9.80922718e-01 2.20055726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.611858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.98, Y:111.31, Z:22.02 [[-2.80349555e-03 -9.99821309e-01 -1.86946586e-02 1.31983773e+02] [ 9.81668357e-01 8.11156642e-04 -1.90595327e-01 1.11310559e+02] [ 1.90576433e-01 -1.88862879e-02 9.81490668e-01 2.20153191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:111.34, Z:22.01 [[-4.09491916e-03 -9.99900754e-01 1.34800963e-02 1.31967390e+02] [ 9.80773619e-01 -6.64594882e-03 -1.95035740e-01 1.11341702e+02] [ 1.95105972e-01 1.24222672e-02 9.80703496e-01 2.20104478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.98, Y:111.37, Z:22.02 [[-3.99505302e-03 -9.99989331e-01 -2.31888714e-03 1.31975081e+02] [ 9.80740461e-01 -3.46530378e-03 -1.95284765e-01 1.11367097e+02] [ 1.95274646e-01 -3.05439944e-03 9.80743842e-01 2.20221985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.701858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.97, Y:111.39, Z:22.03 [[-3.63037481e-03 -9.99992629e-01 -1.24954991e-03 1.31974963e+02] [ 9.80768264e-01 -3.31673410e-03 -1.95147667e-01 1.11393942e+02] [ 1.95142084e-01 -1.93397807e-03 9.80773076e-01 2.20270303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.731858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.98, Y:111.42, Z:22.03 [[-3.23215754e-03 -9.99985265e-01 -4.36149218e-03 1.31977062e+02] [ 9.80784805e-01 -2.31924995e-03 -1.95078928e-01 1.11419769e+02] [ 1.95065938e-01 -4.90821109e-03 9.80777849e-01 2.20335088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:111.45, Z:22.04 [[-3.20765709e-03 -9.99983480e-01 -4.76975324e-03 1.31977755e+02] [ 9.80795269e-01 -2.21585838e-03 -1.95027514e-01 1.11446482e+02] [ 1.95013723e-01 -5.30373280e-03 9.80786174e-01 2.20391730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.791858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:131.98, Y:111.47, Z:22.05 [[-2.29534943e-03 -9.99969878e-01 -7.41442300e-03 1.31979573e+02] [ 9.81132298e-01 -8.18592488e-04 -1.93335830e-01 1.11473138e+02] [ 1.93323937e-01 -7.71830317e-03 9.81104624e-01 2.20455015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:111.50, Z:22.05 [[-1.49845353e-03 -9.99995530e-01 -2.58750396e-03 1.31977056e+02] [ 9.81327164e-01 -9.72787739e-04 -1.92343575e-01 1.11499918e+02] [ 1.92340198e-01 -2.82740584e-03 9.81324235e-01 2.20481819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.851858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.98, Y:111.53, Z:22.05 [[-1.06441432e-03 -9.99996256e-01 -2.52082470e-03 1.31977191e+02] [ 9.81361543e-01 -5.60151147e-04 -1.92169739e-01 1.11525494e+02] [ 1.92167608e-01 -2.67838864e-03 9.81358465e-01 2.20531404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:111.55, Z:22.06 [[-9.06194317e-04 -9.99996578e-01 -2.45411183e-03 1.31977092e+02] [ 9.81408309e-01 -4.18327619e-04 -1.91931125e-01 1.11551707e+02] [ 1.91929441e-01 -2.58241263e-03 9.81405330e-01 2.20580236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:111.58, Z:22.06 [[-2.40805321e-04 -9.99997133e-01 -2.38256668e-03 1.31977111e+02] [ 9.81546751e-01 2.19238580e-04 -1.91222195e-01 1.11578393e+02] [ 1.91222169e-01 -2.38464790e-03 9.81543884e-01 2.20637218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:111.61, Z:22.07 [[-7.81991536e-05 -9.99997306e-01 -2.32000601e-03 1.31976865e+02] [ 9.81586270e-01 3.66407008e-04 -1.91019003e-01 1.11605274e+02] [ 1.91019338e-01 -2.29222357e-03 9.81583597e-01 2.20690091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.971858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.98, Y:111.63, Z:22.07 [[ 4.04992430e-04 -9.99997379e-01 -2.25329210e-03 1.31975624e+02] [ 9.81701853e-01 8.26661864e-04 -1.90422660e-01 1.11631710e+02] [ 1.90424024e-01 -2.13494130e-03 9.81699615e-01 2.20733820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.98, Y:111.66, Z:22.08 [[ 3.65527438e-04 -9.99997538e-01 -2.18887543e-03 1.31975106e+02] [ 9.81786990e-01 7.74722067e-04 -1.89983435e-01 1.11658576e+02] [ 1.89984663e-01 -2.07956526e-03 9.81784856e-01 2.20781173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:111.68, Z:22.08 [[ 6.05441067e-05 -9.99997726e-01 -2.13187271e-03 1.31974838e+02] [ 9.81731374e-01 4.65074006e-04 -1.90271631e-01 1.11684706e+02] [ 1.90272190e-01 -2.08140650e-03 9.81729169e-01 2.20831858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:111.72, Z:22.10 [[ 3.68518337e-03 -9.99678943e-01 -2.50684996e-02 1.31992356e+02] [ 9.80579998e-01 8.52812697e-03 -1.95934018e-01 1.11716191e+02] [ 1.96084900e-01 -2.38596165e-02 9.80296603e-01 2.21049714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.091858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.97, Y:111.74, Z:22.09 [[-1.46430803e-03 -9.99872384e-01 1.59082147e-02 1.31965251e+02] [ 9.81457940e-01 -4.48614278e-03 -1.91625119e-01 1.11739595e+02] [ 1.91672031e-01 1.53326455e-02 9.81339260e-01 2.20868030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:111.76, Z:22.10 [[-2.42367940e-03 -9.99995167e-01 -1.94706854e-03 1.31974092e+02] [ 9.81473445e-01 -2.00575225e-03 -1.91587716e-01 1.11764068e+02] [ 1.91582885e-01 -2.37534327e-03 9.81473564e-01 2.20983953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.151858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:131.97, Y:111.79, Z:22.10 [[-3.63537889e-03 -9.99991616e-01 -1.88489058e-03 1.31974161e+02] [ 9.81467488e-01 -3.20688447e-03 -1.91601896e-01 1.11790381e+02] [ 1.91594245e-01 -2.54650431e-03 9.81470917e-01 2.21034387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.97, Y:111.82, Z:22.11 [[-5.52404821e-03 -9.99983084e-01 -1.82134882e-03 1.31973482e+02] [ 9.81533400e-01 -5.07383888e-03 -1.91223539e-01 1.11818064e+02] [ 1.91211063e-01 -2.84404274e-03 9.81544824e-01 2.21090341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:111.85, Z:22.12 [[-4.20607944e-03 -9.99976138e-01 -5.48016295e-03 1.31978677e+02] [ 9.81285678e-01 -3.07232627e-03 -1.92533062e-01 1.11849891e+02] [ 1.92511631e-01 -6.18741477e-03 9.81275185e-01 2.21177633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:111.88, Z:22.12 [[-5.16214243e-03 -9.99980919e-01 -3.39321261e-03 1.31976911e+02] [ 9.81377263e-01 -4.41446250e-03 -1.92039526e-01 1.11877192e+02] [ 1.92020882e-01 -4.32135708e-03 9.81381326e-01 2.21217613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27185806399999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.97, Y:111.90, Z:22.12 [[-9.30512847e-03 -9.99953147e-01 -2.66805962e-03 1.31972199e+02] [ 9.81688290e-01 -8.62741109e-03 -1.90298893e-01 1.11897954e+02] [ 1.90266958e-01 -4.38995853e-03 9.81722574e-01 2.21247865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.97, Y:111.93, Z:22.13 [[-1.05592733e-02 -9.99938135e-01 -3.49676980e-03 1.31974341e+02] [ 9.80961136e-01 -9.68059261e-03 -1.93962720e-01 1.11926779e+02] [ 1.93916869e-01 -5.47830064e-03 9.81002669e-01 2.21329087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.331858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.99, Y:111.96, Z:22.15 [[-9.06735068e-03 -9.99789778e-01 -1.83897382e-02 1.31986181e+02] [ 9.80316136e-01 -5.26050131e-03 -1.97364133e-01 1.11956075e+02] [ 1.97225904e-01 -1.98173269e-02 9.80157751e-01 2.21498746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:111.98, Z:22.15 [[-1.37992744e-02 -9.99839057e-01 -1.14646923e-02 1.31979354e+02] [ 9.81112200e-01 -1.13265398e-02 -1.93107638e-01 1.11980994e+02] [ 1.92946704e-01 -1.39128947e-02 9.81110596e-01 2.21495776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.391858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:131.97, Y:112.01, Z:22.15 [[-1.52032463e-02 -9.99864702e-01 6.28009251e-03 1.31970362e+02] [ 9.81101332e-01 -1.61290427e-02 -1.92821237e-01 1.12008225e+02] [ 1.92896441e-01 3.22989836e-03 9.81213805e-01 2.21464351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.421858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:131.98, Y:112.03, Z:22.16 [[-1.64749125e-02 -9.99837122e-01 -7.36931952e-03 1.31976428e+02] [ 9.81550608e-01 -1.47685429e-02 -1.90631305e-01 1.12034902e+02] [ 1.90491421e-01 -1.03739941e-02 9.81634045e-01 2.21564739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.451858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.97, Y:112.06, Z:22.16 [[-1.69435025e-02 -9.99855619e-01 -1.28784145e-03 1.31972129e+02] [ 9.81621020e-01 -1.63896000e-02 -1.90135623e-01 1.12061296e+02] [ 1.90087064e-01 -4.48573564e-03 9.81756989e-01 2.21581271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.97, Y:112.09, Z:22.16 [[-1.46925482e-02 -9.99891603e-01 9.54480555e-04 1.31970101e+02] [ 9.81219473e-01 -1.46017831e-02 -1.92341190e-01 1.12088412e+02] [ 1.92334278e-01 -1.88942730e-03 9.81327649e-01 2.21619982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.96, Y:112.12, Z:22.16 [[-1.42611574e-02 -9.99760491e-01 1.66005997e-02 1.31959504e+02] [ 9.81477358e-01 -1.71686311e-02 -1.90807324e-01 1.12115248e+02] [ 1.91046633e-01 1.35719795e-02 9.81487129e-01 2.21555944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.97, Y:112.14, Z:22.17 [[-1.26640712e-02 -9.99874283e-01 -9.54148116e-03 1.31973888e+02] [ 9.80949084e-01 -1.05733098e-02 -1.93977062e-01 1.12141889e+02] [ 1.93851791e-01 -1.18162465e-02 9.80959663e-01 2.21745197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:112.17, Z:22.17 [[-9.07371086e-03 -9.99951568e-01 -3.81183776e-03 1.31968933e+02] [ 9.82095948e-01 -8.19425190e-03 -1.88203088e-01 1.12167068e+02] [ 1.88162738e-01 -5.45129082e-03 9.82122735e-01 2.21736993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:112.20, Z:22.18 [[-8.72243832e-03 -9.99961048e-01 -1.34931804e-03 1.31967238e+02] [ 9.82170844e-01 -8.31383762e-03 -1.87806587e-01 1.12196067e+02] [ 1.87788053e-01 -2.96339221e-03 9.82205103e-01 2.21780598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.631858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.96, Y:112.22, Z:22.18 [[-7.26118068e-03 -9.99921827e-01 1.01791285e-02 1.31960574e+02] [ 9.82506107e-01 -9.02829403e-03 -1.86011395e-01 1.12222752e+02] [ 1.86088754e-01 8.65039362e-03 9.82494858e-01 2.21759186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661858064 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:131.96, Y:112.25, Z:22.18 [[-6.11338526e-03 -9.99939750e-01 9.11713264e-03 1.31960367e+02] [ 9.82170365e-01 -7.71736328e-03 -1.87834548e-01 1.12250184e+02] [ 1.87893591e-01 7.80627253e-03 9.82158368e-01 2.21817842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:112.27, Z:22.19 [[-5.43699408e-03 -9.99939982e-01 -9.51168977e-03 1.31969418e+02] [ 9.82525096e-01 -3.57211125e-03 -1.86095879e-01 1.12273800e+02] [ 1.86050733e-01 -1.03572761e-02 9.82485548e-01 2.21930496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:112.30, Z:22.21 [[-4.86899599e-03 -9.99853511e-01 -1.64088514e-02 1.31974686e+02] [ 9.81634942e-01 -1.64963388e-03 -1.90761943e-01 1.12300668e+02] [ 1.90706930e-01 -1.70363210e-02 9.81499175e-01 2.22066965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:112.33, Z:22.21 [[-4.81558746e-03 -9.99968108e-01 -6.37132221e-03 1.31970242e+02] [ 9.82235163e-01 -3.53475906e-03 -1.87620867e-01 1.12328628e+02] [ 1.87592362e-01 -7.16164141e-03 9.82220859e-01 2.22077940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.96, Y:112.36, Z:22.20 [[-6.65788513e-03 -9.99832650e-01 1.70395089e-02 1.31956507e+02] [ 9.82917123e-01 -9.67753016e-03 -1.83794108e-01 1.12357628e+02] [ 1.83928250e-01 1.55247450e-02 9.82817064e-01 2.21987504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.811858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:131.96, Y:112.38, Z:22.21 [[-6.59003361e-03 -9.99978260e-01 -2.27979366e-04 1.31964908e+02] [ 9.82974118e-01 -6.43610824e-03 -1.83631317e-01 1.12383223e+02] [ 1.83625857e-01 -1.43423436e-03 9.82995162e-01 2.22095390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.96, Y:112.41, Z:22.21 [[-6.76610506e-03 -9.99977095e-01 -1.72466322e-04 1.31964372e+02] [ 9.82959778e-01 -6.61927841e-03 -1.83701553e-01 1.12410257e+02] [ 1.83696204e-01 -1.41247146e-03 9.82982050e-01 2.22142451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:112.44, Z:22.23 [[-4.23170379e-03 -9.99833319e-01 -1.77602562e-02 1.31975027e+02] [ 9.82184575e-01 -8.18997106e-04 -1.87916974e-01 1.12436787e+02] [ 1.87871106e-01 -1.82390587e-02 9.82024330e-01 2.22313670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:131.96, Y:112.46, Z:22.22 [[-6.05460622e-03 -9.99846056e-01 1.64683534e-02 1.31955906e+02] [ 9.82986647e-01 -8.97422428e-03 -1.83457667e-01 1.12464526e+02] [ 1.83577216e-01 1.50774075e-02 9.82889657e-01 2.22167126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:112.49, Z:22.24 [[-6.20798200e-03 -9.99875786e-01 -1.44870289e-02 1.31973334e+02] [ 9.82065144e-01 -3.36608402e-03 -1.88511864e-01 1.12491681e+02] [ 1.88439684e-01 -1.53974844e-02 9.81964054e-01 2.22374408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:112.50, Z:22.23 [[-8.07019345e-03 -9.99960112e-01 3.82711478e-03 1.31964358e+02] [ 9.82477724e-01 -8.64166069e-03 -1.86179602e-01 1.12497545e+02] [ 1.86205248e-01 2.25754961e-03 9.82508274e-01 2.22293280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.97, Y:112.50, Z:22.23 [[-9.87449201e-03 -9.99945905e-01 3.26829468e-03 1.31965247e+02] [ 9.82766096e-01 -1.03080891e-02 -1.84565827e-01 1.12497965e+02] [ 1.84589533e-01 1.38947542e-03 9.82814720e-01 2.22281813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02185806399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.97, Y:112.49, Z:22.23 [[-1.41056067e-02 -9.99895545e-01 3.15135318e-03 1.31965508e+02] [ 9.83234918e-01 -1.44434565e-02 -1.81770413e-01 1.12485005e+02] [ 1.81796943e-01 5.34538519e-04 9.83335948e-01 2.22250546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.97, Y:112.55, Z:22.24 [[-1.59593239e-02 -9.99872525e-01 4.83108568e-04 1.31967099e+02] [ 9.83210780e-01 -1.57812152e-02 -1.81789754e-01 1.12549519e+02] [ 1.81774205e-01 -2.42624402e-03 9.83337303e-01 2.22386203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:112.49, Z:22.22 [[-1.66729035e-02 -9.99846089e-01 5.46014209e-03 1.31965566e+02] [ 9.83638854e-01 -1.73818551e-02 -1.79311117e-01 1.12491963e+02] [ 1.79378427e-01 2.38117095e-03 9.83777267e-01 2.22237296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.111858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:131.97, Y:112.48, Z:22.23 [[-1.99259114e-02 -9.99790903e-01 -4.59433622e-03 1.31971438e+02] [ 9.83433540e-01 -1.87714011e-02 -1.80294500e-01 1.12476494e+02] [ 1.80170559e-01 -8.11075656e-03 9.83601945e-01 2.22274311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:112.47, Z:22.23 [[-2.12563200e-02 -9.99773874e-01 6.08663820e-04 1.31969241e+02] [ 9.83523648e-01 -2.10201342e-02 -1.79553300e-01 1.12472912e+02] [ 1.79525492e-01 -3.21800713e-03 9.83748058e-01 2.22251099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.171858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.97, Y:112.63, Z:22.25 [[-2.21918191e-02 -9.99753505e-01 6.72334505e-04 1.31968619e+02] [ 9.83725650e-01 -2.19559714e-02 -1.78330541e-01 1.12632707e+02] [ 1.78301345e-01 -3.29608641e-03 9.83970409e-01 2.22548128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:112.75, Z:22.28 [[-2.31078735e-02 -9.99726997e-01 3.45794526e-03 1.31966684e+02] [ 9.83791286e-01 -2.33544884e-02 -1.77789970e-01 1.12749182e+02] [ 1.77822191e-01 -7.06451722e-04 9.84062381e-01 2.22750145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.231858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:131.96, Y:112.47, Z:22.21 [[-2.56836729e-02 -9.99592568e-01 1.24517892e-02 1.31961289e+02] [ 9.85864907e-01 -2.73899248e-02 -1.65288166e-01 1.12470725e+02] [ 1.65561876e-01 8.03057482e-03 9.86166708e-01 2.22119872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.261858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.97, Y:112.69, Z:22.27 [[-2.46517323e-02 -9.99638478e-01 -1.07334040e-02 1.31972128e+02] [ 9.84058731e-01 -2.23731369e-02 -1.76430881e-01 1.12687999e+02] [ 1.76126958e-01 -1.49116268e-02 9.84254509e-01 2.22678372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.291858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:131.96, Y:112.74, Z:22.26 [[-2.39672857e-02 -9.99644900e-01 1.16465864e-02 1.31959215e+02] [ 9.85484648e-01 -2.55830749e-02 -1.67825845e-01 1.12738975e+02] [ 1.68064206e-01 7.45520207e-03 9.85747860e-01 2.22623596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321858064 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:131.35, Y:112.25, Z:23.24 [[-6.39628249e-02 9.84412727e-01 -1.63830216e-01 1.31347159e+02] [ 9.79288813e-01 9.35160042e-02 1.79577776e-01 1.12251677e+02] [ 1.92099396e-01 -1.48950795e-01 -9.70005919e-01 2.32422729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.351858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:131.31, Y:112.22, Z:23.19 [[-1.42881540e-01 9.89597659e-01 -1.67731585e-02 1.31308718e+02] [ 9.70452875e-01 1.43406413e-01 1.94051073e-01 1.12224623e+02] [ 1.94437866e-01 1.14487563e-02 -9.80848022e-01 2.31869050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.36, Y:112.20, Z:23.19 [[-2.20525095e-01 9.74850061e-01 -3.21876081e-02 1.31358863e+02] [ 9.55848938e-01 2.22562339e-01 1.91882287e-01 1.12201152e+02] [ 1.94220209e-01 1.15483686e-02 -9.80889976e-01 2.31875068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.411858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.41, Y:112.18, Z:23.19 [[-2.96016037e-01 9.54014174e-01 -4.72383444e-02 1.31409234e+02] [ 9.35348569e-01 2.99540454e-01 1.88145080e-01 1.12182545e+02] [ 1.93642868e-01 1.15096432e-02 -9.81004571e-01 2.31874924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.46, Y:112.17, Z:23.19 [[-3.70258744e-01 9.26857643e-01 -6.19949324e-02 1.31462218e+02] [ 9.08591802e-01 3.75233643e-01 1.83468389e-01 1.12166611e+02] [ 1.93311663e-01 1.16026879e-02 -9.81068794e-01 2.31876257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.471858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:131.52, Y:112.16, Z:23.19 [[-4.43117558e-01 8.93195191e-01 -7.64799435e-02 1.31515063e+02] [ 8.75376690e-01 4.49511944e-01 1.77917574e-01 1.12158780e+02] [ 1.93293770e-01 1.18896413e-02 -9.81068884e-01 2.31887130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:131.57, Y:112.15, Z:23.19 [[-5.12292977e-01 8.54024340e-01 -9.05446490e-02 1.31568784e+02] [ 8.36742511e-01 5.20094084e-01 1.71359603e-01 1.12153287e+02] [ 1.93437008e-01 1.20237641e-02 -9.81039017e-01 2.31892683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.531858064 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:131.62, Y:112.15, Z:23.19 [[-5.78341898e-01 8.09193723e-01 -1.03567217e-01 1.31620951e+02] [ 7.92687447e-01 5.87415026e-01 1.63065014e-01 1.12154153e+02] [ 1.92788125e-01 1.22108967e-02 -9.81164427e-01 2.31901726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:112.16, Z:23.19 [[-6.40650163e-01 7.59025950e-01 -1.15961097e-01 1.31675179e+02] [ 7.43359556e-01 6.50942141e-01 1.53918483e-01 1.12156029e+02] [ 1.92312088e-01 1.24071116e-02 -9.81255382e-01 2.31899023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.591858064 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:131.73, Y:112.18, Z:23.20 [[-7.02617387e-01 6.97194419e-01 -1.42298103e-01 1.31728231e+02] [ 6.86783838e-01 7.16765942e-01 1.20725073e-01 1.12177792e+02] [ 1.86163281e-01 -1.29045014e-02 -9.82434072e-01 2.31963168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621858064 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:131.55, Y:112.49, Z:23.31 [[-7.54107768e-01 6.06472776e-01 -2.52016362e-01 1.31550920e+02] [ 6.26379347e-01 7.79516785e-01 1.57996845e-03 1.12491348e+02] [ 1.97409192e-01 -1.56666378e-01 -9.67721684e-01 2.33138718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.651858064 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:132.11, Y:112.88, Z:22.21 [[-7.61108987e-01 -6.32872546e-01 1.42075510e-01 1.32110783e+02] [ 6.19678811e-01 -7.74190070e-01 -1.28949238e-01 1.12884152e+02] [ 1.91601882e-01 -1.01032409e-02 9.81420727e-01 2.22083324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68185806399998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:132.11, Y:112.88, Z:22.20 [[-7.61418459e-01 -6.31211441e-01 1.47695790e-01 1.32111294e+02] [ 6.19231762e-01 -7.75608843e-01 -1.22404853e-01 1.12878268e+02] [ 1.91817505e-01 -1.74339000e-03 9.81429063e-01 2.22040467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71185806399998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:132.11, Y:112.88, Z:22.20 [[-7.61917446e-01 -6.30625640e-01 1.47624890e-01 1.32113196e+02] [ 6.18665421e-01 -7.76085055e-01 -1.22250093e-01 1.12877268e+02] [ 1.91663514e-01 -1.81406414e-03 9.81459019e-01 2.22034270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.84, Y:112.19, Z:23.18 [[-7.95459092e-01 5.84502196e-01 -1.60006300e-01 1.31844620e+02] [ 5.69658241e-01 8.11279423e-01 1.31587178e-01 1.12192084e+02] [ 2.06722813e-01 1.35233100e-02 -9.78306086e-01 2.31813874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77185806399999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:131.89, Y:112.21, Z:23.18 [[-8.38392164e-01 5.18154865e-01 -1.69157072e-01 1.31891873e+02] [ 5.04758447e-01 8.55181824e-01 1.17825970e-01 1.12213290e+02] [ 2.05712153e-01 1.34009089e-02 -9.78520785e-01 2.31823359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.801858064 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:131.67, Y:112.38, Z:23.25 [[-8.79836643e-01 4.39370589e-01 -1.81220767e-01 1.31671093e+02] [ 4.32420389e-01 8.98256911e-01 7.84036266e-02 1.12384618e+02] [ 1.97231055e-01 -9.38117106e-03 -9.80312147e-01 2.32474839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.831858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:132.09, Y:113.01, Z:22.20 [[-8.87872519e-01 -4.27556401e-01 1.69935032e-01 1.32091662e+02] [ 4.17348565e-01 -9.03905702e-01 -9.36731375e-02 1.13005326e+02] [ 1.93655794e-01 -1.22476630e-02 9.80993083e-01 2.22048774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.861858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:132.09, Y:113.00, Z:22.20 [[-8.88452565e-01 -4.24596761e-01 1.74268848e-01 1.32091444e+02] [ 4.16083573e-01 -9.05378572e-01 -8.46410137e-02 1.12999803e+02] [ 1.93717581e-01 -2.68912098e-03 9.81053652e-01 2.22003026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.891858064 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:132.10, Y:113.00, Z:22.20 [[-8.89607239e-01 -4.22264788e-01 1.74044271e-01 1.32095321e+02] [ 4.13745811e-01 -9.06467173e-01 -8.44492029e-02 1.12998894e+02] [ 1.93425343e-01 -3.11653428e-03 9.81110047e-01 2.21996200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.921858064 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:132.00, Y:112.27, Z:23.18 [[-9.05653844e-01 3.81082900e-01 -1.85921858e-01 1.31997031e+02] [ 3.70612868e-01 9.24460437e-01 8.95488901e-02 1.12267183e+02] [ 2.06002953e-01 1.21952635e-02 -9.78475375e-01 2.31810142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.951858064 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:131.63, Y:112.42, Z:23.26 [[-9.32380265e-01 3.10250395e-01 -1.85504001e-01 1.31630993e+02] [ 2.98000845e-01 9.50184889e-01 9.13464450e-02 1.12423652e+02] [ 2.04603370e-01 2.98892735e-02 -9.78388518e-01 2.32616995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.981858064 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:131.80, Y:112.16, Z:22.60 [[ -0.95314062 0.23895934 0.18553001 131.80196838] [ 0.26022706 0.33483096 0.90563243 112.15699669] [ 0.15428814 0.91147499 -0.38132468 22.60465158] [ 0. 0. 0. 1. ]] SLAMing on 209.011858064 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:131.93, Y:112.40, Z:23.25 [[-9.69841340e-01 2.04856468e-01 -1.32066664e-01 1.31925893e+02] [ 2.00212588e-01 9.78591802e-01 4.76760387e-02 1.12400038e+02] [ 1.39006100e-01 1.97967847e-02 -9.90093628e-01 2.32489506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.041858064 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:131.99, Y:112.40, Z:23.22 [[-9.83295112e-01 1.33773882e-01 -1.23431237e-01 1.31986035e+02] [ 1.22672884e-01 9.88027014e-01 9.35627218e-02 1.12403203e+02] [ 1.34469645e-01 7.68581012e-02 -9.87932562e-01 2.32246275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.071858064 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:132.06, Y:112.47, Z:23.25 [[-9.90213454e-01 4.62116617e-02 -1.31688262e-01 1.32056843e+02] [ 4.47817841e-02 9.98901465e-01 1.38005572e-02 1.12473183e+02] [ 1.32181344e-01 7.76826206e-03 -9.91195110e-01 2.32476490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101858064 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:132.09, Y:112.52, Z:23.25 [[-9.90810919e-01 -3.30135926e-02 -1.31163358e-01 1.32087113e+02] [-3.37491446e-02 9.99424592e-01 3.38832958e-03 1.12515135e+02] [ 1.30976025e-01 7.78384507e-03 -9.91354978e-01 2.32477460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.131858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:132.11, Y:112.56, Z:23.25 [[-9.85122917e-01 -1.12008399e-01 -1.30334023e-01 1.32112417e+02] [-1.12064772e-01 9.93676774e-01 -6.92504425e-03 1.12558473e+02] [ 1.30285555e-01 7.78383281e-03 -9.91445957e-01 2.32477296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:132.14, Y:112.60, Z:23.25 [[-9.73323924e-01 -1.89823832e-01 -1.28869904e-01 1.32137854e+02] [-1.89209037e-01 9.81787742e-01 -1.71105015e-02 1.12604087e+02] [ 1.29770873e-01 7.72929006e-03 -9.91513882e-01 2.32471642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.191858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:132.16, Y:112.65, Z:23.25 [[-9.55525572e-01 -2.66251708e-01 -1.26810521e-01 1.32159614e+02] [-2.64972415e-01 9.63873233e-01 -2.71663272e-02 1.12651324e+02] [ 1.29462348e-01 7.64316965e-03 -9.91554881e-01 2.32469018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.17, Y:112.70, Z:23.25 [[-9.31903958e-01 -3.40942172e-01 -1.23747521e-01 1.32172587e+02] [-3.39020841e-01 9.40054001e-01 -3.69234827e-02 1.12698807e+02] [ 1.28918125e-01 7.54384894e-03 -9.91626546e-01 2.32470241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.251858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.79, Y:113.34, Z:22.25 [[-9.19082166e-01 3.76556056e-01 1.16161569e-01 1.31786181e+02] [-3.73896709e-01 -9.26390933e-01 4.47335431e-02 1.13344694e+02] [ 1.24455711e-01 -2.31862664e-03 9.92222455e-01 2.22518663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:131.80, Y:113.33, Z:22.23 [[-9.17838125e-01 3.88082319e-01 8.34583097e-02 1.31797884e+02] [-3.83304492e-01 -9.21127304e-01 6.78391951e-02 1.13326283e+02] [ 1.03202920e-01 3.02754546e-02 9.94199454e-01 2.22257346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.78, Y:113.36, Z:22.26 [[-9.19629554e-01 3.71645063e-01 1.27127616e-01 1.31778935e+02] [-3.72943455e-01 -9.27743443e-01 1.43277023e-02 1.13359687e+02] [ 1.23266632e-01 -3.42352340e-02 9.91782883e-01 2.22648098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:132.13, Y:112.71, Z:23.25 [[-9.01476900e-01 -4.12110304e-01 -1.32304560e-01 1.32130148e+02] [-4.11924169e-01 9.10721993e-01 -3.00654378e-02 1.12713141e+02] [ 1.32882949e-01 2.73961482e-02 -9.90753033e-01 2.32507871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.371858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.13, Y:112.51, Z:22.55 [[-8.93020093e-01 -3.53624359e-02 -4.48625247e-01 1.32126859e+02] [-4.43628106e-01 2.36561768e-01 8.64426188e-01 1.12509052e+02] [ 7.55593661e-02 9.70972723e-01 -2.26942183e-01 2.25497778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:113.29, Z:22.29 [[-8.88271890e-01 4.57313567e-01 4.28643327e-02 1.31597239e+02] [-4.56458460e-01 -8.89286658e-01 2.85466851e-02 1.13292872e+02] [ 5.11734656e-02 5.79143061e-03 9.98672987e-01 2.22924023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.69, Y:113.31, Z:23.30 [[-8.81550568e-01 -2.65748641e-01 3.90187462e-01 1.31687775e+02] [-4.58710647e-01 2.86806245e-01 -8.41027182e-01 1.13310116e+02] [ 1.11593630e-01 -9.20391133e-01 -3.74735940e-01 2.32956801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.89, Y:112.66, Z:23.28 [[-8.41240512e-01 -5.27662077e-01 -1.17843679e-01 1.31894656e+02] [-5.25898035e-01 8.49183209e-01 -4.81573908e-02 1.12660102e+02] [ 1.25481702e-01 2.14618110e-02 -9.91863767e-01 2.32815512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:131.51, Y:113.30, Z:22.27 [[-8.34081519e-01 5.43017350e-01 9.71605747e-02 1.31512811e+02] [-5.38550152e-01 -8.39701055e-01 6.97557940e-02 1.13295532e+02] [ 1.19464444e-01 5.85617628e-03 9.92821208e-01 2.22685957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:113.29, Z:22.27 [[-8.35033954e-01 5.40671432e-01 1.01944579e-01 1.31502157e+02] [-5.36787459e-01 -8.41233565e-01 6.46939964e-02 1.13292626e+02] [ 1.20737398e-01 -7.00888076e-04 9.92684235e-01 2.22723486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.26, Y:113.16, Z:22.32 [[-8.40082936e-01 5.27076304e-01 1.28262351e-01 1.31259114e+02] [-5.24531358e-01 -8.49570116e-01 5.56549436e-02 1.13160243e+02] [ 1.38302263e-01 -2.05228569e-02 9.90177407e-01 2.23238606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.79, Y:112.32, Z:22.79 [[-8.27936173e-01 -2.70097539e-01 -4.91496707e-01 1.31785060e+02] [-5.58903317e-01 4.69815623e-01 6.83301078e-01 1.12320131e+02] [ 4.63548917e-02 8.40428819e-01 -5.39935759e-01 2.27892343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.611858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.40, Y:113.30, Z:23.26 [[-8.07184510e-01 -2.37795374e-01 5.40283746e-01 1.31396334e+02] [-5.78099480e-01 1.33327129e-01 -8.04999918e-01 1.13298213e+02] [ 1.19390776e-01 -9.62121217e-01 -2.45088975e-01 2.32645575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:113.01, Z:22.34 [[-8.06788836e-01 5.79462625e-01 1.15389950e-01 1.31026524e+02] [-5.75322693e-01 -8.14937215e-01 6.98651195e-02 1.13010688e+02] [ 1.34519790e-01 -1.00200581e-02 9.90860245e-01 2.23431400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:112.39, Z:23.27 [[-7.64441295e-01 -6.18759059e-01 -1.81015837e-01 1.31540716e+02] [-6.36592871e-01 7.68841072e-01 6.02737342e-02 1.12393925e+02] [ 1.01877491e-01 1.61309123e-01 -9.81631470e-01 2.32735798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.701858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:130.93, Y:112.97, Z:22.36 [[-7.62777393e-01 6.37452853e-01 1.08740559e-01 1.30929288e+02] [-6.34469183e-01 -7.70238336e-01 6.46665364e-02 1.12968086e+02] [ 1.24978015e-01 -1.96663614e-02 9.91964581e-01 2.23599583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.731858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:131.79, Y:112.47, Z:23.05 [[-7.39553254e-01 -5.24094135e-01 -4.22358049e-01 1.31792735e+02] [-6.67788231e-01 6.49956642e-01 3.62788150e-01 1.12469359e+02] [ 8.43792775e-02 5.50346892e-01 -8.30661445e-01 2.30511114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.761858064 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:131.58, Y:112.60, Z:23.34 [[-6.87735802e-01 -7.22868073e-01 -6.69418800e-02 1.31581912e+02] [-7.21688412e-01 6.90764923e-01 -4.48291870e-02 1.12600140e+02] [ 7.86466906e-02 1.74805423e-02 -9.96749281e-01 2.33430142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.791858064 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:131.05, Y:113.12, Z:22.34 [[-6.63109715e-01 7.46895813e-01 4.93168350e-02 1.31048587e+02] [-7.44219834e-01 -6.64919691e-01 6.33927732e-02 1.13117971e+02] [ 8.01395316e-02 5.33379701e-03 9.96769385e-01 2.23401069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821858064 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:130.94, Y:113.00, Z:22.35 [[-6.62987724e-01 7.47105544e-01 4.77554646e-02 1.30939461e+02] [-7.44703411e-01 -6.64692012e-01 6.00113131e-02 1.13000718e+02] [ 7.65774606e-02 4.22310647e-03 9.97054692e-01 2.23503499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.851858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:131.33, Y:112.41, Z:23.39 [[-6.30141564e-01 -7.76480229e-01 -2.51610777e-04 1.31329642e+02] [-7.73111939e-01 6.27438159e-01 -9.28401051e-02 1.12413749e+02] [ 7.22463763e-02 -5.83078857e-02 -9.95680999e-01 2.33901111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:113.12, Z:22.34 [[-6.01342604e-01 7.96936333e-01 5.72673835e-02 1.30979978e+02] [-7.94192817e-01 -6.04037280e-01 6.63078721e-02 1.13115872e+02] [ 8.74347870e-02 -5.60759612e-03 9.96154462e-01 2.23430337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.98, Y:113.11, Z:22.34 [[-6.01244620e-01 7.97172514e-01 5.49626304e-02 1.30978599e+02] [-7.94154466e-01 -6.03748393e-01 6.93293731e-02 1.13110310e+02] [ 8.84510704e-02 -1.96490582e-03 9.96078585e-01 2.23422827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:113.11, Z:22.34 [[-6.01147478e-01 7.97216294e-01 5.53885441e-02 1.30978355e+02] [-7.94156827e-01 -6.03690389e-01 6.98057910e-02 1.13108799e+02] [ 8.90878457e-02 -2.02361522e-03 9.96021717e-01 2.23426006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.971858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:130.78, Y:112.87, Z:22.38 [[-6.04466923e-01 7.93693686e-01 6.83379299e-02 1.30782895e+02] [-7.90771958e-01 -6.08194256e-01 6.91336235e-02 1.12874365e+02] [ 9.64336568e-02 -1.22507300e-02 9.95264020e-01 2.23757035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001858064 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:131.69, Y:112.46, Z:22.89 [[-6.05610024e-01 -4.59002743e-01 -6.50040753e-01 1.31687889e+02] [-7.94729390e-01 3.90461506e-01 4.64698837e-01 1.12458925e+02] [ 4.05178505e-02 7.98032765e-01 -6.01250372e-01 2.28893077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.031858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:130.85, Y:112.99, Z:22.39 [[-5.72802473e-01 8.18890542e-01 3.62713037e-02 1.30850264e+02] [-8.18531605e-01 -5.73785467e-01 2.78612596e-02 1.12987621e+02] [ 4.36272689e-02 -1.37302101e-02 9.98953524e-01 2.23930235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:131.60, Y:112.39, Z:22.79 [[-5.80449203e-01 -3.50066204e-01 -7.35209070e-01 1.31601131e+02] [-8.14097175e-01 2.29500327e-01 5.33456080e-01 1.12385188e+02] [-1.80142225e-02 9.08175783e-01 -4.18201190e-01 2.27905094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.77, Y:112.89, Z:22.42 [[-5.51337292e-01 8.34272482e-01 -4.07625053e-03 1.30770124e+02] [-8.34029078e-01 -5.51283683e-01 -2.19498769e-02 1.12891479e+02] [-2.05593487e-02 -8.70207421e-03 9.99750763e-01 2.24190347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:131.48, Y:112.22, Z:22.92 [[-5.48574477e-01 -5.17780639e-01 -6.56482485e-01 1.31483538e+02] [-8.32454042e-01 2.64976289e-01 4.86629052e-01 1.12222208e+02] [-7.80148089e-02 8.13443776e-01 -5.76387815e-01 2.29176007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.151858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:130.65, Y:112.75, Z:22.44 [[-5.19715150e-01 8.53922150e-01 -2.67043908e-02 1.30650128e+02] [-8.51238440e-01 -5.20236457e-01 -6.88995518e-02 1.12747094e+02] [-7.27274510e-02 -1.30763369e-02 9.97266127e-01 2.24381995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:112.11, Z:22.82 [[-5.22268131e-01 -4.39320220e-01 -7.30912952e-01 1.31379699e+02] [-8.40299367e-01 1.19007586e-01 5.28899016e-01 1.12105541e+02] [-1.45371846e-01 8.90412791e-01 -4.31314372e-01 2.28202142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.62, Y:112.48, Z:23.47 [[-4.75495335e-01 -4.23621337e-01 7.71005285e-01 1.30622716e+02] [-8.72060639e-01 3.42364733e-01 -3.49709354e-01 1.12476304e+02] [-1.15820675e-01 -8.38648527e-01 -5.32216327e-01 2.34716928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:112.62, Z:22.41 [[-4.59403511e-01 8.87326055e-01 -4.00110770e-02 1.30549053e+02] [-8.84245289e-01 -4.61140343e-01 -7.38908210e-02 1.12621413e+02] [-8.40159725e-02 1.43390376e-03 9.96463376e-01 2.24123737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27185806399999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:130.55, Y:112.62, Z:22.41 [[-4.60355682e-01 8.86827221e-01 -4.01263726e-02 1.30548083e+02] [-8.83742836e-01 -4.62098930e-01 -7.39133225e-02 1.12617954e+02] [-8.40907002e-02 1.43497631e-03 9.96457071e-01 2.24120441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.301858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.54, Y:112.61, Z:22.41 [[-4.64437015e-01 8.84869524e-01 -3.61134830e-02 1.30538968e+02] [-8.81887670e-01 -4.65835181e-01 -7.26066212e-02 1.12607021e+02] [-8.10703173e-02 -1.87316711e-03 9.96706624e-01 2.24128026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.331858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.22, Y:112.03, Z:23.19 [[-4.36282865e-01 -8.35513990e-01 -3.34026397e-01 1.31216498e+02] [-8.90521238e-01 3.47726250e-01 2.93357086e-01 1.12028079e+02] [-1.28954202e-01 4.25444271e-01 -8.95749957e-01 2.31927484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:112.49, Z:22.41 [[-4.06035941e-01 9.12899016e-01 -4.18354003e-02 1.30445578e+02] [-9.07041687e-01 -4.08165810e-01 -1.03324971e-01 1.12491565e+02] [-1.11401044e-01 -4.00719959e-03 9.93767453e-01 2.24135031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.391858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:130.45, Y:112.49, Z:22.41 [[-4.06354793e-01 9.12494128e-01 -4.72255028e-02 1.30446904e+02] [-9.06905372e-01 -4.09085635e-01 -1.00854295e-01 1.12485441e+02] [-1.11348227e-01 1.84643595e-03 9.93779736e-01 2.24106688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.421858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:130.45, Y:112.48, Z:22.41 [[-4.06366909e-01 9.12485628e-01 -4.72854536e-02 1.30445848e+02] [-9.06897952e-01 -4.09104336e-01 -1.00845164e-01 1.12481718e+02] [-1.11364447e-01 1.90294363e-03 9.93777812e-01 2.24104403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:112.47, Z:22.41 [[-4.05167137e-01 9.13020203e-01 -4.72620320e-02 1.30440689e+02] [-9.07458720e-01 -4.07908877e-01 -1.00643030e-01 1.12469508e+02] [-1.11167722e-01 2.11109462e-03 9.93799417e-01 2.24092714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:112.47, Z:22.41 [[-4.04690315e-01 9.13236717e-01 -4.71640533e-02 1.30443223e+02] [-9.07715113e-01 -4.07423319e-01 -1.00297126e-01 1.12474532e+02] [-1.10810753e-01 2.22224833e-03 9.93839041e-01 2.24104816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.511858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:130.44, Y:112.47, Z:22.41 [[-4.04024688e-01 9.13532185e-01 -4.71486822e-02 1.30441427e+02] [-9.08031463e-01 -4.06759614e-01 -1.00127308e-01 1.12469659e+02] [-1.10647698e-01 2.35858255e-03 9.93856893e-01 2.24099539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:112.47, Z:22.41 [[-4.03331223e-01 9.13825453e-01 -4.74021635e-02 1.30441065e+02] [-9.08282528e-01 -4.06099434e-01 -1.00529098e-01 1.12467685e+02] [-1.11116041e-01 2.50803280e-03 9.93804274e-01 2.24097846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.571858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:130.44, Y:112.46, Z:22.41 [[-4.01529283e-01 9.14613089e-01 -4.75092905e-02 1.30440395e+02] [-9.09067431e-01 -4.04320534e-01 -1.00604728e-01 1.12462569e+02] [-1.11223383e-01 2.79340432e-03 9.93791505e-01 2.24092211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.44, Y:112.46, Z:22.41 [[-4.01301640e-01 9.14703639e-01 -4.76890627e-02 1.30439807e+02] [-9.09132020e-01 -4.04114990e-01 -1.00846643e-01 1.12459000e+02] [-1.11516656e-01 2.88573074e-03 9.93758375e-01 2.24085435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.631858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:130.44, Y:112.45, Z:22.41 [[-4.01199607e-01 9.14735233e-01 -4.79408803e-02 1.30438441e+02] [-9.09118775e-01 -4.04042926e-01 -1.01253976e-01 1.12454149e+02] [-1.11990753e-01 2.96089903e-03 9.93704838e-01 2.24076918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:112.45, Z:22.41 [[-4.01486590e-01 9.14595113e-01 -4.82109584e-02 1.30439122e+02] [-9.08928233e-01 -4.04359791e-01 -1.01698709e-01 1.12453669e+02] [-1.12507715e-01 2.98963326e-03 9.93646354e-01 2.24071856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:112.45, Z:22.41 [[-4.02279935e-01 9.14239976e-01 -4.83334282e-02 1.30437684e+02] [-9.08555701e-01 -4.05162405e-01 -1.01833021e-01 1.12448927e+02] [-1.12682707e-01 2.94823079e-03 9.93626648e-01 2.24067831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.44, Y:112.44, Z:22.41 [[-4.03493641e-01 9.13698047e-01 -4.84640124e-02 1.30436567e+02] [-9.07994719e-01 -4.06383679e-01 -1.01970072e-01 1.12443966e+02] [-1.12864839e-01 2.86079180e-03 9.93606232e-01 2.24058005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:112.44, Z:22.40 [[-4.04876865e-01 9.13086640e-01 -4.84511283e-02 1.30434988e+02] [-9.07397572e-01 -4.07756360e-01 -1.01805681e-01 1.12436997e+02] [-1.12713663e-01 2.74567128e-03 9.93623717e-01 2.24044199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:112.43, Z:22.40 [[-4.07354448e-01 9.11980061e-01 -4.85254805e-02 1.30434475e+02] [-9.06281236e-01 -4.10226917e-01 -1.01824352e-01 1.12430842e+02] [-1.12768237e-01 2.49912975e-03 9.93618176e-01 2.24023028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.43, Y:112.42, Z:22.40 [[-4.08946208e-01 9.11259471e-01 -4.86741740e-02 1.30431531e+02] [-9.05536177e-01 -4.11825916e-01 -1.01998270e-01 1.12422212e+02] [-1.12992176e-01 2.36441971e-03 9.93593064e-01 2.24010538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.43, Y:112.42, Z:22.40 [[-4.10412454e-01 9.10588560e-01 -4.88885660e-02 1.30431674e+02] [-9.04825680e-01 -4.13307906e-01 -1.02308670e-01 1.12420214e+02] [-1.13367135e-01 2.24687781e-03 9.93550625e-01 2.24007706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:112.35, Z:22.39 [[-4.12509540e-01 9.09715413e-01 -4.74736458e-02 1.30397898e+02] [-9.03757199e-01 -4.15232304e-01 -1.03947385e-01 1.12348633e+02] [-1.14275130e-01 2.53610427e-05 9.93449140e-01 2.23908781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:112.32, Z:22.38 [[-4.14214593e-01 9.08596679e-01 -5.36502100e-02 1.30387372e+02] [-9.02919355e-01 -4.17626288e-01 -1.01611626e-01 1.12317422e+02] [-1.14729724e-01 6.35279490e-03 9.93376430e-01 2.23845859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:112.26, Z:23.24 [[-4.18707302e-01 -7.46842857e-02 9.05045000e-01 1.30225934e+02] [-9.05154634e-01 1.14812698e-01 -4.09283682e-01 1.12257948e+02] [-7.33435991e-02 -9.90575743e-01 -1.15673742e-01 2.32372568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:111.72, Z:22.46 [[-4.35726405e-01 5.97574369e-02 -8.98093285e-01 1.30979367e+02] [-8.93635803e-01 -1.47898497e-01 4.23722888e-01 1.11716205e+02] [-1.07506054e-01 9.87195565e-01 1.17844666e-01 2.24608983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:112.17, Z:22.37 [[-4.18066248e-01 9.07105841e-01 -4.87812084e-02 1.30317779e+02] [-9.00987794e-01 -4.20902594e-01 -1.05176051e-01 1.12173925e+02] [-1.15937947e-01 -1.92837577e-05 9.93256458e-01 2.23731748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.32, Y:112.17, Z:22.37 [[-4.19499816e-01 9.06336705e-01 -5.07314602e-02 1.30318930e+02] [-9.00181575e-01 -4.22553828e-01 -1.05458020e-01 1.12173600e+02] [-1.17017247e-01 1.42790568e-03 9.93128856e-01 2.23719528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.051858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.32, Y:112.17, Z:22.37 [[-4.22180267e-01 9.05068630e-01 -5.11331286e-02 1.30317308e+02] [-8.98821529e-01 -4.25264007e-01 -1.06162067e-01 1.12167137e+02] [-1.17829035e-01 1.14002715e-03 9.93033242e-01 2.23705222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:112.15, Z:22.37 [[-4.23964911e-01 9.04226239e-01 -5.12704852e-02 1.30312373e+02] [-8.97954739e-01 -4.27052665e-01 -1.06317014e-01 1.12154602e+02] [-1.18029831e-01 9.63891732e-04 9.93009582e-01 2.23682967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.111858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:130.31, Y:112.15, Z:22.37 [[-4.25807942e-01 9.03346404e-01 -5.15060218e-02 1.30308932e+02] [-8.97026189e-01 -4.28911024e-01 -1.06674039e-01 1.12146097e+02] [-1.18455110e-01 7.79597441e-04 9.92959102e-01 2.23664658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.141858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:130.31, Y:112.15, Z:22.37 [[-4.28832545e-01 9.01906570e-01 -5.16448205e-02 1.30311994e+02] [-8.95557371e-01 -4.31930952e-01 -1.06829995e-01 1.12151795e+02] [-1.18657671e-01 4.38720988e-04 9.92935126e-01 2.23666157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:112.06, Z:22.35 [[-4.30159932e-01 9.01096417e-01 -5.46596740e-02 1.30267449e+02] [-8.94877380e-01 -4.33605226e-01 -1.05740164e-01 1.12056639e+02] [-1.18982803e-01 3.42852414e-03 9.92890396e-01 2.23526016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:112.14, Z:22.37 [[-4.32185016e-01 9.00467657e-01 -4.87248537e-02 1.30303455e+02] [-8.93906437e-01 -4.34909993e-01 -1.08556803e-01 1.12137668e+02] [-1.18942816e-01 -3.36116346e-03 9.92895417e-01 2.23657234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:112.13, Z:22.36 [[-4.33547137e-01 8.99608884e-01 -5.23520388e-02 1.30300874e+02] [-8.93140007e-01 -4.36696521e-01 -1.07689723e-01 1.12125235e+02] [-1.19740585e-01 6.91292354e-05 9.92805211e-01 2.23623289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.261858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.30, Y:112.13, Z:22.36 [[-4.34402205e-01 8.99190821e-01 -5.24460806e-02 1.30303226e+02] [-8.92711527e-01 -4.37556701e-01 -1.07750933e-01 1.12129454e+02] [-1.19836784e-01 1.19780323e-05 9.92793607e-01 2.23627100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:112.11, Z:22.36 [[-4.34610885e-01 8.99074893e-01 -5.27040456e-02 1.30296219e+02] [-8.92546749e-01 -4.37794856e-01 -1.08147883e-01 1.12114403e+02] [-1.20306606e-01 3.85775866e-05 9.92736782e-01 2.23604359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:112.12, Z:22.36 [[-4.34837259e-01 8.98957983e-01 -5.28308918e-02 1.30300144e+02] [-8.92413546e-01 -4.38034862e-01 -1.08275214e-01 1.12122673e+02] [-1.20476640e-01 6.49063756e-05 9.92716160e-01 2.23614961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:112.12, Z:22.36 [[-4.33992660e-01 8.99360416e-01 -5.29264810e-02 1.30296783e+02] [-8.92811304e-01 -4.37207944e-01 -1.08338309e-01 1.12118411e+02] [-1.20575065e-01 2.35329410e-04 9.92704185e-01 2.23604642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.30, Y:112.12, Z:22.36 [[-4.33327138e-01 8.99681023e-01 -5.29306033e-02 1.30295268e+02] [-8.93149260e-01 -4.36547719e-01 -1.08215012e-01 1.12116676e+02] [-1.20465726e-01 3.82427893e-04 9.92717413e-01 2.23596921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.411858064 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:130.29, Y:112.11, Z:22.36 [[-4.32344692e-01 9.00153132e-01 -5.29377618e-02 1.30293814e+02] [-8.93639065e-01 -4.35573200e-01 -1.08098141e-01 1.12114963e+02] [-1.20363151e-01 5.71594538e-04 9.92729764e-01 2.23587932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.29, Y:112.11, Z:22.36 [[-4.30954819e-01 9.00812125e-01 -5.30609078e-02 1.30291817e+02] [-8.94288563e-01 -4.34208305e-01 -1.08217898e-01 1.12111608e+02] [-1.20523482e-01 8.14738298e-04 9.92710142e-01 2.23575049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.471858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.29, Y:112.11, Z:22.36 [[-4.28149798e-01 9.02160981e-01 -5.28518108e-02 1.30289693e+02] [-8.95714760e-01 -4.31397745e-01 -1.07661764e-01 1.12111366e+02] [-1.19928395e-01 1.24478437e-03 9.92781764e-01 2.23567790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:130.29, Y:112.11, Z:22.36 [[-4.26900928e-01 9.02749646e-01 -5.29025012e-02 1.30287510e+02] [-8.96312873e-01 -4.30163812e-01 -1.07621225e-01 1.12109824e+02] [-1.19911765e-01 1.47359194e-03 9.92783459e-01 2.23566162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.531858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:130.28, Y:112.11, Z:22.36 [[-4.23888436e-01 9.04144166e-01 -5.33096788e-02 1.30283162e+02] [-8.97636161e-01 -4.27223068e-01 -1.08304073e-01 1.12107334e+02] [-1.20697621e-01 1.94385118e-03 9.92687416e-01 2.23568344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:130.28, Y:112.11, Z:22.36 [[-4.22982352e-01 9.04548295e-01 -5.36499067e-02 1.30281386e+02] [-8.97976016e-01 -4.26365864e-01 -1.08863333e-01 1.12106169e+02] [-1.21346631e-01 2.12906064e-03 9.92607910e-01 2.23569653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.591858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:130.28, Y:112.10, Z:22.36 [[-4.22596523e-01 9.04716956e-01 -5.38461592e-02 1.30279596e+02] [-8.98113836e-01 -4.26007280e-01 -1.09129895e-01 1.12103701e+02] [-1.21670522e-01 2.24206666e-03 9.92568011e-01 2.23565710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621858064 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:130.28, Y:112.10, Z:22.36 [[-4.22676340e-01 9.04668670e-01 -5.40306315e-02 1.30277162e+02] [-8.98035850e-01 -4.26109542e-01 -1.09372166e-01 1.12100228e+02] [-1.21968539e-01 2.29241742e-03 9.92531320e-01 2.23561347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:111.37, Z:23.32 [[-3.86729010e-01 -9.19934967e-01 6.45006225e-02 1.30663721e+02] [-9.13942449e-01 3.91665505e-01 1.06335940e-01 1.11369662e+02] [-1.23084818e-01 -1.78266641e-02 -9.92236029e-01 2.33163513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:111.70, Z:23.42 [[-3.17894297e-01 -8.29249052e-01 4.59662077e-01 1.30492695e+02] [-9.42404009e-01 3.29541967e-01 -5.72431297e-02 1.11700370e+02] [-1.04009134e-01 -4.51384648e-01 -8.86247143e-01 2.34215810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.11, Y:111.93, Z:22.32 [[-2.94397777e-01 9.55432231e-01 -2.18906580e-02 1.30110669e+02] [-9.51266986e-01 -2.95160002e-01 -8.92843525e-02 1.11933300e+02] [-9.17663947e-02 -5.46125463e-03 9.95765587e-01 2.23203489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74185806399998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:129.98, Y:111.53, Z:22.28 [[-2.94102535e-01 9.55257001e-01 -3.14286755e-02 1.29983123e+02] [-9.51330401e-01 -2.95744038e-01 -8.66367804e-02 1.11534214e+02] [-9.20552344e-02 4.41895773e-03 9.95744097e-01 2.22789030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:111.91, Z:22.32 [[-2.95753906e-01 9.54910985e-01 -2.59737821e-02 1.30105360e+02] [-9.50779598e-01 -2.96888202e-01 -8.87443075e-02 1.11912010e+02] [-9.24542235e-02 -1.55113348e-03 9.95715728e-01 2.23172019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.801858064 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:130.11, Y:111.91, Z:22.32 [[-2.95690361e-01 9.54834249e-01 -2.93047194e-02 1.30108888e+02] [-9.50759825e-01 -2.97133489e-01 -8.81331043e-02 1.11914651e+02] [-9.28599200e-02 1.80164039e-03 9.95677553e-01 2.23163944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.831858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:130.11, Y:111.91, Z:22.32 [[-2.96072422e-01 9.54710883e-01 -2.94661130e-02 1.30108586e+02] [-9.50605312e-01 -2.97529530e-01 -8.84630939e-02 1.11911830e+02] [-9.32237172e-02 1.81916114e-03 9.95643525e-01 2.23161289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.861858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:130.01, Y:111.65, Z:22.30 [[-3.07513484e-01 9.51440081e-01 -1.40438501e-02 1.30006740e+02] [-9.48262970e-01 -3.07644386e-01 -7.84364197e-02 1.11646252e+02] [-7.89480651e-02 -1.08029937e-02 9.96820194e-01 2.23049982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.891858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.89, Y:111.36, Z:22.96 [[-2.80810682e-01 -7.51133386e-01 -5.97447903e-01 1.30886414e+02] [-9.49106566e-01 1.24822967e-01 2.89164231e-01 1.11359121e+02] [-1.42625688e-01 6.48242133e-01 -7.47957252e-01 2.29579897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.921858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.88, Y:111.35, Z:23.24 [[-2.34753230e-01 -2.47218773e-01 9.40092442e-01 1.29877907e+02] [-9.68738056e-01 1.39326676e-01 -2.05267279e-01 1.11348252e+02] [-8.02340308e-02 -9.58890481e-01 -2.72197621e-01 2.32359806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.951858064 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:129.82, Y:111.06, Z:22.24 [[-2.53683787e-01 9.67262303e-01 -6.94062757e-03 1.29824741e+02] [-9.65374341e-01 -2.53626629e-01 -6.10402668e-02 1.11064173e+02] [-6.08022770e-02 -8.78462229e-03 9.98111173e-01 2.22449408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.981858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:130.77, Y:111.02, Z:22.92 [[-2.16310349e-01 -7.53467239e-01 -6.20884008e-01 1.30769546e+02] [-9.69177461e-01 8.89051043e-02 2.29762773e-01 1.11020435e+02] [-1.17918965e-01 6.51446852e-01 -7.49474560e-01 2.29193535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:111.16, Z:22.28 [[-2.08057146e-01 9.78047847e-01 1.16031435e-02 1.29819830e+02] [-9.72997629e-01 -2.05741624e-01 -1.04623128e-01 1.11159874e+02] [-9.99391759e-02 -3.30574206e-02 9.94444251e-01 2.22801467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.041858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:130.76, Y:110.98, Z:22.88 [[-1.72036258e-01 -6.85562828e-01 -7.07394610e-01 1.30755594e+02] [-9.73318516e-01 7.61111813e-03 2.29331937e-01 1.10981274e+02] [-1.51837387e-01 7.27973681e-01 -6.68580383e-01 2.28753242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.071858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:129.86, Y:111.37, Z:22.31 [[-1.51102799e-01 9.87995359e-01 -3.21421123e-02 1.29864067e+02] [-9.73724471e-01 -1.54367040e-01 -1.67426020e-01 1.11367268e+02] [-1.70377813e-01 5.99902114e-03 9.85360550e-01 2.23109160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:129.82, Y:111.11, Z:22.27 [[-1.51819906e-01 9.87918575e-01 -3.11063698e-02 1.29819020e+02] [-9.73592818e-01 -1.54898716e-01 -1.67700364e-01 1.11108049e+02] [-1.70492641e-01 4.82468489e-03 9.85347138e-01 2.22660440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.131858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:129.83, Y:111.24, Z:22.31 [[-1.65269749e-01 9.86226772e-01 -6.53176827e-03 1.29828896e+02] [-9.74417408e-01 -1.64306352e-01 -1.53343201e-01 1.11238172e+02] [-1.52304381e-01 -1.89783236e-02 9.88151405e-01 2.23064657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.69, Y:110.93, Z:22.55 [[ -0.17640698 -0.22150029 -0.95907153 130.68713019] [ -0.95852043 -0.1829502 0.21855848 110.92692782] [ -0.2238731 0.9578449 -0.18003886 22.54988247] [ 0. 0. 0. 1. ]] SLAMing on 212.191858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:130.03, Y:110.80, Z:23.35 [[-1.22502426e-01 -7.51095822e-01 6.48728157e-01 1.30030896e+02] [-9.72774014e-01 2.20440318e-01 7.15316957e-02 1.10800476e+02] [-1.96732999e-01 -6.22303087e-01 -7.57650972e-01 2.33515389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:129.77, Y:111.03, Z:22.26 [[-9.34916566e-02 9.95395095e-01 -2.11639929e-02 1.29774445e+02] [-9.77157417e-01 -9.58119330e-02 -1.89693058e-01 1.11033391e+02] [-1.90847303e-01 2.94583438e-03 9.81615316e-01 2.22594127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.251858064 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:129.74, Y:110.90, Z:22.26 [[-1.02825636e-01 9.94698490e-01 1.34232703e-03 1.29744238e+02] [-9.80126125e-01 -1.01088899e-01 -1.70686305e-01 1.10898923e+02] [-1.69645715e-01 -1.88665776e-02 9.85324507e-01 2.22562552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:130.67, Y:110.61, Z:22.68 [[-8.15342631e-02 -4.97954082e-01 -8.63361973e-01 1.30665161e+02] [-9.68655768e-01 -1.64348196e-01 1.86267747e-01 1.10609097e+02] [-2.34644767e-01 8.51487758e-01 -4.68946085e-01 2.26777727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.311858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:129.71, Y:110.73, Z:22.25 [[-6.97364394e-02 9.97562081e-01 2.59297830e-03 1.29712617e+02] [-9.71330511e-01 -6.73100150e-02 -2.28005262e-01 1.10730035e+02] [-2.27274870e-01 -1.84189141e-02 9.73656447e-01 2.22463419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341858064 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:130.60, Y:110.49, Z:22.51 [[-8.13250499e-02 -2.64926663e-01 -9.60833024e-01 1.30602079e+02] [-9.47166688e-01 -2.79550425e-01 1.57247654e-01 1.10488161e+02] [-3.10260377e-01 9.22857206e-01 -2.28195257e-01 2.25055271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.371858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:130.00, Y:110.32, Z:23.28 [[-8.82460746e-03 -8.13250106e-01 5.81847395e-01 1.30001378e+02] [-9.56914305e-01 1.75754355e-01 2.31139395e-01 1.10324342e+02] [-2.90236352e-01 -5.54738381e-01 -7.79761623e-01 2.32764410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:110.60, Z:22.21 [[ 1.17564037e-02 9.99848201e-01 1.28593173e-02 1.29670735e+02] [-9.61457528e-01 1.48360982e-02 -2.74552931e-01 1.10601192e+02] [-2.74702036e-01 -9.13593233e-03 9.61485999e-01 2.22086818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43185806399998 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:130.57, Y:110.41, Z:22.48 [[-7.42888840e-05 -2.18003204e-01 -9.75948051e-01 1.30568052e+02] [-9.45983021e-01 -3.16402811e-01 7.07487479e-02 1.10409316e+02] [-3.24216160e-01 9.23235541e-01 -2.06203824e-01 2.24753471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46185806399998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:130.31, Y:110.15, Z:23.17 [[ 6.96280476e-02 -9.96463437e-01 4.70377916e-02 1.30308999e+02] [-9.39142527e-01 -4.95763583e-02 3.39931610e-01 1.10150553e+02] [-3.36397458e-01 -6.78439648e-02 -9.39273095e-01 2.31697674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49185806399998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:129.65, Y:110.41, Z:22.19 [[ 1.03866999e-01 9.94125134e-01 3.04444362e-02 1.29648188e+02] [-9.37391207e-01 1.08078630e-01 -3.31084181e-01 1.10409094e+02] [-3.32429499e-01 5.85037344e-03 9.43109962e-01 2.21863380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52185806399999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:129.65, Y:110.38, Z:22.18 [[ 1.06531014e-01 9.93845798e-01 3.03590510e-02 1.29651326e+02] [-9.37473680e-01 1.10569779e-01 -3.30026399e-01 1.10383026e+02] [-3.31352143e-01 6.69723573e-03 9.43483388e-01 2.21767805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.551858064 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:129.65, Y:110.35, Z:22.17 [[ 1.09541711e-01 9.93556083e-01 2.91019449e-02 1.29654729e+02] [-9.37528655e-01 1.13002514e-01 -3.29044758e-01 1.10354713e+02] [-3.30213014e-01 8.76021838e-03 9.43865787e-01 2.21664589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.581858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:130.34, Y:110.08, Z:23.12 [[ 1.40698712e-01 -9.89922641e-01 -1.60324084e-02 1.30341041e+02] [-9.30807932e-01 -1.37779639e-01 3.38545957e-01 1.10075560e+02] [-3.37343247e-01 -3.27098871e-02 -9.40813263e-01 2.31207935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.35, Y:110.08, Z:23.11 [[ 2.13501712e-01 -9.75167350e-01 -5.88698388e-02 1.30354768e+02] [-9.17305415e-01 -2.20835803e-01 3.31334158e-01 1.10078528e+02] [-3.36106821e-01 -1.67387879e-02 -9.41675113e-01 2.31052833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.641858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:129.64, Y:110.21, Z:22.14 [[ 2.68597398e-01 9.59626469e-01 8.35013649e-02 1.29640468e+02] [-9.05906679e-01 2.81119636e-01 -3.16709392e-01 1.10206312e+02] [-3.27396589e-01 9.42287450e-03 9.44840030e-01 2.21366217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.671858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:130.34, Y:110.03, Z:23.09 [[ 2.86946914e-01 -9.57116782e-01 -3.98614361e-02 1.30344681e+02] [-8.96027889e-01 -2.82884575e-01 3.42213880e-01 1.10031221e+02] [-3.38814833e-01 -6.24802584e-02 -9.38776185e-01 2.30852326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.701858064 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:129.64, Y:110.10, Z:22.12 [[ 3.45233356e-01 9.29234133e-01 1.31673288e-01 1.29636411e+02] [-8.81441583e-01 3.69211387e-01 -2.94522812e-01 1.10095457e+02] [-3.22295927e-01 -1.43832129e-02 9.46529692e-01 2.21188504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.731858064 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:130.38, Y:110.01, Z:23.06 [[ 3.56277332e-01 -9.27858113e-01 -1.10207917e-01 1.30379316e+02] [-8.74219268e-01 -3.72649721e-01 3.11244046e-01 1.10007342e+02] [-3.29859263e-01 -1.45433138e-02 -9.43918089e-01 2.30583915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.761858064 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:130.39, Y:110.01, Z:23.05 [[ 4.27100805e-01 -8.94091596e-01 -1.34852221e-01 1.30386145e+02] [-8.42513800e-01 -4.47654019e-01 2.99627060e-01 1.10006317e+02] [-3.28261175e-01 -1.43561013e-02 -9.44477900e-01 2.30474745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.791858064 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:129.68, Y:109.95, Z:22.08 [[ 4.86336844e-01 8.59968317e-01 1.54696374e-01 1.29676623e+02] [-8.13147662e-01 5.10240990e-01 -2.80080367e-01 1.09953447e+02] [-3.19792673e-01 1.04224066e-02 9.47430219e-01 2.20802070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821858064 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:129.69, Y:109.93, Z:22.07 [[ 4.85430186e-01 8.60557645e-01 1.54266248e-01 1.29692218e+02] [-8.13967506e-01 5.09252744e-01 -2.79496944e-01 1.09928025e+02] [-3.19083742e-01 1.01085408e-02 9.47672614e-01 2.20699308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.851858064 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:129.70, Y:109.89, Z:22.07 [[ 4.84327158e-01 8.57519447e-01 1.73457780e-01 1.29700634e+02] [-8.15447447e-01 5.14292206e-01 -2.65610595e-01 1.09888371e+02] [-3.16974235e-01 -1.28032795e-02 9.48347726e-01 2.20729370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881858064 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:130.61, Y:110.14, Z:22.38 [[ 0.45449263 -0.13787901 -0.88001467 130.6113213 ] [ -0.81280711 -0.46834788 -0.34640275 110.14024111] [ -0.36439133 0.87271968 -0.3249297 22.3794839 ] [ 0. 0. 0. 