+ python -m lidar_slam --no-model /working/b5e78cd0-870a-49fe-a261-60ab695c9636 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/b5e78cd0-870a-49fe-a261-60ab695c9636 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 0.010888479 Adjusted end_distance from 9.223372036854776e+18 to 173.900888479 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010888479 meters Centerline goodness : 0.293636 Centerline is valid? [0, False] SLAMing on 0.040888479 meters Centerline goodness : 0.302279 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99993558e-01 -3.57927311e-03 -2.69904359e-04 3.59566711e-03] [ 3.57861101e-03 9.99990681e-01 -2.41494612e-03 -2.56352130e-03] [ 2.78545596e-04 2.41396468e-03 9.99997048e-01 -4.55888097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.070888479 meters Centerline goodness : 0.268679 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99993201e-01 -3.68731225e-03 -3.71654876e-05 4.52289308e-03] [ 3.68725252e-03 9.99992083e-01 -1.49620266e-03 -5.20111800e-03] [ 4.26821597e-05 1.49605544e-03 9.99998880e-01 -6.46172612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.100888479 meters Centerline goodness : 0.201156 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.01 [[ 9.99992601e-01 -3.84305425e-03 1.70848605e-04 4.44566519e-03] [ 3.84329421e-03 9.99991596e-01 -1.42708714e-03 -4.61113175e-03] [-1.65362796e-04 1.42773320e-03 9.99998967e-01 -6.65928150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.130888479 meters Centerline goodness : 0.244009 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 0.99997702 -0.00429933 0.0052411 0.01829582] [ 0.00428829 0.99998857 0.00211648 0.00457035] [-0.00525014 -0.00209396 0.99998403 -0.00794336] [ 0. 0. 0. 1. ]] SLAMing on 0.160888479 meters Centerline goodness : 0.255428 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99998568 -0.00160386 0.0051058 0.01897975] [ 0.00158236 0.99998988 0.00421137 0.0090491 ] [-0.0051125 -0.00420323 0.9999781 -0.00828688] [ 0. 0. 0. 1. ]] SLAMing on 0.190888479 meters Centerline goodness : 0.225056 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99998727 -0.00126046 0.00488605 0.02068586] [ 0.00124459 0.99999395 0.00324862 0.01510719] [-0.00489011 -0.0032425 0.99998279 -0.00941074] [ 0. 0. 0. 1. ]] SLAMing on 0.220888479 meters Centerline goodness : 0.256363 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99989629e-01 -9.72217130e-06 4.55422560e-03 2.38591820e-02] [-6.83074124e-06 9.99993395e-01 3.63459761e-03 1.93816805e-02] [-4.55423086e-03 -3.63459103e-03 9.99983024e-01 -1.22427712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.250888479 meters Centerline goodness : 0.274603 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 0.99998833 0.00272075 0.00399119 0.0296518 ] [-0.00273987 0.99998475 0.00479459 0.02643624] [-0.00397808 -0.00480547 0.99998054 -0.01757228] [ 0. 0. 0. 1. ]] SLAMing on 0.280888479 meters Centerline goodness : 0.272677 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 0.99998822 0.00311459 0.00372348 0.03242549] [-0.00312942 0.99998717 0.00398321 0.03157273] [-0.00371103 -0.00399482 0.99998513 -0.01992743] [ 0. 0. 0. 1. ]] SLAMing on 0.310888479 meters Centerline goodness : 0.281008 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.02 [[ 0.99997287 0.0067107 0.00303807 0.03730371] [-0.00672837 0.9999603 0.00584182 0.0416339 ] [-0.00299874 -0.0058621 0.99997832 -0.02352028] [ 0. 0. 0. 1. ]] SLAMing on 0.34088847899999997 meters Centerline goodness : 0.300540 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.03 [[ 0.99996875 0.00748702 0.00253764 0.03993563] [-0.00750037 0.99995788 0.00529069 0.04922728] [-0.00249792 -0.00530956 0.99998278 -0.02512555] [ 0. 0. 0. 1. ]] SLAMing on 0.370888479 meters Centerline goodness : 0.301866 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:-0.03 [[ 0.99996853 0.00768595 0.00196666 0.04300092] [-0.00769422 0.99996143 0.00423418 0.05659797] [-0.00193404 -0.00424918 0.9999891 -0.02717771] [ 0. 0. 0. 1. ]] SLAMing on 0.400888479 meters Centerline goodness : 0.296054 Centerline is valid? [False, False] Translation: X:0.05, Y:0.06, Z:-0.03 [[ 0.99997133 0.00743112 0.00145274 0.04583774] [-0.00743559 0.99996756 0.00309557 0.0618662 ] [-0.00142969 -0.00310628 0.99999415 -0.02904674] [ 0. 0. 0. 1. ]] SLAMing on 0.430888479 meters Centerline goodness : 0.306303 Centerline is valid? [False, False] Translation: X:0.05, Y:0.06, Z:-0.03 [[ 0.99997566 0.00682556 0.00144337 0.04648644] [-0.00682862 0.99997442 0.00212639 0.06417657] [-0.00142882 -0.0021362 0.9999967 -0.02925743] [ 0. 0. 0. 1. ]] SLAMing on 0.46088847899999996 meters Centerline goodness : 0.319563 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.03 [[ 0.99999313 0.00288971 0.00232159 0.04640245] [-0.00288632 0.99999476 -0.00146457 0.06752808] [-0.00232581 0.00145786 0.99999623 -0.02881449] [ 0. 0. 0. 1. ]] SLAMing on 0.490888479 meters Centerline goodness : 0.320033 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.03 [[ 0.99999507 0.00213776 0.00229849 0.04651435] [-0.00213382 0.99999626 -0.00171233 0.06873584] [-0.00230214 0.00170742 0.99999589 -0.02814255] [ 0. 0. 0. 1. ]] SLAMing on 0.520888479 meters Centerline goodness : 0.324720 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.03 [[ 0.99999712 0.00142772 0.00192876 0.04722964] [-0.0014238 0.99999692 -0.00203233 0.07079465] [-0.00193166 0.00202958 0.99999607 -0.02759423] [ 0. 0. 0. 1. ]] SLAMing on 0.550888479 meters Centerline goodness : 0.161966 Centerline is valid? [False, False] Translation: X:0.05, Y:0.08, Z:-0.03 [[ 9.99999275e-01 5.13968880e-04 1.08885569e-03 5.07048281e-02] [-5.11784747e-04 9.99997859e-01 -2.00522687e-03 7.54056132e-02] [-1.08988398e-03 2.00466816e-03 9.99997397e-01 -2.88836146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.580888479 meters Centerline goodness : 0.209714 Centerline is valid? [False, False] Translation: X:0.05, Y:0.08, Z:-0.03 [[ 9.99999341e-01 4.97138711e-04 1.03438153e-03 5.23909841e-02] [-4.95500899e-04 9.99998624e-01 -1.58302723e-03 7.53129096e-02] [-1.03516709e-03 1.58251365e-03 9.99998212e-01 -3.02608465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.610888479 meters Centerline goodness : 0.155954 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.03 [[ 9.99998944e-01 3.52925505e-04 1.40960994e-03 5.35245815e-02] [-3.51337296e-04 9.99999303e-01 -1.12678980e-03 7.38315990e-02] [-1.41000663e-03 1.12629336e-03 9.99998372e-01 -3.18205838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.640888479 meters Centerline goodness : 0.905580 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.03 [[ 9.99998010e-01 -1.00391765e-03 1.72404405e-03 5.60793443e-02] [ 1.00465415e-03 9.99999404e-01 -4.26384618e-04 7.19203968e-02] [-1.72361497e-03 4.28115838e-04 9.99998423e-01 -3.41482442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6708884789999999 meters Centerline goodness : 0.903722 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.03 [[ 9.99996961e-01 -1.86674793e-03 1.61036342e-03 5.69037758e-02] [ 1.86715442e-03 9.99998225e-01 -2.50950671e-04 7.18337525e-02] [-1.60989210e-03 2.53956705e-04 9.99998672e-01 -3.40829045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.700888479 meters Centerline goodness : 0.903722 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.03 [[ 9.99996961e-01 -1.86674793e-03 1.61036342e-03 5.69037758e-02] [ 1.86715442e-03 9.99998225e-01 -2.50950671e-04 7.18337525e-02] [-1.60989210e-03 2.53956705e-04 9.99998672e-01 -3.40829045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.730888479 meters Centerline goodness : 0.904813 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.03 [[ 9.99994624e-01 -2.90202689e-03 1.52666943e-03 5.78850133e-02] [ 2.90212893e-03 9.99995787e-01 -6.46274386e-05 7.20209725e-02] [-1.52647544e-03 6.90576826e-05 9.99998833e-01 -3.40916293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.760888479 meters Centerline goodness : 0.904720 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.03 [[ 9.99990680e-01 -4.16877703e-03 1.12278205e-03 5.89847144e-02] [ 4.16873625e-03 9.99991310e-01 3.86589858e-05 7.19558748e-02] [-1.12293345e-03 -3.39780433e-05 9.99999369e-01 -3.36931094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.790888479 meters Centerline goodness : 0.902572 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.04 [[ 9.99939040e-01 -1.10414872e-02 4.09753920e-05 6.39191727e-02] [ 1.10415616e-02 9.99930034e-01 -4.24393849e-03 7.40377447e-02] [ 5.88686726e-06 4.24413221e-03 9.99990994e-01 -3.55406847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.820888479 meters Centerline goodness : 0.904412 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.04 [[ 9.99887736e-01 -1.49737272e-02 -5.50035386e-04 6.81383390e-02] [ 1.49692324e-02 9.99860378e-01 -7.42611216e-03 7.37305945e-02] [ 6.61155166e-04 7.41704487e-03 9.99972275e-01 -3.88988689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.850888479 meters Centerline goodness : 0.900894 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.04 [[ 0.99982766 -0.01853143 -0.00110809 0.07291499] [ 0.01851922 0.99977679 -0.01016893 0.07300746] [ 0.00129629 0.01014666 0.99994768 -0.04291479] [ 0. 0. 0. 1. ]] SLAMing on 0.880888479 meters Centerline goodness : 0.902493 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-0.05 [[ 0.99975403 -0.02213229 -0.00142948 0.07630541] [ 0.02211176 0.99967025 -0.01305641 0.07351728] [ 0.00171797 0.01302159 0.99991374 -0.04538499] [ 0. 0. 0. 1. ]] SLAMing on 0.9108884789999999 meters Centerline goodness : 0.297435 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.04 [[ 0.99969626 -0.02461848 -0.00114951 0.07789821] [ 0.02460187 0.99961619 -0.01273668 0.07656929] [ 0.00146263 0.01270453 0.99991822 -0.0446361 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9408884789999999 meters Centerline goodness : 0.161018 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.04 [[ 0.99974256 -0.02265935 -0.00117202 0.07819168] [ 0.0226478 0.99970236 -0.00907017 0.0771208 ] [ 0.00137719 0.00904129 0.99995818 -0.04381456] [ 0. 0. 0. 1. ]] SLAMing on 0.970888479 meters Centerline goodness : 0.909876 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.04 [[ 0.99978463 -0.02070858 -0.00135988 0.07916728] [ 0.020701 0.99977131 -0.0053666 0.07737065] [ 0.00147071 0.00533729 0.99998468 -0.04348706] [ 0. 0. 0. 1. ]] SLAMing on 1.0008884789999999 meters Centerline goodness : 0.916667 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.05 [[ 0.99969508 -0.0246331 -0.0017211 0.08318745] [ 0.02461889 0.99966616 -0.00784091 0.07966315] [ 0.00191367 0.00779615 0.99996778 -0.04531704] [ 0. 0. 0. 1. ]] SLAMing on 1.030888479 meters SLAMing on 1.060888479 meters Centerline goodness : 0.916996 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.05 [[ 0.99956546 -0.02943306 -0.00160857 0.08898164] [ 0.02941381 0.99950779 -0.01090861 0.07821548] [ 0.00192885 0.01085655 0.99993921 -0.05086796] [ 0. 0. 0. 1. ]] SLAMing on 1.090888479 meters Centerline goodness : 0.919127 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.05 [[ 0.99942764 -0.03380489 -0.0012711 0.09158548] [ 0.03378445 0.99933614 -0.01363415 0.08053409] [ 0.00173116 0.01358341 0.99990624 -0.05255806] [ 0. 0. 0. 1. ]] SLAMing on 1.1208884789999998 meters Centerline goodness : 0.920977 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.05 [[ 0.99939788 -0.03467928 -0.00110515 0.09192688] [ 0.03466064 0.99930285 -0.01387296 0.08212108] [ 0.00158549 0.0138263 0.99990316 -0.0523674 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1508884789999998 meters Centerline goodness : 0.921556 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.05 [[ 9.99364337e-01 -3.56391113e-02 -8.80838425e-04 9.19378113e-02] [ 3.56230860e-02 9.99264962e-01 -1.41609043e-02 8.41035497e-02] [ 1.38487302e-03 1.41205245e-02 9.99899341e-01 -5.17453756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1808884789999998 meters Centerline goodness : 0.923681 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.05 [[ 9.99284495e-01 -3.78219366e-02 7.08185270e-07 9.14592883e-02] [ 3.78179890e-02 9.99179923e-01 -1.44665467e-02 8.66275556e-02] [ 5.46445207e-04 1.44562225e-02 9.99895354e-01 -5.00198652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2108884789999999 meters Centerline goodness : 0.918400 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.05 [[ 9.99249559e-01 -3.87338107e-02 1.07451044e-04 9.22849355e-02] [ 3.87313801e-02 9.99147148e-01 -1.43128527e-02 8.71497348e-02] [ 4.47031922e-04 1.43062734e-02 9.99897560e-01 -5.00764174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2408884789999999 meters Centerline goodness : 0.927780 Centerline is valid? [False, False] Translation: X:0.10, Y:0.09, Z:-0.05 [[ 9.99239184e-01 -3.89989915e-02 -3.62369041e-04 9.51216357e-02] [ 3.89903410e-02 9.99145171e-01 -1.37360819e-02 8.76601534e-02] [ 8.97752618e-04 1.37115023e-02 9.99905590e-01 -5.18371212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.270888479 meters Centerline goodness : 0.931051 Centerline is valid? [False, False] Translation: X:0.10, Y:0.09, Z:-0.06 [[ 9.99221197e-01 -3.94488869e-02 -8.86351528e-04 9.99106486e-02] [ 3.94325183e-02 9.99122996e-01 -1.40824473e-02 8.92047543e-02] [ 1.44111106e-03 1.40365287e-02 9.99900445e-01 -5.60009628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.300888479 meters Centerline goodness : 0.932972 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-0.06 [[ 0.999357 -0.03582137 -0.00155171 0.10832118] [ 0.03580512 0.99931391 -0.00947087 0.09078041] [ 0.0018899 0.00940922 0.99995395 -0.06333533] [ 0. 0. 0. 1. ]] SLAMing on 1.3308884789999997 meters Centerline goodness : 0.934840 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-0.07 [[ 0.99949295 -0.0317911 -0.00177952 0.110883 ] [ 0.03178177 0.9994821 -0.00504582 0.09224175] [ 0.00193901 0.00498671 0.99998569 -0.06535087] [ 0. 0. 0. 1. ]] SLAMing on 1.3608884789999998 meters Centerline goodness : 0.935981 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-0.07 [[ 9.99625672e-01 -2.72842625e-02 -2.02135423e-03 1.13527642e-01] [ 2.72837072e-02 9.99627685e-01 -3.01795309e-04 9.41051532e-02] [ 2.02883591e-03 2.46532302e-04 9.99997912e-01 -6.72051275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3908884789999998 meters Centerline goodness : 0.936191 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:-0.07 [[ 0.99980206 -0.01975183 -0.00238951 0.11882093] [ 0.01976865 0.99977844 0.00722965 0.09641154] [ 0.00224618 -0.00727546 0.99997101 -0.07053693] [ 0. 0. 0. 1. ]] SLAMing on 1.4208884789999998 meters Centerline goodness : 0.938372 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:-0.07 [[ 0.99982357 -0.01852019 -0.00313637 0.12212697] [ 0.01854457 0.9997966 0.00792874 0.09833281] [ 0.00298889 -0.00798551 0.99996365 -0.0722236 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4508884789999998 meters Centerline goodness : 0.938474 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.07 [[ 0.99983747 -0.01758027 -0.00399713 0.12539438] [ 0.01761317 0.99981001 0.00835033 0.10027058] [ 0.00384957 -0.00841938 0.99995715 -0.07369032] [ 0. 0. 0. 1. ]] SLAMing on 1.4808884789999999 meters Centerline goodness : 0.940985 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.08 [[ 0.99982898 -0.0178945 -0.00466878 0.13033992] [ 0.01793429 0.99980197 0.00862431 0.10105201] [ 0.00451353 -0.00870657 0.99995191 -0.07638052] [ 0. 0. 0. 1. ]] SLAMing on 1.510888479 meters Centerline goodness : 0.942828 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.08 [[ 0.99981548 -0.01851402 -0.00512149 0.13237066] [ 0.01855827 0.99978965 0.00873136 0.09952597] [ 0.00495876 -0.00882479 0.99994877 -0.07774444] [ 0. 0. 0. 1. ]] SLAMing on 1.540888479 meters Centerline goodness : 0.944800 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:-0.08 [[ 0.99978753 -0.0198331 -0.00561638 0.13599027] [ 0.01987629 0.99977248 0.00774094 0.09876941] [ 0.00546158 -0.00785093 0.99995427 -0.08061059] [ 0. 0. 0. 1. ]] SLAMing on 1.570888479 meters Centerline goodness : 0.945534 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:-0.08 [[ 0.99977449 -0.0203871 -0.00594362 0.13737133] [ 0.02043539 0.99975772 0.00817931 0.09713465] [ 0.00577542 -0.00829892 0.99994888 -0.0813715 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6008884789999998 meters Centerline goodness : 0.945276 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:-0.08 [[ 0.99976271 -0.02082318 -0.00639676 0.13900329] [ 0.02087997 0.99974198 0.00894399 0.09502929] [ 0.00620887 -0.00907543 0.99993954 -0.0819348 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6308884789999998 meters Centerline goodness : 0.949901 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:-0.08 [[ 0.99966423 -0.02528909 -0.00564652 0.13915536] [ 0.02533007 0.99965244 0.00730676 0.08910934] [ 0.00545978 -0.00744733 0.99995736 -0.08108608] [ 0. 0. 0. 1. ]] SLAMing on 1.6608884789999998 meters Centerline goodness : 0.951534 Centerline is valid? [False, True] Translation: X:0.14, Y:0.08, Z:-0.08 [[ 0.99964191 -0.02614457 -0.00570278 0.13961665] [ 0.02619202 0.99962154 0.00841144 0.08415322] [ 0.0054807 -0.00855779 0.99994836 -0.08076279] [ 0. 0. 0. 1. ]] SLAMing on 1.6908884789999998 meters Centerline goodness : 0.951403 Centerline is valid? [True, True] Translation: X:0.16, Y:0.11, Z:-0.05 [[ 0.99947952 -0.03203554 -0.00379633 0.15555776] [ 0.03184853 0.99861312 -0.04192273 0.11023955] [ 0.00513408 0.04178 0.99911364 -0.05350499] [ 0. 0. 0. 1. ]] SLAMing on 1.7208884789999999 meters Centerline goodness : 0.952906 Centerline is valid? [True, True] Translation: X:0.20, Y:0.08, Z:-0.08 [[ 0.99945923 -0.02982059 -0.01385574 0.19653188] [ 0.02995705 0.99950365 0.00974784 0.07992805] [ 0.01355817 -0.01015765 0.99985649 -0.07815831] [ 0. 0. 0. 1. ]] SLAMing on 1.7508884789999999 meters Centerline goodness : 0.922917 Centerline is valid? [True, False] Translation: X:0.20, Y:0.08, Z:-0.08 [[ 0.99941288 -0.03157807 -0.01329379 0.19604532] [ 0.0317014 0.99945531 0.00917101 0.07625872] [ 0.01299695 -0.00958706 0.99986958 -0.07765256] [ 0. 0. 0. 1. ]] SLAMing on 1.780888479 meters Centerline goodness : 0.933980 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.08 [[ 0.9993814 -0.0327147 -0.01290595 0.19659984] [ 0.03283748 0.99941633 0.00941837 0.0716113 ] [ 0.0125903 -0.00983634 0.99987236 -0.07817474] [ 0. 0. 0. 1. ]] SLAMing on 1.8108884789999997 meters Centerline goodness : 0.955705 Centerline is valid? [False, True] Translation: X:0.20, Y:0.07, Z:-0.08 [[ 0.99929548 -0.03496038 -0.01364995 0.20064721] [ 0.03507329 0.99935174 0.00812164 0.06770124] [ 0.01335717 -0.00859467 0.99987385 -0.08098677] [ 0. 0. 0. 1. ]] SLAMing on 1.8408884789999997 meters Centerline goodness : 0.941858 Centerline is valid? [True, False] Translation: X:0.21, Y:0.06, Z:-0.08 [[ 0.99925956 -0.03528269 -0.01534504 0.21102682] [ 0.03539882 0.99934614 0.00736344 0.05760408] [ 0.01507521 -0.00790118 0.99985514 -0.08425345] [ 0. 0. 0. 1. ]] SLAMing on 1.8708884789999998 meters Centerline goodness : 0.949520 Centerline is valid? [False, False] Translation: X:0.21, Y:0.05, Z:-0.08 [[ 0.99923186 -0.03636457 -0.01460538 0.2105008 ] [ 0.036479 0.99930517 0.00764564 0.05202165] [ 0.0143172 -0.00817255 0.9998641 -0.08410488] [ 0. 0. 0. 1. ]] SLAMing on 1.9008884789999998 meters Centerline goodness : 0.961457 Centerline is valid? [False, True] Translation: X:0.21, Y:0.05, Z:-0.09 [[ 0.99919088 -0.03732965 -0.01496967 0.2136843 ] [ 0.03744237 0.99927197 0.00732113 0.04777685] [ 0.01468548 -0.00787571 0.99986115 -0.0861138 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9308884789999998 meters Centerline goodness : 0.964325 Centerline is valid? [True, True] Translation: X:0.25, Y:0.07, Z:-0.08 [[ 0.99948599 -0.03004149 -0.01119202 0.24628624] [ 0.02944315 0.99830223 -0.05025687 0.0686302 ] [ 0.01268281 0.04990151 0.99867361 -0.08027022] [ 0. 0. 0. 1. ]] SLAMing on 1.9608884789999999 meters Centerline goodness : 0.965033 Centerline is valid? [True, True] Translation: X:0.28, Y:0.05, Z:-0.09 [[ 0.99932796 -0.02583738 -0.0260011 0.27626219] [ 0.02579675 0.99966541 -0.00189677 0.04551267] [ 0.02604141 0.00122475 0.99966011 -0.09247912] [ 0. 0. 0. 1. ]] SLAMing on 1.9908884789999999 meters Centerline goodness : 0.964716 Centerline is valid? [True, True] Translation: X:0.30, Y:0.04, Z:-0.09 [[ 0.99915476 -0.02204316 -0.03469664 0.3021433 ] [ 0.02235969 0.9997116 0.0087614 0.03968995] [ 0.03449351 -0.0095298 0.99935949 -0.09116976] [ 0. 