1. ]] SLAMing on 212.911858064 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:130.50, Y:109.79, Z:22.95 [[ 5.13349620e-01 -8.37022403e-01 -1.89382325e-01 1.30504465e+02] [-7.63058190e-01 -5.46178764e-01 3.45587842e-01 1.09789518e+02] [-3.92701370e-01 -3.28976536e-02 -9.19077461e-01 2.29506812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941858064 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:129.79, Y:109.72, Z:22.01 [[ 5.49343223e-01 8.06040364e-01 2.20274727e-01 1.29792182e+02] [-7.49130354e-01 5.91858449e-01 -2.97501747e-01 1.09716867e+02] [-3.70169875e-01 -1.58391526e-03 9.28962731e-01 2.20076936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.971858064 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:129.81, Y:109.70, Z:21.99 [[ 5.46724434e-01 8.09915587e-01 2.12436189e-01 1.29814544e+02] [-7.51413046e-01 5.86519367e-01 -3.02280444e-01 1.09695792e+02] [-3.69419582e-01 5.63678046e-03 9.29245607e-01 2.19933704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.83, Y:109.67, Z:21.98 [[ 5.42818573e-01 8.12642882e-01 2.12036656e-01 1.29834599e+02] [-7.54495768e-01 5.82748997e-01 -3.01893595e-01 1.09671107e+02] [-3.68895830e-01 3.89269075e-03 9.29462594e-01 2.19833096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:109.70, Z:21.93 [[ 5.44163140e-01 8.24813851e-01 1.53520646e-01 1.29881943e+02] [-7.46010372e-01 5.59416954e-01 -3.61277174e-01 1.09699916e+02] [-3.83868469e-01 8.20657271e-02 9.19733774e-01 2.19284963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.84, Y:109.59, Z:21.99 [[ 5.40034222e-01 7.90606453e-01 2.88625147e-01 1.29843317e+02] [-7.56297089e-01 6.06316067e-01 -2.45755042e-01 1.09585961e+02] [-3.69293586e-01 -8.55702257e-02 9.25364784e-01 2.19898419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:109.60, Z:21.95 [[ 5.36172505e-01 8.17104975e-01 2.11798266e-01 1.29894357e+02] [-7.59234616e-01 5.76487785e-01 -3.02034156e-01 1.09599460e+02] [-3.68892724e-01 1.13783511e-03 9.29471282e-01 2.19484962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.91, Y:109.58, Z:21.94 [[ 5.35173943e-01 8.17842502e-01 2.11476933e-01 1.29912774e+02] [-7.60133995e-01 5.75441643e-01 -3.01766839e-01 1.09575777e+02] [-3.68490380e-01 7.46943492e-04 9.29631261e-01 2.19366811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:109.55, Z:21.92 [[ 5.32808091e-01 8.20935854e-01 2.05377366e-01 1.29932794e+02] [-7.62157061e-01 5.70988560e-01 -3.05104375e-01 1.09551925e+02] [-3.67739247e-01 6.03226938e-03 9.29909382e-01 2.19201064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:109.53, Z:21.91 [[ 5.35098601e-01 8.17447224e-01 2.13188937e-01 1.29948909e+02] [-7.60986607e-01 5.75998138e-01 -2.98538991e-01 1.09527948e+02] [-3.66836301e-01 -2.48612920e-03 9.30282187e-01 2.19140629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:109.50, Z:21.90 [[ 5.34928184e-01 8.18407159e-01 2.09908456e-01 1.29968582e+02] [-7.61582302e-01 5.74638620e-01 -2.99637871e-01 1.09504667e+02] [-3.65847284e-01 4.22177687e-04 9.30674802e-01 2.19009907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:109.48, Z:21.89 [[ 5.34433695e-01 8.18853707e-01 2.09425959e-01 1.29987857e+02] [-7.62258441e-01 5.74002224e-01 -2.99137954e-01 1.09482514e+02] [-3.65161189e-01 2.32697343e-04 9.30944280e-01 2.18888676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.01, Y:109.47, Z:21.86 [[ 5.32831365e-01 8.24106698e-01 1.92194918e-01 1.30014061e+02] [-7.59763868e-01 5.65901077e-01 -3.20179380e-01 1.09472176e+02] [-3.72625283e-01 2.45788620e-02 9.27656336e-01 2.18580930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:109.43, Z:21.87 [[ 5.33733436e-01 8.13951769e-01 2.29371179e-01 1.30016793e+02] [-7.63492896e-01 5.80436553e-01 -2.83146614e-01 1.09426095e+02] [-3.63603104e-01 -2.39984506e-02 9.31244789e-01 2.18712769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:109.41, Z:21.85 [[ 5.32571573e-01 8.20388486e-01 2.08159197e-01 1.30045034e+02] [-7.64504722e-01 5.71806191e-01 -2.97607477e-01 1.09412677e+02] [-3.63180465e-01 -6.41406510e-04 9.31718594e-01 2.18512322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:109.41, Z:21.81 [[ 5.32091361e-01 8.28204490e-01 1.75943477e-01 1.30077511e+02] [-7.59258407e-01 5.58696434e-01 -3.33743863e-01 1.09414242e+02] [-3.74707159e-01 4.39956619e-02 9.26098767e-01 2.18114964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.391858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.06, Y:109.35, Z:21.84 [[ 5.34009591e-01 8.08099095e-01 2.48615387e-01 1.30062257e+02] [-7.63907407e-01 5.87172201e-01 -2.67720526e-01 1.09345603e+02] [-3.62324758e-01 -4.69538071e-02 9.30868471e-01 2.18418735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:109.34, Z:21.82 [[ 5.34305895e-01 8.19477507e-01 2.07301292e-01 1.30096368e+02] [-7.63860433e-01 5.73111309e-01 -2.96750174e-01 1.09338763e+02] [-3.61986808e-01 2.06113088e-04 9.32183195e-01 2.18154352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:109.31, Z:21.80 [[ 5.37174978e-01 8.16798186e-01 2.10437085e-01 1.30111935e+02] [-7.61197876e-01 5.76922507e-01 -2.96206372e-01 1.09313979e+02] [-3.63346718e-01 -1.06961079e-03 9.31653379e-01 2.18041978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:109.29, Z:21.79 [[ 5.39167822e-01 8.16730731e-01 2.05545548e-01 1.30130552e+02] [-7.60085628e-01 5.76997954e-01 -2.98903328e-01 1.09290979e+02] [-3.62722895e-01 4.92683979e-03 9.31884021e-01 2.17900993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:109.26, Z:21.78 [[ 5.40735020e-01 8.15065106e-01 2.08025266e-01 1.30147281e+02] [-7.58576434e-01 5.79359239e-01 -2.98168855e-01 1.09264914e+02] [-3.63548389e-01 3.42727718e-03 9.31569011e-01 2.17776293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:109.24, Z:21.76 [[ 5.43645067e-01 8.12964080e-01 2.08661078e-01 1.30163996e+02] [-7.55888856e-01 5.82292571e-01 -2.99278130e-01 1.09240746e+02] [-3.64804165e-01 4.97649474e-03 9.31070972e-01 2.17649710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.18, Y:109.22, Z:21.75 [[ 5.44966102e-01 8.11998550e-01 2.08974408e-01 1.30181301e+02] [-7.54604613e-01 5.83631144e-01 -2.99910928e-01 1.09215923e+02] [-3.65491212e-01 5.74823736e-03 9.30797041e-01 2.17520339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.20, Y:109.19, Z:21.74 [[ 5.46238698e-01 8.11030639e-01 2.09410095e-01 1.30198191e+02] [-7.53242037e-01 5.84967175e-01 -3.00732170e-01 1.09191139e+02] [-3.66401036e-01 6.53506252e-03 9.30434078e-01 2.17391798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:109.17, Z:21.73 [[ 5.49026645e-01 8.09044050e-01 2.09803405e-01 1.30214835e+02] [-7.50810291e-01 5.87693466e-01 -3.01496761e-01 1.09166634e+02] [-3.67224251e-01 8.00719969e-03 9.30097970e-01 2.17257881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:109.16, Z:22.63 [[ 5.69078295e-01 -7.93263577e-01 -2.16524342e-01 1.30915489e+02] [-7.24634039e-01 -6.08259948e-01 3.23921820e-01 1.09164722e+02] [-3.88658467e-01 -2.74359685e-02 -9.20973324e-01 2.26314814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.691858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.26, Y:109.07, Z:21.69 [[ 6.12685363e-01 7.54867751e-01 2.34075468e-01 1.30262511e+02] [-7.00989471e-01 6.55833309e-01 -2.80172149e-01 1.09072676e+02] [-3.65007408e-01 7.57293603e-03 9.30973814e-01 2.16925092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:108.67, Z:22.51 [[ 6.15671944e-01 -4.52587104e-01 6.45068191e-01 1.30486374e+02] [-7.08690509e-01 3.99014606e-02 7.04390259e-01 1.08669581e+02] [-3.44537110e-01 -8.90827024e-01 -2.96177975e-01 2.25128466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:108.93, Z:21.62 [[ 6.43765999e-01 7.38225243e-01 2.01466694e-01 1.30381318e+02] [-7.00722493e-01 6.74501039e-01 -2.32457169e-01 1.08927837e+02] [-3.07495244e-01 8.47577740e-03 9.51511869e-01 2.16227813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:108.90, Z:21.61 [[ 6.43743597e-01 7.38086911e-01 2.02044286e-01 1.30401719e+02] [-7.00313948e-01 6.74650048e-01 -2.33254556e-01 1.08904299e+02] [-3.08471322e-01 8.66169510e-03 9.51194207e-01 2.16118606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:108.88, Z:21.60 [[ 6.43186397e-01 7.38163409e-01 2.03533880e-01 1.30422430e+02] [-6.99774298e-01 6.74564633e-01 -2.35113779e-01 1.08882659e+02] [-3.10849145e-01 8.79420607e-03 9.50418577e-01 2.16008372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:108.86, Z:21.59 [[ 6.42461505e-01 7.38594335e-01 2.04258713e-01 1.30443570e+02] [-6.99902455e-01 6.74093849e-01 -2.36080572e-01 1.08860029e+02] [-3.12057316e-01 8.71150482e-03 9.50023337e-01 2.15899518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:108.84, Z:21.58 [[ 6.41543919e-01 7.39282097e-01 2.04654300e-01 1.30465115e+02] [-7.00423820e-01 6.73342275e-01 -2.36678373e-01 1.08837085e+02] [-3.12774476e-01 8.49482483e-03 9.49789432e-01 2.15786342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.49, Y:108.81, Z:21.57 [[ 6.40481217e-01 7.40161403e-01 2.04804560e-01 1.30486356e+02] [-7.01241639e-01 6.72379588e-01 -2.36993363e-01 1.08814915e+02] [-3.13119746e-01 8.17231266e-03 9.49678492e-01 2.15679019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:108.79, Z:21.56 [[ 6.38202124e-01 7.41922978e-01 2.05544018e-01 1.30509258e+02] [-7.02755369e-01 6.70443844e-01 -2.37991477e-01 1.08793646e+02] [-3.14377067e-01 7.43950359e-03 9.49269042e-01 2.15557906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:108.77, Z:21.54 [[ 6.36987747e-01 7.42773252e-01 2.06238955e-01 1.30530605e+02] [-7.03329089e-01 6.69504907e-01 -2.38938009e-01 1.08771293e+02] [-3.15554755e-01 7.14672764e-03 9.48880457e-01 2.15447923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:108.75, Z:21.53 [[ 6.35227591e-01 7.43968328e-01 2.07357263e-01 1.30553329e+02] [-7.04096304e-01 6.68181331e-01 -2.40379082e-01 1.08749757e+02] [-3.17386676e-01 6.69594302e-03 9.48272568e-01 2.15333344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:108.73, Z:21.52 [[ 6.34626853e-01 7.44228577e-01 2.08260850e-01 1.30574486e+02] [-7.03963303e-01 6.67891413e-01 -2.41571375e-01 1.08728479e+02] [-3.18879954e-01 6.69968545e-03 9.47771433e-01 2.15221126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:108.71, Z:21.51 [[ 6.34316760e-01 7.44315838e-01 2.08892748e-01 1.30596293e+02] [-7.03757722e-01 6.67793419e-01 -2.42439722e-01 1.08706777e+02] [-3.19948927e-01 6.77369450e-03 9.47410577e-01 2.15107303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:108.69, Z:21.50 [[ 6.33887363e-01 7.44387872e-01 2.09936914e-01 1.30619852e+02] [-7.03365342e-01 6.67712050e-01 -2.43798717e-01 1.08686484e+02] [-3.21658215e-01 6.87857657e-03 9.46830860e-01 2.14985612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:108.66, Z:21.49 [[ 6.33160802e-01 7.44962747e-01 2.10090229e-01 1.30641088e+02] [-7.03859235e-01 6.67072464e-01 -2.44123954e-01 1.08664183e+02] [-3.22008659e-01 6.69577061e-03 9.46713045e-01 2.14879330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:108.64, Z:21.48 [[ 6.33016503e-01 7.45105747e-01 2.10017933e-01 1.30661754e+02] [-7.03989283e-01 6.66912453e-01 -2.44186137e-01 1.08640113e+02] [-3.22008069e-01 6.72348045e-03 9.46713050e-01 2.14772988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:108.62, Z:21.47 [[ 6.31567917e-01 7.46065225e-01 2.10970724e-01 1.30684497e+02] [-7.04580518e-01 6.65842696e-01 -2.45397225e-01 1.08618688e+02] [-3.23555651e-01 6.33915247e-03 9.46187907e-01 2.14658228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:108.60, Z:21.45 [[ 6.30903442e-01 7.46559638e-01 2.11209739e-01 1.30706517e+02] [-7.04954646e-01 6.65289640e-01 -2.45822379e-01 1.08596319e+02] [-3.24036718e-01 6.19689816e-03 9.46024209e-01 2.14547919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:108.58, Z:21.44 [[ 6.29765340e-01 7.47430937e-01 2.11524490e-01 1.30727850e+02] [-7.05694598e-01 6.64313640e-01 -2.46338227e-01 1.08575035e+02] [-3.24639416e-01 5.86358696e-03 9.45819680e-01 2.14437007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:108.55, Z:21.43 [[ 6.28576083e-01 7.48378454e-01 2.11711589e-01 1.30750292e+02] [-7.06570165e-01 6.63249335e-01 -2.46696011e-01 1.08553472e+02] [-3.25039550e-01 5.47811991e-03 9.45684557e-01 2.14324116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.77, Y:108.53, Z:21.42 [[ 6.25240993e-01 7.50928999e-01 2.12554319e-01 1.30773382e+02] [-7.08868263e-01 6.60369086e-01 -2.47827473e-01 1.08534691e+02] [-3.26465138e-01 4.27888510e-03 9.45199558e-01 2.14206128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:108.51, Z:21.41 [[ 6.23239128e-01 7.52549130e-01 2.12703540e-01 1.30795345e+02] [-7.10470839e-01 6.58526640e-01 -2.48140790e-01 1.08512415e+02] [-3.26809083e-01 3.53138760e-03 9.45083781e-01 2.14098793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:108.49, Z:21.40 [[ 6.20981555e-01 7.54162501e-01 2.13590335e-01 1.30816812e+02] [-7.11762906e-01 6.56681873e-01 -2.49324052e-01 1.08490487e+02] [-3.28291751e-01 2.79996020e-03 9.44572224e-01 2.13985200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:108.47, Z:21.39 [[ 6.17250310e-01 7.56980502e-01 2.14435478e-01 1.30839545e+02] [-7.14345847e-01 6.53435927e-01 -2.50462570e-01 1.08470343e+02] [-3.29715128e-01 1.41700604e-03 9.44079407e-01 2.13880168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:108.45, Z:21.38 [[ 6.15255570e-01 7.58504505e-01 2.14782450e-01 1.30860771e+02] [-7.15767963e-01 6.51667420e-01 -2.51009557e-01 1.08448581e+02] [-3.30358605e-01 7.00631782e-04 9.43855233e-01 2.13774926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.88, Y:108.43, Z:21.37 [[ 6.13315966e-01 7.59980324e-01 2.15112606e-01 1.30882243e+02] [-7.17146711e-01 6.49946080e-01 -2.51536652e-01 1.08426714e+02] [-3.30974501e-01 4.14675921e-06 9.43639698e-01 2.13664270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.90, Y:108.41, Z:21.35 [[ 6.10642038e-01 7.61987868e-01 2.15617234e-01 1.30904719e+02] [-7.19014937e-01 6.47590556e-01 -2.52277610e-01 1.08406034e+02] [-3.31864163e-01 -9.80697584e-04 9.43326675e-01 2.13543573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:108.38, Z:21.34 [[ 6.09678025e-01 7.62904438e-01 2.15103520e-01 1.30925523e+02] [-7.20143349e-01 6.46509816e-01 -2.51830528e-01 1.08383795e+02] [-3.31189164e-01 -1.36983027e-03 9.43563385e-01 2.13438194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.531858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.95, Y:108.36, Z:21.33 [[ 6.08173236e-01 7.64267508e-01 2.14523871e-01 1.30946581e+02] [-7.21775312e-01 6.44896231e-01 -2.51295146e-01 1.08361470e+02] [-3.30402351e-01 -2.00705180e-03 9.43838047e-01 2.13333738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:108.34, Z:21.32 [[ 6.07637755e-01 7.64781968e-01 2.14207608e-01 1.30967484e+02] [-7.22400111e-01 6.44285466e-01 -2.51066363e-01 1.08337814e+02] [-3.30021876e-01 -2.18619851e-03 9.43970753e-01 2.13225587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:108.32, Z:21.31 [[ 6.07239806e-01 7.65158297e-01 2.13992053e-01 1.30987359e+02] [-7.22834038e-01 6.43838148e-01 -2.50964923e-01 1.08315363e+02] [-3.29804140e-01 -2.28484860e-03 9.44046614e-01 2.13121322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:108.29, Z:21.30 [[ 6.07170299e-01 7.65279599e-01 2.13755384e-01 1.31007377e+02] [-7.23009749e-01 6.43694078e-01 -2.50828303e-01 1.08292694e+02] [-3.29546858e-01 -2.25173045e-03 9.44136536e-01 2.13017009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:108.27, Z:21.29 [[ 6.08256113e-01 7.64694521e-01 2.12759937e-01 1.31027716e+02] [-7.22745882e-01 6.44390364e-01 -2.49798816e-01 1.08268658e+02] [-3.28120240e-01 -1.82971125e-03 9.44634194e-01 2.12904897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:108.24, Z:21.28 [[ 6.09074300e-01 7.64045487e-01 2.12751005e-01 1.31047389e+02] [-7.22010017e-01 6.45160907e-01 -2.49937872e-01 1.08244906e+02] [-3.28222535e-01 -1.37762211e-03 9.44599423e-01 2.12797139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:108.22, Z:21.27 [[ 6.10709491e-01 7.62993089e-01 2.11838298e-01 1.31065999e+02] [-7.21215291e-01 6.46406256e-01 -2.49012964e-01 1.08221477e+02] [-3.26928772e-01 -7.06439173e-04 9.45048718e-01 2.12698574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:108.20, Z:21.26 [[ 6.14510515e-01 7.60149321e-01 2.11068320e-01 1.31083780e+02] [-7.18487077e-01 6.49747834e-01 -2.48201678e-01 1.08196049e+02] [-3.25811521e-01 8.72680315e-04 9.45434340e-01 2.12591213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:108.17, Z:21.25 [[ 6.16438981e-01 7.58705486e-01 2.10639429e-01 1.31101938e+02] [-7.17085039e-01 6.51431486e-01 -2.47842825e-01 1.08171805e+02] [-3.25256867e-01 1.73359494e-03 9.45624114e-01 2.12487161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:108.15, Z:21.24 [[ 6.18259767e-01 7.57383887e-01 2.10058344e-01 1.31120631e+02] [-7.15878540e-01 6.52965020e-01 -2.47294559e-01 1.08146458e+02] [-3.24457665e-01 2.51601627e-03 9.45896872e-01 2.12386011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:108.12, Z:21.23 [[ 6.21581687e-01 7.55048195e-01 2.08658645e-01 1.31137075e+02] [-7.13932738e-01 6.55658225e-01 -2.45789214e-01 1.08120964e+02] [-3.22391460e-01 3.80983667e-03 9.46598770e-01 2.12289241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:108.10, Z:21.21 [[ 6.24090766e-01 7.56417800e-01 1.95813245e-01 1.31160892e+02] [-7.13776362e-01 6.53871752e-01 -2.50948274e-01 1.08099402e+02] [-3.17858492e-01 1.68476349e-02 9.47988469e-01 2.12148589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:108.07, Z:21.21 [[ 6.23743613e-01 7.52599472e-01 2.11040139e-01 1.31171225e+02] [-7.13440170e-01 6.58477636e-01 -2.39604521e-01 1.08068562e+02] [-3.19291448e-01 -1.11272341e-03 9.47655915e-01 2.12092869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.921858064 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:131.79, Y:108.15, Z:22.19 [[ 6.58830296e-01 -7.25288813e-01 -1.99746787e-01 1.31790641e+02] [-6.79916032e-01 -6.87706866e-01 2.54506300e-01 1.08151131e+02] [-3.21957809e-01 -3.18654179e-02 -9.46217609e-01 2.21861828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.25, Y:108.04, Z:21.18 [[ 6.82191742e-01 7.03288125e-01 2.00000599e-01 1.31251942e+02] [-6.60134610e-01 7.10034037e-01 -2.45099903e-01 1.08037046e+02] [-3.14383084e-01 3.51778122e-02 9.48644190e-01 2.11837451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:108.08, Z:22.20 [[ 7.16473918e-01 -6.90335687e-01 -1.00507528e-01 1.31795554e+02] [-6.26592089e-01 -7.00152825e-01 3.42298663e-01 1.08080252e+02] [-3.06671612e-01 -1.82270842e-01 -9.34200119e-01 2.22029968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:107.97, Z:21.17 [[ 7.34167084e-01 6.40985246e-01 2.23912052e-01 1.31314673e+02] [-6.06856117e-01 7.67384626e-01 -2.06993937e-01 1.07968397e+02] [-3.04506725e-01 1.60857367e-02 9.52374350e-01 2.11697109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:107.94, Z:21.17 [[ 7.31180798e-01 6.38141098e-01 2.41144312e-01 1.31328010e+02] [-6.08602547e-01 7.69893105e-01 -1.92009236e-01 1.07940111e+02] [-3.08184328e-01 -6.36757667e-03 9.51305353e-01 2.11666119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:107.92, Z:21.15 [[ 7.31836840e-01 6.42117972e-01 2.28252822e-01 1.31357675e+02] [-6.08986121e-01 7.66538209e-01 -2.03850630e-01 1.07924996e+02] [-3.05860663e-01 1.01826004e-02 9.52021833e-01 2.11523644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:107.90, Z:21.15 [[ 7.29613054e-01 6.41246128e-01 2.37630373e-01 1.31374553e+02] [-6.10855669e-01 7.67330087e-01 -1.95089440e-01 1.07900093e+02] [-3.07441282e-01 -2.81805852e-03 9.51562881e-01 2.11468329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.131858064 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:131.40, Y:107.88, Z:21.14 [[ 7.28851863e-01 6.44779616e-01 2.30291572e-01 1.31398954e+02] [-6.12558675e-01 7.64347327e-01 -2.01357973e-01 1.07882886e+02] [-3.05854264e-01 5.69303387e-03 9.52061321e-01 2.11360057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.64, Y:107.57, Z:22.04 [[ 0.75458208 -0.43551877 0.49084549 131.63727919] [ -0.60563092 -0.17425148 0.77643262 107.56906481] [ -0.25262042 -0.88315334 -0.39525067 22.04089032] [ 0. 0. 0. 1. ]] SLAMing on 215.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:107.77, Z:21.10 [[ 7.54035563e-01 6.28916856e-01 1.89457006e-01 1.31535542e+02] [-6.06831377e-01 7.77410538e-01 -1.65494816e-01 1.07768932e+02] [-2.51368352e-01 9.82052100e-03 9.67841675e-01 2.10967014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:107.74, Z:21.09 [[ 7.52549625e-01 6.29059906e-01 1.94814518e-01 1.31556084e+02] [-6.08944566e-01 7.77356815e-01 -1.57806519e-01 1.07743554e+02] [-2.50710148e-01 1.25994486e-04 9.68062191e-01 2.10923216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:107.72, Z:21.08 [[ 7.51692245e-01 6.30038600e-01 1.94961872e-01 1.31579901e+02] [-6.09901112e-01 7.76563807e-01 -1.58016732e-01 1.07723902e+02] [-2.50956975e-01 -1.27510346e-04 9.67998234e-01 2.10841499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:107.70, Z:21.07 [[ 7.49671249e-01 6.33698492e-01 1.90838255e-01 1.31606663e+02] [-6.12604621e-01 7.73565890e-01 -1.62207866e-01 1.07702515e+02] [-2.50416845e-01 4.69417607e-03 9.68126732e-01 2.10743713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:107.67, Z:21.07 [[ 7.48977265e-01 6.32616096e-01 1.97053118e-01 1.31627987e+02] [-6.14429298e-01 7.74423004e-01 -1.50816604e-01 1.07674852e+02] [-2.48011479e-01 -8.11700155e-03 9.68723088e-01 2.10717711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:107.67, Z:21.06 [[ 7.49857302e-01 6.33846103e-01 1.89613143e-01 1.31653211e+02] [-6.12667676e-01 7.73437877e-01 -1.62579731e-01 1.07665695e+02] [-2.49704516e-01 5.74175444e-03 9.68305059e-01 2.10594846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:107.64, Z:21.05 [[ 7.49776751e-01 6.33179887e-01 1.92140716e-01 1.31677853e+02] [-6.13366363e-01 7.74004671e-01 -1.57157483e-01 1.07636290e+02] [-2.48226769e-01 -1.96250099e-05 9.68701951e-01 2.10523707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:107.62, Z:21.04 [[ 7.50653059e-01 6.32169639e-01 1.92045651e-01 1.31700074e+02] [-6.11641848e-01 7.74825985e-01 -1.59809080e-01 1.07623933e+02] [-2.49828409e-01 2.49801811e-03 9.68286903e-01 2.10449044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:107.60, Z:21.04 [[ 7.51164943e-01 6.31403947e-01 1.92562418e-01 1.31724655e+02] [-6.11198780e-01 7.75452950e-01 -1.58457484e-01 1.07599755e+02] [-2.49373776e-01 1.33379234e-03 9.68406392e-01 2.10367601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:107.58, Z:21.03 [[ 7.53253422e-01 6.28582028e-01 1.93633458e-01 1.31747933e+02] [-6.08559656e-01 7.77742967e-01 -1.57388129e-01 1.07583204e+02] [-2.49528409e-01 7.15635746e-04 9.68367214e-01 2.10300429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:107.56, Z:21.02 [[ 7.54189427e-01 6.27548500e-01 1.93342156e-01 1.31771503e+02] [-6.07594997e-01 7.78576920e-01 -1.56991400e-01 1.07563664e+02] [-2.49051458e-01 9.27527296e-04 9.68489809e-01 2.10223131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:107.54, Z:21.01 [[ 7.57052893e-01 6.24593261e-01 1.91713787e-01 1.31797348e+02] [-6.04596371e-01 7.80945208e-01 -1.56805008e-01 1.07543415e+02] [-2.47657314e-01 2.80022488e-03 9.68843648e-01 2.10139303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:107.52, Z:21.00 [[ 7.56895147e-01 6.25023755e-01 1.90932034e-01 1.31822339e+02] [-6.04278136e-01 7.80585856e-01 -1.59792540e-01 1.07524523e+02] [-2.48912978e-01 5.57014414e-03 9.68509836e-01 2.10027473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:107.51, Z:21.00 [[ 7.58623433e-01 6.22556808e-01 1.92128883e-01 1.31845400e+02] [-6.03323703e-01 7.82574402e-01 -1.53550691e-01 1.07505845e+02] [-2.45949174e-01 5.71242850e-04 9.69282558e-01 2.09992082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:107.49, Z:20.99 [[ 7.59080214e-01 6.22563432e-01 1.90294516e-01 1.31871168e+02] [-6.03070255e-01 7.82565070e-01 -1.54590360e-01 1.07487399e+02] [-2.45160146e-01 2.58552137e-03 9.69479148e-01 2.09905203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:107.47, Z:20.98 [[ 7.59958823e-01 6.21682214e-01 1.89667637e-01 1.31896104e+02] [-6.02269633e-01 7.83264084e-01 -1.54170888e-01 1.07469518e+02] [-2.44405147e-01 2.93246896e-03 9.69668771e-01 2.09828963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:107.45, Z:20.97 [[ 7.60107009e-01 6.21610836e-01 1.89307432e-01 1.31921623e+02] [-6.02319016e-01 7.83321235e-01 -1.53686845e-01 1.07449223e+02] [-2.43821940e-01 2.79498254e-03 9.69815988e-01 2.09745803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:107.43, Z:20.97 [[ 7.61087645e-01 6.20377307e-01 1.89413819e-01 1.31946405e+02] [-6.00634504e-01 7.84290899e-01 -1.55325392e-01 1.07433524e+02] [-2.44915883e-01 4.44776194e-03 9.69534129e-01 2.09665505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:107.41, Z:20.96 [[ 7.61089681e-01 6.20165832e-01 1.90096917e-01 1.31971025e+02] [-6.00568968e-01 7.84462560e-01 -1.54710723e-01 1.07413789e+02] [-2.45070218e-01 3.58242522e-03 9.69498713e-01 2.09589059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:107.40, Z:20.95 [[ 7.61071532e-01 6.20098045e-01 1.90390487e-01 1.31995528e+02] [-6.00414415e-01 7.84515674e-01 -1.55040924e-01 1.07395209e+02] [-2.45504895e-01 3.68404084e-03 9.69388351e-01 2.09511967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:107.38, Z:20.94 [[ 7.60972598e-01 6.20169933e-01 1.90551726e-01 1.32021229e+02] [-6.00379327e-01 7.84457781e-01 -1.55469139e-01 1.07376264e+02] [-2.45897070e-01 3.90443721e-03 9.69288082e-01 2.09424401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:107.36, Z:20.93 [[ 7.61474131e-01 6.19711458e-01 1.90039093e-01 1.32047378e+02] [-6.00085167e-01 7.84820456e-01 -1.54772881e-01 1.07358915e+02] [-2.45061096e-01 3.81590388e-03 9.69500128e-01 2.09345329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:107.33, Z:20.94 [[ 7.61367919e-01 6.16959774e-01 1.99197211e-01 1.32068812e+02] [-6.02254751e-01 7.86807019e-01 -1.34996034e-01 1.07325898e+02] [-2.40016886e-01 -1.71858173e-02 9.70616578e-01 2.09377707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881858064 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:132.10, Y:107.33, Z:20.91 [[ 7.61913711e-01 6.23694935e-01 1.74619947e-01 1.32102806e+02] [-5.99882748e-01 7.81204584e-01 -1.72800713e-01 1.07331755e+02] [-2.44188832e-01 2.69077384e-02 9.69354315e-01 2.09116506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:107.30, Z:20.91 [[ 7.62139662e-01 6.18992625e-01 1.89713642e-01 1.32122450e+02] [-5.99337026e-01 7.85385123e-01 -1.54807425e-01 1.07302711e+02] [-2.44822926e-01 4.28246858e-03 9.69558351e-01 2.09097009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941858064 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:132.15, Y:107.29, Z:20.90 [[ 7.64552320e-01 6.19667191e-01 1.77404401e-01 1.32154844e+02] [-5.98118808e-01 7.84645400e-01 -1.63050570e-01 1.07289691e+02] [-2.40236636e-01 1.85517822e-02 9.70537063e-01 2.08990065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.65, Y:107.45, Z:21.92 [[ 7.86893387e-01 -6.08422697e-01 -1.03056390e-01 1.32647047e+02] [-5.65616000e-01 -7.77901380e-01 2.73766295e-01 1.07454739e+02] [-2.46733336e-01 -1.57134544e-01 -9.56259063e-01 2.19166232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:107.78, Z:21.13 [[ 7.82510981e-01 2.26866176e-01 -5.79834720e-01 1.32784773e+02] [-5.50920046e-01 -1.81629430e-01 -8.14553775e-01 1.07782697e+02] [-2.90109749e-01 9.56839845e-01 -1.71418991e-02 2.11342439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:107.20, Z:20.87 [[ 7.95458057e-01 5.52127262e-01 2.49803855e-01 1.32309322e+02] [-5.26755210e-01 8.33759849e-01 -1.65449277e-01 1.07196223e+02] [-2.99625481e-01 2.24781648e-05 9.54056901e-01 2.08708702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:107.18, Z:20.86 [[ 7.95399098e-01 5.53478003e-01 2.46986588e-01 1.32336691e+02] [-5.26886919e-01 8.32850343e-01 -1.69559669e-01 1.07180397e+02] [-2.99550412e-01 4.73360487e-03 9.54068731e-01 2.08595226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:107.16, Z:20.85 [[ 7.94670269e-01 5.54721150e-01 2.46543321e-01 1.32363700e+02] [-5.28272578e-01 8.32025241e-01 -1.69298792e-01 1.07163858e+02] [-2.99043887e-01 4.29464101e-03 9.54229694e-01 2.08493248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:107.15, Z:20.84 [[ 7.93291028e-01 5.56774373e-01 2.46356738e-01 1.32390092e+02] [-5.30430128e-01 8.30655922e-01 -1.69276751e-01 1.07148839e+02] [-2.98886641e-01 3.61069165e-03 9.54281792e-01 2.08396567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.151858064 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:132.95, Y:107.40, Z:21.80 [[ 8.17544867e-01 -5.07022352e-01 -2.73036124e-01 1.32949555e+02] [-4.82563164e-01 -8.61921097e-01 1.55643230e-01 1.07398533e+02] [-3.14250192e-01 4.51185265e-03 -9.49329479e-01 2.17976312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.48, Y:107.14, Z:20.82 [[ 8.33438058e-01 4.92993981e-01 2.49675666e-01 1.32477945e+02] [-4.65318395e-01 8.69787945e-01 -1.64157616e-01 1.07135237e+02] [-2.98093601e-01 2.06365248e-02 9.54313543e-01 2.08158221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21185806399998 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:132.50, Y:107.12, Z:20.81 [[ 8.32655674e-01 4.92221574e-01 2.53776380e-01 1.32502386e+02] [-4.67585507e-01 8.70416698e-01 -1.54073249e-01 1.07116973e+02] [-2.96729376e-01 9.62780764e-03 9.54913076e-01 2.08101224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.53, Y:107.09, Z:20.81 [[ 8.32583803e-01 4.86981854e-01 2.63918331e-01 1.32526510e+02] [-4.68659905e-01 8.73315499e-01 -1.32958383e-01 1.07090078e+02] [-2.95232289e-01 -1.29889442e-02 9.55337209e-01 2.08075752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27185806399999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.55, Y:107.09, Z:20.79 [[ 8.30995608e-01 4.92860906e-01 2.57942680e-01 1.32553168e+02] [-4.67468413e-01 8.70057096e-01 -1.56441465e-01 1.07092398e+02] [-3.01528741e-01 9.42211447e-03 9.53410532e-01 2.07900504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.58, Y:107.07, Z:20.78 [[ 8.29927496e-01 4.92790953e-01 2.61490779e-01 1.32579409e+02] [-4.69311313e-01 8.70145369e-01 -1.50312768e-01 1.07072105e+02] [-3.01607762e-01 2.02811797e-03 9.53429937e-01 2.07816755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.61, Y:107.06, Z:20.77 [[ 8.29085559e-01 4.94310871e-01 2.61292744e-01 1.32606952e+02] [-4.69829988e-01 8.69272656e-01 -1.53703716e-01 1.07058866e+02] [-3.03112056e-01 4.67036459e-03 9.52943477e-01 2.07703068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:107.04, Z:20.76 [[ 8.28581819e-01 4.94233543e-01 2.63031126e-01 1.32632891e+02] [-4.70045634e-01 8.69324235e-01 -1.52749720e-01 1.07043031e+02] [-3.04153368e-01 2.92900821e-03 9.52618575e-01 2.07604064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:107.03, Z:20.75 [[ 8.28820138e-01 4.92682474e-01 2.65181370e-01 1.32657186e+02] [-4.70121396e-01 8.70205580e-01 -1.47404617e-01 1.07025936e+02] [-3.03385979e-01 -2.49552126e-03 9.52864481e-01 2.07546943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.69, Y:107.01, Z:20.74 [[ 8.27925433e-01 4.95615677e-01 2.62496814e-01 1.32685791e+02] [-4.70896171e-01 8.68530716e-01 -1.54632440e-01 1.07012761e+02] [-3.04624808e-01 4.41538535e-03 9.52462194e-01 2.07405440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:106.98, Z:20.74 [[ 8.27477337e-01 4.91958639e-01 2.70662066e-01 1.32708730e+02] [-4.75506000e-01 8.70324241e-01 -1.28178620e-01 1.06978553e+02] [-2.98622336e-01 -2.26365335e-02 9.54102871e-01 2.07441358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.74, Y:106.99, Z:20.72 [[ 8.26610334e-01 5.03809179e-01 2.50782112e-01 1.32740345e+02] [-4.73382575e-01 8.63442932e-01 -1.74284942e-01 1.06992233e+02] [-3.04342396e-01 2.53498515e-02 9.52225336e-01 2.07159421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:106.96, Z:20.71 [[ 8.25417662e-01 4.98737268e-01 2.64474614e-01 1.32759470e+02] [-4.75964708e-01 8.66748421e-01 -1.49012654e-01 1.06961607e+02] [-3.03551118e-01 -2.88290587e-03 9.52810793e-01 2.07135625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.541858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.79, Y:106.95, Z:20.70 [[ 8.24370330e-01 5.01841238e-01 2.61856701e-01 1.32787013e+02] [-4.76877778e-01 8.64950388e-01 -1.56359878e-01 1.06948594e+02] [-3.04960890e-01 4.02480199e-03 9.52356371e-01 2.06991866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:106.93, Z:20.70 [[ 8.24180886e-01 5.00069961e-01 2.65811777e-01 1.32810787e+02] [-4.78325190e-01 8.65958315e-01 -1.46017840e-01 1.06926716e+02] [-3.03201054e-01 -6.79935600e-03 9.52902351e-01 2.06950551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:106.91, Z:20.68 [[ 8.23551143e-01 5.02467115e-01 2.63230534e-01 1.32836847e+02] [-4.79321884e-01 8.64593972e-01 -1.50757408e-01 1.06910403e+02] [-3.03338173e-01 -2.01571980e-03 9.52880837e-01 2.06838244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:106.89, Z:20.67 [[ 8.23498817e-01 5.02826592e-01 2.62707283e-01 1.32862487e+02] [-4.79763385e-01 8.64384858e-01 -1.50552019e-01 1.06893352e+02] [-3.02781756e-01 -2.05792557e-03 9.53057697e-01 2.06742903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.89, Y:106.88, Z:20.66 [[ 8.23216227e-01 5.03283848e-01 2.62717360e-01 1.32888610e+02] [-4.80213650e-01 8.64118488e-01 -1.50645578e-01 1.06876050e+02] [-3.02836414e-01 -2.14657827e-03 9.53040135e-01 2.06640193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:106.86, Z:20.65 [[ 8.22852579e-01 5.04186326e-01 2.62125508e-01 1.32913963e+02] [-4.81235547e-01 8.63591612e-01 -1.50405705e-01 1.06857077e+02] [-3.02201890e-01 -2.38239005e-03 9.53240968e-01 2.06539617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:106.84, Z:20.64 [[ 8.22386730e-01 5.04769731e-01 2.62464445e-01 1.32940429e+02] [-4.81754909e-01 8.63250384e-01 -1.50701631e-01 1.06839337e+02] [-3.02642155e-01 -2.50851306e-03 9.53100957e-01 2.06435577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.97, Y:106.82, Z:20.63 [[ 8.22370547e-01 5.04957736e-01 2.62153329e-01 1.32965674e+02] [-4.81975873e-01 8.63140500e-01 -1.50624485e-01 1.06821747e+02] [-3.02334154e-01 -2.48243962e-03 9.53198771e-01 2.06337008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:106.80, Z:20.62 [[ 8.22570350e-01 5.04752969e-01 2.61920711e-01 1.32989407e+02] [-4.81226364e-01 8.63263495e-01 -1.52306679e-01 1.06803499e+02] [-3.02983837e-01 -7.60192753e-04 9.52995392e-01 2.06225048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:106.78, Z:20.61 [[ 8.22872803e-01 5.03740614e-01 2.62917751e-01 1.33015445e+02] [-4.81080278e-01 8.63847773e-01 -1.49428215e-01 1.06784568e+02] [-3.02393975e-01 -3.52413039e-03 9.53176513e-01 2.06142062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:106.77, Z:20.60 [[ 8.23223859e-01 5.03423916e-01 2.62424921e-01 1.33041469e+02] [-4.80246400e-01 8.64037850e-01 -1.51003277e-01 1.06768116e+02] [-3.02763726e-01 -1.71912320e-03 9.53064096e-01 2.06035088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:106.75, Z:20.59 [[ 8.23504134e-01 5.02921154e-01 2.62509532e-01 1.33066183e+02] [-4.79672220e-01 8.64331084e-01 -1.51150052e-01 1.06750725e+02] [-3.02911707e-01 -1.44583738e-03 9.53017527e-01 2.05942650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:106.70, Z:20.61 [[ 8.25630380e-01 4.93020508e-01 2.74345136e-01 1.33088942e+02] [-4.81351791e-01 8.69166879e-01 -1.13355152e-01 1.06703704e+02] [-2.94338120e-01 -3.84670655e-02 9.54926885e-01 2.06056150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:106.72, Z:20.57 [[ 8.25620168e-01 5.07467005e-01 2.46634503e-01 1.33122858e+02] [-4.77668551e-01 8.61303629e-01 -1.73172785e-01 1.06722365e+02] [-3.00306667e-01 2.51653984e-02 9.53510676e-01 2.05723601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.14, Y:106.70, Z:20.56 [[ 8.26035749e-01 5.02874811e-01 2.54522820e-01 1.33143376e+02] [-4.74321846e-01 8.64170605e-01 -1.68011764e-01 1.06704881e+02] [-3.04440024e-01 1.80579899e-02 9.52360321e-01 2.05601255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.16, Y:106.68, Z:20.55 [[ 8.27203998e-01 4.96213804e-01 2.63638781e-01 1.33163980e+02] [-4.72371055e-01 8.68199562e-01 -1.51970745e-01 1.06676467e+02] [-3.04301056e-01 1.17547877e-03 9.52575186e-01 2.05549929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:106.65, Z:20.55 [[ 8.27778606e-01 4.92853541e-01 2.68100665e-01 1.33188075e+02] [-4.73627503e-01 8.70006259e-01 -1.36989406e-01 1.06649588e+02] [-3.00764970e-01 -1.35829490e-02 9.53601561e-01 2.05533785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:106.65, Z:20.53 [[ 8.27627214e-01 4.99892715e-01 2.55226309e-01 1.33216800e+02] [-4.71831543e-01 8.65921247e-01 -1.65998160e-01 1.06650748e+02] [-3.03987155e-01 1.69607717e-02 9.52525140e-01 2.05309087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:106.63, Z:20.52 [[ 8.27696335e-01 4.96022862e-01 2.62450179e-01 1.33238292e+02] [-4.71812678e-01 8.68304640e-01 -1.53100784e-01 1.06625431e+02] [-3.03828197e-01 2.89363575e-03 9.52722443e-01 2.05247257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.26, Y:106.61, Z:20.52 [[ 8.27389967e-01 4.96078270e-01 2.63310070e-01 1.33263656e+02] [-4.72805619e-01 8.68277771e-01 -1.50161779e-01 1.06606699e+02] [-3.03118276e-01 -2.52131436e-04 9.52952909e-01 2.05164685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.29, Y:106.59, Z:20.51 [[ 8.26926781e-01 4.97462095e-01 2.62151792e-01 1.33290617e+02] [-4.73849302e-01 8.67485119e-01 -1.51447703e-01 1.06590388e+02] [-3.02752271e-01 1.01571808e-03 9.53068744e-01 2.05055328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.171858064 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:133.31, Y:106.58, Z:20.50 [[ 8.25355653e-01 5.01623821e-01 2.59155531e-01 1.33314134e+02] [-4.77167392e-01 8.65076230e-01 -1.54772077e-01 1.06575505e+02] [-3.01826650e-01 4.08143979e-03 9.53354087e-01 2.04956049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.34, Y:106.55, Z:20.49 [[ 8.25342806e-01 4.98891474e-01 2.64417377e-01 1.33340587e+02] [-4.77183865e-01 8.66644128e-01 -1.45682925e-01 1.06551898e+02] [-3.01835736e-01 -5.93735180e-03 9.53341458e-01 2.04882699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:106.54, Z:20.48 [[ 8.25026502e-01 5.01327354e-01 2.60772227e-01 1.33365202e+02] [-4.77391326e-01 8.65255836e-01 -1.53068152e-01 1.06539550e+02] [-3.02371943e-01 1.79488293e-03 9.53188327e-01 2.04764004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:106.52, Z:20.47 [[ 8.24708164e-01 5.01385715e-01 2.61665451e-01 1.33390853e+02] [-4.77959825e-01 8.65223868e-01 -1.51466379e-01 1.06521708e+02] [-3.02342273e-01 -1.50013948e-04 9.53199417e-01 2.04671905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.42, Y:106.49, Z:20.47 [[ 8.24049477e-01 5.00021144e-01 2.66310561e-01 1.33416759e+02] [-4.81395053e-01 8.65865230e-01 -1.36147740e-01 1.06491969e+02] [-2.98665804e-01 -1.60081127e-02 9.54223495e-01 2.04652187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.45, Y:106.50, Z:20.44 [[ 8.23847600e-01 5.07643299e-01 2.52137688e-01 1.33445142e+02] [-4.79237337e-01 8.61381596e-01 -1.68384446e-01 1.06497780e+02] [-3.02666000e-01 1.78893273e-02 9.52928783e-01 2.04422785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.351858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.47, Y:106.47, Z:20.44 [[ 8.23150209e-01 5.03826639e-01 2.61882514e-01 1.33466318e+02] [-4.80419531e-01 8.63804353e-01 -1.51786409e-01 1.06470098e+02] [-3.02689292e-01 -8.70460651e-04 9.53088891e-01 2.04383121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.49, Y:106.44, Z:20.44 [[ 8.22497302e-01 5.02904208e-01 2.65679404e-01 1.33492498e+02] [-4.83657688e-01 8.64219981e-01 -1.38560689e-01 1.06440570e+02] [-2.99288203e-01 -1.45320930e-02 9.54052090e-01 2.04357738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.411858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.52, Y:106.44, Z:20.42 [[ 8.21737916e-01 5.10805479e-01 2.52635230e-01 1.33521363e+02] [-4.84565258e-01 8.59630045e-01 -1.61965106e-01 1.06437960e+02] [-2.99905498e-01 1.06746134e-02 9.53909191e-01 2.04155321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.54, Y:106.41, Z:20.41 [[ 8.21176410e-01 5.10231788e-01 2.55602868e-01 1.33543851e+02] [-4.86481738e-01 8.60034586e-01 -1.53870174e-01 1.06414536e+02] [-2.98336761e-01 2.00842914e-03 9.54458560e-01 2.04083968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.471858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:133.57, Y:106.40, Z:20.40 [[ 8.20105349e-01 5.11144786e-01 2.57212411e-01 1.33567541e+02] [-4.87769243e-01 8.59494612e-01 -1.52807651e-01 1.06398135e+02] [-2.99179515e-01 -1.41930809e-04 9.54196834e-01 2.03986251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:106.39, Z:20.39 [[ 8.20876380e-01 5.09051557e-01 2.58898595e-01 1.33591713e+02] [-4.85286569e-01 8.60735856e-01 -1.53722911e-01 1.06386288e+02] [-3.01096191e-01 5.47496055e-04 9.53593616e-01 2.03882691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.531858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:133.62, Y:106.37, Z:20.38 [[ 8.20342969e-01 5.09188195e-01 2.60316720e-01 1.33615450e+02] [-4.86222747e-01 8.60651508e-01 -1.51216473e-01 1.06367464e+02] [-3.01039621e-01 -2.52254010e-03 9.53608297e-01 2.03786836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.64, Y:106.35, Z:20.37 [[ 8.20471471e-01 5.09309314e-01 2.59674004e-01 1.33641130e+02] [-4.86436722e-01 8.60579972e-01 -1.50935177e-01 1.06349857e+02] [-3.00342938e-01 -2.47696405e-03 9.53828068e-01 2.03688171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:106.32, Z:20.36 [[ 8.19836095e-01 5.09015648e-01 2.62243871e-01 1.33667768e+02] [-4.89186963e-01 8.60666619e-01 -1.41241232e-01 1.06320682e+02] [-2.97598543e-01 -1.24916229e-02 9.54609379e-01 2.03634086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:133.69, Y:106.32, Z:20.35 [[ 8.19701518e-01 5.13617858e-01 2.53547072e-01 1.33688063e+02] [-4.88133539e-01 8.57987627e-01 -1.59946491e-01 1.06316856e+02] [-2.99691625e-01 7.34355169e-03 9.54007863e-01 2.03480979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.71, Y:106.30, Z:20.34 [[ 8.22027491e-01 5.11175350e-01 2.50939367e-01 1.33713864e+02] [-4.86682605e-01 8.59451914e-01 -1.56468684e-01 1.06297893e+02] [-2.95653254e-01 6.49373523e-03 9.55273251e-01 2.03389373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.73, Y:106.26, Z:20.34 [[ 8.23109826e-01 5.01674776e-01 2.66106434e-01 1.33734132e+02] [-4.83533046e-01 8.64875794e-01 -1.34854196e-01 1.06264135e+02] [-2.97801962e-01 -1.76714407e-02 9.54464097e-01 2.03356516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:106.26, Z:20.32 [[ 8.24920967e-01 5.04530500e-01 2.54861479e-01 1.33764138e+02] [-4.80564002e-01 8.63383039e-01 -1.53713914e-01 1.06259071e+02] [-2.97596436e-01 4.32457766e-03 9.54681968e-01 2.03178808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74185806399998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:133.79, Y:106.23, Z:20.31 [[ 8.25720025e-01 5.01154541e-01 2.58902620e-01 1.33789075e+02] [-4.80321513e-01 8.65335778e-01 -1.43126642e-01 1.06233065e+02] [-2.95766267e-01 -6.17396345e-03 9.55240387e-01 2.03120327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.82, Y:106.21, Z:20.30 [[ 8.26766753e-01 5.00614387e-01 2.56596907e-01 1.33816069e+02] [-4.79605879e-01 8.65659380e-01 -1.43568934e-01 1.06213900e+02] [-2.93998193e-01 -4.36736396e-03 9.55795997e-01 2.03041063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:106.21, Z:20.28 [[ 8.27748772e-01 5.03483677e-01 2.47661378e-01 1.33843377e+02] [-4.74497730e-01 8.63694160e-01 -1.69953824e-01 1.06214639e+02] [-2.99472662e-01 2.31643069e-02 9.53823642e-01 2.02799343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:106.17, Z:20.29 [[ 8.29762610e-01 4.90903472e-01 2.65533034e-01 1.33861963e+02] [-4.73799813e-01 8.71024591e-01 -1.29730101e-01 1.06168587e+02] [-2.94970760e-01 -1.81643150e-02 9.55333611e-01 2.02929276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:106.16, Z:20.28 [[ 8.30124639e-01 4.96375042e-01 2.53978149e-01 1.33891290e+02] [-4.73313002e-01 8.68099098e-01 -1.49595315e-01 1.06161815e+02] [-2.94733583e-01 3.97159661e-03 9.55571212e-01 2.02756805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:106.13, Z:20.28 [[ 8.30951592e-01 4.91621340e-01 2.60437918e-01 1.33915561e+02] [-4.74231743e-01 8.70678324e-01 -1.30474175e-01 1.06129428e+02] [-2.90901539e-01 -1.50902041e-02 9.56633984e-01 2.02795950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:106.12, Z:20.27 [[ 8.30631640e-01 4.95610955e-01 2.53812648e-01 1.33944233e+02] [-4.75409019e-01 8.68534121e-01 -1.40124034e-01 1.06115933e+02] [-2.89891951e-01 -4.27336588e-03 9.57049839e-01 2.02684702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:106.11, Z:20.25 [[ 8.30347348e-01 4.99060726e-01 2.47914649e-01 1.33973335e+02] [-4.75405008e-01 8.66526274e-01 -1.52060171e-01 1.06106620e+02] [-2.90711816e-01 8.40289364e-03 9.56773762e-01 2.02530568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.00, Y:106.09, Z:20.24 [[ 8.29800681e-01 5.00181966e-01 2.47485012e-01 1.33999130e+02] [-4.76184189e-01 8.65869195e-01 -1.53359560e-01 1.06090540e+02] [-2.90997335e-01 9.40941772e-03 9.56677592e-01 2.02434342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:106.09, Z:20.22 [[ 8.27790585e-01 5.05506666e-01 2.43363426e-01 1.34024788e+02] [-4.76434847e-01 8.62445834e-01 -1.70871353e-01 1.06086975e+02] [-2.96264381e-01 2.54988806e-02 9.54765533e-01 2.02240838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.05, Y:106.09, Z:20.20 [[ 8.26363240e-01 5.07659891e-01 2.43731881e-01 1.34047907e+02] [-4.73650257e-01 8.60678636e-01 -1.86782545e-01 1.06087085e+02] [-3.04596829e-01 3.89065608e-02 9.51686425e-01 2.02005064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.071858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:134.07, Y:106.03, Z:20.22 [[ 8.26194241e-01 4.93067647e-01 2.72557097e-01 1.34068010e+02] [-4.78697088e-01 8.69480960e-01 -1.21868608e-01 1.06029235e+02] [-2.97072674e-01 -2.97851461e-02 9.54390209e-01 2.02246174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:106.06, Z:20.18 [[ 8.23856848e-01 5.11585648e-01 2.44008236e-01 1.34099855e+02] [-4.78527945e-01 8.58516808e-01 -1.84282110e-01 1.06055399e+02] [-3.03761255e-01 3.50573186e-02 9.52102980e-01 2.01807135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.12, Y:106.00, Z:20.20 [[ 8.23798642e-01 4.97468009e-01 2.71811292e-01 1.34119676e+02] [-4.83177793e-01 8.66942245e-01 -1.22271678e-01 1.05999118e+02] [-2.96470940e-01 -3.06059387e-02 9.54551339e-01 2.02039581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:134.15, Y:106.02, Z:20.16 [[ 8.22763446e-01 5.13105163e-01 2.44506450e-01 1.34152349e+02] [-4.80145212e-01 8.57648633e-01 -1.84117893e-01 1.06023563e+02] [-3.04172464e-01 3.40868705e-02 9.52006931e-01 2.01603239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.191858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.17, Y:105.97, Z:20.18 [[ 8.22967842e-01 5.00891982e-01 2.68013346e-01 1.34172967e+02] [-4.84173106e-01 8.65216374e-01 -1.30295928e-01 1.05972193e+02] [-2.97153721e-01 -2.25354952e-02 9.54563679e-01 2.01793715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.20, Y:105.96, Z:20.17 [[ 8.22352571e-01 5.05372389e-01 2.61409635e-01 1.34201517e+02] [-4.84692731e-01 8.62856364e-01 -1.43359170e-01 1.05963060e+02] [-2.98008734e-01 -8.81156801e-03 9.54522473e-01 2.01663353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.251858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:134.23, Y:105.96, Z:20.15 [[ 8.21921275e-01 5.09478616e-01 2.54709555e-01 1.34229566e+02] [-4.84419264e-01 8.60459253e-01 -1.57948887e-01 1.05955722e+02] [-2.99638774e-01 6.43533492e-03 9.54031022e-01 2.01502491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.25, Y:105.94, Z:20.14 [[ 8.21934981e-01 5.09724823e-01 2.54172170e-01 1.34254630e+02] [-4.84604436e-01 8.60310216e-01 -1.58192516e-01 1.05941362e+02] [-2.99301567e-01 6.85100107e-03 9.54133972e-01 2.01407671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:105.92, Z:20.13 [[ 8.21923334e-01 5.06682899e-01 2.60220047e-01 1.34280081e+02] [-4.83511481e-01 8.62131492e-01 -1.51479166e-01 1.05921791e+02] [-3.01095801e-01 -1.31511937e-03 9.53592989e-01 2.01341726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:134.31, Y:105.91, Z:20.12 [[ 8.22395820e-01 5.05764956e-01 2.60512811e-01 1.34305995e+02] [-4.82490213e-01 8.62670781e-01 -1.51665152e-01 1.05906259e+02] [-3.01443709e-01 -9.66094459e-04 9.53483485e-01 2.01237047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.371858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:134.33, Y:105.90, Z:20.11 [[ 8.21764647e-01 5.08657322e-01 2.56847414e-01 1.34333581e+02] [-4.82852607e-01 8.60935756e-01 -1.60134270e-01 1.05895819e+02] [-3.02582591e-01 7.57323857e-03 9.53093081e-01 2.01107538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:105.88, Z:20.11 [[ 8.22272754e-01 5.06080004e-01 2.60289354e-01 1.34358598e+02] [-4.82604026e-01 8.62486470e-01 -1.52349738e-01 1.05875595e+02] [-3.01597203e-01 -3.43651424e-04 9.53435372e-01 2.01052869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.39, Y:105.87, Z:20.09 [[ 8.22522922e-01 5.07055974e-01 2.57585486e-01 1.34385517e+02] [-4.81045959e-01 8.61874873e-01 -1.60519433e-01 1.05865889e+02] [-3.03398795e-01 8.12045621e-03 9.52829066e-01 2.00903243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:105.84, Z:20.09 [[ 8.23738507e-01 5.01990893e-01 2.63552680e-01 1.34410165e+02] [-4.81589267e-01 8.64815685e-01 -1.42005667e-01 1.05838683e+02] [-2.99210043e-01 -9.94860564e-03 9.54135407e-01 2.00918027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.44, Y:105.84, Z:20.07 [[ 8.23673794e-01 5.07768054e-01 2.52454125e-01 1.34437571e+02] [-4.81845921e-01 8.61429015e-01 -1.60513429e-01 1.05835446e+02] [-2.98974900e-01 1.05667142e-02 9.54202470e-01 2.00744448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.46, Y:105.81, Z:20.07 [[ 8.24729231e-01 5.01478221e-01 2.61421669e-01 1.34462780e+02] [-4.79539291e-01 8.65159497e-01 -1.46768915e-01 1.05811745e+02] [-2.99772854e-01 -4.31734767e-03 9.54000837e-01 2.00716191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.551858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:134.49, Y:105.80, Z:20.05 [[ 8.22030627e-01 5.09189553e-01 2.54934593e-01 1.34489081e+02] [-4.82547241e-01 8.60585345e-01 -1.62914164e-01 1.05804067e+02] [-3.02347165e-01 1.09024478e-02 9.53135525e-01 2.00549204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:105.80, Z:20.04 [[ 8.25162814e-01 5.05101098e-01 2.52941121e-01 1.34517823e+02] [-4.75617619e-01 8.62802576e-01 -1.71346422e-01 1.05799228e+02] [-3.04785516e-01 2.10854418e-02 9.52187583e-01 2.00379018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.54, Y:105.78, Z:20.03 [[ 8.25788362e-01 4.99884705e-01 2.61129972e-01 1.34542329e+02] [-4.74114844e-01 8.66062388e-01 -1.58590839e-01 1.05777504e+02] [-3.05431982e-01 7.15687363e-03 9.52187000e-01 2.00326809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.57, Y:105.77, Z:20.02 [[ 8.26476138e-01 4.99418054e-01 2.59843801e-01 1.34568813e+02] [-4.71782268e-01 8.66259753e-01 -1.64364024e-01 1.05767012e+02] [-3.07178588e-01 1.32532458e-02 9.51559597e-01 2.00183017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.59, Y:105.76, Z:20.00 [[ 8.28212327e-01 4.97908279e-01 2.57199703e-01 1.34594312e+02] [-4.65777617e-01 8.66785970e-01 -1.78138413e-01 1.05763953e+02] [-3.11633684e-01 2.77385651e-02 9.49797357e-01 1.99973014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.701858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.62, Y:105.74, Z:20.00 [[ 8.29261202e-01 4.89754693e-01 2.69195467e-01 1.34615896e+02] [-4.63787196e-01 8.71841468e-01 -1.57460763e-01 1.05737708e+02] [-3.11812919e-01 5.72669069e-03 9.50126259e-01 1.99950422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.731858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:134.64, Y:105.72, Z:19.98 [[ 8.30207309e-01 4.88231568e-01 2.69046019e-01 1.34642498e+02] [-4.62196208e-01 8.72691021e-01 -1.57432676e-01 1.05721756e+02] [-3.11657647e-01 6.34970874e-03 9.50173243e-01 1.99845612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.67, Y:105.70, Z:19.98 [[ 8.31707625e-01 4.84943172e-01 2.70356332e-01 1.34668595e+02] [-4.60782591e-01 8.74544910e-01 -1.51164163e-01 1.05701663e+02] [-3.09744783e-01 1.14889574e-03 9.50819041e-01 1.99786914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.70, Y:105.68, Z:19.97 [[ 8.31893909e-01 4.85148134e-01 2.69413829e-01 1.34696076e+02] [-4.61591269e-01 8.74431971e-01 -1.49339304e-01 1.05684140e+02] [-3.08035751e-01 -1.24613667e-04 9.51374774e-01 1.99712022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.72, Y:105.67, Z:19.96 [[ 8.31862845e-01 4.87872342e-01 2.64546376e-01 1.34724020e+02] [-4.61881832e-01 8.72871552e-01 -1.57354463e-01 1.05674399e+02] [-3.07683896e-01 8.70816653e-03 9.51448784e-01 1.99579167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:105.67, Z:19.94 [[ 8.30888495e-01 4.92143500e-01 2.59651853e-01 1.34751178e+02] [-4.60754111e-01 8.70136570e-01 -1.74837062e-01 1.05672926e+02] [-3.11977496e-01 2.56344444e-02 9.49743606e-01 1.99358820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.77, Y:105.63, Z:19.95 [[ 8.30732533e-01 4.83836103e-01 2.75292724e-01 1.34773473e+02] [-4.65386608e-01 8.74988570e-01 -1.33455265e-01 1.05631790e+02] [-3.05448462e-01 -1.72519164e-02 9.52052314e-01 1.99492409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.80, Y:105.62, Z:19.93 [[ 8.29178903e-01 4.92600082e-01 2.64211101e-01 1.34804804e+02] [-4.69662036e-01 8.70255337e-01 -1.48570589e-01 1.05624891e+02] [-3.03117005e-01 -8.98325354e-04 9.52952924e-01 1.99345830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.83, Y:105.63, Z:19.91 [[ 8.27986904e-01 4.99587369e-01 2.54656921e-01 1.34833106e+02] [-4.68966181e-01 8.65913681e-01 -1.73966138e-01 1.05627821e+02] [-3.07422197e-01 2.46162000e-02 9.51254769e-01 1.99093881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.86, Y:105.60, Z:19.91 [[ 8.27444371e-01 4.94571477e-01 2.65960275e-01 1.34856591e+02] [-4.70697441e-01 8.69136856e-01 -1.51805946e-01 1.05599973e+02] [-3.06234768e-01 4.24154432e-04 9.51955927e-01 1.99094062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:105.59, Z:19.89 [[ 8.26932606e-01 4.97632663e-01 2.61809469e-01 1.34884774e+02] [-4.70863358e-01 8.67328654e-01 -1.61334136e-01 1.05591470e+02] [-3.07359990e-01 1.01359716e-02 9.51539331e-01 1.98944854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.031858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:134.91, Y:105.57, Z:19.89 [[ 8.27458595e-01 4.93870989e-01 2.67214746e-01 1.34910884e+02] [-4.70731565e-01 8.69532529e-01 -1.49415446e-01 1.05569735e+02] [-3.06143868e-01 -2.15132068e-03 9.51982827e-01 1.98892770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:134.94, Y:105.57, Z:19.87 [[ 8.27007744e-01 4.98764941e-01 2.59406485e-01 1.34938624e+02] [-4.69353266e-01 8.66536673e-01 -1.69769566e-01 1.05568031e+02] [-3.09460340e-01 1.86474644e-02 9.50729494e-01 1.98696617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.091858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:134.96, Y:105.55, Z:19.86 [[ 8.27570776e-01 4.94668524e-01 2.65385873e-01 1.34962909e+02] [-4.67805254e-01 8.69033715e-01 -1.61054795e-01 1.05548178e+02] [-3.10298009e-01 9.13533579e-03 9.50595440e-01 1.98628236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:105.55, Z:19.84 [[ 8.27989160e-01 4.95299505e-01 2.62892281e-01 1.34989417e+02] [-4.63095540e-01 8.68356461e-01 -1.77481203e-01 1.05545533e+02] [-3.16190563e-01 2.52082688e-02 9.48360728e-01 1.98413596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.151858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.01, Y:105.51, Z:19.85 [[ 8.29128829e-01 4.84539393e-01 2.78867283e-01 1.35011881e+02] [-4.63990830e-01 8.74670947e-01 -1.40225689e-01 1.05505817e+02] [-3.11861981e-01 -1.31267003e-02 9.50036733e-01 1.98513733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:105.49, Z:19.84 [[ 8.29895366e-01 4.87524511e-01 2.71281279e-01 1.35041575e+02] [-4.64874947e-01 8.73099323e-01 -1.46931465e-01 1.05492419e+02] [-3.08488192e-01 -4.17412863e-03 9.51219014e-01 1.98415680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:105.49, Z:19.82 [[ 8.30186791e-01 4.91545869e-01 2.63006751e-01 1.35070838e+02] [-4.64762349e-01 8.70782982e-01 -1.60414952e-01 1.05485958e+02] [-3.07873110e-01 1.09387388e-02 9.51364542e-01 1.98242947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24185806399998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:135.10, Y:105.47, Z:19.81 [[ 8.30024316e-01 4.92191265e-01 2.62311634e-01 1.35097455e+02] [-4.64344636e-01 8.70371710e-01 -1.63820467e-01 1.05474104e+02] [-3.08939628e-01 1.41719704e-02 9.50976057e-01 1.98109339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.12, Y:105.46, Z:19.80 [[ 8.29773238e-01 4.91889158e-01 2.63669167e-01 1.35122817e+02] [-4.64520257e-01 8.70573093e-01 -1.62244937e-01 1.05459210e+02] [-3.09349808e-01 1.21468380e-02 9.50870733e-01 1.98001182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.301858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:135.15, Y:105.46, Z:19.77 [[ 8.28858242e-01 4.96736590e-01 2.57384490e-01 1.35149800e+02] [-4.61590306e-01 8.67144017e-01 -1.87071226e-01 1.05464090e+02] [-3.16114543e-01 3.62493420e-02 9.48028260e-01 1.97732801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.331858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:135.17, Y:105.43, Z:19.77 [[ 8.28380195e-01 4.89893130e-01 2.71644941e-01 1.35171488e+02] [-4.62257725e-01 8.71735922e-01 -1.62463159e-01 1.05434407e+02] [-3.16392238e-01 9.01129141e-03 9.48585657e-01 1.97716577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.20, Y:105.43, Z:19.75 [[ 8.27821746e-01 4.91976791e-01 2.69573726e-01 1.35198614e+02] [-4.61241923e-01 8.70419130e-01 -1.72123288e-01 1.05426949e+02] [-3.19322791e-01 1.81486973e-02 9.47472205e-01 1.97535409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.22, Y:105.43, Z:19.73 [[ 8.27415516e-01 4.92916475e-01 2.69103908e-01 1.35222193e+02] [-4.56920515e-01 8.69474640e-01 -1.87716525e-01 1.05427325e+02] [-3.26507591e-01 3.23604691e-02 9.44640457e-01 1.97302335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.25, Y:105.39, Z:19.73 [[ 8.27324728e-01 4.84985652e-01 2.83412618e-01 1.35245111e+02] [-4.59838876e-01 8.74517692e-01 -1.54165543e-01 1.05390345e+02] [-3.22617425e-01 -2.77917373e-03 9.46525369e-01 1.97335341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.27, Y:105.38, Z:19.72 [[ 8.27266332e-01 4.86967127e-01 2.80166796e-01 1.35272874e+02] [-4.61015977e-01 8.73420096e-01 -1.56848989e-01 1.05375679e+02] [-3.21083612e-01 5.94518641e-04 9.47050664e-01 1.97222412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:105.37, Z:19.70 [[ 8.27625538e-01 4.88274875e-01 2.76809710e-01 1.35298244e+02] [-4.56747173e-01 8.72521827e-01 -1.73458009e-01 1.05373037e+02] [-3.26217702e-01 1.71262257e-02 9.45139515e-01 1.97017204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.32, Y:105.33, Z:19.71 [[ 8.27395616e-01 4.82580349e-01 2.87285054e-01 1.35322163e+02] [-4.61852106e-01 8.75702814e-01 -1.40844647e-01 1.05334089e+02] [-3.19545188e-01 -1.61489640e-02 9.47433419e-01 1.97092163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:105.33, Z:19.69 [[ 8.27343759e-01 4.89782538e-01 2.74982491e-01 1.35351807e+02] [-4.62272794e-01 8.71817341e-01 -1.61982675e-01 1.05331392e+02] [-3.19070790e-01 6.89843069e-03 9.47705779e-01 1.96903102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.38, Y:105.32, Z:19.68 [[ 8.26334481e-01 4.91920143e-01 2.74200472e-01 1.35375984e+02] [-4.63019661e-01 8.70575852e-01 -1.66464651e-01 1.05321112e+02] [-3.20599624e-01 1.05952712e-02 9.47155542e-01 1.96766256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:105.27, Z:19.69 [[ 8.25939707e-01 4.83611671e-01 2.89729791e-01 1.35399844e+02] [-4.69809138e-01 8.74514970e-01 -1.20428156e-01 1.05272470e+02] [-3.11613501e-01 -3.66513075e-02 9.49501821e-01 1.96931704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.631858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:135.43, Y:105.28, Z:19.67 [[ 8.25953954e-01 4.95187801e-01 2.69423659e-01 1.35431198e+02] [-4.71065767e-01 8.68785575e-01 -1.52671765e-01 1.05275988e+02] [-3.09672584e-01 -8.16414817e-04 9.50842902e-01 1.96723152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:105.26, Z:19.66 [[ 8.24781861e-01 4.97750631e-01 2.68289380e-01 1.35457574e+02] [-4.72602606e-01 8.67317746e-01 -1.56226452e-01 1.05261484e+02] [-3.10453955e-01 2.05848324e-03 9.50586190e-01 1.96609734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.48, Y:105.25, Z:19.65 [[ 8.24590509e-01 4.99310538e-01 2.65968943e-01 1.35483278e+02] [-4.73346753e-01 8.66407407e-01 -1.59000177e-01 1.05246923e+02] [-3.09827926e-01 5.21450136e-03 9.50778347e-01 1.96494265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:105.23, Z:19.64 [[ 8.24322129e-01 4.99482582e-01 2.66477348e-01 1.35509623e+02] [-4.74027685e-01 8.66316949e-01 -1.57456972e-01 1.05229185e+02] [-3.09500858e-01 3.47762588e-03 9.50892804e-01 1.96397269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.54, Y:105.20, Z:19.64 [[ 8.23720026e-01 4.98453805e-01 2.70239011e-01 1.35535474e+02] [-4.78364722e-01 8.66813316e-01 -1.40719112e-01 1.05196622e+02] [-3.04388750e-01 -1.33596581e-02 9.52454203e-01 1.96410618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.56, Y:105.21, Z:19.61 [[ 8.23117480e-01 5.06713324e-01 2.56357604e-01 1.35562618e+02] [-4.75603212e-01 8.61801498e-01 -1.76351251e-01 1.05207596e+02] [-3.10288896e-01 2.32332976e-02 9.50358361e-01 1.96132138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.59, Y:105.14, Z:19.64 [[ 8.22695928e-01 4.90546494e-01 2.87290005e-01 1.35585178e+02] [-4.83185939e-01 8.69644380e-01 -1.01242287e-01 1.05137297e+02] [-2.99504187e-01 -5.55228740e-02 9.52478059e-01 1.96442617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:105.20, Z:19.58 [[ 8.21752166e-01 5.20600876e-01 2.31728518e-01 1.35622365e+02] [-4.78128171e-01 8.51148153e-01 -2.16657041e-01 1.05198117e+02] [-3.10027145e-01 6.72424601e-02 9.48346783e-01 1.95781722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:105.15, Z:19.59 [[ 8.21875794e-01 5.03116670e-01 2.67196175e-01 1.35638106e+02] [-4.77593746e-01 8.64215074e-01 -1.58229325e-01 1.05147902e+02] [-3.10522773e-01 2.43363017e-03 9.50562825e-01 1.95895125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:105.13, Z:19.58 [[ 8.20689508e-01 5.04273402e-01 2.68657899e-01 1.35662793e+02] [-4.78546776e-01 8.63541869e-01 -1.59023344e-01 1.05133294e+02] [-3.12188587e-01 1.94341818e-03 9.50018163e-01 1.95793128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.69, Y:105.11, Z:19.57 [[ 8.21218468e-01 5.04071904e-01 2.67416798e-01 1.35689424e+02] [-4.79260883e-01 8.63661684e-01 -1.56197000e-01 1.05114316e+02] [-3.09692161e-01 1.09450693e-04 9.50836870e-01 1.95696042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:105.10, Z:19.56 [[ 8.20664758e-01 5.05381661e-01 2.66643454e-01 1.35716023e+02] [-4.80020376e-01 8.62894153e-01 -1.58095287e-01 1.05098667e+02] [-3.09983536e-01 1.74893898e-03 9.50740316e-01 1.95584242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99185806399998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:135.74, Y:105.08, Z:19.55 [[ 8.20153060e-01 5.06156798e-01 2.66747547e-01 1.35741810e+02] [-4.80780788e-01 8.62440077e-01 -1.58262274e-01 1.05081607e+02] [-3.10159301e-01 1.55219288e-03 9.50683333e-01 1.95482239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02185806399999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:135.77, Y:105.07, Z:19.54 [[ 8.19845087e-01 5.06582200e-01 2.66886696e-01 1.35767892e+02] [-4.81166702e-01 8.62190386e-01 -1.58449810e-01 1.05065399e+02] [-3.10374996e-01 1.48730658e-03 9.50613039e-01 1.95377620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.051858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:135.79, Y:105.05, Z:19.53 [[ 8.19858145e-01 5.06408976e-01 2.67175168e-01 1.35793333e+02] [-4.80892939e-01 8.62291841e-01 -1.58728582e-01 1.05048636e+02] [-3.10764546e-01 1.65226908e-03 9.50485490e-01 1.95276031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.081858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:135.82, Y:105.03, Z:19.52 [[ 8.20028038e-01 5.06088923e-01 2.67260208e-01 1.35819883e+02] [-4.80518354e-01 8.62479357e-01 -1.58844172e-01 1.05031993e+02] [-3.10895688e-01 1.83323953e-03 9.50442271e-01 1.95169547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:105.02, Z:19.51 [[ 8.20083470e-01 5.06025305e-01 2.67210578e-01 1.35846315e+02] [-4.80426612e-01 8.62516421e-01 -1.58920401e-01 1.05015349e+02] [-3.10891256e-01 1.95292110e-03 9.50443482e-01 1.95061176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:105.00, Z:19.50 [[ 8.20365226e-01 5.05694726e-01 2.66971421e-01 1.35872565e+02] [-4.80091620e-01 8.62709759e-01 -1.58883316e-01 1.04998405e+02] [-3.10665305e-01 2.17160545e-03 9.50516887e-01 1.94955946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.171858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:135.90, Y:104.98, Z:19.49 [[ 8.20264207e-01 5.05789367e-01 2.67102502e-01 1.35898158e+02] [-4.80130050e-01 8.62654115e-01 -1.59069209e-01 1.04982629e+02] [-3.10872587e-01 2.23484126e-03 9.50448968e-01 1.94852491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.201858064 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:135.92, Y:104.96, Z:19.48 [[ 8.19310481e-01 5.08731055e-01 2.64429668e-01 1.35922434e+02] [-4.83724746e-01 8.60924713e-01 -1.57540503e-01 1.04961983e+02] [-3.07799782e-01 1.16341085e-03 9.51450440e-01 1.94785205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.231858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.95, Y:104.94, Z:19.47 [[ 8.18731704e-01 5.03939434e-01 2.75178931e-01 1.35947564e+02] [-4.82961644e-01 8.63617264e-01 -1.44614215e-01 1.04939162e+02] [-3.10526082e-01 -1.45006262e-02 9.50454252e-01 1.94721241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.98, Y:104.95, Z:19.44 [[ 8.19347745e-01 5.11535624e-01 2.58844700e-01 1.35976055e+02] [-4.80225136e-01 8.59002671e-01 -1.77477405e-01 1.04948535e+02] [-3.13134303e-01 2.11119801e-02 9.49474166e-01 1.94443660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.291858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.00, Y:104.92, Z:19.44 [[ 8.19810967e-01 5.05954873e-01 2.68178383e-01 1.36001029e+02] [-4.79575166e-01 8.62552408e-01 -1.61279269e-01 1.04923048e+02] [-3.12917942e-01 3.60682059e-03 9.49773316e-01 1.94392596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:104.91, Z:19.43 [[ 8.19715624e-01 5.05550735e-01 2.69229920e-01 1.36027295e+02] [-4.79523747e-01 8.62794168e-01 -1.60134943e-01 1.04906847e+02] [-3.13246343e-01 2.16297462e-03 9.49669443e-01 1.94289457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.05, Y:104.89, Z:19.42 [[ 8.20371296e-01 5.04502053e-01 2.69199953e-01 1.36054042e+02] [-4.78391410e-01 8.63406400e-01 -1.60221872e-01 1.04891043e+02] [-3.13261226e-01 2.65847998e-03 9.49663276e-01 1.94180519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.08, Y:104.87, Z:19.41 [[ 8.20592851e-01 5.04052974e-01 2.69365871e-01 1.36080438e+02] [-4.77851035e-01 8.63667778e-01 -1.60425554e-01 1.04874757e+02] [-3.13505601e-01 2.92730233e-03 9.49581839e-01 1.94077260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.411858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:136.11, Y:104.88, Z:19.38 [[ 8.20478038e-01 5.09127965e-01 2.60008660e-01 1.36109019e+02] [-4.73051610e-01 8.60021490e-01 -1.91272607e-01 1.04879864e+02] [-3.20995269e-01 3.39374581e-02 9.46472549e-01 1.93760756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.13, Y:104.84, Z:19.38 [[ 8.20665356e-01 4.98193969e-01 2.79841282e-01 1.36129031e+02] [-4.73600834e-01 8.67047653e-01 -1.54695240e-01 1.04840541e+02] [-3.19703962e-01 -5.58004030e-03 9.47501050e-01 1.93830325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.16, Y:104.81, Z:19.39 [[ 8.21879439e-01 4.95218388e-01 2.81554500e-01 1.36155344e+02] [-4.75831567e-01 8.68538000e-01 -1.38658081e-01 1.04813259e+02] [-3.13206814e-01 -2.00122933e-02 9.49474065e-01 1.93861895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.19, Y:104.81, Z:19.36 [[ 8.21048342e-01 5.03629643e-01 2.68769052e-01 1.36185760e+02] [-4.76166399e-01 8.63892739e-01 -1.64179464e-01 1.04812071e+02] [-3.14873277e-01 6.82048521e-03 9.49109214e-01 1.93643202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:104.80, Z:19.35 [[ 8.20629533e-01 5.03694264e-01 2.69924541e-01 1.36213197e+02] [-4.76303118e-01 8.63861327e-01 -1.63948005e-01 1.04796039e+02] [-3.15757042e-01 5.97467416e-03 9.48821266e-01 1.93515429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.24, Y:104.80, Z:19.33 [[ 8.20272746e-01 5.07961487e-01 2.62921566e-01 1.36240346e+02] [-4.72249346e-01 8.60805052e-01 -1.89724058e-01 1.04801050e+02] [-3.22696727e-01 3.14609365e-02 9.45979404e-01 1.93250171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:104.75, Z:19.34 [[ 8.19368192e-01 4.96399908e-01 2.86745351e-01 1.36261474e+02] [-4.78553627e-01 8.67676588e-01 -1.34624533e-01 1.04746457e+02] [-3.15629833e-01 -2.69159675e-02 9.48500574e-01 1.93425103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:104.75, Z:19.32 [[ 8.19457578e-01 5.05456919e-01 2.70189899e-01 1.36291277e+02] [-4.78519446e-01 8.62841790e-01 -1.62859406e-01 1.04748831e+02] [-3.15449550e-01 4.16525349e-03 9.48933207e-01 1.93211318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.32, Y:104.73, Z:19.31 [[ 8.19554090e-01 5.05865630e-01 2.69130188e-01 1.36318793e+02] [-4.79023894e-01 8.62601163e-01 -1.62650981e-01 1.04731947e+02] [-3.14431554e-01 4.38148594e-03 9.49270035e-01 1.93100376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:136.34, Y:104.71, Z:19.31 [[ 8.19051202e-01 5.05613356e-01 2.71127762e-01 1.36344559e+02] [-4.81643310e-01 8.62748264e-01 -1.53899821e-01 1.04710734e+02] [-3.11728811e-01 -4.53503979e-03 9.50160293e-01 1.93059133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.37, Y:104.70, Z:19.29 [[ 8.18743971e-01 5.08401461e-01 2.66807543e-01 1.36372297e+02] [-4.82170273e-01 8.61113621e-01 -1.61230146e-01 1.04702364e+02] [-3.11721251e-01 3.35954460e-03 9.50167656e-01 1.92937474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:136.40, Y:104.69, Z:19.28 [[ 8.17023936e-01 5.11497550e-01 2.66161877e-01 1.36399012e+02] [-4.83790359e-01 8.59255963e-01 -1.66210945e-01 1.04689484e+02] [-3.13717671e-01 7.03177019e-03 9.49490272e-01 1.92791537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:136.43, Y:104.67, Z:19.27 [[ 8.16453037e-01 5.11036726e-01 2.68785980e-01 1.36425594e+02] [-4.84760732e-01 8.59557037e-01 -1.61767526e-01 1.04671212e+02] [-3.13706028e-01 1.77869932e-03 9.49518491e-01 1.92703008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.45, Y:104.65, Z:19.26 [[ 8.15973099e-01 5.11583550e-01 2.69202847e-01 1.36452495e+02] [-4.85833818e-01 8.59233537e-01 -1.60259882e-01 1.04653899e+02] [-3.13294434e-01 -2.00946137e-05 9.49656042e-01 1.92608427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:104.63, Z:19.26 [[ 8.14264287e-01 5.13049732e-01 2.71576222e-01 1.36478122e+02] [-4.89577292e-01 8.58322730e-01 -1.53610435e-01 1.04633672e+02] [-3.11909836e-01 -7.87806020e-03 9.50079044e-01 1.92559511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.51, Y:104.62, Z:19.24 [[ 8.13882745e-01 5.17373913e-01 2.64422222e-01 1.36507282e+02] [-4.90288303e-01 8.55745569e-01 -1.65278254e-01 1.04624742e+02] [-3.11788802e-01 4.87399671e-03 9.50138931e-01 1.92414613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:104.61, Z:19.24 [[ 8.12106425e-01 5.16084618e-01 2.72286287e-01 1.36529144e+02] [-4.91653718e-01 8.56514132e-01 -1.57035545e-01 1.04606069e+02] [-3.14260682e-01 -6.34099038e-03 9.49315551e-01 1.92360570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.921858064 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:136.56, Y:104.59, Z:19.23 [[ 8.11625281e-01 5.17383204e-01 2.71254537e-01 1.36556994e+02] [-4.93977660e-01 8.55707430e-01 -1.54113160e-01 1.04585060e+02] [-3.11850083e-01 -8.91154462e-03 9.50089528e-01 1.92265042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:105.31, Z:19.62 [[ 8.11149696e-01 8.14472262e-03 -5.84781869e-01 1.37291563e+02] [-4.49435326e-01 -6.31133636e-01 -6.32201092e-01 1.05306015e+02] [-3.74224610e-01 7.75631354e-01 -5.08283331e-01 1.96199137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.981858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:136.69, Y:104.52, Z:19.16 [[ 8.12902902e-01 4.85457919e-01 3.21744435e-01 1.36690218e+02] [-4.51668198e-01 8.74259781e-01 -1.77948516e-01 1.04516358e+02] [-3.67674736e-01 -6.66864709e-04 9.29954216e-01 1.91612605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.011858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:136.72, Y:104.50, Z:19.15 [[ 8.13358311e-01 4.85302896e-01 3.20826053e-01 1.36715921e+02] [-4.51433051e-01 8.74346097e-01 -1.78121038e-01 1.04503675e+02] [-3.66955663e-01 4.47428258e-05 9.30238432e-01 1.91502395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:104.50, Z:19.13 [[ 8.12774238e-01 4.88982239e-01 3.16692926e-01 1.36743005e+02] [-4.48968565e-01 8.72150724e-01 -1.94371662e-01 1.04501323e+02] [-3.71248255e-01 1.57951112e-02 9.28399293e-01 1.91277958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.77, Y:104.47, Z:19.13 [[ 8.14180268e-01 4.77100803e-01 3.30885653e-01 1.36765859e+02] [-4.49749011e-01 8.78657490e-01 -1.60271151e-01 1.04466737e+02] [-3.67200653e-01 -1.83258867e-02 9.29961205e-01 1.91342809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:104.47, Z:19.11 [[ 8.13087126e-01 4.87794134e-01 3.17720331e-01 1.36794685e+02] [-4.48744718e-01 8.72857502e-01 -1.91697573e-01 1.04470694e+02] [-3.70833526e-01 1.32915081e-02 9.28604239e-01 1.91054738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.131858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.82, Y:104.44, Z:19.10 [[ 8.14225865e-01 4.80141865e-01 3.26343424e-01 1.36820506e+02] [-4.49143975e-01 8.77152333e-01 -1.69921965e-01 1.04440770e+02] [-3.67839545e-01 -8.22032439e-03 9.29852943e-01 1.91035173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:104.43, Z:19.09 [[ 8.14061169e-01 4.82956110e-01 3.22579926e-01 1.36845818e+02] [-4.48859761e-01 8.75644505e-01 -1.78245941e-01 1.04431522e+02] [-3.68550306e-01 3.09950243e-04 9.29607754e-01 1.90898446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.191858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:136.87, Y:104.42, Z:19.08 [[ 8.15544249e-01 4.79856091e-01 3.23458976e-01 1.36872136e+02] [-4.46773263e-01 8.77345537e-01 -1.75095574e-01 1.04415978e+02] [-3.67805967e-01 -1.71463386e-03 9.29900979e-01 1.90809305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.90, Y:104.40, Z:19.07 [[ 8.15343092e-01 4.78958396e-01 3.25291403e-01 1.36897459e+02] [-4.45630678e-01 8.77835702e-01 -1.75549934e-01 1.04400178e+02] [-3.69633522e-01 -1.82640278e-03 9.29175830e-01 1.90669482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.92, Y:104.42, Z:19.03 [[ 8.15887817e-01 4.89442985e-01 3.07851643e-01 1.36923597e+02] [-4.39995321e-01 8.70978011e-01 -2.18635362e-01 1.04418840e+02] [-3.75141556e-01 4.29286453e-02 9.25972972e-01 1.90309038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:104.37, Z:19.04 [[ 8.15664173e-01 4.70505384e-01 3.36625371e-01 1.36942425e+02] [-4.39645613e-01 8.82328522e-01 -1.67952715e-01 1.04373214e+02] [-3.76036823e-01 -1.10028551e-02 9.26539392e-01 1.90387073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:104.34, Z:19.04 [[ 8.16952871e-01 4.66759407e-01 3.38708817e-01 1.36972501e+02] [-4.43513819e-01 8.83907434e-01 -1.48334556e-01 1.04340342e+02] [-3.68623791e-01 -2.90396995e-02 9.29124963e-01 1.90421246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:104.36, Z:19.00 [[ 8.17122528e-01 4.83323087e-01 3.14180788e-01 1.37002990e+02] [-4.39554968e-01 8.75004523e-01 -2.02875615e-01 1.04362103e+02] [-3.72964079e-01 2.76745090e-02 9.27432972e-01 1.90034118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.03, Y:104.33, Z:19.00 [[ 8.17158018e-01 4.75189943e-01 3.26262611e-01 1.37025608e+02] [-4.39290158e-01 8.79870213e-01 -1.81252767e-01 1.04334584e+02] [-3.73198245e-01 4.78819777e-03 9.27739265e-01 1.89997044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:137.05, Y:104.30, Z:19.01 [[ 8.19363491e-01 4.66508332e-01 3.33186804e-01 1.37052339e+02] [-4.41803249e-01 8.84217155e-01 -1.51558277e-01 1.04299274e+02] [-3.65312688e-01 -2.30216935e-02 9.30600152e-01 1.90087382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43185806399998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:137.08, Y:104.30, Z:18.99 [[ 8.18806914e-01 4.75737606e-01 3.21292651e-01 1.37080137e+02] [-4.42469517e-01 8.79586739e-01 -1.74779563e-01 1.04298709e+02] [-3.65753966e-01 9.48510709e-04 9.30711092e-01 1.89889267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46185806399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:137.11, Y:104.28, Z:18.98 [[ 8.20590148e-01 4.74744002e-01 3.18197961e-01 1.37108845e+02] [-4.40407957e-01 8.80107414e-01 -1.77346471e-01 1.04284930e+02] [-3.64242558e-01 5.39185283e-03 9.31288509e-01 1.89753714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.14, Y:104.27, Z:18.96 [[ 8.20704409e-01 4.74528564e-01 3.18224631e-01 1.37135747e+02] [-4.40350267e-01 8.80225593e-01 -1.76902650e-01 1.04270133e+02] [-3.64054825e-01 5.05448359e-03 9.31363805e-01 1.89632864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52185806399999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:137.16, Y:104.26, Z:18.94 [[ 8.19203426e-01 4.79121114e-01 3.15196296e-01 1.37162816e+02] [-4.41543948e-01 8.77643343e-01 -1.86496927e-01 1.04259527e+02] [-3.65984547e-01 1.36059048e-02 9.30521462e-01 1.89434534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.551858064 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:137.19, Y:104.24, Z:18.93 [[ 8.19251618e-01 4.77015897e-01 3.18249306e-01 1.37189068e+02] [-4.41856679e-01 8.78868853e-01 -1.79867212e-01 1.04238810e+02] [-3.65498922e-01 6.73592327e-03 9.30787390e-01 1.89339544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.581858064 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:137.22, Y:104.22, Z:18.92 [[ 8.19145096e-01 4.77929761e-01 3.17150524e-01 1.37215825e+02] [-4.42451400e-01 8.78363089e-01 -1.80872999e-01 1.04223285e+02] [-3.65017904e-01 7.83753701e-03 9.30967509e-01 1.89217973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.611858064 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:137.24, Y:104.21, Z:18.92 [[ 8.20227692e-01 4.73965424e-01 3.20286293e-01 1.37239621e+02] [-4.41489287e-01 8.80543455e-01 -1.72425154e-01 1.04207512e+02] [-3.63749560e-01 2.49190040e-05 9.31496783e-01 1.89172061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.641858064 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:137.27, Y:104.22, Z:18.88 [[ 8.19167735e-01 4.84793003e-01 3.06496273e-01 1.37268542e+02] [-4.38473980e-01 8.73810838e-01 -2.10226514e-01 1.04216516e+02] [-3.69736108e-01 3.78201371e-02 9.28366763e-01 1.88815649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.671858064 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:137.29, Y:104.16, Z:18.90 [[ 8.19052669e-01 4.62043684e-01 3.40100513e-01 1.37286507e+02] [-4.40915690e-01 8.86222755e-01 -1.42135787e-01 1.04161055e+02] [-3.67077757e-01 -3.35389569e-02 9.29585423e-01 1.89049766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.701858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:137.32, Y:104.17, Z:18.87 [[ 8.18589845e-01 4.82727484e-01 3.11263301e-01 1.37321209e+02] [-4.43651103e-01 8.75577746e-01 -1.91147349e-01 1.04170180e+02] [-3.64807298e-01 1.83789721e-02 9.30901632e-01 1.88715416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.731858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:137.34, Y:104.15, Z:18.87 [[ 8.18577750e-01 4.77329309e-01 3.19510874e-01 1.37343062e+02] [-4.43541295e-01 8.78720368e-01 -1.76413248e-01 1.04151640e+02] [-3.64967927e-01 2.69169226e-03 9.31016201e-01 1.88689330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.761858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:137.37, Y:104.14, Z:18.86 [[ 8.18504563e-01 4.78095758e-01 3.18550980e-01 1.37370390e+02] [-4.43694388e-01 8.78296383e-01 -1.78131281e-01 1.04137391e+02] [-3.64945984e-01 4.46198435e-03 9.31018002e-01 1.88558731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.791858064 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:137.40, Y:104.12, Z:18.85 [[ 8.16891136e-01 4.79249902e-01 3.20949223e-01 1.37397417e+02] [-4.45935625e-01 8.77678441e-01 -1.75561878e-01 1.04121536e+02] [-3.65828227e-01 2.92250028e-04 9.30682343e-01 1.88456836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:137.43, Y:104.11, Z:18.83 [[ 8.16539184e-01 4.82806371e-01 3.16483443e-01 1.37425019e+02] [-4.47553218e-01 8.75704295e-01 -1.81212871e-01 1.04110845e+02] [-3.64636639e-01 6.32422606e-03 9.31128415e-01 1.88315678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.851858064 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:137.45, Y:104.10, Z:18.82 [[ 8.15753940e-01 4.82644894e-01 3.18746632e-01 1.37449601e+02] [-4.49025831e-01 8.75815245e-01 -1.76984347e-01 1.04095025e+02] [-3.64583751e-01 1.25020699e-03 9.31169762e-01 1.88221860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:137.48, Y:104.08, Z:18.81 [[ 8.14517393e-01 4.85793576e-01 3.17121455e-01 1.37478862e+02] [-4.51088342e-01 8.74065061e-01 -1.80359578e-01 1.04079049e+02] [-3.64802309e-01 3.85622155e-03 9.31077014e-01 1.88066827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.911858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:137.50, Y:104.07, Z:18.80 [[ 8.15370145e-01 4.84849447e-01 3.16374052e-01 1.37504154e+02] [-4.50652594e-01 8.74591450e-01 -1.78891125e-01 1.04069535e+02] [-3.63433304e-01 3.28769506e-03 9.31614418e-01 1.87983747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941858064 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:137.53, Y:104.05, Z:18.78 [[ 8.14370457e-01 4.87628290e-01 3.14673497e-01 1.37532662e+02] [-4.52144678e-01 8.73026927e-01 -1.82727049e-01 1.04053605e+02] [-3.63821315e-01 6.52956350e-03 9.31445874e-01 1.87821283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.971858064 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:137.56, Y:104.04, Z:18.77 [[ 8.14550189e-01 4.86751409e-01 3.15564662e-01 1.37559640e+02] [-4.52286787e-01 8.73532075e-01 -1.79939923e-01 1.04037562e+02] [-3.63241865e-01 3.84437094e-03 9.31686948e-01 1.87716156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001858064 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:137.58, Y:104.02, Z:18.76 [[ 8.14700602e-01 4.85996855e-01 3.16338405e-01 1.37584747e+02] [-4.52337871e-01 8.73958902e-01 -1.77725314e-01 1.04024921e+02] [-3.62840709e-01 1.70107963e-03 9.31849626e-01 1.87618934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.031858064 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:137.61, Y:104.01, Z:18.75 [[ 8.15024015e-01 4.86682791e-01 3.14445093e-01 1.37611137e+02] [-4.52672458e-01 8.73572297e-01 -1.78771051e-01 1.04011782e+02] [-3.61695316e-01 3.36206641e-03 9.32290296e-01 1.87501087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.64, Y:104.00, Z:18.74 [[ 8.16932153e-01 4.84472298e-01 3.12903260e-01 1.37637815e+02] [-4.49950490e-01 8.74785914e-01 -1.79705766e-01 1.04001593e+02] [-3.60785830e-01 6.01644274e-03 9.32629287e-01 1.87392121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.091858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:137.66, Y:103.98, Z:18.73 [[ 8.15501852e-01 4.81372679e-01 3.21305265e-01 1.37659983e+02] [-4.50298129e-01 8.76496550e-01 -1.70250974e-01 1.03981778e+02] [-3.63577123e-01 -5.84317456e-03 9.31545776e-01 1.87317888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:137.69, Y:103.98, Z:18.71 [[ 8.17744117e-01 4.83476181e-01 3.12322495e-01 1.37690237e+02] [-4.47977475e-01 8.75311609e-01 -1.82059793e-01 1.03975067e+02] [-3.61401079e-01 8.96488170e-03 9.32367358e-01 1.87143906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.151858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:137.72, Y:103.96, Z:18.70 [[ 8.18203229e-01 4.81245896e-01 3.14556616e-01 1.37715988e+02] [-4.47433883e-01 8.76575162e-01 -1.77253788e-01 1.03958418e+02] [-3.61035174e-01 4.28633342e-03 9.32542348e-01 1.87043439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.74, Y:103.94, Z:18.69 [[ 8.18666784e-01 4.80351966e-01 3.14716836e-01 1.37743050e+02] [-4.46395327e-01 8.77062722e-01 -1.77460401e-01 1.03944154e+02] [-3.61269857e-01 4.79281050e-03 9.32448990e-01 1.86925746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21185806399998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.77, Y:103.93, Z:18.68 [[ 8.19012080e-01 4.79723805e-01 3.14776562e-01 1.37770116e+02] [-4.45661212e-01 8.77404220e-01 -1.77617337e-01 1.03929453e+02] [-3.61393549e-01 5.18704042e-03 9.32398947e-01 1.86809440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.80, Y:103.92, Z:18.67 [[ 8.19770763e-01 4.78559155e-01 3.14574366e-01 1.37797161e+02] [-4.44411540e-01 8.78036078e-01 -1.77626096e-01 1.03915831e+02] [-3.61212237e-01 5.81220134e-03 9.32465516e-01 1.86696681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:137.82, Y:103.90, Z:18.66 [[ 8.19811090e-01 4.78430190e-01 3.14665426e-01 1.37824088e+02] [-4.44208600e-01 8.78105239e-01 -1.77791758e-01 1.03901599e+02] [-3.61370303e-01 5.97856664e-03 9.32403218e-01 1.86574748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.85, Y:103.89, Z:18.65 [[ 8.19715155e-01 4.78639982e-01 3.14596300e-01 1.37850952e+02] [-4.44402029e-01 8.77990766e-01 -1.77873696e-01 1.03887449e+02] [-3.61350109e-01 5.99853021e-03 9.32410916e-01 1.86454752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.331858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:137.88, Y:103.88, Z:18.62 [[ 8.17658317e-01 4.85115702e-01 3.09996181e-01 1.37881000e+02] [-4.46406899e-01 8.74274012e-01 -1.90698276e-01 1.03875940e+02] [-3.63532333e-01 1.75415975e-02 9.31416414e-01 1.86229132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.90, Y:103.85, Z:18.63 [[ 8.18611495e-01 4.75185924e-01 3.22604337e-01 1.37902285e+02] [-4.44752902e-01 8.79862081e-01 -1.67444242e-01 1.03854481e+02] [-3.63414470e-01 -6.40743373e-03 9.31605532e-01 1.86263979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.391858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.93, Y:103.85, Z:18.61 [[ 8.18158877e-01 4.80917643e-01 3.15173401e-01 1.37930220e+02] [-4.45589025e-01 8.76731798e-01 -1.81084994e-01 1.03849053e+02] [-3.63409511e-01 7.71848638e-03 9.31597527e-01 1.86099121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.96, Y:103.83, Z:18.60 [[ 8.18090017e-01 4.80445842e-01 3.16070432e-01 1.37958397e+02] [-4.45702464e-01 8.77004164e-01 -1.79479830e-01 1.03834181e+02] [-3.63425423e-01 5.95728652e-03 9.31604247e-01 1.85976279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.99, Y:103.93, Z:18.51 [[ 0.81765817 0.50966571 0.26772368 137.99247104] [ -0.42288244 0.84726812 -0.32141434 103.93004437] [ -0.39064761 0.14959142 0.90830438 18.51149743] [ 0. 0. 0. 1. ]] SLAMing on 222.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:103.72, Z:18.63 [[ 8.17065239e-01 4.17171934e-01 3.97959762e-01 1.37999080e+02] [-4.46339672e-01 8.94607685e-01 -2.14006251e-02 1.03719040e+02] [-3.64945602e-01 -1.60139523e-01 9.17153226e-01 1.86347069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.04, Y:103.79, Z:18.56 [[ 8.15307478e-01 4.81381615e-01 3.21784800e-01 1.38041848e+02] [-4.49337552e-01 8.76503071e-01 -1.72737175e-01 1.03786557e+02] [-3.65197865e-01 -3.75608331e-03 9.30922344e-01 1.85640859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.07, Y:103.78, Z:18.55 [[ 8.15360594e-01 4.86514458e-01 3.13832413e-01 1.38070710e+02] [-4.50323266e-01 8.73626290e-01 -1.84353092e-01 1.03779818e+02] [-3.63862691e-01 8.98820955e-03 9.31409230e-01 1.85473153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:103.76, Z:18.54 [[ 8.13159791e-01 4.86185145e-01 3.19992435e-01 1.38094872e+02] [-4.53102215e-01 8.73854287e-01 -1.76286889e-01 1.03762932e+02] [-3.65334828e-01 -1.63987114e-03 9.30874736e-01 1.85393886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.12, Y:103.75, Z:18.53 [[ 8.12414146e-01 4.87634678e-01 3.19680584e-01 1.38122148e+02] [-4.54226613e-01 8.73047092e-01 -1.77389289e-01 1.03748953e+02] [-3.65597373e-01 -1.09386111e-03 9.30772456e-01 1.85268359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.15, Y:103.74, Z:18.51 [[ 8.12376777e-01 4.91513628e-01 3.13780696e-01 1.38151731e+02] [-4.55888506e-01 8.70847208e-01 -1.83822768e-01 1.03740521e+02] [-3.63606439e-01 6.28433471e-03 9.31531462e-01 1.85113580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.18, Y:103.73, Z:18.50 [[ 8.12400839e-01 4.91583473e-01 3.13608939e-01 1.38178553e+02] [-4.56789949e-01 8.70819530e-01 -1.81703850e-01 1.03726116e+02] [-3.62419398e-01 4.36294893e-03 9.32004906e-01 1.84993422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:103.71, Z:18.49 [[ 8.11831262e-01 4.92418681e-01 3.13773556e-01 1.38205226e+02] [-4.58266833e-01 8.70354854e-01 -1.80205269e-01 1.03711473e+02] [-3.61830779e-01 2.50425722e-03 9.32240428e-01 1.84875858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:103.69, Z:18.48 [[ 8.10674350e-01 4.92128458e-01 3.17201323e-01 1.38230158e+02] [-4.59963112e-01 8.70513413e-01 -1.75043806e-01 1.03694795e+02] [-3.62272045e-01 -3.99738416e-03 9.32063832e-01 1.84779515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:103.70, Z:18.44 [[ 8.08935705e-01 5.02995973e-01 3.04332182e-01 1.38262872e+02] [-4.58400406e-01 8.63778039e-01 -2.09180703e-01 1.03701157e+02] [-3.68092507e-01 2.97077436e-02 9.29314455e-01 1.84447922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.28, Y:103.72, Z:18.41 [[ 8.07562988e-01 5.05415075e-01 3.03969773e-01 1.38281965e+02] [-4.46541924e-01 8.60655721e-01 -2.44687638e-01 1.03724351e+02] [-3.85282145e-01 6.18654328e-02 9.20722726e-01 1.84106822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:103.60, Z:18.48 [[ 8.08955169e-01 4.51189153e-01 3.76855255e-01 1.38293963e+02] [-4.58903114e-01 8.85325682e-01 -7.48756954e-02 1.03602507e+02] [-3.67422737e-01 -1.12368969e-01 9.23240893e-01 1.84762546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:103.64, Z:18.43 [[ 8.07225374e-01 4.94017577e-01 3.23007475e-01 1.38333696e+02] [-4.61022293e-01 8.69434211e-01 -1.77602359e-01 1.03643745e+02] [-3.68572436e-01 -5.54851632e-03 9.29582473e-01 1.84265787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.36, Y:103.68, Z:18.37 [[ 8.03433470e-01 5.14807142e-01 2.99112465e-01 1.38363861e+02] [-4.54520051e-01 8.54822237e-01 -2.50380643e-01 1.03681385e+02] [-3.84585729e-01 6.52115759e-02 9.20782964e-01 1.83734311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:103.58, Z:18.42 [[ 8.03518348e-01 4.75218975e-01 3.58504102e-01 1.38378193e+02] [-4.64401099e-01 8.77194388e-01 -1.21908268e-01 1.03581523e+02] [-3.72410908e-01 -6.85341682e-02 9.25533999e-01 1.84159101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.41, Y:103.60, Z:18.39 [[ 8.04297277e-01 4.97284031e-01 3.25291382e-01 1.38413026e+02] [-4.65951562e-01 8.67511111e-01 -1.74108055e-01 1.03597045e+02] [-3.68775043e-01 -1.15353928e-02 9.29447095e-01 1.83908433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.44, Y:103.57, Z:18.38 [[ 8.02346002e-01 5.00086055e-01 3.25814105e-01 1.38440405e+02] [-4.72165727e-01 8.65730334e-01 -1.66043713e-01 1.03571508e+02] [-3.65103300e-01 -2.06137447e-02 9.30738768e-01 1.83835053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:103.58, Z:18.36 [[ 8.02960093e-01 5.09347975e-01 3.09547621e-01 1.38470493e+02] [-4.68673219e-01 8.60419947e-01 -2.00057314e-01 1.03581076e+02] [-3.68239735e-01 1.55613596e-02 9.29600635e-01 1.83571819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:103.56, Z:18.35 [[ 8.01892090e-01 5.05032338e-01 3.19235672e-01 1.38492222e+02] [-4.70512159e-01 8.63095107e-01 -1.83535131e-01 1.03557647e+02] [-3.68221923e-01 -3.02889498e-03 9.29732995e-01 1.83512195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:103.54, Z:18.34 [[ 8.00440797e-01 5.02693149e-01 3.26487562e-01 1.38517563e+02] [-4.70728394e-01 8.64379416e-01 -1.76813471e-01 1.03538668e+02] [-3.71092049e-01 -1.21582502e-02 9.28516488e-01 1.83412591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.54, Y:103.53, Z:18.33 [[ 7.99834946e-01 5.07389416e-01 3.20655640e-01 1.38544619e+02] [-4.72026153e-01 8.61713280e-01 -1.86122362e-01 1.03529225e+02] [-3.70749740e-01 -2.49067933e-03 9.28729469e-01 1.83257424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:103.50, Z:18.31 [[ 7.98361149e-01 5.07816488e-01 3.23638518e-01 1.38572071e+02] [-4.74420559e-01 8.61420571e-01 -1.81327695e-01 1.03504212e+02] [-3.70870070e-01 -8.77577975e-03 9.28643299e-01 1.83122202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:103.50, Z:18.30 [[ 7.99042430e-01 5.10893060e-01 3.17048064e-01 1.38591448e+02] [-4.72825415e-01 8.59631071e-01 -1.93573111e-01 1.03501950e+02] [-3.71439526e-01 4.76474610e-03 9.28444923e-01 1.83004767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:103.47, Z:18.29 [[ 7.98484336e-01 5.07785296e-01 3.23383455e-01 1.38617830e+02] [-4.74321104e-01 8.61441982e-01 -1.81486094e-01 1.03472843e+02] [-3.70732055e-01 -8.47379441e-03 9.28701211e-01 1.82913775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:103.46, Z:18.28 [[ 8.00081059e-01 5.05930991e-01 3.22341638e-01 1.38642754e+02] [-4.70993263e-01 8.62564804e-01 -1.84789894e-01 1.03463959e+02] [-3.71531486e-01 -3.97384578e-03 9.28411850e-01 1.82790032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.67, Y:103.42, Z:18.29 [[ 8.00251874e-01 4.97183436e-01 3.35269399e-01 1.38666607e+02] [-4.77241719e-01 8.66568627e-01 -1.45942302e-01 1.03415445e+02] [-3.63094038e-01 -4.32139442e-02 9.30749845e-01 1.82886219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.261858064 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:138.70, Y:103.42, Z:18.26 [[ 8.01675781e-01 5.10759173e-01 3.10549528e-01 1.38700343e+02] [-4.75523115e-01 8.59721985e-01 -1.86429280e-01 1.03419535e+02] [-3.62206722e-01 1.78236000e-03 9.32096086e-01 1.82610353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.291858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:138.72, Y:103.41, Z:18.25 [[ 8.01865400e-01 5.10544614e-01 3.10412753e-01 1.38722426e+02] [-4.74878754e-01 8.59846246e-01 -1.87495607e-01 1.03406300e+02] [-3.62632112e-01 2.93781905e-03 9.31927744e-01 1.82485237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321858064 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:138.74, Y:103.39, Z:18.23 [[ 8.04326972e-01 5.06236287e-01 3.11099573e-01 1.38744850e+02] [-4.69260409e-01 8.62367441e-01 -1.90044901e-01 1.03390008e+02] [-3.64489768e-01 6.87152652e-03 9.31182040e-01 1.82327053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.351858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:138.77, Y:103.35, Z:18.24 [[ 8.06644824e-01 4.93123124e-01 3.25812389e-01 1.38770516e+02] [-4.67576081e-01 8.69616091e-01 -1.58557440e-01 1.03350508e+02] [-3.61520037e-01 -2.44425421e-02 9.32043897e-01 1.82358017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:138.80, Y:103.36, Z:18.20 [[ 8.07766034e-01 5.10059937e-01 2.95555231e-01 1.38799339e+02] [-4.66829343e-01 8.59624025e-01 -2.07646093e-01 1.03364129e+02] [-3.59978331e-01 2.97556070e-02 9.32486035e-01 1.82041416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.411858064 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:138.82, Y:103.33, Z:18.21 [[ 8.09617316e-01 4.95793974e-01 3.14178512e-01 1.38820271e+02] [-4.64809244e-01 8.68417584e-01 -1.72636226e-01 1.03325805e+02] [-3.58430145e-01 -6.26379809e-03 9.33535536e-01 1.82065393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441858064 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:138.84, Y:103.35, Z:18.16 [[ 8.12202233e-01 5.04188490e-01 2.93464647e-01 1.38843292e+02] [-4.51480019e-01 8.61825520e-01 -2.31133218e-01 1.03354666e+02] [-3.69450030e-01 5.52334917e-02 9.27607642e-01 1.81614174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.471858064 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:138.86, Y:103.28, Z:18.19 [[ 8.13674709e-01 4.80248838e-01 3.27558426e-01 1.38860532e+02] [-4.57213661e-01 8.76684082e-01 -1.49601767e-01 1.03280872e+02] [-3.59011333e-01 -2.80370123e-02 9.32911994e-01 1.81912809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501858064 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:138.89, Y:103.32, Z:18.14 [[ 8.14502529e-01 4.99156687e-01 2.95682655e-01 1.38891885e+02] [-4.47475160e-01 8.64893444e-01 -2.27431996e-01 1.03316175e+02] [-3.69258191e-01 5.29332923e-02 9.27818115e-01 1.81370647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.531858064 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:138.91, Y:103.26, Z:18.15 [[ 8.14956218e-01 4.73543599e-01 3.34070088e-01 1.38905918e+02] [-4.44360097e-01 8.80650374e-01 -1.64313795e-01 1.03256962e+02] [-3.72008693e-01 -1.45388679e-02 9.28115377e-01 1.81529917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561858064 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:138.94, Y:103.25, Z:18.13 [[ 8.16198082e-01 4.83913103e-01 3.15671981e-01 1.38935014e+02] [-4.45836551e-01 8.75016341e-01 -1.88616471e-01 1.03252618e+02] [-3.67492123e-01 1.32102945e-02 9.29932808e-01 1.81329728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.591858064 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:138.96, Y:103.24, Z:18.12 [[ 8.15927367e-01 4.79542364e-01 3.22957664e-01 1.38957007e+02] [-4.41872864e-01 8.77467283e-01 -1.86546348e-01 1.03239555e+02] [-3.72841661e-01 9.50204208e-03 9.27846327e-01 1.81183312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621858064 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:138.98, Y:103.22, Z:18.11 [[ 8.15369956e-01 4.76510693e-01 3.28799930e-01 1.38979822e+02] [-4.41248733e-01 8.79167213e-01 -1.79901551e-01 1.03215597e+02] [-3.74795131e-01 1.60376686e-03 9.27106271e-01 1.81086299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.651858064 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:139.01, Y:103.20, Z:18.09 [[ 8.15609162e-01 4.79077672e-01 3.24447652e-01 1.39006053e+02] [-4.41629519e-01 8.77733156e-01 -1.85870585e-01 1.03202465e+02] [-3.73824909e-01 8.31209191e-03 9.27462046e-01 1.80943418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68185806399998 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:139.03, Y:103.19, Z:18.08 [[ 8.15508644e-01 4.79215554e-01 3.24496693e-01 1.39032836e+02] [-4.41716513e-01 8.77657365e-01 -1.86021699e-01 1.03187065e+02] [-3.73941404e-01 8.36675571e-03 9.27414591e-01 1.80816543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71185806399998 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:139.06, Y:103.18, Z:18.07 [[ 8.14866401e-01 4.83217203e-01 3.20146658e-01 1.39058842e+02] [-4.43941707e-01 8.75392115e-01 -1.91322778e-01 1.03175578e+02] [-3.72704318e-01 1.37760497e-02 9.27847893e-01 1.80678408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74185806399998 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:139.08, Y:103.16, Z:18.06 [[ 8.12744385e-01 4.82558856e-01 3.26471308e-01 1.39083707e+02] [-4.46720904e-01 8.75860001e-01 -1.82509432e-01 1.03155477e+02] [-3.74014703e-01 2.49195872e-03 9.27419426e-01 1.80589635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77185806399999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:139.11, Y:103.14, Z:18.05 [[ 8.12258940e-01 4.83477833e-01 3.26319781e-01 1.39110026e+02] [-4.47916609e-01 8.75355016e-01 -1.82000846e-01 1.03138577e+02] [-3.73639032e-01 1.66776454e-03 9.27572689e-01 1.80464770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.801858064 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:139.14, Y:103.13, Z:18.03 [[ 8.09806394e-01 4.94227128e-01 3.16153683e-01 1.39135596e+02] [-4.54842495e-01 8.69233734e-01 -1.93780857e-01 1.03131277e+02] [-3.70583203e-01 1.31248474e-02 9.28706535e-01 1.80310793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.831858064 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:139.16, Y:103.11, Z:18.02 [[ 8.08341696e-01 4.93350881e-01 3.21229842e-01 1.39161000e+02] [-4.57502131e-01 8.69827378e-01 -1.84640550e-01 1.03111495e+02] [-3.70507089e-01 2.28931773e-03 9.28826817e-01 1.80220821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.861858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:139.19, Y:103.09, Z:18.01 [[ 8.07538951e-01 4.93961507e-01 3.22308660e-01 1.39185415e+02] [-4.59113650e-01 8.69483398e-01 -1.82245101e-01 1.03094717e+02] [-3.70264093e-01 -8.06287271e-04 9.28926182e-01 1.80110207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.891858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:139.21, Y:103.08, Z:18.00 [[ 8.07340512e-01 4.97034963e-01 3.18052737e-01 1.39210168e+02] [-4.60972748e-01 8.67723563e-01 -1.85903050e-01 1.03080381e+02] [-3.68382169e-01 3.47341903e-03 9.29667958e-01 1.79978546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.921858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:139.24, Y:103.06, Z:17.99 [[ 8.06904081e-01 4.96730024e-01 3.19632738e-01 1.39236376e+02] [-4.61557781e-01 8.67904897e-01 -1.83590592e-01 1.03063713e+02] [-3.68605778e-01 6.11020909e-04 9.29585611e-01 1.79863064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.951858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:139.26, Y:103.05, Z:17.97 [[ 8.06777823e-01 4.96356969e-01 3.20529724e-01 1.39263066e+02] [-4.60901174e-01 8.68118049e-01 -1.84231268e-01 1.03048113e+02] [-3.69702112e-01 9.01175613e-04 9.29149900e-01 1.79738442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.981858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:139.29, Y:103.03, Z:17.96 [[ 8.06729652e-01 4.96130332e-01 3.21001499e-01 1.39289584e+02] [-4.60497010e-01 8.68247327e-01 -1.84632293e-01 1.03032213e+02] [-3.70310374e-01 1.12811520e-03 9.28907398e-01 1.79613966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.011858064 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:139.32, Y:103.02, Z:17.94 [[ 8.06125423e-01 4.97922583e-01 3.19741934e-01 1.39316594e+02] [-4.60232073e-01 8.67199917e-01 -1.90133488e-01 1.03019044e+02] [-3.71951936e-01 6.11594531e-03 9.28231842e-01 1.79444634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.041858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:139.34, Y:103.00, Z:17.94 [[ 8.06952461e-01 4.94099660e-01 3.23563365e-01 1.39340383e+02] [-4.59219600e-01 8.69404090e-01 -1.82356487e-01 1.03002075e+02] [-3.71409591e-01 -1.43362347e-03 9.28468018e-01 1.79374907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.071858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:139.37, Y:102.99, Z:17.92 [[ 8.06151459e-01 4.96437730e-01 3.21977337e-01 1.39367458e+02] [-4.59205058e-01 8.68061937e-01 -1.88677471e-01 1.02989479e+02] [-3.73162886e-01 4.24899724e-03 9.27756114e-01 1.79201140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101858064 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:139.39, Y:102.97, Z:17.91 [[ 8.07532721e-01 4.94029625e-01 3.22219855e-01 1.39392128e+02] [-4.58319830e-01 8.69444181e-01 -1.84417324e-01 1.02974122e+02] [-3.71259800e-01 1.24327436e-03 9.28528199e-01 1.79103506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.131858064 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:139.42, Y:102.96, Z:17.90 [[ 8.07484142e-01 4.95488587e-01 3.20094395e-01 1.39417005e+02] [-4.59051525e-01 8.68606646e-01 -1.86532016e-01 1.02961099e+02] [-3.70460603e-01 3.68182503e-03 9.28840883e-01 1.78974196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:139.44, Y:102.94, Z:17.89 [[ 8.06746980e-01 4.93586927e-01 3.24855745e-01 1.39439605e+02] [-4.59607261e-01 8.69686904e-01 -1.80016263e-01 1.02943185e+02] [-3.71376461e-01 -4.07848244e-03 9.28473419e-01 1.78882887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.191858064 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:139.47, Y:102.93, Z:17.87 [[ 8.07056095e-01 4.97149402e-01 3.18595248e-01 1.39469377e+02] [-4.58694494e-01 8.67620805e-01 -1.91920557e-01 1.02933439e+02] [-3.71833055e-01 8.75276932e-03 9.28258352e-01 1.78664732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221858064 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:139.50, Y:102.92, Z:17.85 [[ 8.08662338e-01 4.98471055e-01 3.12396912e-01 1.39496447e+02] [-4.59371268e-01 8.66803363e-01 -1.93984451e-01 1.02920174e+02] [-3.67482328e-01 1.33617539e-02 9.29934515e-01 1.78532753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.251858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:139.52, Y:102.89, Z:17.85 [[ 8.08837106e-01 4.91784196e-01 3.22383066e-01 1.39521839e+02] [-4.58364070e-01 8.70709649e-01 -1.78233234e-01 1.02894478e+02] [-3.68354334e-01 -3.60716111e-03 9.29678478e-01 1.78470698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:139.55, Y:102.88, Z:17.84 [[ 8.08475039e-01 4.94875686e-01 3.18537544e-01 1.39546045e+02] [-4.60400836e-01 8.68963781e-01 -1.81474567e-01 1.02881221e+02] [-3.66604940e-01 6.27060220e-05 9.30376706e-01 1.78364906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.311858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:139.58, Y:102.87, Z:17.82 [[ 8.10549355e-01 4.94131354e-01 3.14394575e-01 1.39575728e+02] [-4.56514516e-01 8.69330146e-01 -1.89366294e-01 1.02871110e+02] [-3.66884505e-01 9.96504044e-03 9.30213125e-01 1.78192500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:102.85, Z:17.82 [[ 8.10595710e-01 4.89147115e-01 3.21977786e-01 1.39598688e+02] [-4.57741613e-01 8.72169325e-01 -1.72607315e-01 1.02845438e+02] [-3.65249519e-01 -7.46788198e-03 9.30879702e-01 1.78181901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:102.84, Z:17.80 [[ 8.11999274e-01 4.94641394e-01 3.09817803e-01 1.39629179e+02] [-4.55505154e-01 8.68949958e-01 -1.93496835e-01 1.02841997e+02] [-3.64927711e-01 1.59956835e-02 9.30898439e-01 1.77956498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:102.82, Z:17.80 [[ 8.12315637e-01 4.86133167e-01 3.22207774e-01 1.39649998e+02] [-4.53758549e-01 8.73873365e-01 -1.74495047e-01 1.02815805e+02] [-3.66396622e-01 -4.45947659e-03 9.30448080e-01 1.77963052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:102.81, Z:17.78 [[ 8.14423139e-01 4.89708663e-01 3.11288251e-01 1.39681356e+02] [-4.51088299e-01 8.71751469e-01 -1.91229505e-01 1.02808719e+02] [-3.65012736e-01 1.53232458e-02 9.30876416e-01 1.77762140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:102.80, Z:17.76 [[ 8.15003252e-01 4.89532859e-01 3.10043996e-01 1.39705789e+02] [-4.46437021e-01 8.71575650e-01 -2.02607681e-01 1.02803817e+02] [-3.69409914e-01 2.67108011e-02 9.28882581e-01 1.77566279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:102.77, Z:17.76 [[ 8.16445601e-01 4.80819648e-01 3.19732774e-01 1.39728819e+02] [-4.48351713e-01 8.76818168e-01 -1.73696983e-01 1.02769512e+02] [-3.63864427e-01 -1.53859899e-03 9.31450649e-01 1.77623970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.76, Y:102.75, Z:17.75 [[ 8.17814651e-01 4.77080441e-01 3.21828293e-01 1.39757776e+02] [-4.46372413e-01 8.78840130e-01 -1.68498353e-01 1.02749451e+02] [-3.63222887e-01 -5.85485016e-03 9.31683882e-01 1.77539534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.551858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:139.79, Y:102.75, Z:17.73 [[ 8.18374003e-01 4.82699556e-01 3.11873579e-01 1.39786657e+02] [-4.45267944e-01 8.75672633e-01 -1.86906121e-01 1.02745440e+02] [-3.63318660e-01 1.40918029e-02 9.31558357e-01 1.77348630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:102.73, Z:17.73 [[ 8.18163413e-01 4.82319240e-01 3.13012428e-01 1.39811846e+02] [-4.47044544e-01 8.75955581e-01 -1.81253952e-01 1.02726618e+02] [-3.61607252e-01 8.36485420e-03 9.32292993e-01 1.77277011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:102.71, Z:17.72 [[ 8.19513804e-01 4.78601712e-01 3.15178563e-01 1.39839252e+02] [-4.44931056e-01 8.78021471e-01 -1.76393458e-01 1.02708749e+02] [-3.61155757e-01 4.32414299e-03 9.32495481e-01 1.77188814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.86, Y:102.73, Z:17.68 [[ 8.18253510e-01 4.89325249e-01 3.01698516e-01 1.39863850e+02] [-4.37021922e-01 8.70458398e-01 -2.26525977e-01 1.02734565e+02] [-3.73460887e-01 5.35068105e-02 9.26101499e-01 1.76780768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:102.70, Z:17.68 [[ 8.18889795e-01 4.78610260e-01 3.16783401e-01 1.39884151e+02] [-4.37158504e-01 8.77749674e-01 -1.96081492e-01 1.02703321e+02] [-3.71903141e-01 2.20845750e-02 9.28008796e-01 1.76771025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:102.68, Z:17.67 [[ 8.19344671e-01 4.72446996e-01 3.24758598e-01 1.39911526e+02] [-4.34656503e-01 8.81292916e-01 -1.85462990e-01 1.02681240e+02] [-3.73828884e-01 1.07996763e-02 9.27434813e-01 1.76675596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:102.67, Z:17.65 [[ 8.18638563e-01 4.77009564e-01 3.19832423e-01 1.39937726e+02] [-4.36111662e-01 8.78681249e-01 -1.94231515e-01 1.02673293e+02] [-3.73681043e-01 1.95227587e-02 9.27351789e-01 1.76519321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.96, Y:102.62, Z:17.67 [[ 8.19127300e-01 4.63351082e-01 3.38136424e-01 1.39963265e+02] [-4.41118556e-01 8.85654304e-01 -1.45020249e-01 1.02622704e+02] [-3.66667269e-01 -3.03682065e-02 9.29856379e-01 1.76682733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.00, Y:102.63, Z:17.63 [[ 8.18238272e-01 4.80773826e-01 3.15186705e-01 1.39995378e+02] [-4.40721234e-01 8.76637505e-01 -1.93058226e-01 1.02634922e+02] [-3.69121828e-01 1.90581561e-02 9.29185591e-01 1.76346802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.02, Y:102.63, Z:17.62 [[ 8.17430508e-01 4.86200632e-01 3.08895305e-01 1.40021608e+02] [-4.43027532e-01 8.73381356e-01 -2.02315627e-01 1.02627060e+02] [-3.68149387e-01 2.85298411e-02 9.29328832e-01 1.76184719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:102.63, Z:17.59 [[ 8.16021104e-01 4.87706542e-01 3.10244882e-01 1.40044175e+02] [-4.38783643e-01 8.72055804e-01 -2.16766211e-01 1.02628623e+02] [-3.76269149e-01 4.07554231e-02 9.25613593e-01 1.75941342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.07, Y:102.60, Z:17.59 [[ 8.14242685e-01 4.77474098e-01 3.30192877e-01 1.40065056e+02] [-4.39715160e-01 8.78622314e-01 -1.86207968e-01 1.02595671e+02] [-3.79024311e-01 6.42766259e-03 9.25364391e-01 1.75937076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.911858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.09, Y:102.55, Z:17.61 [[ 8.14109428e-01 4.71083332e-01 3.39567864e-01 1.40094501e+02] [-4.48115115e-01 8.81537412e-01 -1.48609000e-01 1.02549788e+02] [-3.69348999e-01 -3.11815042e-02 9.28767480e-01 1.76058744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:102.56, Z:17.57 [[ 8.12081255e-01 4.91831874e-01 3.14046881e-01 1.40127894e+02] [-4.51724375e-01 8.70530099e-01 -1.95249677e-01 1.02561726e+02] [-3.69417276e-01 1.66959715e-02 9.29113621e-01 1.75738589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.15, Y:102.56, Z:17.55 [[ 8.10528623e-01 4.95554712e-01 3.12200062e-01 1.40152896e+02] [-4.51162623e-01 8.68165830e-01 -2.06737465e-01 1.02556689e+02] [-3.73491151e-01 2.67136337e-02 9.27249018e-01 1.75536575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.18, Y:102.53, Z:17.55 [[ 8.09731544e-01 4.90414058e-01 3.22224887e-01 1.40177221e+02] [-4.53011486e-01 8.71467381e-01 -1.87949989e-01 1.02531049e+02] [-3.72981795e-01 6.21745956e-03 9.27817829e-01 1.75494028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.031858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.21, Y:102.52, Z:17.53 [[ 8.07663518e-01 4.95319467e-01 3.19903527e-01 1.40205043e+02] [-4.56157720e-01 8.68651061e-01 -1.93301500e-01 1.02520352e+02] [-3.73630534e-01 1.01961063e-02 9.27521570e-01 1.75340203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.23, Y:102.51, Z:17.52 [[ 8.06570724e-01 4.97117329e-01 3.19871893e-01 1.40230958e+02] [-4.58396111e-01 8.67639975e-01 -1.92545783e-01 1.02505672e+02] [-3.73251486e-01 8.67375972e-03 9.27689654e-01 1.75217967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.091858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.26, Y:102.52, Z:17.49 [[ 8.05615041e-01 5.04284524e-01 3.10936530e-01 1.40255015e+02] [-4.54331183e-01 8.62718229e-01 -2.22037010e-01 1.02518360e+02] [-3.80220440e-01 3.76081933e-02 9.24130965e-01 1.74914517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:102.46, Z:17.51 [[ 8.05202258e-01 4.88785909e-01 3.35764290e-01 1.40277519e+02] [-4.60611730e-01 8.72131314e-01 -1.64996381e-01 1.02463973e+02] [-3.73478458e-01 -2.18015122e-02 9.27382626e-01 1.75065869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.151858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:140.31, Y:102.47, Z:17.48 [[ 8.04075186e-01 5.02574634e-01 3.17619005e-01 1.40307259e+02] [-4.62289473e-01 8.64450715e-01 -1.97518113e-01 1.02468764e+02] [-3.73833570e-01 1.19874911e-02 9.27418332e-01 1.74808957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18185806399998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:140.33, Y:102.45, Z:17.47 [[ 8.03878809e-01 5.00272170e-01 3.21724441e-01 1.40331584e+02] [-4.61839872e-01 8.65846924e-01 -1.92387727e-01 1.02451229e+02] [-3.74810343e-01 6.07124243e-03 9.27081629e-01 1.74704007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:102.45, Z:17.45 [[ 8.03485798e-01 5.03922587e-01 3.16974128e-01 1.40355213e+02] [-4.57917103e-01 8.63385024e-01 -2.11844818e-01 1.02453970e+02] [-3.80424104e-01 2.50664286e-02 9.24472377e-01 1.74464395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:102.43, Z:17.44 [[ 8.03819141e-01 4.95236192e-01 3.29569267e-01 1.40378392e+02] [-4.57133338e-01 8.68754839e-01 -1.90510213e-01 1.02426099e+02] [-3.80662449e-01 2.47865689e-03 9.24710742e-01 1.74418907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:102.41, Z:17.43 [[ 8.03888379e-01 4.94934878e-01 3.29852906e-01 1.40404285e+02] [-4.56684922e-01 8.68925725e-01 -1.90806097e-01 1.02410782e+02] [-3.81054268e-01 2.74795551e-03 9.24548589e-01 1.74296187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:102.38, Z:17.43 [[ 8.03932791e-01 4.89666329e-01 3.37518821e-01 1.40429110e+02] [-4.59057578e-01 8.71739380e-01 -1.71279285e-01 1.02377773e+02] [-3.78098146e-01 -1.72435390e-02 9.25604912e-01 1.74310498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.331858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.46, Y:102.37, Z:17.41 [[ 8.04894944e-01 4.95586082e-01 3.26402457e-01 1.40458793e+02] [-4.57217399e-01 8.68546075e-01 -1.91258897e-01 1.02372293e+02] [-3.78280821e-01 4.70643697e-03 9.25678924e-01 1.74100733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:102.38, Z:17.39 [[ 8.05248636e-01 4.99287429e-01 3.19822915e-01 1.40482654e+02] [-4.52200391e-01 8.66008606e-01 -2.13410169e-01 1.02376372e+02] [-3.83522411e-01 2.72242003e-02 9.23130220e-01 1.73851816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:102.35, Z:17.38 [[ 8.05525995e-01 4.90775002e-01 3.32065910e-01 1.40504736e+02] [-4.51706025e-01 8.71274092e-01 -1.91945627e-01 1.02348086e+02] [-3.83522539e-01 4.62102005e-03 9.23519955e-01 1.73807068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:102.33, Z:17.37 [[ 8.06711257e-01 4.89413220e-01 3.31197294e-01 1.40529369e+02] [-4.50393734e-01 8.72035448e-01 -1.91571556e-01 1.02332660e+02] [-3.82573433e-01 5.37374479e-03 9.23909461e-01 1.73680583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.55, Y:102.29, Z:17.38 [[ 8.06710684e-01 4.79934641e-01 3.44790680e-01 1.40554778e+02] [-4.54767998e-01 8.76769416e-01 -1.56401597e-01 1.02289521e+02] [-3.77364468e-01 -3.06289281e-02 9.25558171e-01 1.73776717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.59, Y:102.29, Z:17.35 [[ 8.06938257e-01 4.92995340e-01 3.25278717e-01 1.40587607e+02] [-4.54460928e-01 8.70008064e-01 -1.91183770e-01 1.02291051e+02] [-3.77247815e-01 6.44703044e-03 9.26089910e-01 1.73502841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.511858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:140.61, Y:102.28, Z:17.34 [[ 8.07501211e-01 4.94816653e-01 3.21089200e-01 1.40612358e+02] [-4.52969284e-01 8.68852213e-01 -1.99786534e-01 1.02282354e+02] [-3.77836767e-01 1.58843232e-02 9.25735959e-01 1.73362504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.541858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.64, Y:102.29, Z:17.31 [[ 8.06721675e-01 5.00334209e-01 3.14429353e-01 1.40635992e+02] [-4.47843016e-01 8.64794645e-01 -2.27083367e-01 1.02291859e+02] [-3.85534398e-01 4.23780842e-02 9.21719766e-01 1.73068558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.571858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.66, Y:102.26, Z:17.31 [[ 8.06419550e-01 4.87772408e-01 3.34313608e-01 1.40657263e+02] [-4.47885746e-01 8.72949298e-01 -1.93281870e-01 1.02256329e+02] [-3.86116393e-01 6.13197908e-03 9.22429688e-01 1.73067327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.68, Y:102.22, Z:17.32 [[ 8.07093402e-01 4.79752041e-01 3.44148543e-01 1.40684969e+02] [-4.53141265e-01 8.76990507e-01 -1.59845689e-01 1.02215399e+02] [-3.78501301e-01 -2.69375051e-02 9.25208699e-01 1.73155771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:102.25, Z:17.27 [[ 8.05882267e-01 5.01719457e-01 3.14374551e-01 1.40715097e+02] [-4.48715284e-01 8.63954893e-01 -2.28553136e-01 1.02248165e+02] [-3.86274987e-01 4.31222530e-02 9.21375117e-01 1.72681073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.73, Y:102.21, Z:17.27 [[ 8.04885187e-01 4.89710032e-01 3.35177445e-01 1.40734992e+02] [-4.49701737e-01 8.71868823e-01 -1.93940980e-01 1.02213479e+02] [-3.87205608e-01 5.37034286e-03 9.21977753e-01 1.72689525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:102.20, Z:17.26 [[ 8.04630559e-01 4.90488064e-01 3.34650748e-01 1.40760955e+02] [-4.50641680e-01 8.71433202e-01 -1.93716935e-01 1.02198138e+02] [-3.86641617e-01 5.06299056e-03 9.22216149e-01 1.72567352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:102.15, Z:17.27 [[ 8.04447655e-01 4.81653607e-01 3.47669057e-01 1.40788099e+02] [-4.56991573e-01 8.75719356e-01 -1.55802154e-01 1.02152239e+02] [-3.79503192e-01 -3.35471517e-02 9.24582022e-01 1.72665498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:102.89, Z:17.57 [[ 7.93903843e-01 1.02077100e-01 -5.99413842e-01 1.41522932e+02] [-4.28717495e-01 -6.05094423e-01 -6.70866640e-01 1.02889844e+02] [-4.31182094e-01 7.89582804e-01 -4.36624549e-01 1.75747062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.92, Y:102.11, Z:17.17 [[ 7.96578213e-01 4.64520274e-01 3.86890250e-01 1.40920788e+02] [-4.14740871e-01 8.85540301e-01 -2.09304528e-01 1.02107137e+02] [-4.39833106e-01 6.26822769e-03 8.98057653e-01 1.71701284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.811858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:140.95, Y:102.09, Z:17.16 [[ 7.95645518e-01 4.63586270e-01 3.89917914e-01 1.40946463e+02] [-4.15795517e-01 8.86051239e-01 -2.05005583e-01 1.02090856e+02] [-4.40525025e-01 9.85652431e-04 8.97739790e-01 1.71574085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:102.08, Z:17.14 [[ 7.95399588e-01 4.65683857e-01 3.87914991e-01 1.40972755e+02] [-4.17046518e-01 8.84945900e-01 -2.07226825e-01 1.02078922e+02] [-4.39785968e-01 3.04953460e-03 8.98097435e-01 1.71419222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:102.04, Z:17.15 [[ 7.95744734e-01 4.54009217e-01 4.00831572e-01 1.41000825e+02] [-4.23991005e-01 8.90212419e-01 -1.66593749e-01 1.02036481e+02] [-4.32460340e-01 -3.73828829e-02 9.00877669e-01 1.71538533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.03, Y:102.05, Z:17.12 [[ 7.94279378e-01 4.74034210e-01 3.80015575e-01 1.41030154e+02] [-4.25321524e-01 8.80494086e-01 -2.09360374e-01 1.02047782e+02] [-4.33845446e-01 4.66182410e-03 9.00975247e-01 1.71229757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93185806399998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.06, Y:102.03, Z:17.11 [[ 7.93433767e-01 4.75799845e-01 3.79575243e-01 1.41055653e+02] [-4.26759400e-01 8.79539450e-01 -2.10444220e-01 1.02034856e+02] [-4.33980728e-01 4.98624737e-03 9.00908356e-01 1.71085997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:102.02, Z:17.10 [[ 7.92097418e-01 4.75808576e-01 3.82345236e-01 1.41081242e+02] [-4.29812076e-01 8.79544843e-01 -2.04113813e-01 1.02016294e+02] [-4.33408883e-01 -2.65857553e-03 9.01193471e-01 1.70982968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:102.01, Z:17.08 [[ 7.91187110e-01 4.80945788e-01 3.77775205e-01 1.41106653e+02] [-4.29715179e-01 8.76707219e-01 -2.16169649e-01 1.02010654e+02] [-4.35164132e-01 8.69489956e-03 9.00309156e-01 1.70785589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:102.02, Z:17.04 [[ 7.88872896e-01 4.90886665e-01 3.69742931e-01 1.41128403e+02] [-4.24427729e-01 8.70295215e-01 -2.49894660e-01 1.02024202e+02] [-4.44455461e-01 4.02059718e-02 8.94898220e-01 1.70431278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:101.96, Z:17.06 [[ 7.91207862e-01 4.61978562e-01 4.00706785e-01 1.41152047e+02] [-4.29230198e-01 8.86233272e-01 -1.74218325e-01 1.01959707e+02] [-4.35604817e-01 -3.41525439e-02 8.99489882e-01 1.70647483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:101.97, Z:17.03 [[ 7.90715205e-01 4.79556524e-01 3.80519390e-01 1.41181098e+02] [-4.28966224e-01 8.77487907e-01 -2.14482986e-01 1.01969119e+02] [-4.36757878e-01 6.36499266e-03 8.99556581e-01 1.70342139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:101.95, Z:17.02 [[ 7.90676003e-01 4.76620264e-01 3.84271496e-01 1.41205868e+02] [-4.28504047e-01 8.79109212e-01 -2.08689424e-01 1.01951146e+02] [-4.37282220e-01 3.43828597e-04 8.99324270e-01 1.70217738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:101.95, Z:17.00 [[ 7.90279548e-01 4.81014095e-01 3.79583557e-01 1.41230305e+02] [-4.26197127e-01 8.76587121e-01 -2.23497268e-01 1.01947298e+02] [-4.40243393e-01 1.48478986e-02 8.97755699e-01 1.69996649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:101.93, Z:16.99 [[ 7.89997449e-01 4.75347676e-01 3.87231994e-01 1.41254437e+02] [-4.26065592e-01 8.79796716e-01 -2.10774406e-01 1.01925653e+02] [-4.40876561e-01 1.52501459e-03 8.97566450e-01 1.69894637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.28, Y:101.91, Z:16.98 [[ 7.90009827e-01 4.75030292e-01 3.87596046e-01 1.41279463e+02] [-4.26171524e-01 8.79969245e-01 -2.09837940e-01 1.01911352e+02] [-4.40751978e-01 5.91636481e-04 8.97628734e-01 1.69756301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.231858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.30, Y:101.90, Z:16.96 [[ 7.90351809e-01 4.76783469e-01 3.84735679e-01 1.41304709e+02] [-4.25677667e-01 8.79000107e-01 -2.14842581e-01 1.01900135e+02] [-4.40616094e-01 6.02783647e-03 8.97675399e-01 1.69588828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:101.88, Z:16.94 [[ 7.90665607e-01 4.75483292e-01 3.85698766e-01 1.41330281e+02] [-4.25479993e-01 8.79716803e-01 -2.12285472e-01 1.01883611e+02] [-4.40243880e-01 3.73971388e-03 8.97870447e-01 1.69446717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:101.87, Z:16.93 [[ 7.90828270e-01 4.75278541e-01 3.85617629e-01 1.41355047e+02] [-4.24313523e-01 8.79816457e-01 -2.14198591e-01 1.01871089e+02] [-4.41076730e-01 5.77152642e-03 8.97450839e-01 1.69289330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:101.85, Z:16.92 [[ 7.91109085e-01 4.73074319e-01 3.87746185e-01 1.41379574e+02] [-4.24336824e-01 8.81022049e-01 -2.09137298e-01 1.01853303e+02] [-4.40550423e-01 9.15432186e-04 8.97727401e-01 1.69172777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.41, Y:101.84, Z:16.90 [[ 7.91496224e-01 4.73005553e-01 3.87039370e-01 1.41405488e+02] [-4.22223089e-01 8.81042908e-01 -2.13286329e-01 1.01840481e+02] [-4.41883910e-01 5.39836528e-03 8.97056001e-01 1.69012235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:101.83, Z:16.89 [[ 7.91975871e-01 4.72184308e-01 3.87060975e-01 1.41430901e+02] [-4.20729960e-01 8.81472057e-01 -2.14460517e-01 1.01827976e+02] [-4.42448325e-01 6.99940656e-03 8.96766685e-01 1.68861043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.411858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:141.45, Y:101.82, Z:16.87 [[ 7.91520667e-01 4.74583154e-01 3.85053066e-01 1.41454098e+02] [-4.18126224e-01 8.80042289e-01 -2.25157789e-01 1.01823371e+02] [-4.45719076e-01 1.72162586e-02 8.95007322e-01 1.68650323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.48, Y:101.81, Z:16.85 [[ 7.91353742e-01 4.71367226e-01 3.89322736e-01 1.41476121e+02] [-4.15583827e-01 8.81816060e-01 -2.22913704e-01 1.01810717e+02] [-4.48385255e-01 1.46073609e-02 8.93721035e-01 1.68500566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.471858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.50, Y:101.79, Z:16.84 [[ 7.91619974e-01 4.66052737e-01 3.95136259e-01 1.41500388e+02] [-4.14910455e-01 8.84747373e-01 -2.12300261e-01 1.01790525e+02] [-4.48538885e-01 4.11496195e-03 8.93753845e-01 1.68387689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:101.77, Z:16.83 [[ 7.92129522e-01 4.62577338e-01 3.98187174e-01 1.41527395e+02] [-4.17114983e-01 8.86546660e-01 -2.00125236e-01 1.01767133e+02] [-4.45584909e-01 -7.56472856e-03 8.95207721e-01 1.68310560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:101.77, Z:16.80 [[ 7.91208322e-01 4.73981506e-01 3.86433596e-01 1.41554992e+02] [-4.16431631e-01 8.80334105e-01 -2.27148763e-01 1.01769525e+02] [-4.47854986e-01 1.87988188e-02 8.93908561e-01 1.68022717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:101.75, Z:16.79 [[ 7.92013816e-01 4.66397325e-01 3.93938638e-01 1.41578997e+02] [-4.15570741e-01 8.84566254e-01 -2.11762844e-01 1.01748277e+02] [-4.47230449e-01 4.00972662e-03 8.94409776e-01 1.67944105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.591858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.60, Y:101.73, Z:16.79 [[ 7.92665624e-01 4.63677123e-01 3.95834227e-01 1.41604732e+02] [-4.16466075e-01 8.85998284e-01 -2.03870176e-01 1.01729201e+02] [-4.45238383e-01 -3.25064679e-03 8.95406174e-01 1.67850613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:101.73, Z:16.77 [[ 7.92494429e-01 4.69145745e-01 3.89685579e-01 1.41629456e+02] [-4.15478944e-01 8.83052397e-01 -2.18164413e-01 1.01726096e+02] [-4.46463691e-01 1.09879288e-02 8.94734283e-01 1.67650575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.651858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:101.70, Z:16.76 [[ 7.93164452e-01 4.64167715e-01 3.94256877e-01 1.41655450e+02] [-4.15800087e-01 8.85747280e-01 -2.06305706e-01 1.01703996e+02] [-4.44972405e-01 -2.97691252e-04 8.95544231e-01 1.67553585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:101.70, Z:16.74 [[ 7.93645056e-01 4.67231740e-01 3.89643460e-01 1.41681283e+02] [-4.13963713e-01 8.84068123e-01 -2.16927633e-01 1.01698374e+02] [-4.45826837e-01 1.08652898e-02 8.95053281e-01 1.67358146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:101.69, Z:16.72 [[ 7.93533040e-01 4.66666794e-01 3.90547587e-01 1.41705755e+02] [-4.11803440e-01 8.84326792e-01 -2.19963752e-01 1.01688455e+02] [-4.48021474e-01 1.37196651e-02 8.93917519e-01 1.67183455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:101.68, Z:16.70 [[ 7.93876636e-01 4.63666283e-01 3.93412589e-01 1.41730196e+02] [-4.08370361e-01 8.85898908e-01 -2.20038117e-01 1.01677103e+02] [-4.50548039e-01 1.40250786e-02 8.92642012e-01 1.67017937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:101.64, Z:16.70 [[ 7.94786936e-01 4.52670080e-01 4.04232019e-01 1.41755579e+02] [-4.10956385e-01 8.91555073e-01 -1.90379625e-01 1.01642356e+02] [-4.46574267e-01 -1.48104904e-02 8.94623984e-01 1.67029901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:101.65, Z:16.67 [[ 7.94882579e-01 4.65814309e-01 3.88817072e-01 1.41783101e+02] [-4.07801596e-01 8.84629056e-01 -2.26117869e-01 1.01651924e+02] [-4.49287818e-01 2.11769326e-02 8.93136044e-01 1.66715056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:101.62, Z:16.67 [[ 7.95836082e-01 4.53366470e-01 4.01377347e-01 1.41807477e+02] [-4.09030243e-01 8.91284488e-01 -1.95719755e-01 1.01618043e+02] [-4.46474178e-01 -8.41463106e-03 8.94756952e-01 1.66717702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.861858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:141.84, Y:101.61, Z:16.65 [[ 7.97367183e-01 4.58595037e-01 3.92296020e-01 1.41835490e+02] [-4.07108715e-01 8.88602004e-01 -2.11303035e-01 1.01614279e+02] [-4.45497552e-01 8.77897779e-03 8.95240113e-01 1.66509938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.891858064 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:141.86, Y:101.60, Z:16.64 [[ 7.97939797e-01 4.58155784e-01 3.91644428e-01 1.41861356e+02] [-4.06725157e-01 8.88824742e-01 -2.11104771e-01 1.01600629e+02] [-4.44822129e-01 9.15725660e-03 8.95572118e-01 1.66363195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.921858064 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:141.89, Y:101.60, Z:16.61 [[ 7.97849955e-01 4.63523403e-01 3.85462716e-01 1.41886258e+02] [-4.03260968e-01 8.85632701e-01 -2.30293968e-01 1.01602642e+02] [-4.48125029e-01 2.82979640e-02 8.93522906e-01 1.66102825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.951858064 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:141.91, Y:101.57, Z:16.61 [[ 7.99021935e-01 4.48855314e-01 4.00116051e-01 1.41909302e+02] [-4.04543462e-01 8.93581526e-01 -1.94567841e-01 1.01567810e+02] [-4.44869121e-01 -6.40035929e-03 8.95572722e-01 1.66122843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.981858064 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:141.94, Y:101.55, Z:16.60 [[ 7.98401998e-01 4.52101474e-01 3.97691473e-01 1.41935895e+02] [-4.06510971e-01 8.91958941e-01 -1.97884002e-01 1.01554024e+02] [-4.44188114e-01 -3.67496448e-03 8.95926009e-01 1.65992274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.011858064 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:141.96, Y:101.55, Z:16.58 [[ 7.99415925e-01 4.60612540e-01 3.85707489e-01 1.41964110e+02] [-4.07330580e-01 8.87470584e-01 -2.15587017e-01 1.01552100e+02] [-4.41606133e-01 1.52332392e-02 8.97079691e-01 1.65775822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.041858064 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:141.99, Y:101.53, Z:16.57 [[ 8.00420239e-01 4.51942191e-01 3.93796517e-01 1.41989116e+02] [-4.08228458e-01 8.92030352e-01 -1.93988084e-01 1.01528460e+02] [-4.38949846e-01 -5.48695659e-03 8.98494812e-01 1.65732352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.071858064 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:142.02, Y:101.54, Z:16.54 [[ 7.99606598e-01 4.64670327e-01 3.80408695e-01 1.42015068e+02] [-4.04901237e-01 8.84981621e-01 -2.29918505e-01 1.01540791e+02] [-4.43491010e-01 2.98164026e-02 8.95782734e-01 1.65408911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101858064 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:142.04, Y:101.51, Z:16.53 [[ 7.99411720e-01 4.54529512e-01 3.92866166e-01 1.42038234e+02] [-4.05147099e-01 8.90714050e-01 -2.06117222e-01 1.01513371e+02] [-4.43617774e-01 5.60393507e-03 8.96198564e-01 1.65341932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.131858064 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:142.07, Y:101.48, Z:16.53 [[ 8.00481228e-01 4.47229735e-01 3.99018004e-01 1.42066036e+02] [-4.09182366e-01 8.94236881e-01 -1.81411666e-01 1.01482431e+02] [-4.37949306e-01 -1.80544975e-02 8.98818358e-01 1.65344043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161858064 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:142.09, Y:101.50, Z:16.50 [[ 7.99195918e-01 4.66795715e-01 3.78665612e-01 1.42094377e+02] [-4.08683514e-01 8.83959742e-01 -2.27140837e-01 1.01496468e+02] [-4.40753527e-01 2.67756366e-02 8.97228730e-01 1.64992373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.191858064 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:142.12, Y:101.47, Z:16.49 [[ 7.99325106e-01 4.58842674e-01 3.87998422e-01 1.42118654e+02] [-4.07759784e-01 8.88459385e-01 -2.10646340e-01 1.01473494e+02] [-4.41374369e-01 1.01647556e-02 8.97265481e-01 1.64900644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221858064 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:142.14, Y:101.46, Z:16.48 [[ 8.00113639e-01 4.57462993e-01 3.88002287e-01 1.42144963e+02] [-4.06150983e-01 8.89159677e-01 -2.10799546e-01 1.01460901e+02] [-4.41428979e-01 1.10760820e-02 8.97227829e-01 1.64754778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.251858064 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:142.17, Y:101.45, Z:16.46 [[ 7.99538583e-01 4.57010758e-01 3.89716848e-01 1.42169103e+02] [-4.06398574e-01 8.89416544e-01 -2.09232908e-01 1.01447051e+02] [-4.42242302e-01 8.90941123e-03 8.96851364e-01 1.64628618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281858064 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:142.20, Y:101.43, Z:16.45 [[ 8.00544156e-01 4.56378097e-01 3.88391667e-01 1.42195554e+02] [-4.04617760e-01 8.89703296e-01 -2.11453337e-01 1.01434221e+02] [-4.42056018e-01 1.21275670e-02 8.96905457e-01 1.64464799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.311858064 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:142.22, Y:101.42, Z:16.43 [[ 8.00264908e-01 4.53152390e-01 3.92719988e-01 1.42221207e+02] [-4.02971439e-01 8.91399535e-01 -2.07414776e-01 1.01418385e+02] [-4.44060916e-01 7.73182855e-03 8.95963237e-01 1.64339354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341858064 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:142.25, Y:101.41, Z:16.42 [[ 8.00534250e-01 4.58001988e-01 3.86495916e-01 1.42247645e+02] [-4.03514153e-01 8.88767045e-01 -2.17415426e-01 1.01411933e+02] [-4.43081531e-01 1.80919229e-02 8.96298744e-01 1.64153091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.371858064 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:142.27, Y:101.39, Z:16.41 [[ 7.98803681e-01 4.53663035e-01 3.95098127e-01 1.42270880e+02] [-4.04102453e-01 8.91158766e-01 -2.06245632e-01 1.01392321e+02] [-4.45661179e-01 5.08964759e-03 8.95187248e-01 1.64056508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401858064 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:142.30, Y:101.39, Z:16.39 [[ 7.99662334e-01 4.59224064e-01 3.86850631e-01 1.42298010e+02] [-4.04469746e-01 8.88137570e-01 -2.18210638e-01 1.01386405e+02] [-4.43784155e-01 1.80254516e-02 8.95952402e-01 1.63859345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43185806399998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:142.32, Y:101.37, Z:16.37 [[ 7.98606875e-01 4.58492967e-01 3.89886212e-01 1.42323865e+02] [-4.06338540e-01 8.88624571e-01 -2.12686067e-01 1.01370131e+02] [-4.43977534e-01 1.14267611e-02 8.95965054e-01 1.63728945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46185806399998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:142.35, Y:101.36, Z:16.36 [[ 7.98536515e-01 4.58672204e-01 3.89819500e-01 1.42350079e+02] [-4.06478368e-01 8.88531357e-01 -2.12808278e-01 1.01355807e+02] [-4.43976092e-01 1.14819858e-02 8.95965063e-01 1.63578288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49185806399998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:142.38, Y:101.34, Z:16.34 [[ 7.98019974e-01 4.59887672e-01 3.89445053e-01 1.42376259e+02] [-4.07894035e-01 8.87910450e-01 -2.12691064e-01 1.01342382e+02] [-4.43606331e-01 1.08794029e-02 8.96155713e-01 1.63426615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52185806399999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:142.40, Y:101.33, Z:16.33 [[ 7.97162945e-01 4.61334976e-01 3.89488483e-01 1.42401886e+02] [-4.09413826e-01 8.87167026e-01 -2.12873170e-01 1.01329226e+02] [-4.43747178e-01 1.02326329e-02 8.96093597e-01 1.63275915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.551858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:142.43, Y:101.32, Z:16.31 [[ 7.96578848e-01 4.62526396e-01 3.89270436e-01 1.42427517e+02] [-4.10723207e-01 8.86552241e-01 -2.12912122e-01 1.01316460e+02] [-4.43586054e-01 9.71889066e-03 8.96179087e-01 1.63131074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.581858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:142.45, Y:101.30, Z:16.30 [[ 7.95341226e-01 4.64488657e-01 3.89464533e-01 1.42454148e+02] [-4.12779874e-01 8.85535582e-01 -2.13165449e-01 1.01303773e+02] [-4.43897635e-01 8.77614877e-03 8.96034524e-01 1.62975322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.48, Y:101.29, Z:16.28 [[ 7.95080988e-01 4.65129723e-01 3.89230733e-01 1.42479714e+02] [-4.13480163e-01 8.85201046e-01 -2.13197710e-01 1.01290240e+02] [-4.43712044e-01 8.57025907e-03 8.96128436e-01 1.62825441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.641858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:142.50, Y:101.28, Z:16.27 [[ 7.95006941e-01 4.65737915e-01 3.88654292e-01 1.42504510e+02] [-4.14240901e-01 8.84883098e-01 -2.13040791e-01 1.01276390e+02] [-4.43134788e-01 8.37240389e-03 8.96415898e-01 1.62683025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:101.26, Z:16.25 [[ 7.94750373e-01 4.66393393e-01 3.88392903e-01 1.42530847e+02] [-4.14970927e-01 8.84539906e-01 -2.13045263e-01 1.01261762e+02] [-4.42911925e-01 8.14603880e-03 8.96528119e-01 1.62538458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.701858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.56, Y:101.25, Z:16.24 [[ 7.93854525e-01 4.67274699e-01 3.89164939e-01 1.42556294e+02] [-4.15797505e-01 8.84079954e-01 -2.13342609e-01 1.01248319e+02] [-4.43742525e-01 7.54918520e-03 8.96122526e-01 1.62396880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.731858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.58, Y:101.23, Z:16.22 [[ 7.93578123e-01 4.66748397e-01 3.90358421e-01 1.42582256e+02] [-4.15320869e-01 8.84362546e-01 -2.13099654e-01 1.01234550e+02] [-4.44682289e-01 6.98722481e-03 8.95661119e-01 1.62248650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.61, Y:101.22, Z:16.21 [[ 7.92958077e-01 4.67777571e-01 3.90386516e-01 1.42608732e+02] [-4.15747061e-01 8.83811567e-01 -2.14549516e-01 1.01221756e+02] [-4.45389570e-01 7.82672510e-03 8.95302671e-01 1.62097059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:101.21, Z:16.19 [[ 7.92332893e-01 4.69041604e-01 3.90139154e-01 1.42635168e+02] [-4.16430192e-01 8.83133337e-01 -2.16012511e-01 1.01209198e+02] [-4.45863748e-01 8.68809492e-03 8.95058677e-01 1.61938721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:101.20, Z:16.18 [[ 7.91732800e-01 4.69654899e-01 3.90619314e-01 1.42659025e+02] [-4.17654536e-01 8.82822229e-01 -2.14917661e-01 1.01195592e+02] [-4.45784546e-01 7.01343355e-03 8.95112814e-01 1.61803222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.851858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.68, Y:101.18, Z:16.17 [[ 7.90904219e-01 4.68243450e-01 3.93977903e-01 1.42683077e+02] [-4.18208433e-01 8.83597648e-01 -2.10610788e-01 1.01179160e+02] [-4.46735070e-01 1.80807994e-03 8.94664467e-01 1.61676977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.71, Y:101.17, Z:16.15 [[ 7.91681173e-01 4.70237047e-01 3.90023127e-01 1.42709623e+02] [-4.17859196e-01 8.82504911e-01 -2.15821164e-01 1.01167753e+02] [-4.45684432e-01 7.88680173e-03 8.95155397e-01 1.61502238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:101.15, Z:16.14 [[ 7.91363977e-01 4.70786343e-01 3.90004199e-01 1.42735276e+02] [-4.18863328e-01 8.82220958e-01 -2.15034171e-01 1.01152833e+02] [-4.45305029e-01 6.81183971e-03 8.95353020e-01 1.61350837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.76, Y:101.14, Z:16.12 [[ 7.90992641e-01 4.71314072e-01 3.90120094e-01 1.42760828e+02] [-4.19340749e-01 8.81940207e-01 -2.15255214e-01 1.01139098e+02] [-4.45515408e-01 6.67203783e-03 8.95249410e-01 1.61204217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.971858064 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:142.79, Y:101.13, Z:16.11 [[ 7.90512597e-01 4.71909600e-01 3.90373108e-01 1.42785764e+02] [-4.19855236e-01 8.81623010e-01 -2.15551501e-01 1.01125774e+02] [-4.45882737e-01 6.49598353e-03 8.95067811e-01 1.61062813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001858064 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:142.81, Y:101.11, Z:16.09 [[ 7.90282260e-01 4.72314874e-01 3.90349343e-01 1.42811511e+02] [-4.20265788e-01 8.81406934e-01 -2.15635072e-01 1.01111349e+02] [-4.45904270e-01 6.36209770e-03 8.95058046e-01 1.60914499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.031858064 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:142.84, Y:101.10, Z:16.08 [[ 7.90104409e-01 4.72344028e-01 3.90673958e-01 1.42836176e+02] [-4.20426425e-01 8.81394408e-01 -2.15372976e-01 1.01098833e+02] [-4.46067982e-01 5.91748281e-03 8.94979519e-01 1.60777080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.86, Y:101.08, Z:16.06 [[ 7.89464193e-01 4.72268471e-01 3.92057114e-01 1.42861812e+02] [-4.20740544e-01 8.81443624e-01 -2.14556592e-01 1.01081685e+02] [-4.46904557e-01 4.43042304e-03 8.94570673e-01 1.60627872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.091858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:142.89, Y:101.07, Z:16.05 [[ 7.88596639e-01 4.74152207e-01 3.91529087e-01 1.42887677e+02] [-4.21731544e-01 8.80423536e-01 -2.16787687e-01 1.01068204e+02] [-4.47501784e-01 5.83787532e-03 8.94263984e-01 1.60478027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121858064 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:142.91, Y:101.06, Z:16.03 [[ 7.87727831e-01 4.75689819e-01 3.91412902e-01 1.42913270e+02] [-4.22687099e-01 8.79588906e-01 -2.18309351e-01 1.01055825e+02] [-4.48129982e-01 6.52316748e-03 8.93944611e-01 1.60319623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.151858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:142.94, Y:101.04, Z:16.02 [[ 7.87185233e-01 4.75435411e-01 3.92811123e-01 1.42937634e+02] [-4.23803427e-01 8.79744946e-01 -2.15498228e-01 1.01039891e+02] [-4.48029089e-01 3.16232292e-03 8.94013387e-01 1.60192736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18185806399998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:142.96, Y:101.03, Z:16.00 [[ 7.86030314e-01 4.78151609e-01 3.91825706e-01 1.42963746e+02] [-4.25885350e-01 8.78268125e-01 -2.17409221e-01 1.01026997e+02] [-4.48082597e-01 4.01741051e-03 8.93983135e-01 1.60036299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21185806399998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:142.99, Y:101.01, Z:15.99 [[ 7.84783495e-01 4.78912432e-01 3.93392614e-01 1.42987248e+02] [-4.27327329e-01 8.77861260e-01 -2.16219707e-01 1.01012384e+02] [-4.48894442e-01 1.57824222e-03 8.93583398e-01 