0. 0. 1. ]] SLAMing on 2.020888479 meters Centerline goodness : 0.965526 Centerline is valid? [True, True] Translation: X:0.33, Y:0.05, Z:-0.09 [[ 0.99932227 -0.01717808 -0.03255644 0.32765577] [ 0.01643972 0.99960458 -0.02281279 0.05395402] [ 0.03293544 0.02226211 0.99920952 -0.08603039] [ 0. 0. 0. 1. ]] SLAMing on 2.050888479 meters Centerline goodness : 0.966847 Centerline is valid? [True, True] Translation: X:0.35, Y:0.05, Z:-0.09 [[ 0.99947551 -0.00969381 -0.03089874 0.35308229] [ 0.0088178 0.99955881 -0.02836245 0.04611561] [ 0.03116005 0.02807511 0.99912003 -0.08539953] [ 0. 0. 0. 1. ]] SLAMing on 2.080888479 meters Centerline goodness : 0.968993 Centerline is valid? [True, True] Translation: X:0.39, Y:0.04, Z:-0.09 [[ 0.99947659 -0.00876374 -0.03114083 0.38742363] [ 0.00798484 0.99965434 -0.02504898 0.04045642] [ 0.03134959 0.02478722 0.99920108 -0.08963462] [ 0. 0. 0. 1. ]] SLAMing on 2.110888479 meters Centerline goodness : 0.966448 Centerline is valid? [True, True] Translation: X:0.42, Y:0.03, Z:-0.09 [[ 0.99921176 -0.0071291 -0.03905157 0.41717818] [ 0.00638677 0.99979716 -0.01910078 0.02582441] [ 0.03917982 0.01883631 0.99905462 -0.0898298 ] [ 0. 0. 0. 1. ]] SLAMing on 2.140888479 meters Centerline goodness : 0.965841 Centerline is valid? [True, True] Translation: X:0.45, Y:0.03, Z:-0.09 [[ 0.99896517 -0.00733023 -0.04488725 0.44534659] [ 0.00607376 0.99958766 -0.02806444 0.02748313] [ 0.04507446 0.02776276 0.99859778 -0.08918849] [ 0. 0. 0. 1. ]] SLAMing on 2.1708884790000003 meters Centerline goodness : 0.965833 Centerline is valid? [True, True] Translation: X:0.48, Y:0.03, Z:-0.09 [[ 0.99919516 -0.00947343 -0.03897801 0.47890633] [ 0.00840462 0.99958664 -0.02749399 0.02626085] [ 0.03922236 0.02714426 0.99886175 -0.09446705] [ 0. 0. 0. 1. ]] SLAMing on 2.200888479 meters Centerline goodness : 0.964241 Centerline is valid? [True, True] Translation: X:0.49, Y:0.05, Z:-0.08 [[ 0.99914684 -0.01156889 -0.03964533 0.48868985] [ 0.00770239 0.99531991 -0.0963273 0.04729509] [ 0.04057419 0.09593975 0.99455985 -0.08293816] [ 0. 0. 0. 1. ]] SLAMing on 2.230888479 meters Centerline goodness : 0.967877 Centerline is valid? [True, True] Translation: X:0.50, Y:0.03, Z:-0.11 [[ 0.99854889 -0.03547968 -0.04051315 0.49946775] [ 0.03561848 0.99936179 0.0027092 0.02528329] [ 0.04039118 -0.00414828 0.99917533 -0.11444908] [ 0. 0. 0. 1. ]] SLAMing on 2.260888479 meters Centerline goodness : 0.969115 Centerline is valid? [True, True] Translation: X:0.52, Y:0.03, Z:-0.10 [[ 0.99862274 -0.02815534 -0.04427073 0.51538866] [ 0.02674284 0.99912422 -0.03218105 0.02995312] [ 0.04513802 0.0309528 0.99850112 -0.10308571] [ 0. 0. 0. 1. ]] SLAMing on 2.290888479 meters Centerline goodness : 0.969428 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.00, Z:-0.09 [[ 9.98079330e-01 -1.48817087e-02 -6.01347290e-02 5.89403670e-01] [ 1.49407152e-02 9.99888240e-01 5.31696765e-04 -1.53233064e-03] [ 6.01200958e-02 -1.42913141e-03 9.98190128e-01 -9.16322746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.320888479 meters Centerline goodness : 0.972823 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.02, Z:-0.09 [[ 0.99796238 -0.01649098 -0.06163716 0.62612504] [ 0.01744801 0.99973493 0.01502092 -0.01550361] [ 0.06137312 -0.01606576 0.99798559 -0.09363806] [ 0. 0. 0. 1. ]] SLAMing on 2.350888479 meters Centerline goodness : 0.972328 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.01, Z:-0.08 [[ 0.9974158 -0.01966075 -0.06910265 0.65759664] [ 0.01978209 0.99980374 0.00107196 -0.01028232] [ 0.06906801 -0.00243618 0.99760898 -0.07813059] [ 0. 0. 0. 1. ]] SLAMing on 2.3808884790000002 meters Centerline goodness : 0.973233 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.01, Z:-0.07 [[ 0.9972789 -0.01997887 -0.0709623 0.6885383 ] [ 0.01919359 0.99974696 -0.01173089 -0.00807052] [ 0.07117871 0.01033695 0.99741002 -0.06988765] [ 0. 0. 0. 1. ]] SLAMing on 2.410888479 meters Centerline goodness : 0.973354 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.00, Z:-0.07 [[ 0.99719125 -0.02153303 -0.07173525 0.71997325] [ 0.02024464 0.99962129 -0.01863942 -0.00406497] [ 0.07210945 0.01713482 0.99724953 -0.06515321] [ 0. 0. 0. 1. ]] SLAMing on 2.440888479 meters Centerline goodness : 0.976073 Centerline is valid? [True, True] Translation: X:0.74, Y:0.00, Z:-0.06 [[ 9.97574923e-01 -2.19682574e-02 -6.60429377e-02 7.37313838e-01] [ 2.01282607e-02 9.99394016e-01 -2.83981439e-02 1.45775798e-04] [ 6.66267745e-02 2.69999467e-02 9.97412591e-01 -6.35974586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.470888479 meters Centerline goodness : 0.978079 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.00, Z:-0.06 [[ 0.9978864 -0.02427021 -0.06028017 0.76885526] [ 0.02282415 0.9994377 -0.02456288 -0.00123367] [ 0.06084242 0.02313512 0.99787923 -0.0637347 ] [ 0. 0. 0. 1. ]] SLAMing on 2.500888479 meters Centerline goodness : 0.979831 Centerline is valid? [True, True] Translation: X:0.82, Y:0.00, Z:-0.05 [[ 9.96981884e-01 -3.31652562e-02 -7.01939348e-02 8.20246408e-01] [ 3.12607173e-02 9.99117324e-01 -2.80595916e-02 5.11262148e-04] [ 7.10625799e-02 2.57805918e-02 9.97138642e-01 -5.29484912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.530888479 meters Centerline goodness : 0.983795 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.01, Z:-0.07 [[ 0.99708423 -0.03841263 -0.06593571 0.85234924] [ 0.03809398 0.99925564 -0.00608373 -0.0063675 ] [ 0.06612032 0.00355424 0.99780533 -0.06686872] [ 0. 0. 0. 1. ]] SLAMing on 2.560888479 meters Centerline goodness : 0.982377 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.01, Z:-0.05 [[ 0.99640112 -0.03942097 -0.07503858 0.88396465] [ 0.03879329 0.99919915 -0.00980467 -0.00981002] [ 0.075365 0.00685839 0.99713243 -0.05235653] [ 0. 0. 0. 1. ]] SLAMing on 2.590888479 meters Centerline goodness : 0.987975 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.01, Z:-0.04 [[ 9.96026659e-01 -4.83837525e-02 -7.47656836e-02 9.37988800e-01] [ 4.85933140e-02 9.98818161e-01 9.85285493e-04 -1.08674160e-02] [ 7.46296508e-02 -4.61448296e-03 9.97200643e-01 -4.42329188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.620888479 meters Centerline goodness : 0.987975 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.00, Z:-0.04 [[ 0.99591061 -0.04872879 -0.07607597 0.9665225 ] [ 0.04804645 0.99878698 -0.01077498 -0.00206142] [ 0.07650874 0.00707574 0.9970438 -0.03896824] [ 0. 0. 0. 1. ]] SLAMing on 2.650888479 meters Centerline goodness : 0.984088 Centerline is valid? [True, True] Translation: X:0.99, Y:0.01, Z:-0.03 [[ 0.99509763 -0.05649189 -0.08117492 0.98709305] [ 0.05511663 0.9982975 -0.01908583 0.00511077] [ 0.08211491 0.01451817 0.99651712 -0.027182 ] [ 0. 0. 0. 1. ]] SLAMing on 2.680888479 meters Centerline goodness : 0.989400 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.02, Z:-0.03 [[ 0.9954746 -0.05543984 -0.07717993 1.01669298] [ 0.0579938 0.99782769 0.03125097 -0.01512692] [ 0.07527972 -0.03558551 0.99652729 -0.03482432] [ 0. 0. 0. 1. ]] SLAMing on 2.710888479 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:1.06, Y:0.02, Z:-0.02 [[ 0.99462991 -0.07112244 -0.07518609 1.06091236] [ 0.06967594 0.99733378 -0.02169341 0.01774055] [ 0.07652852 0.01633825 0.99693352 -0.01924256] [ 0. 0. 0. 1. ]] SLAMing on 2.740888479 meters Centerline goodness : 0.989763 Centerline is valid? [True, True] Translation: X:1.08, Y:0.01, Z:-0.02 [[ 0.99438515 -0.06679664 -0.08207546 1.07849131] [ 0.06671964 0.99776496 -0.00368351 0.00695425] [ 0.08213806 -0.00181321 0.99661931 -0.01850836] [ 0. 0. 0. 1. ]] SLAMing on 2.770888479 meters Centerline goodness : 0.992509 Centerline is valid? [True, True] Translation: X:1.11, Y:0.01, Z:-0.01 [[ 9.94176517e-01 -7.52419350e-02 -7.71472882e-02 1.11272600e+00] [ 7.50945218e-02 9.97164799e-01 -4.81415292e-03 1.33238990e-02] [ 7.72907863e-02 -1.00722094e-03 9.97008084e-01 -9.60135721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.800888479 meters Centerline goodness : 0.992130 Centerline is valid? [True, True] Translation: X:1.14, Y:0.03, Z:-0.01 [[ 0.99446755 -0.07805146 -0.07030125 1.14027895] [ 0.07648642 0.9967649 -0.02468927 0.03106685] [ 0.07200085 0.01917559 0.99722022 -0.00651005] [ 0. 0. 0. 1. ]] SLAMing on 2.830888479 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:1.18, Y:0.03, Z:0.01 [[ 0.99397551 -0.07797027 -0.07702807 1.17824671] [ 0.07838451 0.9969204 0.00236449 0.02543873] [ 0.0766065 -0.00838805 0.99702612 0.00564677] [ 0. 0. 0. 1. ]] SLAMing on 2.860888479 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:1.22, Y:0.04, Z:0.00 [[ 0.99443532 -0.08038721 -0.06809036 1.21649742] [ 0.081207 0.99665336 0.00935408 0.04064369] [ 0.06711054 -0.01483144 0.99763531 0.00438236] [ 0. 0. 0. 1. ]] SLAMing on 2.890888479 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:1.24, Y:0.06, Z:0.01 [[ 0.99441123 -0.0757738 -0.07351626 1.23688867] [ 0.07511987 0.99710676 -0.01162366 0.06056802] [ 0.07418432 0.00603616 0.99722628 0.00985171] [ 0. 0. 0. 1. ]] SLAMing on 2.920888479 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:1.26, Y:0.07, Z:0.02 [[ 0.99418846 -0.07210041 -0.07994272 1.26241855] [ 0.07089294 0.9973243 -0.01784468 0.07283448] [ 0.08101542 0.0120736 0.99663972 0.01501506] [ 0. 0. 0. 1. ]] SLAMing on 2.950888479 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:1.30, Y:0.07, Z:0.02 [[ 0.99439822 -0.06860491 -0.08040867 1.29884534] [ 0.06911328 0.99760249 0.00355301 0.07247603] [ 0.07997213 -0.00909041 0.99675565 0.01615073] [ 0. 0. 0. 1. ]] SLAMing on 2.980888479 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:1.33, Y:0.08, Z:0.02 [[ 0.99542704 -0.06093027 -0.07356978 1.32992539] [ 0.06166035 0.99806755 0.00769149 0.08441557] [ 0.07295897 -0.01219266 0.99726041 0.01857786] [ 0. 0. 0. 1. ]] SLAMing on 3.010888479 meters Centerline goodness : 0.996456 Centerline is valid? [True, True] Translation: X:1.36, Y:0.10, Z:0.03 [[ 0.99539891 -0.06118338 -0.07374008 1.35919324] [ 0.0607086 0.99811792 -0.00866499 0.1033929 ] [ 0.07413144 0.00414846 0.99723985 0.02837752] [ 0. 0. 0. 1. ]] SLAMing on 3.040888479 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:1.38, Y:0.12, Z:0.03 [[ 0.99536402 -0.05416417 -0.07947771 1.37679011] [ 0.0532993 0.99849441 -0.01296491 0.11572703] [ 0.08006028 0.0086687 0.99675233 0.03321042] [ 0. 0. 0. 1. ]] SLAMing on 3.070888479 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:1.41, Y:0.07, Z:0.02 [[ 0.99717473 -0.04479669 -0.06029763 1.41183993] [ 0.0513541 0.99237971 0.11200569 0.06751551] [ 0.05482066 -0.11478577 0.99187646 0.02147058] [ 0. 0. 0. 1. ]] SLAMing on 3.100888479 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:1.43, Y:0.13, Z:0.05 [[ 0.99727556 -0.05497673 -0.0491834 1.43061253] [ 0.05476602 0.99848338 -0.00562263 0.13448268] [ 0.04941792 0.00291373 0.99877394 0.04864395] [ 0. 0. 0. 1. ]] SLAMing on 3.1308884790000002 meters Centerline goodness : 0.997278 Centerline is valid? [True, True] Translation: X:1.45, Y:0.18, Z:0.07 [[ 0.9960745 -0.06255837 -0.06262615 1.45265294] [ 0.05690011 0.99446011 -0.08838247 0.17677258] [ 0.06780827 0.08447209 0.99411594 0.06584784] [ 0. 0. 0. 1. ]] SLAMing on 3.160888479 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:1.49, Y:0.11, Z:0.04 [[ 0.9970457 -0.05114707 -0.05730492 1.49284575] [ 0.05559768 0.99532528 0.07897143 0.10615184] [ 0.05299788 -0.08192415 0.99522845 0.03656572] [ 0. 0. 0. 1. ]] SLAMing on 3.190888479 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:1.52, Y:0.18, Z:0.09 [[ 0.99477501 -0.06432647 -0.07927658 1.51576045] [ 0.05856789 0.99561508 -0.0729412 0.17976749] [ 0.08362101 0.06791702 0.99418047 0.08802248] [ 0. 0. 0. 1. ]] SLAMing on 3.220888479 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:1.55, Y:0.11, Z:0.06 [[ 0.99562387 -0.04989471 -0.07901666 1.54967306] [ 0.05775603 0.99325418 0.10055037 0.11241988] [ 0.07346669 -0.10467404 0.99178929 0.06062065] [ 0. 0. 0. 1. ]] SLAMing on 3.250888479 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:1.58, Y:0.18, Z:0.09 [[ 0.99556376 -0.06148909 -0.07121722 1.57908635] [ 0.05866209 0.9974302 -0.04113088 0.18178033] [ 0.0735633 0.03677066 0.99661244 0.09407457] [ 0. 0. 0. 1. ]] SLAMing on 3.280888479 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:1.60, Y:0.18, Z:0.08 [[ 0.99603996 -0.05796033 -0.06741667 1.59851256] [ 0.05741521 0.99830033 -0.00999718 0.17729338] [ 0.06788152 0.00608685 0.99767482 0.08422927] [ 0. 0. 0. 1. ]] SLAMing on 3.310888479 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:1.63, Y:0.17, Z:0.09 [[ 0.99534774 -0.04991558 -0.08240943 1.62907047] [ 0.05187737 0.99841468 0.02183708 0.16953062] [ 0.08118877 -0.02601067 0.99635929 0.08817248] [ 0. 0. 0. 1. ]] SLAMing on 3.340888479 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:1.66, Y:0.19, Z:0.10 [[ 0.99494906 -0.05364271 -0.08484586 1.65810391] [ 0.05218121 0.99845011 -0.01935193 0.193142 ] [ 0.08575245 0.01482683 0.99620614 0.10199176] [ 0. 0. 0. 1. ]] SLAMing on 3.370888479 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:1.69, Y:0.19, Z:0.10 [[ 0.9951449 -0.05053428 -0.08445653 1.68680943] [ 0.04976816 0.99869852 -0.01115351 0.1939935 ] [ 0.08491025 0.00689612 0.99636474 0.09736273] [ 0. 0. 0. 1. ]] SLAMing on 3.400888479 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:1.72, Y:0.21, Z:0.11 [[ 0.99580785 -0.04566601 -0.07925488 1.71805717] [ 0.04283025 0.99839256 -0.03711961 0.21057915] [ 0.08082259 0.0335695 0.99616304 0.10534722] [ 0. 0. 0. 1. ]] SLAMing on 3.430888479 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:1.75, Y:0.20, Z:0.10 [[ 0.99559811 -0.04243035 -0.08357074 1.7503689 ] [ 0.04207838 0.99909648 -0.00596926 0.20293487] [ 0.08374851 0.00242646 0.99648397 0.09955331] [ 0. 0. 0. 1. ]] SLAMing on 3.460888479 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:1.77, Y:0.20, Z:0.10 [[ 0.99609146 -0.03657725 -0.08039847 1.77426181] [ 0.0373445 0.99926995 0.00805973 0.1997826 ] [ 0.08004497 -0.01103067 0.99673022 0.09667521] [ 0. 0. 0. 1. ]] SLAMing on 3.490888479 meters Centerline goodness : 0.996212 Centerline is valid? [True, True] Translation: X:1.80, Y:0.21, Z:0.11 [[ 0.99603173 -0.03883104 -0.08008091 1.80142065] [ 0.03826269 0.99923053 -0.00862018 0.21005514] [ 0.08035402 0.00552186 0.99675109 0.1057835 ] [ 0. 0. 0. 1. ]] SLAMing on 3.520888479 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:1.83, Y:0.21, Z:0.10 [[ 0.99637138 -0.04073197 -0.07473276 1.82894913] [ 0.03964277 0.99908579 -0.01600126 0.21303898] [ 0.0753162 0.01298058 0.99707521 0.10446371] [ 0. 0. 0. 1. ]] SLAMing on 3.550888479 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:1.86, Y:0.21, Z:0.10 [[ 9.96692858e-01 -4.13183604e-02 -6.99724296e-02 1.85626815e+00] [ 4.12890543e-02 9.99145501e-01 -1.86571197e-03 2.05432511e-01] [ 6.99897264e-02 -1.02955365e-03 9.97547181e-01 9.99607950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.580888479 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:1.89, Y:0.21, Z:0.11 [[ 0.99616268 -0.04988905 -0.07190962 1.88671325] [ 0.04817815 0.99851741 -0.02533465 0.20948345] [ 0.07306693 0.02177296 0.99708935 0.11083403] [ 0. 0. 0. 1. ]] SLAMing on 3.6108884789999998 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:1.92, Y:0.20, Z:0.11 [[ 0.99616107 -0.05062881 -0.07141326 1.91609935] [ 0.05091234 0.9987008 0.00215442 0.19677393] [ 0.0712114 -0.00578196 0.99744449 0.10569381] [ 0. 0. 0. 1. ]] SLAMing on 3.640888479 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:1.94, Y:0.21, Z:0.11 [[ 0.99608169 -0.05371868 -0.07025354 1.94193021] [ 0.052275 0.99838526 -0.02223054 0.20826084] [ 0.07133429 0.01847093 0.99728143 0.11273784] [ 0. 0. 0. 1. ]] SLAMing on 3.670888479 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:1.97, Y:0.18, Z:0.11 [[ 0.99553591 -0.0518208 -0.07888514 1.97164219] [ 0.05448122 0.99800338 0.03195385 0.18089874] [ 0.07707176 -0.03610896 0.99637146 0.10733122] [ 0. 0. 0. 1. ]] SLAMing on 3.700888479 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:2.00, Y:0.21, Z:0.12 [[ 0.99606772 -0.05717514 -0.06767647 1.99761287] [ 0.0541171 0.99746572 -0.0461896 0.21209783] [ 0.07014586 0.04234552 0.99663755 0.12271057] [ 0. 0. 0. 1. ]] SLAMing on 3.730888479 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:2.03, Y:0.19, Z:0.12 [[ 9.95816821e-01 -5.55831005e-02 -7.25215717e-02 2.03056323e+00] [ 5.54059570e-02 9.98453977e-01 -4.45362374e-03 1.89923971e-01] [ 7.26569979e-02 4.16866349e-04 9.97356900e-01 1.15682833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.760888479 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:2.06, Y:0.17, Z:0.12 [[ 0.99551439 -0.05216961 -0.07892679 2.05816338] [ 0.0543393 0.99819444 0.02559502 0.17211874] [ 0.077449 -0.02976904 0.99655178 0.11620409] [ 0. 0. 0. 1. ]] SLAMing on 3.790888479 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:2.09, Y:0.20, Z:0.12 [[ 0.99576275 -0.06314741 -0.06685018 2.08583808] [ 0.06067155 0.99741725 -0.03844201 0.19794395] [ 0.06910503 0.03422321 0.9970222 0.12317201] [ 0. 0. 0. 1. ]] SLAMing on 3.820888479 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:2.11, Y:0.18, Z:0.12 [[ 0.99564299 -0.06254359 -0.06916169 2.11472379] [ 0.06254299 0.9980399 -0.00217613 0.18187865] [ 0.06916223 -0.00215893 0.99760309 0.11690186] [ 0. 0. 0. 1. ]] SLAMing on 3.850888479 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:2.15, Y:0.19, Z:0.12 [[ 0.99553198 -0.06691869 -0.0666181 2.14539057] [ 0.06621997 0.99772493 -0.01264442 0.18834122] [ 0.06731269 0.00817648 0.99769843 0.1219965 ] [ 0. 0. 0. 1. ]] SLAMing on 3.880888479 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:2.18, Y:0.17, Z:0.13 [[ 0.99427154 -0.07018563 -0.08061065 2.17786162] [ 0.07172132 0.99729131 0.01631229 0.17063807] [ 0.07924741 -0.02200035 0.99661218 0.13131082] [ 0. 0. 0. 1. ]] SLAMing on 3.910888479 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:2.20, Y:0.20, Z:0.13 [[ 0.99451606 -0.07883337 -0.0687248 2.20341875] [ 0.07635802 0.99635859 -0.03793435 0.19557395] [ 0.07146504 0.03247863 0.99691418 0.13411458] [ 0. 0. 0. 1. ]] SLAMing on 3.940888479 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:2.23, Y:0.18, Z:0.13 [[ 0.99465062 -0.07671928 -0.06916864 2.23251727] [ 0.07707201 0.99702254 0.00244149 0.17584786] [ 0.06877538 -0.00775939 0.99760199 0.12717876] [ 0. 0. 0. 1. ]] SLAMing on 3.970888479 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:2.26, Y:0.18, Z:0.13 [[ 9.94642165e-01 -8.04610927e-02 -6.49074460e-02 2.26073409e+00] [ 8.01995669e-02 9.96756784e-01 -6.62896499e-03 1.81288393e-01] [ 6.52303109e-02 1.38789903e-03 9.97869270e-01 1.27280132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.000888478999999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:2.28, Y:0.18, Z:0.15 [[ 9.93116223e-01 -7.91446854e-02 -8.63497945e-02 2.28411584e+00] [ 7.87108719e-02 9.96861907e-01 -8.42246541e-03 1.79073493e-01] [ 8.67454141e-02 1.56781942e-03 9.96229278e-01 1.52646505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.030888479 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:2.31, Y:0.18, Z:0.16 [[ 0.99313234 -0.07963317 -0.08571293 2.31207306] [ 0.07902825 0.99681778 -0.01043306 0.18299521] [ 0.08627099 0.00358767 0.99626525 0.15622368] [ 0. 0. 0. 1. ]] SLAMing on 4.060888479 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:2.34, Y:0.19, Z:0.16 [[ 0.99315168 -0.07974932 -0.0853803 2.34005025] [ 0.0791477 0.99680851 -0.01041368 0.18557364] [ 0.0859383 0.0035847 0.99629401 0.16045579] [ 0. 0. 0. 1. ]] SLAMing on 4.090888479 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:2.37, Y:0.19, Z:0.17 [[ 0.99361862 -0.07799788 -0.08147619 2.36655312] [ 0.07744258 0.99694708 -0.00995842 0.18587317] [ 0.08200418 0.00358515 0.99662554 0.16635296] [ 0. 0. 0. 1. ]] SLAMing on 4.1208884789999995 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:2.39, Y:0.19, Z:0.17 [[ 0.99389885 -0.07613508 -0.07980308 2.39406259] [ 0.07559562 0.99709075 -0.00976388 0.18774845] [ 0.08031428 0.00367155 0.99676283 0.17056026] [ 0. 0. 0. 1. ]] SLAMing on 4.150888479 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:2.42, Y:0.19, Z:0.17 [[ 0.99420174 -0.07274612 -0.07918906 2.42068063] [ 0.07220278 0.99734274 -0.00970698 0.18971395] [ 0.07968478 0.00393302 0.99681235 0.17362406] [ 0. 0. 0. 