1.59903167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24185806399998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:143.01, Y:101.00, Z:15.97 [[ 7.85139617e-01 4.79315481e-01 3.92189307e-01 1.43013460e+02] [-4.27012591e-01 8.77635716e-01 -2.17751687e-01 1.00998326e+02] [-4.48571098e-01 3.49570453e-03 8.93740315e-01 1.59748941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27185806399999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:143.04, Y:100.98, Z:15.96 [[ 7.85351064e-01 4.79277725e-01 3.91811905e-01 1.43037762e+02] [-4.26877814e-01 8.77654617e-01 -2.17939683e-01 1.00983897e+02] [-4.48329162e-01 3.90335314e-03 8.93860015e-01 1.59602644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.301858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:143.06, Y:100.97, Z:15.94 [[ 7.85699702e-01 4.79600138e-01 3.90716887e-01 1.43063791e+02] [-4.26974775e-01 8.77473857e-01 -2.18476938e-01 1.00968198e+02] [-4.47625424e-01 4.83101033e-03 8.94208109e-01 1.59443771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.331858064 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:143.09, Y:100.95, Z:15.93 [[ 7.86504515e-01 4.78551879e-01 3.90382820e-01 1.43088295e+02] [-4.26044917e-01 8.78044250e-01 -2.18000052e-01 1.00954220e+02] [-4.47097725e-01 5.13740917e-03 8.94470364e-01 1.59306448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.361858064 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:143.11, Y:100.94, Z:15.92 [[ 7.87954380e-01 4.76904140e-01 3.89474436e-01 1.43112980e+02] [-4.24714188e-01 8.78937689e-01 -2.16994004e-01 1.00937413e+02] [-4.45809099e-01 5.56605745e-03 8.95110756e-01 1.59161680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.391858064 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:143.14, Y:100.92, Z:15.90 [[ 7.87500051e-01 4.77138742e-01 3.90105487e-01 1.43135455e+02] [-4.25403553e-01 8.78817713e-01 -2.16127844e-01 1.00922899e+02] [-4.45954579e-01 4.24842760e-03 8.95045509e-01 1.59026808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.421858064 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:143.16, Y:100.91, Z:15.89 [[ 7.89255057e-01 4.74597244e-01 3.89658710e-01 1.43161621e+02] [-4.23025258e-01 8.80188739e-01 -2.15214811e-01 1.00907108e+02] [-4.45113565e-01 5.02390201e-03 8.95460035e-01 1.58882667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.451858064 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:143.19, Y:100.89, Z:15.87 [[ 7.90662712e-01 4.73351896e-01 3.88317471e-01 1.43186767e+02] [-4.20898694e-01 8.80837882e-01 -2.16723133e-01 1.00891259e+02] [-4.44631045e-01 7.91258330e-03 8.95678863e-01 1.58735217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.481858064 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:143.21, Y:100.88, Z:15.86 [[ 7.91335221e-01 4.72525091e-01 3.87954387e-01 1.43211665e+02] [-4.20004299e-01 8.81276017e-01 -2.16677112e-01 1.00876076e+02] [-4.44280269e-01 8.52172006e-03 8.95847321e-01 1.58588688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.511858064 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:143.24, Y:100.86, Z:15.84 [[ 7.92016428e-01 4.71835276e-01 3.87403472e-01 1.43236580e+02] [-4.19317576e-01 8.81640309e-01 -2.16525139e-01 1.00860852e+02] [-4.43714716e-01 9.04638187e-03 8.96122432e-01 1.58445913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.541858064 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:143.26, Y:100.85, Z:15.83 [[ 7.91548344e-01 4.72463356e-01 3.87594629e-01 1.43257538e+02] [-4.20410696e-01 8.81315727e-01 -2.15725373e-01 1.00846979e+02] [-4.43515576e-01 7.80813420e-03 8.96232652e-01 1.58322778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.571858064 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:143.28, Y:100.83, Z:15.82 [[ 7.94029451e-01 4.67889080e-01 3.88068345e-01 1.43283582e+02] [-4.16720009e-01 8.83756901e-01 -2.12880655e-01 1.00827017e+02] [-4.42562612e-01 7.31766573e-03 8.96707749e-01 1.58175540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601858064 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:143.31, Y:100.81, Z:15.80 [[ 7.94539282e-01 4.68557391e-01 3.86214062e-01 1.43309043e+02] [-4.15866017e-01 8.83362884e-01 -2.16160751e-01 1.00813606e+02] [-4.42450885e-01 1.11349048e-02 8.96723608e-01 1.58013612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.631858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:143.33, Y:100.80, Z:15.79 [[ 7.93795870e-01 4.66425712e-01 3.90301386e-01 1.43330859e+02] [-4.15846527e-01 8.84543672e-01 -2.11315305e-01 1.00796250e+02] [-4.43801513e-01 5.43574045e-03 8.96108626e-01 1.57894388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:143.36, Y:100.79, Z:15.77 [[ 7.95340941e-01 4.69241854e-01 3.83724994e-01 1.43358004e+02] [-4.14910288e-01 8.82932865e-01 -2.19724848e-01 1.00785475e+02] [-4.41907503e-01 1.55447198e-02 8.96925928e-01 1.57710848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.691858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:143.38, Y:100.77, Z:15.76 [[ 7.95860191e-01 4.66730490e-01 3.85706113e-01 1.43381307e+02] [-4.13726486e-01 8.84309198e-01 -2.16396945e-01 1.00767081e+02] [-4.42082515e-01 1.26448789e-02 8.96885253e-01 1.57580744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:100.75, Z:15.74 [[ 7.95930585e-01 4.66667569e-01 3.85636985e-01 1.43406046e+02] [-4.13602416e-01 8.84339799e-01 -2.16509033e-01 1.00751910e+02] [-4.42071878e-01 1.28257726e-02 8.96887927e-01 1.57436329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.751858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:143.43, Y:100.75, Z:15.72 [[ 7.94948726e-01 4.72563800e-01 3.80447078e-01 1.43429645e+02] [-4.10329921e-01 8.80716943e-01 -2.36573501e-01 1.00750818e+02] [-4.46862260e-01 3.19549838e-02 8.94031878e-01 1.57153206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:143.45, Y:100.73, Z:15.71 [[ 7.94403944e-01 4.65486577e-01 3.90185367e-01 1.43451368e+02] [-4.09955771e-01 8.84916811e-01 -2.21039597e-01 1.00726985e+02] [-4.48172556e-01 1.56359852e-02 8.93810313e-01 1.57058823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.47, Y:100.69, Z:15.71 [[ 7.94725552e-01 4.56487803e-01 4.00037727e-01 1.43474691e+02] [-4.14383219e-01 8.89631362e-01 -1.91944231e-01 1.00691963e+02] [-4.43506308e-01 -1.32259365e-02 8.96173660e-01 1.57112207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.50, Y:100.69, Z:15.69 [[ 7.94468092e-01 4.68240478e-01 3.86744497e-01 1.43500397e+02] [-4.15805138e-01 8.83539373e-01 -2.15555708e-01 1.00691309e+02] [-4.42635898e-01 1.04417835e-02 8.96640637e-01 1.56884515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.52, Y:100.67, Z:15.68 [[ 7.93528091e-01 4.64857194e-01 3.92709763e-01 1.43523098e+02] [-4.15450122e-01 8.85382554e-01 -2.08563972e-01 1.00671212e+02] [-4.44650835e-01 2.35005144e-03 8.95700906e-01 1.56765487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:143.55, Y:100.66, Z:15.66 [[ 7.94060377e-01 4.68969569e-01 3.86698411e-01 1.43551009e+02] [-4.17595278e-01 8.83177141e-01 -2.13570414e-01 1.00655885e+02] [-4.41681222e-01 8.10437298e-03 8.97135451e-01 1.56581802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93185806399998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:143.57, Y:100.65, Z:15.64 [[ 7.93300263e-01 4.75113790e-01 3.80711937e-01 1.43574026e+02] [-4.17650225e-01 8.79662075e-01 -2.27514664e-01 1.00653047e+02] [-4.42993207e-01 2.14830171e-02 8.96267538e-01 1.56401909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:143.60, Y:100.63, Z:15.63 [[ 7.92031659e-01 4.70948400e-01 3.88450068e-01 1.43598343e+02] [-4.18791326e-01 8.82123936e-01 -2.15571768e-01 1.00629287e+02] [-4.44184283e-01 8.06014579e-03 8.95899189e-01 1.56296475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99185806399998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:143.62, Y:100.62, Z:15.61 [[ 7.91259079e-01 4.74337057e-01 3.85893023e-01 1.43623452e+02] [-4.20658292e-01 8.80270340e-01 -2.19478312e-01 1.00616655e+02] [-4.43796880e-01 1.13351072e-02 8.96055715e-01 1.56135084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.65, Y:100.60, Z:15.60 [[ 7.90529714e-01 4.74773467e-01 3.86850005e-01 1.43647863e+02] [-4.21882744e-01 8.80060985e-01 -2.17962411e-01 1.00600855e+02] [-4.43934366e-01 9.10042110e-03 8.96013092e-01 1.55993871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.051858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:143.67, Y:100.58, Z:15.59 [[ 7.88967763e-01 4.75545623e-01 3.89083833e-01 1.43672338e+02] [-4.23707924e-01 8.79673610e-01 -2.15976698e-01 1.00583866e+02] [-4.44973554e-01 5.54074928e-03 8.95526569e-01 1.55853161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:100.57, Z:15.57 [[ 7.88777854e-01 4.78240982e-01 3.86154193e-01 1.43698214e+02] [-4.24745425e-01 8.78177192e-01 -2.19991236e-01 1.00571474e+02] [-4.44320629e-01 9.50698839e-03 8.95817390e-01 1.55688010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.72, Y:100.56, Z:15.56 [[ 7.87966138e-01 4.78860276e-01 3.87042895e-01 1.43721268e+02] [-4.26431753e-01 8.77865560e-01 -2.17963342e-01 1.00555828e+02] [-4.44145614e-01 6.70035318e-03 8.95929561e-01 1.55556533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.141858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:143.75, Y:100.54, Z:15.54 [[ 7.87114567e-01 4.80801980e-01 3.86367849e-01 1.43746118e+02] [-4.28295015e-01 8.76804608e-01 -2.18579642e-01 1.00540753e+02] [-4.43862635e-01 6.56779635e-03 8.96070770e-01 1.55404175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.77, Y:100.53, Z:15.53 [[ 7.86549660e-01 4.81708176e-01 3.86389527e-01 1.43770653e+02] [-4.29214188e-01 8.76309595e-01 -2.18761682e-01 1.00526427e+02] [-4.43976141e-01 6.22305903e-03 8.96016998e-01 1.55261680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.201858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.79, Y:100.51, Z:15.51 [[ 7.85968603e-01 4.82477430e-01 3.86612061e-01 1.43794914e+02] [-4.29932838e-01 8.75888265e-01 -2.19037673e-01 1.00512094e+02] [-4.44309701e-01 5.93951360e-03 8.95853566e-01 1.55116143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.231858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:143.82, Y:100.50, Z:15.50 [[ 7.85619051e-01 4.82619280e-01 3.87145111e-01 1.43819678e+02] [-4.29864552e-01 8.75809617e-01 -2.19485723e-01 1.00496322e+02] [-4.44993453e-01 6.01220609e-03 8.95513640e-01 1.54962017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.261858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:143.85, Y:100.48, Z:15.48 [[ 7.85606389e-01 4.84547202e-01 3.84755260e-01 1.43845206e+02] [-4.28919552e-01 8.74678263e-01 -2.25756406e-01 1.00484723e+02] [-4.45926698e-01 1.23266214e-02 8.94984600e-01 1.54767771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.87, Y:100.46, Z:15.47 [[ 7.85775777e-01 4.80099755e-01 3.89949553e-01 1.43868677e+02] [-4.29545184e-01 8.77213322e-01 -2.14447483e-01 1.00463070e+02] [-4.45025126e-01 1.00668507e-03 8.95517517e-01 1.54706123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:100.45, Z:15.46 [[ 7.86424661e-01 4.79828677e-01 3.88973898e-01 1.43894499e+02] [-4.29335157e-01 8.77360920e-01 -2.14264181e-01 1.00446250e+02] [-4.44080596e-01 1.50246639e-03 8.95985584e-01 1.54558625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.92, Y:100.44, Z:15.44 [[ 7.86616843e-01 4.84324317e-01 3.82967229e-01 1.43917820e+02] [-4.28369253e-01 8.74775606e-01 -2.26423104e-01 1.00438471e+02] [-4.44672605e-01 1.40568413e-02 8.95582871e-01 1.54373697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.94, Y:100.42, Z:15.42 [[ 7.86480560e-01 4.81509377e-01 3.86777777e-01 1.43942921e+02] [-4.28503324e-01 8.76412285e-01 -2.19741682e-01 1.00419537e+02] [-4.44784476e-01 7.08699805e-03 8.95609594e-01 1.54249682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:100.41, Z:15.41 [[ 7.85910574e-01 4.82771624e-01 3.86362692e-01 1.43966467e+02] [-4.27812927e-01 8.75680622e-01 -2.23963272e-01 1.00405768e+02] [-4.46453435e-01 1.07241494e-02 8.94742602e-01 1.54067489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:143.99, Y:100.39, Z:15.40 [[ 7.87631690e-01 4.78416898e-01 3.88269999e-01 1.43991689e+02] [-4.26424699e-01 8.78116723e-01 -2.16963125e-01 1.00387555e+02] [-4.44745204e-01 5.31911546e-03 8.95641340e-01 1.53978076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:100.38, Z:15.38 [[ 7.87812679e-01 4.81969618e-01 3.83479426e-01 1.44017772e+02] [-4.25610050e-01 8.76053030e-01 -2.26687390e-01 1.00376354e+02] [-4.45204748e-01 1.53745022e-02 8.95296798e-01 1.53760445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:100.36, Z:15.37 [[ 7.89416409e-01 4.75908667e-01 3.87727578e-01 1.44040350e+02] [-4.23713988e-01 8.79467950e-01 -2.16800788e-01 1.00357646e+02] [-4.44171352e-01 6.86050127e-03 8.95915589e-01 1.53693581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:100.35, Z:15.35 [[ 7.89123818e-01 4.77655548e-01 3.86171954e-01 1.44063379e+02] [-4.22918901e-01 8.78463225e-01 -2.22355495e-01 1.00345948e+02] [-4.45447196e-01 1.21465992e-02 8.95225813e-01 1.53505609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:100.33, Z:15.34 [[ 7.89867785e-01 4.75985234e-01 3.86712994e-01 1.44089187e+02] [-4.22966729e-01 8.79407017e-01 -2.18500447e-01 1.00328545e+02] [-4.44081107e-01 9.01973377e-03 8.95941190e-01 1.53400414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:144.11, Y:100.31, Z:15.32 [[ 7.89819045e-01 4.76442413e-01 3.86249276e-01 1.44114516e+02] [-4.22449510e-01 8.79136263e-01 -2.20580694e-01 1.00314893e+02] [-4.44659743e-01 1.10480154e-02 8.95631428e-01 1.53246993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:100.30, Z:15.31 [[ 7.89450632e-01 4.76731921e-01 3.86645023e-01 1.44139158e+02] [-4.22575509e-01 8.78979227e-01 -2.20964833e-01 1.00300584e+02] [-4.45193933e-01 1.10541096e-02 8.95365941e-01 1.53105741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.651858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:144.16, Y:100.29, Z:15.30 [[ 7.89149267e-01 4.77065082e-01 3.86849249e-01 1.44163844e+02] [-4.22837306e-01 8.78799519e-01 -2.21178702e-01 1.00285992e+02] [-4.45479570e-01 1.09687168e-02 8.95224910e-01 1.52962044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:144.19, Y:100.26, Z:15.28 [[ 7.89312521e-01 4.79116798e-01 3.83969839e-01 1.44191701e+02] [-4.25899836e-01 8.77695732e-01 -2.19680524e-01 1.00264423e+02] [-4.42261318e-01 9.86389671e-03 8.96831997e-01 1.52811493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71185806399998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:144.21, Y:100.26, Z:15.26 [[ 7.88322630e-01 4.80889876e-01 3.83786866e-01 1.44214697e+02] [-4.24092633e-01 8.76626979e-01 -2.27311634e-01 1.00260274e+02] [-4.45749785e-01 1.64337222e-02 8.95006739e-01 1.52642571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.24, Y:100.23, Z:15.26 [[ 7.88363272e-01 4.73793583e-01 3.92432150e-01 1.44240869e+02] [-4.26981107e-01 8.80618045e-01 -2.05423935e-01 1.00228606e+02] [-4.42911375e-01 -5.61242774e-03 8.96547832e-01 1.52603900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.27, Y:100.24, Z:15.23 [[ 7.85811362e-01 4.90607536e-01 3.76569712e-01 1.44266466e+02] [-4.29144070e-01 8.70981236e-01 -2.39221767e-01 1.00240102e+02] [-4.45349155e-01 2.63805237e-02 8.94968267e-01 1.52303764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:100.22, Z:15.22 [[ 7.84648494e-01 4.84408770e-01 3.86878385e-01 1.44290069e+02] [-4.30919114e-01 8.74813834e-01 -2.21380835e-01 1.00215328e+02] [-4.45685380e-01 6.99284776e-03 8.95162355e-01 1.52222557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.831858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:144.32, Y:100.21, Z:15.20 [[ 7.84808793e-01 4.91147866e-01 3.77953611e-01 1.44317756e+02] [-4.33727624e-01 8.70901478e-01 -2.31108121e-01 1.00207543e+02] [-4.42668619e-01 1.74467638e-02 8.96515535e-01 1.52030899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.861858064 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:144.34, Y:100.18, Z:15.20 [[ 7.82355067e-01 4.84860561e-01 3.90935782e-01 1.44340454e+02] [-4.35479435e-01 8.74584714e-01 -2.13211727e-01 1.00183654e+02] [-4.45284416e-01 -3.43721862e-03 8.95382586e-01 1.51957281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.891858064 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:145.08, Y:100.24, Z:16.18 [[ 8.09687451e-01 -5.86480962e-01 -2.11261365e-02 1.45084062e+02] [-4.06689984e-01 -5.86695896e-01 7.00279360e-01 1.00239815e+02] [-4.23095130e-01 -5.58415622e-01 -7.13556237e-01 1.61764900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.921858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:145.13, Y:100.91, Z:15.34 [[ 0.79969002 0.25655294 -0.54284111 145.13024736] [ -0.38015843 -0.48344805 -0.78851604 100.910812 ] [ -0.46473158 0.83693403 -0.28907781 15.34327964] [ 0. 0. 0. 1. ]] SLAMing on 229.951858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:144.61, Y:100.07, Z:15.05 [[ 8.03024870e-01 4.17417277e-01 4.25339718e-01 1.44605000e+02] [-3.67848772e-01 9.08712773e-01 -1.97302757e-01 1.00065288e+02] [-4.68869214e-01 1.97832802e-03 8.83265389e-01 1.50545792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.63, Y:100.05, Z:15.04 [[ 8.02740981e-01 4.18314714e-01 4.24993786e-01 1.44630271e+02] [-3.68128021e-01 9.08297047e-01 -1.98691306e-01 1.00054003e+02] [-4.69136097e-01 3.04553291e-03 8.83120630e-01 1.50389656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:100.04, Z:15.02 [[ 8.02724264e-01 4.18355621e-01 4.24985094e-01 1.44656386e+02] [-3.68097546e-01 9.08277765e-01 -1.98835859e-01 1.00041805e+02] [-4.69188610e-01 3.17439856e-03 8.83092278e-01 1.50234231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:100.03, Z:15.01 [[ 8.02473226e-01 4.18399163e-01 4.25416104e-01 1.44682564e+02] [-3.67954931e-01 9.08257211e-01 -1.99193391e-01 1.00029554e+02] [-4.69729592e-01 3.31341002e-03 8.82804130e-01 1.50074637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:100.02, Z:14.99 [[ 8.02465098e-01 4.17768473e-01 4.26050783e-01 1.44707931e+02] [-3.66996814e-01 9.08545365e-01 -1.99646333e-01 1.00017822e+02] [-4.70492408e-01 3.84993403e-03 8.82395644e-01 1.49916483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.73, Y:100.01, Z:14.98 [[ 8.02569575e-01 4.17622195e-01 4.25997395e-01 1.44733857e+02] [-3.66767574e-01 9.08611590e-01 -1.99766176e-01 1.00005654e+02] [-4.70492959e-01 4.08422411e-03 8.82394297e-01 1.49762616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.76, Y:99.99, Z:14.96 [[ 8.02545666e-01 4.17303771e-01 4.26354332e-01 1.44760099e+02] [-3.66228171e-01 9.08756187e-01 -2.00097774e-01 9.99936165e+01] [-4.70953693e-01 4.44463392e-03 8.82146736e-01 1.49601836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.79, Y:99.98, Z:14.95 [[ 8.02509820e-01 4.17218825e-01 4.26504914e-01 1.44785112e+02] [-3.66005278e-01 9.08794078e-01 -2.00333373e-01 9.99819970e+01] [-4.71187995e-01 4.66644989e-03 8.82020463e-01 1.49450807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:99.97, Z:14.93 [[ 8.02475818e-01 4.17532997e-01 4.26261372e-01 1.44811659e+02] [-3.66341594e-01 9.08649931e-01 -2.00372502e-01 9.99695647e+01] [-4.70984498e-01 4.63681681e-03 8.82129301e-01 1.49296335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:144.84, Y:99.96, Z:14.91 [[ 8.02517658e-01 4.17841057e-01 4.25880570e-01 1.44837143e+02] [-3.66701280e-01 9.08508404e-01 -2.00356309e-01 9.99578876e+01] [-4.70633169e-01 4.61852604e-03 8.82316887e-01 1.49143085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.251858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:144.86, Y:99.95, Z:14.90 [[ 8.02666403e-01 4.18258577e-01 4.25189850e-01 1.44863705e+02] [-3.67270509e-01 9.08316757e-01 -2.00182521e-01 9.99459088e+01] [-4.69935122e-01 4.52009161e-03 8.82689385e-01 1.48982913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.89, Y:99.93, Z:14.88 [[ 8.02904510e-01 4.18874100e-01 4.24133040e-01 1.44890071e+02] [-3.68150679e-01 9.08034073e-01 -1.99847941e-01 9.99346497e+01] [-4.68838379e-01 4.31394658e-03 8.83273437e-01 1.48814834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.311858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:144.92, Y:99.92, Z:14.87 [[ 8.02781808e-01 4.19295431e-01 4.23948947e-01 1.44916180e+02] [-3.68587829e-01 9.07839977e-01 -1.99923956e-01 9.99227704e+01] [-4.68705004e-01 4.23289300e-03 8.83344611e-01 1.48650139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.94, Y:99.91, Z:14.85 [[ 8.02869583e-01 4.19570615e-01 4.23510250e-01 1.44941758e+02] [-3.68925118e-01 9.07712828e-01 -1.99879164e-01 9.99107299e+01] [-4.68289110e-01 4.23333201e-03 8.83565158e-01 1.48499781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.371858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:144.97, Y:99.90, Z:14.83 [[ 8.02838446e-01 4.19582271e-01 4.23557726e-01 1.44967797e+02] [-3.68846121e-01 9.07706733e-01 -2.00052556e-01 9.98977992e+01] [-4.68404706e-01 4.38225882e-03 8.83503156e-01 1.48346488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.99, Y:99.89, Z:14.82 [[ 8.03331596e-01 4.19175123e-01 4.23025488e-01 1.44994316e+02] [-3.67804069e-01 9.07885541e-01 -2.01156683e-01 9.98853888e+01] [-4.68378602e-01 6.00502375e-03 8.83507456e-01 1.48184881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.02, Y:99.87, Z:14.80 [[ 8.03111444e-01 4.19845713e-01 4.22778413e-01 1.45019249e+02] [-3.68206312e-01 9.07572763e-01 -2.01831096e-01 9.98738450e+01] [-4.68440093e-01 6.42318275e-03 8.83471914e-01 1.48045261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.05, Y:99.86, Z:14.79 [[ 8.03378907e-01 4.18196726e-01 4.23903091e-01 1.45045175e+02] [-3.66980649e-01 9.08339201e-01 -2.00611813e-01 9.98602277e+01] [-4.68942999e-01 5.60306765e-03 8.83210660e-01 1.47899281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:145.07, Y:99.85, Z:14.77 [[ 8.03495467e-01 4.17925876e-01 4.23949285e-01 1.45071358e+02] [-3.66578143e-01 9.08461806e-01 -2.00792461e-01 9.98478841e+01] [-4.69058098e-01 5.92529073e-03 8.83147435e-01 1.47742069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.10, Y:99.84, Z:14.76 [[ 8.04301976e-01 4.18244304e-01 4.22101922e-01 1.45098735e+02] [-3.65737872e-01 9.08290335e-01 -2.03087362e-01 9.98362719e+01] [-4.68331229e-01 8.96490771e-03 8.83507493e-01 1.47572249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.12, Y:99.82, Z:14.74 [[ 8.04072199e-01 4.16661658e-01 4.24100178e-01 1.45122159e+02] [-3.65486936e-01 9.09042265e-01 -2.00153589e-01 9.98230756e+01] [-4.68921313e-01 5.93486186e-03 8.83220006e-01 1.47440573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.15, Y:99.81, Z:14.73 [[ 8.04712589e-01 4.16912932e-01 4.22636080e-01 1.45149417e+02] [-3.64879177e-01 9.08909187e-01 -2.01859545e-01 9.98111350e+01] [-4.68295671e-01 8.22781198e-03 8.83533513e-01 1.47271243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.17, Y:99.80, Z:14.71 [[ 8.05818941e-01 4.16366555e-01 4.21063802e-01 1.45174858e+02] [-3.63746129e-01 9.09138310e-01 -2.02870125e-01 9.98002304e+01] [-4.67273568e-01 1.03162611e-02 8.84052593e-01 1.47113862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.20, Y:99.79, Z:14.70 [[ 8.05442414e-01 4.15816747e-01 4.22325644e-01 1.45198930e+02] [-3.64235081e-01 9.09414439e-01 -2.00744075e-01 9.97872234e+01] [-4.67541787e-01 7.86197711e-03 8.83936008e-01 1.46983593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.671858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:145.23, Y:99.77, Z:14.68 [[ 8.05868249e-01 4.15413431e-01 4.21909998e-01 1.45225061e+02] [-3.63915208e-01 9.09597241e-01 -2.00495840e-01 9.97745048e+01] [-4.67056835e-01 8.03376673e-03 8.84190801e-01 1.46833999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:99.76, Z:14.67 [[ 8.06404588e-01 4.15035444e-01 4.21256715e-01 1.45250473e+02] [-3.63342581e-01 9.09762158e-01 -2.00785918e-01 9.97621499e+01] [-4.66576691e-01 8.85418335e-03 8.84436428e-01 1.46684977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.731858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:145.28, Y:99.75, Z:14.65 [[ 8.06814302e-01 4.13394499e-01 4.22084909e-01 1.45275300e+02] [-3.62139911e-01 9.10515663e-01 -1.99539252e-01 9.97488990e+01] [-4.66803349e-01 8.13733048e-03 8.84323706e-01 1.46543089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.30, Y:99.74, Z:14.64 [[ 8.07183061e-01 4.13714027e-01 4.21065565e-01 1.45301334e+02] [-3.61621722e-01 9.10350190e-01 -2.01226892e-01 9.97373126e+01] [-4.66567505e-01 1.01604837e-02 8.84427232e-01 1.46383909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:99.73, Z:14.62 [[ 8.07395452e-01 4.13035949e-01 4.21323971e-01 1.45326850e+02] [-3.61144119e-01 9.10661275e-01 -2.00676276e-01 9.97252358e+01] [-4.66569940e-01 9.86643822e-03 8.84429276e-01 1.46234352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:99.71, Z:14.61 [[ 8.07479663e-01 4.13021483e-01 4.21176742e-01 1.45353525e+02] [-3.61086402e-01 9.10666082e-01 -2.00758308e-01 9.97129866e+01] [-4.66468868e-01 1.00270565e-02 8.84480782e-01 1.46079801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:99.69, Z:14.61 [[ 8.10106659e-01 4.00139105e-01 4.28504257e-01 1.45381018e+02] [-3.60864977e-01 9.16345722e-01 -1.73456004e-01 9.96852599e+01] [-4.62064573e-01 -1.41143149e-02 8.86733960e-01 1.46115793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:99.70, Z:14.57 [[ 8.07741999e-01 4.24368131e-01 4.09224331e-01 1.45407441e+02] [-3.60577097e-01 9.04795790e-01 -2.26558458e-01 9.97027896e+01] [-4.66408641e-01 3.54438602e-02 8.83858989e-01 1.45681830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.43, Y:99.68, Z:14.56 [[ 8.07076746e-01 4.12802733e-01 4.22162326e-01 1.45430588e+02] [-3.60633977e-01 9.10764719e-01 -2.01123746e-01 9.96761844e+01] [-4.67514984e-01 1.00762198e-02 8.83927718e-01 1.45636268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.46, Y:99.66, Z:14.55 [[ 8.07212419e-01 4.13172215e-01 4.21541019e-01 1.45457445e+02] [-3.60599187e-01 9.10585932e-01 -2.01993780e-01 9.96644377e+01] [-4.67307539e-01 1.10445392e-02 8.84025838e-01 1.45475608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.49, Y:99.62, Z:14.56 [[ 8.09530469e-01 3.96741854e-01 4.32731234e-01 1.45487589e+02] [-3.64587329e-01 9.17473373e-01 -1.59118478e-01 9.96243073e+01] [-4.60148345e-01 -2.89570687e-02 8.87369703e-01 1.45600045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:145.51, Y:99.66, Z:14.50 [[ 8.06928530e-01 4.31541623e-01 4.03284236e-01 1.45513809e+02] [-3.61350070e-01 9.00780690e-01 -2.40873983e-01 9.96642035e+01] [-4.67217802e-01 4.86413020e-02 8.82803234e-01 1.45029540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:99.63, Z:14.50 [[ 8.06364095e-01 4.16074700e-01 4.20307971e-01 1.45535600e+02] [-3.62318041e-01 9.09237575e-01 -2.04969922e-01 9.96319461e+01] [-4.67442600e-01 1.29952249e-02 8.83927904e-01 1.45015769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.56, Y:99.62, Z:14.49 [[ 8.06695650e-01 4.14592188e-01 4.21135900e-01 1.45562490e+02] [-3.62187376e-01 9.09947353e-01 -2.02029994e-01 9.96180793e+01] [-4.66971555e-01 1.04466107e-02 8.84210628e-01 1.44864023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:145.59, Y:99.61, Z:14.47 [[ 8.06577561e-01 4.16299138e-01 4.19675668e-01 1.45586836e+02] [-3.63554279e-01 9.09157962e-01 -2.03125791e-01 9.96084474e+01] [-4.66112566e-01 1.12618199e-02 8.84653744e-01 1.44726388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:145.62, Y:99.57, Z:14.49 [[ 8.10230944e-01 3.97541877e-01 4.30681174e-01 1.45617168e+02] [-3.66884565e-01 9.17046818e-01 -1.56271716e-01 9.95667518e+01] [-4.57079352e-01 -3.13940958e-02 8.88871688e-01 1.44863806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:99.61, Z:14.43 [[ 8.06733545e-01 4.32731811e-01 4.02398021e-01 1.45642850e+02] [-3.63673370e-01 9.00320539e-01 -2.39091212e-01 9.96054779e+01] [-4.65749576e-01 4.65414570e-02 8.83691816e-01 1.44292126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18185806399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:145.67, Y:99.57, Z:14.43 [[ 8.06837234e-01 4.18625226e-01 4.16853210e-01 1.45666221e+02] [-3.64167495e-01 9.08031290e-01 -2.07029495e-01 9.95743468e+01] [-4.65183527e-01 1.52347154e-02 8.85083154e-01 1.44259604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.69, Y:99.56, Z:14.41 [[ 8.06624348e-01 4.15757886e-01 4.20122055e-01 1.45692396e+02] [-3.63674024e-01 9.09421101e-01 -2.01728691e-01 9.95594859e+01] [-4.65938156e-01 9.93179580e-03 8.84761546e-01 1.44138128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.73, Y:99.50, Z:14.44 [[ 8.11146372e-01 3.88165038e-01 4.37457961e-01 1.45726918e+02] [-3.69695012e-01 9.19907167e-01 -1.30753210e-01 9.94992486e+01] [-4.53174538e-01 -5.56660341e-02 8.89682039e-01 1.44425034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:99.53, Z:14.40 [[ 8.10507062e-01 4.22228405e-01 4.05957480e-01 1.45756398e+02] [-3.71141740e-01 9.06398584e-01 -2.01731047e-01 9.95256060e+01] [-4.53135864e-01 1.28366730e-02 8.91349039e-01 1.43986289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.301858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:145.78, Y:99.57, Z:14.34 [[ 8.06901460e-01 4.47430972e-01 3.85636563e-01 1.45776421e+02] [-3.63343096e-01 8.90705365e-01 -2.73177137e-01 9.95656998e+01] [-4.65716468e-01 8.03086484e-02 8.81282414e-01 1.43441042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.80, Y:99.51, Z:14.35 [[ 8.06754077e-01 4.14004330e-01 4.21602033e-01 1.45796725e+02] [-3.61169427e-01 9.10205386e-01 -2.02688925e-01 9.95111645e+01] [-4.67658534e-01 1.12503518e-02 8.83837612e-01 1.43537433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.361858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:145.82, Y:99.50, Z:14.34 [[ 8.07299645e-01 4.13359711e-01 4.21190019e-01 1.45822133e+02] [-3.60469024e-01 9.10491703e-01 -2.02649799e-01 9.94987788e+01] [-4.67257280e-01 1.17731558e-02 8.84043000e-01 1.43390572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.391858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:145.85, Y:99.49, Z:14.32 [[ 8.07641533e-01 4.12978441e-01 4.20908496e-01 1.45848305e+02] [-3.60037158e-01 9.10659950e-01 -2.02661541e-01 9.94859817e+01] [-4.66999357e-01 1.21351791e-02 8.84174382e-01 1.43236512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.421858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:145.87, Y:99.47, Z:14.31 [[ 8.06981947e-01 4.12323517e-01 4.22811371e-01 1.45872673e+02] [-3.60487461e-01 9.10990318e-01 -2.00363245e-01 9.94726109e+01] [-4.67791543e-01 9.27132408e-03 8.83790198e-01 1.43103403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:99.46, Z:14.29 [[ 8.07815117e-01 4.11635984e-01 4.21889266e-01 1.45899482e+02] [-3.59603635e-01 9.11289849e-01 -2.00589226e-01 9.94612514e+01] [-4.67033149e-01 1.03260956e-02 8.84179512e-01 1.42948730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.93, Y:99.45, Z:14.28 [[ 8.08519170e-01 4.12851205e-01 4.19345484e-01 1.45925873e+02] [-3.58935582e-01 9.10677468e-01 -2.04528232e-01 9.94519165e+01] [-4.66328211e-01 1.48469810e-02 8.84487177e-01 1.42774619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.95, Y:99.44, Z:14.26 [[ 8.08449353e-01 4.12444812e-01 4.19879650e-01 1.45952585e+02] [-3.59355539e-01 9.10888341e-01 -2.02844833e-01 9.94395586e+01] [-4.66125777e-01 1.31036956e-02 8.84621418e-01 1.42622608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.541858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:145.98, Y:99.43, Z:14.25 [[ 8.08637497e-01 4.13086456e-01 4.18885400e-01 1.45978515e+02] [-3.60261138e-01 9.10600953e-01 -2.02528556e-01 9.94279243e+01] [-4.65099248e-01 1.28640540e-02 8.85165072e-01 1.42470342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.571858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:146.01, Y:99.41, Z:14.24 [[ 8.09572674e-01 4.09552178e-01 4.20546192e-01 1.46005683e+02] [-3.62183156e-01 9.12283307e-01 -1.91213311e-01 9.94096394e+01] [-4.61969099e-01 2.48632451e-03 8.86892536e-01 1.42385137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:99.41, Z:14.22 [[ 8.09638097e-01 4.15768825e-01 4.14273384e-01 1.46032224e+02] [-3.63801204e-01 9.09383523e-01 -2.01668770e-01 9.94063378e+01] [-4.60580977e-01 1.25655638e-02 8.87528744e-01 1.42190639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.631858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.06, Y:99.40, Z:14.20 [[ 8.08419382e-01 4.19624329e-01 4.12763279e-01 1.46056948e+02] [-3.63623218e-01 9.07477727e-01 -2.10386146e-01 9.94000063e+01] [-4.62856628e-01 1.99899268e-02 8.86207733e-01 1.41977614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.661858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:146.08, Y:99.38, Z:14.19 [[ 8.08317470e-01 4.11602013e-01 4.20959204e-01 1.46081476e+02] [-3.65490396e-01 9.11363303e-01 -1.89297912e-01 9.93773436e+01] [-4.61562172e-01 -8.43736725e-04 8.87107462e-01 1.41941305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.691858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:146.11, Y:99.37, Z:14.17 [[ 8.09941785e-01 4.15402166e-01 4.14047516e-01 1.46110049e+02] [-3.64237717e-01 9.09568811e-01 -2.00038654e-01 9.93713772e+01] [-4.59701198e-01 1.12079427e-02 8.88002923e-01 1.41737997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.721858064 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:146.13, Y:99.37, Z:14.15 [[ 8.09460875e-01 4.18986438e-01 4.11367787e-01 1.46134312e+02] [-3.62040613e-01 9.07706924e-01 -2.12119623e-01 9.93665531e+01] [-4.62276634e-01 2.27706894e-02 8.86443348e-01 1.41512998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.751858064 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:146.16, Y:99.36, Z:14.13 [[ 8.09247532e-01 4.19038510e-01 4.11734330e-01 1.46158241e+02] [-3.57973640e-01 9.07452075e-01 -2.19967281e-01 9.93620989e+01] [-4.65803933e-01 3.06179423e-02 8.84358093e-01 1.41301150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.781858064 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:146.18, Y:99.32, Z:14.13 [[ 8.10172174e-01 4.02633642e-01 4.26036618e-01 1.46183697e+02] [-3.58755393e-01 9.15349092e-01 -1.82840391e-01 9.93242355e+01] [-4.63589924e-01 -4.71073737e-03 8.86037353e-01 1.41323084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.811858064 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:146.21, Y:99.32, Z:14.11 [[ 8.11370653e-01 4.09315185e-01 4.17299344e-01 1.46211108e+02] [-3.55711983e-01 9.12245542e-01 -2.03167557e-01 9.93238859e+01] [-4.63839033e-01 1.64058158e-02 8.85767577e-01 1.41110614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.841858064 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:146.23, Y:99.33, Z:14.08 [[ 8.10816799e-01 4.17229465e-01 4.10482268e-01 1.46234904e+02] [-3.50789371e-01 9.07813593e-01 -2.29828845e-01 9.93319940e+01] [-4.68532749e-01 4.23562718e-02 8.82430173e-01 1.40812533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.871858064 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:146.26, Y:99.28, Z:14.09 [[ 8.11804806e-01 3.93672930e-01 4.31270892e-01 1.46260853e+02] [-3.53145420e-01 9.19187164e-01 -1.74307972e-01 9.92820916e+01] [-4.65038998e-01 -1.07972911e-02 8.85224349e-01 1.40922498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90185806399998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:146.29, Y:99.29, Z:14.07 [[ 8.12745776e-01 4.06939306e-01 4.16946886e-01 1.46288800e+02] [-3.52957414e-01 9.13275826e-01 -2.03342888e-01 9.92862917e+01] [-4.63535725e-01 1.81015784e-02 8.85893314e-01 1.40673116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93185806399998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:146.31, Y:99.29, Z:14.04 [[ 8.11246106e-01 4.15226955e-01 4.11662885e-01 1.46313760e+02] [-3.51437045e-01 9.08954558e-01 -2.24262381e-01 9.92879906e+01] [-4.67302641e-01 3.72583960e-02 8.83311980e-01 1.40398566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96185806399998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:146.34, Y:99.25, Z:14.05 [[ 8.11858038e-01 3.97894029e-01 4.27278443e-01 1.46339534e+02] [-3.53421000e-01 9.17427720e-01 -1.82811310e-01 9.92492774e+01] [-4.64736616e-01 -2.59234287e-03 8.85445175e-01 1.40456133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.37, Y:99.25, Z:14.02 [[ 8.11559281e-01 4.09176788e-01 4.17068208e-01 1.46367998e+02] [-3.55277791e-01 9.12294000e-01 -2.03708982e-01 9.92506789e+01] [-4.63841811e-01 1.71468429e-02 8.85752088e-01 1.40229783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02185806399999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:146.39, Y:99.24, Z:14.01 [[ 8.11100860e-01 4.10548799e-01 4.16611424e-01 1.46394287e+02] [-3.56862389e-01 9.11689238e-01 -2.03646676e-01 9.92389766e+01] [-4.63427050e-01 1.65050455e-02 8.85981350e-01 1.40076153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:99.23, Z:13.99 [[ 8.10620139e-01 4.11657615e-01 4.16452876e-01 1.46420953e+02] [-3.58068706e-01 9.11197616e-01 -2.03729492e-01 9.92270737e+01] [-4.63337665e-01 1.60284866e-02 8.86036848e-01 1.39922389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.081858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.45, Y:99.22, Z:13.98 [[ 8.09740499e-01 4.13102814e-01 4.16732995e-01 1.46446303e+02] [-3.59531410e-01 9.10554485e-01 -2.04028665e-01 9.92150893e+01] [-4.63742913e-01 1.53816717e-02 8.85836280e-01 1.39772871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.111858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:146.47, Y:99.20, Z:13.96 [[ 8.09359401e-01 4.14285878e-01 4.16298657e-01 1.46472997e+02] [-3.60902742e-01 9.10025839e-01 -2.03966130e-01 9.92027929e+01] [-4.63342822e-01 1.48385781e-02 8.86054878e-01 1.39620341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.141858064 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:146.50, Y:99.19, Z:13.95 [[ 8.08668086e-01 4.15991711e-01 4.15940888e-01 1.46498648e+02] [-3.62833251e-01 9.09260408e-01 -2.03954754e-01 9.91919278e+01] [-4.63042069e-01 1.40145158e-02 8.86225499e-01 1.39464313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.171858064 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:146.52, Y:99.21, Z:13.91 [[ 8.06201273e-01 4.30852123e-01 4.05470044e-01 1.46521446e+02] [-3.58510384e-01 9.00937245e-01 -2.44504368e-01 9.92100729e+01] [-4.70648290e-01 5.17545119e-02 8.80801713e-01 1.39053384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.201858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:146.55, Y:99.16, Z:13.91 [[ 8.06143783e-01 4.09103224e-01 4.27512284e-01 1.46545768e+02] [-3.61078461e-01 9.12487861e-01 -1.92323290e-01 9.91640419e+01] [-4.68779847e-01 6.74747235e-04 8.83314779e-01 1.39092535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.231858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:146.58, Y:99.14, Z:13.91 [[ 8.08471357e-01 4.03423274e-01 4.28513393e-01 1.46575003e+02] [-3.64148397e-01 9.14888252e-01 -1.74285488e-01 9.91392866e+01] [-4.62352691e-01 -1.51376402e-02 8.86566885e-01 1.39100989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.261858064 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:146.60, Y:99.14, Z:13.88 [[ 8.08543848e-01 4.17574538e-01 4.14594201e-01 1.46603333e+02] [-3.64673823e-01 9.08540046e-01 -2.03882287e-01 9.91434855e+01] [-4.61811486e-01 1.36561165e-02 8.86872968e-01 1.38843340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.291858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:146.63, Y:99.15, Z:13.85 [[ 8.06390665e-01 4.26913304e-01 4.09242136e-01 1.46627860e+02] [-3.62682462e-01 9.03599102e-01 -2.27969503e-01 9.91459834e+01] [-4.67114040e-01 3.54075335e-02 8.83487850e-01 1.38526843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.321858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:146.65, Y:99.11, Z:13.86 [[ 8.07236072e-01 4.07048298e-01 4.27412690e-01 1.46652999e+02] [-3.63233021e-01 9.13380962e-01 -1.83839578e-01 9.91067074e+01] [-4.65222201e-01 -6.84846378e-03 8.85167443e-01 1.38605830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.351858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.68, Y:99.11, Z:13.84 [[ 8.06943954e-01 4.17622323e-01 4.17651829e-01 1.46681020e+02] [-3.63635737e-01 9.08508984e-01 -2.05865189e-01 9.91065264e+01] [-4.65414338e-01 1.42485392e-02 8.84978233e-01 1.38372837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.381858064 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:146.71, Y:99.09, Z:13.82 [[ 8.05908556e-01 4.19917285e-01 4.17349821e-01 1.46708056e+02] [-3.65779215e-01 9.07455410e-01 -2.06712950e-01 9.90911667e+01] [-4.65528694e-01 1.39338452e-02 8.84923094e-01 1.38180997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.411858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:146.73, Y:99.09, Z:13.80 [[ 8.06345333e-01 4.19747931e-01 4.16675988e-01 1.46732862e+02] [-3.63480821e-01 9.07452660e-01 -2.10740038e-01 9.90854680e+01] [-4.66571428e-01 1.84755163e-02 8.84290539e-01 1.38041711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:99.07, Z:13.79 [[ 8.05511908e-01 4.17852816e-01 4.20178046e-01 1.46758217e+02] [-3.62989166e-01 9.08397120e-01 -2.07493467e-01 9.90713291e+01] [-4.68390256e-01 1.46183798e-02 8.83400742e-01 1.37897172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.471858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:146.78, Y:99.06, Z:13.77 [[ 8.05072501e-01 4.17835251e-01 4.21036782e-01 1.46784165e+02] [-3.62673821e-01 9.08402715e-01 -2.08019727e-01 9.90587710e+01] [-4.69388931e-01 1.47719431e-02 8.82867952e-01 1.37740916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.501858064 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:146.81, Y:99.05, Z:13.76 [[ 8.04579584e-01 4.17985730e-01 4.21828902e-01 1.46810688e+02] [-3.62532786e-01 9.08331578e-01 -2.08575465e-01 9.90461148e+01] [-4.70342080e-01 1.48887542e-02 8.82358574e-01 1.37584814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:99.03, Z:13.74 [[ 8.04118325e-01 4.18182222e-01 4.22513133e-01 1.46836439e+02] [-3.62472498e-01 9.08239707e-01 -2.09079704e-01 9.90348808e+01] [-4.71176620e-01 1.49754310e-02 8.81911747e-01 1.37433875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.561858064 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:146.86, Y:99.02, Z:13.73 [[ 8.03952690e-01 4.18457572e-01 4.22555715e-01 1.46862752e+02] [-3.62689025e-01 9.08112887e-01 -2.09255001e-01 9.90227732e+01] [-4.71292630e-01 1.49748006e-02 8.81849767e-01 1.37275986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.89, Y:99.01, Z:13.71 [[ 8.03841338e-01 4.18563201e-01 4.22662928e-01 1.46887796e+02] [-3.62691024e-01 9.08062380e-01 -2.09470605e-01 9.90108998e+01] [-4.71480991e-01 1.50850808e-02 8.81747195e-01 1.37123658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.621858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:146.91, Y:99.00, Z:13.70 [[ 8.04432981e-01 4.21892276e-01 4.18203882e-01 1.46912891e+02] [-3.63496442e-01 9.06400562e-01 -2.15193768e-01 9.90025690e+01] [-4.69848822e-01 2.10933415e-02 8.82494847e-01 1.36953245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65185806399998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:146.94, Y:98.98, Z:13.68 [[ 8.03534873e-01 4.15297187e-01 4.26450413e-01 1.46938200e+02] [-3.62930045e-01 9.09654418e-01 -2.02016392e-01 9.89809392e+01] [-4.71819341e-01 7.55554809e-03 8.81662874e-01 1.36841034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68185806399998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:146.96, Y:98.97, Z:13.67 [[ 8.03561834e-01 4.19190982e-01 4.22572241e-01 1.46964013e+02] [-3.63191232e-01 9.07771421e-01 -2.09864663e-01 9.89731822e+01] [-4.71572378e-01 1.51647003e-02 8.81696957e-01 1.36659478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.99, Y:98.96, Z:13.65 [[ 8.04086807e-01 4.19100187e-01 4.21662708e-01 1.46990147e+02] [-3.63266887e-01 9.07810536e-01 -2.09564309e-01 9.89610039e+01] [-4.70618290e-01 1.53317971e-02 8.82203696e-01 1.36499478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.02, Y:98.95, Z:13.63 [[ 8.04214797e-01 4.19511283e-01 4.21009316e-01 1.47015999e+02] [-3.63828351e-01 9.07622319e-01 -2.09405485e-01 9.89479061e+01] [-4.69965415e-01 1.52318651e-02 8.82553397e-01 1.36341487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.04, Y:98.93, Z:13.62 [[ 8.04310917e-01 4.19646612e-01 4.20690705e-01 1.47042281e+02] [-3.63983083e-01 9.07558455e-01 -2.09413384e-01 9.89346773e+01] [-4.69681024e-01 1.53091717e-02 8.82703441e-01 1.36182974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:98.92, Z:13.60 [[ 8.04589095e-01 4.19412749e-01 4.20391881e-01 1.47067179e+02] [-3.63716121e-01 9.07661568e-01 -2.09430325e-01 9.89222204e+01] [-4.69411303e-01 1.56020513e-02 8.82841778e-01 1.36026410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:98.91, Z:13.59 [[ 8.04694143e-01 4.19251300e-01 4.20351857e-01 1.47092740e+02] [-3.63490776e-01 9.07732730e-01 -2.09513120e-01 9.89094147e+01] [-4.69405787e-01 1.57999576e-02 8.82841191e-01 1.35869413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.12, Y:98.90, Z:13.57 [[ 8.04668480e-01 4.19225195e-01 4.20427014e-01 1.47118506e+02] [-3.63353989e-01 9.07741549e-01 -2.09712085e-01 9.88964116e+01] [-4.69555659e-01 1.59848722e-02 8.82758159e-01 1.35708675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:98.88, Z:13.56 [[ 8.04080036e-01 4.19681393e-01 4.21097168e-01 1.47143234e+02] [-3.63588342e-01 9.07531827e-01 -2.10212989e-01 9.88835556e+01] [-4.70381562e-01 1.59220462e-02 8.82319486e-01 1.35556153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:98.87, Z:13.54 [[ 8.04658943e-01 4.18960850e-01 4.20708677e-01 1.47169111e+02] [-3.62797072e-01 9.07854422e-01 -2.10187137e-01 9.88700422e+01] [-4.70002415e-01 1.64970833e-02 8.82510950e-01 1.35406194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.951858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.19, Y:98.86, Z:13.53 [[ 8.04617579e-01 4.18976051e-01 4.20772646e-01 1.47193860e+02] [-3.62707142e-01 9.07844382e-01 -2.10385616e-01 9.88571581e+01] [-4.70142617e-01 1.66627213e-02 8.82433155e-01 1.35257304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.22, Y:98.84, Z:13.51 [[ 8.04337444e-01 4.18992056e-01 4.21291981e-01 1.47219335e+02] [-3.62495050e-01 9.07833815e-01 -2.10796356e-01 9.88429416e+01] [-4.70785105e-01 1.68351447e-02 8.82087276e-01 1.35102844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:98.83, Z:13.49 [[ 8.03153848e-01 4.22071209e-01 4.20475672e-01 1.47246088e+02] [-3.64143577e-01 9.06364344e-01 -2.14250159e-01 9.88279287e+01] [-4.71532981e-01 1.89623244e-02 8.81644530e-01 1.34911806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:98.81, Z:13.48 [[ 8.03459976e-01 4.21844600e-01 4.20118079e-01 1.47271649e+02] [-3.68670336e-01 9.06612544e-01 -2.05270259e-01 9.88085077e+01] [-4.67476471e-01 1.00413639e-02 8.83948483e-01 1.34836199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.30, Y:98.81, Z:13.46 [[ 8.02019283e-01 4.29568809e-01 4.15012902e-01 1.47297884e+02] [-3.65650139e-01 9.02510708e-01 -2.27539884e-01 9.88112738e+01] [-4.72297625e-01 3.07418492e-02 8.80902885e-01 1.34556551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.32, Y:98.80, Z:13.45 [[ 8.02151264e-01 4.27579393e-01 4.16808364e-01 1.47318596e+02] [-3.67768580e-01 9.03695193e-01 -2.19274416e-01 9.87999102e+01] [-4.70424936e-01 2.26022294e-02 8.82150508e-01 1.34474214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.35, Y:98.76, Z:13.44 [[ 8.01341523e-01 4.17850994e-01 4.28079794e-01 1.47346540e+02] [-3.71194378e-01 9.08501298e-01 -1.91937817e-01 9.87635335e+01] [-4.69112456e-01 -5.09306999e-03 8.83123754e-01 1.34404731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.37, Y:98.77, Z:13.42 [[ 8.01304924e-01 4.32390548e-01 4.13459591e-01 1.47373146e+02] [-3.73634501e-01 9.01449164e-01 -2.18601611e-01 9.87652497e+01] [-4.67234073e-01 2.06837796e-02 8.83891680e-01 1.34159974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:98.75, Z:13.40 [[ 8.01294842e-01 4.32085625e-01 4.13797763e-01 1.47398719e+02] [-3.73478146e-01 9.01603552e-01 -2.18231780e-01 9.87522093e+01] [-4.67376348e-01 2.03235783e-02 8.83824814e-01 1.34007956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:98.75, Z:13.38 [[ 8.00961028e-01 4.36364070e-01 4.09936372e-01 1.47420296e+02] [-3.71603324e-01 8.99173936e-01 -2.31078345e-01 9.87515296e+01] [-4.69438388e-01 3.27510301e-02 8.82357620e-01 1.33799605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.45, Y:98.73, Z:13.37 [[ 8.01166687e-01 4.26614350e-01 4.19680992e-01 1.47445286e+02] [-3.70423711e-01 9.04317623e-01 -2.12122396e-01 9.87265377e+01] [-4.70019375e-01 1.44856065e-02 8.82537225e-01 1.33704367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.47, Y:98.72, Z:13.36 [[ 8.01848666e-01 4.25159771e-01 4.19854601e-01 1.47468937e+02] [-3.69783157e-01 9.05020281e-01 -2.10234885e-01 9.87150323e+01] [-4.69360345e-01 1.33214019e-02 8.82906228e-01 1.33586559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.311858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.50, Y:98.69, Z:13.35 [[ 8.03242080e-01 4.21395235e-01 4.20984817e-01 1.47497249e+02] [-3.72039004e-01 9.06874063e-01 -1.97905061e-01 9.86870914e+01] [-4.65176462e-01 2.34290095e-03 8.85214872e-01 1.33485448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:98.69, Z:13.32 [[ 8.03655681e-01 4.33308025e-01 4.07899133e-01 1.47522259e+02] [-3.71918015e-01 9.00797343e-01 -2.24145347e-01 9.86904225e+01] [-4.64558433e-01 2.84306454e-02 8.85085962e-01 1.33238671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.371858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:147.55, Y:98.67, Z:13.31 [[ 8.03639930e-01 4.25846896e-01 4.15712982e-01 1.47546499e+02] [-3.68933500e-01 9.04612732e-01 -2.13456967e-01 9.86717344e+01] [-4.66959243e-01 1.81720971e-02 8.84092099e-01 1.33122265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:98.66, Z:13.29 [[ 8.03129860e-01 4.27713640e-01 4.14781232e-01 1.47571523e+02] [-3.65948251e-01 9.03499376e-01 -2.23093602e-01 9.86646654e+01] [-4.70174761e-01 2.73846667e-02 8.82148386e-01 1.32913191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.60, Y:98.63, Z:13.29 [[ 8.03391548e-01 4.18903733e-01 4.23180438e-01 1.47598104e+02] [-3.69588381e-01 9.08028385e-01 -1.97202638e-01 9.86314970e+01] [-4.66868771e-01 2.02835963e-03 8.84324283e-01 1.32893898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.62, Y:98.65, Z:13.26 [[ 8.03356216e-01 4.33459118e-01 4.08328280e-01 1.47620799e+02] [-3.65663263e-01 9.00263334e-01 -2.36254749e-01 9.86499059e+01] [-4.70009754e-01 4.04860698e-02 8.81732221e-01 1.32589556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.64, Y:98.62, Z:13.25 [[ 8.02871435e-01 4.22996508e-01 4.20085007e-01 1.47644581e+02] [-3.66310723e-01 9.05981829e-01 -2.12163569e-01 9.86225395e+01] [-4.70333832e-01 1.64584263e-02 8.82335088e-01 1.32511618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52185806399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.67, Y:98.60, Z:13.24 [[ 8.02799981e-01 4.20961275e-01 4.22260340e-01 1.47671756e+02] [-3.69661296e-01 9.07061025e-01 -2.01471642e-01 9.85989097e+01] [-4.67827657e-01 5.64812618e-03 8.83801665e-01 1.32407881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.551858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.70, Y:98.61, Z:13.21 [[ 8.02225876e-01 4.32753413e-01 4.11288375e-01 1.47696837e+02] [-3.68625165e-01 9.00942098e-01 -2.28951575e-01 9.86053385e+01] [-4.69626587e-01 3.20596321e-02 8.82282862e-01 1.32133644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.581858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.72, Y:98.57, Z:13.21 [[ 8.02091486e-01 4.23373553e-01 4.21193641e-01 1.47722583e+02] [-3.73533062e-01 9.05951658e-01 -1.99310426e-01 9.85726278e+01] [-4.65963840e-01 2.53544539e-03 8.84800131e-01 1.32127818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.611858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:147.75, Y:98.58, Z:13.18 [[ 8.01673480e-01 4.37929254e-01 4.06863121e-01 1.47747800e+02] [-3.73144199e-01 8.98368088e-01 -2.31728690e-01 9.85839255e+01] [-4.66993616e-01 3.39521318e-02 8.83608633e-01 1.31840711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.77, Y:98.54, Z:13.19 [[ 8.00853400e-01 4.23382714e-01 4.23533834e-01 1.47773714e+02] [-3.77104434e-01 9.05934156e-01 -1.92550125e-01 9.85433288e+01] [-4.65216161e-01 -5.51206454e-03 8.85179948e-01 1.31850594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:98.56, Z:13.15 [[ 7.99760059e-01 4.40429356e-01 4.07928708e-01 1.47799973e+02] [-3.76069184e-01 8.97228619e-01 -2.31414725e-01 9.85567011e+01] [-4.67927149e-01 3.16668377e-02 8.83199521e-01 1.31525987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.82, Y:98.53, Z:13.14 [[ 7.99275350e-01 4.33283041e-01 4.16442939e-01 1.47823884e+02] [-3.78030385e-01 9.01177037e-01 -2.12068329e-01 9.85329968e+01] [-4.67174425e-01 1.20729035e-02 8.84082746e-01 1.31440194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.85, Y:98.52, Z:13.13 [[ 7.98705158e-01 4.34614546e-01 4.16149332e-01 1.47849137e+02] [-3.79674407e-01 9.00547299e-01 -2.11806296e-01 9.85193985e+01] [-4.66816254e-01 1.11695299e-02 8.84283793e-01 1.31286840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:98.51, Z:13.12 [[ 7.98599618e-01 4.34697251e-01 4.16265481e-01 1.47873673e+02] [-3.80706765e-01 9.00529152e-01 -2.10022869e-01 9.85068473e+01] [-4.66155565e-01 9.24909805e-03 8.84654421e-01 1.31158079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:98.49, Z:13.10 [[ 7.98255246e-01 4.35998406e-01 4.15564620e-01 1.47898468e+02] [-3.81785390e-01 8.99896268e-01 -2.10776240e-01 9.84945187e+01] [-4.65863155e-01 9.59673876e-03 8.84804738e-01 1.31004762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:98.48, Z:13.08 [[ 7.98136776e-01 4.36279993e-01 4.15496635e-01 1.47923754e+02] [-3.82041376e-01 8.99759902e-01 -2.10894539e-01 9.84811515e+01] [-4.65856280e-01 9.58578175e-03 8.84808476e-01 1.30848524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:98.47, Z:13.07 [[ 7.98180717e-01 4.36327770e-01 4.15362035e-01 1.47949352e+02] [-3.82047094e-01 8.99735298e-01 -2.10989126e-01 9.84670329e+01] [-4.65776299e-01 9.71959357e-03 8.84849122e-01 1.30692277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.881858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.97, Y:98.45, Z:13.05 [[ 7.98417058e-01 4.35932910e-01 4.15322405e-01 1.47973499e+02] [-3.81527534e-01 8.99922332e-01 -2.11131564e-01 9.84523808e+01] [-4.65797104e-01 1.01141093e-02 8.84833748e-01 1.30547318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:98.44, Z:13.04 [[ 7.98582433e-01 4.35701390e-01 4.15247391e-01 1.47998588e+02] [-3.81235019e-01 9.00031781e-01 -2.11193403e-01 9.84389610e+01] [-4.65753109e-01 1.03484945e-02 8.84854197e-01 1.30391691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:98.43, Z:13.02 [[ 7.98897349e-01 4.35370121e-01 4.14989016e-01 1.48024068e+02] [-3.80856096e-01 9.00188146e-01 -2.11210642e-01 9.84258081e+01] [-4.65522995e-01 1.06845255e-02 8.84971289e-01 1.30236135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.971858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.05, Y:98.41, Z:13.01 [[ 7.99511371e-01 4.34621008e-01 4.14591543e-01 1.48049776e+02] [-3.80040698e-01 9.00542945e-01 -2.11166929e-01 9.84117736e+01] [-4.65135073e-01 1.12687011e-02 8.85167996e-01 1.30076137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.001858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:148.08, Y:98.40, Z:12.99 [[ 7.99904090e-01 4.34282136e-01 4.14188935e-01 1.48075025e+02] [-3.79685808e-01 9.00701952e-01 -2.11127169e-01 9.83981971e+01] [-4.64749540e-01 1.16198254e-02 8.85365938e-01 1.29927628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:98.38, Z:12.98 [[ 8.00063169e-01 4.33691584e-01 4.14500345e-01 1.48100280e+02] [-3.78851917e-01 9.00979717e-01 -2.11439765e-01 9.83845740e+01] [-4.65156050e-01 1.21309180e-02 8.85145575e-01 1.29776575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:98.37, Z:12.96 [[ 8.00770807e-01 4.32378860e-01 4.14505292e-01 1.48124810e+02] [-3.77285677e-01 9.01597419e-01 -2.11607210e-01 9.83705175e+01] [-4.65211385e-01 1.30619661e-02 8.85103244e-01 1.29634668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.091858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.15, Y:98.36, Z:12.95 [[ 8.01122089e-01 4.31882790e-01 4.14343643e-01 1.48150723e+02] [-3.76692716e-01 9.01828705e-01 -2.11678020e-01 9.83564622e+01] [-4.65087085e-01 1.34997055e-02 8.85161997e-01 1.29478259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.121858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.18, Y:98.34, Z:12.93 [[ 8.01611380e-01 4.31437519e-01 4.13860921e-01 1.48176613e+02] [-3.76244350e-01 9.02035684e-01 -2.11593511e-01 9.83424374e+01] [-4.64606699e-01 1.39029333e-02 8.85407999e-01 1.29321401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.20, Y:98.33, Z:12.91 [[ 8.03071796e-01 4.31430217e-01 4.11027564e-01 1.48203482e+02] [-3.74932409e-01 9.01968631e-01 -2.14192152e-01 9.83297080e+01] [-4.63142935e-01 1.79041214e-02 8.86102739e-01 1.29148019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.23, Y:98.31, Z:12.90 [[ 8.02651367e-01 4.29445474e-01 4.13917103e-01 1.48225949e+02] [-3.74582585e-01 9.02985794e-01 -2.10486442e-01 9.83132421e+01] [-4.64153714e-01 1.39010922e-02 8.85645578e-01 1.29023052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.25, Y:98.30, Z:12.89 [[ 8.02722066e-01 4.30037650e-01 4.13164500e-01 1.48251834e+02] [-3.74683592e-01 9.02685619e-01 -2.11591302e-01 9.82995649e+01] [-4.63949879e-01 1.50430483e-02 8.85733717e-01 1.28867522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.28, Y:98.29, Z:12.87 [[ 8.02577407e-01 4.30599578e-01 4.12860157e-01 1.48277350e+02] [-3.75318798e-01 9.02420604e-01 -2.11595965e-01 9.82854926e+01] [-4.63686645e-01 1.48679636e-02 8.85874505e-01 1.28712256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:98.27, Z:12.85 [[ 8.02856313e-01 4.31415774e-01 4.11463450e-01 1.48303273e+02] [-3.75592820e-01 9.02004710e-01 -2.12879159e-01 9.82721737e+01] [-4.62981397e-01 1.63686592e-02 8.86216843e-01 1.28549269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.301858064 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:148.33, Y:98.26, Z:12.84 [[ 8.01498776e-01 4.33616034e-01 4.11797095e-01 1.48326146e+02] [-3.78477404e-01 9.00987031e-01 -2.12078347e-01 9.82580936e+01] [-4.62984414e-01 1.41246401e-02 8.86253873e-01 1.28404708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.331858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:148.35, Y:98.24, Z:12.83 [[ 8.01158623e-01 4.34464067e-01 4.11565104e-01 1.48351758e+02] [-3.79832379e-01 9.00595744e-01 -2.11316516e-01 9.82436202e+01] [-4.62463213e-01 1.29722961e-02 8.86543567e-01 1.28251605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.361858064 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:148.38, Y:98.23, Z:12.81 [[ 8.00184579e-01 4.36361039e-01 4.11453136e-01 1.48375961e+02] [-3.81913169e-01 8.99691169e-01 -2.11419326e-01 9.82293459e+01] [-4.62435910e-01 1.20351134e-02 8.86571027e-01 1.28104952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.391858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:148.40, Y:98.21, Z:12.80 [[ 7.99294352e-01 4.36989395e-01 4.12515221e-01 1.48401653e+02] [-3.82239925e-01 8.99388422e-01 -2.12115784e-01 9.82149337e+01] [-4.63703762e-01 1.18631612e-02 8.85910880e-01 1.27950910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.421858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:148.43, Y:98.20, Z:12.78 [[ 7.99088314e-01 4.37918339e-01 4.11928872e-01 1.48426877e+02] [-3.83404687e-01 8.98942545e-01 -2.11903624e-01 9.82005016e+01] [-4.63096871e-01 1.13942492e-02 8.86234427e-01 1.27799393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.451858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:148.45, Y:98.18, Z:12.77 [[ 7.98870426e-01 4.38149653e-01 4.12105476e-01 1.48451283e+02] [-3.83528423e-01 8.98829318e-01 -2.12159858e-01 9.81848128e+01] [-4.63370252e-01 1.14340729e-02 8.86091006e-01 1.27655631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.481858064 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:148.48, Y:98.17, Z:12.75 [[ 7.98910559e-01 4.38330986e-01 4.11834755e-01 1.48476242e+02] [-3.83731421e-01 8.98740439e-01 -2.12169319e-01 9.81702718e+01] [-4.63132936e-01 1.14703729e-02 8.86214599e-01 1.27505718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.511858064 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:148.50, Y:98.16, Z:12.74 [[ 7.98890098e-01 4.38504063e-01 4.11690172e-01 1.48501348e+02] [-3.83885923e-01 8.98655338e-01 -2.12250279e-01 9.81558628e+01] [-4.63040181e-01 1.15225850e-02 8.86262388e-01 1.27354794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.541858064 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:148.53, Y:98.14, Z:12.72 [[ 7.98746716e-01 4.38669623e-01 4.11791993e-01 1.48526329e+02] [-3.83957458e-01 8.98573580e-01 -2.12466918e-01 9.81419609e+01] [-4.63228188e-01 1.15966464e-02 8.86163170e-01 1.27203830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.571858064 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:148.55, Y:98.13, Z:12.71 [[ 7.98810634e-01 4.38791986e-01 4.11537562e-01 1.48551287e+02] [-3.84087879e-01 8.98512871e-01 -2.12487932e-01 9.81272932e+01] [-4.63009798e-01 1.16710306e-02 8.86276319e-01 1.27052055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.601858064 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:148.58, Y:98.11, Z:12.69 [[ 7.98547282e-01 4.39065450e-01 4.11756929e-01 1.48576094e+02] [-3.84248426e-01 8.98379098e-01 -2.12763114e-01 9.81137843e+01] [-4.63330751e-01 1.16844540e-02 8.86108396e-01 1.26897568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.631858064 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:148.60, Y:98.10, Z:12.67 [[ 7.98526926e-01 4.39679350e-01 4.11140873e-01 1.48601011e+02] [-3.85035959e-01 8.98081716e-01 -2.12594782e-01 9.80987129e+01] [-4.62711636e-01 1.14586372e-02 8.86434792e-01 1.26745489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.661858064 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:148.63, Y:98.08, Z:12.66 [[ 7.98654363e-01 4.39843455e-01 4.10717595e-01 1.48626622e+02] [-3.85258035e-01 8.98000705e-01 -2.12534656e-01 9.80846980e+01] [-4.62306668e-01 1.15094767e-02 8.86645407e-01 1.26591362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.691858064 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:148.65, Y:98.07, Z:12.64 [[ 7.98681559e-01 4.40549777e-01 4.09906893e-01 1.48652027e+02] [-3.86197660e-01 8.97657854e-01 -2.12277519e-01 9.80700513e+01] [-4.61474956e-01 1.12370563e-02 8.87082067e-01 1.26437639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.721858064 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:148.68, Y:98.06, Z:12.63 [[ 7.98584920e-01 4.40890862e-01 4.09728415e-01 1.48676639e+02] [-3.86546710e-01 8.97490853e-01 -2.12348322e-01 9.80560298e+01] [-4.61349939e-01 1.11989970e-02 8.87147573e-01 1.26286601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.751858064 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:148.70, Y:98.04, Z:12.61 [[ 7.98603908e-01 4.41034040e-01 4.09537268e-01 1.48701747e+02] [-3.86710056e-01 8.97420359e-01 -2.12348842e-01 9.80405354e+01] [-4.61180150e-01 1.12104354e-02 8.87235705e-01 1.26136890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.781858064 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:148.73, Y:98.03, Z:12.60 [[ 7.98557482e-01 4.41399498e-01 4.09233957e-01 1.48726931e+02] [-3.87123646e-01 8.97241409e-01 -2.12351448e-01 9.80263669e+01] [-4.60913474e-01 1.11506965e-02 8.87375023e-01 1.25985888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.811858064 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:148.75, Y:98.01, Z:12.58 [[ 7.98330823e-01 4.41738124e-01 4.09310794e-01 1.48752454e+02] [-3.87399279e-01 8.97075129e-01 -2.12551198e-01 9.80124169e+01] [-4.61074501e-01 1.11194661e-02 8.87291757e-01 1.25828673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.841858064 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:148.78, Y:98.00, Z:12.57 [[ 7.97353718e-01 4.43417540e-01 4.09399479e-01 1.48778244e+02] [-3.89176299e-01 8.96255787e-01 -2.12761304e-01 9.80001071e+01] [-4.61268746e-01 1.03174433e-02 8.87200481e-01 1.25678991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.871858064 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:148.80, Y:97.99, Z:12.55 [[ 7.96905920e-01 4.44351413e-01 4.09258813e-01 1.48803943e+02] [-3.90213667e-01 8.95798150e-01 -2.12788556e-01 9.79865485e+01] [-4.61166183e-01 9.87407838e-03 8.87258843e-01 1.25523930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90185806399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:148.83, Y:97.98, Z:12.54 [[ 7.96712593e-01 4.48932711e-01 4.04609029e-01 1.48826898e+02] [-3.92748641e-01 8.93443959e-01 -2.17959620e-01 9.79777754e+01] [-4.59344696e-01 1.47415277e-02 8.88135765e-01 1.25370445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93185806399998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:148.85, Y:97.96, Z:12.53 [[ 7.96719388e-01 4.41120445e-01 4.13099226e-01 1.48852645e+02] [-3.91095222e-01 8.97447351e-01 -2.04041123e-01 9.79550329e+01] [-4.60741517e-01 1.00238542e-03 8.87533802e-01 1.25266627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96185806399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:148.88, Y:97.95, Z:12.51 [[ 7.96109241e-01 4.46258783e-01 4.08733623e-01 1.48877822e+02] [-3.92499891e-01 8.94861021e-01 -2.12526680e-01 9.79481259e+01] [-4.60601684e-01 8.76655122e-03 8.87563652e-01 1.25088624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99185806399998 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:148.90, Y:97.93, Z:12.49 [[ 7.95995945e-01 4.45488965e-01 4.09792676e-01 1.48904119e+02] [-3.91881759e-01 8.95250028e-01 -2.12028477e-01 9.79336154e+01] [-4.61323251e-01 8.18353364e-03 8.87194391e-01 1.24929478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02185806399999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:148.93, Y:97.92, Z:12.48 [[ 7.96374478e-01 4.45863397e-01 4.08648409e-01 1.48929401e+02] [-3.91695290e-01 8.95048031e-01 -2.13222472e-01 9.79212570e+01] [-4.60828049e-01 9.73927760e-03 8.87436001e-01 1.24778510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.051858064 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:148.96, Y:97.91, Z:12.46 [[ 7.95625341e-01 4.48076016e-01 4.07686400e-01 1.48955077e+02] [-3.93203148e-01 8.93929495e-01 -2.15130989e-01 9.79068945e+01] [-4.60837934e-01 1.08600905e-02 8.87417859e-01 1.24602845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.081858064 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:148.98, Y:97.89, Z:12.45 [[ 7.95547050e-01 4.48209103e-01 4.07692889e-01 1.48980442e+02] [-3.93393894e-01 8.93864709e-01 -2.15051452e-01 9.78935412e+01] [-4.60810304e-01 1.06996548e-02 8.87434156e-01 1.24450638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.111858064 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:149.00, Y:97.88, Z:12.43 [[ 7.95796616e-01 4.47642074e-01 4.07828788e-01 1.49004948e+02] [-3.93199747e-01 8.94155814e-01 -2.14194627e-01 9.78825441e+01] [-4.60545009e-01 1.00971831e-02 8.87578921e-01 1.24315335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.141858064 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:149.03, Y:97.87, Z:12.42 [[ 7.95922114e-01 4.46087583e-01 4.09284568e-01 1.49030987e+02] [-3.93013089e-01 8.94960274e-01 -2.11155914e-01 9.78676918e+01] [-4.60487460e-01 7.20946928e-03 8.87636932e-01 1.24171661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.171858064 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:149.05, Y:97.85, Z:12.40 [[ 7.94405165e-01 4.46738996e-01 4.11515132e-01 1.49054861e+02] [-3.94609222e-01 8.94655338e-01 -2.09464529e-01 9.78539686e+01] [-4.61740183e-01 4.01203762e-03 8.87006148e-01 1.24030488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.201858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:149.08, Y:97.85, Z:12.38 [[ 7.95619437e-01 4.49395964e-01 4.06242513e-01 1.49081360e+02] [-3.94389208e-01 8.93259540e-01 -2.15741853e-01 9.78454717e+01] [-4.59833519e-01 1.14307488e-02 8.87931570e-01 1.23848035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.231858064 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:149.10, Y:97.83, Z:12.37 [[ 7.94849930e-01 4.48850071e-01 4.08346914e-01 1.49104365e+02] [-3.95694781e-01 8.93580288e-01 -2.11990352e-01 9.78315145e+01] [-4.60042638e-01 6.91977391e-03 8.87869860e-01 1.23710996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.261858064 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:149.13, Y:97.82, Z:12.35 [[ 7.95606936e-01 4.49073179e-01 4.06623760e-01 1.49130431e+02] [-3.95258842e-01 8.93449432e-01 -2.13350791e-01 9.78187707e+01] [-4.59107886e-01 9.02173286e-03 8.88334710e-01 1.23548301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.291858064 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:149.16, Y:97.81, Z:12.34 [[ 7.95452398e-01 4.49549469e-01 4.06399751e-01 1.49156096e+02] [-3.95820458e-01 8.93211973e-01 -2.13303860e-01 9.78052219e+01] [-4.58891760e-01 8.81173110e-03 8.88448482e-01 1.23391568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.321858064 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:149.18, Y:97.79, Z:12.32 [[ 7.95309773e-01 4.49673307e-01 4.06541858e-01 1.49181436e+02] [-3.95836348e-01 8.93148703e-01 -2.13539179e-01 9.77929614e+01] [-4.59125202e-01 8.90575209e-03 8.88326931e-01 1.23240769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.351858064 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:149.21, Y:97.78, Z:12.31 [[ 7.94784286e-01 4.49809647e-01 4.07417747e-01 1.49207290e+02] [-3.95663799e-01 8.93079081e-01 -2.14149279e-01 9.77807271e+01] [-4.60182679e-01 9.00202821e-03 8.87778613e-01 1.23089921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.381858064 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:149.23, Y:97.76, Z:12.30 [[ 7.93550325e-01 4.48597509e-01 4.11142501e-01 1.49230676e+02] [-3.96499047e-01 8.93726980e-01 -2.09858502e-01 9.77647969e+01] [-4.61591147e-01 3.51567267e-03 8.87085820e-01 1.22970181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.411858064 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:149.26, Y:97.76, Z:12.28 [[ 7.94369444e-01 4.51804498e-01 4.06017096e-01 1.49258100e+02] [-3.96173596e-01 8.92037061e-01 -2.17523247e-01 9.77551248e+01] [-4.60460279e-01 1.19405679e-02 8.87599997e-01 1.22781485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.441858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:149.28, Y:97.74, Z:12.26 [[ 7.94349641e-01 4.52461156e-01 4.05324008e-01 1.49283316e+02] [-3.96858930e-01 8.91702984e-01 -2.17643693e-01 9.77418819e+01] [-4.59903945e-01 1.20287374e-02 8.87887195e-01 1.22626590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.471858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:149.31, Y:97.72, Z:12.25 [[ 7.93737899e-01 4.49330293e-01 4.09978579e-01 1.49308893e+02] [-3.96707969e-01 8.93352375e-01 -2.11055258e-01 9.77235845e+01] [-4.61088858e-01 4.88078791e-03 8.87340545e-01 1.22501517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.501858064 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:149.33, Y:97.72, Z:12.23 [[ 7.92689512e-01 4.55082306e-01 4.05639536e-01 1.49333814e+02] [-3.98709444e-01 8.90362289e-01 -2.19740240e-01 9.77161359e+01] [-4.61166041e-01 1.24534692e-02 8.87226461e-01 1.22325772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.531858064 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:149.36, Y:97.70, Z:12.22 [[ 7.91529686e-01 4.51255783e-01 4.12127378e-01 1.49359141e+02] [-3.99035778e-01 8.92391569e-01 -2.10731432e-01 9.76970322e+01] [-4.62872774e-01 2.34661510e-03 8.86421620e-01 1.22208203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.561858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:149.38, Y:97.69, Z:12.20 [[ 7.90953002e-01 4.57140567e-01 4.06713476e-01 1.49383978e+02] [-4.00898849e-01 8.89327455e-01 -2.19947246e-01 9.76905292e+01] [-4.62248269e-01 1.09169703e-02 8.86683347e-01 1.22027319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.591858064 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:149.41, Y:97.67, Z:12.19 [[ 7.89213735e-01 4.54114111e-01 4.13427206e-01 1.49408593e+02] [-4.01446490e-01 8.90942155e-01 -2.12279984e-01 9.76721015e+01] [-4.64739062e-01 1.56537816e-03 8.85446302e-01 1.21903428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.621858064 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:149.43, Y:97.67, Z:12.17 [[ 7.89234679e-01 4.61749758e-01 4.04840441e-01 1.49434283e+02] [-4.04426111e-01 8.86923447e-01 -2.23173295e-01 9.76654952e+01] [-4.62112694e-01 1.24080590e-02 8.86734401e-01 1.21708161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65185806399998 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:149.46, Y:97.65, Z:12.16 [[ 7.88693192e-01 4.57516947e-01 4.10659581e-01 1.49459225e+02] [-4.04722146e-01 8.89198471e-01 -2.13368377e-01 9.76458714e+01] [-4.62777520e-01 2.07915919e-03 8.86472021e-01 1.21586849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68185806399998 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:149.49, Y:97.63, Z:12.14 [[ 7.88306701e-01 4.57006292e-01 4.11968196e-01 1.49486688e+02] [-4.04667211e-01 8.89463186e-01 -2.12366876e-01 9.76305282e+01] [-4.63483542e-01 7.00210103e-04 8.86105251e-01 1.21417087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71185806399998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:149.51, Y:97.62, Z:12.12 [[ 7.88407053e-01 4.58983512e-01 4.09571061e-01 1.49512634e+02] [-4.04349328e-01 8.88426656e-01 -2.17254913e-01 9.76201160e+01] [-4.63590271e-01 5.67552267e-03 8.86031517e-01 1.21234255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74185806399998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:149.54, Y:97.61, Z:12.11 [[ 7.89615698e-01 4.60412850e-01 4.05619350e-01 1.49538537e+02] [-4.03541699e-01 8.87629347e-01 -2.21964501e-01 9.76093514e+01] [-4.62234947e-01 1.15823325e-02 8.86681850e-01 1.21055227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77185806399999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:149.56, Y:97.59, Z:12.09 [[ 7.89961179e-01 4.54060844e-01 4.12055925e-01 1.49562293e+02] [-4.01483279e-01 8.90968161e-01 -2.12101188e-01 9.75892342e+01] [-4.63435554e-01 2.11814013e-03 8.86128095e-01 1.20948021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.801858064 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:149.59, Y:97.58, Z:12.08 [[ 7.91092149e-01 4.57183249e-01 4.06394745e-01 1.49588546e+02] [-3.99900910e-01 8.89276418e-01 -2.21961067e-01 9.75806250e+01] [-4.62874145e-01 1.30740287e-02 8.86327590e-01 1.20751764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.831858064 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:150.01, Y:97.23, Z:12.83 [[ 8.00836918e-01 -3.90285244e-01 4.54244052e-01 1.50009079e+02] [-4.15103883e-01 1.84983072e-01 8.90769347e-01 9.72330545e+01] [-4.31681592e-01 -9.01919449e-01 -1.38676469e-02 1.28349655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.861858064 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:150.54, Y:97.98, Z:12.89 [[ 8.25231099e-01 -4.28763629e-01 -3.67634850e-01 1.50544201e+02] [-3.84167848e-01 -9.03266374e-01 1.91114943e-01 9.79765828e+01] [-4.14015335e-01 -1.64805058e-02 -9.10120704e-01 1.28937818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.891858064 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:149.89, Y:97.44, Z:11.96 [[ 8.49613012e-01 3.72592687e-01 3.73272581e-01 1.49892279e+02] [-3.36099006e-01 9.27923377e-01 -1.61231708e-01 9.74369429e+01] [-4.06442110e-01 1.15280138e-02 9.13603807e-01 1.19578546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.921858064 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:149.92, Y:97.43, Z:11.94 [[ 8.50009404e-01 3.73100400e-01 3.71860329e-01 1.49917911e+02] [-3.35837445e-01 9.27688859e-01 -1.63115269e-01 9.74270169e+01] [-4.05829056e-01 1.37648897e-02 9.13845340e-01 1.19435368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.951858064 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:149.95, Y:97.41, Z:11.94 [[ 8.50657892e-01 3.70738539e-01 3.72738630e-01 1.49945879e+02] [-3.37778412e-01 9.28728058e-01 -1.52872299e-01 9.74067439e+01] [-4.02848476e-01 4.13896490e-03 9.15257327e-01 1.19354294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.981858064 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:149.97, Y:97.41, Z:11.91 [[ 8.51924890e-01 3.77737762e-01 3.62681905e-01 1.49973953e+02] [-3.34474050e-01 9.25411050e-01 -1.78161441e-01 9.74147140e+01] [-4.02928146e-01 3.04724807e-02 9.14724186e-01 1.19091147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.011858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:150.00, Y:97.39, Z:11.91 [[ 8.50433909e-01 3.65579839e-01 3.78303513e-01 1.49998936e+02] [-3.33501580e-01 9.30779222e-01 -1.49755590e-01 9.73872633e+01] [-4.06864674e-01 1.19241248e-03 9.13487666e-01 1.19072176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.041858064 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:150.03, Y:97.39, Z:11.89 [[ 8.51203205e-01 3.74226532e-01 3.67977727e-01 1.50027630e+02] [-3.34544097e-01 9.27105471e-01 -1.68984296e-01 9.73870138e+01] [-4.04392571e-01 2.07351979e-02 9.14350425e-01 1.18861753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.071858064 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:150.05, Y:97.37, Z:11.87 [[ 8.50937120e-01 3.73679231e-01 3.69147464e-01 1.50053578e+02] [-3.35268389e-01 9.27394039e-01 -1.65937951e-01 9.73739356e+01] [-4.04352724e-01 1.74392865e-02 9.14436846e-01 1.18747434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.101858064 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:150.08, Y:97.35, Z:11.87 [[ 8.49794255e-01 3.68358185e-01 3.77043728e-01 1.50080649e+02] [-3.35028043e-01 9.29676036e-01 -1.53162264e-01 9.73546035e+01] [-4.06947092e-01 3.83618990e-03 9.13443676e-01 1.18657989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.131858064 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:150.11, Y:97.35, Z:11.85 [[ 8.49756486e-01 3.74474624e-01 3.71056156e-01 1.50107908e+02] [-3.36620423e-01 9.27114185e-01 -1.64760366e-01 9.73503762e+01] [-4.05710002e-01 1.51011094e-02 9.13877098e-01 1.18494374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.161858064 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:150.14, Y:97.34, Z:11.84 [[ 8.49019964e-01 3.73794881e-01 3.73419987e-01 1.50136739e+02] [-3.38106520e-01 9.27464732e-01 -1.59665753e-01 9.73369515e+01] [-4.06016109e-01 9.30367907e-03 9.13818560e-01 1.18379737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.191858064 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:150.16, Y:97.33, Z:11.82 [[ 8.48780250e-01 3.77166087e-01 3.70564206e-01 1.50162607e+02] [-3.39433611e-01 9.26034990e-01 -1.65057628e-01 9.73292115e+01] [-4.05409561e-01 1.43157083e-02 9.14023057e-01 1.18231360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.221858064 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:150.19, Y:97.31, Z:11.81 [[ 8.48737994e-01 3.76012086e-01 3.71831586e-01 1.50192764e+02] [-3.41989895e-01 9.26597988e-01 -1.56393989e-01 9.73080695e+01] [-4.03344430e-01 5.57487591e-03 9.15031252e-01 1.18127985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.251858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:150.22, Y:97.29, Z:11.81 [[ 8.48894063e-01 3.70598396e-01 3.76876239e-01 1.50220511e+02] [-3.41571538e-01 9.28770105e-01 -1.43926986e-01 9.72901453e+01] [-4.03370494e-01 -6.55143291e-03 9.15013291e-01 1.18060242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.281858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:150.25, Y:97.32, Z:11.77 [[ 8.49143152e-01 3.88870843e-01 3.57400860e-01 1.50246168e+02] [-3.38588556e-01 9.20141803e-01 -1.96715154e-01 9.73185057e+01] [-4.05356260e-01 4.60274849e-02 9.12999328e-01 1.17678865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.311858064 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:150.27, Y:97.28, Z:11.77 [[ 8.48597553e-01 3.73533410e-01 3.74639808e-01 1.50272054e+02] [-3.39490345e-01 9.27602733e-01 -1.55882889e-01 9.72810726e+01] [-4.05744377e-01 5.09524052e-03 9.13972395e-01 1.17696362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.341858064 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:150.30, Y:97.28, Z:11.75 [[ 8.48765470e-01 3.78941437e-01 3.68782543e-01 1.50298707e+02] [-3.38399883e-01 9.25181303e-01 -1.71828623e-01 9.72828566e+01] [-4.06303699e-01 2.10462325e-02 9.13495682e-01 1.17501270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.371858064 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:150.32, Y:97.28, Z:11.73 [[ 8.47705812e-01 3.75713172e-01 3.74478929e-01 1.50324646e+02] [-3.34238782e-01 9.26488278e-01 -1.72927465e-01 9.72755664e+01] [-4.11921464e-01 2.14262366e-02 9.10967411e-01 1.17326651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40185806399998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:150.35, Y:97.25, Z:11.73 [[ 8.47950022e-01 3.67466625e-01 3.82032773e-01 1.50352399e+02] [-3.37056827e-01 9.30025379e-01 -1.46442785e-01 9.72475231e+01] [-4.09113011e-01 -4.59059134e-03 9.12472175e-01 1.17341203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43185806399998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:150.38, Y:97.25, Z:11.72 [[ 8.47764756e-01 3.74122242e-01 3.75935457e-01 1.50380888e+02] [-3.37286919e-01 9.27317214e-01 -1.62235382e-01 9.72469854e+01] [-4.09307285e-01 1.07393269e-02 9.12333389e-01 1.17151925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46185806399998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:150.41, Y:97.24, Z:11.70 [[ 8.48271734e-01 3.76613054e-01 3.72287083e-01 1.50409593e+02] [-3.37919716e-01 9.26234438e-01 -1.67033025e-01 9.72387083e+01] [-4.07731935e-01 1.58862486e-02 9.12963470e-01 1.17001917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49185806399998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:150.43, Y:97.23, Z:11.68 [[ 8.47213954e-01 3.78652839e-01 3.72626547e-01 1.50434555e+02] [-3.36910750e-01 9.25275644e-01 -1.74230102e-01 9.72348687e+01] [-4.10754991e-01 2.20682843e-02 9.11478649e-01 1.16809546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52185806399999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:150.46, Y:97.22, Z:11.67 [[ 8.46786011e-01 3.76090446e-01 3.76177389e-01 1.50463764e+02] [-3.38815254e-01 9.26516515e-01 -1.63619595e-01 9.72195643e+01] [-4.10070330e-01 1.10961468e-02 9.11986404e-01 1.16717509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.551858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:150.49, Y:97.21, Z:11.66 [[ 8.46522025e-01 3.74820641e-01 3.78034323e-01 1.50491289e+02] [-3.39651456e-01 9.27078699e-01 -1.58625263e-01 9.72066160e+01] [-4.09923591e-01 5.87987069e-03 9.12100914e-01 1.16611337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.581858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:150.52, Y:97.19, Z:11.66 [[ 8.46811841e-01 3.72670393e-01 3.79508213e-01 1.50522101e+02] [-3.42119862e-01 9.27952187e-01 -1.47847015e-01 9.71873137e+01] [-4.07263681e-01 -4.63869434e-03 9.13298843e-01 1.16559455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.611858064 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:150.55, Y:97.19, Z:11.64 [[ 8.47507272e-01 3.82738063e-01 3.67753994e-01 1.50550224e+02] [-3.43555649e-01 9.23693348e-01 -1.69588075e-01 9.71923491e+01] [-4.04599729e-01 1.73831650e-02 9.14328653e-01 1.16363095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.641858064 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:150.58, Y:97.18, Z:11.62 [[ 8.46296425e-01 3.78389340e-01 3.74971824e-01 1.50575628e+02] [-3.40902549e-01 9.25575368e-01 -1.64607686e-01 9.71808473e+01] [-4.09350477e-01 1.14780452e-02 9.12305015e-01 1.16208088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.671858064 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:150.60, Y:97.17, Z:11.61 [[ 8.47515582e-01 3.77983121e-01 3.72620583e-01 1.50604212e+02] [-3.43340373e-01 9.25792134e-01 -1.58197069e-01 9.71651518e+01] [-4.04765027e-01 6.13879123e-03 9.14400125e-01 1.16145513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.701858064 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:150.63, Y:97.15, Z:11.60 [[ 8.47054110e-01 3.77800393e-01 3.73853178e-01 1.50631790e+02] [-3.43453158e-01 9.25873634e-01 -1.57473620e-01 9.71543779e+01] [-4.05634396e-01 4.98762230e-03 9.14021805e-01 1.16019705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:97.17, Z:11.57 [[ 8.46296334e-01 3.84285786e-01 3.68926753e-01 1.50657353e+02] [-3.38468094e-01 9.22679624e-01 -1.84666351e-01 9.71681100e+01] [-4.11365852e-01 3.14125205e-02 9.10928861e-01 1.15714642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:97.13, Z:11.58 [[ 8.47456990e-01 3.70542528e-01 3.80151134e-01 1.50686140e+02] [-3.44574317e-01 9.28697203e-01 -1.37076788e-01 9.71257567e+01] [-4.03838074e-01 -1.48236351e-02 9.14710375e-01 1.15830020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.791858064 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:150.72, Y:97.12, Z:11.56 [[ 8.46996300e-01 3.77218650e-01 3.74570898e-01 1.50715493e+02] [-3.44274888e-01 9.26122789e-01 -1.54179706e-01 9.71245215e+01] [-4.05058105e-01 1.63428624e-03 9.14289484e-01 1.15641654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.821858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.74, Y:97.12, Z:11.55 [[ 8.47351884e-01 3.80192795e-01 3.70740103e-01 1.50744860e+02] [-3.44172675e-01 9.24858360e-01 -1.61809093e-01 9.71201225e+01] [-4.04400735e-01 9.51062686e-03 9.14532445e-01 1.15485367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.77, Y:97.11, Z:11.53 [[ 8.48626668e-01 3.83034194e-01 3.64852825e-01 1.50772840e+02] [-3.44143280e-01 9.23559507e-01 -1.69124923e-01 9.71148756e+01] [-4.01743924e-01 1.79622716e-02 9.15575872e-01 1.15327521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.80, Y:97.10, Z:11.52 [[ 8.48975585e-01 3.80026048e-01 3.67179329e-01 1.50799662e+02] [-3.44306073e-01 9.24917057e-01 -1.61188606e-01 9.71021527e+01] [-4.00866293e-01 1.04231182e-02 9.16077275e-01 1.15229099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:97.09, Z:11.51 [[ 8.48513509e-01 3.75328466e-01 3.73032664e-01 1.50827779e+02] [-3.43313776e-01 9.26891653e-01 -1.51682281e-01 9.70858041e+01] [-4.02691541e-01 6.37211357e-04 9.15335522e-01 1.15133395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.86, Y:97.08, Z:11.50 [[ 8.48682974e-01 3.79148606e-01 3.68759467e-01 1.50856514e+02] [-3.43240759e-01 9.25277374e-01 -1.61392569e-01 9.70807071e+01] [-4.02396559e-01 1.03978464e-02 9.15406409e-01 1.14968849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:97.07, Z:11.48 [[ 8.48965792e-01 3.78940883e-01 3.68321723e-01 1.50883667e+02] [-3.43045385e-01 9.25359985e-01 -1.61334318e-01 9.70704168e+01] [-4.01966353e-01 1.06162497e-02 9.15592894e-01 1.14842883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:97.06, Z:11.47 [[ 8.48895422e-01 3.79127929e-01 3.68291428e-01 1.50911617e+02] [-3.43219295e-01 9.25283439e-01 -1.61403446e-01 9.70581177e+01] [-4.01966514e-01 1.06099217e-02 9.15592896e-01 1.14706339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.94, Y:97.05, Z:11.46 [[ 8.49209225e-01 3.78610630e-01 3.68100099e-01 1.50940624e+02] [-3.42655536e-01 9.25491406e-01 -1.61408926e-01 9.70485413e+01] [-4.01784613e-01 1.09384117e-02 9.15668868e-01 1.14577790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:97.04, Z:11.44 [[ 8.49112019e-01 3.78386542e-01 3.68554480e-01 1.50968487e+02] [-3.42260291e-01 9.25580002e-01 -1.61739154e-01 9.70378308e+01] [-4.02326575e-01 1.11930958e-02 9.15427792e-01 1.14445612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:97.07, Z:11.40 [[ 8.47670153e-01 3.90240317e-01 3.59399230e-01 1.50990774e+02] [-3.31413616e-01 9.18506773e-01 -2.15662520e-01 9.70708656e+01] [-4.14270837e-01 6.37008827e-02 9.07921732e-01 1.14020069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:96.98, Z:11.44 [[ 8.49122458e-01 3.50602978e-01 3.95055189e-01 1.51021311e+02] [-3.39789136e-01 9.35208388e-01 -9.96424327e-02 9.69831777e+01] [-4.04393861e-01 -4.96268340e-02 9.13237528e-01 1.14402559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.05, Y:97.01, Z:11.41 [[ 8.50014510e-01 3.76264094e-01 3.68647072e-01 1.51054180e+02] [-3.39699033e-01 9.26425024e-01 -1.62299853e-01 9.70063884e+01] [-4.02591480e-01 1.27281764e-02 9.15291262e-01 1.14065115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:97.00, Z:11.39 [[ 8.50530929e-01 3.75913213e-01 3.67812990e-01 1.51081653e+02] [-3.39432434e-01 9.26563766e-01 -1.62065452e-01 9.69957612e+01] [-4.01724734e-01 1.29940212e-02 9.15668277e-01 1.13940508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.11, Y:96.98, Z:11.38 [[ 8.50836538e-01 3.75674288e-01 3.67349989e-01 1.51109830e+02] [-3.39214789e-01 9.26657581e-01 -1.61984735e-01 9.69848158e+01] [-4.01261153e-01 1.32119822e-02 9.15868403e-01 1.13803585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:96.98, Z:11.37 [[ 8.51347766e-01 3.75374519e-01 3.66470942e-01 1.51139066e+02] [-3.39013235e-01 9.26775615e-01 -1.61731216e-01 9.69759423e+01] [-4.00346110e-01 1.34510099e-02 9.16265280e-01 1.13666195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:96.95, Z:11.37 [[ 8.52058854e-01 3.68922260e-01 3.71338221e-01 1.51168370e+02] [-3.42067722e-01 9.29416340e-01 -1.38473612e-01 9.69504281e+01] [-3.96213808e-01 -9.03515208e-03 9.18113819e-01 1.13668346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:96.97, Z:11.33 [[ 8.51262692e-01 3.86299524e-01 3.55140122e-01 1.51196498e+02] [-3.40757419e-01 9.21628366e-01 -1.85702819e-01 9.69722115e+01] [-3.99044121e-01 3.70652505e-02 9.16182273e-01 1.13334932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.22, Y:96.95, Z:11.33 [[ 8.50728005e-01 3.77598360e-01 3.65624589e-01 1.51221902e+02] [-3.41471230e-01 9.25882498e-01 -1.61675601e-01 9.69481799e+01] [-3.99573849e-01 1.26916841e-02 9.16613146e-01 1.13272719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.25, Y:96.94, Z:11.32 [[ 8.50009079e-01 3.78049101e-01 3.66828901e-01 1.51248529e+02] [-3.42758648e-01 9.25730367e-01 -1.59811755e-01 9.69370216e+01] [-4.00001344e-01 1.01076642e-02 9.16458815e-01 1.13152812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.28, Y:96.93, Z:11.30 [[ 8.49880762e-01 3.80005092e-01 3.65101111e-01 1.51277137e+02] [-3.43707466e-01 9.24897490e-01 -1.62572478e-01 9.69296414e+01] [-3.99459470e-01 1.26792442e-02 9.16663171e-01 1.13002713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.421858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.30, Y:96.93, Z:11.28 [[ 8.48876076e-01 3.81927467e-01 3.65432371e-01 1.51302502e+02] [-3.42026774e-01 9.23969024e-01 -1.71169299e-01 9.69276412e+01] [-4.03022448e-01 2.03138680e-02 9.14964618e-01 1.12808013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.33, Y:96.90, Z:11.28 [[ 8.48578197e-01 3.77040344e-01 3.71154445e-01 1.51329413e+02] [-3.45133539e-01 9.26196560e-01 -1.51798462e-01 9.69046772e+01] [-4.00996114e-01 7.15018413e-04 9.16079475e-01 1.12759859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:96.91, Z:11.25 [[ 8.47521237e-01 3.84996436e-01 3.65356672e-01 1.51357032e+02] [-3.44737989e-01 9.22694091e-01 -1.72601663e-01 9.69079281e+01] [-4.03563467e-01 2.03312505e-02 9.14725734e-01 1.12532341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:96.88, Z:11.25 [[ 8.46733557e-01 3.81132084e-01 3.71188116e-01 1.51385153e+02] [-3.50104017e-01 9.24517491e-01 -1.50647220e-01 9.68832005e+01] [-4.00586395e-01 -2.39639389e-03 9.16255858e-01 1.12510361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:96.88, Z:11.24 [[ 8.45309160e-01 3.85738519e-01 3.69673124e-01 1.51412977e+02] [-3.51797206e-01 9.22600607e-01 -1.58261955e-01 9.68757632e+01] [-4.02108381e-01 3.73030822e-03 9.15584477e-01 1.12359933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:96.87, Z:11.22 [[ 8.43510147e-01 3.93682929e-01 3.65382517e-01 1.51442457e+02] [-3.55903758e-01 9.19164214e-01 -1.68729554e-01 9.68706165e+01] [-4.02272479e-01 1.22840804e-02 9.15437575e-01 1.12202424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:96.86, Z:11.21 [[ 8.42125086e-01 3.94170704e-01 3.68041841e-01 1.51468347e+02] [-3.58410291e-01 9.19015345e-01 -1.64173257e-01 9.68572446e+01] [-4.02948387e-01 6.34443511e-03 9.15200713e-01 1.12093960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:96.85, Z:11.20 [[ 8.41417097e-01 3.95917730e-01 3.67785835e-01 1.51495870e+02] [-3.60522339e-01 9.18271524e-01 -1.63710268e-01 9.68462167e+01] [-4.02543057e-01 5.15360911e-03 9.15386545e-01 1.11962106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:96.84, Z:11.18 [[ 8.40859522e-01 3.97386808e-01 3.67476516e-01 1.51523728e+02] [-3.62133312e-01 9.17639818e-01 -1.63696758e-01 9.68352939e+01] [-4.02262015e-01 4.57048994e-03 9.15513179e-01 1.11825337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.691858064 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.55, Y:96.82, Z:11.17 [[ 8.40264419e-01 3.99125111e-01 3.66953475e-01 1.51550373e+02] [-3.64077443e-01 9.16888334e-01 -1.63595226e-01 9.68244474e+01] [-4.01750323e-01 3.86376412e-03 9.15741093e-01 1.11693033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:96.81, Z:11.16 [[ 8.40050901e-01 3.99401603e-01 3.67141448e-01 1.51577403e+02] [-3.64287752e-01 9.16767957e-01 -1.63801549e-01 9.68118732e+01] [-4.02006116e-01 3.85650583e-03 9.15628860e-01 1.11560324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:96.80, Z:11.14 [[ 8.40308754e-01 3.98892101e-01 3.67105284e-01 1.51603760e+02] [-3.63682009e-01 9.16988113e-01 -1.63915210e-01 9.67990609e+01] [-4.02015665e-01 4.22979848e-03 9.15623020e-01 1.11432872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:96.79, Z:11.13 [[ 8.40558372e-01 3.98352812e-01 3.67119410e-01 1.51631204e+02] [-3.63037635e-01 9.17220690e-01 -1.64042315e-01 9.67861001e+01] [-4.02076236e-01 4.60897864e-03 9.15594593e-01 1.11298740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:96.77, Z:11.12 [[ 8.41236822e-01 3.97871508e-01 3.66085881e-01 1.51657302e+02] [-3.61978038e-01 9.17417973e-01 -1.65276021e-01 9.67742327e+01] [-4.01612386e-01 6.52122520e-03 9.15786528e-01 1.11165665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:96.76, Z:11.10 [[ 8.41917135e-01 3.97620466e-01 3.64792410e-01 1.51683534e+02] [-3.61209997e-01 9.17511947e-01 -1.66430660e-01 9.67619085e+01] [-4.00877631e-01 8.35415926e-03 9.16093518e-01 1.11033894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:96.74, Z:11.09 [[ 8.42841128e-01 3.92717137e-01 3.67956632e-01 1.51708622e+02] [-3.58382529e-01 9.19652599e-01 -1.60627084e-01 9.67446449e+01] [-4.01473281e-01 3.51388416e-03 9.15863995e-01 1.10920817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:96.73, Z:11.08 [[ 8.43296010e-01 3.93189018e-01 3.66407199e-01 1.51735769e+02] [-3.57412166e-01 9.19428091e-01 -1.64038192e-01 9.67325794e+01] [-4.01383088e-01 7.37436166e-03 9.15880579e-01 1.10777091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:96.72, Z:11.06 [[ 8.43740651e-01 3.92237517e-01 3.66403390e-01 1.51761443e+02] [-3.56315004e-01 9.19829482e-01 -1.64174733e-01 9.67192494e+01] [-4.01424130e-01 7.96587107e-03 9.15857638e-01 1.10649998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.79, Y:96.70, Z:11.05 [[ 8.44878579e-01 3.90386384e-01 3.65757650e-01 1.51787115e+02] [-3.54374311e-01 9.20607542e-01 -1.64014027e-01 9.67045337e+01] [-4.00748094e-01 8.95682289e-03 9.16144498e-01 1.10521358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:96.69, Z:11.04 [[ 8.45422244e-01 3.89769737e-01 3.65158571e-01 1.51813896e+02] [-3.53790321e-01 9.20865243e-01 -1.63827996e-01 9.66910622e+01] [-4.00117031e-01 9.31426358e-03 9.16416721e-01 1.10389893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:96.68, Z:11.03 [[ 8.45865568e-01 3.89229235e-01 3.64708161e-01 1.51840387e+02] [-3.53237473e-01 9.21089973e-01 -1.63757592e-01 9.66776939e+01] [-3.99668273e-01 9.68831931e-03 9.16608645e-01 1.10256934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:96.66, Z:11.01 [[ 8.46833631e-01 3.88249521e-01 3.63503936e-01 1.51865476e+02] [-3.52362414e-01 9.21497334e-01 -1.63350519e-01 9.66632187e+01] [-3.98388669e-01 1.02455887e-02 9.17159472e-01 1.10129000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.89, Y:96.65, Z:11.00 [[ 8.46961463e-01 3.87915960e-01 3.63562221e-01 1.51891504e+02] [-3.51933138e-01 9.21634597e-01 -1.63501489e-01 9.66502015e+01] [-3.98496358e-01 1.05298674e-02 9.17109467e-01 1.09994235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:96.64, Z:10.99 [[ 8.47278464e-01 3.87738413e-01 3.63012571e-01 1.51918277e+02] [-3.51800958e-01 9.21707142e-01 -1.63376957e-01 9.66366764e+01] [-3.97938801e-01 1.07176073e-02 9.17349357e-01 1.09864923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:96.62, Z:10.97 [[ 8.47447795e-01 3.87598348e-01 3.62766806e-01 1.51944731e+02] [-3.51642878e-01 9.21763837e-01 -1.63397417e-01 9.66231649e+01] [-3.97717891e-01 1.09064174e-02 9.17442930e-01 1.09730131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:96.59, Z:10.97 [[ 8.50045322e-01 3.80454330e-01 3.64249162e-01 1.51973509e+02] [-3.53529298e-01 9.24755644e-01 -1.40868858e-01 9.65911792e+01] [-3.90435636e-01 -9.02783699e-03 9.20585962e-01 1.09741576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:96.61, Z:10.94 [[ 8.48942637e-01 3.96441665e-01 3.49471610e-01 1.51996772e+02] [-3.51897257e-01 9.17399679e-01 -1.85865945e-01 9.66071788e+01] [-3.94290147e-01 3.48114244e-02 9.18326437e-01 1.09419174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:96.58, Z:10.94 [[ 8.49103080e-01 3.85099872e-01 3.61555041e-01 1.52021969e+02] [-3.50279664e-01 9.22826370e-01 -1.60298622e-01 9.65775964e+01] [-3.95383505e-01 9.46467564e-03 9.18467367e-01 1.09362719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:96.56, Z:10.92 [[ 8.48778055e-01 3.86593468e-01 3.60723307e-01 1.52047338e+02] [-3.50840627e-01 9.22177083e-01 -1.62789070e-01 9.65638199e+01] [-3.95583958e-01 1.16153990e-02 9.18356366e-01 1.09232999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.291858064 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:152.08, Y:96.54, Z:10.92 [[ 8.49141772e-01 3.82391743e-01 3.64327881e-01 1.52075555e+02] [-3.52774873e-01 9.23994764e-01 -1.47592567e-01 9.65393915e+01] [-3.93075234e-01 -3.19870852e-03 9.19500750e-01 1.09181129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:96.54, Z:10.89 [[ 8.47670866e-01 3.96647932e-01 3.52313100e-01 1.52100568e+02] [-3.54766134e-01 9.17569622e-01 -1.79463032e-01 9.65442922e+01] [-3.94455438e-01 2.71368276e-02 9.18514289e-01 1.08922688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:96.52, Z:10.88 [[ 8.47136712e-01 3.92233172e-01 3.58486444e-01 1.52124066e+02] [-3.56725967e-01 9.19805275e-01 -1.63416160e-01 9.65224885e+01] [-3.93834961e-01 1.05544055e-02 9.19120573e-01 1.08843904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:96.51, Z:10.87 [[ 8.46605274e-01 3.91366831e-01 3.60682011e-01 1.52151788e+02] [-3.57151310e-01 9.20209707e-01 -1.60178141e-01 9.65059524e+01] [-3.94591499e-01 6.78960623e-03 9.18831568e-01 1.08716405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:96.49, Z:10.86 [[ 8.45513980e-01 3.94303763e-01 3.60042569e-01 1.52177797e+02] [-3.59126188e-01 9.18940500e-01 -1.63023736e-01 9.64923892e+01] [-3.95138571e-01 8.53813229e-03 9.18581847e-01 1.08580095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:96.48, Z:10.84 [[ 8.44630626e-01 3.95765782e-01 3.60511514e-01 1.52203783e+02] [-3.60569148e-01 9.18316780e-01 -1.63352932e-01 9.64781950e+01] [-3.95713273e-01 7.98356003e-03 9.18339408e-01 1.08449550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:96.47, Z:10.83 [[ 8.44480217e-01 3.98256495e-01 3.58113010e-01 1.52229917e+02] [-3.62081557e-01 9.17211938e-01 -1.66190275e-01 9.64661673e+01] [-3.94651884e-01 1.06782833e-02 9.18768668e-01 1.08314713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:96.45, Z:10.82 [[ 8.44073711e-01 4.00547869e-01 3.56512237e-01 1.52254678e+02] [-3.63825424e-01 9.16196271e-01 -1.67974566e-01 9.64543673e+01] [-3.93917037e-01 1.20746992e-02 9.19066684e-01 1.08184414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.531858064 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.28, Y:96.43, Z:10.81 [[ 8.41973528e-01 3.95943654e-01 3.66482198e-01 1.52279021e+02] [-3.64698771e-01 9.18266884e-01 -1.54210040e-01 9.64310040e+01] [-3.97586952e-01 -3.81483631e-03 9.17556572e-01 1.08103283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:96.42, Z:10.79 [[ 8.41425625e-01 4.00739959e-01 3.62505727e-01 1.52306704e+02] [-3.65472651e-01 9.16172706e-01 -1.64491080e-01 9.64223502e+01] [-3.98036002e-01 5.92108075e-03 9.17350687e-01 1.07937037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.591858064 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:152.33, Y:96.41, Z:10.78 [[ 8.40902199e-01 4.01653293e-01 3.62709421e-01 1.52332547e+02] [-3.66370776e-01 9.15774569e-01 -1.64710030e-01 9.64083923e+01] [-3.98316389e-01 5.61889456e-03 9.17230877e-01 1.07807768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:96.39, Z:10.77 [[ 8.39973087e-01 4.03514587e-01 3.62796349e-01 1.52358526e+02] [-3.68329296e-01 9.14960329e-01 -1.64866994e-01 9.63925040e+01] [-3.98470504e-01 4.85531434e-03 9.17168296e-01 1.07675752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:96.38, Z:10.75 [[ 8.38843543e-01 4.07347729e-01 3.61122331e-01 1.52386575e+02] [-3.71186712e-01 9.13247676e-01 -1.67925895e-01 9.63759849e+01] [-3.98198361e-01 6.81974168e-03 9.17273981e-01 1.07512294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:96.36, Z:10.74 [[ 8.39204241e-01 4.06557773e-01 3.61174500e-01 1.52409976e+02] [-3.71342548e-01 9.13612268e-01 -1.65581813e-01 9.63637190e+01] [-3.97292027e-01 4.83750053e-03 9.17679489e-01 1.07410654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:96.35, Z:10.73 [[ 8.38882639e-01 4.07008021e-01 3.61414428e-01 1.52436215e+02] [-3.72268122e-01 9.13417823e-01 -1.64573163e-01 9.63491052e+01] [-3.97104978e-01 3.51449893e-03 9.17766465e-01 1.07279241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:96.34, Z:10.72 [[ 8.38356757e-01 4.07961408e-01 3.61559729e-01 1.52462032e+02] [-3.73236141e-01 9.12993709e-01 -1.64733940e-01 9.63355956e+01] [-3.97306848e-01 3.15865363e-03 9.17680386e-01 1.07150374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:96.32, Z:10.70 [[ 8.37626049e-01 4.09558400e-01 3.61447810e-01 1.52488014e+02] [-3.74961285e-01 9.12280518e-01 -1.64767385e-01 9.63189405e+01] [-3.97223662e-01 2.48451829e-03 9.17718470e-01 1.07017550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.51, Y:96.30, Z:10.69 [[ 8.37284330e-01 4.10433655e-01 3.61246683e-01 1.52514112e+02] [-3.75897507e-01 9.11887810e-01 -1.64808031e-01 9.63041774e+01] [-3.97059209e-01 2.19945385e-03 9.17790361e-01 1.06886619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.831858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.54, Y:96.29, Z:10.68 [[ 8.36863958e-01 4.11393616e-01 3.61128798e-01 1.52539869e+02] [-3.76909037e-01 9.11455855e-01 -1.64887241e-01 9.62891232e+01] [-3.96986515e-01 1.87548186e-03 9.17822526e-01 1.06756032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.861858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:152.57, Y:96.27, Z:10.66 [[ 8.36885609e-01 4.13428606e-01 3.58746799e-01 1.52565803e+02] [-3.78160157e-01 9.10526789e-01 -1.67140245e-01 9.62733251e+01] [-3.95749130e-01 4.21351977e-03 9.18348993e-01 1.06617117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.891858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:152.59, Y:96.26, Z:10.65 [[ 8.36846097e-01 4.12860380e-01 3.59492582e-01 1.52593463e+02] [-3.78293185e-01 9.10791133e-01 -1.65389777e-01 9.62595553e+01] [-3.95705542e-01 2.41219595e-03 9.18374273e-01 1.06487578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.921858064 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:152.62, Y:96.24, Z:10.64 [[ 8.35946145e-01 4.12897104e-01 3.61538413e-01 1.52617500e+02] [-3.79283829e-01 9.10777399e-01 -1.63181818e-01 9.62445536e+01] [-3.96658316e-01 -7.14462171e-04 9.17966051e-01 1.06369175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.951858064 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:152.65, Y:96.23, Z:10.62 [[ 8.36290924e-01 4.13776699e-01 3.59730919e-01 1.52645317e+02] [-3.79151293e-01 9.10375771e-01 -1.65711351e-01 9.62311875e+01] [-3.96057808e-01 2.19045564e-03 9.18222965e-01 1.06219730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.981858064 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:152.67, Y:96.22, Z:10.61 [[ 8.36573056e-01 4.15161991e-01 3.57471737e-01 1.52672375e+02] [-3.79841970e-01 9.09736616e-01 -1.67628658e-01 9.62179561e+01] [-3.94798175e-01 4.45084978e-03 9.18757090e-01 1.06075730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.011858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:152.70, Y:96.20, Z:10.60 [[ 8.36938027e-01 4.14090054e-01 3.57860540e-01 1.52696346e+02] [-3.79492011e-01 9.10231310e-01 -1.65724999e-01 9.62004361e+01] [-3.94360943e-01 2.89633777e-03 9.18951064e-01 1.05957934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.041858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:152.72, Y:96.18, Z:10.59 [[ 8.36530076e-01 4.12977205e-01 3.60093406e-01 1.52720682e+02] [-3.79827196e-01 9.10740629e-01 -1.62119733e-01 9.61836343e+01] [-3.94903449e-01 -1.15523599e-03 9.18721901e-01 1.05851708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.071858064 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:152.75, Y:96.17, Z:10.57 [[ 8.36737686e-01 4.13712167e-01 3.58764947e-01 1.52746188e+02] [-3.79647395e-01 9.10406725e-01 -1.64400276e-01 9.61694446e+01] [-3.94636415e-01 1.35572931e-03 9.18836363e-01 1.05713753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.101858064 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:152.77, Y:96.15, Z:10.56 [[ 8.37259692e-01 4.12948183e-01 3.58427129e-01 1.52770447e+02] [-3.78833366e-01 9.10752684e-01 -1.64361887e-01 9.61520419e+01] [-3.94311413e-01 1.82942660e-03 9.18975061e-01 1.05591946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.131858064 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:152.80, Y:96.14, Z:10.55 [[ 8.37280050e-01 4.12949569e-01 3.58377973e-01 1.52797183e+02] [-3.78795139e-01 9.10751821e-01 -1.64454747e-01 9.61374932e+01] [-3.94304909e-01 1.94284502e-03 9.18977619e-01 1.05457805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.161858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:152.82, Y:96.12, Z:10.53 [[ 8.37454931e-01 4.12771570e-01 3.58174356e-01 1.52823992e+02] [-3.78589609e-01 9.10832050e-01 -1.64483691e-01 9.61231891e+01] [-3.94130874e-01 2.14658825e-03 9.19051819e-01 1.05324121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.191858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.85, Y:96.11, Z:10.52 [[ 8.37646233e-01 4.12304901e-01 3.58264508e-01 1.52848715e+02] [-3.78008503e-01 9.11042503e-01 -1.64654575e-01 9.61075516e+01] [-3.94282082e-01 2.49525478e-03 9.18986079e-01 1.05191923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:96.09, Z:10.51 [[ 8.37718682e-01 4.11972396e-01 3.58477552e-01 1.52875763e+02] [-3.77552751e-01 9.11192109e-01 -1.64872257e-01 9.60931176e+01] [-3.94564736e-01 2.77238430e-03 9.18863963e-01 1.05058101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.90, Y:96.08, Z:10.49 [[ 8.37942423e-01 4.11308914e-01 3.58716425e-01 1.52901572e+02] [-3.76728658e-01 9.11490348e-01 -1.65108641e-01 9.60770379e+01] [-3.94877215e-01 3.21277686e-03 9.18728286e-01 1.04938007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.281858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.93, Y:96.06, Z:10.48 [[ 8.37927637e-01 4.11023334e-01 3.59078116e-01 1.52927846e+02] [-3.76286513e-01 9.11618158e-01 -1.65410989e-01 9.60634903e+01] [-3.95329907e-01 3.48618699e-03 9.18532586e-01 1.04808739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:96.05, Z:10.47 [[ 8.38550196e-01 4.11339130e-01 3.57258574e-01 1.52956034e+02] [-3.75485985e-01 9.11456919e-01 -1.68096875e-01 9.60520566e+01] [-3.94770621e-01 6.81208044e-03 9.18754457e-01 1.04663171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:96.04, Z:10.45 [[ 8.37345030e-01 4.11217245e-01 3.60213380e-01 1.52981935e+02] [-3.76784688e-01 9.11534673e-01 -1.64735664e-01 9.60384878e+01] [-3.96089131e-01 2.21770398e-03 9.18209389e-01 1.04549132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:96.03, Z:10.44 [[ 8.38330056e-01 4.14226339e-01 3.54428069e-01 1.53011446e+02] [-3.76702663e-01 9.10104812e-01 -1.72639318e-01 9.60305013e+01] [-3.94078444e-01 1.12147314e-02 9.19008384e-01 1.04371911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:96.01, Z:10.43 [[ 8.37204930e-01 4.09839127e-01 3.62104674e-01 1.53034968e+02] [-3.77156302e-01 9.12154954e-01 -1.60394712e-01 9.60110265e+01] [-3.96031601e-01 -2.28681631e-03 9.18234034e-01 1.04302881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:96.00, Z:10.42 [[ 8.37485995e-01 4.11612948e-01 3.59432871e-01 1.53061718e+02] [-3.76728778e-01 9.11352014e-01 -1.65870233e-01 9.60012381e+01] [-3.95844207e-01 3.50529092e-03 9.18310991e-01 1.04152329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46185806399998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:153.09, Y:95.99, Z:10.40 [[ 8.37196630e-01 4.12396044e-01 3.59209279e-01 1.53090308e+02] [-3.77036620e-01 9.10993604e-01 -1.67134800e-01 9.59861907e+01] [-3.96163086e-01 4.48963949e-03 9.18169185e-01 1.04011360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.12, Y:95.98, Z:10.39 [[ 8.37241025e-01 4.12675448e-01 3.58784672e-01 1.53117572e+02] [-3.76296692e-01 9.10851604e-01 -1.69558709e-01 9.59754163e+01] [-3.96772310e-01 6.95202179e-03 9.17890736e-01 1.03863984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.14, Y:95.96, Z:10.38 [[ 8.37956223e-01 4.09128148e-01 3.61169666e-01 1.53144254e+02] [-3.76621145e-01 9.12474541e-01 -1.59833430e-01 9.59571073e+01] [-3.94950480e-01 -2.09071563e-03 9.18700031e-01 1.03795993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:95.96, Z:10.36 [[ 8.38667950e-01 4.12653293e-01 3.55462134e-01 1.53169365e+02] [-3.73061186e-01 9.10749188e-01 -1.77091131e-01 9.59592336e+01] [-3.96814088e-01 1.59115305e-02 9.17761081e-01 1.03588735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.581858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.19, Y:95.94, Z:10.35 [[ 8.38845560e-01 4.08081870e-01 3.60287821e-01 1.53194699e+02] [-3.72561971e-01 9.12928584e-01 -1.66610262e-01 9.59413508e+01] [-3.96907677e-01 5.53073736e-03 9.17841874e-01 1.03499386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:95.92, Z:10.34 [[ 8.38464449e-01 4.08470949e-01 3.60733768e-01 1.53224383e+02] [-3.75448842e-01 9.12771165e-01 -1.60894272e-01 9.59214048e+01] [-3.94988018e-01 -5.32948111e-04 9.18686117e-01 1.03395402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:95.92, Z:10.32 [[ 8.38197977e-01 4.14142470e-01 3.54838225e-01 1.53249199e+02] [-3.77020736e-01 9.10155870e-01 -1.71673112e-01 9.59171187e+01] [-3.94055220e-01 1.01146869e-02 9.19031108e-01 1.03234685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.28, Y:95.90, Z:10.31 [[ 8.38890796e-01 4.14358271e-01 3.52943985e-01 1.53278434e+02] [-3.78301280e-01 9.10074334e-01 -1.69271522e-01 9.59007880e+01] [-3.91344317e-01 8.48116058e-03 9.20205246e-01 1.03110319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.701858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.30, Y:95.90, Z:10.29 [[ 8.38965197e-01 4.14524615e-01 3.52571612e-01 1.53303047e+02] [-3.75215895e-01 9.09894818e-01 -1.76930642e-01 9.58998961e+01] [-3.94145189e-01 1.61481774e-02 9.18906310e-01 1.02932306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:95.88, Z:10.29 [[ 8.37892271e-01 4.09650118e-01 3.60726105e-01 1.53328492e+02] [-3.75875547e-01 9.12242284e-01 -1.62885199e-01 9.58794090e+01] [-3.95795547e-01 8.92127272e-04 9.18338222e-01 1.02858943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.761858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:153.36, Y:95.87, Z:10.27 [[ 8.37749638e-01 4.12703994e-01 3.57562521e-01 1.53355763e+02] [-3.76852751e-01 9.10843427e-01 -1.68363465e-01 9.58702608e+01] [-3.95167747e-01 6.29801242e-03 9.18587387e-01 1.02704271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:95.86, Z:10.25 [[ 8.38621727e-01 4.17777919e-01 3.49535706e-01 1.53383591e+02] [-3.78005843e-01 9.08374521e-01 -1.78794048e-01 9.58647915e+01] [-3.92205535e-01 1.78140337e-02 9.19705104e-01 1.02539791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.821858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.41, Y:95.84, Z:10.25 [[ 8.36521444e-01 4.07110813e-01 3.66732410e-01 1.53408052e+02] [-3.77782487e-01 9.13309166e-01 -1.52140590e-01 9.58366943e+01] [-3.96878151e-01 -1.12762157e-02 9.17802038e-01 1.02518137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.851858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:153.44, Y:95.83, Z:10.23 [[ 8.35953404e-01 4.14007104e-01 3.60249947e-01 1.53436382e+02] [-3.78578281e-01 9.10265990e-01 -1.67613582e-01 9.58330307e+01] [-3.97316488e-01 3.73433879e-03 9.17674050e-01 1.02323539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.881858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:153.46, Y:95.82, Z:10.22 [[ 8.35566655e-01 4.14596140e-01 3.60469703e-01 1.53463336e+02] [-3.79115630e-01 9.09998429e-01 -1.67851713e-01 9.58208837e+01] [-3.97617535e-01 3.59159577e-03 9.17544220e-01 1.02194568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:95.81, Z:10.20 [[ 8.35504125e-01 4.18618245e-01 3.55937666e-01 1.53489979e+02] [-3.80588505e-01 9.08102110e-01 -1.74650934e-01 9.58118520e+01] [-3.96339813e-01 1.04557920e-02 9.18044350e-01 1.02042891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:95.79, Z:10.20 [[ 8.34681633e-01 4.14334131e-01 3.62813725e-01 1.53515027e+02] [-3.80842769e-01 9.10122748e-01 -1.63203456e-01 9.57927724e+01] [-3.97825787e-01 -1.95205671e-03 9.17458900e-01 1.01962245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.971858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.54, Y:95.79, Z:10.18 [[ 8.34968589e-01 4.19454721e-01 3.56209478e-01 1.53542824e+02] [-3.83095954e-01 9.07754651e-01 -1.70935613e-01 9.57857526e+01] [-3.95050560e-01 6.26345766e-03 9.18638027e-01 1.01790496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.001858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:153.57, Y:95.74, Z:10.19 [[ 8.36296430e-01 4.05347071e-01 3.69191053e-01 1.53574635e+02] [-3.87975800e-01 9.13303844e-01 -1.23898620e-01 9.57386886e+01] [-3.87405550e-01 -3.96212200e-02 9.21057598e-01 1.01910773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:95.76, Z:10.15 [[ 8.35770604e-01 4.28122224e-01 3.43800609e-01 1.53602906e+02] [-3.88171354e-01 9.03536673e-01 -1.81506145e-01 9.57595708e+01] [-3.88343272e-01 1.82439527e-02 9.21334174e-01 1.01515238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.62, Y:95.77, Z:10.12 [[ 8.35860638e-01 4.33209581e-01 3.37144559e-01 1.53623218e+02] [-3.83530487e-01 9.00275105e-01 -2.05934700e-01 9.57700396e+01] [-3.92735738e-01 4.28274928e-02 9.18653605e-01 1.01237470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.65, Y:95.73, Z:10.13 [[ 8.35869057e-01 4.16589364e-01 3.57458000e-01 1.53646638e+02] [-3.82577429e-01 9.09094158e-01 -1.64870621e-01 9.57328294e+01] [-3.93646327e-01 1.05488796e-03 9.19261365e-01 1.01272861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:95.72, Z:10.12 [[ 8.34914647e-01 4.15539211e-01 3.60894300e-01 1.53671594e+02] [-3.82580137e-01 9.09571437e-01 -1.62210477e-01 9.57180945e+01] [-3.95663961e-01 -2.63908737e-03 9.18391564e-01 1.01167532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:95.71, Z:10.10 [[ 8.35235069e-01 4.16728557e-01 3.58775262e-01 1.53699576e+02] [-3.82380557e-01 9.09030192e-01 -1.65678060e-01 9.57062780e+01] [-3.95180324e-01 1.19144161e-03 9.18602793e-01 1.01021302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.72, Y:95.70, Z:10.09 [[ 8.35971547e-01 4.20316749e-01 3.52824889e-01 1.53724513e+02] [-3.83722548e-01 9.07340651e-01 -1.71726380e-01 9.56990850e+01] [-3.92311838e-01 8.17150177e-03 9.19795982e-01 1.00868181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:95.68, Z:10.08 [[ 8.35748158e-01 4.15506019e-01 3.58998278e-01 1.53751436e+02] [-3.83200861e-01 9.09584467e-01 -1.60664858e-01 9.56800878e+01] [-3.93296473e-01 -3.29309040e-03 9.19405808e-01 1.00771751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:95.67, Z:10.06 [[ 8.34889074e-01 4.17812674e-01 3.58319415e-01 1.53779261e+02] [-3.84316455e-01 9.08532794e-01 -1.63917736e-01 9.56690077e+01] [-3.94031847e-01 -8.54919737e-04 9.19096389e-01 1.00627501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.81, Y:95.64, Z:10.06 [[ 8.34711045e-01 4.18352819e-01 3.58103883e-01 1.53810333e+02] [-3.90062615e-01 9.08191768e-01 -1.51785601e-01 9.56410873e+01] [-3.88726933e-01 -1.29858194e-02 9.21261494e-01 1.00577134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:95.66, Z:10.03 [[ 8.33845280e-01 4.28223883e-01 3.48319330e-01 1.53833647e+02] [-3.85748446e-01 9.03411188e-01 -1.87206737e-01 9.56564579e+01] [-3.94841975e-01 2.17378138e-02 9.18491852e-01 1.00281585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:95.64, Z:10.02 [[ 8.34776482e-01 4.23339205e-01 3.52039972e-01 1.53859733e+02] [-3.86173868e-01 9.05926132e-01 -1.73688192e-01 9.56369598e+01] [-3.92451232e-01 9.04217994e-03 9.19728367e-01 1.00210233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.361858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:153.89, Y:95.62, Z:10.01 [[ 8.34561208e-01 4.19429522e-01 3.57192477e-01 1.53886507e+02] [-3.85317630e-01 9.07787675e-01 -1.65686030e-01 9.56192113e+01] [-3.93748541e-01 6.42574239e-04 9.19217969e-01 1.00106278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:95.58, Z:10.02 [[ 8.34928946e-01 4.12046597e-01 3.64844154e-01 1.53917061e+02] [-3.90081856e-01 9.10704379e-01 -1.35844324e-01 9.55805292e+01] [-3.88239360e-01 -2.88987265e-02 9.21105348e-01 1.00158654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.95, Y:95.59, Z:9.98 [[ 8.34697127e-01 4.28948966e-01 3.45374421e-01 1.53945388e+02] [-3.90468794e-01 9.03223199e-01 -1.78106637e-01 9.55915704e+01] [-3.88348847e-01 1.38071644e-02 9.21408995e-01 9.98464788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:95.60, Z:9.96 [[ 8.34034829e-01 4.32005911e-01 3.43157102e-01 1.53965749e+02] [-3.85361610e-01 9.01270159e-01 -1.98011440e-01 9.56009919e+01] [-3.94819368e-01 3.29088640e-02 9.18169197e-01 9.96000489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.99, Y:95.57, Z:9.96 [[ 8.33784186e-01 4.20349805e-01 3.57924535e-01 1.53989570e+02] [-3.85358861e-01 9.07359752e-01 -1.67919115e-01 9.55712728e+01] [-3.95351084e-01 2.07891167e-03 9.18527734e-01 9.95928694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.02, Y:95.56, Z:9.95 [[ 8.33327140e-01 4.21622294e-01 3.57491985e-01 1.54016763e+02] [-3.86218543e-01 9.06766974e-01 -1.69141631e-01 9.55602467e+01] [-3.95475808e-01 2.88027794e-03 9.18471877e-01 9.94525319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.04, Y:95.55, Z:9.93 [[ 8.32954624e-01 4.22014377e-01 3.57897277e-01 1.54043566e+02] [-3.86654762e-01 9.06585736e-01 -1.69116523e-01 9.55480903e+01] [-3.95834170e-01 2.48370384e-03 9.18318649e-01 9.93260262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.07, Y:95.54, Z:9.92 [[ 8.32867852e-01 4.21840038e-01 3.58304512e-01 1.54071134e+02] [-3.86329345e-01 9.06666288e-01 -1.69428093e-01 9.55353696e+01] [-3.96334176e-01 2.68766472e-03 9.18102390e-01 9.92034164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.601858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:95.52, Z:9.91 [[ 8.32864175e-01 4.21456909e-01 3.58763626e-01 1.54098188e+02] [-3.85762051e-01 9.06843468e-01 -1.69772095e-01 9.55225463e+01] [-3.96894073e-01 2.99970345e-03 9.17859519e-01 9.90759436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:95.51, Z:9.89 [[ 8.32663980e-01 4.21205732e-01 3.59522500e-01 1.54125677e+02] [-3.85272665e-01 9.06959268e-01 -1.70264091e-01 9.55095464e+01] [-3.97788474e-01 3.25858379e-03 9.17471368e-01 9.89453485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:95.50, Z:9.88 [[ 8.32362019e-01 4.22138320e-01 3.59127705e-01 1.54151863e+02] [-3.84560955e-01 9.06504950e-01 -1.74245939e-01 9.54990407e+01] [-3.99106931e-01 6.92920872e-03 9.16878206e-01 9.88104321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.18, Y:95.49, Z:9.86 [[ 8.31911839e-01 4.22216574e-01 3.60077570e-01 1.54178588e+02] [-3.83016192e-01 9.06438415e-01 -1.77955039e-01 9.54891185e+01] [-4.01523709e-01 1.01273644e-02 9.15792633e-01 9.86331378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.721858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.20, Y:95.46, Z:9.86 [[ 8.31334831e-01 4.13134698e-01 3.71755456e-01 1.54202266e+02] [-3.83525528e-01 9.10556997e-01 -1.54253445e-01 9.54621639e+01] [-4.02231982e-01 -1.43414459e-02 9.15425451e-01 9.86462727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.23, Y:95.45, Z:9.85 [[ 8.32791841e-01 4.18001792e-01 3.62949380e-01 1.54231834e+02] [-3.83478976e-01 9.08445966e-01 -1.66342423e-01 9.54544679e+01] [-3.99251331e-01 -6.54844222e-04 9.16841287e-01 9.84664453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:95.44, Z:9.84 [[ 8.33627566e-01 4.19724695e-01 3.59021254e-01 1.54258957e+02] [-3.84708621e-01 9.07649679e-01 -1.67843194e-01 9.54420943e+01] [-3.96313460e-01 1.80014131e-03 9.18113501e-01 9.83526649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.811858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:154.28, Y:95.45, Z:9.81 [[ 8.33856448e-01 4.27181948e-01 3.49569747e-01 1.54284881e+02] [-3.83048078e-01 9.03815263e-01 -1.90767240e-01 9.54450187e+01] [-3.97438794e-01 2.51704733e-02 9.17283409e-01 9.81069168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.841858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:154.31, Y:95.42, Z:9.81 [[ 8.33685837e-01 4.19054743e-01 3.59667970e-01 1.54309977e+02] [-3.83166580e-01 9.07953521e-01 -1.69716749e-01 9.54201585e+01] [-3.97682408e-01 3.67770349e-03 9.17515764e-01 9.80600063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.871858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:154.34, Y:95.40, Z:9.80 [[ 8.34280428e-01 4.13872648e-01 3.64260345e-01 1.54336645e+02] [-3.84535964e-01 9.10255730e-01 -1.53514161e-01 9.53963606e+01] [-3.95105378e-01 -1.19973427e-02 9.18557458e-01 9.80285050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:95.41, Z:9.77 [[ 8.34591652e-01 4.22642408e-01 3.53313133e-01 1.54363712e+02] [-3.80392158e-01 9.06070081e-01 -1.85307354e-01 9.54052903e+01] [-3.98445205e-01 2.02584260e-02 9.16968383e-01 9.77359637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:95.37, Z:9.77 [[ 8.34696651e-01 4.11181530e-01 3.66348538e-01 1.54388717e+02] [-3.80538831e-01 9.11507315e-01 -1.56027603e-01 9.53745273e+01] [-3.98085040e-01 -9.17412717e-03 9.17302642e-01 9.77373184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96185806399998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:154.42, Y:95.38, Z:9.74 [[ 8.36727969e-01 4.17590329e-01 3.54266315e-01 1.54415829e+02] [-3.73852413e-01 9.08302712e-01 -1.87671407e-01 9.53816287e+01] [-4.00150820e-01 2.45865984e-02 9.16119436e-01 9.74377634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.44, Y:95.35, Z:9.74 [[ 8.37161879e-01 4.09564790e-01 3.62514373e-01 1.54441373e+02] [-3.74579245e-01 9.12276452e-01 -1.65656463e-01 9.53546370e+01] [-3.98560380e-01 2.89091554e-03 9.17137539e-01 9.74151097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:95.35, Z:9.72 [[ 8.37063964e-01 4.13786835e-01 3.57916716e-01 1.54465859e+02] [-3.73280498e-01 9.10224382e-01 -1.79313258e-01 9.53515860e+01] [-3.99981987e-01 1.64933365e-02 9.16374585e-01 9.72313391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:95.34, Z:9.71 [[ 8.37180284e-01 4.10890861e-01 3.60967965e-01 1.54492337e+02] [-3.72454404e-01 9.11616708e-01 -1.73875515e-01 9.53350969e+01] [-4.00508288e-01 1.11210450e-02 9.16225646e-01 9.71127761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.081858064 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:154.52, Y:95.32, Z:9.70 [[ 8.37161875e-01 4.10682282e-01 3.61247917e-01 1.54519601e+02] [-3.72907103e-01 9.11728599e-01 -1.72311504e-01 9.53238244e+01] [-4.00125339e-01 9.54070795e-03 9.16410764e-01 9.70014191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:95.30, Z:9.69 [[ 8.36522502e-01 4.06579175e-01 3.67319314e-01 1.54550217e+02] [-3.73405453e-01 9.13611905e-01 -1.60877765e-01 9.53014442e+01] [-4.00996847e-01 -2.58116445e-03 9.16075797e-01 9.68960135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.58, Y:95.30, Z:9.67 [[ 8.36167684e-01 4.12247967e-01 3.61766801e-01 1.54579608e+02] [-3.74302924e-01 9.11024704e-01 -1.73006679e-01 9.52958006e+01] [-4.00900144e-01 9.25222250e-03 9.16075036e-01 9.67071358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.171858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:154.60, Y:95.30, Z:9.65 [[ 8.36236518e-01 4.16837902e-01 3.56306960e-01 1.54604376e+02] [-3.72602702e-01 9.08640059e-01 -1.88521799e-01 9.52991210e+01] [-4.02337809e-01 2.48878767e-02 9.15152928e-01 9.65170987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.201858064 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] Translation: X:154.63, Y:95.28, Z:9.64 [[ 8.34328779e-01 4.16763494e-01 3.60837469e-01 1.54628960e+02] [-3.77283617e-01 9.08936807e-01 -1.77456904e-01 9.52818644e+01] [-4.01936017e-01 1.19193369e-02 9.15590175e-01 9.64480368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.231858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:154.66, Y:95.26, Z:9.63 [[ 8.32951471e-01 4.14442244e-01 3.66646252e-01 1.54655606e+02] [-3.78677547e-01 9.10074459e-01 -1.68427417e-01 9.52631866e+01] [-4.03478826e-01 1.45116104e-03 9.14987831e-01 9.63488956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.261858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.68, Y:95.25, Z:9.62 [[ 8.31903839e-01 4.16756989e-01 3.66400893e-01 1.54683641e+02] [-3.79878042e-01 9.09011460e-01 -1.71437566e-01 9.52524890e+01] [-4.04510415e-01 3.43191510e-03 9.14526952e-01 9.62107022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.291858064 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:154.71, Y:95.24, Z:9.60 [[ 8.30515523e-01 4.22201949e-01 3.63303566e-01 1.54713207e+02] [-3.82103875e-01 9.06439961e-01 -1.79897820e-01 9.52405229e+01] [-4.05266080e-01 1.05882317e-02 9.14137459e-01 9.60166836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:95.66, Z:10.50 [[ 0.84818219 -0.43709439 -0.29922476 155.48782794] [ -0.34621781 -0.8849815 0.31135347 95.66206716] [ -0.40089923 -0.16048752 -0.90195541 10.50212712] [ 0. 0. 0. 1. ]] SLAMing on 241.