1. ]] SLAMing on 4.180888479 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:2.45, Y:0.19, Z:0.18 [[ 0.9943193 -0.06965813 -0.08047898 2.44797422] [ 0.06908609 0.99756183 -0.00987416 0.19311946] [ 0.08097058 0.00425809 0.9967074 0.17761808] [ 0. 0. 0. 1. ]] SLAMing on 4.210888479 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:2.48, Y:0.20, Z:0.18 [[ 0.99456536 -0.06324826 -0.08270062 2.47610514] [ 0.06262036 0.99798563 -0.01016702 0.19560725] [ 0.08317708 0.00493302 0.99652257 0.18077774] [ 0. 0. 0. 1. ]] SLAMing on 4.240888479 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:2.50, Y:0.20, Z:0.18 [[ 0.99460181 -0.06100839 -0.0839358 2.50416645] [ 0.06035163 0.9981236 -0.01034205 0.19801114] [ 0.08440926 0.00522056 0.99641749 0.18213099] [ 0. 0. 0. 1. ]] SLAMing on 4.270888479 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:2.53, Y:0.20, Z:0.18 [[ 0.99465743 -0.05908101 -0.08465246 2.53094091] [ 0.05840409 0.9982383 -0.01045289 0.20004979] [ 0.0851209 0.00545299 0.99635571 0.1830391 ] [ 0. 0. 0. 1. ]] SLAMing on 4.300888479 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:2.56, Y:0.20, Z:0.18 [[ 0.99464243 -0.05833972 -0.08533997 2.55926975] [ 0.05764799 0.99828123 -0.0105497 0.20123689] [ 0.08580876 0.0055735 0.99629604 0.18497794] [ 0. 0. 0. 1. ]] SLAMing on 4.330888479 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:2.59, Y:0.19, Z:0.18 [[ 0.99508904 -0.05545957 -0.08198803 2.58882783] [ 0.05693533 0.9982533 0.0157708 0.18626629] [ 0.08097018 -0.02036136 0.99650853 0.18098845] [ 0. 0. 0. 1. ]] SLAMing on 4.360888479 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:2.61, Y:0.21, Z:0.19 [[ 0.99492177 -0.05991925 -0.08087245 2.61458106] [ 0.05715788 0.99771442 -0.03604056 0.21022689] [ 0.08284713 0.03123504 0.99607265 0.19428841] [ 0. 0. 0. 1. ]] SLAMing on 4.390888479 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:2.64, Y:0.20, Z:0.19 [[ 0.99459611 -0.05657711 -0.08704946 2.6434913 ] [ 0.055845 0.99838077 -0.01082461 0.20314109] [ 0.08752093 0.00590484 0.99614518 0.19162124] [ 0. 0. 0. 1. ]] SLAMing on 4.420888479 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:2.67, Y:0.20, Z:0.19 [[ 0.99501825 -0.05606629 -0.08243334 2.67096176] [ 0.05540637 0.99841103 -0.01027324 0.20497807] [ 0.08287833 0.00565473 0.99654363 0.1910415 ] [ 0. 0. 0. 1. ]] SLAMing on 4.450888479 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:2.70, Y:0.20, Z:0.20 [[ 0.99478591 -0.05605058 -0.08520166 2.698654 ] [ 0.0553427 0.99841062 -0.01064949 0.20426258] [ 0.08566315 0.00587867 0.99630681 0.19516032] [ 0. 0. 0. 1. ]] SLAMing on 4.480888479 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:2.73, Y:0.20, Z:0.20 [[ 0.99500275 -0.05649959 -0.08232452 2.72729912] [ 0.0558381 0.99838653 -0.0103173 0.20234703] [ 0.08277461 0.0056689 0.99655217 0.19698807] [ 0. 0. 0. 1. ]] SLAMing on 4.510888479 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:2.76, Y:0.20, Z:0.20 [[ 0.99502119 -0.057744 -0.08123087 2.75579119] [ 0.05710232 0.9983162 -0.01020245 0.19983227] [ 0.08168322 0.00551318 0.99664309 0.19902094] [ 0. 0. 0. 1. ]] SLAMing on 4.540888479 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:2.78, Y:0.20, Z:0.20 [[ 0.99500649 -0.05800072 -0.08122808 2.78392538] [ 0.05735809 0.99830131 -0.01022458 0.20344825] [ 0.08168314 0.00551443 0.99664309 0.20119482] [ 0. 0. 0. 1. ]] SLAMing on 4.570888479 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:2.81, Y:0.21, Z:0.20 [[ 0.99498161 -0.05737191 -0.08197599 2.81098403] [ 0.05671352 0.99833695 -0.01033943 0.2069985 ] [ 0.08243285 0.0056384 0.99658067 0.20302566] [ 0. 0. 0. 1. ]] SLAMing on 4.600888479 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:2.84, Y:0.21, Z:0.20 [[ 0.99508896 -0.05578915 -0.08176507 2.83884491] [ 0.05512795 0.99842593 -0.01032361 0.2112494 ] [ 0.08221232 0.00576537 0.99659816 0.20496545] [ 0. 0. 0. 1. ]] SLAMing on 4.630888479 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:2.87, Y:0.22, Z:0.21 [[ 0.99506118 -0.05451601 -0.08295337 2.86581882] [ 0.05382908 0.99849499 -0.01049669 0.21579461] [ 0.08340076 0.00597954 0.99649815 0.20859394] [ 0. 0. 0. 1. ]] SLAMing on 4.660888479 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:2.89, Y:0.21, Z:0.21 [[ 0.99484198 -0.05394154 -0.08590545 2.89417702] [ 0.05320047 0.99852442 -0.01089441 0.21458413] [ 0.08636636 0.00626801 0.99624373 0.20713498] [ 0. 0. 0. 1. ]] SLAMing on 4.690888479 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:2.92, Y:0.21, Z:0.21 [[ 0.99460842 -0.05493269 -0.08795732 2.92267685] [ 0.05415734 0.99846983 -0.01117913 0.21297248] [ 0.08843683 0.00635533 0.99606151 0.20707409] [ 0. 0. 0. 1. ]] SLAMing on 4.720888479 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:2.95, Y:0.21, Z:0.21 [[ 0.99458001 -0.05605781 -0.08756778 2.95029087] [ 0.05529168 0.99840796 -0.01115215 0.21063825] [ 0.08805354 0.00624994 0.99609614 0.20806445] [ 0. 0. 0. 1. ]] SLAMing on 4.750888479 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:2.98, Y:0.21, Z:0.22 [[ 0.9949528 -0.06077501 -0.07984568 2.97817895] [ 0.06015272 0.99813729 -0.01017826 0.20775386] [ 0.08031554 0.00532395 0.99675527 0.21505648] [ 0. 0. 0. 1. ]] SLAMing on 4.780888479 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:3.01, Y:0.21, Z:0.22 [[ 0.99504098 -0.06361309 -0.07646447 3.00581526] [ 0.06304929 0.99796262 -0.00976738 0.21012594] [ 0.07693001 0.00489791 0.99702446 0.21911168] [ 0. 0. 0. 1. ]] SLAMing on 4.810888479 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:3.03, Y:0.21, Z:0.22 [[ 0.99454077 -0.06999712 -0.07738905 3.03441235] [ 0.06943711 0.99753714 -0.00990694 0.21029669] [ 0.0778919 0.00447919 0.99695175 0.21982215] [ 0. 0. 0. 1. ]] SLAMing on 4.840888479 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:3.06, Y:0.21, Z:0.22 [[ 0.99426138 -0.07195509 -0.07916297 3.06301204] [ 0.07137345 0.99739796 -0.01015612 0.20985092] [ 0.07968777 0.0044477 0.99680995 0.22094265] [ 0. 0. 0. 1. ]] SLAMing on 4.8708884789999995 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:3.09, Y:0.24, Z:0.21 [[ 0.99486363 -0.07911707 -0.06314146 3.08864793] [ 0.07452659 0.99461519 -0.0720168 0.23778922] [ 0.06849922 0.06694118 0.9954028 0.21274217] [ 0. 0. 0. 1. ]] SLAMing on 4.900888479 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:3.12, Y:0.21, Z:0.21 [[ 0.99417104 -0.07869835 -0.07369202 3.12382352] [ 0.07811853 0.99688642 -0.01072218 0.20677217] [ 0.07430639 0.00490297 0.99722341 0.20890455] [ 0. 0. 0. 1. ]] SLAMing on 4.930888479 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:3.16, Y:0.18, Z:0.22 [[ 0.99314512 -0.07557936 -0.0891658 3.15509397] [ 0.08018599 0.99556193 0.049261 0.18115977] [ 0.08504696 -0.05607317 0.99479788 0.21993049] [ 0. 0. 0. 1. ]] SLAMing on 4.960888479 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:3.18, Y:0.21, Z:0.23 [[ 0.9930701 -0.08261847 -0.08358207 3.17942078] [ 0.08200431 0.99657388 -0.0107604 0.21055554] [ 0.08418472 0.00383174 0.9964428 0.22807164] [ 0. 0. 0. 1. ]] SLAMing on 4.990888479 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:3.21, Y:0.21, Z:0.23 [[ 0.99295803 -0.08579651 -0.08169028 3.20720434] [ 0.08521884 0.99630652 -0.01053856 0.21465079] [ 0.08229273 0.0035028 0.99660205 0.2325281 ] [ 0. 0. 0. 1. ]] SLAMing on 5.020888479 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:3.23, Y:0.22, Z:0.24 [[ 0.99290472 -0.08788143 -0.08010658 3.23499269] [ 0.08733101 0.99612552 -0.01035571 0.21880186] [ 0.08070628 0.00328644 0.99673251 0.23582084] [ 0. 0. 0. 1. ]] SLAMing on 5.050888479 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:3.26, Y:0.22, Z:0.24 [[ 9.92791463e-01 -9.05285576e-02 -7.85473791e-02 3.26291894e+00] [ 9.00059419e-02 9.95889242e-01 -1.01758442e-02 2.22278006e-01] [ 7.91456943e-02 3.03276037e-03 9.96858446e-01 2.38086551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0808884789999995 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:3.29, Y:0.23, Z:0.24 [[ 9.92641326e-01 -9.24345714e-02 -7.82243444e-02 3.28948587e+00] [ 9.19204096e-02 9.95714564e-01 -1.01560660e-02 2.25063091e-01] [ 7.88278906e-02 2.89091701e-03 9.96884049e-01 2.39792148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.110888479 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:3.32, Y:0.23, Z:0.24 [[ 9.92604647e-01 -9.63993739e-02 -7.37778855e-02 3.31727102e+00] [ 9.59524381e-02 9.95339753e-01 -9.58678986e-03 2.28623409e-01] [ 7.43582229e-02 2.43672417e-03 9.97228618e-01 2.42416670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.140888479 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:3.34, Y:0.23, Z:0.25 [[ 9.92604116e-01 -9.90179747e-02 -7.02318242e-02 3.34423745e+00] [ 9.86182436e-02 9.95083320e-01 -9.14486311e-03 2.33997433e-01] [ 7.07920226e-02 2.15108961e-03 9.97488778e-01 2.46403716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.170888479 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:3.37, Y:0.24, Z:0.25 [[ 9.92618204e-01 -1.00541971e-01 -6.78263396e-02 3.37041109e+00] [ 1.00171396e-01 9.94930824e-01 -8.85135191e-03 2.40599908e-01] [ 6.83724484e-02 1.99175392e-03 9.97657878e-01 2.50094211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.200888479 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:3.40, Y:0.25, Z:0.25 [[ 9.92681206e-01 -1.00278677e-01 -6.72919751e-02 3.39602436e+00] [ 9.99123815e-02 9.94957364e-01 -8.79547119e-03 2.48281707e-01] [ 6.78346444e-02 2.00779746e-03 9.97694557e-01 2.53260867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.230888479 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:3.42, Y:0.26, Z:0.25 [[ 9.93267884e-01 -9.25628518e-02 -6.96493292e-02 3.42291123e+00] [ 9.21509271e-02 9.95703366e-01 -9.11116862e-03 2.58582857e-01] [ 7.01934273e-02 2.63158091e-03 9.97529928e-01 2.53750716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.260888479 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:3.45, Y:0.26, Z:0.25 [[ 9.93742901e-01 -8.62532989e-02 -7.09606650e-02 3.44961698e+00] [ 8.58081064e-02 9.96268238e-01 -9.30410681e-03 2.64947023e-01] [ 7.14983666e-02 3.15688980e-03 9.97435721e-01 2.54870185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2908884789999995 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:3.48, Y:0.27, Z:0.26 [[ 0.99440474 -0.07903965 -0.07008531 3.47647873] [ 0.07858654 0.99686481 -0.00920337 0.27052479] [ 0.07059301 0.00364411 0.99749855 0.25545739] [ 0. 0. 0. 1. ]] SLAMing on 5.320888479 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:3.50, Y:0.28, Z:0.26 [[ 0.99557288 -0.0670056 -0.06591581 3.50382103] [ 0.06657822 0.99774361 -0.00866156 0.27640342] [ 0.06634745 0.00423465 0.99778759 0.25842554] [ 0. 0. 0. 1. ]] SLAMing on 5.350888479 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:3.53, Y:0.28, Z:0.26 [[ 0.99592675 -0.06185391 -0.06560492 3.53039755] [ 0.06141811 0.99807472 -0.00864096 0.281435 ] [ 0.06601309 0.00457643 0.99780826 0.26178989] [ 0. 0. 0. 1. ]] SLAMing on 5.380888479 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:3.56, Y:0.29, Z:0.26 [[ 0.99612536 -0.0581145 -0.06600734 3.55626798] [ 0.05766463 0.99829808 -0.00870208 0.28708812] [ 0.06640072 0.00486208 0.99778119 0.26450878] [ 0. 0. 0. 1. ]] SLAMing on 5.410888479 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:3.58, Y:0.29, Z:0.27 [[ 0.99620279 -0.05616016 -0.06652854 3.58373758] [ 0.05569838 0.99840906 -0.00877709 0.29321313] [ 0.06691561 0.00503823 0.99774592 0.26599882] [ 0. 0. 0. 1. ]] SLAMing on 5.440888479 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:3.61, Y:0.30, Z:0.27 [[ 0.99612766 -0.05510384 -0.06850735 3.61043917] [ 0.05461017 0.99846665 -0.00905959 0.29718921] [ 0.06890152 0.00528331 0.99760948 0.2660548 ] [ 0. 0. 0. 1. ]] SLAMing on 5.470888479 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:3.64, Y:0.30, Z:0.27 [[ 0.99595669 -0.05608298 -0.0701782 3.63903643] [ 0.05556675 0.99841177 -0.0092882 0.29747284] [ 0.07058765 0.00535107 0.99749123 0.26564209] [ 0. 0. 0. 1. ]] SLAMing on 5.500888479 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:3.67, Y:0.30, Z:0.26 [[ 0.9956774 -0.05793732 -0.07259333 3.66675683] [ 0.05738814 0.9983055 -0.0096299 0.29636983] [ 0.07302825 0.00542227 0.99731513 0.26492081] [ 0. 0. 0. 1. ]] SLAMing on 5.530888479 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:3.69, Y:0.29, Z:0.27 [[ 0.99527076 -0.06304196 -0.07390417 3.69456939] [ 0.06248601 0.9979976 -0.00981302 0.29278807] [ 0.07437482 0.00514864 0.99721707 0.26508142] [ 0. 0. 0. 1. ]] SLAMing on 5.560888479 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:3.72, Y:0.30, Z:0.27 [[ 0.99531258 -0.06585066 -0.07082761 3.72205664] [ 0.0653467 0.99781824 -0.00941164 0.29563662] [ 0.07129284 0.00473917 0.99744417 0.26846953] [ 0. 0. 0. 1. ]] SLAMing on 5.590888479 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:3.75, Y:0.30, Z:0.27 [[ 0.99525759 -0.06968185 -0.06787315 3.74897686] [ 0.06922669 0.99756001 -0.00903792 0.2991921 ] [ 0.06833732 0.00429642 0.99765302 0.27274293] [ 0. 0. 0. 1. ]] SLAMing on 5.6208884789999995 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:3.78, Y:0.30, Z:0.28 [[ 0.99498929 -0.0735289 -0.06774817 3.77704475] [ 0.07308348 0.99728492 -0.00903328 0.30138546] [ 0.06822843 0.00403675 0.99766156 0.27582989] [ 0. 0. 0. 1. ]] SLAMing on 5.650888479 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:3.80, Y:0.30, Z:0.28 [[ 9.94084921e-01 -8.28564618e-02 -7.02137933e-02 3.80486930e+00] [ 8.23996034e-02 9.96555197e-01 -9.38326153e-03 2.96293218e-01] [ 7.07493844e-02 3.54217008e-03 9.97487833e-01 2.78647269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.680888479 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:3.83, Y:0.30, Z:0.29 [[ 0.99336276 -0.08708627 -0.07514266 3.82982047] [ 0.08465521 0.99579686 -0.03495879 0.3034702 ] [ 0.07787125 0.02836555 0.99655981 0.2860122 ] [ 0. 0. 0. 1. ]] SLAMing on 5.710888479 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:3.86, Y:0.30, Z:0.28 [[ 0.99357724 -0.09207844 -0.06577102 3.86388679] [ 0.09012217 0.99541256 -0.03212206 0.30358924] [ 0.06842705 0.02598832 0.99731758 0.27937414] [ 0. 0. 0. 1. ]] SLAMing on 5.740888479 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:3.89, Y:0.27, Z:0.29 [[ 0.99242341 -0.09173252 -0.08173694 3.89449697] [ 0.09482217 0.9948876 0.034748 0.27428276] [ 0.07813154 -0.0422352 0.99604802 0.28762848] [ 0. 0. 0. 1. ]] SLAMing on 5.770888479 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:3.92, Y:0.30, Z:0.30 [[ 0.99241817 -0.09619341 -0.07650488 3.91635868] [ 0.09502406 0.99529764 -0.01878926 0.2999894 ] [ 0.07795253 0.011377 0.99689215 0.29511869] [ 0. 0. 0. 1. ]] SLAMing on 5.800888479 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:3.95, Y:0.30, Z:0.30 [[ 9.92494925e-01 -9.75349255e-02 -7.37615189e-02 3.94810856e+00] [ 9.76301592e-02 9.95220056e-01 -2.32203001e-03 2.98914871e-01] [ 7.36354220e-02 -4.89674583e-03 9.97273206e-01 2.96116710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8308884789999995 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:3.98, Y:0.30, Z:0.30 [[ 9.92670635e-01 -9.74874353e-02 -7.14227646e-02 3.97578747e+00] [ 9.70505270e-02 9.95233441e-01 -9.57044177e-03 3.04205613e-01] [ 7.20153216e-02 2.56867956e-03 9.97400218e-01 2.99322513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.860888479 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:4.00, Y:0.30, Z:0.30 [[ 9.92739655e-01 -9.69678595e-02 -7.11702950e-02 4.00416592e+00] [ 9.65312403e-02 9.95284072e-01 -9.55701903e-03 3.04878959e-01] [ 7.17613847e-02 2.61747493e-03 9.97418394e-01 3.01740533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.890888479 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:4.03, Y:0.30, Z:0.30 [[ 9.92509069e-01 -9.65329374e-02 -7.48808387e-02 4.03260842e+00] [ 9.60465528e-02 9.95325823e-01 -1.00780203e-02 3.04781506e-01] [ 7.55036933e-02 2.81048013e-03 9.97141561e-01 3.04136443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.920888479 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:4.06, Y:0.31, Z:0.31 [[ 9.92195884e-01 -9.64405708e-02 -7.90350838e-02 4.05887043e+00] [ 9.58963345e-02 9.95334225e-01 -1.06617518e-02 3.10353132e-01] [ 7.96945493e-02 2.99937144e-03 9.96814819e-01 3.05610959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.950888479 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:4.09, Y:0.32, Z:0.31 [[ 9.92104756e-01 -9.56216226e-02 -8.11459022e-02 4.08622241e+00] [ 9.50442606e-02 9.95412744e-01 -1.09570375e-02 3.17386444e-01] [ 8.18213949e-02 3.15807678e-03 9.96642005e-01 3.06516717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.980888479 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:4.11, Y:0.32, Z:0.31 [[ 9.92263277e-01 -9.43525863e-02 -8.06918738e-02 4.11221048e+00] [ 9.37756074e-02 9.95533482e-01 -1.09189101e-02 3.23757960e-01] [ 8.13616894e-02 3.26750408e-03 9.96679286e-01 3.08567618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.010888479 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:4.14, Y:0.33, Z:0.31 [[ 9.92869933e-01 -9.24453612e-02 -7.52539089e-02 4.13919578e+00] [ 9.19376305e-02 9.95712618e-01 -1.01908806e-02 3.27718422e-01] [ 7.58733663e-02 3.19955284e-03 9.97112328e-01 3.12108856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0408884789999995 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:4.17, Y:0.33, Z:0.32 [[ 9.92920574e-01 -9.24249394e-02 -7.46080769e-02 4.16623320e+00] [ 9.19242200e-02 9.95714529e-01 -1.01249848e-02 3.30543700e-01] [ 7.52241472e-02 3.19501643e-03 9.97161531e-01 3.15299161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.070888479 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:4.19, Y:0.33, Z:0.32 [[ 9.92768798e-01 -9.30988679e-02 -7.57807021e-02 4.19331750e+00] [ 9.25831050e-02 9.95651701e-01 -1.02985096e-02 3.34251948e-01] [ 7.64099645e-02 3.20802630e-03 9.97071324e-01 3.18283589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.100888479 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:4.22, Y:0.34, Z:0.32 [[ 9.92714133e-01 -9.42046680e-02 -7.51274291e-02 4.22060058e+00] [ 9.36993387e-02 9.95547973e-01 -1.02307306e-02 3.38758017e-01] [ 7.57567423e-02 3.11680045e-03 9.97121458e-01 3.20997123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.130888479 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:4.25, Y:0.34, Z:0.32 [[ 9.92887609e-01 -9.41119370e-02 -7.29187200e-02 4.24643167e+00] [ 9.36623500e-02 9.95558040e-01 -9.56830927e-03 3.42337701e-01] [ 7.34953101e-02 2.67051704e-03 9.97291987e-01 3.24355376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.160888479 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:4.28, Y:0.35, Z:0.33 [[ 9.92828552e-01 -9.52388952e-02 -7.22566214e-02 4.27583913e+00] [ 9.47225184e-02 9.95447836e-01 -1.05475644e-02 3.48548601e-01] [ 7.29322357e-02 3.62759397e-03 9.97330301e-01 3.27473992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.190888479 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:4.30, Y:0.36, Z:0.33 [[ 9.92766987e-01 -9.41230654e-02 -7.45289022e-02 4.30192633e+00] [ 9.36203233e-02 9.95555532e-01 -1.02184807e-02 3.56031056e-01] [ 7.51594556e-02 3.16715040e-03 9.97166498e-01 3.26891369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.220888479 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:4.33, Y:0.36, Z:0.33 [[ 9.92894183e-01 -9.31470846e-02 -7.40591839e-02 4.32877363e+00] [ 9.26473845e-02 9.95647126e-01 -1.01618447e-02 3.62092778e-01] [ 7.46833598e-02 3.22824679e-03 9.97202073e-01 3.28658791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.250888479 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:4.36, Y:0.37, Z:0.33 [[ 9.93191367e-01 -9.13466417e-02 -7.22959183e-02 4.35515287e+00] [ 9.08642446e-02 9.95813676e-01 -9.94041998e-03 3.67519626e-01] [ 7.29012882e-02 3.30362530e-03 9.97333690e-01 3.32143023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.280888479 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:4.38, Y:0.37, Z:0.34 [[ 9.93606554e-01 -8.84674226e-02 -7.01393654e-02 4.38101498e+00] [ 8.80057107e-02 9.96073208e-01 -9.65190504e-03 3.74550229e-01] [ 7.07178219e-02 3.41753141e-03 9.97490506e-01 3.37052462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.310888479 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:4.41, Y:0.38, Z:0.34 [[ 9.93504939e-01 -8.78675088e-02 -7.22996397e-02 4.40841429e+00] [ 8.73747336e-02 9.96125756e-01 -9.95660928e-03 3.78731773e-01] [ 7.28943957e-02 3.57477873e-03 9.97333258e-01 3.38016093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.340888479 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:4.44, Y:0.38, Z:0.34 [[ 9.93264098e-01 -8.73414692e-02 -7.61439363e-02 4.43584105e+00] [ 8.67915946e-02 9.96171077e-01 -1.05073439e-02 3.82084027e-01] [ 7.67701139e-02 3.82791384e-03 9.97041472e-01 3.38732570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3708884789999995 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:4.46, Y:0.39, Z:0.34 [[ 9.93214508e-01 -8.52768103e-02 -7.90746883e-02 4.46351517e+00] [ 8.46754017e-02 9.96348597e-01 -1.09338758e-02 3.86087575e-01] [ 7.97183608e-02 4.16400307e-03 9.96808730e-01 3.41265280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.400888479 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:4.49, Y:0.39, Z:0.34 [[ 9.93306294e-01 -8.38603822e-02 -7.94357705e-02 4.49026630e+00] [ 8.32471214e-02 9.96468150e-01 -1.10065056e-02 3.91585941e-01] [ 8.00782250e-02 4.32003207e-03 9.96779221e-01 3.44828397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.430888479 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:4.52, Y:0.40, Z:0.35 [[ 0.99331233 -0.08195038 -0.08133115 4.51799319] [ 0.08130021 0.99662583 -0.01127932 0.39711858] [ 0.08198107 0.00459164 0.99662331 0.34582954] [ 0. 