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.90, Y:95.16, Z:9.55 [[ 8.60809745e-01 3.48474761e-01 3.70906894e-01 1.54895187e+02] [-3.25203977e-01 9.37237198e-01 -1.25812587e-01 9.51565441e+01] [-3.91470250e-01 -1.23196966e-02 9.20108292e-01 9.54701255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.381858064 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:154.92, Y:95.17, Z:9.52 [[ 8.60073533e-01 3.60417154e-01 3.61072006e-01 1.54920083e+02] [-3.25173889e-01 9.32634727e-01 -1.56379052e-01 9.51684500e+01] [-3.93109985e-01 1.70862954e-02 9.19332692e-01 9.52244563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.411858064 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:154.95, Y:95.15, Z:9.51 [[ 8.59976794e-01 3.56254409e-01 3.65407595e-01 1.54946815e+02] [-3.26063008e-01 9.34378913e-01 -1.43593042e-01 9.51509359e+01] [-3.92584806e-01 4.34078471e-03 9.19705566e-01 9.51497932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.441858064 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:154.98, Y:95.14, Z:9.50 [[ 8.59679493e-01 3.57326541e-01 3.65060150e-01 1.54976389e+02] [-3.26989545e-01 9.33968403e-01 -1.44155676e-01 9.51374070e+01] [-3.92465294e-01 4.55682637e-03 9.19755526e-01 9.50122358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.471858064 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:155.00, Y:95.13, Z:9.49 [[ 8.59542201e-01 3.58113801e-01 3.64611725e-01 1.55001933e+02] [-3.27122513e-01 9.33658049e-01 -1.45854411e-01 9.51303767e+01] [-3.92655150e-01 6.09531787e-03 9.19665581e-01 9.48887021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.501858064 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:155.03, Y:95.12, Z:9.48 [[ 8.59609319e-01 3.57625629e-01 3.64932499e-01 1.55030478e+02] [-3.27512811e-01 9.33856476e-01 -1.43692178e-01 9.51190599e+01] [-3.92182583e-01 3.99906624e-03 9.19878703e-01 9.47661646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.531858064 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:155.06, Y:95.11, Z:9.46 [[ 8.59619719e-01 3.57854576e-01 3.64683482e-01 1.55058256e+02] [-3.27750756e-01 9.33768680e-01 -1.43720197e-01 9.51086009e+01] [-3.91960943e-01 4.01942892e-03 9.19973077e-01 9.46327861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.561858064 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:155.09, Y:95.10, Z:9.45 [[ 8.60141262e-01 3.57606570e-01 3.63695683e-01 1.55085742e+02] [-3.27627818e-01 9.33862997e-01 -1.43387292e-01 9.50983098e+01] [-3.90918179e-01 4.17650281e-03 9.20415957e-01 9.45059041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.591858064 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:155.11, Y:95.12, Z:9.41 [[ 8.59269501e-01 3.69154943e-01 3.54091164e-01 1.55107479e+02] [-3.21094812e-01 9.28117486e-01 -1.88403962e-01 9.51203088e+01] [-3.98188455e-01 4.81929427e-02 9.16036787e-01 9.41348273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.621858064 meters Centerline goodness : 0.995799 Centerline is valid? [True, True] Translation: X:155.13, Y:95.06, Z:9.43 [[ 8.60292619e-01 3.34734442e-01 3.84511980e-01 1.55134214e+02] [-3.20280454e-01 9.41685340e-01 -1.03194721e-01 9.50625529e+01] [-3.96632122e-01 -3.43740150e-02 9.17333847e-01 9.43361714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65185806399998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:155.16, Y:95.07, Z:9.41 [[ 8.60584375e-01 3.51061389e-01 3.68985684e-01 1.55161309e+02] [-3.20620461e-01 9.36340029e-01 -1.43072956e-01 9.50728941e+01] [-3.95723457e-01 4.82198994e-03 9.18357062e-01 9.40574012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68185806399998 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:155.19, Y:95.06, Z:9.39 [[ 8.62074428e-01 3.51146130e-01 3.65409464e-01 1.55190847e+02] [-3.18902901e-01 9.36261738e-01 -1.47359758e-01 9.50637815e+01] [-3.93863708e-01 1.05049411e-02 9.19108821e-01 9.39033714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71185806399998 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:155.22, Y:95.05, Z:9.38 [[ 8.62221275e-01 3.47055459e-01 3.68953901e-01 1.55217416e+02] [-3.17276025e-01 9.37834887e-01 -1.40718333e-01 9.50489224e+01] [-3.94854906e-01 4.27011331e-03 9.18733568e-01 9.38051084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74185806399998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:155.25, Y:95.04, Z:9.37 [[ 8.62570945e-01 3.47494914e-01 3.67720886e-01 1.55245301e+02] [-3.16617900e-01 9.37653838e-01 -1.43381953e-01 9.50389873e+01] [-3.94619399e-01 7.25009164e-03 9.18816068e-01 9.36727204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77185806399999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:155.27, Y:95.03, Z:9.35 [[ 8.62628191e-01 3.46873130e-01 3.68173377e-01 1.55273430e+02] [-3.15810989e-01 9.37880723e-01 -1.43677308e-01 9.50279204e+01] [-3.95140511e-01 7.66689809e-03 9.18588698e-01 9.35453759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.801858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:155.30, Y:95.02, Z:9.34 [[ 8.62470346e-01 3.46901476e-01 3.68516307e-01 1.55300612e+02] [-3.15725676e-01 9.37869193e-01 -1.43939830e-01 9.50170092e+01] [-3.95553030e-01 7.79377482e-03 9.18410070e-01 9.34235684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.33, Y:95.01, Z:9.33 [[ 8.62210654e-01 3.47020976e-01 3.69011153e-01 1.55328187e+02] [-3.15715782e-01 9.37824310e-01 -1.44253625e-01 9.50067793e+01] [-3.96126664e-01 7.87436716e-03 9.18162110e-01 9.33014363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.861858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:155.36, Y:94.99, Z:9.32 [[ 8.61941222e-01 3.45911013e-01 3.70678973e-01 1.55357111e+02] [-3.14872199e-01 9.38242199e-01 -1.43377383e-01 9.49946761e+01] [-3.97382471e-01 6.86637287e-03 9.17627389e-01 9.31699333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.891858064 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:155.38, Y:94.99, Z:9.30 [[ 8.61552424e-01 3.49216088e-01 3.68477333e-01 1.55383479e+02] [-3.16425001e-01 9.36977118e-01 -1.48152281e-01 9.49871912e+01] [-3.96991989e-01 1.10455161e-02 9.17755609e-01 9.30381073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.921858064 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:155.41, Y:94.97, Z:9.29 [[ 8.60801736e-01 3.49651677e-01 3.69816273e-01 1.55411987e+02] [-3.18325538e-01 9.36854060e-01 -1.44821690e-01 9.49744852e+01] [-3.97101023e-01 6.94079793e-03 9.17748660e-01 9.29252190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.951858064 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:155.44, Y:94.96, Z:9.28 [[ 8.60465345e-01 3.51188215e-01 3.69142559e-01 1.55439644e+02] [-3.20062889e-01 9.36283380e-01 -1.44683032e-01 9.49636939e+01] [-3.96433018e-01 6.34590082e-03 9.18041716e-01 9.27985714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.981858064 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:155.47, Y:94.95, Z:9.27 [[ 8.59830586e-01 3.54445953e-01 3.67504326e-01 1.55467629e+02] [-3.23861191e-01 9.35063684e-01 -1.44117437e-01 9.49529712e+01] [-3.94721791e-01 4.89619177e-03 9.18787644e-01 9.26781509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.011858064 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:155.50, Y:94.94, Z:9.25 [[ 8.59061155e-01 3.56772820e-01 3.67051886e-01 1.55495768e+02] [-3.26421453e-01 9.34182881e-01 -1.44053395e-01 9.49420812e+01] [-3.94287925e-01 3.93706605e-03 9.18978526e-01 9.25466507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.041858064 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:155.52, Y:94.93, Z:9.24 [[ 8.58273336e-01 3.59086677e-01 3.66638294e-01 1.55524177e+02] [-3.28955095e-01 9.33299400e-01 -1.44016580e-01 9.49315324e+01] [-3.93897735e-01 2.99805537e-03 9.19149382e-01 9.24191089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.071858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.55, Y:94.92, Z:9.23 [[ 8.56236294e-01 3.63975395e-01 3.66580578e-01 1.55551919e+02] [-3.34227924e-01 9.31408148e-01 -1.44119937e-01 9.49204821e+01] [-3.93892248e-01 8.79255034e-04 9.19156202e-01 9.22946693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.101858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.58, Y:94.91, Z:9.22 [[ 8.55883963e-01 3.64582568e-01 3.66799936e-01 1.55580458e+02] [-3.35329366e-01 9.31170914e-01 -1.43090691e-01 9.49076775e+01] [-3.93721803e-01 -5.29762195e-04 9.19229493e-01 9.21706848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.131858064 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:155.61, Y:94.89, Z:9.21 [[ 8.53425053e-01 3.63092376e-01 3.73937970e-01 1.55607004e+02] [-3.37179302e-01 9.31691070e-01 -1.35136480e-01 9.48909621e+01] [-3.97461693e-01 -1.07552857e-02 9.17555735e-01 9.20849875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.161858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:155.64, Y:94.88, Z:9.20 [[ 8.52277513e-01 3.70021422e-01 3.69739353e-01 1.55637329e+02] [-3.41232463e-01 9.29013914e-01 -1.43155698e-01 9.48798611e+01] [-3.96463678e-01 -4.15868801e-03 9.18040989e-01 9.19561457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.191858064 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:155.66, Y:94.89, Z:9.17 [[ 8.51416759e-01 3.81270698e-01 3.60169623e-01 1.55659857e+02] [-3.42981187e-01 9.24264229e-01 -1.67629176e-01 9.48859305e+01] [-3.96803992e-01 1.91908845e-02 9.17702731e-01 9.17246366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:94.86, Z:9.17 [[ 8.51222653e-01 3.70097702e-01 3.72085589e-01 1.55687772e+02] [-3.42490428e-01 9.28959612e-01 -1.40478987e-01 9.48563098e+01] [-3.97643435e-01 -7.85685649e-03 9.17506386e-01 9.16885318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.251858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.71, Y:94.86, Z:9.14 [[ 8.50212610e-01 3.76186440e-01 3.68269305e-01 1.55709218e+02] [-3.37773221e-01 9.26385008e-01 -1.66493447e-01 9.48647925e+01] [-4.03791740e-01 1.71633185e-02 9.14689921e-01 9.13985311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.281858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.73, Y:94.85, Z:9.13 [[ 8.51086605e-01 3.73668798e-01 3.68813259e-01 1.55734089e+02] [-3.39919321e-01 9.27536980e-01 -1.55338361e-01 9.48482781e+01] [-4.00133035e-01 6.83964562e-03 9.16431543e-01 9.13050812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:94.81, Z:9.14 [[ 8.52030234e-01 3.63477723e-01 3.76733893e-01 1.55764169e+02] [-3.44568519e-01 9.31172513e-01 -1.19122991e-01 9.48090763e+01] [-3.94102800e-01 -2.83142495e-02 9.18630114e-01 9.13907056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.341858064 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:155.79, Y:94.81, Z:9.12 [[ 8.52225854e-01 3.73490562e-01 3.66354875e-01 1.55792548e+02] [-3.44369784e-01 9.27629390e-01 -1.44613851e-01 9.48097343e+01] [-3.93853457e-01 -2.91788642e-03 9.19168614e-01 9.11554548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.371858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.82, Y:94.80, Z:9.10 [[ 8.53241595e-01 3.72369261e-01 3.65129997e-01 1.55820206e+02] [-3.43302226e-01 9.28081880e-01 -1.44248418e-01 9.47967887e+01] [-3.92584211e-01 -2.27119125e-03 9.19713259e-01 9.10248528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:155.85, Y:94.79, Z:9.09 [[ 8.53195696e-01 3.72517760e-01 3.65085775e-01 1.55848657e+02] [-3.43415891e-01 9.28022435e-01 -1.44360263e-01 9.47855047e+01] [-3.92584552e-01 -2.20870112e-03 9.19713266e-01 9.08896674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43185806399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:155.88, Y:94.77, Z:9.08 [[ 8.52079711e-01 3.69129644e-01 3.71084185e-01 1.55879045e+02] [-3.42643219e-01 9.29325664e-01 -1.37656949e-01 9.47675819e+01] [-3.95671317e-01 -9.85478643e-03 9.18339312e-01 9.07692642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:94.77, Z:9.06 [[ 8.52949429e-01 3.76766352e-01 3.61281591e-01 1.55903940e+02] [-3.42313980e-01 9.26244168e-01 -1.57774777e-01 9.47727436e+01] [-3.94079194e-01 1.09021665e-02 9.19011823e-01 9.05674627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:94.75, Z:9.05 [[ 8.52536424e-01 3.68538553e-01 3.70622424e-01 1.55932677e+02] [-3.41289071e-01 9.29580261e-01 -1.39292168e-01 9.47516215e+01] [-3.95857824e-01 -7.73773618e-03 9.18279212e-01 9.05027469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:94.75, Z:9.03 [[ 8.52571662e-01 3.73849243e-01 3.65182563e-01 1.55960189e+02] [-3.42039923e-01 9.27481742e-01 -1.50951350e-01 9.47484772e+01] [-3.95133207e-01 3.78982808e-03 9.18616016e-01 9.03154225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.99, Y:94.74, Z:9.02 [[ 8.52874682e-01 3.73770310e-01 3.64555254e-01 1.55986925e+02] [-3.42980920e-01 9.27519792e-01 -1.48563535e-01 9.47387582e+01] [-3.93660852e-01 1.67058185e-03 9.19254232e-01 9.01731618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:94.73, Z:9.00 [[ 8.52738627e-01 3.72992845e-01 3.65668117e-01 1.56014547e+02] [-3.43612630e-01 9.27832263e-01 -1.45112552e-01 9.47267715e+01] [-3.93404620e-01 -1.90510514e-03 9.19363462e-01 9.00479137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.04, Y:94.72, Z:8.99 [[ 8.52214938e-01 3.73991914e-01 3.65868484e-01 1.56042742e+02] [-3.44611675e-01 9.27429262e-01 -1.45319504e-01 9.47171770e+01] [-3.93665458e-01 -2.23909885e-03 9.19251050e-01 8.99055443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:94.71, Z:8.98 [[ 8.51131741e-01 3.75751612e-01 3.66586259e-01 1.56070044e+02] [-3.46351687e-01 9.26715786e-01 -1.45733873e-01 9.47090208e+01] [-3.94481011e-01 -2.92904410e-03 9.18899425e-01 8.97617326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:94.70, Z:8.96 [[ 8.50263326e-01 3.75246419e-01 3.69110283e-01 1.56096699e+02] [-3.47021610e-01 9.26901869e-01 -1.42929798e-01 9.46965687e+01] [-3.95762906e-01 -6.56127905e-03 9.18329283e-01 8.96402129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:94.69, Z:8.95 [[ 8.50118328e-01 3.76907048e-01 3.67749787e-01 1.56125175e+02] [-3.47280723e-01 9.26245690e-01 -1.46509456e-01 9.46871300e+01] [-3.95847102e-01 -3.16203808e-03 9.18310989e-01 8.94918220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:94.68, Z:8.93 [[ 8.50295123e-01 3.78416427e-01 3.65785745e-01 1.56153089e+02] [-3.47360267e-01 9.25635268e-01 -1.50133925e-01 9.46782092e+01] [-3.95397329e-01 5.98710250e-04 9.18509986e-01 8.93397487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:94.67, Z:8.92 [[ 8.50215647e-01 3.77067886e-01 3.67359718e-01 1.56180015e+02] [-3.47074683e-01 9.26183042e-01 -1.47391105e-01 9.46655002e+01] [-3.95818793e-01 -2.18703416e-03 9.18326031e-01 8.92120545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:94.65, Z:8.91 [[ 8.51489764e-01 3.74007639e-01 3.67537028e-01 1.56207096e+02] [-3.43287610e-01 9.27425595e-01 -1.48443197e-01 9.46536121e+01] [-3.96382136e-01 2.26954965e-04 9.18085590e-01 8.90651370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.821858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:94.64, Z:8.89 [[ 8.51448197e-01 3.71056204e-01 3.70612010e-01 1.56234359e+02] [-3.41806359e-01 9.28603082e-01 -1.44446281e-01 9.46394803e+01] [-3.97749143e-01 -3.68901620e-03 9.17486790e-01 8.89488408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:94.63, Z:8.88 [[ 8.51380434e-01 3.71581264e-01 3.70241436e-01 1.56261348e+02] [-3.40863319e-01 9.28400399e-01 -1.47935448e-01 9.46300704e+01] [-3.98702338e-01 -2.52379018e-04 9.17080358e-01 8.87968035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:94.62, Z:8.87 [[ 8.51299308e-01 3.71176914e-01 3.70833099e-01 1.56288324e+02] [-3.40283966e-01 9.28562167e-01 -1.48253581e-01 9.46196135e+01] [-3.99369893e-01 1.96132605e-05 9.16789882e-01 8.86644069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:94.61, Z:8.85 [[ 8.50512824e-01 3.71258102e-01 3.72552489e-01 1.56314681e+02] [-3.40018910e-01 9.28529704e-01 -1.49062841e-01 9.46092208e+01] [-4.01266840e-01 1.04966617e-04 9.15961196e-01 8.85251904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:94.60, Z:8.84 [[ 8.49828087e-01 3.71652739e-01 3.73719766e-01 1.56342507e+02] [-3.40192138e-01 9.28371822e-01 -1.49649823e-01 9.45976454e+01] [-4.02568667e-01 4.00962631e-05 9.15389790e-01 8.83865840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:94.59, Z:8.83 [[ 8.49434114e-01 3.71916779e-01 3.74352235e-01 1.56368952e+02] [-3.40312519e-01 9.28266076e-01 -1.50031604e-01 9.45853705e+01] [-4.03297751e-01 4.52105459e-05 9.15068807e-01 8.82574366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.001858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:156.38, Y:94.63, Z:8.78 [[ 8.47813060e-01 3.79058187e-01 3.70847552e-01 1.56383261e+02] [-3.25634381e-01 9.24081003e-01 -2.00091353e-01 9.46252894e+01] [-4.18539444e-01 4.88793490e-02 9.06882321e-01 8.78399455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:94.53, Z:8.83 [[ 8.48459894e-01 3.46591013e-01 3.99988097e-01 1.56421885e+02] [-3.42670063e-01 9.35700833e-01 -8.39117313e-02 9.45265293e+01] [-4.03352248e-01 -6.58682079e-02 9.12670994e-01 8.82569620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:94.55, Z:8.78 [[ 8.49410222e-01 3.72937439e-01 3.73389799e-01 1.56450631e+02] [-3.41247799e-01 9.27856417e-01 -1.50440714e-01 9.45504196e+01] [-4.02557096e-01 3.67433555e-04 9.15394805e-01 8.78492544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:94.56, Z:8.77 [[ 8.50075127e-01 3.69422257e-01 3.75365787e-01 1.56469110e+02] [-3.33562191e-01 9.29207501e-01 -1.59090179e-01 9.45601916e+01] [-4.07564157e-01 1.00307694e-02 9.13121482e-01 8.76667273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:94.54, Z:8.76 [[ 8.49866151e-01 3.62035325e-01 3.82959462e-01 1.56493654e+02] [-3.34125783e-01 9.32118636e-01 -1.39695416e-01 9.45390140e+01] [-4.07538326e-01 -9.23422441e-03 9.13141414e-01 8.76143554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:94.54, Z:8.74 [[ 8.49392210e-01 3.66048206e-01 3.80186248e-01 1.56517726e+02] [-3.30116391e-01 9.30551847e-01 -1.58418522e-01 9.45405888e+01] [-4.11771831e-01 9.05374614e-03 9.11242003e-01 8.73625928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:94.50, Z:8.74 [[ 8.50695778e-01 3.51329531e-01 3.91004160e-01 1.56547681e+02] [-3.32585941e-01 9.35760475e-01 -1.17213160e-01 9.45017584e+01] [-4.07066683e-01 -3.03297462e-02 9.12894749e-01 8.74374947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:94.48, Z:8.72 [[ 8.50479650e-01 3.63749938e-01 3.79960982e-01 1.56583140e+02] [-3.38633778e-01 9.31376020e-01 -1.33663283e-01 9.44848599e+01] [-4.02506558e-01 -1.49897205e-02 9.15294368e-01 8.72444179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.60, Y:94.50, Z:8.70 [[ 8.52726942e-01 3.63872781e-01 3.74771080e-01 1.56603113e+02] [-3.29043240e-01 9.31401240e-01 -1.55635073e-01 9.44984044e+01] [-4.05693615e-01 9.39832916e-03 9.13960810e-01 8.70267805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:94.51, Z:8.67 [[ 8.50668103e-01 3.68786033e-01 3.74647355e-01 1.56624340e+02] [-3.22911280e-01 9.28922747e-01 -1.81192814e-01 9.45109090e+01] [-4.14839829e-01 3.31570910e-02 9.09290121e-01 8.67123505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:94.44, Z:8.70 [[ 8.51526962e-01 3.41236746e-01 3.98069487e-01 1.56656176e+02] [-3.30408478e-01 9.38744006e-01 -9.79281862e-02 9.44437683e+01] [-4.07102041e-01 -4.81370426e-02 9.12113345e-01 8.69862161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:94.46, Z:8.67 [[ 8.52267929e-01 3.58090225e-01 3.81327638e-01 1.56685197e+02] [-3.29366806e-01 9.33669371e-01 -1.40637877e-01 9.44555697e+01] [-4.06394985e-01 -5.73551350e-03 9.13679495e-01 8.66906034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.71, Y:94.44, Z:8.66 [[ 8.52835119e-01 3.56916795e-01 3.81159627e-01 1.56711964e+02] [-3.27736540e-01 9.34126191e-01 -1.41410818e-01 9.44428937e+01] [-4.06523086e-01 -4.31982583e-03 9.13630297e-01 8.65610768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.74, Y:94.43, Z:8.64 [[ 8.53096327e-01 3.57763208e-01 3.79779072e-01 1.56739083e+02] [-3.27556389e-01 9.33810887e-01 -1.43888985e-01 9.44321514e+01] [-4.06120017e-01 -1.64789662e-03 9.13818262e-01 8.64264465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:94.43, Z:8.62 [[ 8.52130770e-01 3.63028895e-01 3.76939215e-01 1.56763988e+02] [-3.25136516e-01 9.31645689e-01 -1.62242275e-01 9.44320139e+01] [-4.10072429e-01 1.56949316e-02 9.11917909e-01 8.61770633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:94.38, Z:8.62 [[ 8.51362686e-01 3.56988862e-01 3.84370302e-01 1.56798269e+02] [-3.34071704e-01 9.33895974e-01 -1.27414312e-01 9.43849244e+01] [-4.04447367e-01 -1.99314504e-02 9.14344062e-01 8.62058559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:94.40, Z:8.60 [[ 8.51699412e-01 3.65736038e-01 3.75293569e-01 1.56821208e+02] [-3.31954656e-01 9.30697410e-01 -1.53650376e-01 9.43989079e+01] [-4.05480232e-01 6.28348734e-03 9.14082217e-01 8.59995814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.85, Y:94.36, Z:8.60 [[ 8.51562831e-01 3.58521865e-01 3.82495513e-01 1.56850898e+02] [-3.37863986e-01 9.33188817e-01 -1.22501263e-01 9.43649772e+01] [-4.00859916e-01 -2.49139362e-02 9.15800537e-01 8.60497275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.88, Y:94.39, Z:8.57 [[ 8.49350063e-01 3.78802560e-01 3.67577327e-01 1.56875244e+02] [-3.38233540e-01 9.25222997e-01 -1.71931609e-01 9.43853507e+01] [-4.05219130e-01 2.17031423e-02 9.13961942e-01 8.56596608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.90, Y:94.35, Z:8.57 [[ 8.48999979e-01 3.66187174e-01 3.80927802e-01 1.56902812e+02] [-3.43465395e-01 9.30292948e-01 -1.28788795e-01 9.43455492e+01] [-4.01535252e-01 -2.14938338e-02 9.15591315e-01 8.57456743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.93, Y:94.34, Z:8.56 [[ 8.47169002e-01 3.75716955e-01 3.75687971e-01 1.56927699e+02] [-3.47949996e-01 9.26677069e-01 -1.42128148e-01 9.43419214e+01] [-4.01541383e-01 -1.03140667e-02 9.15782801e-01 8.55947815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.95, Y:94.35, Z:8.53 [[ 8.44973023e-01 3.86196377e-01 3.69963442e-01 1.56952764e+02] [-3.47687686e-01 9.22311829e-01 -1.68683616e-01 9.43470889e+01] [-4.06366661e-01 1.39013720e-02 9.13604339e-01 8.53124236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.98, Y:94.32, Z:8.52 [[ 8.43460030e-01 3.82748247e-01 3.76933624e-01 1.56982951e+02] [-3.50690950e-01 9.23848342e-01 -1.53362635e-01 9.43173963e+01] [-4.06928783e-01 -2.83195754e-03 9.13455497e-01 8.51903776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.01, Y:94.30, Z:8.52 [[ 8.43719527e-01 3.78377951e-01 3.80745961e-01 1.57008193e+02] [-3.51899270e-01 9.25514703e-01 -1.39962277e-01 9.43039477e+01] [-4.05344625e-01 -1.58953195e-02 9.14025751e-01 8.51876756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.721858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:94.30, Z:8.49 [[ 8.41549218e-01 3.92200483e-01 3.71448105e-01 1.57036887e+02] [-3.53799764e-01 9.19809906e-01 -1.69633319e-01 9.43041131e+01] [-4.08191916e-01 1.13365354e-02 9.12825746e-01 8.48742614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.751858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.06, Y:94.28, Z:8.49 [[ 8.42718884e-01 3.80125252e-01 3.81221296e-01 1.57060701e+02] [-3.54087759e-01 9.24768801e-01 -1.39371890e-01 9.42788623e+01] [-4.05520335e-01 -1.75344711e-02 9.13917830e-01 8.49341555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.09, Y:94.27, Z:8.48 [[ 8.42797611e-01 3.83403977e-01 3.77748034e-01 1.57088804e+02] [-3.54853691e-01 9.23511416e-01 -1.45621161e-01 9.42684386e+01] [-4.04686354e-01 -1.13161179e-02 9.14385532e-01 8.47986804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.12, Y:94.27, Z:8.44 [[ 8.41147620e-01 3.95183035e-01 3.69189721e-01 1.57116332e+02] [-3.53222802e-01 9.18394162e-01 -1.78285768e-01 9.42721111e+01] [-4.09517196e-01 1.95584220e-02 9.12092723e-01 8.44485553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:94.25, Z:8.45 [[ 8.42533373e-01 3.82215589e-01 3.79537560e-01 1.57138624e+02] [-3.50194554e-01 9.24065186e-01 -1.53190424e-01 9.42537128e+01] [-4.09269215e-01 -3.84394198e-03 9.12405575e-01 8.44552943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:94.24, Z:8.43 [[ 8.43181753e-01 3.80749510e-01 3.79571261e-01 1.57165567e+02] [-3.49353106e-01 9.24665350e-01 -1.51480683e-01 9.42410053e+01] [-4.08652589e-01 -4.87865124e-03 9.12676975e-01 8.43311601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:94.23, Z:8.41 [[ 8.42847523e-01 3.84869757e-01 3.76142690e-01 1.57195992e+02] [-3.51010836e-01 9.22970336e-01 -1.57851680e-01 9.42289324e+01] [-4.07920883e-01 1.01473729e-03 9.13016716e-01 8.41212398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:157.22, Y:94.22, Z:8.40 [[ 8.44019633e-01 3.83705166e-01 3.74701487e-01 1.57223289e+02] [-3.49393528e-01 9.23450890e-01 -1.58627287e-01 9.42180486e+01] [-4.06884531e-01 2.96627010e-03 9.13474783e-01 8.39794813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:94.19, Z:8.41 [[ 8.46967472e-01 3.69421889e-01 3.82326522e-01 1.57251649e+02] [-3.50487578e-01 9.28725522e-01 -1.20943633e-01 9.41870574e+01] [-3.99755624e-01 -3.15653732e-02 9.16078091e-01 8.41253421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.28, Y:94.22, Z:8.37 [[ 8.46247774e-01 3.89707063e-01 3.63308559e-01 1.57275692e+02] [-3.44399473e-01 9.20400147e-01 -1.85074502e-01 9.42175510e+01] [-4.06514092e-01 3.14956091e-02 9.13101484e-01 8.36685633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:94.16, Z:8.39 [[ 8.49087455e-01 3.64823281e-01 3.82039877e-01 1.57305468e+02] [-3.45600763e-01 9.30604157e-01 -1.20565397e-01 9.41623737e+01] [-3.99512961e-01 -2.96627068e-02 9.16247520e-01 8.38791419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:94.17, Z:8.36 [[ 8.49743583e-01 3.76044564e-01 3.69494694e-01 1.57334567e+02] [-3.44618905e-01 9.26601419e-01 -1.50491264e-01 9.41679401e+01] [-3.98965730e-01 5.44129420e-04 9.16965676e-01 8.36388344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.081858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:157.36, Y:94.19, Z:8.32 [[ 8.47739562e-01 3.91354762e-01 3.58021068e-01 1.57359233e+02] [-3.40068161e-01 9.19025762e-01 -1.99362217e-01 9.41863684e+01] [-4.07051938e-01 4.72556724e-02 9.12181792e-01 8.31778234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:94.12, Z:8.35 [[ 8.51978948e-01 3.56970525e-01 3.83019472e-01 1.57387538e+02] [-3.40091059e-01 9.33513626e-01 -1.13535812e-01 9.41248236e+01] [-3.98082835e-01 -3.35313762e-02 9.16736442e-01 8.35222695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:94.17, Z:8.29 [[ 8.49927116e-01 3.87830144e-01 3.56667460e-01 1.57414381e+02] [-3.35412896e-01 9.20287716e-01 -2.01416753e-01 9.41660669e+01] [-4.06352171e-01 5.15586942e-02 9.12260716e-01 8.29007884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:94.13, Z:8.29 [[ 8.49757332e-01 3.70596869e-01 3.74927243e-01 1.57438053e+02] [-3.34652584e-01 9.28738944e-01 -1.59535642e-01 9.41303961e+01] [-4.07332941e-01 1.00962107e-02 9.13223927e-01 8.29304990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:94.12, Z:8.28 [[ 8.50803544e-01 3.68532547e-01 3.74589229e-01 1.57465328e+02] [-3.32410776e-01 9.29547404e-01 -1.59513946e-01 9.41178884e+01] [-4.06984527e-01 1.11975341e-02 9.13366416e-01 8.28044211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:94.10, Z:8.28 [[ 8.49190001e-01 3.61061784e-01 3.85370900e-01 1.57487289e+02] [-3.32967556e-01 9.32493848e-01 -1.39956528e-01 9.40983270e+01] [-4.09888947e-01 -9.46632204e-03 9.12086312e-01 8.28352388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:94.10, Z:8.25 [[ 8.51412616e-01 3.72709003e-01 3.69031918e-01 1.57518386e+02] [-3.30740247e-01 9.27587056e-01 -1.73761740e-01 9.41027737e+01] [-4.07071795e-01 2.58892296e-02 9.13029190e-01 8.25057544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:94.07, Z:8.26 [[ 8.53311209e-01 3.58952818e-01 3.78170405e-01 1.57545657e+02] [-3.30946161e-01 9.33333659e-01 -1.39150705e-01 9.40707227e+01] [-4.02907706e-01 -6.41518779e-03 9.15218130e-01 8.26002571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.321858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:157.57, Y:94.08, Z:8.23 [[ 8.52323098e-01 3.69801657e-01 3.69854122e-01 1.57570917e+02] [-3.28734446e-01 9.28794258e-01 -1.71099066e-01 9.40794126e+01] [-4.06791103e-01 2.42478957e-02 9.13199342e-01 8.23100732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:94.04, Z:8.24 [[ 8.53467630e-01 3.59770831e-01 3.77038399e-01 1.57601710e+02] [-3.33793875e-01 9.32976831e-01 -1.34669528e-01 9.40414526e+01] [-4.00218259e-01 -1.09170252e-02 9.16354824e-01 8.23950000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.63, Y:94.07, Z:8.19 [[ 8.50838453e-01 3.80343602e-01 3.62508858e-01 1.57626117e+02] [-3.31702928e-01 9.23886559e-01 -1.90805643e-01 9.40650349e+01] [-4.07488767e-01 4.20995283e-02 9.12239297e-01 8.19408986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:94.04, Z:8.20 [[ 8.50691802e-01 3.66973794e-01 3.76369091e-01 1.57650792e+02] [-3.33170586e-01 9.30214653e-01 -1.53941743e-01 9.40350725e+01] [-4.06596629e-01 5.56186748e-03 9.13590853e-01 8.19803573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.68, Y:94.03, Z:8.18 [[ 8.50355696e-01 3.70047283e-01 3.74112547e-01 1.57676743e+02] [-3.34778929e-01 9.28968876e-01 -1.57923703e-01 9.40263666e+01] [-4.05978150e-01 9.04632262e-03 9.13838009e-01 8.18339831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:94.02, Z:8.16 [[ 8.48624962e-01 3.76138873e-01 3.71961319e-01 1.57704301e+02] [-3.38916638e-01 9.26474740e-01 -1.63646169e-01 9.40151605e+01] [-4.06166452e-01 1.28103441e-02 9.13709313e-01 8.16451165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.73, Y:94.00, Z:8.15 [[ 8.48061561e-01 3.75856948e-01 3.73527969e-01 1.57730900e+02] [-3.40028510e-01 9.26633747e-01 -1.60407328e-01 9.40013791e+01] [-4.06413831e-01 9.02513018e-03 9.13644540e-01 8.15285361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.76, Y:93.99, Z:8.14 [[ 8.47733577e-01 3.76622561e-01 3.73501311e-01 1.57757797e+02] [-3.40814983e-01 9.26325154e-01 -1.60520579e-01 9.39892986e+01] [-4.06439331e-01 8.78384173e-03 9.13635548e-01 8.13997586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.78, Y:93.97, Z:8.13 [[ 8.46250999e-01 3.73596225e-01 3.79848796e-01 1.57782957e+02] [-3.42223308e-01 9.27586089e-01 -1.49890812e-01 9.39703888e+01] [-4.08341100e-01 -3.14786277e-03 9.12823990e-01 8.13334503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.81, Y:93.96, Z:8.12 [[ 8.46601101e-01 3.78628235e-01 3.74041755e-01 1.57810980e+02] [-3.42747728e-01 9.25512716e-01 -1.61090683e-01 9.39634998e+01] [-4.07173882e-01 8.17758793e-03 9.13314052e-01 8.11609867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.621858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:157.84, Y:93.96, Z:8.10 [[ 8.47286259e-01 3.81908604e-01 3.69123034e-01 1.57839094e+02] [-3.42518830e-01 9.24035213e-01 -1.69822781e-01 9.39577125e+01] [-4.05939463e-01 1.74569190e-02 9.13733226e-01 8.09732850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:157.87, Y:93.94, Z:8.09 [[ 8.47156210e-01 3.78373459e-01 3.73041393e-01 1.57866596e+02] [-3.42616859e-01 9.25614942e-01 -1.60781426e-01 9.39403497e+01] [-4.06128111e-01 8.39671262e-03 9.13777573e-01 8.08724716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68185806399998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:157.89, Y:93.93, Z:8.08 [[ 8.45257643e-01 3.77146601e-01 3.78549809e-01 1.57892215e+02] [-3.43839965e-01 9.26153206e-01 -1.54965539e-01 9.39251349e+01] [-4.09039846e-01 8.25253241e-04 9.12516150e-01 8.07616235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71185806399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:157.92, Y:93.94, Z:8.05 [[ 8.44632048e-01 3.87901572e-01 3.68956738e-01 1.57916758e+02] [-3.41369448e-01 9.21146278e-01 -1.86966400e-01 9.39371367e+01] [-4.12387686e-01 3.19672546e-02 9.10447412e-01 8.04559528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.94, Y:93.89, Z:8.06 [[ 8.45476741e-01 3.68434207e-01 3.86555708e-01 1.57943417e+02] [-3.44002406e-01 9.29435677e-01 -1.33460358e-01 9.38918963e+01] [-4.08450027e-01 -2.01384654e-02 9.12558501e-01 8.05984205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.97, Y:93.92, Z:8.02 [[ 8.44901661e-01 3.86794451e-01 3.69501335e-01 1.57967541e+02] [-3.39527333e-01 9.21551637e-01 -1.88318270e-01 9.39184423e+01] [-4.13355022e-01 3.36546161e-02 9.09947797e-01 8.01769353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.801858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:158.00, Y:93.86, Z:8.03 [[ 8.46512173e-01 3.68998892e-01 3.83740745e-01 1.57999265e+02] [-3.46227943e-01 9.29143247e-01 -1.29688235e-01 9.38630740e+01] [-4.04404937e-01 -2.30790989e-02 9.14288796e-01 8.03410906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.831858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:158.03, Y:93.87, Z:8.01 [[ 8.46863415e-01 3.81945280e-01 3.70054266e-01 1.58028575e+02] [-3.46493739e-01 9.24149975e-01 -1.60900319e-01 9.38693654e+01] [-4.03440758e-01 8.03910764e-03 9.14970452e-01 8.00830973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.861858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.06, Y:93.86, Z:7.99 [[ 8.46897608e-01 3.82433424e-01 3.69471404e-01 1.58056298e+02] [-3.47086804e-01 9.23949089e-01 -1.60775716e-01 9.38577667e+01] [-4.02858775e-01 7.92192072e-03 9.15227868e-01 7.99456332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.08, Y:93.85, Z:7.98 [[ 8.47691815e-01 3.82868153e-01 3.67192815e-01 1.58083140e+02] [-3.47961608e-01 9.23770187e-01 -1.59910478e-01 9.38466726e+01] [-4.00426405e-01 7.78580102e-03 9.16295845e-01 7.98128646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.11, Y:93.83, Z:7.97 [[ 8.47756280e-01 3.83449121e-01 3.66436982e-01 1.58110835e+02] [-3.48693889e-01 9.23530638e-01 -1.59698882e-01 9.38347746e+01] [-3.99652175e-01 7.61139385e-03 9.16635263e-01 7.96785095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:93.82, Z:7.95 [[ 8.47389999e-01 3.84279703e-01 3.66414109e-01 1.58138567e+02] [-3.49548848e-01 9.23187501e-01 -1.59813770e-01 9.38231815e+01] [-3.99682114e-01 7.34496089e-03 9.16624383e-01 7.95396741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.981858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.17, Y:93.81, Z:7.94 [[ 8.47389044e-01 3.84914158e-01 3.65749777e-01 1.58166011e+02] [-3.50316609e-01 9.22924618e-01 -1.59650941e-01 9.38105217e+01] [-3.99011381e-01 7.15823673e-03 9.16918032e-01 7.94119617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:93.80, Z:7.93 [[ 8.47476359e-01 3.85032700e-01 3.65422551e-01 1.58193700e+02] [-3.50454476e-01 9.22874651e-01 -1.59637206e-01 9.37977734e+01] [-3.98704754e-01 7.22478971e-03 9.17050883e-01 7.92818367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:93.78, Z:7.92 [[ 8.46965645e-01 3.83844141e-01 3.67848980e-01 1.58221708e+02] [-3.50879505e-01 9.23393768e-01 -1.55651926e-01 9.37814851e+01] [-3.99415535e-01 2.76116584e-03 9.16765840e-01 7.91656570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.25, Y:93.78, Z:7.90 [[ 8.47382251e-01 3.87769180e-01 3.62737348e-01 1.58247472e+02] [-3.50641902e-01 9.21656377e-01 -1.66131813e-01 9.37777393e+01] [-3.98739987e-01 1.35862357e-02 9.16963378e-01 7.90000441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:93.76, Z:7.89 [[ 8.46895341e-01 3.85305230e-01 3.66480779e-01 1.58273862e+02] [-3.50405058e-01 9.22759235e-01 -1.60411001e-01 9.37619894e+01] [-3.99980721e-01 7.43461123e-03 9.16493399e-01 7.89008524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.30, Y:93.75, Z:7.88 [[ 8.46603691e-01 3.85775169e-01 3.66660210e-01 1.58301620e+02] [-3.50828941e-01 9.22563645e-01 -1.60609385e-01 9.37494673e+01] [-4.00226492e-01 7.33748509e-03 9.16386881e-01 7.87703717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.161858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.33, Y:93.74, Z:7.86 [[ 8.46163338e-01 3.85981277e-01 3.67458921e-01 1.58328554e+02] [-3.50837432e-01 9.22477029e-01 -1.61087638e-01 9.37376272e+01] [-4.01149226e-01 7.38810920e-03 9.15982923e-01 7.86363164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.36, Y:93.72, Z:7.85 [[ 8.45433595e-01 3.84760153e-01 3.70407425e-01 1.58356564e+02] [-3.50846123e-01 9.23009518e-01 -1.57988693e-01 9.37213491e+01] [-4.02677332e-01 3.61293981e-03 9.15334864e-01 7.85214756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.38, Y:93.71, Z:7.84 [[ 8.45353928e-01 3.87752779e-01 3.67456825e-01 1.58383470e+02] [-3.51425421e-01 9.21713093e-01 -1.64149770e-01 9.37127906e+01] [-4.02339296e-01 9.63098357e-03 9.15439968e-01 7.83639591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:93.70, Z:7.82 [[ 8.45149166e-01 3.90641771e-01 3.64858732e-01 1.58408804e+02] [-3.53627178e-01 9.20469759e-01 -1.66382814e-01 9.37037509e+01] [-4.00837506e-01 1.15943324e-02 9.16075797e-01 7.82280982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.281858064 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:158.44, Y:93.69, Z:7.81 [[ 8.44063389e-01 3.87573388e-01 3.70599331e-01 1.58436148e+02] [-3.53840727e-01 9.21835815e-01 -1.58162796e-01 9.36863833e+01] [-4.02931427e-01 2.36628951e-03 9.15227112e-01 7.81181014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.46, Y:93.68, Z:7.80 [[ 8.44159353e-01 3.93098275e-01 3.64511638e-01 1.58462019e+02] [-3.55927307e-01 9.19425205e-01 -1.67251441e-01 9.36805985e+01] [-4.00887440e-01 1.14472226e-02 9.16055796e-01 7.79651878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.49, Y:93.67, Z:7.79 [[ 8.43449156e-01 3.92075505e-01 3.67246947e-01 1.58488741e+02] [-3.57239850e-01 9.19918654e-01 -1.61645785e-01 9.36654943e+01] [-4.01214670e-01 5.14475676e-03 9.15969607e-01 7.78538997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.371858064 meters Centerline goodness : 0.997683 Centerline is valid? [True, True] Translation: X:158.52, Y:93.65, Z:7.77 [[ 8.43394454e-01 3.93695997e-01 3.65635415e-01 1.58517606e+02] [-3.58579811e-01 9.19220687e-01 -1.62646391e-01 9.36530115e+01] [-4.00132870e-01 6.06558616e-03 9.16437066e-01 7.77121158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.54, Y:93.64, Z:7.76 [[ 8.42498486e-01 3.95020677e-01 3.66271710e-01 1.58542771e+02] [-3.60255971e-01 9.18660600e-01 -1.62105946e-01 9.36413916e+01] [-4.00514589e-01 4.62244364e-03 9.16278722e-01 7.75906215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.57, Y:93.63, Z:7.75 [[ 8.42019049e-01 3.96149182e-01 3.66155359e-01 1.58569958e+02] [-3.61758243e-01 9.18179437e-01 -1.61485280e-01 9.36297067e+01] [-4.00168583e-01 3.51396265e-03 9.16434808e-01 7.74554447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46185806399998 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:158.60, Y:93.63, Z:7.73 [[ 8.44293381e-01 4.01636892e-01 3.54762587e-01 1.58600237e+02] [-3.62123008e-01 9.15600078e-01 -1.74766769e-01 9.36254480e+01] [-3.95013435e-01 1.90867316e-02 9.18477046e-01 7.72716764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:93.60, Z:7.72 [[ 8.43221098e-01 3.92226457e-01 3.67609286e-01 1.58625070e+02] [-3.61512038e-01 9.19857490e-01 -1.52221038e-01 9.36005624e+01] [-3.97853273e-01 -4.53919110e-03 9.17437828e-01 7.72295878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.65, Y:93.62, Z:7.69 [[ 8.42349867e-01 4.00977307e-01 3.60088740e-01 1.58645687e+02] [-3.57274754e-01 9.15711022e-01 -1.83924101e-01 9.36159130e+01] [-4.03486618e-01 2.62778261e-02 9.14608126e-01 7.69485309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.68, Y:93.56, Z:7.71 [[ 8.42370971e-01 3.84048323e-01 3.78045014e-01 1.58678073e+02] [-3.64992028e-01 9.22706221e-01 -1.24072758e-01 9.35585064e+01] [-3.96474420e-01 -3.34681269e-02 9.17435512e-01 7.71125366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.581858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.71, Y:93.57, Z:7.68 [[ 8.42161731e-01 3.99128873e-01 3.62573802e-01 1.58707651e+02] [-3.65314000e-01 9.16890025e-01 -1.60805363e-01 9.35668615e+01] [-3.96622365e-01 2.97083682e-03 9.17977055e-01 7.68318043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.73, Y:93.58, Z:7.66 [[ 8.42400809e-01 4.01454217e-01 3.59437600e-01 1.58729613e+02] [-3.58891523e-01 9.15567892e-01 -1.81472615e-01 9.35762768e+01] [-4.01942472e-01 2.38735701e-02 9.15353648e-01 7.65849008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.641858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.76, Y:93.53, Z:7.67 [[ 8.42553433e-01 3.87326366e-01 3.74275297e-01 1.58759935e+02] [-3.64501235e-01 9.21625386e-01 -1.33212226e-01 9.35277964e+01] [-3.96538222e-01 -2.41853897e-02 9.17699572e-01 7.66873722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.79, Y:93.53, Z:7.64 [[ 8.42722352e-01 3.98322773e-01 3.62157432e-01 1.58789239e+02] [-3.64312671e-01 9.17237358e-01 -1.61095953e-01 9.35307488e+01] [-3.96352513e-01 3.82061914e-03 9.18090458e-01 7.64465847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.82, Y:93.52, Z:7.63 [[ 8.44272594e-01 3.99255422e-01 3.57489714e-01 1.58817748e+02] [-3.63162316e-01 9.16779538e-01 -1.66217961e-01 9.35210052e+01] [-3.94102677e-01 1.05064769e-02 9.19006362e-01 7.62909603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.731858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:158.84, Y:93.50, Z:7.62 [[ 8.42814736e-01 3.95188831e-01 3.65361613e-01 1.58843730e+02] [-3.62952285e-01 9.18599515e-01 -1.56334799e-01 9.35016210e+01] [-3.97402767e-01 -8.47559981e-04 9.17643897e-01 7.61928043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.761858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:158.87, Y:93.50, Z:7.61 [[ 8.44113948e-01 3.95715434e-01 3.61774707e-01 1.58868419e+02] [-3.62024304e-01 9.18364723e-01 -1.59826904e-01 9.34951258e+01] [-3.95487101e-01 3.94088223e-03 9.18463076e-01 7.60775864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.791858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.90, Y:93.48, Z:7.59 [[ 8.43238941e-01 3.98760449e-01 3.60469407e-01 1.58895886e+02] [-3.63772881e-01 9.17030503e-01 -1.63475831e-01 9.34832507e+01] [-3.95749137e-01 6.72019168e-03 9.18334068e-01 7.59080232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.821858064 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:158.92, Y:93.47, Z:7.58 [[ 8.42399003e-01 3.95300034e-01 3.66199129e-01 1.58922360e+02] [-3.62780573e-01 9.18551873e-01 -1.57011826e-01 9.34668039e+01] [-3.98439676e-01 -5.83323568e-04 9.17194355e-01 7.57885214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.851858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.95, Y:93.46, Z:7.56 [[ 8.41950953e-01 3.97565611e-01 3.64774146e-01 1.58947714e+02] [-3.62567241e-01 9.17559353e-01 -1.63186486e-01 9.34582454e+01] [-3.99579264e-01 5.13986178e-03 9.16684239e-01 7.56457149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.98, Y:93.42, Z:7.57 [[ 8.44572666e-01 3.87676089e-01 3.69329477e-01 1.58977681e+02] [-3.64953155e-01 9.21516381e-01 -1.32728123e-01 9.34249439e+01] [-3.91798683e-01 -2.26894131e-02 9.19771158e-01 7.57213992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.911858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:159.00, Y:93.45, Z:7.52 [[ 8.42854071e-01 4.10164958e-01 3.48370094e-01 1.59003396e+02] [-3.61223888e-01 9.11059956e-01 -1.98713511e-01 9.34541182e+01] [-3.98891362e-01 4.16468920e-02 9.16051973e-01 7.52479465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.941858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:159.03, Y:93.42, Z:7.53 [[ 8.41693116e-01 3.93974557e-01 3.69238063e-01 1.59027024e+02] [-3.60943482e-01 9.19121275e-01 -1.57911004e-01 9.34177790e+01] [-4.01587478e-01 -3.61466698e-04 9.15820598e-01 7.52810705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.971858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:159.06, Y:93.41, Z:7.51 [[ 8.42725812e-01 3.97603513e-01 3.62938911e-01 1.59055614e+02] [-3.60232631e-01 9.17486457e-01 -1.68674398e-01 9.34119329e+01] [-4.00057069e-01 1.14038306e-02 9.16419279e-01 7.51019982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.001858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:159.08, Y:93.40, Z:7.50 [[ 8.42830157e-01 3.94950264e-01 3.65583939e-01 1.59082537e+02] [-3.59489236e-01 9.18679200e-01 -1.63694891e-01 9.33964527e+01] [-4.00505700e-01 6.54349939e-03 9.16270902e-01 7.49890573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.031858064 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:159.11, Y:93.38, Z:7.49 [[ 8.40714207e-01 3.94414493e-01 3.70994380e-01 1.59106273e+02] [-3.61149070e-01 9.18932381e-01 -1.58539046e-01 9.33803794e+01] [-4.03448846e-01 -6.98247473e-04 9.15001935e-01 7.48760149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.13, Y:93.37, Z:7.47 [[ 8.41627664e-01 3.97254928e-01 3.65857073e-01 1.59133841e+02] [-3.60628855e-01 9.17669264e-01 -1.66823115e-01 9.33732290e+01] [-4.02007095e-01 8.46433144e-03 9.15597428e-01 7.47196000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:93.36, Z:7.46 [[ 8.41872197e-01 3.96884172e-01 3.65696812e-01 1.59160558e+02] [-3.60547721e-01 9.17834049e-01 -1.66090332e-01 9.33604785e+01] [-4.01567610e-01 7.97568030e-03 9.15794651e-01 7.45905307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.121858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.19, Y:93.35, Z:7.45 [[ 8.40981138e-01 3.97997946e-01 3.66535621e-01 1.59187545e+02] [-3.62273209e-01 9.17367333e-01 -1.64909972e-01 9.33468664e+01] [-4.01881635e-01 5.90014035e-03 9.15672616e-01 7.44666778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.21, Y:93.33, Z:7.44 [[ 8.39580863e-01 3.98222282e-01 3.69490174e-01 1.59213109e+02] [-3.64249651e-01 9.17288789e-01 -1.60945548e-01 9.33326085e+01] [-4.03021297e-01 5.40135131e-04 9.15190440e-01 7.43618179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.24, Y:93.32, Z:7.42 [[ 8.38983443e-01 4.01618899e-01 3.67163510e-01 1.59239514e+02] [-3.66175716e-01 9.15798171e-01 -1.65012286e-01 9.33233672e+01] [-4.02519723e-01 3.99621439e-03 9.15402591e-01 7.42193378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21185806399998 meters Centerline goodness : 0.996145 Centerline is valid? [True, True] Translation: X:159.27, Y:93.31, Z:7.41 [[ 8.38167175e-01 4.04897429e-01 3.65422849e-01 1.59268153e+02] [-3.68860947e-01 9.14347104e-01 -1.67065780e-01 9.33135280e+01] [-4.01767829e-01 5.23883518e-03 9.15726579e-01 7.40790944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:93.30, Z:7.40 [[ 8.36454572e-01 4.04482856e-01 3.69780163e-01 1.59292957e+02] [-3.71179556e-01 9.14541305e-01 -1.60748057e-01 9.32976339e+01] [-4.03199066e-01 -2.79638934e-03 9.15108023e-01 7.39778295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.32, Y:93.29, Z:7.38 [[ 8.35363976e-01 4.06348443e-01 3.70199906e-01 1.59320007e+02] [-3.72678617e-01 9.13714338e-01 -1.61977641e-01 9.32850940e+01] [-4.04076324e-01 -2.65530249e-03 9.14721419e-01 7.38361563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.301858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:159.35, Y:93.27, Z:7.37 [[ 8.34201222e-01 4.09271723e-01 3.69601106e-01 1.59346221e+02] [-3.75405754e-01 9.12408421e-01 -1.63038009e-01 9.32725919e+01] [-4.03954009e-01 -2.74387569e-03 9.14775180e-01 7.37057896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:93.26, Z:7.36 [[ 8.35989708e-01 4.12783709e-01 3.61567169e-01 1.59374955e+02] [-3.76591284e-01 9.10814194e-01 -1.69105021e-01 9.32643026e+01] [-3.99124307e-01 5.20701338e-03 9.16882039e-01 7.35683773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.40, Y:93.25, Z:7.35 [[ 8.34733854e-01 4.11005131e-01 3.66461698e-01 1.59400023e+02] [-3.77875667e-01 9.11626316e-01 -1.61701704e-01 9.32482642e+01] [-4.00536358e-01 -3.49907197e-03 9.16274185e-01 7.34631873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:93.24, Z:7.33 [[ 8.33486281e-01 4.14906179e-01 3.64902017e-01 1.59427296e+02] [-3.79823062e-01 9.09864018e-01 -1.66978772e-01 9.32396432e+01] [-4.01291739e-01 5.76314443e-04 9.15950112e-01 7.32991606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.45, Y:93.22, Z:7.32 [[ 8.33371396e-01 4.14907809e-01 3.65162465e-01 1.59454378e+02] [-3.82365679e-01 9.09847917e-01 -1.61162199e-01 9.32230720e+01] [-3.99109763e-01 -5.31762700e-03 9.16887736e-01 7.32102904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:93.21, Z:7.31 [[ 8.32974143e-01 4.16841308e-01 3.63864537e-01 1.59480161e+02] [-3.83699274e-01 9.08970923e-01 -1.62931664e-01 9.32117542e+01] [-3.98658932e-01 -3.89669503e-03 9.17090983e-01 7.30859348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:93.21, Z:7.29 [[ 8.32447127e-01 4.17703567e-01 3.64081737e-01 1.59506781e+02] [-3.80880440e-01 9.08574023e-01 -1.71532313e-01 9.32051475e+01] [-4.02444868e-01 4.11996876e-03 9.15434954e-01 7.28935546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:93.19, Z:7.28 [[ 8.32339045e-01 4.15966052e-01 3.66311285e-01 1.59534175e+02] [-3.81089258e-01 9.09379773e-01 -1.66731539e-01 9.31897478e+01] [-4.02470733e-01 -8.20125743e-04 9.15432486e-01 7.27758505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:93.17, Z:7.27 [[ 8.33210140e-01 4.13626310e-01 3.66979751e-01 1.59560362e+02] [-3.80905123e-01 9.10430942e-01 -1.61328194e-01 9.31744935e+01] [-4.00839307e-01 -5.36418033e-03 9.16132674e-01 7.26766740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:93.17, Z:7.25 [[ 8.32592205e-01 4.18397175e-01 3.62951821e-01 1.59587280e+02] [-3.80513495e-01 9.08238336e-01 -1.74105159e-01 9.31708203e+01] [-4.02491864e-01 6.85053252e-03 9.15397930e-01 7.24754929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.61, Y:93.16, Z:7.24 [[ 8.32458753e-01 4.16276128e-01 3.65686492e-01 1.59613683e+02] [-3.81439846e-01 9.09237964e-01 -1.66703235e-01 9.31551639e+01] [-4.01890618e-01 -7.13832256e-04 9.15687404e-01 7.23804956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.631858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.64, Y:93.14, Z:7.22 [[ 8.32870167e-01 4.15932609e-01 3.65140179e-01 1.59641145e+02] [-3.81116214e-01 9.09395344e-01 -1.66584935e-01 9.31426486e+01] [-4.01344885e-01 -4.17219851e-04 9.15926913e-01 7.22439114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.67, Y:93.13, Z:7.21 [[ 8.33914596e-01 4.14860040e-01 3.63974715e-01 1.59668877e+02] [-3.80119539e-01 9.09885209e-01 -1.66186770e-01 9.31305961e+01] [-4.00119460e-01 2.31672633e-04 9.16462964e-01 7.21107745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.70, Y:93.12, Z:7.20 [[ 8.34347939e-01 4.13601697e-01 3.64413437e-01 1.59695355e+02] [-3.78675379e-01 9.10457577e-01 -1.66348908e-01 9.31201308e+01] [-4.00585165e-01 7.98472030e-04 9.16259182e-01 7.19772482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.721858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:159.72, Y:93.11, Z:7.19 [[ 8.35417042e-01 4.11500403e-01 3.64342948e-01 1.59721818e+02] [-3.77107840e-01 9.11409559e-01 -1.64688474e-01 9.31069543e+01] [-3.99835019e-01 1.86975697e-04 9.16587106e-01 7.18532140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.75, Y:93.09, Z:7.17 [[ 8.34640362e-01 4.12958884e-01 3.64472804e-01 1.59750047e+02] [-3.78953229e-01 9.10748945e-01 -1.64106094e-01 9.30916467e+01] [-3.99712291e-01 -1.14857629e-03 9.16639932e-01 7.17311116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.77, Y:93.09, Z:7.16 [[ 8.35822943e-01 4.11113697e-01 3.63848234e-01 1.59774589e+02] [-3.76034570e-01 9.11581703e-01 -1.66183034e-01 9.30860812e+01] [-3.99997514e-01 2.08007836e-03 9.16513864e-01 7.15984915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.80, Y:93.07, Z:7.15 [[ 8.34856948e-01 4.12387620e-01 3.64623542e-01 1.59803262e+02] [-3.79174959e-01 9.11003960e-01 -1.62166999e-01 9.30660950e+01] [-3.99049154e-01 -2.86987069e-03 9.16925044e-01 7.14848050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.841858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:159.83, Y:93.06, Z:7.13 [[ 8.35324847e-01 4.13619443e-01 3.62148252e-01 1.59831009e+02] [-3.78809033e-01 9.10448533e-01 -1.66093906e-01 9.30553155e+01] [-3.98417013e-01 1.55733774e-03 9.17203063e-01 7.13322504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.86, Y:93.04, Z:7.12 [[ 8.34968216e-01 4.13732314e-01 3.62841082e-01 1.59858117e+02] [-3.78733596e-01 9.10397099e-01 -1.66547246e-01 9.30431530e+01] [-3.99235446e-01 1.64154944e-03 9.16846969e-01 7.12017563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90185806399998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:159.88, Y:93.03, Z:7.11 [[ 8.34373045e-01 4.14456254e-01 3.63383593e-01 1.59884678e+02] [-3.79354107e-01 9.10068107e-01 -1.66932626e-01 9.30302409e+01] [-3.99890090e-01 1.43302507e-03 9.16561980e-01 7.10785354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.91, Y:93.02, Z:7.10 [[ 8.33717021e-01 4.15325681e-01 3.63896287e-01 1.59911718e+02] [-3.80143192e-01 9.09672067e-01 -1.67295802e-01 9.30177732e+01] [-4.00508530e-01 1.14466135e-03 9.16292315e-01 7.09533343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.93, Y:93.01, Z:7.09 [[ 8.33521203e-01 4.11718598e-01 3.68415797e-01 1.59932064e+02] [-3.78531317e-01 9.11300303e-01 -1.62005554e-01 9.30098064e+01] [-4.02438127e-01 -4.42185249e-03 9.15436509e-01 7.08773627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.96, Y:92.99, Z:7.07 [[ 8.30924407e-01 4.16649214e-01 3.68738473e-01 1.59961600e+02] [-3.84913040e-01 9.09020942e-01 -1.59758816e-01 9.29861300e+01] [-4.01754379e-01 -9.18474751e-03 9.15701403e-01 7.07463541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02185806399999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:159.99, Y:92.98, Z:7.06 [[ 8.31633696e-01 4.20147059e-01 3.63127862e-01 1.59990385e+02] [-3.84478959e-01 9.07455135e-01 -1.69414013e-01 9.29771312e+01] [-4.00701042e-01 1.27537963e-03 9.16207972e-01 7.05633559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.051858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.02, Y:92.96, Z:7.04 [[ 8.29842234e-01 4.22515207e-01 3.64476016e-01 1.60018370e+02] [-3.87689715e-01 9.06353841e-01 -1.67986311e-01 9.29634982e+01] [-4.01321008e-01 -1.90146680e-03 9.15935496e-01 7.04463912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.05, Y:92.95, Z:7.03 [[ 8.29111248e-01 4.23776539e-01 3.64675174e-01 1.60046240e+02] [-3.88969522e-01 9.05763640e-01 -1.68210997e-01 9.29527862e+01] [-4.01593387e-01 -2.38189846e-03 9.15814980e-01 7.03018090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.07, Y:92.94, Z:7.02 [[ 8.29306857e-01 4.26696874e-01 3.60804538e-01 1.60074085e+02] [-3.91636765e-01 9.04394320e-01 -1.69385828e-01 9.29424320e+01] [-3.98585978e-01 -8.31493435e-04 9.17130594e-01 7.01548676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.141858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.10, Y:92.93, Z:7.00 [[ 8.28597413e-01 4.26452099e-01 3.62718809e-01 1.60100286e+02] [-3.92735540e-01 9.04497986e-01 -1.66259402e-01 9.29291505e+01] [-3.98980103e-01 -4.69045727e-03 9.16947587e-01 7.00435473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.13, Y:92.92, Z:6.99 [[ 8.28157517e-01 4.27421338e-01 3.62582578e-01 1.60127926e+02] [-3.93234904e-01 9.04044431e-01 -1.67540975e-01 9.29166305e+01] [-3.99401348e-01 -3.82980763e-03 9.16768180e-01 6.99088228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:92.90, Z:6.98 [[ 8.27883833e-01 4.27854196e-01 3.62697045e-01 1.60154738e+02] [-3.93626420e-01 9.03839320e-01 -1.67728129e-01 9.29043267e+01] [-3.99583034e-01 -3.90773274e-03 9.16688676e-01 6.97840989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.18, Y:92.89, Z:6.97 [[ 8.27630244e-01 4.28250548e-01 3.62808003e-01 1.60182326e+02] [-3.93982956e-01 9.03651286e-01 -1.67904092e-01 9.28918016e+01] [-3.99756938e-01 -3.97766461e-03 9.16612551e-01 6.96612677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:92.88, Z:6.95 [[ 8.27652764e-01 4.28611369e-01 3.62330231e-01 1.60209778e+02] [-3.94412274e-01 9.03480045e-01 -1.67817656e-01 9.28794740e+01] [-3.99286689e-01 -4.01274382e-03 9.16817342e-01 6.95264219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.22, Y:92.90, Z:6.93 [[ 8.30742253e-01 4.20952465e-01 3.64233897e-01 1.60223426e+02] [-3.77524839e-01 9.06906017e-01 -1.87073441e-01 9.29041677e+01] [-4.09074939e-01 1.79024681e-02 9.12325159e-01 6.92959376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.26, Y:92.83, Z:6.94 [[ 8.28007371e-01 4.13336409e-01 3.78888912e-01 1.60261260e+02] [-3.95286423e-01 9.09540659e-01 -1.28391718e-01 9.28334205e+01] [-3.97683842e-01 -4.34603538e-02 9.16492640e-01 6.94107764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.351858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.29, Y:92.84, Z:6.91 [[ 8.27574345e-01 4.29815244e-01 3.61081099e-01 1.60291266e+02] [-3.95553630e-01 9.02909572e-01 -1.68201164e-01 9.28432993e+01] [-3.98319004e-01 -3.62797163e-03 9.17239777e-01 6.91097650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.381858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:160.32, Y:92.83, Z:6.90 [[ 8.28109635e-01 4.29225316e-01 3.60555212e-01 1.60318507e+02] [-3.94955456e-01 9.03191761e-01 -1.68091733e-01 9.28311694e+01] [-3.97799724e-01 -3.20486484e-03 9.17466680e-01 6.89745776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.411858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:160.33, Y:92.86, Z:6.87 [[ 8.30447568e-01 4.23118106e-01 3.62391923e-01 1.60331843e+02] [-3.79434256e-01 9.05880148e-01 -1.88177586e-01 9.28574577e+01] [-4.07904992e-01 1.87677091e-02 9.12831469e-01 6.87472873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.441858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:92.78, Z:6.89 [[ 8.27786218e-01 4.14049221e-01 3.78593741e-01 1.60369064e+02] [-3.95511774e-01 9.09265385e-01 -1.29641416e-01 9.27837390e+01] [-3.97920110e-01 -4.24229049e-02 9.16438696e-01 6.88814529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.38, Y:92.84, Z:6.85 [[ 8.28955700e-01 4.27480662e-01 3.60683698e-01 1.60383657e+02] [-3.81441431e-01 9.03716807e-01 -1.94418022e-01 9.28358929e+01] [-4.09065865e-01 2.35842212e-02 9.12200034e-01 6.84710514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.41, Y:92.80, Z:6.85 [[ 8.28235115e-01 4.12754905e-01 3.79025043e-01 1.60405891e+02] [-3.81820170e-01 9.10729437e-01 -1.57433318e-01 9.28041907e+01] [-4.10170638e-01 -1.43276040e-02 9.11896248e-01 6.84597902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.45, Y:92.74, Z:6.86 [[ 8.26783799e-01 4.11287434e-01 3.83759295e-01 1.60447721e+02] [-4.00081366e-01 9.09510931e-01 -1.12804110e-01 9.27364791e+01] [-3.95428186e-01 -6.02703326e-02 9.16517341e-01 6.85686553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.561858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.48, Y:92.76, Z:6.82 [[ 8.25796382e-01 4.35887985e-01 3.57857514e-01 1.60478058e+02] [-4.01789310e-01 8.99991243e-01 -1.69059497e-01 9.27553809e+01] [-3.95759632e-01 -4.17460216e-03 9.18344645e-01 6.82033749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.591858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.49, Y:92.80, Z:6.79 [[ 8.26939743e-01 4.35913137e-01 3.55176574e-01 1.60489317e+02] [-3.86472424e-01 8.99437243e-01 -2.04087510e-01 9.27956212e+01] [-4.08423465e-01 3.15021213e-02 9.12248809e-01 6.78802971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.51, Y:92.75, Z:6.80 [[ 8.26338228e-01 4.15653322e-01 3.79996643e-01 1.60511368e+02] [-3.89228905e-01 9.09163958e-01 -1.48059981e-01 9.27505973e+01] [-4.07020875e-01 -2.55580551e-02 9.13061221e-01 6.79679402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.54, Y:92.74, Z:6.78 [[ 8.24836368e-01 4.18697265e-01 3.79917841e-01 1.60537510e+02] [-3.91989704e-01 9.07761735e-01 -1.49374380e-01 9.27405619e+01] [-4.07417522e-01 -2.57144608e-02 9.12879909e-01 6.78284544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.56, Y:92.72, Z:6.77 [[ 8.24413546e-01 4.18090822e-01 3.81500156e-01 1.60564777e+02] [-3.93577154e-01 9.07873643e-01 -1.44438473e-01 9.27240487e+01] [-4.06742337e-01 -3.10727119e-02 9.13014325e-01 6.77258135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.59, Y:92.71, Z:6.76 [[ 8.24343556e-01 4.22244002e-01 3.77051329e-01 1.60591540e+02] [-3.96149572e-01 9.06083533e-01 -1.48587172e-01 9.27133655e+01] [-4.04380043e-01 -2.68818451e-02 9.14195902e-01 6.76009148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.62, Y:92.66, Z:6.78 [[ 8.26155492e-01 4.05472045e-01 3.91228224e-01 1.60621012e+02] [-4.00814234e-01 9.10934845e-01 -9.77018827e-02 9.26649902e+01] [-3.95998804e-01 -7.60928939e-02 9.15092792e-01 6.77603477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77185806399999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:160.65, Y:92.71, Z:6.72 [[ 8.24114947e-01 4.38914045e-01 3.58034936e-01 1.60649588e+02] [-3.95288845e-01 8.98381973e-01 -1.91459027e-01 9.27089747e+01] [-4.05686188e-01 1.62570294e-02 9.13867838e-01 6.71803847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.67, Y:92.67, Z:6.72 [[ 8.23106162e-01 4.25481323e-01 3.76114197e-01 1.60672391e+02] [-3.97087238e-01 9.04694054e-01 -1.54435728e-01 9.26745942e+01] [-4.05977796e-01 -2.22331481e-02 9.13612454e-01 6.71823003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.831858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:160.70, Y:92.66, Z:6.71 [[ 8.23384500e-01 4.23069690e-01 3.78219517e-01 1.60698923e+02] [-3.97684440e-01 9.05627788e-01 -1.47259625e-01 9.26564133e+01] [-4.04827188e-01 -2.91607239e-02 9.13928115e-01 6.70808976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.72, Y:92.64, Z:6.70 [[ 8.23596137e-01 4.24126108e-01 3.76571970e-01 1.60724721e+02] [-3.98751015e-01 9.05144878e-01 -1.47344421e-01 9.26425828e+01] [-4.03344805e-01 -2.88061594e-02 9.14594540e-01 6.69592151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.75, Y:92.64, Z:6.68 [[ 8.23555549e-01 4.32155972e-01 3.67420023e-01 1.60746337e+02] [-4.00054154e-01 9.01718826e-01 -1.63889699e-01 9.26411233e+01] [-4.02135464e-01 -1.20156357e-02 9.15501334e-01 6.67652825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.77, Y:92.60, Z:6.68 [[ 8.23002980e-01 4.19316375e-01 3.83196912e-01 1.60773772e+02] [-4.02548349e-01 9.06493686e-01 -1.27373561e-01 9.26020047e+01] [-4.00775401e-01 -4.94264638e-02 9.14842119e-01 6.68122939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:92.59, Z:6.67 [[ 8.24316952e-01 4.21439906e-01 3.78007895e-01 1.60801524e+02] [-4.00783308e-01 9.06004624e-01 -1.36118925e-01 9.25878590e+01] [-3.99842847e-01 -3.92941173e-02 9.15741050e-01 6.66654910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.981858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:160.83, Y:92.59, Z:6.65 [[ 8.22641714e-01 4.35143773e-01 3.65937845e-01 1.60826813e+02] [-4.05177376e-01 9.00200812e-01 -1.59592585e-01 9.25899480e+01] [-3.98863265e-01 -1.69822185e-02 9.16853151e-01 6.64684802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.011858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.85, Y:92.57, Z:6.64 [[ 8.22502219e-01 4.30107652e-01 3.72152532e-01 1.60849361e+02] [-4.04434994e-01 9.02344984e-01 -1.49016323e-01 9.25699809e+01] [-3.99903032e-01 -2.79452503e-02 9.16131338e-01 6.63760910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.041858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.88, Y:92.55, Z:6.63 [[ 8.20559712e-01 4.32835180e-01 3.73276661e-01 1.60875995e+02] [-4.07925293e-01 9.00945016e-01 -1.47969704e-01 9.25544106e+01] [-4.00348241e-01 -3.08510132e-02 9.15843601e-01 6.62651626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.071858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.90, Y:92.54, Z:6.61 [[ 8.18822863e-01 4.35544654e-01 3.73938462e-01 1.60901201e+02] [-4.10267639e-01 8.99632375e-01 -1.49472585e-01 9.25414674e+01] [-4.01509132e-01 -3.10232794e-02 9.15329434e-01 6.61273646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.93, Y:92.52, Z:6.61 [[ 8.18792433e-01 4.34246276e-01 3.75511815e-01 1.60927513e+02] [-4.13645900e-01 8.99822643e-01 -1.38622800e-01 9.25161825e+01] [-3.98090469e-01 -4.18256232e-02 9.16392163e-01 6.60849248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:92.53, Z:6.57 [[ 8.15363638e-01 4.52927543e-01 3.60608900e-01 1.60953744e+02] [-4.12350345e-01 8.91537805e-01 -1.87423412e-01 9.25323650e+01] [-4.06385693e-01 4.12103044e-03 9.13692336e-01 6.56820022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.161858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:92.48, Z:6.58 [[ 8.15968709e-01 4.33540353e-01 3.82410550e-01 1.60977746e+02] [-4.16078790e-01 8.99674010e-01 -1.32155650e-01 9.24848025e+01] [-4.01339640e-01 -5.12780437e-02 9.14492786e-01 6.58296692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:92.47, Z:6.57 [[ 8.16888022e-01 4.38041177e-01 3.75251765e-01 1.61005027e+02] [-4.17612576e-01 8.97920565e-01 -1.39062558e-01 9.24714710e+01] [-3.97861404e-01 -4.31113183e-02 9.16432058e-01 6.57036293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.221858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.03, Y:92.47, Z:6.54 [[ 8.15296164e-01 4.48547765e-01 3.66192665e-01 1.61030777e+02] [-4.17498910e-01 8.93570326e-01 -1.65005251e-01 9.24721463e+01] [-4.01231636e-01 -1.83568901e-02 9.15792662e-01 6.54471979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.251858064 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:161.06, Y:92.46, Z:6.53 [[ 8.15059557e-01 4.50152990e-01 3.64746766e-01 1.61058942e+02] [-4.17657709e-01 8.92826651e-01 -1.68590062e-01 9.24579828e+01] [-4.01546954e-01 -1.49283576e-02 9.15716762e-01 6.52883701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.281858064 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:161.08, Y:92.44, Z:6.52 [[ 8.13245597e-01 4.49763476e-01 3.69248446e-01 1.61081759e+02] [-4.20520507e-01 8.92823270e-01 -1.61335402e-01 9.24411961e+01] [-4.02236376e-01 -2.40712387e-02 9.15219358e-01 6.51884240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.10, Y:92.41, Z:6.52 [[ 8.14090086e-01 4.33101820e-01 3.86885184e-01 1.61103406e+02] [-4.18733232e-01 8.99367649e-01 -1.25699290e-01 9.24083055e+01] [-4.02392610e-01 -5.96711381e-02 9.13520412e-01 6.52304250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.341858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.13, Y:92.42, Z:6.49 [[ 8.13564173e-01 4.52409593e-01 3.65292891e-01 1.61130423e+02] [-4.18071972e-01 8.91733003e-01 -1.73286118e-01 9.24235071e+01] [-4.04140029e-01 -1.17393418e-02 9.14621793e-01 6.48716636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.16, Y:92.40, Z:6.48 [[ 8.14334109e-01 4.46515337e-01 3.70788366e-01 1.61156867e+02] [-4.17020837e-01 8.94472851e-01 -1.61282177e-01 9.24007215e+01] [-4.03675092e-01 -2.32888968e-02 9.14605952e-01 6.47715124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.19, Y:92.36, Z:6.46 [[ 8.14533666e-01 4.48659470e-01 3.67749355e-01 1.61193936e+02] [-4.20403145e-01 8.93344396e-01 -1.58735582e-01 9.23633644e+01] [-3.99745048e-01 -2.53075100e-02 9.16276938e-01 6.45880494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:92.36, Z:6.43 [[ 8.14450136e-01 4.59047157e-01 3.54889679e-01 1.61223401e+02] [-4.20600868e-01 8.88411755e-01 -1.83900689e-01 9.23636380e+01] [-3.99707251e-01 5.11034362e-04 9.16642707e-01 6.43489110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.24, Y:92.37, Z:6.42 [[ 8.17846371e-01 4.50174012e-01 3.58428058e-01 1.61242809e+02] [-4.09922334e-01 8.92925077e-01 -1.86141039e-01 9.23687775e+01] [-4.03845260e-01 5.30710655e-03 9.14811916e-01 6.42327437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.27, Y:92.35, Z:6.42 [[ 8.18214327e-01 4.43510123e-01 3.65819745e-01 1.61265670e+02] [-4.08917432e-01 8.96225195e-01 -1.71950382e-01 9.23461536e+01] [-4.04118608e-01 -8.89780493e-03 9.14663315e-01 6.41747270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.30, Y:92.31, Z:6.40 [[ 8.16930810e-01 4.48252306e-01 3.62896571e-01 1.61299366e+02] [-4.14880206e-01 8.93831980e-01 -1.70114098e-01 9.23124353e+01] [-4.00622597e-01 -1.15871563e-02 9.16169893e-01 6.40209684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.551858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.32, Y:92.32, Z:6.40 [[ 8.18569879e-01 4.46154621e-01 3.61786411e-01 1.61315787e+02] [-4.09894052e-01 8.94946789e-01 -1.76230282e-01 9.23205103e+01] [-4.02405542e-01 -4.03729738e-03 9.15452609e-01 6.39579158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.581858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:161.34, Y:92.29, Z:6.39 [[ 8.21120976e-01 4.36282989e-01 3.67991163e-01 1.61344358e+02] [-4.05290418e-01 8.99669175e-01 -1.62280780e-01 9.22944125e+01] [-4.01870650e-01 -1.58911405e-02 9.15558547e-01 6.38628297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.611858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:161.37, Y:92.29, Z:6.37 [[ 8.21746459e-01 4.39487378e-01 3.62744540e-01 1.61371001e+02] [-4.03859597e-01 8.98239777e-01 -1.73386070e-01 9.22872746e+01] [-4.02032564e-01 -4.01847454e-03 9.15616551e-01 6.36914547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.641858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:161.40, Y:92.27, Z:6.36 [[ 8.23257794e-01 4.37594780e-01 3.61603945e-01 1.61399578e+02] [-4.02714610e-01 8.99160379e-01 -1.71264577e-01 9.22697911e+01] [-4.00084426e-01 -4.62829377e-03 9.16466601e-01 6.35693973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.42, Y:92.25, Z:6.35 [[ 8.25409375e-01 4.34234845e-01 3.60748477e-01 1.61424339e+02] [-3.99800000e-01 9.00789434e-01 -1.69523909e-01 9.22536479e+01] [-3.98571605e-01 -4.30061730e-03 9.17127134e-01 6.34602495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.701858064 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:161.45, Y:92.25, Z:6.33 [[ 8.26410453e-01 4.35698427e-01 3.56668814e-01 1.61450468e+02] [-3.97020504e-01 9.00066913e-01 -1.79594742e-01 9.22463445e+01] [-3.99274945e-01 6.81413954e-03 9.16805915e-01 6.32823789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.731858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:161.48, Y:92.23, Z:6.31 [[ 8.27089908e-01 4.33808926e-01 3.57396278e-01 1.61475106e+02] [-3.94089663e-01 9.00956529e-01 -1.81578279e-01 9.22341635e+01] [-4.00768788e-01 9.33538374e-03 9.16131666e-01 6.31381138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.761858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:92.22, Z:6.29 [[ 8.26567271e-01 4.38945685e-01 3.52297080e-01 1.61505757e+02] [-3.93433501e-01 8.98207881e-01 -1.96042554e-01 9.22160687e+01] [-4.02488047e-01 2.34368853e-02 9.15125174e-01 6.28610803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.791858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.53, Y:92.20, Z:6.28 [[ 8.27283695e-01 4.34310383e-01 3.56337170e-01 1.61530591e+02] [-3.91365924e-01 9.00603749e-01 -1.89065068e-01 9.21985634e+01] [-4.03031514e-01 1.69522219e-02 9.15029082e-01 6.27612563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.821858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.55, Y:92.19, Z:6.28 [[ 8.30560753e-01 4.22383993e-01 3.62988427e-01 1.61551799e+02] [-3.84518415e-01 9.06399195e-01 -1.74888789e-01 9.21874058e+01] [-4.02882643e-01 5.68003027e-03 9.15234021e-01 6.27566052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.851858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:161.58, Y:92.19, Z:6.25 [[ 8.30964357e-01 4.26591856e-01 3.57096101e-01 1.61577194e+02] [-3.80094449e-01 9.04049173e-01 -1.95507806e-01 9.21882550e+01] [-4.06234472e-01 2.67297726e-02 9.13377837e-01 6.25086069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.61, Y:92.15, Z:6.24 [[ 8.29442114e-01 4.25003673e-01 3.62488148e-01 1.61605653e+02] [-3.84339160e-01 9.05119144e-01 -1.81776634e-01 9.21522143e+01] [-4.05350699e-01 1.14548049e-02 9.14089491e-01 6.24069842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.911858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:161.63, Y:92.15, Z:6.23 [[ 8.32038179e-01 4.22433966e-01 3.59530268e-01 1.61627944e+02] [-3.77754344e-01 9.06111092e-01 -1.90431994e-01 9.21541464e+01] [-4.06219306e-01 2.26325694e-02 9.13495288e-01 6.22580433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.66, Y:92.12, Z:6.21 [[ 8.30974014e-01 4.22447838e-01 3.61966865e-01 1.61656809e+02] [-3.80886428e-01 9.06272151e-01 -1.83292984e-01 9.21241318e+01] [-4.05472214e-01 1.44434403e-02 9.13993255e-01 6.21423751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.971858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:161.68, Y:92.12, Z:6.21 [[ 8.32383998e-01 4.18607584e-01 3.63186688e-01 1.61681138e+02] [-3.77362834e-01 9.08055717e-01 -1.81747371e-01 9.21181074e+01] [-4.05874576e-01 1.42304456e-02 9.13817992e-01 6.20534854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.71, Y:92.11, Z:6.19 [[ 8.32116349e-01 4.20908458e-01 3.61134949e-01 1.61706400e+02] [-3.77683732e-01 9.06903823e-01 -1.86763097e-01 9.21054813e+01] [-4.06124833e-01 1.90138313e-02 9.13619775e-01 6.18943265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.031858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:161.74, Y:92.09, Z:6.17 [[ 8.29413924e-01 4.28855234e-01 3.57988450e-01 1.61735279e+02] [-3.83287629e-01 9.03066634e-01 -1.93807247e-01 9.20878250e+01] [-4.06402677e-01 2.35338851e-02 9.13390946e-01 6.17047323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.061858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:161.76, Y:92.07, Z:6.16 [[ 8.28981848e-01 4.29102031e-01 3.58692826e-01 1.61761900e+02] [-3.84170364e-01 9.02995702e-01 -1.92384755e-01 9.20730512e+01] [-4.06450769e-01 2.16843161e-02 9.13415329e-01 6.15718017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.091858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:161.78, Y:92.06, Z:6.16 [[ 8.30454772e-01 4.21842518e-01 3.63859535e-01 1.61784577e+02] [-3.82756482e-01 9.06632426e-01 -1.77524985e-01 9.20571376e+01] [-4.04774440e-01 8.15687546e-03 9.14380183e-01 6.15532808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.121858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:161.81, Y:92.05, Z:6.14 [[ 8.28707628e-01 4.29222355e-01 3.59182179e-01 1.61810722e+02] [-3.86113938e-01 9.03032346e-01 -1.88278007e-01 9.20487735e+01] [-4.05166256e-01 1.73421750e-02 9.14078527e-01 6.13666463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.84, Y:92.04, Z:6.12 [[ 8.28311068e-01 4.30005622e-01 3.59160047e-01 1.61835082e+02] [-3.86593504e-01 9.02650659e-01 -1.89122316e-01 9.20355193e+01] [-4.05519712e-01 1.78031669e-02 9.13912912e-01 6.12330531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18185806399998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:161.86, Y:92.02, Z:6.11 [[ 8.26853723e-01 4.31305876e-01 3.60954515e-01 1.61861853e+02] [-3.89492915e-01 9.02112595e-01 -1.85709816e-01 9.20186876e+01] [-4.05719349e-01 1.29656266e-02 9.13905740e-01 6.11226387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:161.89, Y:92.01, Z:6.09 [[ 8.24109675e-01 4.41533359e-01 3.54811974e-01 1.61888334e+02] [-3.93661069e-01 8.96851707e-01 -2.01712613e-01 9.20065416e+01] [-4.07276573e-01 2.65576549e-02 9.12918663e-01 6.08884140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.91, Y:91.99, Z:6.08 [[ 8.24320255e-01 4.34299684e-01 3.63152725e-01 1.61911006e+02] [-3.91642574e-01 9.00676580e-01 -1.88143013e-01 9.19907592e+01] [-4.08793606e-01 1.28640282e-02 9.12536194e-01 6.08431210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27185806399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:161.94, Y:91.97, Z:6.07 [[ 8.22715211e-01 4.40298930e-01 3.59550460e-01 1.61939505e+02] [-3.95189454e-01 8.97663944e-01 -1.94999331e-01 9.19729136e+01] [-4.08613481e-01 1.83383654e-02 9.12523275e-01 6.06528109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.96, Y:91.96, Z:6.05 [[ 8.21304634e-01 4.42304455e-01 3.60313013e-01 1.61964620e+02] [-3.97544886e-01 8.96711719e-01 -1.94592281e-01 9.19593814e+01] [-4.09165934e-01 1.65789466e-02 9.12309365e-01 6.05205395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.99, Y:91.94, Z:6.04 [[ 8.21396602e-01 4.42991979e-01 3.59257190e-01 1.61990728e+02] [-3.98516385e-01 8.96377382e-01 -1.94144997e-01 9.19448494e+01] [-4.08034696e-01 1.63001645e-02 9.12820898e-01 6.03887041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.01, Y:91.94, Z:6.02 [[ 8.21642589e-01 4.42277110e-01 3.59575324e-01 1.62013878e+02] [-3.95819814e-01 8.96639788e-01 -1.98403039e-01 9.19416241e+01] [-4.10158665e-01 2.06893489e-02 9.11779480e-01 6.02247454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.04, Y:91.91, Z:6.02 [[ 8.19466165e-01 4.43306176e-01 3.63255885e-01 1.62040322e+02] [-4.02296186e-01 8.96346252e-01 -1.86336189e-01 9.19110166e+01] [-4.08207034e-01 6.55974530e-03 9.12865810e-01 6.01582863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.07, Y:91.90, Z:6.00 [[ 8.19149397e-01 4.47450025e-01 3.58863123e-01 1.62067317e+02] [-4.03168757e-01 8.94187197e-01 -1.94638667e-01 9.19003104e+01] [-4.07981886e-01 1.47557474e-02 9.12870773e-01 5.99967702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.09, Y:91.89, Z:5.99 [[ 8.18901346e-01 4.45842282e-01 3.61421146e-01 1.62091711e+02] [-4.02651478e-01 8.95037364e-01 -1.91780874e-01 9.18895677e+01] [-4.08989453e-01 1.15228569e-02 9.12466356e-01 5.98886846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.12, Y:91.87, Z:5.97 [[ 8.17418711e-01 4.51115512e-01 3.58219828e-01 1.62118278e+02] [-4.07063200e-01 8.92363478e-01 -1.94902473e-01 9.18719176e+01] [-4.07585821e-01 1.34988187e-02 9.13067128e-01 5.97345330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.511858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.14, Y:91.87, Z:5.96 [[ 8.17771227e-01 4.51208742e-01 3.57296643e-01 1.62141536e+02] [-4.04409612e-01 8.92195237e-01 -2.01098296e-01 9.18680119e+01] [-4.09515672e-01 1.99582034e-02 9.12084746e-01 5.95569311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.17, Y:91.84, Z:5.96 [[ 8.17243115e-01 4.44470758e-01 3.66823441e-01 1.62166734e+02] [-4.08346786e-01 8.95771503e-01 -1.75631195e-01 9.18373363e+01] [-4.06652915e-01 -6.25778767e-03 9.13561299e-01 5.95752220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.571858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:162.20, Y:91.83, Z:5.93 [[ 8.16529373e-01 