0. 0. 1. ]] SLAMing on 6.460888479 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:4.55, Y:0.40, Z:0.35 [[ 0.99329835 -0.08212269 -0.08132803 4.54608904] [ 0.08147126 0.99661161 -0.01130177 0.40110853] [ 0.08198059 0.00460014 0.99662331 0.34816157] [ 0. 0. 0. 1. ]] SLAMing on 6.490888479 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:4.57, Y:0.40, Z:0.35 [[ 0.99321106 -0.0767562 -0.08740866 4.5727756 ] [ 0.07598128 0.99703505 -0.01216328 0.40352074] [ 0.08808311 0.00543928 0.99609828 0.34621114] [ 0. 0. 0. 1. ]] SLAMing on 6.520888479 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:4.60, Y:0.41, Z:0.35 [[ 0.99333825 -0.07467066 -0.0877691 4.60087524] [ 0.07387973 0.99719216 -0.01223022 0.40543386] [ 0.0884359 0.00566439 0.99606576 0.34736617] [ 0. 0. 0. 1. ]] SLAMing on 6.550888479 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:4.63, Y:0.41, Z:0.35 [[ 0.99362031 -0.07304567 -0.0859244 4.62789383] [ 0.07228038 0.9973123 -0.01198834 0.4075548 ] [ 0.08656916 0.00570121 0.99622953 0.35009376] [ 0. 0. 0. 1. ]] SLAMing on 6.5808884789999995 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:4.66, Y:0.41, Z:0.35 [[ 0.99395374 -0.07147313 -0.08335196 4.6557931 ] [ 0.07074625 0.99742636 -0.01164557 0.40920298] [ 0.08396979 0.00567832 0.99645212 0.35276628] [ 0. 0. 0. 1. ]] SLAMing on 6.610888479 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:4.68, Y:0.41, Z:0.36 [[ 0.99425496 -0.06808402 -0.08259323 4.68390118] [ 0.06735677 0.99766195 -0.01156318 0.40690267] [ 0.08318739 0.00593354 0.99651626 0.35578937] [ 0. 0. 0. 1. ]] SLAMing on 6.640888479 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:4.71, Y:0.41, Z:0.36 [[ 0.99435256 -0.06656458 -0.08265673 4.71030284] [ 0.06582902 0.99776354 -0.0115957 0.40887076] [ 0.08324373 0.006089 0.99651061 0.35876113] [ 0. 0. 0. 1. ]] SLAMing on 6.670888479 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:4.74, Y:0.41, Z:0.36 [[ 0.994432 -0.06579466 -0.08231679 4.73793972] [ 0.06506165 0.9978143 -0.01155849 0.41188583] [ 0.08289736 0.00613847 0.99653919 0.36296359] [ 0. 0. 0. 1. ]] SLAMing on 6.700888479 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:4.77, Y:0.41, Z:0.37 [[ 0.99456011 -0.06541249 -0.08106411 4.7656164 ] [ 0.06469856 0.99783967 -0.01140548 0.40948073] [ 0.08163504 0.0060987 0.99664363 0.36670538] [ 0. 0. 0. 1. ]] SLAMing on 6.730888479 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:4.79, Y:0.41, Z:0.37 [[ 0.99450448 -0.06693655 -0.08050054 4.7941675 ] [ 0.06623623 0.99773951 -0.01134171 0.40645583] [ 0.08107774 0.00594733 0.99669004 0.3682389 ] [ 0. 0. 0. 1. ]] SLAMing on 6.760888479 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:4.82, Y:0.40, Z:0.37 [[ 0.99446367 -0.06868705 -0.07952419 4.82236749] [ 0.06800744 0.99762165 -0.01122618 0.40267049] [ 0.08010615 0.00575579 0.99676972 0.37106354] [ 0. 0. 0. 1. ]] SLAMing on 6.7908884789999995 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:4.85, Y:0.40, Z:0.38 [[ 0.99437084 -0.07328415 -0.07652491 4.85038448] [ 0.07266682 0.99729753 -0.01082436 0.39851362] [ 0.07711136 0.00520261 0.99700891 0.37603428] [ 0. 0. 0. 1. ]] SLAMing on 6.820888479 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:4.88, Y:0.40, Z:0.38 [[ 0.99442216 -0.07461864 -0.07454279 4.87807861] [ 0.07403608 0.99719974 -0.01055187 0.40157781] [ 0.07512142 0.00497415 0.99716199 0.37932582] [ 0. 0. 0. 1. ]] SLAMing on 6.850888479 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:4.91, Y:0.40, Z:0.38 [[ 0.99444569 -0.07459442 -0.07425261 4.90529866] [ 0.07401477 0.99720153 -0.01053164 0.40450736] [ 0.07483041 0.00497735 0.99718385 0.38199526] [ 0. 0. 0. 1. ]] SLAMing on 6.880888479 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:4.93, Y:0.41, Z:0.38 [[ 0.99445689 -0.07316295 -0.07551607 4.93351423] [ 0.07255761 0.99730648 -0.0107324 0.40645789] [ 0.07609788 0.00519365 0.99708683 0.38421999] [ 0. 0. 0. 1. ]] SLAMing on 6.910888479 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:4.96, Y:0.40, Z:0.38 [[ 9.94523637e-01 -6.70914413e-02 -8.01340966e-02 4.96363824e+00] [ 6.71463079e-02 9.97741110e-01 -2.01286046e-03 3.99403678e-01] [ 8.00881282e-02 -3.37887142e-03 9.96782060e-01 3.84801839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.940888479 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:4.99, Y:0.41, Z:0.39 [[ 0.99447116 -0.06509939 -0.08239653 4.99036079] [ 0.06359483 0.9977599 -0.02075741 0.40663431] [ 0.08356325 0.01540265 0.99638343 0.38540757] [ 0. 0. 0. 1. ]] SLAMing on 6.970888479 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:5.02, Y:0.40, Z:0.39 [[ 0.99442509 -0.06144317 -0.08569406 5.01817746] [ 0.06061443 0.99808618 -0.012242 0.40222539] [ 0.08628225 0.00697946 0.99624629 0.38547702] [ 0. 0. 0. 1. ]] SLAMing on 7.000888478999999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:5.05, Y:0.40, Z:0.39 [[ 0.99475278 -0.05698324 -0.08496946 5.04611197] [ 0.05615144 0.99834834 -0.01214932 0.40129052] [ 0.08552143 0.00731441 0.99630948 0.38747265] [ 0. 0. 0. 1. ]] SLAMing on 7.030888479 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:5.07, Y:0.40, Z:0.39 [[ 0.99501873 -0.05537796 -0.08289152 5.07289038] [ 0.05457911 0.99843884 -0.01187413 0.40417252] [ 0.08341968 0.00729084 0.99648783 0.39142801] [ 0. 0. 0. 1. ]] SLAMing on 7.060888479 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:5.10, Y:0.41, Z:0.40 [[ 0.99517009 -0.05499132 -0.081317 5.10066404] [ 0.05422056 0.99846092 -0.01165816 0.40600175] [ 0.08183294 0.0071928 0.9966201 0.39596671] [ 0. 0. 0. 1. ]] SLAMing on 7.090888479 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:5.12, Y:0.39, Z:0.40 [[ 0.99537123 -0.05025613 -0.08191721 5.1247559 ] [ 0.0514529 0.9985964 0.01256326 0.38587132] [ 0.08117085 -0.01671999 0.99655995 0.39802946] [ 0. 0. 0. 1. ]] SLAMing on 7.1208884789999995 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:5.16, Y:0.39, Z:0.40 [[ 9.95043234e-01 -5.59266925e-02 -8.22263215e-02 5.15504133e+00] [ 5.62938233e-02 9.98411927e-01 2.15151465e-03 3.88562415e-01] [ 8.19754131e-02 -6.76968411e-03 9.96611360e-01 4.01134507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.150888479 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:5.18, Y:0.41, Z:0.41 [[ 0.99473633 -0.06294238 -0.0808572 5.18482649] [ 0.05947017 0.99723064 -0.04465817 0.40592569] [ 0.08344417 0.03961452 0.99572474 0.40548522] [ 0. 0. 0. 1. ]] SLAMing on 7.180888479 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:5.22, Y:0.39, Z:0.41 [[ 0.99455697 -0.06400506 -0.08221796 5.21641301] [ 0.06323357 0.99792714 -0.01195602 0.38677611] [ 0.08281278 0.00669201 0.99654265 0.40639642] [ 0. 0. 0. 1. ]] SLAMing on 7.210888478999999 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:5.24, Y:0.39, Z:0.41 [[ 0.9946032 -0.06566031 -0.08033179 5.24407523] [ 0.06492742 0.99782134 -0.01170443 0.38750653] [ 0.08092529 0.00642553 0.99669946 0.40889272] [ 0. 0. 0. 1. ]] SLAMing on 7.240888479 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:5.27, Y:0.39, Z:0.41 [[ 0.99458522 -0.06751116 -0.07900944 5.27145644] [ 0.06680623 0.99769929 -0.01153462 0.38743509] [ 0.07960638 0.00619384 0.99680713 0.41156508] [ 0. 0. 0. 1. ]] SLAMing on 7.270888479 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:5.30, Y:0.38, Z:0.41 [[ 0.99429175 -0.07095344 -0.07968386 5.3005268 ] [ 0.07024656 0.99746171 -0.01164306 0.37771129] [ 0.08030772 0.00597908 0.99675219 0.41488393] [ 0. 0. 0. 1. ]] SLAMing on 7.300888479 meters Centerline goodness : 0.996421 Centerline is valid? [True, True] Translation: X:5.33, Y:0.37, Z:0.42 [[ 0.99406203 -0.07224727 -0.0813696 5.32902786] [ 0.07151237 0.99736856 -0.01191373 0.3737906 ] [ 0.08201622 0.00602405 0.99661279 0.41766574] [ 0. 0. 0. 1. ]] SLAMing on 7.3308884789999995 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:5.36, Y:0.37, Z:0.42 [[ 0.99392827 -0.07255786 -0.08271604 5.35663143] [ 0.07179742 0.99734541 -0.01213513 0.37127613] [ 0.08337697 0.00612265 0.99649927 0.42011947] [ 0. 0. 0. 1. ]] SLAMing on 7.360888479 meters Centerline goodness : 0.996377 Centerline is valid? [True, True] Translation: X:5.39, Y:0.37, Z:0.42 [[ 0.99384448 -0.07215934 -0.08406056 5.38523251] [ 0.07137151 0.99737342 -0.01234379 0.3718224 ] [ 0.08473049 0.00626827 0.99638419 0.42264724] [ 0. 0. 0. 1. ]] SLAMing on 7.390888479 meters Centerline goodness : 0.996348 Centerline is valid? [True, True] Translation: X:5.41, Y:0.37, Z:0.42 [[ 0.99396378 -0.0700485 -0.0844347 5.41355388] [ 0.06924398 0.9975224 -0.01242315 0.37284271] [ 0.08509572 0.00650157 0.99635157 0.42353552] [ 0. 0. 0. 1. ]] SLAMing on 7.420888479 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:5.44, Y:0.37, Z:0.43 [[ 9.94205812e-01 -6.76102246e-02 -8.35683007e-02 5.44068847e+00] [ 6.72124980e-02 9.97709990e-01 -7.56674902e-03 3.72844751e-01] [ 8.38885181e-02 1.90607161e-03 9.96473323e-01 4.25410747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.450888479 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:5.47, Y:0.38, Z:0.43 [[ 0.99428622 -0.06674614 -0.08330582 5.46936841] [ 0.06554879 0.99770404 -0.01702927 0.3788154 ] [ 0.08425119 0.01147137 0.99637851 0.42645284] [ 0. 0. 0. 1. ]] SLAMing on 7.480888479 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:5.50, Y:0.37, Z:0.43 [[ 0.99477146 -0.06095203 -0.08194265 5.49790662] [ 0.06015951 0.99811533 -0.01210839 0.37417579] [ 0.08252624 0.00711545 0.99656349 0.42776834] [ 0. 0. 0. 1. ]] SLAMing on 7.510888479 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:5.53, Y:0.38, Z:0.43 [[ 0.99495211 -0.05845642 -0.08156676 5.5257658 ] [ 0.05766093 0.99826318 -0.0120763 0.37524841] [ 0.08213103 0.00731213 0.99659472 0.43070564] [ 0. 0. 0. 1. ]] SLAMing on 7.5408884789999995 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:5.55, Y:0.38, Z:0.43 [[ 0.99505668 -0.05640604 -0.08173467 5.55340117] [ 0.05559846 0.99837959 -0.01212487 0.37702825] [ 0.08228614 0.00752061 0.99658037 0.43234737] [ 0. 0. 0. 1. ]] SLAMing on 7.570888479 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:5.58, Y:0.38, Z:0.43 [[ 0.99521333 -0.05440324 -0.08118327 5.58151584] [ 0.05359804 0.99848969 -0.01206638 0.3770378 ] [ 0.08171711 0.00765736 0.99662615 0.43358107] [ 0. 0. 0. 1. ]] SLAMing on 7.600888479 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:5.61, Y:0.38, Z:0.44 [[ 0.99526273 -0.05473855 -0.08034791 5.60884096] [ 0.05394907 0.99847199 -0.01196551 0.37757954] [ 0.08088011 0.00757413 0.99669506 0.43621488] [ 0. 0. 0. 1. ]] SLAMing on 7.630888479 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:5.64, Y:0.38, Z:0.44 [[ 0.99518578 -0.05630968 -0.08021528 5.6371397 ] [ 0.05552705 0.9983856 -0.01195588 0.37701831] [ 0.08075901 0.00744421 0.99670586 0.43817696] [ 0. 0. 0. 1. ]] SLAMing on 7.660888479 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:5.67, Y:0.37, Z:0.44 [[ 0.99483257 -0.05953923 -0.08223892 5.66616304] [ 0.05872539 0.99819862 -0.01228182 0.37157588] [ 0.08282203 0.00738884 0.99653696 0.4392354 ] [ 0. 0. 0. 1. ]] SLAMing on 7.690888479 meters Centerline goodness : 0.990822 Centerline is valid? [True, True] Translation: X:5.69, Y:0.37, Z:0.44 [[ 9.95011231e-01 -6.05740359e-02 -7.92681315e-02 5.69450546e+00] [ 6.00014949e-02 9.98152247e-01 -9.58706534e-03 3.70631481e-01] [ 7.97023909e-02 4.78303130e-03 9.96807229e-01 4.41210394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.720888479 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:5.72, Y:0.37, Z:0.45 [[ 0.99516823 -0.06312607 -0.07520173 5.7220908 ] [ 0.06226886 0.99796549 -0.01369177 0.37321378] [ 0.07591304 0.00894289 0.99707434 0.4452532 ] [ 0. 0. 0. 1. ]] SLAMing on 7.750888478999999 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:5.75, Y:0.37, Z:0.45 [[ 0.99552984 -0.06452404 -0.06897094 5.75126091] [ 0.06396079 0.99789878 -0.01034614 0.36820393] [ 0.06949359 0.00588845 0.99756502 0.45100086] [ 0. 0. 0. 1. ]] SLAMing on 7.780888479 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:5.78, Y:0.37, Z:0.45 [[ 0.99541274 -0.06475136 -0.07043247 5.77903667] [ 0.06416295 0.99788327 -0.0105872 0.36750112] [ 0.07096891 0.00601947 0.99746036 0.45230529] [ 0. 0. 0. 1. ]] SLAMing on 7.810888479 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:5.81, Y:0.37, Z:0.45 [[ 0.99505311 -0.065669 -0.07454452 5.80738854] [ 0.06501112 0.99782146 -0.0112204 0.36668043] [ 0.07511895 0.00631867 0.99715456 0.45278125] [ 0. 0. 0. 1. ]] SLAMing on 7.840888479 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:5.84, Y:0.36, Z:0.45 [[ 0.99460807 -0.06687979 -0.07925838 5.83674496] [ 0.06613778 0.9977389 -0.01195329 0.36350098] [ 0.0798786 0.00664687 0.99678244 0.45222002] [ 0. 0. 0. 1. ]] SLAMing on 7.8708884789999995 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:5.86, Y:0.37, Z:0.45 [[ 0.99462144 -0.06756007 -0.07851001 5.86380872] [ 0.06683235 0.99769369 -0.01186308 0.36625434] [ 0.07913042 0.00655226 0.99684274 0.45423102] [ 0. 0. 0. 1. ]] SLAMing on 7.900888479 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:5.89, Y:0.37, Z:0.46 [[ 0.99480931 -0.06836262 -0.07537234 5.89105974] [ 0.06769327 0.99764102 -0.01140274 0.36993792] [ 0.07597406 0.00624135 0.99709026 0.45697334] [ 0. 0. 0. 1. ]] SLAMing on 7.930888479 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:5.92, Y:0.37, Z:0.46 [[ 0.99499414 -0.06878861 -0.0724899 5.91916936] [ 0.06816933 0.99761328 -0.01098557 0.37187718] [ 0.07307257 0.00598899 0.99730864 0.46086269] [ 0. 0. 0. 1. ]] SLAMing on 7.960888478999999 meters Centerline goodness : 0.993202 Centerline is valid? [True, True] Translation: X:5.95, Y:0.36, Z:0.48 [[ 0.99465428 -0.06451529 -0.08062653 5.95381913] [ 0.06527345 0.99784424 0.00680053 0.35872599] [ 0.08001398 -0.01202695 0.99672118 0.4785721 ] [ 0. 0. 0. 1. ]] SLAMing on 7.990888479 meters Centerline goodness : 0.993560 Centerline is valid? [True, True] Translation: X:5.97, Y:0.38, Z:0.47 [[ 0.99511793 -0.06908352 -0.07048242 5.97498379] [ 0.06721928 0.99733138 -0.0284901 0.37754676] [ 0.07226252 0.02361323 0.99710608 0.46655645] [ 0. 0. 0. 1. ]] SLAMing on 8.020888479 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:6.00, Y:0.37, Z:0.47 [[ 0.99503384 -0.06662568 -0.07395046 6.00351366] [ 0.06597167 0.99775803 -0.01125426 0.37280452] [ 0.07453448 0.00631974 0.99719841 0.47122212] [ 0. 0. 0. 1. ]] SLAMing on 8.050888479 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:6.04, Y:0.37, Z:0.48 [[ 9.94986388e-01 -6.32862048e-02 -7.74399434e-02 6.03659460e+00] [ 6.29832152e-02 9.97994377e-01 -6.35117701e-03 3.73111622e-01] [ 7.76865700e-02 1.44191805e-03 9.96976789e-01 4.79165363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.080888479 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:6.06, Y:0.38, Z:0.48 [[ 9.95476796e-01 -5.90822098e-02 -7.43992024e-02 6.06418798e+00] [ 5.87569416e-02 9.98250797e-01 -6.55505841e-03 3.79153457e-01] [ 7.46563504e-02 2.15393896e-03 9.97206995e-01 4.81362842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110888479 meters Centerline goodness : 0.993881 Centerline is valid? [True, True] Translation: X:6.09, Y:0.39, Z:0.47 [[ 0.9958772 -0.06117204 -0.06698199 6.08598237] [ 0.06004178 0.99801954 -0.01876111 0.39156685] [ 0.06799699 0.01466204 0.99757778 0.47474848] [ 0. 0. 0. 1. ]] SLAMing on 8.140888479 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:6.12, Y:0.37, Z:0.50 [[ 0.99477286 -0.05559109 -0.08565382 6.12283904] [ 0.05777472 0.9980594 0.02322732 0.36825765] [ 0.08419637 -0.02805453 0.99605417 0.49972941] [ 0. 0. 0. 1. ]] SLAMing on 8.170888479 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:6.14, Y:0.40, Z:0.48 [[ 0.9960102 -0.06582334 -0.06025749 6.14183878] [ 0.06323336 0.99703161 -0.0439261 0.40070522] [ 0.06296998 0.03994056 0.99721589 0.47805982] [ 0. 0. 0. 1. ]] SLAMing on 8.200888479 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:6.18, Y:0.37, Z:0.51 [[ 0.99486055 -0.05891326 -0.08235121 6.17793728] [ 0.06128942 0.99776478 0.02662804 0.36700307] [ 0.08059839 -0.03153844 0.99624757 0.50673186] [ 0. 0. 0. 1. ]] SLAMing on 8.230888478999999 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:6.20, Y:0.40, Z:0.48 [[ 0.99570322 -0.06835337 -0.06247328 6.19868632] [ 0.06541539 0.99670665 -0.04792359 0.40345613] [ 0.06554327 0.04363096 0.99689539 0.48249459] [ 0. 0. 0. 1. ]] SLAMing on 8.260888479 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:6.23, Y:0.37, Z:0.51 [[ 0.99456144 -0.06113848 -0.08431859 6.23348359] [ 0.06309934 0.99779074 0.02078734 0.37458968] [ 0.0828614 -0.02599473 0.99622199 0.50795237] [ 0. 0. 0. 1. ]] SLAMing on 8.290888479 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:6.25, Y:0.41, Z:0.49 [[ 0.99562639 -0.06762767 -0.06445616 6.25416308] [ 0.06494983 0.99697134 -0.04277455 0.41155938] [ 0.06715368 0.03840105 0.99700338 0.48654979] [ 0. 0. 0. 1. ]] SLAMing on 8.320888479 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:6.28, Y:0.40, Z:0.49 [[ 9.95485940e-01 -6.47124727e-02 -6.94265070e-02 6.28239019e+00] [ 6.41239419e-02 9.97884848e-01 -1.06747908e-02 4.03372334e-01] [ 6.99704515e-02 6.17470281e-03 9.97529954e-01 4.92627224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350888479 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:6.31, Y:0.41, Z:0.49 [[ 9.95468699e-01 -6.49792539e-02 -6.94245324e-02 6.31047852e+00] [ 6.43904785e-02 9.97867547e-01 -1.06876165e-02 4.07789158e-01] [ 6.99709612e-02 6.16890879e-03 9.97529954e-01 4.94939310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.380888479 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:6.34, Y:0.41, Z:0.50 [[ 0.99538298 -0.06454212 -0.07104248 6.33767549] [ 0.06392299 0.99789469 -0.01095652 0.41241244] [ 0.07160007 0.00636469 0.99741311 0.49615341] [ 0. 0. 0. 1. ]] SLAMing on 8.410888479 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:6.37, Y:0.41, Z:0.50 [[ 0.99521916 -0.06389096 -0.07387 6.36520471] [ 0.06321791 0.99793445 -0.01141615 0.41372583] [ 0.0744468 0.00669166 0.99720253 0.49686969] [ 0. 0. 0. 1. ]] SLAMing on 8.440888479 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:6.40, Y:0.40, Z:0.52 [[ 0.9944306 -0.06167605 -0.08546259 6.39652676] [ 0.06312662 0.99790202 0.01437335 0.40346535] [ 0.0843968 -0.01968827 0.9962377 0.51524386] [ 0. 0. 0. 1. ]] SLAMing on 8.470888479 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:6.42, Y:0.43, Z:0.50 [[ 0.99536558 -0.06774996 -0.06824441 6.41979811] [ 0.06528108 0.99715138 -0.03778225 0.43097584] [ 0.07060975 0.03315208 0.99695296 0.49923104] [ 0. 0. 0. 1. ]] SLAMing on 8.500888479 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:6.45, Y:0.41, Z:0.53 [[ 0.99427791 -0.06214237 -0.08688933 6.45213618] [ 0.0646561 0.99755783 0.02641897 0.4088574 ] [ 0.08503539 -0.03188572 0.9958676 0.52715064] [ 0. 0. 0. 1. ]] SLAMing on 8.530888479 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:6.47, Y:0.45, Z:0.50 [[ 0.9954326 -0.07090502 -0.06392517 6.47482596] [ 0.06779711 0.99646821 -0.04954447 0.44926779] [ 0.06721235 0.04498424 0.99672409 0.50145342] [ 0. 0. 0. 