4.56078974e-01 3.53937497e-01 1.62195994e+02] [-4.10611898e-01 8.89769628e-01 -1.99268358e-01 9.18335751e+01] [-4.05804943e-01 1.73775205e-02 9.13794490e-01 5.93184573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.601858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.22, Y:91.82, Z:5.92 [[ 8.17754414e-01 4.52958988e-01 3.55113888e-01 1.62221962e+02] [-4.09890110e-01 8.91444967e-01 -1.93173417e-01 9.18172782e+01] [-4.04064123e-01 1.24107440e-02 9.14646466e-01 5.92201162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.25, Y:91.80, Z:5.92 [[ 8.17759871e-01 4.47780017e-01 3.61610081e-01 1.62245462e+02] [-4.10173328e-01 8.94142614e-01 -1.79629693e-01 9.17950841e+01] [-4.03765570e-01 -1.42885560e-03 9.14861368e-01 5.91757307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.27, Y:91.79, Z:5.89 [[ 8.16814946e-01 4.57673759e-01 3.51209446e-01 1.62273689e+02] [-4.09203800e-01 8.88770014e-01 -2.06494824e-01 9.17938710e+01] [-4.06651686e-01 2.49518184e-02 9.13242472e-01 5.89028168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.30, Y:91.76, Z:5.89 [[ 8.17468656e-01 4.46239698e-01 3.64163602e-01 1.62297920e+02] [-4.08892034e-01 8.94909109e-01 -1.78731616e-01 9.17636951e+01] [-4.05650467e-01 -2.79610237e-03 9.14024004e-01 5.89324850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.721858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:162.32, Y:91.77, Z:5.86 [[ 8.16701713e-01 4.58311048e-01 3.50641264e-01 1.62324978e+02] [-4.07989106e-01 8.88314958e-01 -2.10811349e-01 9.17675894e+01] [-4.08097050e-01 2.91121736e-02 9.12474262e-01 5.86378509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.751858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.35, Y:91.75, Z:5.86 [[ 8.16591408e-01 4.52217325e-01 3.58717108e-01 1.62347040e+02] [-4.07612472e-01 8.91796051e-01 -1.96346316e-01 9.17454784e+01] [-4.08693707e-01 1.41171478e-02 9.12562415e-01 5.85813007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.781858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:91.73, Z:5.85 [[ 8.17667878e-01 4.49529760e-01 3.59641818e-01 1.62373171e+02] [-4.06052997e-01 8.93185129e-01 -1.93238942e-01 9.17294136e+01] [-4.08093378e-01 1.19716371e-02 9.12861695e-01 5.84641454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.40, Y:91.73, Z:5.83 [[ 8.18256426e-01 4.50676587e-01 3.56857163e-01 1.62397424e+02] [-4.02795640e-01 8.92398340e-01 -2.03422895e-01 9.17258787e+01] [-4.10136676e-01 2.27115817e-02 9.11741241e-01 5.82701464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.42, Y:91.70, Z:5.82 [[ 8.18535413e-01 4.45172488e-01 3.63071941e-01 1.62423832e+02] [-4.05055295e-01 8.95435241e-01 -1.84732068e-01 9.16987080e+01] [-4.07345045e-01 4.14552773e-03 9.13264928e-01 5.82293577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:91.69, Z:5.81 [[ 8.20194102e-01 4.48611212e-01 3.55006500e-01 1.62452958e+02] [-4.04798738e-01 8.93594460e-01 -1.93976607e-01 9.16919152e+01] [-4.04251922e-01 1.53922859e-02 9.14518158e-01 5.80674176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90185806399998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:162.48, Y:91.68, Z:5.79 [[ 8.19626370e-01 4.48177784e-01 3.56860318e-01 1.62477768e+02] [-4.03775830e-01 8.93803916e-01 -1.95140051e-01 9.16787013e+01] [-4.06420586e-01 1.58503609e-02 9.13548616e-01 5.79015349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93185806399998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:162.50, Y:91.66, Z:5.78 [[ 8.21312706e-01 4.45985682e-01 3.55727720e-01 1.62504658e+02] [-4.01642251e-01 8.94879329e-01 -1.94613690e-01 9.16644898e+01] [-4.05128303e-01 1.69634138e-02 9.14102457e-01 5.77694634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.53, Y:91.64, Z:5.77 [[ 8.22577105e-01 4.39883863e-01 3.60373546e-01 1.62529755e+02] [-4.00509888e-01 8.98038653e-01 -1.81984635e-01 9.16426140e+01] [-4.03681478e-01 5.36322581e-03 9.14883873e-01 5.77133956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:91.64, Z:5.75 [[ 8.22674985e-01 4.48760334e-01 3.49027266e-01 1.62556515e+02] [-3.99458445e-01 8.93124768e-01 -2.06787568e-01 9.16430501e+01] [-4.04522954e-01 3.06970705e-02 9.14012511e-01 5.74565973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:91.62, Z:5.74 [[ 8.23120329e-01 4.42631390e-01 3.55739198e-01 1.62580853e+02] [-3.97830746e-01 8.96503223e-01 -1.94968377e-01 9.16216999e+01] [-4.05220461e-01 1.89584440e-02 9.14022404e-01 5.73728100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.61, Y:91.61, Z:5.73 [[ 8.24327873e-01 4.40438370e-01 3.55665010e-01 1.62606456e+02] [-3.95404086e-01 8.97556442e-01 -1.95059071e-01 9.16079475e+01] [-4.05140921e-01 2.01612307e-02 9.14031925e-01 5.72500513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.63, Y:91.59, Z:5.71 [[ 8.25241853e-01 4.38968314e-01 3.55362778e-01 1.62631769e+02] [-3.93827223e-01 8.98257350e-01 -1.95022696e-01 9.15939049e+01] [-4.04816011e-01 2.09893554e-02 9.14157232e-01 5.71205408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.66, Y:91.57, Z:5.71 [[ 8.26061739e-01 4.33294496e-01 3.60385743e-01 1.62658435e+02] [-3.94736763e-01 9.01236146e-01 -1.78763245e-01 9.15690444e+01] [-4.02249788e-01 5.41197540e-03 9.15513964e-01 5.70954883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.69, Y:91.56, Z:5.69 [[ 8.26026762e-01 4.39564197e-01 3.52793290e-01 1.62686857e+02] [-3.95315621e-01 8.97984621e-01 -1.93259362e-01 9.15626426e+01] [-4.01752845e-01 2.01727067e-02 9.15525922e-01 5.69117779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.71, Y:91.56, Z:5.67 [[ 8.25537885e-01 4.45961019e-01 3.45840961e-01 1.62711377e+02] [-3.93154870e-01 8.94108876e-01 -2.14472760e-01 9.15624888e+01] [-4.04865964e-01 4.10863305e-02 9.13452497e-01 5.66614336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.74, Y:91.54, Z:5.66 [[ 8.25020213e-01 4.40656726e-01 3.53784252e-01 1.62735387e+02] [-3.93899660e-01 8.97330059e-01 -1.99102543e-01 9.15391650e+01] [-4.05197119e-01 2.49081260e-02 9.13889972e-01 5.65937901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.76, Y:91.50, Z:5.67 [[ 8.22883039e-01 4.29631827e-01 3.71860186e-01 1.62756811e+02] [-3.96350455e-01 9.02941105e-01 -1.66143546e-01 9.15041221e+01] [-4.07148402e-01 -1.06702480e-02 9.13299690e-01 5.66771187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.261858064 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:162.79, Y:91.52, Z:5.63 [[ 8.24188754e-01 4.48453358e-01 3.45835919e-01 1.62788264e+02] [-3.93807647e-01 8.92704386e-01 -2.19076279e-01 9.15213565e+01] [-4.06974735e-01 4.43673758e-02 9.12361278e-01 5.62606542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.81, Y:91.47, Z:5.64 [[ 8.24744442e-01 4.30904414e-01 3.66221233e-01 1.62812632e+02] [-3.96958989e-01 9.02370452e-01 -1.67782983e-01 9.14748131e+01] [-4.02765648e-01 -6.99672795e-03 9.15276395e-01 5.64054569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.321858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.84, Y:91.48, Z:5.61 [[ 8.25030262e-01 4.42968519e-01 3.50861735e-01 1.62842016e+02] [-3.97406833e-01 8.96238824e-01 -1.97037506e-01 9.14768722e+01] [-4.01737321e-01 2.31270541e-02 9.15462869e-01 5.61433789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.351858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:162.87, Y:91.47, Z:5.60 [[ 8.23980761e-01 4.46337357e-01 3.49053962e-01 1.62867712e+02] [-3.97999038e-01 8.94385617e-01 -2.04135089e-01 9.14683850e+01] [-4.03301959e-01 2.92802444e-02 9.14598380e-01 5.59652653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.89, Y:91.45, Z:5.59 [[ 8.23488395e-01 4.43727459e-01 3.53514930e-01 1.62891772e+02] [-3.98662938e-01 8.95929794e-01 -1.95902186e-01 9.14492113e+01] [-4.03651738e-01 2.03898755e-02 9.14685480e-01 5.58785606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.411858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:162.92, Y:91.45, Z:5.56 [[ 8.22055754e-01 4.53080190e-01 3.44880673e-01 1.62916803e+02] [-3.96660594e-01 8.90211088e-01 -2.24019178e-01 9.14547558e+01] [-4.08515251e-01 4.73556814e-02 9.11522204e-01 5.55760011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.94, Y:91.41, Z:5.57 [[ 8.22276451e-01 4.37258674e-01 3.64233841e-01 1.62940094e+02] [-3.98411772e-01 8.99330577e-01 -1.80201482e-01 9.14131159e+01] [-4.06361291e-01 3.06038562e-03 9.13707357e-01 5.56605572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.471858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.97, Y:91.41, Z:5.54 [[ 8.21472795e-01 4.46551036e-01 3.54647176e-01 1.62967163e+02] [-3.99897568e-01 8.94476223e-01 -1.99985554e-01 9.14123091e+01] [-4.06527223e-01 2.24601492e-02 9.13362556e-01 5.54316027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:91.41, Z:5.52 [[ 8.21473947e-01 4.50754433e-01 3.49286409e-01 1.62992874e+02] [-3.99080269e-01 8.91955312e-01 -2.12486847e-01 9.14067416e+01] [-4.07327256e-01 3.51590948e-02 9.12605251e-01 5.52325072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.531858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:163.02, Y:91.39, Z:5.51 [[ 8.19823710e-01 4.45921112e-01 3.59226177e-01 1.63015460e+02] [-3.96058718e-01 8.94659598e-01 -2.06692274e-01 9.13928354e+01] [-4.13553596e-01 2.71765680e-02 9.10074095e-01 5.50803133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.561858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.04, Y:91.36, Z:5.51 [[ 8.20285362e-01 4.36737798e-01 3.69312903e-01 1.63041876e+02] [-3.99451738e-01 8.99584899e-01 -1.76593652e-01 9.13565514e+01] [-4.09353433e-01 -2.66549311e-03 9.12371998e-01 5.51107285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.07, Y:91.36, Z:5.48 [[ 8.20572919e-01 4.49765206e-01 3.52663217e-01 1.63069137e+02] [-3.98614673e-01 8.92558296e-01 -2.10822272e-01 9.13621544e+01] [-4.09593002e-01 3.24183146e-02 9.11692177e-01 5.48185950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.621858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:163.09, Y:91.33, Z:5.48 [[ 8.21105274e-01 4.40390789e-01 3.63100651e-01 1.63094167e+02] [-3.97755681e-01 8.97738086e-01 -1.89358779e-01 9.13339215e+01] [-4.09361145e-01 1.10581454e-02 9.12305415e-01 5.47893941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.12, Y:91.33, Z:5.46 [[ 8.21152056e-01 4.49281940e-01 3.51930448e-01 1.63121277e+02] [-3.99297139e-01 8.92871681e-01 -2.08187312e-01 9.13303435e+01] [-4.07763530e-01 3.04286184e-02 9.12580409e-01 5.45933101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.15, Y:91.31, Z:5.45 [[ 8.20755110e-01 4.44923593e-01 3.58335103e-01 1.63146444e+02] [-3.98628961e-01 8.95340780e-01 -1.98645010e-01 9.13126285e+01] [-4.09213882e-01 2.01961570e-02 9.12214950e-01 5.44831820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.17, Y:91.30, Z:5.43 [[ 8.20480430e-01 4.44798088e-01 3.59119097e-01 1.63171964e+02] [-3.98213456e-01 8.95397323e-01 -1.99222683e-01 9.12990800e+01] [-4.10168147e-01 2.04522560e-02 9.11780564e-01 5.43283405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:91.28, Z:5.42 [[ 8.19481443e-01 4.46523005e-01 3.59259476e-01 1.63197787e+02] [-3.99989011e-01 8.94554195e-01 -1.99453210e-01 9.12845414e+01] [-4.10437518e-01 1.97483624e-02 9.11674858e-01 5.42031873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:91.27, Z:5.41 [[ 8.19654638e-01 4.47262003e-01 3.57942697e-01 1.63224126e+02] [-4.01112464e-01 8.94192882e-01 -1.98816201e-01 9.12704475e+01] [-4.08992744e-01 1.93853438e-02 9.12331707e-01 5.40729691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.801858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.25, Y:91.26, Z:5.39 [[ 8.19230472e-01 4.48156307e-01 3.57795135e-01 1.63250059e+02] [-4.02061722e-01 8.93751682e-01 -1.98882635e-01 9.12558738e+01] [-4.08910511e-01 1.90749867e-02 9.12375109e-01 5.39325790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.831858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.28, Y:91.24, Z:5.38 [[ 8.18665468e-01 4.49036004e-01 3.57985361e-01 1.63275591e+02] [-4.02900214e-01 8.93315869e-01 -1.99143607e-01 9.12439931e+01] [-4.09216654e-01 1.87996155e-02 9.12243556e-01 5.37834521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:91.23, Z:5.37 [[ 8.18832865e-01 4.49491049e-01 3.57030161e-01 1.63301276e+02] [-4.03591904e-01 8.93090065e-01 -1.98755407e-01 9.12296968e+01] [-4.08198866e-01 1.86529770e-02 9.12702445e-01 5.36615291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.891858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:163.33, Y:91.22, Z:5.35 [[ 8.18100112e-01 4.50324651e-01 3.57658937e-01 1.63326624e+02] [-4.04269085e-01 8.92675066e-01 -1.99242899e-01 9.12162195e+01] [-4.08997205e-01 1.84101869e-02 9.12349906e-01 5.35254461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.921858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:163.35, Y:91.20, Z:5.34 [[ 8.18382597e-01 4.49589699e-01 3.57937183e-01 1.63351641e+02] [-4.03330528e-01 8.93034624e-01 -1.99533567e-01 9.12006214e+01] [-4.09358535e-01 1.89278056e-02 9.12177246e-01 5.34030056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.951858064 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:163.38, Y:91.18, Z:5.33 [[ 8.17880306e-01 4.50314452e-01 3.58174117e-01 1.63379634e+02] [-4.04821487e-01 8.92709849e-01 -1.97961330e-01 9.11806291e+01] [-4.08890410e-01 1.69120947e-02 9.12426771e-01 5.32701293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.981858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:163.40, Y:91.17, Z:5.32 [[ 8.18500826e-01 4.49344908e-01 3.57974232e-01 1.63402935e+02] [-4.03141258e-01 8.93159240e-01 -1.99358214e-01 9.11717727e+01] [-4.09308591e-01 1.88606801e-02 9.12201048e-01 5.31501594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.011858064 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:163.43, Y:91.17, Z:5.30 [[ 8.18067663e-01 4.57252110e-01 3.48834929e-01 1.63428833e+02] [-4.05971801e-01 8.88741312e-01 -2.12898513e-01 9.11658717e+01] [-4.07372307e-01 3.25482448e-02 9.12681990e-01 5.29557748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.041858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.45, Y:91.14, Z:5.29 [[ 8.17219753e-01 4.49869199e-01 3.60235449e-01 1.63452449e+02] [-4.05746641e-01 8.93000213e-01 -1.94731310e-01 9.11404073e+01] [-4.09293951e-01 1.29739503e-02 9.12310330e-01 5.29007026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.071858064 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:163.48, Y:91.13, Z:5.27 [[ 8.16277351e-01 4.54801525e-01 3.56155668e-01 1.63477381e+02] [-4.08399237e-01 8.90398187e-01 -2.01000328e-01 9.11304752e+01] [-4.08535617e-01 1.86183121e-02 9.12552469e-01 5.27436818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.101858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.50, Y:91.12, Z:5.26 [[ 8.14782942e-01 4.56336703e-01 3.57610921e-01 1.63503064e+02] [-4.08333458e-01 8.89563111e-01 -2.04795650e-01 9.11209772e+01] [-4.11573256e-01 2.08394981e-02 9.11138393e-01 5.25642100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.131858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:91.11, Z:5.24 [[ 8.12888763e-01 4.59733829e-01 3.57570504e-01 1.63526093e+02] [-4.12242035e-01 8.87859553e-01 -2.04357331e-01 9.11054529e+01] [-4.11422366e-01 1.87141858e-02 9.11252663e-01 5.24393696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.161858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:163.55, Y:91.08, Z:5.24 [[ 8.13280104e-01 4.54842016e-01 3.62896972e-01 1.63551827e+02] [-4.14180023e-01 8.90568378e-01 -1.87997004e-01 9.10789233e+01] [-4.08693504e-01 2.58954630e-03 9.12668020e-01 5.24136800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:91.07, Z:5.22 [[ 8.11299411e-01 4.60594142e-01 3.60064302e-01 1.63578008e+02] [-4.14104868e-01 8.87485021e-01 -2.02206567e-01 9.10741051e+01] [-4.12686835e-01 1.49456885e-02 9.10750351e-01 5.21895234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.60, Y:91.06, Z:5.21 [[ 8.10523020e-01 4.61127103e-01 3.61129102e-01 1.63602380e+02] [-4.15972154e-01 8.87261563e-01 -1.99334108e-01 9.10593861e+01] [-4.12334331e-01 1.13452326e-02 9.10961956e-01 5.20784538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.63, Y:91.04, Z:5.20 [[ 8.09967510e-01 4.62712547e-01 3.60346682e-01 1.63628264e+02] [-4.19693000e-01 8.86483302e-01 -1.94949074e-01 9.10403023e+01] [-4.09646699e-01 6.66743606e-03 9.12219890e-01 5.19752034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.281858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:163.65, Y:91.03, Z:5.18 [[ 8.08872507e-01 4.70250183e-01 3.52973134e-01 1.63654840e+02] [-4.24539121e-01 8.82419932e-01 -2.02735293e-01 9.10293673e+01] [-4.06806837e-01 1.41361008e-02 9.13404821e-01 5.18231787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.311858064 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:163.69, Y:91.01, Z:5.16 [[ 8.05414327e-01 4.72918684e-01 3.57289351e-01 1.63692906e+02] [-4.26227661e-01 8.81009066e-01 -2.05311976e-01 9.10061862e+01] [-4.11871027e-01 1.30746024e-02 9.11148348e-01 5.15727297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.341858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:164.28, Y:90.89, Z:6.14 [[ 0.81784897 -0.52648751 0.23223687 164.28164806] [ -0.43657977 -0.30480819 0.84645736 90.89466568] [ -0.37486153 -0.7936642 -0.47914087 6.14077775] [ 0. 0. 0. 1. ]] SLAMing on 251.371858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:163.88, Y:90.90, Z:5.11 [[ 8.39977018e-01 4.37847158e-01 3.20512832e-01 1.63883399e+02] [-4.10143071e-01 8.99045400e-01 -1.53297199e-01 9.08969674e+01] [-3.55276330e-01 -2.68999300e-03 9.34757452e-01 5.10542376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:163.91, Y:90.90, Z:5.08 [[ 8.39593607e-01 4.45618859e-01 3.10654803e-01 1.63910213e+02] [-4.09350735e-01 8.94957123e-01 -1.77436535e-01 9.09020051e+01] [-3.57091795e-01 2.18078082e-02 9.33814687e-01 5.08297371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:163.93, Y:90.89, Z:5.07 [[ 8.39255850e-01 4.44202037e-01 3.13582794e-01 1.63933986e+02] [-4.08324131e-01 8.95710927e-01 -1.75992443e-01 9.08910663e+01] [-3.59055736e-01 1.96592650e-02 9.33109046e-01 5.06882278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:163.96, Y:90.87, Z:5.06 [[ 8.40247930e-01 4.42357841e-01 3.13533023e-01 1.63960324e+02] [-4.09073446e-01 8.96734654e-01 -1.68896048e-01 9.08733789e+01] [-3.55868418e-01 1.36565203e-02 9.34436284e-01 5.05962365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.99, Y:90.85, Z:5.06 [[ 8.38160130e-01 4.37814848e-01 3.25277965e-01 1.63985766e+02] [-4.12034665e-01 8.99012860e-01 -1.48335133e-01 9.08465981e+01] [-3.57372398e-01 -9.69720281e-03 9.33911631e-01 5.05743414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52185806399999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:164.02, Y:90.83, Z:5.04 [[ 8.37356153e-01 4.44375470e-01 3.18378886e-01 1.64015077e+02] [-4.16103191e-01 8.95838695e-01 -1.55984509e-01 9.08341212e+01] [-3.54531815e-01 -1.86388163e-03 9.35042094e-01 5.04421009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.04, Y:90.82, Z:5.03 [[ 8.37155490e-01 4.47691405e-01 3.14234136e-01 1.64043806e+02] [-4.17048516e-01 8.94172447e-01 -1.62868570e-01 9.08238530e+01] [-3.53894365e-01 5.29543741e-03 9.35270409e-01 5.02970930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.581858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:164.07, Y:90.81, Z:5.02 [[ 8.36421408e-01 4.48783662e-01 3.14630662e-01 1.64070862e+02] [-4.18091103e-01 8.93626715e-01 -1.63190456e-01 9.08098911e+01] [-3.54399575e-01 4.95171058e-03 9.35080971e-01 5.01805022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.611858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.10, Y:90.79, Z:5.02 [[ 8.37510487e-01 4.43933572e-01 3.18589341e-01 1.64097513e+02] [-4.18243408e-01 8.96020278e-01 -1.49064127e-01 9.07891106e+01] [-3.51637080e-01 -8.40512200e-03 9.36098669e-01 5.01582230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.641858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.12, Y:90.79, Z:5.00 [[ 8.37191595e-01 4.49585750e-01 3.11420755e-01 1.64124991e+02] [-4.18341121e-01 8.93203668e-01 -1.64857254e-01 9.07852497e+01] [-3.52279633e-01 7.73699994e-03 9.35862810e-01 4.99658088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.15, Y:90.78, Z:4.98 [[ 8.37061850e-01 4.52395865e-01 3.07677495e-01 1.64153995e+02] [-4.18857959e-01 8.91695343e-01 -1.71573382e-01 9.07757680e+01] [-3.51973678e-01 1.47443648e-02 9.35893762e-01 4.98104807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.701858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.18, Y:90.76, Z:4.97 [[ 8.35244589e-01 4.51665475e-01 3.13631590e-01 1.64177504e+02] [-4.21207018e-01 8.92177812e-01 -1.63105485e-01 9.07556008e+01] [-3.53484263e-01 4.12914725e-03 9.35431358e-01 4.97158566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:90.74, Z:4.96 [[ 8.35012965e-01 4.52101491e-01 3.13620137e-01 1.64204290e+02] [-4.21630953e-01 8.91957282e-01 -1.63216258e-01 9.07412590e+01] [-3.53526078e-01 4.05573442e-03 9.35415877e-01 4.95999953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.761858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.23, Y:90.73, Z:4.95 [[ 8.34915297e-01 4.52634889e-01 3.13110371e-01 1.64230592e+02] [-4.22258161e-01 8.91687256e-01 -1.63070179e-01 9.07278778e+01] [-3.53007780e-01 3.93637711e-03 9.35612106e-01 4.94919488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.791858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:164.26, Y:90.72, Z:4.94 [[ 8.36528774e-01 4.49604201e-01 3.13170358e-01 1.64255142e+02] [-4.19022620e-01 8.93212842e-01 -1.63067053e-01 9.07175037e+01] [-3.53043417e-01 5.18481808e-03 9.35592573e-01 4.93819556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.821858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.28, Y:90.74, Z:4.90 [[ 8.36194974e-01 4.56737976e-01 3.03592467e-01 1.64277309e+02] [-4.11035937e-01 8.88403381e-01 -2.04423311e-01 9.07417476e+01] [-3.63080464e-01 4.61503313e-02 9.30614165e-01 4.90146048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.851858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:164.30, Y:90.66, Z:4.94 [[ 8.35613659e-01 4.32211456e-01 3.39032550e-01 1.64303963e+02] [-4.21162551e-01 9.00323372e-01 -1.09726618e-01 9.06558890e+01] [-3.52664030e-01 -5.10987528e-02 9.34353787e-01 4.93853738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.881858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.33, Y:90.72, Z:4.87 [[ 8.36062910e-01 4.59207395e-01 3.00212225e-01 1.64332063e+02] [-4.09713750e-01 8.86514064e-01 -2.15005714e-01 9.07210108e+01] [-3.64874574e-01 5.67572267e-02 9.29325112e-01 4.87307199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.911858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:164.35, Y:90.67, Z:4.88 [[ 8.35359009e-01 4.39143630e-01 3.30648150e-01 1.64350067e+02] [-4.09716839e-01 8.98410382e-01 -1.58085094e-01 9.06722885e+01] [-3.66479793e-01 -3.41430763e-03 9.30419746e-01 4.88415982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.38, Y:90.63, Z:4.90 [[ 8.34517114e-01 4.31110195e-01 3.43111041e-01 1.64380050e+02] [-4.16710955e-01 9.01235875e-01 -1.18852340e-01 9.06285802e+01] [-3.60462434e-01 -4.37938179e-02 9.31745102e-01 4.89624124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.971858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.41, Y:90.65, Z:4.86 [[ 8.35130858e-01 4.48560158e-01 3.18355515e-01 1.64409535e+02] [-4.15530741e-01 8.93707328e-01 -1.69178650e-01 9.06469043e+01] [-3.60403459e-01 8.99980811e-03 9.32753103e-01 4.86225983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.43, Y:90.62, Z:4.86 [[ 8.34996715e-01 4.44154402e-01 3.24818956e-01 1.64434633e+02] [-4.18839376e-01 8.95867072e-01 -1.48309696e-01 9.06201577e+01] [-3.56867011e-01 -1.22088596e-02 9.34075415e-01 4.86191353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.031858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.46, Y:90.61, Z:4.85 [[ 8.34989994e-01 4.48000235e-01 3.19511344e-01 1.64462914e+02] [-4.21149179e-01 8.94007009e-01 -1.52921018e-01 9.06088071e+01] [-3.54154033e-01 -6.87442058e-03 9.35161838e-01 4.84892095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.49, Y:90.58, Z:4.85 [[ 8.34251168e-01 4.44271834e-01 3.26569329e-01 1.64489842e+02] [-4.26102682e-01 8.95352609e-01 -1.29538451e-01 9.05790573e+01] [-3.49944986e-01 -3.10844629e-02 9.36254380e-01 4.85322987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.52, Y:90.57, Z:4.84 [[ 8.33313178e-01 4.52383368e-01 3.17708099e-01 1.64519761e+02] [-4.31557990e-01 8.91539625e-01 -1.37531080e-01 9.05676562e+01] [-3.45466133e-01 -2.25030074e-02 9.38161375e-01 4.84316278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.55, Y:90.56, Z:4.81 [[ 8.29139565e-01 4.69622174e-01 3.03286327e-01 1.64553030e+02] [-4.37962728e-01 8.82832410e-01 -1.69692617e-01 9.05617828e+01] [-3.47442414e-01 7.87075567e-03 9.37668289e-01 4.81296066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.58, Y:90.54, Z:4.81 [[ 8.28116672e-01 4.69358351e-01 3.06472702e-01 1.64579344e+02] [-4.40160061e-01 8.83007778e-01 -1.62961300e-01 9.05435802e+01] [-3.47105027e-01 5.39263093e-05 9.37826262e-01 4.80563091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.60, Y:90.54, Z:4.80 [[ 8.31166920e-01 4.60865604e-01 3.11069841e-01 1.64600328e+02] [-4.34745296e-01 8.87434437e-01 -1.53155635e-01 9.05374786e+01] [-3.46638253e-01 -7.93825261e-03 9.37965301e-01 4.80427382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:164.63, Y:90.51, Z:4.80 [[ 8.31128836e-01 4.59575942e-01 3.13073172e-01 1.64629032e+02] [-4.38056316e-01 8.87904324e-01 -1.40472686e-01 9.05137096e+01] [-3.42536890e-01 -2.03927803e-02 9.39283032e-01 4.80026308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:164.66, Y:90.51, Z:4.78 [[ 8.30619637e-01 4.64390727e-01 3.07265798e-01 1.64657569e+02] [-4.38773564e-01 8.85591629e-01 -1.52332613e-01 9.05054729e+01] [-3.42853872e-01 -8.28964955e-03 9.39352173e-01 4.78362774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27185806399999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.69, Y:90.49, Z:4.75 [[ 8.26874481e-01 4.76223655e-01 2.99148162e-01 1.64689032e+02] [-4.43541707e-01 8.79255846e-01 -1.73723663e-01 9.04926380e+01] [-3.45759088e-01 1.09629773e-02 9.38259274e-01 4.75428519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.301858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:164.71, Y:90.48, Z:4.76 [[ 8.31154826e-01 4.61566671e-01 3.10061063e-01 1.64708028e+02] [-4.36889638e-01 8.87032978e-01 -1.49331644e-01 9.04793150e+01] [-3.43960898e-01 -1.13447486e-02 9.38915437e-01 4.76033550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:90.46, Z:4.74 [[ 8.26819477e-01 4.73512505e-01 3.03571178e-01 1.64741920e+02] [-4.43963887e-01 8.80786035e-01 -1.64657306e-01 9.04591271e+01] [-3.45348548e-01 1.36722757e-03 9.38473501e-01 4.73612561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.77, Y:90.44, Z:4.73 [[ 8.27217694e-01 4.72640104e-01 3.03845717e-01 1.64768831e+02] [-4.43767274e-01 8.81255499e-01 -1.62663309e-01 9.04439791e+01] [-3.44646912e-01 -2.78817795e-04 9.38732352e-01 4.72556458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.391858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.80, Y:90.43, Z:4.71 [[ 8.27058995e-01 4.73085936e-01 3.03583787e-01 1.64796331e+02] [-4.44251039e-01 8.81016215e-01 -1.62638997e-01 9.04301641e+01] [-3.44404461e-01 -3.55367078e-04 9.38821304e-01 4.71420211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.82, Y:90.41, Z:4.70 [[ 8.27332151e-01 4.72949579e-01 3.03051495e-01 1.64823470e+02] [-4.44168033e-01 8.81089473e-01 -1.62468762e-01 9.04149386e+01] [-3.43855015e-01 -1.90156151e-04 9.39022733e-01 4.70308728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.451858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.84, Y:90.42, Z:4.70 [[ 8.31732318e-01 4.62865878e-01 3.06555917e-01 1.64842190e+02] [-4.36437060e-01 8.86411354e-01 -1.54264720e-01 9.04156632e+01] [-3.43138521e-01 -5.48540991e-03 9.39268793e-01 4.70280925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.481858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.87, Y:90.41, Z:4.68 [[ 8.31572163e-01 4.65108342e-01 3.03581898e-01 1.64867192e+02] [-4.33821730e-01 8.85218406e-01 -1.67890087e-01 9.04135596e+01] [-3.46823363e-01 7.91229859e-03 9.37897089e-01 4.68137360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.511858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:164.90, Y:90.36, Z:4.68 [[ 8.27347276e-01 4.66220480e-01 3.13264983e-01 1.64900234e+02] [-4.46002051e-01 8.84303641e-01 -1.38163819e-01 9.03595930e+01] [-3.41436167e-01 -2.54073653e-02 9.39561499e-01 4.67990890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.541858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.93, Y:90.36, Z:4.66 [[ 8.27472472e-01 4.74788386e-01 2.99775410e-01 1.64930726e+02] [-4.46422964e-01 8.80099985e-01 -1.61649476e-01 9.03579389e+01] [-3.40581627e-01 -6.61356438e-05 9.40214949e-01 4.65930031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.571858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:164.95, Y:90.38, Z:4.64 [[ 8.31002915e-01 4.70254050e-01 2.97145223e-01 1.64946699e+02] [-4.34665979e-01 8.82281552e-01 -1.80678579e-01 9.03819260e+01] [-3.47130582e-01 2.09855063e-02 9.37581979e-01 4.64174906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.601858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:164.98, Y:90.31, Z:4.65 [[ 8.27881973e-01 4.63361297e-01 3.16081869e-01 1.64978354e+02] [-4.47205465e-01 8.85417698e-01 -1.26660066e-01 9.03095684e+01] [-3.38553853e-01 -3.64939541e-02 9.40239055e-01 4.65329089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.631858064 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:165.00, Y:90.36, Z:4.61 [[ 8.30943601e-01 4.72272649e-01 2.94093992e-01 1.64997487e+02] [-4.33598582e-01 8.80941987e-01 -1.89561297e-01 9.03636466e+01] [-3.48604361e-01 2.99960089e-02 9.36789858e-01 4.61405533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.661858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:165.02, Y:90.33, Z:4.62 [[ 8.30541558e-01 4.58365872e-01 3.16388129e-01 1.65017870e+02] [-4.33176677e-01 8.88680147e-01 -1.50351463e-01 9.03276847e+01] [-3.50083828e-01 -1.21788201e-02 9.36639199e-01 4.61691080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.04, Y:90.31, Z:4.61 [[ 8.30095411e-01 4.58294994e-01 3.17659104e-01 1.65044258e+02] [-4.33821799e-01 8.88680899e-01 -1.48475274e-01 9.03124255e+01] [-3.50343053e-01 -1.45588009e-02 9.36508295e-01 4.60549141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.721858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:165.07, Y:90.29, Z:4.60 [[ 8.30127594e-01 4.56733687e-01 3.19816381e-01 1.65070924e+02] [-4.34905897e-01 8.89334692e-01 -1.41211427e-01 9.02939527e+01] [-3.48919818e-01 -2.18665279e-02 9.36897441e-01 4.59925776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:90.28, Z:4.59 [[ 8.27784901e-01 4.56797938e-01 3.25741924e-01 1.65093479e+02] [-4.35979076e-01 8.89161408e-01 -1.38975667e-01 9.02810836e+01] [-3.53120946e-01 -2.69747045e-02 9.35188731e-01 4.58916747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.12, Y:90.28, Z:4.57 [[ 8.28422704e-01 4.65678048e-01 3.11223038e-01 1.65123336e+02] [-4.38151884e-01 8.84936413e-01 -1.57830518e-01 9.02782960e+01] [-3.48910806e-01 -5.61257568e-03 9.37139130e-01 4.57024563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.811858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:165.15, Y:90.26, Z:4.56 [[ 8.27430886e-01 4.67264754e-01 3.11483192e-01 1.65146178e+02] [-4.41621713e-01 8.84050056e-01 -1.53054764e-01 9.02633873e+01] [-3.46883830e-01 -1.09155016e-02 9.37844582e-01 4.56190408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.17, Y:90.26, Z:4.54 [[ 8.27167604e-01 4.68061169e-01 3.10986329e-01 1.65170237e+02] [-4.38118725e-01 8.83696069e-01 -1.64721707e-01 9.02610672e+01] [-3.51917231e-01 3.52631893e-06 9.36031123e-01 4.54150895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.871858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.19, Y:90.23, Z:4.54 [[ 8.28242348e-01 4.61692207e-01 3.17576636e-01 1.65193512e+02] [-4.38537593e-01 8.86843214e-01 -1.45581225e-01 9.02325723e+01] [-3.48854402e-01 -1.86927577e-02 9.36990495e-01 4.53837169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.22, Y:90.21, Z:4.53 [[ 8.27741201e-01 4.61586241e-01 3.19033926e-01 1.65220244e+02] [-4.40404532e-01 8.86761588e-01 -1.40348620e-01 9.02145027e+01] [-3.47690022e-01 -2.43316514e-02 9.37293774e-01 4.52864347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.25, Y:90.19, Z:4.52 [[ 8.27111193e-01 4.61233256e-01 3.21171230e-01 1.65247422e+02] [-4.43183380e-01 8.86659113e-01 -1.32000413e-01 9.01936890e+01] [-3.45652378e-01 -3.31587324e-02 9.37776590e-01 4.52353059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96185806399998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:165.27, Y:90.18, Z:4.52 [[ 8.24907499e-01 4.62973171e-01 3.24319999e-01 1.65272750e+02] [-4.46356578e-01 8.85535578e-01 -1.28812056e-01 9.01754809e+01] [-3.46833424e-01 -3.85043344e-02 9.37136059e-01 4.51745165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.30, Y:90.17, Z:4.50 [[ 8.24258205e-01 4.68256815e-01 3.18329965e-01 1.65300707e+02] [-4.48053059e-01 8.83145166e-01 -1.38935499e-01 9.01655930e+01] [-3.46189063e-01 -2.81099898e-02 9.37743548e-01 4.50291996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.33, Y:90.14, Z:4.49 [[ 8.25925817e-01 4.70632095e-01 3.10406147e-01 1.65330403e+02] [-4.51118796e-01 8.81915290e-01 -1.36811014e-01 9.01437226e+01] [-3.38139581e-01 -2.70342990e-02 9.40707590e-01 4.49499198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.051858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.35, Y:90.13, Z:4.48 [[ 8.23017955e-01 4.73431953e-01 3.13852881e-01 1.65353491e+02] [-4.52118074e-01 8.80488192e-01 -1.42582573e-01 9.01320802e+01] [-3.43846902e-01 -2.45505421e-02 9.38704735e-01 4.48272534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.081858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.38, Y:90.11, Z:4.48 [[ 8.22028384e-01 4.75792801e-01 3.12874648e-01 1.65378091e+02] [-4.57964894e-01 8.78912606e-01 -1.33344615e-01 9.01087637e+01] [-3.38433880e-01 -3.36725466e-02 9.40387510e-01 4.48070334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.40, Y:90.08, Z:4.48 [[ 8.22213581e-01 4.75367807e-01 3.13033985e-01 1.65404384e+02] [-4.60337632e-01 8.78833821e-01 -1.25460669e-01 9.00842472e+01] [-3.34744816e-01 -4.09458580e-02 9.41418794e-01 4.47588067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.141858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.43, Y:90.08, Z:4.46 [[ 8.22391313e-01 4.84378970e-01 2.98411698e-01 1.65434226e+02] [-4.63307472e-01 8.74611193e-01 -1.42833639e-01 9.00754413e+01] [-3.30179822e-01 -2.07912252e-02 9.43689043e-01 4.45775442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.46, Y:90.06, Z:4.45 [[ 8.19924748e-01 4.86415810e-01 3.01865975e-01 1.65456750e+02] [-4.64685731e-01 8.73471861e-01 -1.45306844e-01 9.00629474e+01] [-3.34350981e-01 -2.11321340e-02 9.42211682e-01 4.44590707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.201858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.48, Y:90.04, Z:4.44 [[ 8.17391374e-01 4.87541811e-01 3.06878354e-01 1.65482966e+02] [-4.70418456e-01 8.72370072e-01 -1.32954627e-01 9.00380298e+01] [-3.32532432e-01 -3.56852764e-02 9.42416438e-01 4.44303968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.51, Y:90.03, Z:4.42 [[ 8.16242378e-01 4.93978460e-01 2.99555773e-01 1.65507609e+02] [-4.72353630e-01 8.69192513e-01 -1.46240977e-01 9.00298658e+01] [-3.32611528e-01 -2.21281741e-02 9.42804283e-01 4.42398792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.261858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.53, Y:90.01, Z:4.42 [[ 8.14607487e-01 4.94397254e-01 3.03291934e-01 1.65532153e+02] [-4.76732306e-01 8.68559193e-01 -1.35392901e-01 9.00072943e+01] [-3.30364876e-01 -3.42969920e-02 9.43229964e-01 4.41919406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.291858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.56, Y:89.99, Z:4.41 [[ 8.13857366e-01 4.97946303e-01 2.99475654e-01 1.65557768e+02] [-4.78900103e-01 8.66696007e-01 -1.39616345e-01 8.99924107e+01] [-3.29075797e-01 -2.97911307e-02 9.43833464e-01 4.40691850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.321858064 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:165.59, Y:89.98, Z:4.39 [[ 8.11852448e-01 5.03488397e-01 2.95626515e-01 1.65585441e+02] [-4.80451873e-01 8.63796293e-01 -1.51729901e-01 8.99836259e+01] [-3.31755332e-01 -1.88520211e-02 9.43177078e-01 4.39012953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.351858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.61, Y:89.96, Z:4.39 [[ 8.11355480e-01 5.00422755e-01 3.02124727e-01 1.65607955e+02] [-4.83229125e-01 8.65014808e-01 -1.35051822e-01 8.99568529e+01] [-3.28925368e-01 -3.64204315e-02 9.43653355e-01 4.38769369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.381858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.64, Y:89.95, Z:4.37 [[ 8.12328696e-01 5.05235280e-01 2.91306370e-01 1.65635174e+02] [-4.81876243e-01 8.62827445e-01 -1.52722255e-01 8.99494307e+01] [-3.28507802e-01 -1.63129485e-02 9.44360372e-01 4.36820256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.411858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.66, Y:89.94, Z:4.35 [[ 8.11064939e-01 5.05645947e-01 2.94101753e-01 1.65656784e+02] [-4.80069859e-01 8.62657071e-01 -1.59234758e-01 8.99400694e+01] [-3.34225367e-01 -1.20396575e-02 9.42416283e-01 4.35277140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.441858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.68, Y:89.91, Z:4.35 [[ 8.10040697e-01 4.99653425e-01 3.06888457e-01 1.65680223e+02] [-4.81655508e-01 8.65467269e-01 -1.37747514e-01 8.99077198e+01] [-3.34427932e-01 -3.62334232e-02 9.41724534e-01 4.35298965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.471858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.71, Y:89.91, Z:4.33 [[ 8.09814152e-01 5.05793311e-01 2.97277926e-01 1.65706031e+02] [-4.80125761e-01 8.62549886e-01 -1.59646320e-01 8.99065894e+01] [-3.37165082e-01 -1.34469406e-02 9.41349503e-01 4.33038767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.73, Y:89.87, Z:4.34 [[ 8.10651408e-01 4.94464639e-01 3.13606465e-01 1.65727521e+02] [-4.80956085e-01 8.67787381e-01 -1.25005226e-01 8.98681082e+01] [-3.33954396e-01 -4.94952750e-02 9.41288839e-01 4.33877262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.531858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:89.88, Z:4.31 [[ 8.11355559e-01 5.05805209e-01 2.93024313e-01 1.65754027e+02] [-4.77946076e-01 8.62629202e-01 -1.65645430e-01 8.98773616e+01] [-3.36555651e-01 -5.65247955e-03 9.41646613e-01 4.30581149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:89.85, Z:4.30 [[ 8.13181132e-01 4.97255918e-01 3.02445034e-01 1.65781479e+02] [-4.73984258e-01 8.67372889e-01 -1.51668041e-01 8.98484015e+01] [-3.37750454e-01 -2.00205951e-02 9.41022745e-01 4.30022533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.591858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:89.82, Z:4.30 [[ 8.11142384e-01 4.96168741e-01 3.09620111e-01 1.65801354e+02] [-4.79534955e-01 8.67298121e-01 -1.33567195e-01 8.98208446e+01] [-3.34804808e-01 -4.01316530e-02 9.41432521e-01 4.30320909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:89.80, Z:4.30 [[ 8.10865817e-01 4.97660369e-01 3.07946074e-01 1.65829016e+02] [-4.81931100e-01 8.66348723e-01 -1.31081294e-01 8.97994024e+01] [-3.32022652e-01 -4.21194499e-02 9.42330574e-01 4.29862519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:89.79, Z:4.28 [[ 8.11844704e-01 5.01896496e-01 2.98342224e-01 1.65855666e+02] [-4.81026810e-01 8.64554135e-01 -1.45462557e-01 8.97902457e+01] [-3.30940152e-01 -2.54176019e-02 9.43309367e-01 4.28188500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68185806399998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:165.88, Y:89.76, Z:4.28 [[ 8.12487773e-01 4.98907109e-01 3.01587988e-01 1.65880661e+02] [-4.82865311e-01 8.65782883e-01 -1.31381471e-01 8.97610801e+01] [-3.26656867e-01 -3.88805390e-02 9.44342943e-01 4.28090535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:165.91, Y:89.75, Z:4.26 [[ 8.14264380e-01 5.01527953e-01 2.92306743e-01 1.65907223e+02] [-4.81119184e-01 8.64816293e-01 -1.43586598e-01 8.97526603e+01] [-3.24804326e-01 -2.37169291e-02 9.45483822e-01 4.26499054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.93, Y:89.73, Z:4.26 [[ 8.14187282e-01 5.01439830e-01 2.92672457e-01 1.65931890e+02] [-4.81665433e-01 8.64814948e-01 -1.41751603e-01 8.97333466e+01] [-3.24187416e-01 -2.55578535e-02 9.45647564e-01 4.25642339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77185806399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.96, Y:89.72, Z:4.24 [[ 8.16941010e-01 5.00670634e-01 2.86245178e-01 1.65963367e+02] [-4.77001996e-01 8.65556227e-01 -1.52582807e-01 8.97197282e+01] [-3.24155027e-01 -1.18883691e-02 9.45929271e-01 4.23802905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:89.71, Z:4.23 [[ 8.14402350e-01 5.03180411e-01 2.89064502e-01 1.65982829e+02] [-4.79605757e-01 8.64065692e-01 -1.52868562e-01 8.97059890e+01] [-3.26691185e-01 -1.41404831e-02 9.45025352e-01 4.22939071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.831858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.03, Y:89.65, Z:4.22 [[ 8.19608469e-01 4.93781155e-01 2.90554864e-01 1.66025169e+02] [-4.76361327e-01 8.69095637e-01 -1.33239105e-01 8.96473690e+01] [-3.18310924e-01 -2.92052017e-02 9.47536391e-01 4.22400353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.05, Y:89.67, Z:4.20 [[ 8.19876970e-01 5.05989140e-01 2.67911823e-01 1.66047782e+02] [-4.74197522e-01 8.62341903e-01 -1.77491273e-01 8.96743713e+01] [-3.20840248e-01 1.84778848e-02 9.46953063e-01 4.19795048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.891858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.08, Y:89.63, Z:4.19 [[ 8.21497607e-01 4.96933624e-01 2.79640226e-01 1.66078956e+02] [-4.72919147e-01 8.67762271e-01 -1.52761651e-01 8.96250960e+01] [-3.18573638e-01 -6.75388665e-03 9.47874054e-01 4.19499398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:89.62, Z:4.18 [[ 8.24092745e-01 4.98665107e-01 2.68708502e-01 1.66107179e+02] [-4.68574587e-01 8.66660730e-01 -1.71280578e-01 8.96183569e+01] [-3.18290754e-01 1.52411066e-02 9.47870616e-01 4.17617652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.951858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.13, Y:89.60, Z:4.17 [[ 8.24472705e-01 4.98036030e-01 2.68709643e-01 1.66133275e+02] [-4.67880772e-01 8.67016522e-01 -1.71376584e-01 8.96009099e+01] [-3.18327413e-01 1.55712402e-02 9.47852939e-01 4.16563115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.981858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:166.16, Y:89.59, Z:4.16 [[ 8.24445293e-01 4.97647901e-01 2.69511642e-01 1.66159439e+02] [-4.67249083e-01 8.67233852e-01 -1.71999244e-01 8.95853430e+01] [-3.19324682e-01 1.58748995e-02 9.47512393e-01 4.15508532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.011858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.19, Y:89.57, Z:4.14 [[ 8.24637940e-01 4.97019292e-01 2.70081639e-01 1.66185423e+02] [-4.66432096e-01 8.67587920e-01 -1.72430571e-01 8.95690485e+01] [-3.20020888e-01 1.62180458e-02 9.47271664e-01 4.14433774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.041858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:166.21, Y:89.61, Z:4.09 [[ 8.28953213e-01 4.99507898e-01 2.51651407e-01 1.66208034e+02] [-4.48881689e-01 8.62554795e-01 -2.33461892e-01 8.96141598e+01] [-3.33679186e-01 8.05672773e-02 9.39237518e-01 4.09241351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.071858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:166.22, Y:89.54, Z:4.12 [[ 8.26734410e-01 4.76439169e-01 2.99192133e-01 1.66220045e+02] [-4.51596654e-01 8.79157752e-01 -1.52125308e-01 8.95428503e+01] [-3.35515538e-01 -9.34693984e-03 9.41988301e-01 4.12022321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.101858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:166.25, Y:89.53, Z:4.10 [[ 8.27089918e-01 4.82456345e-01 2.88371536e-01 1.66248647e+02] [-4.53167738e-01 8.75897107e-01 -1.65660073e-01 8.95337054e+01] [-3.32507548e-01 6.33509945e-03 9.43079317e-01 4.10464195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.131858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:166.27, Y:89.52, Z:4.09 [[ 8.26904846e-01 4.83739506e-01 2.86748088e-01 1.66274095e+02] [-4.54082275e-01 8.75176814e-01 -1.66957578e-01 8.95180483e+01] [-3.31719255e-01 7.85080619e-03 9.43345483e-01 4.09403520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.161858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:166.30, Y:89.47, Z:4.12 [[ 8.26539569e-01 4.75758141e-01 3.00809793e-01 1.66299563e+02] [-4.60924233e-01 8.78813221e-01 -1.23434901e-01 8.94651799e+01] [-3.23080782e-01 -3.66266930e-02 9.45662357e-01 4.11597166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.33, Y:89.47, Z:4.09 [[ 8.27029438e-01 4.90693427e-01 2.74303243e-01 1.66332689e+02] [-4.61305551e-01 8.71247441e-01 -1.67705352e-01 8.94703210e+01] [-3.21277913e-01 1.21596544e-02 9.46906883e-01 4.08549548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.221858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:89.45, Z:4.08 [[ 8.25634041e-01 4.93963784e-01 2.72632006e-01 1.66359816e+02] [-4.65117819e-01 8.69415259e-01 -1.66680898e-01 8.94465667e+01] [-3.19364753e-01 1.08114192e-02 9.47570191e-01 4.07567449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.251858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:166.39, Y:89.43, Z:4.06 [[ 8.25342100e-01 4.96757923e-01 2.68406377e-01 1.66387459e+02] [-4.65912890e-01 8.67703791e-01 -1.73249272e-01 8.94333917e+01] [-3.18960179e-01 1.79359274e-02 9.47598389e-01 4.06146332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.281858064 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:166.41, Y:89.42, Z:4.05 [[ 8.22517277e-01 5.00955121e-01 2.69275501e-01 1.66412941e+02] [-4.70084816e-01 8.65316567e-01 -1.73918096e-01 8.94175106e+01] [-3.20133713e-01 1.64683149e-02 9.47229223e-01 4.05065532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.311858064 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:166.44, Y:89.40, Z:4.04 [[ 8.22241945e-01 5.01432851e-01 2.69227191e-01 1.66437626e+02] [-4.70564937e-01 8.65041673e-01 -1.73987196e-01 8.94003636e+01] [-3.20135635e-01 1.63706944e-02 9.47230265e-01 4.04027111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.341858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:166.46, Y:89.38, Z:4.03 [[ 8.20926862e-01 5.03683607e-01 2.69038865e-01 1.66463710e+02] [-4.72955329e-01 8.63748398e-01 -1.73930909e-01 8.93832727e+01] [-3.19988036e-01 1.55411903e-02 9.47294109e-01 4.03002163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.371858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:166.49, Y:89.37, Z:4.02 [[ 8.19975759e-01 5.05307183e-01 2.68894785e-01 1.66489779e+02] [-4.74661007e-01 8.62809204e-01 -1.73945986e-01 8.93672154e+01] [-3.19901052e-01 1.49976226e-02 9.47332248e-01 4.01946318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40185806399998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:166.52, Y:89.35, Z:4.01 [[ 8.17598135e-01 5.09097172e-01 2.68985796e-01 1.66515656e+02] [-4.78594258e-01 8.60601385e-01 -1.74105692e-01 8.93504073e+01] [-3.20126265e-01 1.36134318e-02 9.47277071e-01 4.00851915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43185806399998 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:166.54, Y:89.33, Z:4.00 [[ 8.16881950e-01 5.09924190e-01 2.69594510e-01 1.66542231e+02] [-4.79286305e-01 8.60114659e-01 -1.74606447e-01 8.93337959e+01] [-3.20918241e-01 1.34198979e-02 9.47011821e-01 3.99820421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46185806399998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:166.57, Y:89.32, Z:3.99 [[ 8.16494559e-01 5.10575029e-01 2.69536223e-01 1.66567966e+02] [-4.79949144e-01 8.59730989e-01 -1.74675260e-01 8.93165613e+01] [-3.20913469e-01 1.32577203e-02 9.47015722e-01 3.98710593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49185806399998 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:166.59, Y:89.30, Z:3.98 [[ 8.15840960e-01 5.11672186e-01 2.69434782e-01 1.66593674e+02] [-4.81092107e-01 8.59083647e-01 -1.74715976e-01 8.92997480e+01] [-3.20864320e-01 1.29175032e-02 9.47037077e-01 3.97673805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52185806399999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:166.62, Y:89.28, Z:3.97 [[ 8.14970926e-01 5.12900505e-01 2.69732205e-01 1.66619013e+02] [-4.82279666e-01 8.58356366e-01 -1.75016207e-01 8.92817511e+01] [-3.21292256e-01 1.25467624e-02 9.46896966e-01 3.96756993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.551858064 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:166.65, Y:89.27, Z:3.96 [[ 8.14101822e-01 5.13989941e-01 2.70282378e-01 1.66645161e+02] [-4.83264345e-01 8.57708945e-01 -1.75473467e-01 8.92653308e+01] [-3.22015210e-01 1.22354328e-02 9.46655428e-01 3.95636519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.581858064 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:166.67, Y:89.25, Z:3.95 [[ 8.14748593e-01 5.13240765e-01 2.69756646e-01 1.66670359e+02] [-4.82562935e-01 8.58152189e-01 -1.75236511e-01 8.92478947e+01] [-3.21430777e-01 1.25991418e-02 9.46849258e-01 3.94568001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.611858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:166.70, Y:89.23, Z:3.94 [[ 8.14096465e-01 5.14506992e-01 2.69313018e-01 1.66697118e+02] [-4.83963862e-01 8.57399749e-01 -1.75056135e-01 8.92320668e+01] [-3.20976519e-01 1.21748124e-02 9.47008896e-01 3.93500040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.641858064 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:166.72, Y:89.21, Z:3.92 [[ 8.13866386e-01 5.14972833e-01 2.69117978e-01 1.66722856e+02] [-4.84463592e-01 8.57121393e-01 -1.75036984e-01 8.92148305e+01] [-3.20806068e-01 1.20788552e-02 9.47067879e-01 3.92464425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.671858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:166.75, Y:89.20, Z:3.91 [[ 8.14053957e-01 5.14916319e-01 2.68658407e-01 1.66748592e+02] [-4.84474915e-01 8.57153974e-01 -1.74845996e-01 8.91974178e+01] [-3.20312677e-01 1.21758163e-02 9.47233624e-01 3.91413063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.701858064 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:166.77, Y:89.18, Z:3.90 [[ 8.15308994e-01 5.13225144e-01 2.68088038e-01 1.66774901e+02] [-4.82791271e-01 8.58156932e-01 -1.74583130e-01 8.91802849e+01] [-3.19662060e-01 1.29086318e-02 9.47443684e-01 3.90356671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.731858064 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:166.80, Y:89.16, Z:3.89 [[ 8.15962216e-01 5.12276166e-01 2.67915643e-01 1.66799861e+02] [-4.81795924e-01 8.58716695e-01 -1.74580425e-01 8.91634939e+01] [-3.19497027e-01 1.33703657e-02 9.47492946e-01 3.89289586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.761858064 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:166.83, Y:89.15, Z:3.88 [[ 8.16687562e-01 5.11021831e-01 2.68100941e-01 1.66826499e+02] [-4.80397927e-01 8.59454293e-01 -1.74803173e-01 8.91470597e+01] [-3.19748743e-01 1.39644410e-02 9.47399459e-01 3.88259752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.791858064 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:166.85, Y:89.13, Z:3.87 [[ 8.17615445e-01 5.09650134e-01 2.67883788e-01 1.66852465e+02] [-4.78968829e-01 8.60258069e-01 -1.74771038e-01 8.91303766e+01] [-3.19521273e-01 1.45875155e-02 9.47466812e-01 3.87182237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.821858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:166.88, Y:89.11, Z:3.86 [[ 8.19769568e-01 5.06015916e-01 2.68189762e-01 1.66878346e+02] [-4.75035406e-01 8.62373362e-01 -1.75081544e-01 8.91127321e+01] [-3.19873754e-01 1.61268888e-02 9.47322915e-01 3.86128635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.851858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.90, Y:89.10, Z:3.85 [[ 8.20442111e-01 5.04935369e-01 2.68169751e-01 1.66904185e+02] [-4.73866361e-01 8.62996606e-01 -1.75178565e-01 8.90958174e+01] [-3.19883438e-01 1.66472474e-02 9.47310644e-01 3.85120732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.881858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.93, Y:89.08, Z:3.84 [[ 8.20879684e-01 5.04087606e-01 2.68425466e-01 1.66929950e+02] [-4.72876207e-01 8.63483303e-01 -1.75455631e-01 8.90796714e+01] [-3.20225917e-01 1.70959469e-02 9.47186936e-01 3.84142150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.911858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.96, Y:89.06, Z:3.84 [[ 8.22751822e-01 4.99445809e-01 2.71354609e-01 1.66955098e+02] [-4.70711033e-01 8.66288776e-01 -1.67256929e-01 8.90610543e+01] [-3.18607224e-01 9.88133483e-03 9.47835321e-01 3.83699705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:89.05, Z:3.82 [[ 8.23087646e-01 5.02747688e-01 2.64142932e-01 1.66983444e+02] [-4.69362929e-01 8.64047680e-01 -1.81989141e-01 8.90508246e+01] [-3.19726708e-01 2.58141138e-02 9.47158099e-01 3.81743529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.971858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:89.03, Z:3.81 [[ 8.24154075e-01 4.98918867e-01 2.68048550e-01 1.67008312e+02] [-4.67423868e-01 8.66432206e-01 -1.75528233e-01 8.90298324e+01] [-3.19820243e-01 1.93700188e-02 9.47280220e-01 3.80983841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:89.01, Z:3.80 [[ 8.25725099e-01 4.96153513e-01 2.68346330e-01 1.67035202e+02] [-4.64408244e-01 8.67991227e-01 -1.75830066e-01 8.90139656e+01] [-3.20160965e-01 2.05650503e-02 9.47139924e-01 3.79938206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.031858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:89.00, Z:3.79 [[ 8.26990489e-01 4.94048038e-01 2.68334245e-01 1.67060074e+02] [-4.62162094e-01 8.69169288e-01 -1.75928814e-01 8.89974805e+01] [-3.20145170e-01 2.14775398e-02 9.47125010e-01 3.78931368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.061858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.09, Y:88.98, Z:3.78 [[ 8.27633925e-01 4.92945190e-01 2.68378697e-01 1.67085408e+02] [-4.60969845e-01 8.69782968e-01 -1.76023836e-01 8.89814376e+01] [-3.20201323e-01 2.19688120e-02 9.47094760e-01 3.77919988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.091858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.11, Y:88.95, Z:3.79 [[ 8.29020856e-01 4.86022740e-01 2.76597753e-01 1.67110172e+02] [-4.61463686e-01 8.73945373e-01 -1.52547537e-01 8.89489159e+01] [-3.15872898e-01 -1.17472931e-03 9.48800786e-01 3.78560886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:88.96, Z:3.75 [[ 8.31089512e-01 4.94800160e-01 2.53895696e-01 1.67140928e+02] [-4.56119054e-01 8.67645017e-01 -1.97857356e-01 8.89607541e+01] [-3.18191187e-01 4.86305093e-02 9.46778455e-01 3.74898890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.16, Y:88.92, Z:3.76 [[ 8.31188386e-01 4.83349176e-01 2.74771615e-01 1.67161706e+02] [-4.56087237e-01 8.75392377e-01 -1.60226774e-01 8.89215553e+01] [-3.17978456e-01 7.85880722e-03 9.48065367e-01 3.76012131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.19, Y:88.91, Z:3.74 [[ 8.31844205e-01 4.87572830e-01 2.65156473e-01 1.67189913e+02] [-4.56169993e-01 8.72763716e-01 -1.73759700e-01 8.89102725e+01] [-3.16139457e-01 2.35845731e-02 9.48419534e-01 3.74393123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21185806399998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:167.22, Y:88.91, Z:3.72 [[ 8.31524859e-01 4.91546825e-01 2.58743363e-01 1.67216795e+02] [-4.53865001e-01 8.69756251e-01 -1.93728223e-01 8.89083703e+01] [-3.20270150e-01 4.36552768e-02 9.46319844e-01 3.72045872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.24, Y:88.88, Z:3.72 [[ 8.30930888e-01 4.86643068e-01 2.69689422e-01 1.67239292e+02] [-4.53881660e-01 8.73245596e-01 -1.77295144e-01 8.88825056e+01] [-3.21784553e-01 2.49129293e-02 9.46485102e-01 3.71672286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27185806399999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:167.26, Y:88.87, Z:3.71 [[ 8.30943406e-01 4.86955780e-01 2.69085720e-01 1.67264110e+02] [-4.54326383e-01 8.73073726e-01 -1.77002277e-01 8.88651154e+01] [-3.21123954e-01 2.48261327e-02 9.46711714e-01 3.70645269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.301858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.29, Y:88.85, Z:3.70 [[ 8.30784971e-01 4.87307242e-01 2.68938623e-01 1.67289191e+02] [-4.54699777e-01 8.72879361e-01 -1.77002070e-01 8.88457827e+01] [-3.21005364e-01 2.47643280e-02 9.46753550e-01 3.69608768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.331858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:88.83, Z:3.69 [[ 8.29456861e-01 4.89139951e-01 2.69709889e-01 1.67315700e+02] [-4.56395209e-01 8.71868606e-01 -1.77619106e-01 8.88295970e+01] [-3.22032185e-01 2.42330850e-02 9.46418528e-01 3.68577326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.361858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.34, Y:88.82, Z:3.67 [[ 8.28822227e-01 4.91644661e-01 2.67094073e-01 1.67342062e+02] [-4.55124456e-01 8.70079734e-01 -1.89269611e-01 8.88211651e+01] [-3.25446534e-01 3.53098156e-02 9.44900932e-01 3.66587115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.391858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.36, Y:88.79, Z:3.67 [[ 8.27733741e-01 4.87759692e-01 2.77393828e-01 1.67364179e+02] [-4.58236144e-01 8.72901542e-01 -1.67518758e-01 8.87888181e+01] [-3.23846399e-01 1.15490504e-02 9.46039180e-01 3.66944832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.421858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.39, Y:88.79, Z:3.64 [[ 8.25396487e-01 4.97335960e-01 2.67165833e-01 1.67392295e+02] [-4.60350091e-01 8.66850948e-01 -1.91434659e-01 8.87879028e+01] [-3.26800296e-01 3.50196794e-02 9.44444381e-01 3.64404135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.451858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:88.76, Z:3.65 [[ 8.24176327e-01 4.93276122e-01 2.78230209e-01 1.67414368e+02] [-4.64424732e-01 8.69836564e-01 -1.66415204e-01 8.87552284e+01] [-3.24103455e-01 7.93848123e-03 9.45988336e-01 3.64934483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.481858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:167.44, Y:88.74, Z:3.63 [[ 8.23016418e-01 4.99471084e-01 2.70504367e-01 1.67442517e+02] [-4.66916734e-01 8.66084114e-01 -1.78569512e-01 8.87447127e+01] [-3.23469843e-01 2.06626249e-02 9.46012852e-01 3.63310767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.511858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.47, Y:88.73, Z:3.62 [[ 8.20479308e-01 5.03764971e-01 2.70249067e-01 1.67467520e+02] [-4.71460812e-01 8.63630582e-01 -1.78513084e-01 8.87290585e+01] [-3.23323998e-01 1.90544476e-02 9.46096465e-01 3.62213203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.541858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:88.71, Z:3.61 [[ 8.19328408e-01 5.05926119e-01 2.69703025e-01 1.67493053e+02] [-4.73834506e-01 8.62383604e-01 -1.78256505e-01 8.87122105e+01] [-3.22772088e-01 1.82560188e-02 9.46300638e-01 3.61115669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.571858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.52, Y:88.70, Z:3.60 [[ 8.18331897e-01 5.07919837e-01 2.68980196e-01 1.67518641e+02] [-4.76073680e-01 8.61226259e-01 -1.77885303e-01 8.86950014e+01] [-3.22004283e-01 1.75148253e-02 9.46576184e-01 3.60014840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.601858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:167.54, Y:88.68, Z:3.59 [[ 8.16046222e-01 5.11495020e-01 2.69149417e-01 1.67543862e+02] [-4.79759164e-01 8.59133244e-01 -1.78104503e-01 8.86784776e+01] [-3.22334778e-01 1.62146072e-02 9.46486861e-01 3.59003240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.631858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:88.67, Z:3.57 [[ 8.15756326e-01 5.13004022e-01 2.67148816e-01 1.67569546e+02] [-4.79066261e-01 8.58081799e-01 -1.84908475e-01 8.86654524e+01] [-3.24094328e-01 2.28582738e-02 9.45748574e-01 3.57359742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.661858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:88.64, Z:3.57 [[ 8.15145838e-01 5.10784448e-01 2.73196832e-01 1.67592742e+02] [-4.80791918e-01 8.59657059e-01 -1.72710370e-01 8.86401736e+01] [-3.23073357e-01 9.43331003e-03 9.46326909e-01 3.57201154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:88.63, Z:3.56 [[ 8.14823344e-01 5.13285025e-01 2.69446471e-01 1.67619797e+02] [-4.81490924e-01 8.58073837e-01 -1.78537895e-01 8.86261029e+01] [-3.22845795e-01 1.57408140e-02 9.46320675e-01 3.55888576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.721858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.64, Y:88.61, Z:3.55 [[ 8.14391518e-01 5.13959495e-01 2.69466312e-01 1.67644835e+02] [-4.82160348e-01 8.57673129e-01 -1.78656659e-01 8.86088549e+01] [-3.22936302e-01 1.55704969e-02 9.46292611e-01 3.54788429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.67, Y:88.59, Z:3.54 [[ 8.13806099e-01 5.14717980e-01 2.69787019e-01 1.67669311e+02] [-4.82847427e-01 8.57221607e-01 -1.78967813e-01 8.85918315e+01] [-3.23385213e-01 1.53791300e-02 9.46142424e-01 3.53759775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.781858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.70, Y:88.57, Z:3.53 [[ 8.13300184e-01 5.15429213e-01 2.69954695e-01 1.67695216e+02] [-4.83522782e-01 8.56797445e-01 -1.79175492e-01 8.85748876e+01] [-3.23648776e-01 1.51942158e-02 9.46055287e-01 3.52691945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.811858064 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:167.72, Y:88.55, Z:3.51 [[ 8.11330422e-01 5.18596165e-01 2.69816538e-01 1.67722465e+02] [-4.86433166e-01 8.54885286e-01 -1.80427059e-01 8.85532594e+01] [-3.24230969e-01 1.51382490e-02 9.45856814e-01 3.51335839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.841858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.52, Y:88.99, Z:4.41 [[ 7.99892090e-01 -5.44610708e-01 -2.52134531e-01 1.68517423e+02] [-5.04639472e-01 -8.37753052e-01 2.08587697e-01 8.89937990e+01] [-3.24825567e-01 -3.96106126e-02 -9.44944099e-01 4.41309776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.871858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.89, Y:88.46, Z:3.46 [[ 8.46939287e-01 4.52637635e-01 2.78949843e-01 1.67887899e+02] [-4.24699197e-01 8.91573172e-01 -1.57250981e-01 8.84647349e+01] [-3.19881908e-01 1.47122598e-02 9.47343187e-01 3.46090307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90185806399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.91, Y:88.45, Z:3.45 [[ 8.47239583e-01 4.52289902e-01 2.78601748e-01 1.67913973e+02] [-4.24368932e-01 8.91746108e-01 -1.57161980e-01 8.84496619e+01] [-3.19524801e-01 1.49239237e-02 9.47460383e-01 3.44979082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93185806399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.94, Y:88.43, Z:3.44 [[ 8.47814944e-01 4.51513790e-01 2.78109903e-01 1.67940857e+02] [-4.23620314e-01 8.92133288e-01 -1.56984159e-01 8.84340634e+01] [-3.18991615e-01 1.52805114e-02 9.47634347e-01 3.43906648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96185806399998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:167.97, Y:88.42, Z:3.43 [[ 8.48188400e-01 4.51151754e-01 2.77558161e-01 1.67968180e+02] [-4.23318039e-01 8.92312948e-01 -1.56778317e-01 8.84183493e+01] [-3.18399554e-01 1.54821733e-02 9.47830168e-01 3.42829859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99185806399998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:167.99, Y:88.38, Z:3.44 [[ 8.50329166e-01 4.40353090e-01 2.88148339e-01 1.67994010e+02] [-4.24824462e-01 8.97553159e-01 -1.17993657e-01 8.83795493e+01] [-3.10587324e-01 -2.20790153e-02 9.50288394e-01 3.44484686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02185806399996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:168.03, Y:88.41, Z:3.39 [[ 8.50261640e-01 4.59316051e-01 2.57067908e-01 1.68026474e+02] [-4.20839516e-01 8.86558329e-01 -1.92115670e-01 8.84078493e+01] [-3.16147506e-01 5.51642500e-02 9.47104883e-01 3.39254723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.051858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:168.05, Y:88.37, Z:3.40 [[ 8.49694706e-01 4.48464262e-01 2.77306171e-01 1.68048539e+02] [-4.20460972e-01 8.93644643e-01 -1.56881554e-01 8.83721405e+01] [-3.18168944e-01 1.67050043e-02 9.47886842e-01 3.39682202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08185806399996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.08, Y:88.36, Z:3.39 [[ 8.49918048e-01 4.47812419e-01 2.77674899e-01 1.68075395e+02] [-4.19683139e-01 8.93965582e-01 -1.57135616e-01 8.83566924e+01] [-3.18599083e-01 1.70169227e-02 9.47736804e-01 3.38677095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.10, Y:88.34, Z:3.38 [[ 8.49696596e-01 4.44275465e-01 2.83963036e-01 1.68100423e+02] [-4.17967617e-01 8.95839405e-01 -1.50913327e-01 8.83377064e+01] [-3.21432365e-01 9.54318680e-03 9.46884450e-01 3.38032699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14185806399996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:168.13, Y:88.32, Z:3.37 [[ 8.50664242e-01 4.44146684e-01 2.81254459e-01 1.68127792e+02] [-4.16365872e-01 8.95827817e-01 -1.55344720e-01 8.83247356e+01] [-3.20951410e-01 1.50414401e-02 9.46976213e-01 3.36818683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.171858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.15, Y:88.31, Z:3.36 [[ 8.50643704e-01 4.45501382e-01 2.79166272e-01 1.68154307e+02] [-4.16915559e-01 8.95099221e-01 -1.58046834e-01 8.83109940e+01] [-3.20291596e-01 1.80527815e-02 9.47146974e-01 3.35687353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.18, Y:88.30, Z:3.34 [[ 8.52197265e-01 4.48973013e-01 2.68669045e-01 1.68180355e+02] [-4.17272669e-01 8.92984048e-01 -1.68709839e-01 8.83041252e+01] [-3.15663336e-01 3.16658141e-02 9.48342731e-01 3.34331916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.231858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.21, Y:88.28, Z:3.34 [[ 8.52669619e-01 4.45065828e-01 2.73625530e-01 1.68205472e+02] [-4.16507630e-01 8.95252232e-01 -1.58255602e-01 8.82831269e+01] [-3.15398027e-01 2.09726228e-02 9.48727692e-01 3.33718297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26185806399997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.23, Y:88.27, Z:3.32 [[ 8.53957331e-01 4.45671236e-01 2.68577785e-01 1.68232974e+02] [-4.15734716e-01 8.94775230e-01 -1.62916954e-01 8.82707609e+01] [-3.12924150e-01 2.74670176e-02 9.49380872e-01 3.32430083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29185806399994 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:168.26, Y:88.25, Z:3.32 [[ 8.53388387e-01 4.39984572e-01 2.79538617e-01 1.68258953e+02] [-4.14708127e-01 8.97952042e-01 -1.47306823e-01 8.82470001e+01] [-3.15825001e-01 9.78299582e-03 9.48767022e-01 3.32082737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:88.23, Z:3.31 [[ 8.53459003e-01 4.41276212e-01 2.77277904e-01 1.68285318e+02] [-4.14288879e-01 8.97237748e-01 -1.52738823e-01 8.82345727e+01] [-3.16184211e-01 1.54831716e-02 9.48571461e-01 3.30887486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:88.23, Z:3.29 [[ 8.55000871e-01 4.39894607e-01 2.74711205e-01 1.68308833e+02] [-4.10303738e-01 8.97714909e-01 -1.60495433e-01 8.82304014e+01] [-3.17213420e-01 2.45087012e-02 9.48037431e-01 3.29468091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:88.20, Z:3.29 [[ 8.53333397e-01 4.40612322e-01 2.78716514e-01 1.68336751e+02] [-4.15203865e-01 8.97636967e-01 -1.47829720e-01 8.82003793e+01] [-3.15321842e-01 1.04238638e-02 9.48927541e-01 3.29119106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:88.19, Z:3.28 [[ 8.52159653e-01 4.45758493e-01 2.74086286e-01 1.68365212e+02] [-4.17889761e-01 8.94959680e-01 -1.56254023e-01 8.81889359e+01] [-3.14947732e-01 1.86155219e-02 9.48926440e-01 