1. ]] SLAMing on 8.560888478999999 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:6.51, Y:0.43, Z:0.52 [[ 0.99451054 -0.06706745 -0.08031651 6.50549747] [ 0.06809125 0.99762824 0.01007363 0.42805033] [ 0.07945041 -0.01548718 0.99671851 0.52138379] [ 0. 0. 0. 1. ]] SLAMing on 8.590888479 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:6.53, Y:0.43, Z:0.53 [[ 9.94288939e-01 -6.73458021e-02 -8.27891832e-02 6.53394643e+00] [ 6.78226606e-02 9.97693008e-01 2.95793987e-03 4.32761153e-01] [ 8.23989843e-02 -8.55602957e-03 9.96562693e-01 5.27658264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.620888479 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:6.56, Y:0.45, Z:0.52 [[ 0.99457256 -0.07047549 -0.07654164 6.56162631] [ 0.06922603 0.99742272 -0.01885952 0.44603878] [ 0.0776735 0.01345849 0.99688801 0.52314966] [ 0. 0. 0. 1. ]] SLAMing on 8.650888479 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:6.59, Y:0.44, Z:0.53 [[ 9.94400453e-01 -7.13048989e-02 -7.79958340e-02 6.59016176e+00] [ 7.07323944e-02 9.97444376e-01 -1.00818895e-02 4.44014991e-01] [ 7.85153941e-02 4.50860342e-03 9.96902706e-01 5.27653999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.680888479 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:6.62, Y:0.46, Z:0.51 [[ 0.99486637 -0.07792459 -0.06456516 6.61718412] [ 0.07530364 0.99627227 -0.04208236 0.45936125] [ 0.06760373 0.03700433 0.99702578 0.5136417 ] [ 0. 0. 0. 1. ]] SLAMing on 8.710888479 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:6.65, Y:0.45, Z:0.52 [[ 9.94681737e-01 -7.69892437e-02 -6.84170904e-02 6.64633723e+00] [ 7.64333400e-02 9.97017171e-01 -1.07100522e-02 4.50830834e-01] [ 6.90375727e-02 5.42374655e-03 9.97599317e-01 5.21030352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.740888479 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:6.67, Y:0.45, Z:0.54 [[ 0.9939134 -0.07676964 -0.07900994 6.67376814] [ 0.07814653 0.99683672 0.01448038 0.44677641] [ 0.07764835 -0.02056659 0.99676865 0.53720275] [ 0. 0. 0. 1. ]] SLAMing on 8.770888479 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:6.70, Y:0.46, Z:0.54 [[ 9.93704548e-01 -7.89270466e-02 -7.95097065e-02 6.70134515e+00] [ 7.86247986e-02 9.96880193e-01 -6.92983902e-03 4.59578744e-01] [ 7.98086033e-02 6.34777886e-04 9.96810004e-01 5.36045562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.800888479 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:6.73, Y:0.48, Z:0.52 [[ 0.99449611 -0.08124825 -0.06615285 6.72801516] [ 0.07845967 0.99595827 -0.04371734 0.47951409] [ 0.06943743 0.0382864 0.99685134 0.52019028] [ 0. 0. 0. 1. ]] SLAMing on 8.830888479 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:6.76, Y:0.46, Z:0.54 [[ 0.99376094 -0.07578406 -0.08182889 6.75587674] [ 0.07712408 0.9969323 0.01333655 0.45983143] [ 0.08056717 -0.01956432 0.99655716 0.5414557 ] [ 0. 0. 0. 1. ]] SLAMing on 8.860888479 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:6.78, Y:0.48, Z:0.54 [[ 0.99415222 -0.07605549 -0.07666109 6.78212706] [ 0.07512569 0.99706208 -0.01494461 0.47626672] [ 0.07757249 0.009098 0.9969452 0.5377979 ] [ 0. 0. 0. 1. ]] SLAMing on 8.890888479 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:6.81, Y:0.48, Z:0.54 [[ 9.94415504e-01 -6.93048780e-02 -7.95904505e-02 6.81022398e+00] [ 6.90615287e-02 9.97595487e-01 -5.80947390e-03 4.77705854e-01] [ 7.98016991e-02 2.80392733e-04 9.96810719e-01 5.43152290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.920888479 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:6.84, Y:0.48, Z:0.55 [[ 0.99438114 -0.06485917 -0.08366264 6.83906754] [ 0.06566971 0.99781707 0.00697005 0.47712036] [ 0.08302794 -0.01242499 0.99646976 0.55148564] [ 0. 0. 0. 1. ]] SLAMing on 8.950888479 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:6.87, Y:0.51, Z:0.53 [[ 0.99573392 -0.06863098 -0.06167451 6.86549653] [ 0.06495767 0.99609984 -0.0597127 0.51299598] [ 0.06553211 0.05545173 0.99630851 0.52690218] [ 0. 0. 0. 1. ]] SLAMing on 8.980888478999999 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:6.89, Y:0.49, Z:0.54 [[ 9.95458495e-01 -6.30765012e-02 -7.13003511e-02 6.89494378e+00] [ 6.24303294e-02 9.97985835e-01 -1.12573490e-02 4.94147422e-01] [ 7.18668146e-02 6.75491928e-03 9.97391364e-01 5.37972696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.010888479 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:6.92, Y:0.50, Z:0.54 [[ 9.95404017e-01 -6.35131298e-02 -7.16723398e-02 6.92216952e+00] [ 6.28602505e-02 9.97958018e-01 -1.13306095e-02 4.95952148e-01] [ 7.22456287e-02 6.77319300e-03 9.97363872e-01 5.41731073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.040888479 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:6.95, Y:0.50, Z:0.55 [[ 9.95313573e-01 -6.45765981e-02 -7.19774572e-02 6.94962540e+00] [ 6.39202692e-02 9.97890038e-01 -1.13873481e-02 4.98778195e-01] [ 7.25609437e-02 6.73316364e-03 9.97341253e-01 5.45785791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070888479 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:6.98, Y:0.51, Z:0.54 [[ 0.99485254 -0.06871258 -0.07447823 6.97769118] [ 0.06730504 0.99750613 -0.02124959 0.51279061] [ 0.0757526 0.01612745 0.99699621 0.5445748 ] [ 0. 0. 0. 1. ]] SLAMing on 9.100888479 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:7.01, Y:0.51, Z:0.55 [[ 9.94756557e-01 -6.76658541e-02 -7.66858874e-02 7.00557768e+00] [ 6.76110464e-02 9.97706252e-01 -3.31369954e-03 5.13283301e-01] [ 7.67342136e-02 -1.88848875e-03 9.97049795e-01 5.46007728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130888479 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:7.03, Y:0.52, Z:0.55 [[ 0.99473003 -0.06855766 -0.0762366 7.03282428] [ 0.06778569 0.99761944 -0.01267106 0.52320348] [ 0.07692381 0.00743653 0.99700924 0.54515642] [ 0. 0. 0. 1. ]] SLAMing on 9.160888479 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:7.06, Y:0.53, Z:0.55 [[ 9.94853315e-01 -6.67004052e-02 -7.62754021e-02 7.05995499e+00] [ 6.61218593e-02 9.97760556e-01 -1.00882133e-02 5.25787230e-01] [ 7.67774755e-02 4.99282104e-03 9.97035752e-01 5.48111162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190888479 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:7.09, Y:0.52, Z:0.57 [[ 0.99415642 -0.06324811 -0.08747963 7.08615967] [ 0.0652343 0.99766888 0.02003242 0.51713288] [ 0.08600869 -0.02562203 0.99596487 0.57053003] [ 0. 0. 0. 1. ]] SLAMing on 9.220888479 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:7.12, Y:0.54, Z:0.57 [[ 0.99430244 -0.06672358 -0.08313015 7.11511874] [ 0.06523415 0.9976592 -0.02050897 0.53866234] [ 0.08430399 0.01496919 0.99632764 0.56616764] [ 0. 0. 0. 1. ]] SLAMing on 9.250888479 meters Centerline goodness : 0.993881 Centerline is valid? [True, True] Translation: X:7.14, Y:0.54, Z:0.57 [[ 9.94259978e-01 -6.46791288e-02 -8.52273835e-02 7.14041295e+00] [ 6.41585816e-02 9.97900601e-01 -8.83555903e-03 5.38556244e-01] [ 8.56199335e-02 3.31677468e-03 9.96322350e-01 5.69065331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.280888479 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:7.17, Y:0.56, Z:0.55 [[ 0.99494649 -0.06624838 -0.0754495 7.17228474] [ 0.06298455 0.9970063 -0.04484843 0.55800288] [ 0.07819476 0.03986963 0.99614055 0.55425467] [ 0. 0. 0. 1. ]] SLAMing on 9.310888478999999 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:7.20, Y:0.55, Z:0.56 [[ 9.94896885e-01 -6.22548878e-02 -7.94009944e-02 7.19932856e+00] [ 6.15813979e-02 9.98042488e-01 -1.09051800e-02 5.48706785e-01] [ 7.99244668e-02 5.95990540e-03 9.96783105e-01 5.61438065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.340888479 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:7.23, Y:0.55, Z:0.56 [[ 0.99497285 -0.06316382 -0.07771337 7.22645597] [ 0.06238362 0.99797485 -0.01242896 0.55320339] [ 0.07834105 0.00751844 0.99689827 0.56398802] [ 0. 0. 0. 1. ]] SLAMing on 9.370888479 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:7.25, Y:0.55, Z:0.57 [[ 9.94960502e-01 -6.67585208e-02 -7.48124284e-02 7.25436517e+00] [ 6.60440856e-02 9.97744714e-01 -1.19860389e-02 5.51625960e-01] [ 7.54438752e-02 6.98471682e-03 9.97125587e-01 5.68576888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.400888478999999 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:7.28, Y:0.55, Z:0.57 [[ 9.94806919e-01 -6.92823533e-02 -7.45597047e-02 7.28225530e+00] [ 6.85781366e-02 9.97573970e-01 -1.19671543e-02 5.54515075e-01] [ 7.52079332e-02 6.79184230e-03 9.97144743e-01 5.70887307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.430888479 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:7.31, Y:0.56, Z:0.57 [[ 0.99441746 -0.07349634 -0.07571125 7.31245742] [ 0.0722568 0.99720532 -0.01898684 0.56170419] [ 0.07689513 0.0134102 0.996949 0.57199464] [ 0. 0. 0. 1. ]] SLAMing on 9.460888479 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:7.34, Y:0.56, Z:0.58 [[ 9.94488422e-01 -7.17389506e-02 -7.64611120e-02 7.33828209e+00] [ 7.15747248e-02 9.97423256e-01 -4.88957794e-03 5.57530567e-01] [ 7.66148644e-02 -6.10054395e-04 9.97060575e-01 5.75651563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490888479 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:7.37, Y:0.56, Z:0.58 [[ 9.94540323e-01 -7.19116667e-02 -7.56191715e-02 7.36552641e+00] [ 7.11895580e-02 9.97388127e-01 -1.22053268e-02 5.61973177e-01] [ 7.62993693e-02 6.75539421e-03 9.97062070e-01 5.77848065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.520888479 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:7.39, Y:0.56, Z:0.58 [[ 9.94463994e-01 -7.13108231e-02 -7.71759813e-02 7.39370626e+00] [ 7.05550149e-02 9.97429823e-01 -1.24795268e-02 5.62815338e-01] [ 7.78675507e-02 6.96528750e-03 9.96939381e-01 5.82399028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.550888479 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:7.42, Y:0.57, Z:0.59 [[ 9.94373009e-01 -7.13292610e-02 -7.83227641e-02 7.42122758e+00] [ 7.05489890e-02 9.97427618e-01 -1.26880661e-02 5.67318971e-01] [ 7.90263185e-02 7.09107862e-03 9.96847309e-01 5.85029647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.580888479 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:7.45, Y:0.57, Z:0.59 [[ 9.94396158e-01 -7.11146318e-02 -7.82239749e-02 7.44858937e+00] [ 7.03338630e-02 9.97442723e-01 -1.26949421e-02 5.72909702e-01] [ 7.89267307e-02 7.12200735e-03 9.96854979e-01 5.87448023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.610888479 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:7.48, Y:0.58, Z:0.59 [[ 9.94457890e-01 -7.10983470e-02 -7.74501839e-02 7.47613254e+00] [ 7.03311851e-02 9.97444220e-01 -1.25917500e-02 5.78861608e-01] [ 7.81474909e-02 7.07480188e-03 9.96916705e-01 5.89505754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.640888479 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:7.50, Y:0.58, Z:0.59 [[ 9.94529598e-01 -7.05685315e-02 -7.70127358e-02 7.50379335e+00] [ 6.98067174e-02 9.97481677e-01 -1.25429970e-02 5.83485109e-01] [ 7.77039337e-02 7.09837551e-03 9.96951208e-01 5.92058820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670888479 meters Centerline goodness : 0.996050 Centerline is valid? [True, True] Translation: X:7.53, Y:0.58, Z:0.60 [[ 9.94427582e-01 -6.98609678e-02 -7.89507980e-02 7.53181709e+00] [ 6.90561259e-02 9.97529598e-01 -1.28822855e-02 5.82618340e-01] [ 7.96557267e-02 7.35846373e-03 9.96795274e-01 5.97502693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.700888479 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:7.56, Y:0.58, Z:0.61 [[ 9.93815409e-01 -7.01106740e-02 -8.61128654e-02 7.55641455e+00] [ 7.08137008e-02 9.97476352e-01 5.13288716e-03 5.79179474e-01] [ 8.55356767e-02 -1.11991130e-02 9.96272166e-01 6.09843286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730888478999999 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:7.59, Y:0.60, Z:0.60 [[ 0.99456064 -0.07202196 -0.07524604 7.58714579] [ 0.0697656 0.99704359 -0.03219987 0.59822902] [ 0.07734268 0.02677514 0.99664497 0.59925671] [ 0. 0. 0. 1. ]] SLAMing on 9.760888479 meters Centerline goodness : 0.995739 Centerline is valid? [True, True] Translation: X:7.61, Y:0.60, Z:0.60 [[ 9.94237166e-01 -7.22259231e-02 -7.92204117e-02 7.61396247e+00] [ 7.14196470e-02 9.97362054e-01 -1.29679658e-02 6.00357687e-01] [ 7.99480558e-02 7.23533977e-03 9.96772772e-01 6.01503093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.790888479 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:7.64, Y:0.61, Z:0.60 [[ 9.94061324e-01 -7.33142427e-02 -8.04183230e-02 7.64073131e+00] [ 7.24855377e-02 9.97282371e-01 -1.31802336e-02 6.06349197e-01] [ 8.11660747e-02 7.27279503e-03 9.96674056e-01 6.01629265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.820888479 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:7.67, Y:0.61, Z:0.60 [[ 9.93894534e-01 -7.43226311e-02 -8.15463171e-02 7.66807024e+00] [ 7.34725178e-02 9.97207473e-01 -1.33807303e-02 6.09083289e-01] [ 8.23130879e-02 7.30762147e-03 9.96579728e-01 6.02577574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850888479 meters Centerline goodness : 0.996339 Centerline is valid? [True, True] Translation: X:7.70, Y:0.60, Z:0.61 [[ 9.93705712e-01 -7.61764758e-02 -8.21346554e-02 7.69679246e+00] [ 7.53193251e-02 9.97068228e-01 -1.34888261e-02 6.03794568e-01] [ 8.29213865e-02 7.21759670e-03 9.96529954e-01 6.06777908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.880888479 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:7.72, Y:0.60, Z:0.61 [[ 9.93707833e-01 -7.71908497e-02 -8.11561190e-02 7.72444377e+00] [ 7.63555099e-02 9.96991264e-01 -1.33512364e-02 6.04430969e-01] [ 8.19425350e-02 7.07051135e-03 9.96611975e-01 6.10738289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910888479 meters Centerline goodness : 0.995973 Centerline is valid? [True, True] Translation: X:7.75, Y:0.61, Z:0.61 [[ 9.93844140e-01 -7.80048500e-02 -7.86706328e-02 7.75186464e+00] [ 7.72207854e-02 9.96929722e-01 -1.29645375e-02 6.08131424e-01] [ 7.94403889e-02 6.80972154e-03 9.96816358e-01 6.13459298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.940888479 meters Centerline goodness : 0.996211 Centerline is valid? [True, True] Translation: X:7.78, Y:0.62, Z:0.62 [[ 9.94157427e-01 -7.87930447e-02 -7.37744304e-02 7.77854641e+00] [ 7.81044029e-02 9.96870805e-01 -1.21778464e-02 6.17808536e-01] [ 7.45031055e-02 6.34458865e-03 9.97200598e-01 6.15111872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970888479 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:7.80, Y:0.62, Z:0.62 [[ 9.94172577e-01 -7.94479136e-02 -7.28623089e-02 7.80479833e+00] [ 7.87764167e-02 9.96819498e-01 -1.20484262e-02 6.24269122e-01] [ 7.35877925e-02 6.23838335e-03 9.97269231e-01 6.16088985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.000888479 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:7.83, Y:0.63, Z:0.62 [[ 9.93942372e-01 -8.03372439e-02 -7.49965863e-02 7.83280721e+00] [ 7.96274938e-02 9.96747422e-01 -1.24112413e-02 6.28217733e-01] [ 7.57497389e-02 6.36426847e-03 9.97106551e-01 6.17333666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.030888479 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:7.86, Y:0.62, Z:0.63 [[ 9.92823218e-01 -8.17907544e-02 -8.72486654e-02 7.85961882e+00] [ 8.19409549e-02 9.96635442e-01 -1.86457949e-03 6.22176761e-01] [ 8.71076176e-02 -5.29804115e-03 9.96184819e-01 6.25019061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.060888478999999 meters Centerline goodness : 0.996401 Centerline is valid? [True, True] Translation: X:7.89, Y:0.63, Z:0.62 [[ 0.99294624 -0.08264032 -0.08501966 7.88667902] [ 0.0815894 0.99654129 -0.01576816 0.62723724] [ 0.08602869 0.00872023 0.9962545 0.62494036] [ 0. 0. 0. 1. ]] SLAMing on 10.090888479 meters Centerline goodness : 0.996606 Centerline is valid? [True, True] Translation: X:7.91, Y:0.63, Z:0.63 [[ 0.99295684 -0.08345926 -0.08409077 7.91489832] [ 0.08187296 0.99639671 -0.02214534 0.63177803] [ 0.085636 0.01510461 0.99621199 0.62794379] [ 0. 0. 0. 1. ]] SLAMing on 10.120888479 meters Centerline goodness : 0.996111 Centerline is valid? [True, True] Translation: X:7.94, Y:0.63, Z:0.63 [[ 9.93276823e-01 -8.26588679e-02 -8.10473030e-02 7.94298331e+00] [ 8.24014257e-02 9.96577880e-01 -6.52178433e-03 6.33427096e-01] [ 8.13090327e-02 -2.00476103e-04 9.96688919e-01 6.34933709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150888478999999 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:7.97, Y:0.64, Z:0.64 [[ 9.93246714e-01 -8.20192181e-02 -8.20598077e-02 7.97069663e+00] [ 8.17781873e-02 9.96630645e-01 -6.29967696e-03 6.40371931e-01] [ 8.23000136e-02 -4.53568878e-04 9.96607496e-01 6.38328310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.180888479 meters Centerline goodness : 0.996158 Centerline is valid? [True, True] Translation: X:8.00, Y:0.66, Z:0.63 [[ 0.99380805 -0.08317443 -0.07367206 7.99821744] [ 0.08107243 0.99622345 -0.03108211 0.65710637] [ 0.07597907 0.02491687 0.99679804 0.62791728] [ 0. 0. 0. 1. ]] SLAMing on 10.210888479 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:8.03, Y:0.65, Z:0.63 [[ 9.93629609e-01 -8.15486957e-02 -7.77818170e-02 8.02694501e+00] [ 8.07845251e-02 9.96647767e-01 -1.29262793e-02 6.54946136e-01] [ 7.85751954e-02 6.56036672e-03 9.96886604e-01 6.33198481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.240888479 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:8.05, Y:0.66, Z:0.64 [[ 9.93521472e-01 -8.13564662e-02 -7.93486666e-02 8.05375034e+00] [ 8.05588070e-02 9.96662346e-01 -1.32078080e-02 6.55659472e-01] [ 8.01583688e-02 6.73000689e-03 9.96759421e-01 6.35618683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270888479 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:8.08, Y:0.66, Z:0.64 [[ 9.93501527e-01 -8.16012885e-02 -7.93469964e-02 8.08179991e+00] [ 8.08036083e-02 9.96642396e-01 -1.32178346e-02 6.60446775e-01] [ 8.01591729e-02 6.72041528e-03 9.96759421e-01 6.37724227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.300888479 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:8.10, Y:0.65, Z:0.65 [[ 0.99362223 -0.07777651 -0.08164355 8.10340531] [ 0.0787243 0.99686061 0.00844994 0.65434625] [ 0.08073003 -0.01482338 0.99662577 0.64778126] [ 0. 0. 0. 1. ]] SLAMing on 10.330888479 meters Centerline goodness : 0.996155 Centerline is valid? [True, True] Translation: X:8.13, Y:0.67, Z:0.64 [[ 0.9939975 -0.07947249 -0.0751871 8.131592 ] [ 0.07776466 0.99664863 -0.02538027 0.67011267] [ 0.07695215 0.01938102 0.9968464 0.64281383] [ 0. 0. 0. 1. ]] SLAMing on 10.360888479 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:8.17, Y:0.68, Z:0.65 [[ 0.99316363 -0.08584612 -0.07909766 8.16536985] [ 0.08420021 0.99616171 -0.02392019 0.67610775] [ 0.08084752 0.01709663 0.99657984 0.64548809] [ 0. 0. 0. 1. ]] SLAMing on 10.390888479 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:8.19, Y:0.67, Z:0.65 [[ 9.93393157e-01 -8.22281990e-02 -8.00534759e-02 8.18675831e+00] [ 8.27071057e-02 9.96570296e-01 2.67936083e-03 6.71879577e-01] [ 7.95585972e-02 -9.28265000e-03 9.96786969e-01 6.52191281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.420888479 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:8.22, Y:0.69, Z:0.65 [[ 0.99362315 -0.08445885 -0.07469762 8.21877167] [ 0.08253896 0.99618219 -0.02843174 0.68776366] [ 0.07681375 0.02208497 0.99680083 0.64749445] [ 0. 0. 0. 1. ]] SLAMing on 10.450888479 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:8.24, Y:0.69, Z:0.65 [[ 9.93844101e-01 -8.28825686e-02 -7.35145124e-02 8.24455198e+00] [ 8.21299141e-02 9.96534107e-01 -1.32079480e-02 6.85097799e-01] [ 7.43544276e-02 7.08890065e-03 9.97206682e-01 6.53896743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.480888478999999 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:8.27, Y:0.69, Z:0.66 [[ 9.93746377e-01 -8.30271337e-02 -7.46634688e-02 8.27439583e+00] [ 8.25061114e-02 9.96539972e-01 -1.00411649e-02 6.86486624e-01] [ 7.52388203e-02 3.81817880e-03 9.97158233e-01 6.57853818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510888479 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:8.30, Y:0.69, Z:0.66 [[ 0.99378896 -0.08213323 -0.07508421 8.30412569] [ 0.08122539 0.99658181 -0.01507097 0.68878363] [ 0.07606538 0.00887862 0.9970633 0.65961973] [ 0. 0. 0. 1. ]] SLAMing on 10.540888479 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:8.33, Y:0.70, Z:0.65 [[ 0.99375833 -0.08614804 -0.07087243 8.32740386] [ 0.08448641 0.99608212 -0.02612373 0.69961716] [ 0.07284527 0.01997291 0.99714324 0.65326103] [ 0. 0. 0. 1. ]] SLAMing on 10.570888478999999 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:8.36, Y:0.69, Z:0.66 [[ 9.93499860e-01 -8.32638670e-02 -7.76218854e-02 8.35842419e+00] [ 8.32907096e-02 9.96521080e-01 -2.89725414e-03 6.93262280e-01] [ 7.75930816e-02 -3.58676033e-03 9.96978660e-01 6.62481945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.600888479 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:8.39, Y:0.70, Z:0.66 [[ 9.93647640e-01 -8.13097157e-02 -7.78016572e-02 8.38859567e+00] [ 8.07620681e-02 9.96681574e-01 -1.01650421e-02 6.97741298e-01] [ 7.83699948e-02 3.81704736e-03 9.96917035e-01 6.64847847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630888479 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:8.42, Y:0.70, Z:0.67 [[ 9.93755047e-01 -8.16997527e-02 -7.60003779e-02 8.41666662e+00] [ 8.09676617e-02 9.96636200e-01 -1.26697866e-02 7.03031873e-01] [ 7.67798462e-02 6.43709145e-03 9.97027291e-01 6.65029088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.660888479 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:8.44, Y:0.71, Z:0.67 [[ 9.93842318e-01 -8.06940072e-02 -7.59336877e-02 8.44325903e+00] [ 7.99586346e-02 9.96717527e-01 -1.26802289e-02 7.08531828e-01] [ 7.67076559e-02 6.53059407e-03 9.97032240e-01 6.66902053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.690888479 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:8.47, Y:0.71, Z:0.67 [[ 9.93855215e-01 -7.95141091e-02 -7.70020716e-02 8.46917765e+00] [ 7.87535686e-02 9.96811054e-01 -1.28684607e-02 7.14857195e-01] [ 7.77797404e-02 6.72519880e-03 9.96947884e-01 6.68382956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.720888479 meters Centerline goodness : 0.996406 Centerline is valid? [True, True] Translation: X:8.49, Y:0.73, Z:0.66 [[ 0.99363342 -0.08246092 -0.07676471 8.49159204] [ 0.08101569 0.99647527 -0.02175971 0.72787925] [ 0.07828846 0.01540203 0.99681176 0.66175561] [ 0. 0. 0. 1. ]] SLAMing on 10.750888479 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:8.52, Y:0.73, Z:0.67 [[ 9.93298402e-01 -8.20003247e-02 -8.14507959e-02 8.52058322e+00] [ 8.14361134e-02 9.96626054e-01 -1.02307011e-02 7.26240207e-01] [ 8.20149062e-02 3.52910279e-03 9.96624854e-01 6.68221587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.780888479 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:8.55, Y:0.73, Z:0.67 [[ 9.93113956e-01 -8.32625907e-02 -8.24136569e-02 8.54880726e+00] [ 8.24432666e-02 9.96506993e-01 -1.33011357e-02 7.30749274e-01] [ 8.32332724e-02 6.41509239e-03 9.96509442e-01 6.71611682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810888478999999 meters Centerline goodness : 0.996460 Centerline is valid? [True, True] Translation: X:8.58, Y:0.74, Z:0.67 [[ 0.99306173 -0.08573276 -0.08048786 8.57642414] [ 0.0846937 0.99627464 -0.01624229 0.73590794] [ 0.08158051 0.00931278 0.99662324 0.67354054] [ 0. 0. 0. 1. ]] SLAMing on 10.840888479 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:8.60, Y:0.74, Z:0.68 [[ 9.93112126e-01 -8.79554900e-02 -7.74088960e-02 8.60489236e+00] [ 8.70449010e-02 9.96090451e-01 -1.50664476e-02 7.37139975e-01] [ 7.84314390e-02 8.22462214e-03 9.96885583e-01 6.76835997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870888479 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:8.64, Y:0.74, Z:0.68 [[ 9.93115807e-01 -8.57824716e-02 -7.97644085e-02 8.63600598e+00] [ 8.54040280e-02 9.96313065e-01 -8.15033924e-03 7.35225703e-01] [ 8.01694785e-02 1.28202895e-03 9.96780423e-01 6.83414106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.900888478999999 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:8.66, Y:0.75, Z:0.68 [[ 0.99312575 -0.09005184 -0.07477912 8.66027236] [ 0.08882101 0.99585411 -0.0196319 0.74808607] [ 0.07623698 0.01285499 0.99700686 0.67781373] [ 0. 0. 0. 1. ]] SLAMing on 10.930888479 meters Centerline goodness : 0.996262 Centerline is valid? [True, True] Translation: X:8.69, Y:0.75, Z:0.68 [[ 9.93174367e-01 -9.01904875e-02 -7.39618349e-02 8.68843552e+00] [ 8.96379952e-02 9.95916261e-01 -1.07624966e-02 7.49631478e-01] [ 7.46304688e-02 4.05924520e-03 9.97202996e-01 6.81609560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.960888479 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:8.72, Y:0.76, Z:0.68 [[ 0.99310888 -0.09290467 -0.07143865 8.71790191] [ 0.09169808 0.99558609 -0.01999507 0.75655039] [ 0.07298096 0.01330649 0.99724456 0.68182427] [ 0. 0. 0. 1. ]] SLAMing on 10.990888479 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:8.75, Y:0.75, Z:0.69 [[ 9.93208039e-01 -8.95061497e-02 -7.43400276e-02 8.74685531e+00] [ 8.97714834e-02 9.95962363e-01 2.28715082e-04 7.46529569e-01] [ 7.40193981e-02 -6.90077621e-03 9.97232926e-01 6.92992846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.020888479 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:8.77, Y:0.76, Z:0.69 [[ 0.99268505 -0.09713997 -0.07169538 8.77187307] [ 0.09602043 0.99519976 -0.01890814 0.75625568] [ 0.07318796 0.01188561 0.99724734 0.68958762] [ 0. 0. 0. 1. ]] SLAMing on 11.050888479 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:8.80, Y:0.75, Z:0.70 [[ 9.92385155e-01 -9.68303399e-02 -7.61287677e-02 8.80216747e+00] [ 9.66220114e-02 9.95300418e-01 -6.42369547e-03 7.52022162e-01] [ 7.63930030e-02 -9.80934638e-04 9.97077302e-01 6.98001356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.080888479 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:8.83, Y:0.76, Z:0.70 [[ 9.92191410e-01 -1.00034611e-01 -7.44935113e-02 8.82867251e+00] [ 9.93710559e-02 9.94971041e-01 -1.25706698e-02 7.58737627e-01] [ 7.53763885e-02 5.07001173e-03 9.97142264e-01 6.98799108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110888479 meters Centerline goodness : 0.996884 Centerline is valid? [True, True] Translation: X:8.86, Y:0.76, Z:0.70 [[ 9.91745809e-01 -1.03106185e-01 -7.62191891e-02 8.85597656e+00] [ 1.02417508e-01 9.94657850e-01 -1.29001878e-02 7.64518746e-01] [ 7.71421040e-02 4.98752772e-03 9.97007633e-01 7.01971024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.140888479 meters Centerline goodness : 0.996885 Centerline is valid? [True, True] Translation: X:8.88, Y:0.76, Z:0.71 [[ 9.91495286e-01 -1.04158061e-01 -7.80268989e-02 8.88320466e+00] [ 1.04685197e-01 9.94501785e-01 2.68498388e-03 7.64711942e-01] [ 7.73182275e-02 -1.08304101e-02 9.96947639e-01 7.09378242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170888479 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:8.91, Y:0.78, Z:0.71 [[ 9.91399182e-01 -1.07079262e-01 -7.52442313e-02 8.90935820e+00] [ 1.06492525e-01 9.94243734e-01 -1.17787590e-02 7.76359762e-01] [ 7.60723664e-02 3.66450390e-03 9.97095565e-01 7.06200460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.200888479 meters Centerline goodness : 0.996884 Centerline is valid? [True, True] Translation: X:8.94, Y:0.78, Z:0.71 [[ 9.91150743e-01 -1.08756088e-01 -7.61072757e-02 8.93816471e+00] [ 1.08256003e-01 9.94065700e-01 -1.06780728e-02 7.80556034e-01] [ 7.68169377e-02 2.34451028e-03 9.97042457e-01 7.09290817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230888478999999 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:8.97, Y:0.79, Z:0.70 [[ 0.99129799 -0.11374692 -0.06625664 8.96522514] [ 0.11196985 0.99325998 -0.02995589 0.79409003] [ 0.06921746 0.02227647 0.99735285 0.70474331] [ 0. 0. 0. 1. ]] SLAMing on 11.260888479 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:8.99, Y:0.79, Z:0.72 [[ 9.90850192e-01 -1.11385112e-01 -7.62184558e-02 8.99177596e+00] [ 1.11920158e-01 9.93713338e-01 2.77147987e-03 7.86579454e-01] [ 7.54305945e-02 -1.12765029e-02 9.97087291e-01 7.20878045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290888479 meters Centerline goodness : 0.996741 Centerline is valid? [True, True] Translation: X:9.02, Y:0.81, Z:0.71 [[ 0.99129297 -0.11447876 -0.06506042 9.01927467] [ 0.11250112 0.99309344 -0.03330045 0.8081008 ] [ 0.06842327 0.02569113 0.99732553 0.7103369 ] [ 0. 0. 0. 1. ]] SLAMing on 11.320888478999999 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:9.05, Y:0.79, Z:0.73 [[ 0.99065372 -0.10935255 -0.08153054 9.04888294] [ 0.11151782 0.99350811 0.02248115 0.78832534] [ 0.07854289 -0.03136314 0.99641727 0.73237434] [ 0. 0. 0. 1. ]] SLAMing on 11.350888479 meters Centerline goodness : 0.996591 Centerline is valid? [True, True] Translation: X:9.07, Y:0.81, Z:0.72 [[ 0.99068719 -0.11111151 -0.07869643 9.07458903] [ 0.10996276 0.99375795 -0.01879688 0.80904683] [ 0.08029375 0.00996815 0.9967214 0.72359473] [ 0. 0. 0. 1. ]] SLAMing on 11.380888479 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:9.10, Y:0.81, Z:0.73 [[ 9.90721832e-01 -1.08040922e-01 -8.24464163e-02 9.10385913e+00] [ 1.08204996e-01 9.94125488e-01 -2.48867595e-03 8.07851545e-01] [ 8.22309627e-02 -6.45552855e-03 9.96592392e-01 7.28453164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410888479 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:9.13, Y:0.83, Z:0.72 [[ 0.99139281 -0.10702648 -0.07540308 9.12945246] [ 0.10479616 0.9939477 -0.03295038 0.82517643] [ 0.07847328 0.02476482 0.99660857 0.72084274] [ 0. 0. 0. 1. ]] SLAMing on 11.440888479 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:9.16, Y:0.83, Z:0.71 [[ 0.99189175 -0.10877817 -0.06571192 9.1606075 ] [ 0.10618843 0.99347103 -0.04170525 0.83426126] [ 0.06981951 0.03438924 0.99696671 0.71405647] [ 0. 0. 0. 1. ]] SLAMing on 11.470888479 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:9.19, Y:0.82, Z:0.73 [[ 9.92011307e-01 -1.05723833e-01 -6.88188834e-02 9.18936143e+00] [ 1.05353310e-01 9.94394112e-01 -9.00163310e-03 8.24337834e-01] [ 6.93847797e-02 1.67942466e-03 9.97588558e-01 7.25080735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.500888479 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:9.21, Y:0.83, Z:0.73 [[ 9.91931927e-01 -1.02881423e-01 -7.40706798e-02 9.21428862e+00] [ 1.03417247e-01 9.94632164e-01 3.42506831e-03 8.25913905e-01] [ 7.33207047e-02 -1.10576204e-02 9.97247112e-01 7.30963421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530888479 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:9.24, Y:0.84, Z:0.73 [[ 0.9919401 -0.10383389 -0.07261787 9.24174793] [ 0.10270637 0.99452828 -0.01910236 0.84103353] [ 0.074204 0.01149008 0.99717689 0.72603534] [ 0. 0. 0. 1. ]] SLAMing on 11.560888478999999 meters Centerline goodness : 0.991255 Centerline is valid? [True, True] Translation: X:9.27, Y:0.85, Z:0.73 [[ 0.99223763 -0.10267023 -0.07016632 9.27092498] [ 0.1010756 0.99454103 -0.0259205 0.84772129] [ 0.07244455 0.01862719 0.99719848 0.72540249] [ 0. 0. 0. 1. ]] SLAMing on 11.590888479 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:9.30, Y:0.84, Z:0.73 [[ 9.92602023e-01 -9.71067251e-02 -7.28800933e-02 9.29877290e+00] [ 9.74752670e-02 9.95236804e-01 1.50878674e-03 8.38166508e-01] [ 7.23864378e-02 -8.60163132e-03 9.97339569e-01 7.33444929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.620888479 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:9.33, Y:0.85, Z:0.73 [[ 0.99278055 -0.09753997 -0.069805 9.32589466] [ 0.09653404 0.99517318 -0.01764982 0.85147011] [ 0.07118963 0.01078384 0.9974045 0.73272136] [ 0. 0. 0. 1. ]] SLAMing on 11.650888478999999 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:9.35, Y:0.86, Z:0.73 [[ 9.92766118e-01 -9.90658377e-02 -6.78335777e-02 9.34703596e+00] [ 9.84611715e-02 9.95066005e-01 -1.22082959e-02 8.57441323e-01] [ 6.87083122e-02 5.44100898e-03 9.97621954e-01 7.34430366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.680888479 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:9.38, Y:0.87, Z:0.73 [[ 9.92809775e-01 -1.00024064e-01 -6.57566444e-02 9.37898831e+00] [ 9.94248883e-02 9.94968669e-01 -1.23304487e-02 8.66401571e-01] [ 6.66591426e-02 5.70394293e-03 9.97759502e-01 7.34813322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710888479 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:9.41, Y:0.87, Z:0.74 [[ 9.92854328e-01 -9.87482569e-02 -6.70004864e-02 9.40513544e+00] [ 9.88450212e-02 9.95101069e-01 -1.87743315e-03 8.69191412e-01] [ 6.68576488e-02 -4.75864686e-03 9.97751176e-01 7.42896050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.740888479 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:9.43, Y:0.88, Z:0.74 [[ 9.92950789e-01 -9.97562745e-02 -6.40110645e-02 9.43322432e+00] [ 9.92701588e-02 9.95002576e-01 -1.07382610e-02 8.78708867e-01] [ 6.47623829e-02 4.30817623e-03 9.97891414e-01 7.40439945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770888479 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:9.46, Y:0.88, Z:0.75 [[ 9.92676326e-01 -9.84159145e-02 -7.00572525e-02 9.46230357e+00] [ 9.84902016e-02 9.95135123e-01 -2.40148784e-03 8.79090225e-01] [ 6.99527772e-02 -4.51605280e-03 9.97540082e-01 7.48265749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.800888479 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:9.49, Y:0.90, Z:0.74 [[ 0.99266543 -0.10142475 -0.06579026 9.48773446] [ 0.09984627 0.99464024 -0.02686107 0.89519263] [ 0.06816201 0.02009514 0.99747187 0.74086204] [ 0. 0. 0. 1. ]] SLAMing on 11.830888479 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:9.52, Y:0.89, Z:0.75 [[ 9.92491119e-01 -9.90975836e-02 -7.17011000e-02 9.51812756e+00] [ 9.98121680e-02 9.94985430e-01 6.44395198e-03 8.87052324e-01] [ 7.07029697e-02 -1.35522073e-02 9.97405348e-01 7.50221307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.860888479 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:9.55, Y:0.91, Z:0.74 [[ 0.99276913 -0.10187626 -0.06348766 9.5465704 ] [ 0.09982208 0.99439878 -0.03473651 0.91061112] [ 0.06667088 0.02814786 0.99737791 0.74406917] [ 0. 0. 0. 1. ]] SLAMing on 11.890888479 meters Centerline goodness : 0.996405 Centerline is valid? [True, True] Translation: X:9.57, Y:0.90, Z:0.76 [[ 0.99235506 -0.09880921 -0.07394708 9.57412304] [ 0.1004749 0.99475536 0.01914579 0.89577031] [ 0.07166747 -0.02642924 0.99707837 0.76121907] [ 0. 0. 0. 1. ]] SLAMing on 11.920888479 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:9.60, Y:0.91, Z:0.76 [[ 9.92186306e-01 -1.01390555e-01 -7.27068740e-02 9.60093197e+00] [ 1.01003276e-01 9.94845446e-01 -8.99315490e-03 9.14273517e-01] [ 7.32439235e-02 1.57925267e-03 9.97312806e-01 7.58076738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950888479 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:9.63, Y:0.92, Z:0.76 [[ 9.92044309e-01 -9.95251314e-02 -7.70898014e-02 9.62889090e+00] [ 9.90557574e-02 9.95032653e-01 -9.89826354e-03 9.17230259e-01] [ 7.76919956e-02 2.18332735e-03 9.96975018e-01 7.62555794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.980888478999999 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:9.66, Y:0.92, Z:0.77 [[ 9.91996517e-01 -9.85476921e-02 -7.89383500e-02 9.65521505e+00] [ 9.87743125e-02 9.95109319e-01 -1.03818877e-03 9.15498266e-01] [ 7.86545988e-02 -6.76720161e-03 9.96878959e-01 7.66637783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010888479 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:9.68, Y:0.92, Z:0.77 [[ 9.91866717e-01 -1.00248913e-01 -7.84255720e-02 9.68377614e+00] [ 9.96545884e-02 9.94956031e-01 -1.14655343e-02 9.24148592e-01] [ 7.91794033e-02 3.55681376e-03 9.96854037e-01 7.65319010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.040888479 meters Centerline goodness : 0.996631 Centerline is valid? [True, True] Translation: X:9.71, Y:0.94, Z:0.76 [[ 0.99208546 -0.10343263 -0.0711908 9.70937857] [ 0.1013063 0.99431223 -0.03286682 0.94089466] [ 0.07418539 0.02539462 0.99692108 0.7569338 ] [ 0. 0. 0. 1. ]] SLAMing on 12.070888478999999 meters Centerline goodness : 0.990358 Centerline is valid? [True, True] Translation: X:9.74, Y:0.95, Z:0.75 [[ 0.99223071 -0.1053387 -0.06619651 9.74045587] [ 0.10280714 0.99387399 -0.04056098 0.95391823] [ 0.07006363 0.03344038 0.99698186 0.75376664] [ 0. 0. 0. 1. ]] SLAMing on 12.100888479 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:9.77, Y:0.93, Z:0.77 [[ 0.99218147 -0.10070013 -0.0737253 9.76735228] [ 0.10258899 0.99447409 0.0222885 0.93434185] [ 0.07107345 -0.02967764 0.99702949 0.77112469] [ 0. 0. 0. 1. ]] SLAMing on 12.130888479 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:9.79, Y:0.95, Z:0.77 [[ 9.92405685e-01 -1.03095627e-01 -6.70987936e-02 9.79410785e+00] [ 1.02544455e-01 9.94660591e-01 -1.16165545e-02 9.53013921e-01] [ 6.79381416e-02 4.64772548e-03 9.97678710e-01 7.65285493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.160888479 meters Centerline goodness : 0.996240 Centerline is valid? [True, True] Translation: X:9.82, Y:0.96, Z:0.77 [[ 9.92410189e-01 -1.03414741e-01 -6.65387674e-02 9.82186070e+00] [ 1.02596665e-01 9.94600615e-01 -1.56057767e-02 9.57894264e-01] [ 6.77933664e-02 8.66067610e-03 9.97661792e-01 7.66153900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.190888479 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:9.85, Y:0.96, Z:0.76 [[ 0.99233601 -0.10507099 -0.06503336 9.84773309] [ 0.10376991 0.9943335 -0.0230803 0.96424861] [ 0.06708992 0.0161549 0.99761614 0.76425845] [ 0. 0. 0. 1. ]] SLAMing on 12.220888479 meters Centerline goodness : 0.996642 Centerline is valid? [True, True] Translation: X:9.88, Y:0.98, Z:0.76 [[ 0.99288369 -0.10388193 -0.05822816 9.87824003] [ 0.10172268 0.99405184 -0.03890283 0.97579344] [ 0.06192311 0.03270287 0.99754501 0.75630426] [ 0. 0. 0. 1. ]] SLAMing on 12.250888479 meters Centerline goodness : 0.996389 Centerline is valid? [True, True] Translation: X:9.91, Y:0.96, Z:0.78 [[ 9.92679901e-01 -9.95766458e-02 -6.83454818e-02 9.90790876e+00] [ 1.00411019e-01 9.94906460e-01 8.87480167e-03 9.63532759e-01] [ 6.71136384e-02 -1.56724767e-02 9.97622240e-01 7.75194500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.280888479 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:9.93, Y:0.99, Z:0.77 [[ 0.99341114 -0.09988638 -0.0561873 9.93486109] [ 0.09862083 0.99481427 -0.0248698 0.98514081] [ 0.05838009 0.0191647 0.99811045 0.76690995] [ 0. 0. 0. 1. ]] SLAMing on 12.310888478999999 meters Centerline goodness : 0.996142 Centerline is valid? [True, True] Translation: X:9.96, Y:0.98, Z:0.77 [[ 9.93563019e-01 -9.43306183e-02 -6.27236966e-02 9.95907363e+00] [ 9.43043108e-02 9.95537658e-01 -3.38639398e-03 9.82836058e-01] [ 6.27632427e-02 -2.55051916e-03 9.98025185e-01 7.73347117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.340888479 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:9.99, Y:0.99, Z:0.77 [[ 9.93576081e-01 -9.32761711e-02 -6.40790707e-02 9.98808645e+00] [ 9.33957864e-02 9.95628417e-01 -1.13277475e-03 9.86169570e-01] [ 6.39046046e-02 -4.85921730e-03 9.97944182e-01 7.74702280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370888479 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:10.02, Y:1.00, Z:0.77 [[ 0.99392108 -0.09460997 -0.05630126 10.01695053] [ 0.09330057 0.99531257 -0.0254539 1.00043042] [ 0.05844554 0.02004623 0.99808931 0.7720861 ] [ 0. 0. 0. 1. ]] SLAMing on 12.400888478999999 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:10.04, Y:1.00, Z:0.78 [[ 9.93859712e-01 -9.42389808e-02 -5.79817791e-02 1.00447202e+01] [ 9.38204264e-02 9.95539861e-01 -9.90517911e-03 9.98369502e-01] [ 5.86566263e-02 4.40448323e-03 9.98268501e-01 7.77896107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430888479 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:10.07, Y:1.00, Z:0.78 [[ 9.93867203e-01 -9.69758954e-02 -5.31381092e-02 1.00732957e+01] [ 9.66194313e-02 9.95278483e-01 -9.24267229e-03 1.00483603e+00] [ 5.37835332e-02 4.05181496e-03 9.98544398e-01 7.82031844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.460888479 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:10.10, Y:1.01, Z:0.78 [[ 9.93635102e-01 -9.87321815e-02 -5.42332041e-02 1.01002205e+01] [ 9.84244201e-02 9.95109721e-01 -8.32322107e-03 1.01096561e+00] [ 5.47897584e-02 2.93237295e-03 9.98493607e-01 7.82812471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490888479 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:10.13, Y:1.02, Z:0.78 [[ 9.93472910e-01 -1.00740286e-01 -5.35067458e-02 1.01271402e+01] [ 1.00144402e-01 9.94878449e-01 -1.37102164e-02 1.01994082e+00] [ 5.46138794e-02 8.26232755e-03 9.98473364e-01 7.82405290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.520888479 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:10.16, Y:1.02, Z:0.79 [[ 9.92803203e-01 -1.00330307e-01 -6.53882985e-02 1.01588402e+01] [ 1.00894950e-01 9.94882524e-01 5.38263180e-03 1.01643008e+00] [ 6.45136343e-02 -1.19412432e-02 9.97845378e-01 7.91964558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550888479 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:10.18, Y:1.04, Z:0.78 [[ 0.99289774 -0.10428475 -0.05726051 10.18131003] [ 0.10298608 0.99436381 -0.0251889 1.0361696 ] [ 0.0595646 0.01911297 0.99804146 0.78035253] [ 0. 