3.27693238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.441858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:168.39, Y:88.18, Z:3.27 [[ 8.51606630e-01 4.48081188e-01 2.72009921e-01 1.68391353e+02] [-4.19554058e-01 8.93745010e-01 -1.58726963e-01 8.81751039e+01] [-3.14230076e-01 2.10500678e-02 9.49113457e-01 3.26553183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47185806399995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.42, Y:88.16, Z:3.26 [[ 8.50142178e-01 4.48670274e-01 2.75596193e-01 1.68416820e+02] [-4.21628338e-01 8.93574334e-01 -1.54124800e-01 8.81576275e+01] [-3.15416901e-01 1.48288281e-02 9.48837333e-01 3.25794304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.501858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.44, Y:88.14, Z:3.25 [[ 8.47443075e-01 4.54081546e-01 2.75045786e-01 1.68444392e+02] [-4.26357865e-01 8.90819891e-01 -1.57031504e-01 8.81449755e+01] [-3.16321365e-01 1.58073263e-02 9.48520386e-01 3.24595825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53185806399995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:168.47, Y:88.14, Z:3.23 [[ 8.48007627e-01 4.52978098e-01 2.75125258e-01 1.68466819e+02] [-4.23804667e-01 8.91295222e-01 -1.61190669e-01 8.81380654e+01] [-3.18233671e-01 2.00915485e-02 9.47799378e-01 3.23330520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.561858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.49, Y:88.11, Z:3.23 [[ 8.45271039e-01 4.55569021e-01 2.79237779e-01 1.68494431e+02] [-4.30146748e-01 8.90174052e-01 -1.50212957e-01 8.81079290e+01] [-3.17002595e-01 6.85743999e-03 9.48399879e-01 3.22993928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.52, Y:88.09, Z:3.23 [[ 8.45028264e-01 4.54165919e-01 2.82242008e-01 1.68519580e+02] [-4.32448855e-01 8.90904566e-01 -1.38841790e-01 8.80870875e+01] [-3.14507903e-01 -4.72999604e-03 9.49243070e-01 3.22989707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:88.09, Z:3.20 [[ 8.43005581e-01 4.67700025e-01 2.65703365e-01 1.68548795e+02] [-4.35085345e-01 8.83327163e-01 -1.74453048e-01 8.80891681e+01] [-3.16294694e-01 3.14612526e-02 9.48139154e-01 3.19899816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.57, Y:88.06, Z:3.21 [[ 8.43674129e-01 4.57620103e-01 2.80709469e-01 1.68570074e+02] [-4.34491798e-01 8.89147478e-01 -1.43644145e-01 8.80606981e+01] [-3.15326565e-01 -7.77112573e-04 9.48982905e-01 3.20586615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.681858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.60, Y:88.05, Z:3.19 [[ 8.40656874e-01 4.65644566e-01 2.76534193e-01 1.68598500e+02] [-4.41622420e-01 8.84969584e-01 -1.47643060e-01 8.80456902e+01] [-3.13473538e-01 1.99345377e-03 9.49594844e-01 3.19459074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.63, Y:88.04, Z:3.17 [[ 8.38345554e-01 4.77747539e-01 2.62552890e-01 1.68629011e+02] [-4.44681823e-01 8.77909969e-01 -1.77572977e-01 8.80434983e+01] [-3.15332853e-01 3.21150184e-02 9.48437567e-01 3.16518498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:88.02, Z:3.17 [[ 8.35702275e-01 4.74415262e-01 2.76643935e-01 1.68650933e+02] [-4.48397624e-01 8.80283820e-01 -1.55048275e-01 8.80157390e+01] [-3.17082448e-01 5.52771263e-03 9.48381867e-01 3.16532835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.68, Y:88.00, Z:3.15 [[ 8.33084278e-01 4.80533187e-01 2.73967958e-01 1.68677643e+02] [-4.54029538e-01 8.76949809e-01 -1.57531624e-01 8.80007256e+01] [-3.15955321e-01 6.84757374e-03 9.48749359e-01 3.15313691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.801858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.70, Y:87.99, Z:3.14 [[ 8.31255658e-01 4.83673785e-01 2.73995805e-01 1.68704824e+02] [-4.57295220e-01 8.75229439e-01 -1.57653134e-01 8.79853917e+01] [-3.16061883e-01 5.75308782e-03 9.48721133e-01 3.14239310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.73, Y:87.97, Z:3.13 [[ 8.29598708e-01 4.86682513e-01 2.73689816e-01 1.68731895e+02] [-4.60488608e-01 8.73566283e-01 -1.57582330e-01 8.79699876e+01] [-3.15778760e-01 4.69905505e-03 9.48821213e-01 3.13177441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.861858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.76, Y:87.95, Z:3.12 [[ 8.28356069e-01 4.88969744e-01 2.73376685e-01 1.68758162e+02] [-4.62922995e-01 8.72291932e-01 -1.57509007e-01 8.79539351e+01] [-3.15481415e-01 3.92118874e-03 9.48923654e-01 3.12138808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.78, Y:87.94, Z:3.11 [[ 8.25005585e-01 4.94358871e-01 2.73815799e-01 1.68784952e+02] [-4.68478232e-01 8.69255682e-01 -1.57869268e-01 8.79386794e+01] [-3.16060012e-01 1.96628658e-03 9.48737162e-01 3.11139022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.81, Y:87.92, Z:3.10 [[ 8.23734446e-01 4.96338049e-01 2.74062225e-01 1.68811063e+02] [-4.70480126e-01 8.68128350e-01 -1.58119001e-01 8.79225128e+01] [-3.16401664e-01 1.30723701e-03 9.48624414e-01 3.10083225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.84, Y:87.91, Z:3.09 [[ 8.22743323e-01 4.97907778e-01 2.74192029e-01 1.68836656e+02] [-4.72073053e-01 8.67229611e-01 -1.58302982e-01 8.79064911e+01] [-3.16607732e-01 8.04053168e-04 9.48556217e-01 3.09071519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.86, Y:87.89, Z:3.08 [[ 8.19899427e-01 5.00996936e-01 2.77068585e-01 1.68862909e+02] [-4.74738300e-01 8.65449007e-01 -1.60067372e-01 8.78905479e+01] [-3.19981995e-01 -2.95922485e-04 9.47423578e-01 3.08080763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.89, Y:87.88, Z:3.07 [[ 8.18833628e-01 5.03821207e-01 2.75092130e-01 1.68890267e+02] [-4.78067326e-01 8.63806986e-01 -1.59025543e-01 8.78751288e+01] [-3.17746944e-01 -1.29709696e-03 9.48174666e-01 3.07015493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:87.86, Z:3.06 [[ 8.17812190e-01 5.05587958e-01 2.74889137e-01 1.68916112e+02] [-4.79932628e-01 8.62773019e-01 -1.59020090e-01 8.78595182e+01] [-3.17565574e-01 -1.87969757e-03 9.48234451e-01 3.05973949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:87.84, Z:3.05 [[ 8.16918892e-01 5.07173314e-01 2.74624751e-01 1.68942835e+02] [-4.81621253e-01 8.61840747e-01 -1.58970112e-01 8.78439114e+01] [-3.17308199e-01 -2.39942926e-03 9.48319434e-01 3.04950901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.97, Y:87.83, Z:3.04 [[ 8.15636202e-01 5.09493233e-01 2.74142722e-01 1.68970187e+02] [-4.84124264e-01 8.60468725e-01 -1.58799462e-01 8.78287497e+01] [-3.16798490e-01 -3.19655305e-03 9.48487480e-01 3.03806774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.00, Y:87.81, Z:3.03 [[ 8.16211384e-01 5.09066707e-01 2.73221640e-01 1.68997220e+02] [-4.83813223e-01 8.60722110e-01 -1.58373656e-01 8.78133280e+01] [-3.15790662e-01 -2.92186130e-03 9.48824389e-01 3.02681914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.02, Y:87.80, Z:3.02 [[ 8.15944113e-01 5.09517130e-01 2.73180340e-01 1.69023327e+02] [-4.84259617e-01 8.60455296e-01 -1.58459166e-01 8.77988291e+01] [-3.15797130e-01 -2.99638329e-03 9.48822004e-01 3.01694093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.191858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.05, Y:87.78, Z:3.01 [[ 8.16268781e-01 5.09299929e-01 2.72614856e-01 1.69050191e+02] [-4.84104220e-01 8.60584490e-01 -1.58232236e-01 8.77825721e+01] [-3.15195783e-01 -2.81396782e-03 9.49022497e-01 3.00691965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:169.08, Y:87.77, Z:3.00 [[ 8.16987674e-01 5.08316892e-01 2.72295938e-01 1.69076939e+02] [-4.83092686e-01 8.61166936e-01 -1.58154879e-01 8.77664224e+01] [-3.14885056e-01 -2.33358916e-03 9.49126944e-01 2.99624761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.10, Y:87.75, Z:2.99 [[ 8.17350445e-01 5.07762516e-01 2.72241581e-01 1.69103380e+02] [-4.82483107e-01 8.61494712e-01 -1.58230569e-01 8.77501490e+01] [-3.14878234e-01 -2.02213806e-03 9.49129922e-01 2.98653853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28185806399995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.13, Y:87.74, Z:2.98 [[ 8.17408341e-01 5.07598451e-01 2.72373670e-01 1.69129488e+02] [-4.82249306e-01 8.61591750e-01 -1.58414843e-01 8.77351911e+01] [-3.15086036e-01 -1.86239929e-03 9.49061284e-01 2.97654605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.311858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.16, Y:87.72, Z:2.97 [[ 8.17296876e-01 5.07739637e-01 2.72444999e-01 1.69156772e+02] [-4.82351286e-01 8.61508633e-01 -1.58556339e-01 8.77202334e+01] [-3.15219056e-01 -1.82659437e-03 9.49017181e-01 2.96569965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34185806399995 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:169.17, Y:87.72, Z:2.97 [[ 8.22717756e-01 4.95852113e-01 2.77967942e-01 1.69173926e+02] [-4.72945925e-01 8.68363434e-01 -1.49221643e-01 8.77203217e+01] [-3.15369064e-01 -8.69650986e-03 9.48929252e-01 2.96546993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.371858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.21, Y:87.69, Z:2.95 [[ 8.17359984e-01 5.06784754e-01 2.74028959e-01 1.69207981e+02] [-4.82336048e-01 8.62058113e-01 -1.55588387e-01 8.76878247e+01] [-3.15078710e-01 -5.00232353e-03 9.49052361e-01 2.94621148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40185806399995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:169.23, Y:87.67, Z:2.94 [[ 8.17013693e-01 5.07996262e-01 2.72815732e-01 1.69233876e+02] [-4.82930505e-01 8.61354169e-01 -1.57629701e-01 8.76739165e+01] [-3.15066268e-01 -2.96541503e-03 9.49065042e-01 2.93552652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.431858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.26, Y:87.66, Z:2.92 [[ 8.17423936e-01 5.07587947e-01 2.72346442e-01 1.69261853e+02] [-4.81988046e-01 8.61599170e-01 -1.59167816e-01 8.76585350e+01] [-3.15445133e-01 -1.16014686e-03 9.48943108e-01 2.92400745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.28, Y:87.64, Z:2.92 [[ 8.16122548e-01 5.07034598e-01 2.77236187e-01 1.69284399e+02] [-4.82911510e-01 8.61892111e-01 -1.54720595e-01 8.76425784e+01] [-3.17396378e-01 -7.60957949e-03 9.48262429e-01 2.91961899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.491858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.31, Y:87.66, Z:2.91 [[ 8.21813190e-01 4.98819425e-01 2.75322107e-01 1.69305248e+02] [-4.69891377e-01 8.66665498e-01 -1.67609693e-01 8.76590426e+01] [-3.22219142e-01 8.37237267e-03 9.46628083e-01 2.90512485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:87.60, Z:2.90 [[ 8.16177792e-01 5.03893693e-01 2.82745395e-01 1.69335809e+02] [-4.83346120e-01 8.63548904e-01 -1.43735241e-01 8.76036420e+01] [-3.16591757e-01 -1.93503778e-02 9.48364499e-01 2.90385229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:87.60, Z:2.89 [[ 8.16526975e-01 5.07154787e-01 2.75821900e-01 1.69362154e+02] [-4.82697706e-01 8.61834110e-01 -1.55707712e-01 8.75977608e+01] [-3.16680633e-01 -5.99905132e-03 9.48513251e-01 2.88779616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:87.59, Z:2.88 [[ 8.16432705e-01 5.07601820e-01 2.75278096e-01 1.69386667e+02] [-4.82534473e-01 8.61581724e-01 -1.57598903e-01 8.75851072e+01] [-3.17172067e-01 -4.16227215e-03 9.48358875e-01 2.87691034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:87.57, Z:2.86 [[ 8.18807925e-01 5.06537755e-01 2.70135310e-01 1.69417433e+02] [-4.79668667e-01 8.62209634e-01 -1.62826646e-01 8.75708640e+01] [-3.15391111e-01 3.74830421e-03 9.48954371e-01 2.86227773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:87.55, Z:2.85 [[ 8.19762624e-01 5.04290700e-01 2.71440842e-01 1.69443266e+02] [-4.78282849e-01 8.63533086e-01 -1.59862833e-01 8.75548614e+01] [-3.15015488e-01 1.22407643e-03 9.49085741e-01 2.85381236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.671858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:87.57, Z:2.85 [[ 8.26003322e-01 4.89688360e-01 2.79148387e-01 1.69456138e+02] [-4.63814197e-01 8.71897493e-01 -1.57070532e-01 8.75685213e+01] [-3.20304391e-01 2.67796429e-04 9.47314639e-01 2.84966563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.48, Y:87.55, Z:2.85 [[ 8.25753021e-01 4.85746973e-01 2.86673729e-01 1.69480633e+02] [-4.64427095e-01 8.73971394e-01 -1.43113506e-01 8.75468619e+01] [-3.20061591e-01 -1.49626370e-02 9.47278574e-01 2.84563857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.731858064 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:169.51, Y:87.53, Z:2.83 [[ 8.25342845e-01 4.86506191e-01 2.86567469e-01 1.69507201e+02] [-4.64600604e-01 8.73572994e-01 -1.44970697e-01 8.75333543e+01] [-3.20866744e-01 -1.34888914e-02 9.47028290e-01 2.83334233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76185806399997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:169.53, Y:87.52, Z:2.82 [[ 8.25236091e-01 4.85461011e-01 2.88639916e-01 1.69533374e+02] [-4.64324077e-01 8.74105926e-01 -1.42625317e-01 8.75166402e+01] [-3.21540892e-01 -1.63229032e-02 9.46754994e-01 2.82327509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79185806399994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.56, Y:87.50, Z:2.81 [[ 8.25006056e-01 4.85733571e-01 2.88838892e-01 1.69561322e+02] [-4.64467576e-01 8.73958110e-01 -1.43063250e-01 8.75014168e+01] [-3.21923715e-01 -1.61282518e-02 9.46628228e-01 2.81292756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82185806399997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:169.59, Y:87.49, Z:2.80 [[ 8.23607071e-01 4.87877698e-01 2.89217469e-01 1.69586604e+02] [-4.66613237e-01 8.72750259e-01 -1.43454081e-01 8.74859792e+01] [-3.22402668e-01 -1.68029042e-02 9.46453476e-01 2.80370703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:87.48, Z:2.78 [[ 8.21323271e-01 4.93434036e-01 2.86270739e-01 1.69614103e+02] [-4.67501580e-01 8.69773395e-01 -1.57912997e-01 8.74833605e+01] [-3.26910320e-01 -4.13440371e-03 9.45046321e-01 2.78345645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88185806399997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:169.64, Y:87.47, Z:2.77 [[ 8.20180000e-01 4.94389758e-01 2.87895007e-01 1.69637324e+02] [-4.67086742e-01 8.69238906e-01 -1.62029932e-01 8.74730925e+01] [-3.30355480e-01 -1.57823105e-03 9.43855268e-01 2.76767195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:87.45, Z:2.77 [[ 8.18058829e-01 4.93395461e-01 2.95534551e-01 1.69659789e+02] [-4.71724624e-01 8.69575607e-01 -1.45993638e-01 8.74487789e+01] [-3.29022235e-01 -1.99795404e-02 9.44110792e-01 2.76504195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.941858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:87.43, Z:2.76 [[ 8.17335456e-01 4.93288050e-01 2.97707325e-01 1.69684120e+02] [-4.73227820e-01 8.69500252e-01 -1.41508804e-01 8.74303554e+01] [-3.28661197e-01 -2.52232254e-02 9.44111014e-01 2.75702711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:87.42, Z:2.74 [[ 8.15844575e-01 4.96746098e-01 2.96042131e-01 1.69707223e+02] [-4.74695769e-01 8.67665127e-01 -1.47719848e-01 8.74204392e+01] [-3.30244692e-01 -2.00135107e-02 9.43683158e-01 2.74293893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:87.40, Z:2.74 [[ 8.16253695e-01 4.95616618e-01 2.96806458e-01 1.69734734e+02] [-4.76255698e-01 8.68115171e-01 -1.39844773e-01 8.73971850e+01] [-3.26971582e-01 -2.72069540e-02 9.44642454e-01 2.73574857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:87.38, Z:2.73 [[ 8.13558499e-01 5.00072112e-01 2.96732964e-01 1.69759091e+02] [-4.80208777e-01 8.65566435e-01 -1.42106570e-01 8.73836939e+01] [-3.27905627e-01 -2.68817657e-02 9.44327946e-01 2.72520678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.061858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.79, Y:87.36, Z:2.72 [[ 8.14608864e-01 4.99675628e-01 2.94510893e-01 1.69786415e+02] [-4.80104859e-01 8.65805901e-01 -1.40994560e-01 8.73640152e+01] [-3.25440814e-01 -2.65406923e-02 9.45189858e-01 2.71523256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:169.81, Y:87.34, Z:2.71 [[ 8.15810049e-01 4.98761413e-01 2.92730281e-01 1.69811358e+02] [-4.79876779e-01 8.66307796e-01 -1.38668954e-01 8.73427549e+01] [-3.22757248e-01 -2.73469382e-02 9.46086626e-01 2.70706827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.83, Y:87.32, Z:2.71 [[ 8.15477926e-01 4.98391062e-01 2.94282351e-01 1.69832142e+02] [-4.82632843e-01 8.66188458e-01 -1.29549584e-01 8.73179890e+01] [-3.19470330e-01 -3.63855017e-02 9.46897462e-01 2.70630353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.86, Y:87.30, Z:2.70 [[ 8.15474616e-01 4.98377220e-01 2.94314965e-01 1.69857897e+02] [-4.83059792e-01 8.66144870e-01 -1.28243136e-01 8.72969201e+01] [-3.18832854e-01 -3.75927040e-02 9.47065151e-01 2.70022444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.181858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.89, Y:87.28, Z:2.69 [[ 8.13918989e-01 5.04619588e-01 2.87914833e-01 1.69885366e+02] [-4.85125421e-01 8.62984765e-01 -1.41105005e-01 8.72849471e+01] [-3.19670464e-01 -2.48267614e-02 9.47203477e-01 2.68611932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:87.26, Z:2.68 [[ 8.14055714e-01 5.05237394e-01 2.86441041e-01 1.69912402e+02] [-4.86496089e-01 8.62578906e-01 -1.38849510e-01 8.72637096e+01] [-3.17229964e-01 -2.63212093e-02 9.47983304e-01 2.67836437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.241858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:87.25, Z:2.67 [[ 8.12885662e-01 5.08380994e-01 2.84193009e-01 1.69936243e+02] [-4.89015005e-01 8.60789690e-01 -1.41086622e-01 8.72478987e+01] [-3.16356170e-01 -2.42873538e-02 9.48329531e-01 2.66909941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.96, Y:87.23, Z:2.66 [[ 8.11147848e-01 5.11843155e-01 2.82941253e-01 1.69961672e+02] [-4.91148848e-01 8.58825066e-01 -1.45575805e-01 8.72328650e+01] [-3.17509019e-01 -2.08827696e-02 9.48025281e-01 2.65695679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.301858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:87.22, Z:2.65 [[ 8.09181807e-01 5.14296290e-01 2.84119919e-01 1.69985006e+02] [-4.94082526e-01 8.57295429e-01 -1.44661690e-01 8.72155542e+01] [-3.17973678e-01 -2.33210795e-02 9.47812675e-01 2.64724470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:87.20, Z:2.63 [[ 8.08581613e-01 5.17044143e-01 2.80822237e-01 1.70011047e+02] [-4.95477090e-01 8.55754424e-01 -1.48952407e-01 8.71999343e+01] [-3.17329841e-01 -1.87008071e-02 9.48130820e-01 2.63442205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.361858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:87.20, Z:2.61 [[ 8.07424157e-01 5.21714453e-01 2.75463720e-01 1.70034499e+02] [-4.94217502e-01 8.53119351e-01 -1.67141959e-01 8.71975475e+01] [-3.22203805e-01 -1.18453630e-03 9.46669586e-01 2.61125083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:87.17, Z:2.61 [[ 8.06002251e-01 5.18441148e-01 2.85620636e-01 1.70056687e+02] [-4.95609090e-01 8.54922702e-01 -1.53227950e-01 8.71724977e+01] [-3.23623240e-01 -1.80541101e-02 9.46013767e-01 2.60685495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.421858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:87.15, Z:2.60 [[ 8.03940802e-01 5.19794950e-01 2.88950511e-01 1.70080747e+02] [-4.98228195e-01 8.53971395e-01 -1.50005075e-01 8.71512673e+01] [-3.24727351e-01 -2.33680915e-02 9.45518947e-01 2.59917345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45185806399996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:170.11, Y:87.13, Z:2.58 [[ 8.05851521e-01 5.19892809e-01 2.83398647e-01 1.70112266e+02] [-4.96618634e-01 8.54079540e-01 -1.54654689e-01 8.71325301e+01] [-3.22448847e-01 -1.61123329e-02 9.46449753e-01 2.58316631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:87.12, Z:2.57 [[ 8.02924367e-01 5.26648485e-01 2.79202137e-01 1.70133592e+02] [-5.01935111e-01 8.50001565e-01 -1.59870210e-01 8.71213357e+01] [-3.21517658e-01 -1.17776686e-02 9.46830335e-01 2.57157393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51185806399997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.15, Y:87.09, Z:2.57 [[ 8.00940960e-01 5.22431630e-01 2.92504308e-01 1.70154048e+02] [-5.04221944e-01 8.51981517e-01 -1.41023851e-01 8.70917478e+01] [-3.22883584e-01 -3.45353122e-02 9.45808386e-01 2.57218797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54185806399994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.18, Y:87.08, Z:2.55 [[ 8.03121760e-01 5.24695738e-01 2.82293856e-01 1.70183565e+02] [-5.00564620e-01 8.51167187e-01 -1.57954045e-01 8.70827011e+01] [-3.23157082e-01 -1.44499865e-02 9.46235012e-01 2.55064687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:87.06, Z:2.54 [[ 7.99787355e-01 5.27896092e-01 2.85772467e-01 1.70205117e+02] [-5.05587654e-01 8.49029183e-01 -1.53396776e-01 8.70640108e+01] [-3.23606723e-01 -2.17982297e-02 9.45940551e-01 2.54486857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:87.05, Z:2.53 [[ 7.99757720e-01 5.28140136e-01 2.85404251e-01 1.70229246e+02] [-5.05598017e-01 8.48896058e-01 -1.54097785e-01 8.70473341e+01] [-3.23663769e-01 -2.10589300e-02 9.45937781e-01 2.53451513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:87.02, Z:2.53 [[ 7.99066205e-01 5.26470165e-01 2.90383136e-01 1.70253315e+02] [-5.07929998e-01 8.49528553e-01 -1.42507385e-01 8.70204570e+01] [-3.21714652e-01 -3.36214703e-02 9.46239547e-01 2.53268468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:87.01, Z:2.50 [[ 8.00733422e-01 5.32298654e-01 2.74743754e-01 1.70286553e+02] [-5.03336480e-01 8.46556549e-01 -1.73188904e-01 8.70139008e+01] [-3.24774345e-01 3.89589599e-04 9.45791453e-01 2.50313863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.691858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.31, Y:86.99, Z:2.50 [[ 8.03316353e-01 5.23187109e-01 2.84531344e-01 1.70309787e+02] [-4.98778606e-01 8.52094323e-01 -1.58603807e-01 8.69912756e+01] [-3.25427010e-01 -1.45091155e-02 9.45455841e-01 2.49892359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:86.95, Z:2.48 [[ 8.01970577e-01 5.27767808e-01 2.79829118e-01 1.70345849e+02] [-5.02723875e-01 8.49310671e-01 -1.61059275e-01 8.69514299e+01] [-3.22663756e-01 -1.15119788e-02 9.46443646e-01 2.48332331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.751858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:86.96, Z:2.47 [[ 8.06321711e-01 5.25325219e-01 2.71806388e-01 1.70368992e+02] [-4.94042333e-01 8.50843625e-01 -1.78849933e-01 8.69646593e+01] [-3.25219113e-01 9.92672234e-03 9.45586585e-01 2.46648802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:86.95, Z:2.46 [[ 8.02339749e-01 5.29130909e-01 2.76172787e-01 1.70380653e+02] [-5.00194923e-01 8.48540142e-01 -1.72582348e-01 8.69530712e+01] [-3.25662351e-01 3.29451949e-04 9.45486079e-01 2.46349677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.811858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:86.90, Z:2.45 [[ 8.04530577e-01 5.22105603e-01 2.83083540e-01 1.70419741e+02] [-4.98921701e-01 8.52716822e-01 -1.54761617e-01 8.68964305e+01] [-3.22192004e-01 -1.67260680e-02 9.46526572e-01 2.45451552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:86.91, Z:2.44 [[ 8.09890028e-01 5.20790277e-01 2.69917820e-01 1.70442976e+02] [-4.89807058e-01 8.53608532e-01 -1.77317571e-01 8.69101617e+01] [-3.22749421e-01 1.14000794e-02 9.46415791e-01 2.43584543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.871858064 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:170.47, Y:86.88, Z:2.43 [[ 8.12939085e-01 5.11835799e-01 2.77766375e-01 1.70466421e+02] [-4.85668319e-01 8.59076042e-01 -1.61600241e-01 8.68827913e+01] [-3.21335226e-01 -3.53117655e-03 9.46958924e-01 2.43376589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90185806399995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.49, Y:86.87, Z:2.42 [[ 8.14319467e-01 5.11697461e-01 2.73951664e-01 1.70493093e+02] [-4.84160027e-01 8.59162819e-01 -1.65614973e-01 8.68666086e+01] [-3.20113845e-01 2.22705117e-03 9.47376465e-01 2.42218332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.931858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:86.85, Z:2.41 [[ 8.15955403e-01 5.10246997e-01 2.71780761e-01 1.70520294e+02] [-4.81751446e-01 8.60004440e-01 -1.68249537e-01 8.68501672e+01] [-3.19581482e-01 6.35334458e-03 9.47537499e-01 2.41080232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:86.83, Z:2.39 [[ 8.15622111e-01 5.15062298e-01 2.63574281e-01 1.70550106e+02] [-4.80204307e-01 8.56729656e-01 -1.88197023e-01 8.68311829e+01] [-3.22745094e-01 2.69281484e-02 9.46102785e-01 2.38504068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.991858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.57, Y:86.81, Z:2.40 [[ 8.20188904e-01 4.99038704e-01 2.79732968e-01 1.70567030e+02] [-4.73641868e-01 8.66572427e-01 -1.57211989e-01 8.68081701e+01] [-3.20863745e-01 -3.54971666e-03 9.47118713e-01 2.39778109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:86.81, Z:2.38 [[ 8.20161499e-01 5.05099434e-01 2.68718585e-01 1.70595089e+02] [-4.72238424e-01 8.62803266e-01 -1.80447765e-01 8.68056159e+01] [-3.22995337e-01 2.10970689e-02 9.46165380e-01 2.37517211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.051858064 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:170.62, Y:86.78, Z:2.37 [[ 8.20790870e-01 5.00914253e-01 2.74567402e-01 1.70619035e+02] [-4.71823552e-01 8.65453086e-01 -1.68444331e-01 8.67773235e+01] [-3.22001371e-01 8.71020255e-03 9.46699133e-01 2.37205997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08185806399996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.65, Y:86.77, Z:2.34 [[ 8.18671256e-01 5.12168287e-01 2.59732594e-01 1.70649269e+02] [-4.74235827e-01 8.58032932e-01 -1.97179785e-01 8.67665097e+01] [-3.23848352e-01 3.82509210e-02 9.45335449e-01 2.33910704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.111858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.67, Y:86.74, Z:2.34 [[ 8.18482618e-01 5.07603284e-01 2.69119137e-01 1.70671240e+02] [-4.74194083e-01 8.61318122e-01 -1.82403576e-01 8.67401129e+01] [-3.24385844e-01 2.16794537e-02 9.45676385e-01 2.33582093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14185806399996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.70, Y:86.72, Z:2.33 [[ 8.18729934e-01 5.06952348e-01 2.69593419e-01 1.70696495e+02] [-4.73363869e-01 8.61692209e-01 -1.82792737e-01 8.67234502e+01] [-3.24973756e-01 2.20421011e-02 9.45466130e-01 2.32502118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.171858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:86.71, Z:2.31 [[ 8.17639668e-01 5.08370818e-01 2.70230430e-01 1.70722579e+02] [-4.74658518e-01 8.60866667e-01 -1.83324504e-01 8.67069839e+01] [-3.25829197e-01 2.16262112e-02 9.45181274e-01 2.31460016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:86.69, Z:2.30 [[ 8.17559019e-01 5.08450177e-01 2.70325117e-01 1.70747759e+02] [-4.74681019e-01 8.60817948e-01 -1.83494935e-01 8.66885078e+01] [-3.25998745e-01 2.16997372e-02 9.45121124e-01 2.30292220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.231858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:86.67, Z:2.29 [[ 8.16435425e-01 5.09900873e-01 2.70987631e-01 1.70774019e+02] [-4.75999287e-01 8.59969933e-01 -1.84055410e-01 8.66707240e+01] [-3.26891229e-01 2.12794378e-02 9.44822370e-01 2.29262146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:86.65, Z:2.28 [[ 8.15780297e-01 5.10800205e-01 2.71266766e-01 1.70799430e+02] [-4.76835842e-01 8.59441838e-01 -1.84356468e-01 8.66537366e+01] [-3.27307329e-01 2.10446576e-02 9.44683563e-01 2.28166875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29185806399994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.82, Y:86.64, Z:2.27 [[ 8.15594985e-01 5.11137308e-01 2.71188996e-01 1.70824627e+02] [-4.77172718e-01 8.59242401e-01 -1.84414460e-01 8.66351508e+01] [-3.27278195e-01 2.10035184e-02 9.44694572e-01 2.27153126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32185806399997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:170.85, Y:86.62, Z:2.26 [[ 8.13683656e-01 5.13931633e-01 2.71649009e-01 1.70849100e+02] [-4.79959686e-01 8.57597518e-01 -1.84838299e-01 8.66181766e+01] [-3.27959764e-01 2.00193301e-02 9.44479549e-01 2.26099761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35185806399994 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:170.87, Y:86.60, Z:2.25 [[ 8.12549399e-01 5.15415901e-01 2.72231378e-01 1.70874366e+02] [-4.81337496e-01 8.56716867e-01 -1.85338676e-01 8.66009066e+01] [-3.28751714e-01 1.95616600e-02 9.44213774e-01 2.24967974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.90, Y:86.58, Z:2.24 [[ 8.12125191e-01 5.16275806e-01 2.71867553e-01 1.70899195e+02] [-4.82300174e-01 8.56205244e-01 -1.85200225e-01 8.65826465e+01] [-3.28388820e-01 1.92840000e-02 9.44345758e-01 2.23937376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:86.57, Z:2.23 [[ 8.10256862e-01 5.18977928e-01 2.72297131e-01 1.70924200e+02] [-4.84999097e-01 8.54591190e-01 -1.85606505e-01 8.65653809e+01] [-3.29028408e-01 1.83250815e-02 9.44142202e-01 2.22908957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.441858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.95, Y:86.55, Z:2.22 [[ 8.09122516e-01 5.20665080e-01 2.72449313e-01 1.70949712e+02] [-4.86702452e-01 8.53576553e-01 -1.85816551e-01 8.65481463e+01] [-3.29304535e-01 1.77466064e-02 9.44056980e-01 2.21876186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47185806399995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.98, Y:86.53, Z:2.21 [[ 8.08447933e-01 5.22027987e-01 2.71843190e-01 1.70975125e+02] [-4.88256561e-01 8.52753879e-01 -1.85516449e-01 8.65319331e+01] [-3.28660113e-01 1.72511684e-02 9.44290701e-01 2.20768571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.501858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:86.51, Z:2.20 [[ 8.09197724e-01 5.21236108e-01 2.71130897e-01 1.70999138e+02] [-4.87579348e-01 8.53231295e-01 -1.85101960e-01 8.65142874e+01] [-3.27819192e-01 1.75862590e-02 9.44576784e-01 2.19674322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53185806399995 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:171.02, Y:86.50, Z:2.19 [[ 8.09378011e-01 5.21228798e-01 2.70606313e-01 1.71024893e+02] [-4.87669832e-01 8.53234532e-01 -1.84848501e-01 8.64970915e+01] [-3.27239012e-01 1.76457767e-02 9.44776828e-01 2.18649540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.561858064 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:171.05, Y:86.48, Z:2.18 [[ 8.08943645e-01 5.21758969e-01 2.70883290e-01 1.71051305e+02] [-4.88118999e-01 8.52912361e-01 -1.85149526e-01 8.64804388e+01] [-3.27643132e-01 1.75522523e-02 9.44638500e-01 2.17557746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.08, Y:86.46, Z:2.17 [[ 8.10320308e-01 5.20061448e-01 2.70031645e-01 1.71075760e+02] [-4.86510318e-01 8.53933335e-01 -1.84676933e-01 8.64628517e+01] [-3.26632376e-01 1.82742875e-02 9.44974783e-01 2.16596721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.621858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:86.45, Z:2.16 [[ 8.11568905e-01 5.18095695e-01 2.70060667e-01 1.71101449e+02] [-4.84407380e-01 8.55108673e-01 -1.84766466e-01 8.64452811e+01] [-3.26657929e-01 1.91313385e-02 9.44948988e-01 2.15509691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65185806399995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:171.13, Y:86.43, Z:2.14 [[ 8.12879533e-01 5.15896725e-01 2.70328383e-01 1.71126626e+02] [-4.81983416e-01 8.56414075e-01 -1.85059230e-01 8.64294758e+01] [-3.26984483e-01 2.01370632e-02 9.44815139e-01 2.14430792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.681858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:171.15, Y:86.41, Z:2.13 [[ 8.16246506e-01 5.10795226e-01 2.69870115e-01 1.71151792e+02] [-4.76694498e-01 8.59414816e-01 -1.84847317e-01 8.64118292e+01] [-3.26349502e-01 2.22353774e-02 9.44987614e-01 2.13340467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:86.40, Z:2.12 [[ 8.17566213e-01 5.08669886e-01 2.69889670e-01 1.71177327e+02] [-4.74414349e-01 8.60649405e-01 -1.84969259e-01 8.63952210e+01] [-3.26368676e-01 2.31850852e-02 9.44958168e-01 2.12314892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.741858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:86.36, Z:2.14 [[ 8.22045875e-01 4.91980544e-01 2.86697968e-01 1.71197502e+02] [-4.70395106e-01 8.70464960e-01 -1.44979990e-01 8.63581883e+01] [-3.20887869e-01 -1.56811178e-02 9.46987369e-01 2.14281565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77185806399996 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:171.24, Y:86.38, Z:2.08 [[ 8.23280095e-01 5.10687278e-01 2.47807162e-01 1.71235614e+02] [-4.65669789e-01 8.57274777e-01 -2.19616950e-01 8.63832080e+01] [-3.24594412e-01 6.54099548e-02 9.43588897e-01 2.08499416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.801858064 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:171.25, Y:86.35, Z:2.09 [[ 8.22599101e-01 4.99459483e-01 2.71792099e-01 1.71254307e+02] [-4.64098391e-01 8.65905038e-01 -1.86604258e-01 8.63462404e+01] [-3.28547414e-01 2.73622190e-02 9.44091047e-01 2.09028823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83185806399996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:171.28, Y:86.33, Z:2.08 [[ 8.24153983e-01 4.97446743e-01 2.70771030e-01 1.71279570e+02] [-4.62216962e-01 8.67037700e-01 -1.86013729e-01 8.63281783e+01] [-3.27300615e-01 2.81489930e-02 9.44500896e-01 2.07995022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.861858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:171.31, Y:86.31, Z:2.07 [[ 8.24064352e-01 4.97623725e-01 2.70718622e-01 1.71305636e+02] [-4.62378375e-01 8.66935268e-01 -1.86089974e-01 8.63102211e+01] [-3.27298307e-01 2.81756773e-02 9.44500900e-01 2.06917441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89185806399996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.33, Y:86.29, Z:2.06 [[ 8.25677226e-01 4.95473620e-01 2.69746198e-01 1.71331089e+02] [-4.60352433e-01 8.68139292e-01 -1.85498808e-01 8.62942411e+01] [-3.26087039e-01 2.89838232e-02 9.44895328e-01 2.05851287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.921858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:86.28, Z:2.05 [[ 8.26235276e-01 4.94772710e-01 2.69323662e-01 1.71356976e+02] [-4.59705193e-01 8.68529209e-01 -1.85278571e-01 8.62768888e+01] [-3.25586248e-01 2.92742052e-02 9.45059054e-01 2.04787013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95185806399996 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:171.38, Y:86.26, Z:2.04 [[ 8.26568741e-01 4.94275386e-01 2.69213596e-01 1.71383455e+02] [-4.59177089e-01 8.68802985e-01 -1.85304543e-01 8.62597708e+01] [-3.25485051e-01 2.95502277e-02 9.45085322e-01 2.03681754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.981858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.40, Y:86.22, Z:2.06 [[ 8.29989200e-01 4.77443457e-01 2.88384594e-01 1.71402574e+02] [-4.56913839e-01 8.78515961e-01 -1.39425427e-01 8.62210078e+01] [-3.19918227e-01 -1.60453132e-02 9.47309282e-01 2.05864568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:86.22, Z:2.04 [[ 8.31591251e-01 4.87952329e-01 2.65251796e-01 1.71435096e+02] [-4.58052405e-01 8.72657418e-01 -1.69283858e-01 8.62179749e+01] [-3.14076400e-01 1.92757522e-02 9.49202012e-01 2.03638074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04185806399994 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:171.47, Y:86.24, Z:1.98 [[ 8.29065900e-01 5.06173679e-01 2.37566709e-01 1.71468725e+02] [-4.57537428e-01 8.58354482e-01 -2.32135921e-01 8.62364816e+01] [-3.21417542e-01 8.37603152e-02 9.43225834e-01 1.98331962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:86.19, Z:1.99 [[ 8.27425722e-01 4.92269745e-01 2.70253903e-01 1.71483187e+02] [-4.56652658e-01 8.69896653e-01 -1.86408589e-01 8.61906159e+01] [-3.26856275e-01 3.08270985e-02 9.44571154e-01 1.99363864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:86.17, Z:1.98 [[ 8.26892212e-01 4.93285400e-01 2.70034781e-01 1.71508967e+02] [-4.57742969e-01 8.69332748e-01 -1.86365091e-01 8.61723507e+01] [-3.26681256e-01 3.04973200e-02 9.44642403e-01 1.98303075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:86.16, Z:1.97 [[ 8.25726067e-01 4.95093837e-01 2.70293460e-01 1.71535406e+02] [-4.59534668e-01 8.68324234e-01 -1.86657208e-01 8.61555849e+01] [-3.27115196e-01 2.99185070e-02 9.44510737e-01 1.97177980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:86.14, Z:1.96 [[ 8.23848641e-01 4.97989566e-01 2.70702434e-01 1.71560616e+02] [-4.62428535e-01 8.66700463e-01 -1.87056563e-01 8.61377584e+01] [-3.27770142e-01 2.89257651e-02 9.44314584e-01 1.96105155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.191858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.58, Y:86.12, Z:1.95 [[ 8.23017014e-01 4.99284053e-01 2.70847613e-01 1.71584825e+02] [-4.63710574e-01 8.65968380e-01 -1.87273243e-01 8.61203052e+01] [-3.28048012e-01 2.85341637e-02 9.44230005e-01 1.95049861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22185806399995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:171.61, Y:86.08, Z:1.97 [[ 8.23293795e-01 4.88820180e-01 2.88517172e-01 1.71605578e+02] [-4.67178841e-01 8.72243849e-01 -1.44687937e-01 8.60811058e+01] [-3.22383712e-01 -1.56684375e-02 9.46479393e-01 1.97333950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.251858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:86.11, Z:1.91 [[ 8.20514285e-01 5.16017389e-01 2.45931621e-01 1.71642696e+02] [-4.70111450e-01 8.53910539e-01 -2.23230859e-01 8.61061998e+01] [-3.25194608e-01 6.75488378e-02 9.43231478e-01 1.91417118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28185806399995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:171.66, Y:86.03, Z:1.96 [[ 8.19732999e-01 4.92367053e-01 2.92596130e-01 1.71655373e+02] [-4.75434253e-01 8.69831250e-01 -1.31741671e-01 8.60348311e+01] [-3.19374516e-01 -3.11172274e-02 9.47117541e-01 1.96029689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.311858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.69, Y:86.05, Z:1.92 [[ 8.19583326e-01 5.14138129e-01 2.52873795e-01 1.71691966e+02] [-4.77381064e-01 8.56821459e-01 -1.94844315e-01 8.60535530e+01] [-3.16844586e-01 3.89739899e-02 9.47676388e-01 1.91621749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:171.72, Y:86.04, Z:1.90 [[ 8.17531490e-01 5.15205133e-01 2.57305138e-01 1.71716171e+02] [-4.78352769e-01 8.56305697e-01 -1.94728482e-01 8.60403919e+01] [-3.20656969e-01 3.61140409e-02 9.46506674e-01 1.90211644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.371858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:171.74, Y:86.04, Z:1.87 [[ 8.15508766e-01 5.21028051e-01 2.51942896e-01 1.71743190e+02] [-4.77734681e-01 8.51761759e-01 -2.15108064e-01 8.60358126e+01] [-3.26672660e-01 5.50606529e-02 9.43532351e-01 1.87320660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:86.00, Z:1.88 [[ 8.14011251e-01 5.13757559e-01 2.70996040e-01 1.71760678e+02] [-4.79235788e-01 8.57656066e-01 -1.86438014e-01 8.60023176e+01] [-3.28205337e-01 2.18916403e-02 9.44352695e-01 1.87582761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.431858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.79, Y:85.98, Z:1.86 [[ 8.14218295e-01 5.14402242e-01 2.69144759e-01 1.71785370e+02] [-4.79781024e-01 8.57238013e-01 -1.86957635e-01 8.59841477e+01] [-3.26892545e-01 2.30937787e-02 9.44779308e-01 1.86406414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:171.81, Y:85.97, Z:1.85 [[ 8.13495135e-01 5.15418311e-01 2.69387511e-01 1.71810941e+02] [-4.80810432e-01 8.56639454e-01 -1.87056605e-01 8.59666500e+01] [-3.27180369e-01 2.26453126e-02 9.44690529e-01 1.85407538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.491858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.83, Y:85.95, Z:1.85 [[ 8.14267188e-01 5.10480617e-01 2.76366580e-01 1.71833664e+02] [-4.79801594e-01 8.59836350e-01 -1.74561974e-01 8.59465278e+01] [-3.26740535e-01 9.53896185e-03 9.45065940e-01 1.85156631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:85.94, Z:1.83 [[ 8.13160638e-01 5.19266903e-01 2.62929001e-01 1.71863274e+02] [-4.81444638e-01 8.53935005e-01 -1.97499540e-01 8.59389777e+01] [-3.27079252e-01 3.40130943e-02 9.44384600e-01 1.82818826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.551858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:85.91, Z:1.83 [[ 8.14028505e-01 5.10907904e-01 2.76280124e-01 1.71883926e+02] [-4.79341126e-01 8.59554322e-01 -1.77196087e-01 8.59141776e+01] [-3.28008656e-01 1.18102397e-02 9.44600889e-01 1.82824653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58185806399996 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:171.91, Y:85.90, Z:1.82 [[ 8.14981037e-01 5.09005519e-01 2.76982476e-01 1.71907727e+02] [-4.78690424e-01 8.60720212e-01 -1.73251825e-01 8.58951644e+01] [-3.26590551e-01 8.60809259e-03 9.45126718e-01 1.82251934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.611858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:85.88, Z:1.81 [[ 8.14911043e-01 5.12451775e-01 2.70764049e-01 1.71935143e+02] [-4.79294725e-01 8.58510414e-01 -1.82308628e-01 8.58784121e+01] [-3.25878136e-01 1.87895332e-02 9.45225049e-01 1.80902955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:85.85, Z:1.80 [[ 8.16180322e-01 5.08724067e-01 2.73951649e-01 1.71958468e+02] [-4.77967996e-01 8.60852101e-01 -1.74585953e-01 8.58538122e+01] [-3.24647929e-01 1.15534990e-02 9.45764368e-01 1.80462939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.671858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.99, Y:85.84, Z:1.79 [[ 8.15055871e-01 5.12250351e-01 2.70709263e-01 1.71986217e+02] [-4.79227428e-01 8.58636462e-01 -1.81891449e-01 8.58400019e+01] [-3.25614803e-01 1.85203895e-02 9.45321107e-01 1.79139230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70185806399996 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:172.02, Y:85.85, Z:1.75 [[ 8.13574566e-01 5.25029509e-01 2.49880852e-01 1.72018546e+02] [-4.78277674e-01 8.48652350e-01 -2.25919576e-01 8.58497779e+01] [-3.30676417e-01 6.42899885e-02 9.41551860e-01 1.75296459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.731858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:85.79, Z:1.78 [[ 8.12905811e-01 5.05563480e-01 2.89118852e-01 1.72032268e+02] [-4.81324417e-01 8.62691628e-01 -1.55209409e-01 8.57926549e+01] [-3.27888622e-01 -1.29893322e-02 9.44627085e-01 1.78188624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76185806399997 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:172.06, Y:85.79, Z:1.75 [[ 8.13220580e-01 5.17829085e-01 2.65566051e-01 1.72064417e+02] [-4.82705082e-01 8.55098467e-01 -1.89215261e-01 8.57938430e+01] [-3.25066288e-01 2.56836624e-02 9.45342402e-01 1.75474769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:85.80, Z:1.72 [[ 8.11612900e-01 5.26687408e-01 2.52754575e-01 1.72092272e+02] [-4.81891999e-01 8.48162189e-01 -2.20002276e-01 8.57951893e+01] [-3.30249303e-01 5.67562778e-02 9.42185822e-01 1.72272998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:85.74, Z:1.75 [[ 8.12658044e-01 5.06977138e-01 2.87334449e-01 1.72106239e+02] [-4.83480164e-01 8.61839285e-01 -1.53231782e-01 8.57376452e+01] [-3.25321126e-01 -1.43954666e-02 9.45494017e-01 1.75094295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:85.74, Z:1.72 [[ 8.12891957e-01 5.17725329e-01 2.66771718e-01 1.72138361e+02] [-4.83255990e-01 8.55230793e-01 -1.87200266e-01 8.57399338e+01] [-3.25069707e-01 2.32545597e-02 9.45404099e-01 1.72419280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88185806399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:85.73, Z:1.71 [[ 8.14850590e-01 5.16950779e-01 2.62260191e-01 1.72164481e+02] [-4.80339581e-01 8.55421241e-01 -1.93722448e-01 8.57280004e+01] [-3.24487908e-01 3.18809013e-02 9.45352424e-01 1.70923081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91185806399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:85.70, Z:1.71 [[ 8.15462625e-01 5.10309340e-01 2.73139315e-01 1.72186248e+02] [-4.77529824e-01 8.59823706e-01 -1.80744188e-01 8.57047522e+01] [-3.27087105e-01 1.69579613e-02 9.44842026e-01 1.70635088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.941858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:172.21, Y:85.69, Z:1.70 [[ 8.16164674e-01 5.08464858e-01 2.74478985e-01 1.72210478e+02] [-4.75627508e-01 8.60918705e-01 -1.80547656e-01 8.56850374e+01] [-3.28106230e-01 1.68068629e-02 9.44491308e-01 1.69685843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:85.70, Z:1.65 [[ 8.15093165e-01 5.23134021e-01 2.48905461e-01 1.72244217e+02] [-4.72300542e-01 8.48857785e-01 -2.37429271e-01 8.57014143e+01] [-3.35492667e-01 7.59687920e-02 9.38974660e-01 1.65123851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.001858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:85.63, Z:1.69 [[ 8.15639014e-01 4.95095876e-01 2.99354426e-01 1.72254206e+02] [-4.73114852e-01 8.68575495e-01 -1.47441331e-01 8.56290572e+01] [-3.33009514e-01 -2.13701233e-02 9.42681273e-01 1.69349701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:85.64, Z:1.66 [[ 8.16273822e-01 5.10884260e-01 2.69618843e-01 1.72288562e+02] [-4.73592057e-01 8.59100763e-01 -1.94052681e-01 8.56375100e+01] [-3.30768214e-01 3.07107816e-02 9.43212191e-01 1.65959499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.061858064 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:172.32, Y:85.65, Z:1.62 [[ 8.15160780e-01 5.24132039e-01 2.46573537e-01 1.72320611e+02] [-4.71330375e-01 8.47644864e-01 -2.43610062e-01 8.56537069e+01] [-3.36690631e-01 8.23637709e-02 9.38006199e-01 1.61580296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:85.61, Z:1.63 [[ 8.13287723e-01 5.07228346e-01 2.85100833e-01 1.72333396e+02] [-4.70560635e-01 8.61561587e-01 -1.90484435e-01 8.56054125e+01] [-3.42251030e-01 2.07614233e-02 9.39379154e-01 1.62759581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.121858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:85.58, Z:1.63 [[ 8.14787601e-01 5.01604614e-01 2.90712877e-01 1.72356107e+02] [-4.71934335e-01 8.65096041e-01 -1.69961239e-01 8.55771286e+01] [-3.36747901e-01 1.28492215e-03 9.41593968e-01 1.63402525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15185806399995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.39, Y:85.59, Z:1.59 [[ 8.13404397e-01 5.17061473e-01 2.66497131e-01 1.72390314e+02] [-4.71304688e-01 8.54331281e-01 -2.19066091e-01 8.55879775e+01] [-3.40947471e-01 5.25879744e-02 9.38610317e-01 1.59305585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.181858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:172.41, Y:85.56, Z:1.59 [[ 8.13360163e-01 5.11812977e-01 2.76573176e-01 1.72411179e+02] [-4.71464425e-01 8.58425836e-01 -2.02055389e-01 8.55601349e+01] [-3.40832130e-01 3.39493905e-02 9.39510989e-01 1.58919358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:85.54, Z:1.58 [[ 8.12463540e-01 5.09775971e-01 2.82898312e-01 1.72434105e+02] [-4.71888357e-01 8.59959837e-01 -1.94397680e-01 8.55378850e+01] [-3.42380452e-01 2.44446079e-02 9.39243359e-01 1.58202987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.241858064 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:172.46, Y:85.52, Z:1.57 [[ 8.11773313e-01 5.09453049e-01 2.85449958e-01 1.72459164e+02] [-4.71723097e-01 8.60201338e-01 -1.93729132e-01 8.55182496e+01] [-3.44240333e-01 2.26108011e-02 9.38609261e-01 1.57229054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27185806399996 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:172.48, Y:85.50, Z:1.56 [[ 8.12314678e-01 5.10294660e-01 2.82390196e-01 1.72484114e+02] [-4.70892031e-01 8.59530441e-01 -1.98665842e-01 8.55023967e+01] [-3.44101088e-01 2.84038867e-02 9.38502883e-01 1.55918711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.301858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:172.51, Y:85.48, Z:1.56 [[ 8.13261145e-01 5.03018581e-01 2.92538230e-01 1.72506074e+02] [-4.70534469e-01 8.64246505e-01 -1.77975539e-01 8.54782528e+01] [-3.42350146e-01 7.09127003e-03 9.39545683e-01 1.56299548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33185806399996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:172.54, Y:85.48, Z:1.53 [[ 8.10857856e-01 5.18116937e-01 2.72147711e-01 1.72537048e+02] [-4.73068771e-01 8.54031890e-01 -2.16415040e-01 8.54791009e+01] [-3.44551122e-01 4.67372518e-02 9.37603410e-01 1.52916067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.361858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:172.55, Y:85.44, Z:1.54 [[ 8.09761771e-01 5.05681647e-01 2.97610393e-01 1.72552241e+02] [-4.74465044e-01 8.62720047e-01 -1.74920103e-01 8.54433427e+01] [-3.45208338e-01 4.37884407e-04 9.38525978e-01 1.54196680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39185806399996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:172.59, Y:85.45, Z:1.51 [[ 8.07284237e-01 5.24712667e-01 2.70127337e-01 1.72587211e+02] [-4.78722705e-01 8.49898748e-01 -2.20219640e-01 8.54461459e+01] [-3.45132920e-01 4.84637547e-02 9.37301729e-01 1.50551366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.421858064 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:172.61, Y:85.42, Z:1.50 [[ 8.06260232e-01 5.19241477e-01 2.83430285e-01 1.72607623e+02] [-4.79788564e-01 8.54250504e-01 -2.00147472e-01 8.54169114e+01] [-3.46045333e-01 2.53843373e-02 9.37874332e-01 1.50273763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:85.40, Z:1.49 [[ 8.05470832e-01 5.20514397e-01 2.83339903e-01 1.72632598e+02] [-4.81116934e-01 8.53488482e-01 -2.00209660e-01 8.54003125e+01] [-3.46039354e-01 2.49434164e-02 9.37888368e-01 1.49135150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.481858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:85.38, Z:1.48 [[ 8.04337147e-01 5.21964629e-01 2.83892022e-01 1.72658520e+02] [-4.82450607e-01 8.52615736e-01 -2.00718257e-01 8.53837108e+01] [-3.46818636e-01 2.44812716e-02 9.37612661e-01 1.47990550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51185806399997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:172.68, Y:85.37, Z:1.47 [[ 8.03780979e-01 5.22588268e-01 2.84319609e-01 1.72683782e+02] [-4.82941498e-01 8.52236889e-01 -2.01146202e-01 8.53669134e+01] [-3.47424304e-01 2.43677539e-02 9.37391362e-01 1.46822140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54185806399994 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:172.71, Y:85.35, Z:1.46 [[ 8.03553161e-01 5.22716187e-01 2.84728125e-01 1.72708804e+02] [-4.82911187e-01 8.52155555e-01 -2.01563130e-01 8.53499470e+01] [-3.47992964e-01 2.44682935e-02 9.37177785e-01 1.45736300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57185806399997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:172.74, Y:85.33, Z:1.45 [[ 8.03250519e-01 5.23096971e-01 2.84882719e-01 1.72735048e+02] [-4.83225640e-01 8.51923047e-01 -2.01792229e-01 8.53328263e+01] [-3.48255058e-01 2.44270788e-02 9.37081497e-01 1.44615724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60185806399994 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:172.76, Y:85.32, Z:1.43 [[ 8.03032545e-01 5.23609030e-01 2.84556349e-01 1.72759692e+02] [-4.83817043e-01 8.51612414e-01 -2.01686306e-01 8.53155362e+01] [-3.47936490e-01 2.42874566e-02 9.37203456e-01 1.43492849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63185806399997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:172.78, Y:85.30, Z:1.42 [[ 8.03318934e-01 5.23642835e-01 2.83684459e-01 1.72784394e+02] [-4.84062708e-01 8.51591427e-01 -2.01184833e-01 8.52968215e+01] [-3.46932249e-01 2.42945178e-02 9.37575486e-01 1.42440464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66185806399994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.81, Y:85.28, Z:1.41 [[ 8.02699083e-01 5.25126749e-01 2.82694321e-01 1.72808851e+02] [-4.85876494e-01 8.50694761e-01 -2.00605223e-01 8.52807320e+01] [-3.45829747e-01 2.36711031e-02 9.37998649e-01 1.41286002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.691858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:172.83, Y:85.26, Z:1.40 [[ 8.02776434e-01 5.25410305e-01 2.81946819e-01 1.72833881e+02] [-4.86350056e-01 8.50522124e-01 -2.00189259e-01 8.52623121e+01] [-3.44983507e-01 2.35823688e-02 9.38312449e-01 1.40184841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:172.85, Y:85.24, Z:1.41 [[ 8.04475066e-01 5.17075257e-01 2.92323531e-01 1.72854910e+02] [-4.84988114e-01 8.55936306e-01 -1.79330893e-01 8.52406447e+01] [-3.42937891e-01 2.49379350e-03 9.39354770e-01 1.40788004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.751858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:172.88, Y:85.23, Z:1.39 [[ 8.04574384e-01 5.22489934e-01 2.82248702e-01 1.72883473e+02] [-4.85402167e-01 8.52426362e-01 -1.94303973e-01 8.52310824e+01] [-3.42118104e-01 1.93278676e-02 9.39458161e-01 1.38992871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:85.22, Z:1.36 [[ 8.02415164e-01 5.31202247e-01 2.71944989e-01 1.72912019e+02] [-4.86766881e-01 8.46227804e-01 -2.16694504e-01 8.52186403e+01] [-3.45236018e-01 4.15051420e-02 9.37597683e-01 1.36139205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.811858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.93, Y:85.18, Z:1.38 [[ 8.04836777e-01 5.14703798e-01 2.95495793e-01 1.72927465e+02] [-4.84734255e-01 8.57359153e-01 -1.73112640e-01 8.51827556e+01] [-3.42447755e-01 -3.90951370e-03 9.39528739e-01 1.37998245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84185806399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:85.16, Z:1.37 [[ 8.03143524e-01 5.20385072e-01 2.90103184e-01 1.72953593e+02] [-4.88717049e-01 8.53929817e-01 -1.78772242e-01 8.51646253e+01] [-3.40758164e-01 1.80139636e-03 9.40149259e-01 1.37053318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.871858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.98, Y:85.15, Z:1.35 [[ 8.02978850e-01 5.27087579e-01 2.78215116e-01 1.72981753e+02] [-4.91261671e-01 8.49634307e-01 -1.91790290e-01 8.51537863e+01] [-3.37471386e-01 1.73271236e-02 9.41176304e-01 1.35452247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90185806399995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:173.01, Y:85.15, Z:1.33 [[ 8.01807788e-01 5.32140711e-01 2.71901702e-01 1.73007614e+02] [-4.90004875e-01 8.45907294e-01 -2.10561328e-01 8.51531601e+01] [-3.42051888e-01 3.55965528e-02 9.39006598e-01 1.33222659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.931858064 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:173.03, Y:85.11, Z:1.34 [[ 7.99515483e-01 5.26611927e-01 2.88885566e-01 1.73027854e+02] [-4.94592686e-01 8.50104106e-01 -1.80834410e-01 8.51141799e+01] [-3.40812363e-01 1.69922316e-03 9.40129803e-01 1.33671241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96185806399995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.05, Y:85.10, Z:1.32 [[ 7.97190076e-01 5.34694265e-01 2.80339125e-01 1.73054211e+02] [-4.98316180e-01 8.44906668e-01 -1.94457467e-01 8.51046592e+01] [-3.40835689e-01 1.53220410e-02 9.39998015e-01 1.31965300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.991858064 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.08, Y:85.09, Z:1.31 [[ 7.96444009e-01 5.38749222e-01 2.74638337e-01 1.73080350e+02] [-5.01276359e-01 8.42219223e-01 -1.98466096e-01 8.50883856e+01] [-3.38229142e-01 2.03974275e-02 9.40842704e-01 1.30708162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02185806399996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:173.11, Y:85.06, Z:1.30 [[ 7.95150336e-01 5.38353300e-01 2.79126617e-01 1.73105354e+02] [-5.03289931e-01 8.42637068e-01 -1.91473278e-01 8.50623494e+01] [-3.38282705e-01 1.17684256e-02 9.40970943e-01 1.29972902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.051858064 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:173.13, Y:85.05, Z:1.29 [[ 7.93543760e-01 5.40943363e-01 2.78690831e-01 1.73126873e+02] [-5.04711501e-01 8.40938961e-01 -1.95161380e-01 8.50494450e+01] [-3.39933231e-01 1.42106273e-02 9.40342202e-01 1.28886114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08185806399996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.15, Y:85.02, Z:1.29 [[ 7.90929521e-01 5.39432607e-01 2.88864942e-01 1.73149880e+02] [-5.07571416e-01 8.42026030e-01 -1.82656571e-01 8.50211256e+01] [-3.41762710e-01 -2.15111338e-03 9.39783817e-01 1.28641733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.111858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:85.01, Z:1.27 [[ 7.89759143e-01 5.44983595e-01 2.81555284e-01 1.73176623e+02] [-5.08989825e-01 8.38377803e-01 -1.95069261e-01 8.50100790e+01] [-3.42359248e-01 1.07489582e-02 9.39507640e-01 1.27133583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14185806399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:85.00, Z:1.25 [[ 7.89573088e-01 5.51508936e-01 2.69095212e-01 1.73206916e+02] [-5.10853508e-01 8.33694912e-01 -2.09717636e-01 8.49992758e+01] [-3.40004459e-01 2.81191687e-02 9.40003340e-01 1.25182174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.171858064 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:173.22, Y:84.97, Z:1.25 [[ 7.85826861e-01 5.46456101e-01 2.89589146e-01 1.73223189e+02] [-5.10869392e-01 8.37475492e-01 -1.94029031e-01 8.49691159e+01] [-3.48552161e-01 4.53099342e-03 9.37278433e-01 1.24765475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20185806399996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:173.26, Y:84.99, Z:1.19 [[ 7.83284285e-01 5.65926009e-01 2.57280937e-01 1.73257675e+02] [-5.07266099e-01 8.21083056e-01 -2.61732152e-01 8.49938350e+01] [-3.59370051e-01 7.45007842e-02 9.30216534e-01 1.19298023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.231858064 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:173.27, Y:84.92, Z:1.23 [[ 7.83389536e-01 5.38539769e-01 3.10283342e-01 1.73265559e+02] [-5.09892231e-01 8.42327976e-01 -1.74623863e-01 8.49231875e+01] [-3.55402234e-01 -2.14125585e-02 9.34468167e-01 1.22913544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26185806399997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:173.30, Y:84.95, Z:1.18 [[ 7.82548317e-01 5.61050149e-01 2.69890462e-01 1.73302355e+02] [-5.07689105e-01 8.25972725e-01 -2.44991490e-01 8.49487455e+01] [-3.60374672e-01 5.46972313e-02 9.31202614e-01 1.17561692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29185806399994 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:173.32, Y:84.92, Z:1.17 [[ 7.83374730e-01 5.52620884e-01 2.84489353e-01 1.73320653e+02] [-5.08087865e-01 8.32994517e-01 -2.19013369e-01 8.49187559e+01] [-3.58009433e-01 2.70239509e-02 9.33326820e-01 1.17358398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32185806399997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:173.34, Y:84.89, Z:1.17 [[ 7.83066937e-01 5.45126311e-01 2.99405208e-01 1.73341182e+02] [-5.06203661e-01 8.38325214e-01 -2.02407237e-01 8.48906944e+01] [-3.61336445e-01 6.93840322e-03 9.32409691e-01 1.16935576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35185806399994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:173.37, Y:84.88, Z:1.15 [[ 7.83868441e-01 5.47500437e-01 2.92905343e-01 1.73369119e+02] [-5.05268459e-01 8.36614327e-01 -2.11613450e-01 8.48785767e+01] [-3.60907262e-01 1.78812736e-02 9.32430270e-01 1.15376360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38185806399997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:173.40, Y:84.87, Z:1.14 [[ 7.88026824e-01 5.43871062e-01 2.88475291e-01 1.73395590e+02] [-4.99672279e-01 8.38754464e-01 -2.16375975e-01 8.48650091e+01] [-3.59640570e-01 2.63669664e-02 9.32718309e-01 1.13829289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41185806399994 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:173.42, Y:84.84, Z:1.13 [[ 7.88759732e-01 5.38144205e-01 2.97083994e-01 1.73418273e+02] [-4.96404240e-01 8.42681749e-01 -2.08495326e-01 8.48427573e+01] [-3.62547811e-01 1.69789632e-02 9.31810496e-01 1.13137420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.441858064 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:173.45, Y:84.83, Z:1.10 [[ 7.90723412e-01 5.42180981e-01 2.84246846e-01 1.73450715e+02] [-4.89811126e-01 8.38857058e-01 -2.37495046e-01 8.48335835e+01] [-3.67207770e-01 4.85656251e-02 9.28870192e-01 1.09860918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47185806399995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:173.47, Y:84.80, Z:1.11 [[ 7.94990474e-01 5.23501328e-01 3.06490631e-01 1.73465205e+02] [-4.84282764e-01 8.51968345e-01 -1.99048093e-01 8.48019179e+01] [-3.65322256e-01 9.81320761e-03 9.30829388e-01 1.11197217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.501858064 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:173.49, Y:84.79, Z:1.09 [[ 7.98146947e-01 5.24851158e-01 2.95791671e-01 1.73493193e+02] [-4.80045731e-01 8.50702153e-01 -2.14154017e-01 8.47940012e+01] [-3.64029595e-01 2.89328461e-02 9.30937884e-01 1.09420573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53185806399995 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:173.52, Y:84.78, Z:1.08 [[ 8.02177562e-01 5.17878837e-01 2.97174477e-01 1.73518742e+02] [-4.72121012e-01 8.54840237e-01 -2.15290313e-01 8.47780414e+01] [-3.65530997e-01 3.23987439e-02 9.30235138e-01 1.08086567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.561858064 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:84.77, Z:1.04 [[ 8.00980806e-01 5.30779413e-01 2.76952997e-01 1.73555274e+02] [-4.70512235e-01 8.44136101e-01 -2.57006769e-01 8.47742232e+01] [-3.70199925e-01 7.55477154e-02 9.25875023e-01 1.03742699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59185806399995 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:173.56, Y:84.73, Z:1.07 [[ 8.04030600e-01 5.02594610e-01 3.17700256e-01 1.73561807e+02] [-4.65749982e-01 8.64513258e-01 -1.88927978e-01 8.47284430e+01] [-3.69610267e-01 3.93498652e-03 9.29178544e-01 1.06953558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.621858064 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:173.59, Y:84.73, Z:1.05 [[ 8.05895467e-01 5.11257477e-01 2.98577105e-01 1.73592847e+02] [-4.64518300e-01 8.58681046e-01 -2.16540089e-01 8.47280206e+01] [-3.67090241e-01 3.58141464e-02 9.29495617e-01 1.04582522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65185806399995 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:173.62, Y:84.71, Z:1.03 [[ 8.06667578e-01 5.10223787e-01 2.98260130e-01 1.73616739e+02] [-4.63469690e-01 8.59272714e-01 -2.16439944e-01 8.47095915e+01] [-3.66719599e-01 3.63605551e-02 9.29620700e-01 1.03310224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.681858064 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:173.64, Y:84.69, Z:1.02 [[ 8.06888338e-01 5.10185788e-01 2.97727513e-01 1.73640941e+02] [-4.63565231e-01 8.59293873e-01 -2.16151144e-01 8.46903873e+01] [-3.66112670e-01 3.63937142e-02 9.29858597e-01 1.02071681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71185806399995 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:173.70, Y:84.78, Z:0.93 [[ 0.8148744 0.53737236 0.21728013 173.69568318] [ -0.44521824 0.8202964 -0.35901885 84.78456598] [ -0.37116091 0.19581819 0.90768652 0.93271527] [ 0. 0. 0. 1. ]] SLAMing on 262.741858064 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:173.68, Y:84.69, Z:0.96 [[ 8.06191342e-01 5.01568397e-01 3.13822663e-01 1.73681666e+02] [-4.44210715e-01 8.63480413e-01 -2.38910897e-01 8.46853238e+01] [-3.90809878e-01 5.32045078e-02 9.18932489e-01 9.56479443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77185806399996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:173.72, Y:84.67, Z:0.93 [[ 8.06096208e-01 5.00806177e-01 3.15280949e-01 1.73722612e+02] [-4.38201933e-01 8.63191787e-01 -2.50756865e-01 8.46692999e+01] [-3.97728512e-01 6.39774366e-02 9.15269861e-01 9.29030789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.801858064 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:173.73, Y:84.61, Z:0.94 [[ 8.00503181e-01 4.76908657e-01 3.62977672e-01 1.73731274e+02] [-4.41691077e-01 8.78811037e-01 -1.80555126e-01 8.46069655e+01] [-4.05097087e-01 -1.57890464e-02 9.14137329e-01 9.42640132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83185806399996 meters Centerline goodness : 0.973445 Centerline is valid? [True, True] Translation: X:173.74, Y:84.63, Z:0.93 [[ 8.14798620e-01 4.42627842e-01 3.74411274e-01 1.73741431e+02] [-4.05360815e-01 8.96679485e-01 -1.77900285e-01 8.46349473e+01] [-4.14470527e-01 -6.81875243e-03 9.10037190e-01 9.28106724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.861858064 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:173.78, Y:84.27, Z:1.23 [[ 0.78017433 0.34361362 0.52274056 173.77697204] [ -0.51638878 0.82540934 0.22812727 84.27402285] [ -0.3530873 -0.4479164 0.8214014 1.23072752] [ 0. 0. 0. 1. ]] SLAMing on 262.89185806399996 meters Centerline goodness : 0.931307 Centerline is valid? [True, False] Translation: X:173.77, Y:84.29, Z:1.22 [[ 0.78392186 0.35213296 0.5113403 173.76697583] [ -0.51049666 0.8343254 0.20807281 84.29234366] [ -0.3533549 -0.42415034 0.83380861 1.22008464] [ 0. 0. 0. 1. ]] SLAMing on 262.921858064 meters Centerline goodness : 0.973557 Centerline is valid? [False, True] Translation: X:173.76, Y:84.31, Z:1.21 [[ 0.78899997 0.35738146 0.49975747 173.75854942] [ -0.50236573 0.84354648 0.18988946 84.30939048] [ -0.35370568 -0.4008838 0.84509435 1.21077061] [ 0. 0. 0. 1. ]] SLAMing on 262.95185806399996 meters Centerline goodness : 0.980651 Centerline is valid? [True, True] Translation: X:173.88, Y:84.48, Z:1.04 [[ 8.28237972e-01 4.92249636e-01 2.67791258e-01 1.73876587e+02] [-4.73847666e-01 8.70312532e-01 -1.34255305e-01 8.44764086e+01] [-2.99149213e-01 -1.56969213e-02 9.54077227e-01 1.03869215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.981858064 meters Centerline goodness : 0.972382 Centerline is valid? [True, True] Translation: X:173.92, Y:84.47, Z:1.01 [[ 8.31887274e-01 4.97054577e-01 2.46779881e-01 1.73920529e+02] [-4.71992070e-01 8.67611719e-01 -1.56439735e-01 8.44744537e+01] [-2.91868203e-01 1.36620773e-02 9.56360967e-01 1.00965272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01185806399997 meters Centerline goodness : 0.969109 Centerline is valid? [True, True] Translation: X:173.96, Y:84.46, Z:1.00 [[ 8.32386047e-01 5.01766330e-01 2.35295600e-01 1.73957041e+02] [-4.75095015e-01 8.64668700e-01 -1.63195482e-01 8.44550747e+01] [-2.85338739e-01 2.40538753e-02 9.58124843e-01 1.00239873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04185806399994 meters Centerline goodness : 0.969979 Centerline is valid? [True, True] Translation: X:173.99, Y:84.41, Z:1.01 [[ 8.26672426e-01 5.16068599e-01 2.24245180e-01 1.73993237e+02] [-4.94593698e-01 8.56473630e-01 -1.47749769e-01 8.44116186e+01] [-2.68309100e-01 1.12304069e-02 9.63267411e-01 1.01320825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07185806399997 meters Centerline goodness : 0.952484 Centerline is valid? [True, True] Translation: X:174.02, Y:84.40, Z:0.99 [[ 8.29229130e-01 5.07151909e-01 2.34895704e-01 1.74020187e+02] [-4.83303127e-01 8.61734959e-01 -1.54372758e-01 8.44045928e+01] [-2.80708279e-01 1.44845589e-02 9.59683833e-01 9.87403615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10185806399994 meters Centerline goodness : 0.161906 Centerline is valid? [True, False] Translation: X:174.03, Y:84.41, Z:0.99 [[ 8.35288330e-01 5.03530125e-01 2.20795876e-01 1.74026094e+02] [-4.79706034e-01 8.63660405e-01 -1.54831603e-01 8.44124798e+01] [-2.68655032e-01 2.34119174e-02 9.62951897e-01 9.88388274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13185806399997 meters Centerline goodness : 0.898460 Centerline is valid? [False, False] Translation: X:174.04, Y:84.42, Z:0.99 [[ 8.41746029e-01 4.98997919e-01 2.06069647e-01 1.74038592e+02] [-4.76705143e-01 8.66145878e-01 -1.50145013e-01 8.44168846e+01] [-2.53408425e-01 2.81495077e-02 9.66949728e-01 9.88746233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16185806399994 meters Centerline goodness : 0.877326 Centerline is valid? [False, False] Translation: X:174.05, Y:84.42, Z:0.99 [[ 8.47064074e-01 4.95189698e-01 1.93053408e-01 1.74045311e+02] [-4.74157936e-01 8.68176665e-01 -1.46436094e-01 8.44216541e+01] [-2.40118109e-01 3.25029487e-02 9.70199388e-01 9.90830480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5298.02 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%| | 0/8773 [00:00