0. 0. 1. ]] SLAMing on 12.580888479 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:10.21, Y:1.03, Z:0.79 [[ 9.92889219e-01 -1.01536853e-01 -6.21390896e-02 1.02127341e+01] [ 1.01271357e-01 9.94831203e-01 -7.41547997e-03 1.03204017e+00] [ 6.25708498e-02 1.06984017e-03 9.98039951e-01 7.87833776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610888479 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:10.24, Y:1.04, Z:0.79 [[ 9.92652629e-01 -1.02945406e-01 -6.35845958e-02 1.02385393e+01] [ 1.02375659e-01 9.94671444e-01 -1.21631500e-02 1.03930465e+00] [ 6.44979221e-02 5.56426796e-03 9.97902328e-01 7.85275597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.640888479 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:10.27, Y:1.04, Z:0.79 [[ 9.92604041e-01 -1.03132821e-01 -6.40377890e-02 1.02658605e+01] [ 1.02427751e-01 9.94639001e-01 -1.42060987e-02 1.04403569e+00] [ 6.51595976e-02 7.54178431e-03 9.97846355e-01 7.88532955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670888479 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:10.29, Y:1.05, Z:0.79 [[ 9.92218543e-01 -1.06186959e-01 -6.50130209e-02 1.02946790e+01] [ 1.05520227e-01 9.94323957e-01 -1.36143636e-02 1.04898409e+00] [ 6.60896720e-02 6.64823527e-03 9.97791539e-01 7.88969182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.700888479 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:10.32, Y:1.05, Z:0.79 [[ 9.92106526e-01 -1.09024986e-01 -6.19531538e-02 1.03226330e+01] [ 1.08449738e-01 9.94022291e-01 -1.25832835e-02 1.05137918e+00] [ 6.29547082e-02 5.76515439e-03 9.97999733e-01 7.92712884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730888478999999 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:10.35, Y:1.06, Z:0.79 [[ 9.91880751e-01 -1.11372521e-01 -6.13900394e-02 1.03499351e+01] [ 1.11087711e-01 9.93778053e-01 -8.04374312e-03 1.05559614e+00] [ 6.19039257e-02 1.15875504e-03 9.98081440e-01 7.94032851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.760888479 meters Centerline goodness : 0.995946 Centerline is valid? [True, True] Translation: X:10.38, Y:1.06, Z:0.80 [[ 9.92032542e-01 -1.11201819e-01 -5.92080395e-02 1.03774455e+01] [ 1.10691375e-01 9.93784270e-01 -1.18425076e-02 1.06190633e+00] [ 6.01569266e-02 5.19433364e-03 9.98175417e-01 7.97822407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790888479 meters Centerline goodness : 0.996019 Centerline is valid? [True, True] Translation: X:10.41, Y:1.06, Z:0.80 [[ 9.92002984e-01 -1.07730341e-01 -6.57590563e-02 1.04083629e+01] [ 1.08281237e-01 9.94108415e-01 4.86127049e-03 1.05858719e+00] [ 6.48479250e-02 -1.19428668e-02 9.97823689e-01 8.04557523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.820888478999999 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:10.44, Y:1.07, Z:0.80 [[ 9.92122508e-01 -1.06584993e-01 -6.58222478e-02 1.04355097e+01] [ 1.06132625e-01 9.94298204e-01 -1.03414968e-02 1.06843138e+00] [ 6.65491912e-02 3.27414383e-03 9.97777773e-01 8.03434116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850888479 meters Centerline goodness : 0.995947 Centerline is valid? [True, True] Translation: X:10.46, Y:1.08, Z:0.80 [[ 0.99249144 -0.1061919 -0.06069611 10.46171143] [ 0.10484915 0.99417626 -0.02490415 1.08070505] [ 0.06298725 0.01835322 0.99784556 0.79776485] [ 0. 0. 0. 1. ]] SLAMing on 12.880888479 meters Centerline goodness : 0.996929 Centerline is valid? [True, True] Translation: X:10.49, Y:1.08, Z:0.80 [[ 9.92402231e-01 -1.02544905e-01 -6.79879051e-02 1.04934462e+01] [ 1.02240006e-01 9.94727926e-01 -7.95832328e-03 1.07887227e+00] [ 6.84455533e-02 9.46773920e-04 9.97654404e-01 8.03682849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910888479 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:10.52, Y:1.09, Z:0.80 [[ 9.92255577e-01 -1.03914382e-01 -6.80490301e-02 1.05200024e+01] [ 1.02986407e-01 9.94537217e-01 -1.70154308e-02 1.08835245e+00] [ 6.94454410e-02 9.87553097e-03 9.97536869e-01 8.01597984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.940888479 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:10.55, Y:1.09, Z:0.80 [[ 0.99241512 -0.10332572 -0.06660354 10.54704202] [ 0.10215091 0.99455104 -0.02081866 1.09410307] [ 0.06839172 0.01385714 0.9975623 0.80353506] [ 0. 0. 0. 1. ]] SLAMing on 12.970888479 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:10.58, Y:1.09, Z:0.81 [[ 9.92373780e-01 -1.02164315e-01 -6.89690699e-02 1.05757606e+01] [ 1.02126204e-01 9.94763052e-01 -4.08761643e-03 1.09168933e+00] [ 6.90254910e-02 -2.98710593e-03 9.97610424e-01 8.08813139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.000888479 meters Centerline goodness : 0.996592 Centerline is valid? [True, True] Translation: X:10.60, Y:1.10, Z:0.81 [[ 9.92626470e-01 -1.02020885e-01 -6.54555545e-02 1.05999216e+01] [ 1.01594591e-01 9.94777443e-01 -9.81726832e-03 1.09852223e+00] [ 6.61152755e-02 3.09495013e-03 9.97807192e-01 8.11176838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030888479 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:10.63, Y:1.10, Z:0.81 [[ 9.92644555e-01 -1.03940950e-01 -6.20730807e-02 1.06265489e+01] [ 1.03431175e-01 9.94571523e-01 -1.13787917e-02 1.10262817e+00] [ 6.29188409e-02 4.87480397e-03 9.98006741e-01 8.13496887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.060888478999999 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:10.66, Y:1.11, Z:0.81 [[ 9.92264610e-01 -1.07364998e-01 -6.23193492e-02 1.06564679e+01] [ 1.07045319e-01 9.94218186e-01 -8.45567944e-03 1.10614874e+00] [ 6.28668743e-02 1.71927687e-03 9.98020441e-01 8.13758651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090888479 meters Centerline goodness : 0.996741 Centerline is valid? [True, True] Translation: X:10.68, Y:1.11, Z:0.81 [[ 9.92073722e-01 -1.09793344e-01 -6.11158878e-02 1.06825117e+01] [ 1.08959190e-01 9.93903772e-01 -1.68281884e-02 1.11441763e+00] [ 6.25909345e-02 1.00356659e-02 9.97988808e-01 8.12614580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.120888479 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:10.71, Y:1.12, Z:0.82 [[ 9.91950915e-01 -1.11121713e-01 -6.07070666e-02 1.07098330e+01] [ 1.10844552e-01 9.93806160e-01 -7.92475122e-03 1.11542968e+00] [ 6.12116687e-02 1.13191663e-03 9.98124166e-01 8.18055626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150888478999999 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:10.74, Y:1.12, Z:0.82 [[ 9.91695200e-01 -1.14281479e-01 -5.89946967e-02 1.07370302e+01] [ 1.13836654e-01 9.93440148e-01 -1.08576953e-02 1.11873060e+00] [ 5.98485337e-02 4.05176540e-03 9.98199247e-01 8.22076951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.180888479 meters Centerline goodness : 0.997141 Centerline is valid? [True, True] Translation: X:10.76, Y:1.12, Z:0.82 [[ 9.91491114e-01 -1.14694576e-01 -6.15672379e-02 1.07639291e+01] [ 1.14209625e-01 9.93391829e-01 -1.13506156e-02 1.12380562e+00] [ 6.24622451e-02 4.22246341e-03 9.98038395e-01 8.22890006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210888479 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:10.80, Y:1.13, Z:0.83 [[ 0.99053234 -0.11841513 -0.06945169 10.79713568] [ 0.11728569 0.99289408 -0.020135 1.13272438] [ 0.07134246 0.01179868 0.9973821 0.82635727] [ 0. 0. 0. 1. ]] SLAMing on 13.240888478999999 meters Centerline goodness : 0.996697 Centerline is valid? [True, True] Translation: X:10.82, Y:1.13, Z:0.83 [[ 9.91069626e-01 -1.15491358e-01 -6.66538990e-02 1.08190437e+01] [ 1.15509743e-01 9.93299856e-01 -3.59096107e-03 1.13333890e+00] [ 6.66220333e-02 -4.14028228e-03 9.97769694e-01 8.25630998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270888479 meters Centerline goodness : 0.997078 Centerline is valid? [True, True] Translation: X:10.85, Y:1.14, Z:0.83 [[ 9.91147068e-01 -1.16470298e-01 -6.37350721e-02 1.08462219e+01] [ 1.15950059e-01 9.93184783e-01 -1.18140167e-02 1.14146179e+00] [ 6.46766858e-02 4.31934262e-03 9.97896923e-01 8.26704467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.300888479 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:10.88, Y:1.14, Z:0.83 [[ 9.90974615e-01 -1.16765640e-01 -6.58414612e-02 1.08753431e+01] [ 1.16684591e-01 9.93155987e-01 -5.08839361e-03 1.14319670e+00] [ 6.59849909e-02 -2.64021504e-03 9.97817123e-01 8.31469203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330888479 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:10.90, Y:1.16, Z:0.82 [[ 0.99093834 -0.11989882 -0.06054321 10.90225349] [ 0.11873004 0.99267025 -0.0225598 1.15702259] [ 0.06280434 0.01516707 0.9979106 0.82427702] [ 0. 0. 0. 1. ]] SLAMing on 13.360888479 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:10.93, Y:1.16, Z:0.83 [[ 9.91256077e-01 -1.17885147e-01 -5.92830606e-02 1.09288813e+01] [ 1.17192917e-01 9.92995379e-01 -1.50332149e-02 1.16082681e+00] [ 6.06399980e-02 7.95421080e-03 9.98128008e-01 8.27369624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390888479 meters Centerline goodness : 0.997199 Centerline is valid? [True, True] Translation: X:10.96, Y:1.16, Z:0.84 [[ 9.91431118e-01 -1.13743058e-01 -6.42406017e-02 1.09577223e+01] [ 1.13730333e-01 9.93504131e-01 -3.86682976e-03 1.16100709e+00] [ 6.42631282e-02 -3.47240964e-03 9.97926948e-01 8.35412968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.420888479 meters Centerline goodness : 0.996488 Centerline is valid? [True, True] Translation: X:10.98, Y:1.18, Z:0.83 [[ 0.99151685 -0.11529855 -0.0600049 10.98191577] [ 0.11431086 0.99325064 -0.01965189 1.17549194] [ 0.06186574 0.01262597 0.99800462 0.82787503] [ 0. 0. 0. 1. ]] SLAMing on 13.450888479 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:11.01, Y:1.17, Z:0.84 [[ 9.91543739e-01 -1.10805296e-01 -6.75514643e-02 1.10120544e+01] [ 1.10748890e-01 9.93837817e-01 -4.59094870e-03 1.17193463e+00] [ 6.76439013e-02 -2.92912324e-03 9.97705228e-01 8.36056323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.480888478999999 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:11.04, Y:1.18, Z:0.84 [[ 9.91538200e-01 -1.09270843e-01 -7.00848083e-02 1.10399320e+01] [ 1.08615375e-01 9.93997430e-01 -1.31076072e-02 1.17706438e+00] [ 7.10963986e-02 5.38440558e-03 9.97454916e-01 8.35220295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510888479 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:11.07, Y:1.18, Z:0.84 [[ 9.91598484e-01 -1.08522601e-01 -7.03938390e-02 1.10671480e+01] [ 1.07858014e-01 9.94078865e-01 -1.31855304e-02 1.17935837e+00] [ 7.14079557e-02 5.48221225e-03 9.97432128e-01 8.39275515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.540888479 meters Centerline goodness : 0.996529 Centerline is valid? [True, True] Translation: X:11.09, Y:1.18, Z:0.84 [[ 9.91650461e-01 -1.10104692e-01 -6.71291227e-02 1.10917956e+01] [ 1.09388639e-01 9.93896735e-01 -1.42620522e-02 1.18441947e+00] [ 6.82897348e-02 6.79980726e-03 9.97642358e-01 8.41100091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570888478999999 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:11.12, Y:1.19, Z:0.84 [[ 9.91839948e-01 -1.10125591e-01 -6.42329423e-02 1.11195526e+01] [ 1.09314842e-01 9.93878178e-01 -1.60135057e-02 1.19186756e+00] [ 6.56032164e-02 8.86122069e-03 9.97806443e-01 8.42551087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.600888479 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:11.15, Y:1.20, Z:0.84 [[ 9.91867882e-01 -1.09559710e-01 -6.47670826e-02 1.11460770e+01] [ 1.09063147e-01 9.93972129e-01 -1.11640906e-02 1.19819787e+00] [ 6.55998095e-02 4.00960105e-03 9.97837957e-01 8.44585710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630888479 meters Centerline goodness : 0.996530 Centerline is valid? [True, True] Translation: X:11.18, Y:1.20, Z:0.85 [[ 9.92140578e-01 -1.06265510e-01 -6.60659872e-02 1.11776027e+01] [ 1.05850443e-01 9.94334147e-01 -9.76153403e-03 1.20186542e+00] [ 6.67289814e-02 2.69169999e-03 9.97767507e-01 8.47983506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.660888479 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:11.20, Y:1.21, Z:0.84 [[ 0.99244198 -0.10697694 -0.06012362 11.20130041] [ 0.10599045 0.99417841 -0.01937323 1.21036451] [ 0.06184609 0.01285428 0.99800292 0.84493838] [ 0. 0. 0. 1. ]] SLAMing on 13.690888479 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:11.23, Y:1.20, Z:0.86 [[ 9.92531789e-01 -1.02475261e-01 -6.61775544e-02 1.12335771e+01] [ 1.02371654e-01 9.94733837e-01 -4.96373419e-03 1.20414183e+00] [ 6.63377126e-02 -1.84804176e-03 9.97795516e-01 8.55618574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.720888479 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:11.26, Y:1.21, Z:0.85 [[ 9.92457233e-01 -1.05281411e-01 -6.28049807e-02 1.12563985e+01] [ 1.04359053e-01 9.94380399e-01 -1.77991327e-02 1.21450766e+00] [ 6.43259596e-02 1.11106096e-02 9.97867088e-01 8.51453277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750888479 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:11.29, Y:1.22, Z:0.86 [[ 9.92410964e-01 -1.04428762e-01 -6.49238941e-02 1.12854148e+01] [ 1.03643792e-01 9.94495984e-01 -1.53525695e-02 1.21572563e+00] [ 6.61698018e-02 8.50709967e-03 9.97772112e-01 8.55043620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.780888479 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:11.31, Y:1.22, Z:0.86 [[ 9.92403779e-01 -1.03720483e-01 -6.61573960e-02 1.13131153e+01] [ 1.03042967e-01 9.94584178e-01 -1.35815727e-02 1.21981426e+00] [ 6.72077866e-02 6.66134965e-03 9.97716763e-01 8.58131759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810888478999999 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:11.35, Y:1.22, Z:0.87 [[ 9.92063289e-01 -9.95066778e-02 -7.68690551e-02 1.13460707e+01] [ 1.00372954e-01 9.94921767e-01 7.47976818e-03 1.21834733e+00] [ 7.57344093e-02 -1.51359775e-02 9.97013140e-01 8.69214307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.840888479 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:11.37, Y:1.24, Z:0.86 [[ 0.99256158 -0.10144506 -0.06730827 11.36936042] [ 0.10022695 0.99473781 -0.02124276 1.24022962] [ 0.06910906 0.01433865 0.99750606 0.86045588] [ 0. 0. 0. 1. ]] SLAMing on 13.870888479 meters Centerline goodness : 0.996264 Centerline is valid? [True, True] Translation: X:11.40, Y:1.23, Z:0.87 [[ 9.92311540e-01 -1.00388712e-01 -7.23872454e-02 1.14002300e+01] [ 1.00476348e-01 9.94936458e-01 -2.43895618e-03 1.23159069e+00] [ 7.22655532e-02 -4.85300170e-03 9.97373620e-01 8.69916218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.900888478999999 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:11.43, Y:1.24, Z:0.87 [[ 0.99258432 -0.10306916 -0.06444468 11.42720254] [ 0.10136283 0.99442039 -0.02921762 1.24027561] [ 0.06709654 0.02246865 0.99749347 0.86572123] [ 0. 0. 0. 1. ]] SLAMing on 13.930888479 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:11.46, Y:1.23, Z:0.88 [[ 9.91906403e-01 -1.03354989e-01 -7.37525184e-02 1.14563801e+01] [ 1.03883873e-01 9.94583754e-01 3.36104115e-03 1.22751019e+00] [ 7.30056762e-02 -1.09955355e-02 9.97270911e-01 8.81124845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.960888479 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:11.48, Y:1.25, Z:0.87 [[ 0.99193384 -0.10834472 -0.06579262 11.48045708] [ 0.10664882 0.99388032 -0.02877394 1.25118406] [ 0.06850749 0.02152514 0.99741836 0.86951876] [ 0. 0. 0. 1. ]] SLAMing on 13.990888478999999 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:11.51, Y:1.25, Z:0.88 [[ 9.91796323e-01 -1.04557348e-01 -7.35378404e-02 1.15109009e+01] [ 1.04754225e-01 9.94497435e-01 -1.18523230e-03 1.24860104e+00] [ 7.32571183e-02 -6.52789041e-03 9.97291723e-01 8.77308967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.020888479 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:11.54, Y:1.27, Z:0.87 [[ 0.99202828 -0.10665695 -0.0671132 11.53792639] [ 0.10507654 0.99410662 -0.02666355 1.26668138] [ 0.06956153 0.01939897 0.99738903 0.86831478] [ 0. 0. 0. 1. ]] SLAMing on 14.050888479 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:11.57, Y:1.27, Z:0.87 [[ 9.91917448e-01 -1.06046428e-01 -6.96701631e-02 1.15667522e+01] [ 1.05379202e-01 9.94344580e-01 -1.31939129e-02 1.26646497e+00] [ 7.06753164e-02 5.74548625e-03 9.97482826e-01 8.73182508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.080888479 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:11.60, Y:1.26, Z:0.89 [[ 9.91442001e-01 -1.04557541e-01 -7.81695598e-02 1.15960398e+01] [ 1.05030098e-01 9.94467137e-01 1.94720254e-03 1.25761556e+00] [ 7.75334637e-02 -1.01406949e-02 9.96938177e-01 8.87539034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110888479 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:11.62, Y:1.27, Z:0.89 [[ 0.99155958 -0.10671326 -0.0736334 11.62288472] [ 0.10553251 0.9942196 -0.01975525 1.26682382] [ 0.07531591 0.01181779 0.99708969 0.88578028] [ 0. 0. 0. 1. ]] SLAMing on 14.140888479 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:11.65, Y:1.26, Z:0.89 [[ 9.91139500e-01 -1.06639185e-01 -7.91869653e-02 1.16537747e+01] [ 1.06341183e-01 9.94297654e-01 -7.98293452e-03 1.26345028e+00] [ 7.95867074e-02 -5.08633866e-04 9.96827817e-01 8.94218248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170888479 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:11.68, Y:1.28, Z:0.89 [[ 0.99125123 -0.10984037 -0.07318534 11.67845767] [ 0.10810864 0.9937661 -0.02722971 1.27903748] [ 0.07572004 0.01907951 0.99694656 0.88756695] [ 0. 0. 0. 1. ]] SLAMing on 14.200888479 meters Centerline goodness : 0.997040 Centerline is valid? [True, True] Translation: X:11.71, Y:1.27, Z:0.90 [[ 9.91163033e-01 -1.04846534e-01 -8.12591287e-02 1.17080307e+01] [ 1.05254145e-01 9.94445082e-01 7.37116995e-04 1.27421591e+00] [ 8.07304568e-02 -9.28346325e-03 9.96692736e-01 8.97119292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230888478999999 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:11.74, Y:1.29, Z:0.89 [[ 0.99111886 -0.10836041 -0.07708071 11.73778353] [ 0.10650318 0.99392302 -0.02782275 1.29420179] [ 0.07962717 0.01936631 0.99663657 0.8935213 ] [ 0. 0. 0. 1. ]] SLAMing on 14.260888479 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:11.76, Y:1.29, Z:0.90 [[ 9.91886205e-01 -1.04963698e-01 -7.17243193e-02 1.17615359e+01] [ 1.05050940e-01 9.94463533e-01 -2.56525577e-03 1.28895685e+00] [ 7.15964787e-02 -4.99026538e-03 9.97421196e-01 8.98436280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.290888479 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:11.79, Y:1.30, Z:0.89 [[ 0.99223243 -0.10801322 -0.06170863 11.78766612] [ 0.10637162 0.99389451 -0.02930502 1.30460442] [ 0.0644972 0.02251334 0.9976639 0.89227889] [ 0. 0. 0. 1. ]] SLAMing on 14.320888478999999 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:11.82, Y:1.30, Z:0.90 [[ 9.91996208e-01 -1.08037695e-01 -6.53557861e-02 1.18162760e+01] [ 1.07448388e-01 9.94132382e-01 -1.24759838e-02 1.30072661e+00] [ 6.63201798e-02 5.35375475e-03 9.97784030e-01 9.00668941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350888479 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:11.85, Y:1.30, Z:0.92 [[ 9.91220138e-01 -1.07639954e-01 -7.67872211e-02 1.18497694e+01] [ 1.08461581e-01 9.94078739e-01 6.59892740e-03 1.29535445e+00] [ 7.56222357e-02 -1.48694531e-02 9.97025665e-01 9.19513575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.380888479 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:11.87, Y:1.31, Z:0.92 [[ 9.91318933e-01 -1.08846865e-01 -7.37504780e-02 1.18743054e+01] [ 1.08778453e-01 9.94053665e-01 -4.95570065e-03 1.30530890e+00] [ 7.38513454e-02 -3.10978301e-03 9.97264412e-01 9.16091905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.410888478999999 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:11.90, Y:1.32, Z:0.91 [[ 9.91241137e-01 -1.11098597e-01 -7.14010502e-02 1.19003352e+01] [ 1.10621841e-01 9.93805941e-01 -1.06094452e-02 1.31589596e+00] [ 7.21374824e-02 2.61800288e-03 9.97391262e-01 9.14792453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.440888479 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:11.93, Y:1.32, Z:0.92 [[ 9.91100648e-01 -1.11484724e-01 -7.27369422e-02 1.19281815e+01] [ 1.11328052e-01 9.93764263e-01 -6.21734077e-03 1.31945311e+00] [ 7.29765122e-02 -1.93565159e-03 9.97331781e-01 9.18897530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470888479 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:11.96, Y:1.33, Z:0.92 [[ 9.90809213e-01 -1.15687090e-01 -7.00970785e-02 1.19558378e+01] [ 1.14712030e-01 9.93239426e-01 -1.77930760e-02 1.32615163e+00] [ 7.16816112e-02 9.58856549e-03 9.97381475e-01 9.16572940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.500888479 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:11.98, Y:1.34, Z:0.90 [[ 0.99101675 -0.1208794 -0.05721868 11.98039573] [ 0.11835656 0.99192311 -0.0456099 1.34320673] [ 0.06226983 0.03842797 0.99731929 0.90017239] [ 0. 0. 0. 1. ]] SLAMing on 14.530888479 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:12.01, Y:1.32, Z:0.93 [[ 9.90304140e-01 -1.17486180e-01 -7.41262920e-02 1.20129009e+01] [ 1.18595632e-01 9.92884636e-01 1.07319813e-02 1.32211826e+00] [ 7.23379970e-02 -1.94189800e-02 9.97191114e-01 9.26045226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.560888478999999 meters Centerline goodness : 0.996899 Centerline is valid? [True, True] Translation: X:12.04, Y:1.34, Z:0.92 [[ 0.99045297 -0.12206668 -0.06405188 12.03678761] [ 0.12084257 0.99241293 -0.02266407 1.34128639] [ 0.06633244 0.0147075 0.99768918 0.91576345] [ 0. 0. 0. 1. ]] SLAMing on 14.590888479 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:12.06, Y:1.35, Z:0.91 [[ 0.99046315 -0.12354714 -0.06098235 12.06334243] [ 0.12220391 0.99218251 -0.02529979 1.35292175] [ 0.06363134 0.01760623 0.99781816 0.90797378] [ 0. 0. 0. 1. ]] SLAMing on 14.620888479 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:12.09, Y:1.35, Z:0.91 [[ 9.90460415e-01 -1.20901643e-01 -6.61132298e-02 1.20910813e+01] [ 1.20310635e-01 9.92652951e-01 -1.28635448e-02 1.35341290e+00] [ 6.71827163e-02 4.78670725e-03 9.97729207e-01 9.11775882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650888478999999 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:12.12, Y:1.35, Z:0.91 [[ 9.90579636e-01 -1.19363221e-01 -6.71148695e-02 1.21178137e+01] [ 1.18929617e-01 9.92847865e-01 -1.04337990e-02 1.35494107e+00] [ 6.78802668e-02 2.35356307e-03 9.97690699e-01 9.14173761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.680888479 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:12.15, Y:1.35, Z:0.92 [[ 9.90524393e-01 -1.17794685e-01 -7.06104782e-02 1.21467461e+01] [ 1.17701411e-01 9.93033829e-01 -5.49477036e-03 1.35482491e+00] [ 7.07658483e-02 -2.86824882e-03 9.97488831e-01 9.21437122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710888479 meters Centerline goodness : 0.996506 Centerline is valid? [True, True] Translation: X:12.17, Y:1.36, Z:0.92 [[ 9.90678062e-01 -1.17719566e-01 -6.85498499e-02 1.21741219e+01] [ 1.17068575e-01 9.93032729e-01 -1.34517125e-02 1.36224548e+00] [ 6.96557742e-02 5.30128319e-03 9.97557001e-01 9.21966260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.740888478999999 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:12.20, Y:1.37, Z:0.92 [[ 9.91119964e-01 -1.15185614e-01 -6.64341187e-02 1.22001578e+01] [ 1.14377166e-01 9.93310795e-01 -1.58596422e-02 1.36946118e+00] [ 6.78165299e-02 8.12026178e-03 9.97664763e-01 9.24259174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770888479 meters Centerline goodness : 0.996284 Centerline is valid? [True, True] Translation: X:12.23, Y:1.37, Z:0.93 [[ 9.91095737e-01 -1.12804585e-01 -7.07415454e-02 1.22288405e+01] [ 1.12564872e-01 9.93616980e-01 -7.37878969e-03 1.37324126e+00] [ 7.11223621e-02 -6.49925996e-04 9.97467387e-01 9.28062664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.800888479 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:12.25, Y:1.38, Z:0.93 [[ 9.91272420e-01 -1.10655951e-01 -7.16536815e-02 1.22532327e+01] [ 1.10172231e-01 9.93855125e-01 -1.06803921e-02 1.38152116e+00] [ 7.23952275e-02 2.69293218e-03 9.97372387e-01 9.25646381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830888479 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:12.28, Y:1.40, Z:0.92 [[ 0.99160268 -0.11184789 -0.06491673 12.28173613] [ 0.10999852 0.99343542 -0.03140687 1.39888894] [ 0.06800337 0.02400239 0.99739632 0.91686712] [ 0. 0. 0. 1. ]] SLAMing on 14.860888479 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:12.31, Y:1.40, Z:0.92 [[ 9.91781413e-01 -1.08593242e-01 -6.76545460e-02 1.23106840e+01] [ 1.07937876e-01 9.94068952e-01 -1.32790851e-02 1.39745528e+00] [ 6.86953025e-02 5.86746177e-03 9.97620433e-01 9.23880367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890888479 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:12.34, Y:1.40, Z:0.93 [[ 9.92108607e-01 -1.06255641e-01 -6.65601301e-02 1.23374129e+01] [ 1.06264881e-01 9.94332005e-01 -3.41166870e-03 1.39649482e+00] [ 6.65453766e-02 -3.68825844e-03 9.97776583e-01 9.32107846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.920888479 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:12.36, Y:1.40, Z:0.94 [[ 9.92184796e-01 -1.05485521e-01 -6.66493412e-02 1.23633504e+01] [ 1.05116846e-01 9.94418931e-01 -9.02429319e-03 1.40148493e+00] [ 6.72292989e-02 1.94779801e-03 9.97735650e-01 9.35640097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950888479 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:12.39, Y:1.41, Z:0.93 [[ 0.99192724 -0.10899602 -0.06480908 12.39008403] [ 0.10762568 0.99389489 -0.02428276 1.41308092] [ 0.06706014 0.01711161 0.99760219 0.93023642] [ 0. 0. 0. 1. ]] SLAMing on 14.980888478999999 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:12.42, Y:1.41, Z:0.94 [[ 9.91620425e-01 -1.08746807e-01 -6.97356702e-02 1.24205533e+01] [ 1.08440577e-01 9.94069332e-01 -8.17336019e-03 1.41300107e+00] [ 7.02109179e-02 5.42694583e-04 9.97532021e-01 9.35469518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010888479 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:12.45, Y:1.43, Z:0.93 [[ 0.99158986 -0.11211555 -0.06465023 12.4469105 ] [ 0.11083705 0.99357136 -0.02304572 1.4267228 ] [ 0.0668184 0.01568627 0.99764184 0.92870274] [ 0. 0. 0. 1. ]] SLAMing on 15.040888479 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:12.48, Y:1.43, Z:0.94 [[ 9.91213111e-01 -1.12029655e-01 -7.03272738e-02 1.24759542e+01] [ 1.11776042e-01 9.93704790e-01 -7.54368667e-03 1.42546211e+00] [ 7.07296654e-02 -3.83503153e-04 9.97495447e-01 9.35612224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070888478999999 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:12.50, Y:1.43, Z:0.93 [[ 9.91106351e-01 -1.14156334e-01 -6.83851762e-02 1.25028639e+01] [ 1.13217931e-01 9.93416805e-01 -1.74571420e-02 1.43195358e+00] [ 6.99278266e-02 9.55945611e-03 9.97506249e-01 9.34076987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.100888479 meters Centerline goodness : 0.996631 Centerline is valid? [True, True] Translation: X:12.53, Y:1.43, Z:0.94 [[ 9.91226967e-01 -1.13914205e-01 -6.70272595e-02 1.25287671e+01] [ 1.13191773e-01 9.93467474e-01 -1.44914072e-02 1.43355034e+00] [ 6.82401793e-02 6.77733924e-03 9.97645902e-01 9.35653058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130888479 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:12.56, Y:1.44, Z:0.93 [[ 0.99074873 -0.11704541 -0.06868274 12.55821697] [ 0.11582264 0.99303639 -0.02153701 1.44011709] [ 0.07072527 0.01338275 0.99740606 0.93381895] [ 0. 0. 0. 1. ]] SLAMing on 15.160888478999999 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:12.59, Y:1.44, Z:0.94 [[ 9.90819000e-01 -1.16524258e-01 -6.85551386e-02 1.25877927e+01] [ 1.16451312e-01 9.93183445e-01 -5.07316792e-03 1.43629375e+00] [ 6.86789758e-02 -2.95674468e-03 9.97634430e-01 9.43131288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190888479 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:12.61, Y:1.44, Z:0.95 [[ 9.91117828e-01 -1.16180232e-01 -6.47116975e-02 1.26115628e+01] [ 1.16078696e-01 9.93225668e-01 -5.33941983e-03 1.44150403e+00] [ 6.48936540e-02 -2.21965529e-03 9.97889717e-01 9.46975373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.220888479 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:12.64, Y:1.46, Z:0.94 [[ 0.99135356 -0.11937344 -0.05448021 12.63781943] [ 0.11836236 0.99273911 -0.02143398 1.45990039] [ 0.05664328 0.01480025 0.99828477 0.94047916] [ 0. 0. 0. 1. ]] SLAMing on 15.250888479 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:12.67, Y:1.46, Z:0.95 [[ 9.90699699e-01 -1.20403886e-01 -6.33798921e-02 1.26691694e+01] [ 1.20183253e-01 9.92724913e-01 -7.29607065e-03 1.45932566e+00] [ 6.37972732e-02 -3.88986618e-04 9.97962803e-01 9.48081213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.280888479 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:12.69, Y:1.46, Z:0.95 [[ 9.91097087e-01 -1.17003780e-01 -6.35348684e-02 1.26936879e+01] [ 1.16942185e-01 9.93127602e-01 -4.70017272e-03 1.46027752e+00] [ 6.36481694e-02 -2.77157880e-03 9.97968551e-01 9.49158846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310888478999999 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:12.73, Y:1.47, Z:0.95 [[ 0.99053621 -0.11882617 -0.06869036 12.72575902] [ 0.11743863 0.99279223 -0.02391137 1.46856329] [ 0.07103655 0.01561818 0.99735143 0.94742795] [ 0. 0. 0. 1. ]] SLAMing on 15.340888479 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:12.75, Y:1.47, Z:0.95 [[ 9.90855922e-01 -1.16448909e-01 -6.81483253e-02 1.27506447e+01] [ 1.15519940e-01 9.93152210e-01 -1.74307301e-02 1.47017717e+00] [ 6.97114494e-02 9.39885171e-03 9.97522920e-01 9.48524550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370888479 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:12.78, Y:1.47, Z:0.95 [[ 9.91197012e-01 -1.13670378e-01 -6.78787835e-02 1.27769791e+01] [ 1.13301816e-01 9.93517393e-01 -9.26763778e-03 1.47289327e+00] [ 6.84922079e-02 1.49526542e-03 9.97650531e-01 9.54481629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.400888478999999 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:12.81, Y:1.49, Z:0.95 [[ 9.91171075e-01 -1.13921295e-01 -6.78368595e-02 1.28068987e+01] [ 1.13140729e-01 9.93461902e-01 -1.52520092e-02 1.48791041e+00] [ 6.91308642e-02 7.44223856e-03 9.97579840e-01 9.53666639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430888479 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:12.83, Y:1.50, Z:0.95 [[ 9.91572785e-01 -1.14082023e-01 -6.13897658e-02 1.28307337e+01] [ 1.13208539e-01 9.93416507e-01 -1.75348151e-02 1.49772629e+00] [ 6.29860139e-02 1.04371997e-02 9.97959832e-01 9.49856724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.460888479 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:12.86, Y:1.50, Z:0.96 [[ 9.91411505e-01 -1.12386435e-01 -6.68768824e-02 1.28617266e+01] [ 1.12080564e-01 9.93664290e-01 -8.32015315e-03 1.49731011e+00] [ 6.73882423e-02 7.53096822e-04 9.97726545e-01 9.56890805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490888478999999 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:12.89, Y:1.50, Z:0.95 [[ 9.91424512e-01 -1.14347834e-01 -6.32614480e-02 1.28891465e+01] [ 1.13437690e-01 9.93385503e-01 -1.78082140e-02 1.50425052e+00] [ 6.48793361e-02 1.04792673e-02 9.97838091e-01 9.54434732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.520888479 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:12.92, Y:1.50, Z:0.97 [[ 9.91381342e-01 -1.14542909e-01 -6.35842450e-02 1.29188965e+01] [ 1.14295371e-01 9.93418282e-01 -7.52892890e-03 1.49636653e+00] [ 6.40281369e-02 1.96654755e-04 9.97948074e-01 9.65947048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550888479 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:12.95, Y:1.51, Z:0.96 [[ 9.91199333e-01 -1.18045645e-01 -5.99091661e-02 1.29458014e+01] [ 1.17145632e-01 9.92945546e-01 -1.83315075e-02 1.50689578e+00] [ 6.16504943e-02 1.11520809e-02 9.98035494e-01 9.62301396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.580888479 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:12.97, Y:1.51, Z:0.96 [[ 9.90915754e-01 -1.19149803e-01 -6.23642018e-02 1.29737462e+01] [ 1.18384902e-01 9.92841544e-01 -1.58329570e-02 1.51256150e+00] [ 6.38042641e-02 8.30614655e-03 9.97927865e-01 9.63938912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.610888479 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:13.00, Y:1.52, Z:0.96 [[ 9.90208305e-01 -1.22241355e-01 -6.74133794e-02 1.30015801e+01] [ 1.21734538e-01 9.92495014e-01 -1.15909533e-02 1.52184815e+00] [ 6.83243367e-02 3.27092167e-03 9.97657800e-01 9.60492660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.640888479 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:13.03, Y:1.52, Z:0.97 [[ 9.90616645e-01 -1.17419804e-01 -6.99374839e-02 1.30272929e+01] [ 1.17864222e-01 9.93027176e-01 2.24777495e-03 1.51926837e+00] [ 6.91858889e-02 -1.04698104e-02 9.97548844e-01 9.70057049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670888479 meters Centerline goodness : 0.997321 Centerline is valid? [True, True] Translation: X:13.05, Y:1.54, Z:0.96 [[ 0.9904799 -0.12262753 -0.06254648 13.05399697] [ 0.12095382 0.99220795 -0.02989256 1.53985262] [ 0.06572477 0.02204275 0.99759429 0.96057796] [ 0. 0. 0. 1. ]] SLAMing on 15.700888479 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:13.08, Y:1.54, Z:0.97 [[ 9.90335682e-01 -1.21915497e-01 -6.61199479e-02 1.30828377e+01] [ 1.21392075e-01 9.92533397e-01 -1.18920071e-02 1.53645740e+00] [ 6.70760765e-02 3.75064131e-03 9.97740814e-01 9.68201384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730888478999999 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:13.11, Y:1.54, Z:0.97 [[ 9.90542163e-01 -1.21263739e-01 -6.41975700e-02 1.31104482e+01] [ 1.20934580e-01 9.92619652e-01 -9.00298009e-03 1.53749326e+00] [ 6.48155046e-02 1.15412519e-03 9.97896597e-01 9.72625092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.760888479 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:13.14, Y:1.54, Z:0.98 [[ 9.90571937e-01 -1.20660407e-01 -6.48714345e-02 1.31383894e+01] [ 1.20392759e-01 9.92693832e-01 -8.03363338e-03 1.54200991e+00] [ 6.53668144e-02 1.47840811e-04 9.97861292e-01 9.77885131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790888479 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:13.16, Y:1.55, Z:0.98 [[ 9.90936690e-01 -1.21358399e-01 -5.75900713e-02 1.31649215e+01] [ 1.20393907e-01 9.92525830e-01 -1.99445182e-02 1.55431304e+00] [ 5.95800681e-02 1.28302612e-02 9.98141072e-01 9.75099453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.820888478999999 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:13.19, Y:1.56, Z:0.98 [[ 9.91008390e-01 -1.20599054e-01 -5.79503227e-02 1.31924350e+01] [ 1.20131125e-01 9.92691372e-01 -1.15044605e-02 1.55821356e+00] [ 5.89142124e-02 4.43937939e-03 9.98253178e-01 9.78196176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850888479 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:13.22, Y:1.56, Z:0.98 [[ 9.90904295e-01 -1.19581519e-01 -6.17166008e-02 1.32204569e+01] [ 1.19193345e-01 9.92821238e-01 -9.94665985e-03 1.56332544e+00] [ 6.24629887e-02 2.49997986e-03 9.98044150e-01 9.81259303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.880888479 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:13.25, Y:1.57, Z:0.98 [[ 9.91111271e-01 -1.20109684e-01 -5.72023770e-02 1.32457243e+01] [ 1.19339808e-01 9.92712971e-01 -1.67023351e-02 1.57136575e+00] [ 5.87916539e-02 9.72735193e-03 9.98222881e-01 9.77605975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910888478999999 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:13.27, Y:1.57, Z:0.98 [[ 9.90875552e-01 -1.19500032e-01 -6.23328462e-02 1.32729049e+01] [ 1.19230879e-01 9.92834056e-01 -8.03329822e-03 1.56831633e+00] [ 6.28461519e-02 5.27998731e-04 9.98023087e-01 9.81625979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.940888479 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:13.30, Y:1.58, Z:0.98 [[ 9.90877786e-01 -1.19923151e-01 -6.14788728e-02 1.33005386e+01] [ 1.19357983e-01 9.92768800e-01 -1.27977069e-02 1.57586280e+00] [ 6.25690481e-02 5.34296926e-03 9.98026336e-01 9.82161715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970888479 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:13.33, Y:1.58, Z:0.99 [[ 9.90633143e-01 -1.19462112e-01 -6.61421165e-02 1.33313875e+01] [ 1.19247858e-01 9.92838467e-01 -7.19208229e-03 1.57678705e+00] [ 6.65276189e-02 -7.62590636e-04 9.97784293e-01 9.88120897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.000888479 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:13.36, Y:1.58, Z:1.00 [[ 9.90547963e-01 -1.19242321e-01 -6.77938153e-02 1.33578727e+01] [ 1.19400612e-01 9.92844656e-01 -1.72682787e-03 1.57736764e+00] [ 6.75146383e-02 -6.38411720e-03 9.97697858e-01 9.95219789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030888478999998 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:13.38, Y:1.59, Z:0.99 [[ 0.99054899 -0.12323241 -0.06022018 13.38494987] [ 0.12197149 0.99223858 -0.02419816 1.59373374] [ 0.06273479 0.01662432 0.99789177 0.98763403] [ 0. 0. 0. 1. ]] SLAMing on 16.060888479 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:13.41, Y:1.59, Z:1.00 [[ 9.90128580e-01 -1.23153073e-01 -6.69232008e-02 1.34140291e+01] [ 1.23288604e-01 9.92368600e-01 -2.11694500e-03 1.59124884e+00] [ 6.66731914e-02 -6.15482024e-03 9.97755884e-01 9.95717311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.090888478999997 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:13.44, Y:1.60, Z:1.00 [[ 9.90128950e-01 -1.23475487e-01 -6.63209292e-02 1.34426107e+01] [ 1.23031998e-01 9.92344523e-01 -1.07459393e-02 1.59816438e+00] [ 6.71400710e-02 2.48026914e-03 9.97740477e-01 9.97113313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.120888478999998 meters Centerline goodness : 0.997085 Centerline is valid? [True, True] Translation: X:13.47, Y:1.61, Z:0.99 [[ 0.99031424 -0.12474333 -0.0609656 13.46736961] [ 0.12334366 0.99201754 -0.02622121 1.60668026] [ 0.06374986 0.01844752 0.99779539 0.99344398] [ 0. 0. 0. 1. ]] SLAMing on 16.150888479 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:13.50, Y:1.60, Z:1.01 [[ 9.89786137e-01 -1.22330772e-01 -7.32023547e-02 1.34979053e+01] [ 1.23246440e-01 9.92342971e-01 8.10816416e-03 1.59626621e+00] [ 7.16499642e-02 -1.70472781e-02 9.97284149e-01 1.01053018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.180888478999996 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:13.52, Y:1.61, Z:1.00 [[ 9.89741365e-01 -1.26394651e-01 -6.66064741e-02 1.35210955e+01] [ 1.25570508e-01 9.91948559e-01 -1.64348239e-02 1.61305281e+00] [ 6.81474699e-02 7.90241628e-03 9.97643962e-01 1.00234845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210888478999998 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:13.56, Y:1.61, Z:1.01 [[ 9.89396808e-01 -1.25582186e-01 -7.29593788e-02 1.35556728e+01] [ 1.25420799e-01 9.92080279e-01 -6.80751449e-03 1.61483164e+00] [ 7.32364634e-02 -2.41529046e-03 9.97311680e-01 1.01085353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.240888479 meters Centerline goodness : 0.997280 Centerline is valid? [True, True] Translation: X:13.58, Y:1.62, Z:1.01 [[ 9.89586134e-01 -1.25851867e-01 -6.98612281e-02 1.35813841e+01] [ 1.25693563e-01 9.92046659e-01 -6.67491592e-03 1.62329992e+00] [ 7.01456486e-02 -2.17570243e-03 9.97534388e-01 1.01153554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270888478999996 meters Centerline goodness : 0.997529 Centerline is valid? [True, True] Translation: X:13.61, Y:1.63, Z:1.01 [[ 9.89550084e-01 -1.26682437e-01 -6.88635677e-02 1.36098673e+01] [ 1.25804835e-01 9.91910155e-01 -1.69525150e-02 1.63399069e+00] [ 7.04540581e-02 8.11199287e-03 9.97482041e-01 1.01041466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.300888478999997 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:13.64, Y:1.64, Z:1.01 [[ 9.89665402e-01 -1.26379318e-01 -6.77544127e-02 1.36366095e+01] [ 1.25844618e-01 9.91975927e-01 -1.21199006e-02 1.63664591e+00] [ 6.87424511e-02 3.46811809e-03 9.97628412e-01 1.01382981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330888479 meters Centerline goodness : 0.997278 Centerline is valid? [True, True] Translation: X:13.66, Y:1.64, Z:1.02 [[ 9.89573992e-01 -1.26440314e-01 -6.89649291e-02 1.36648891e+01] [ 1.25784297e-01 9.91961754e-01 -1.37908795e-02 1.64387524e+00] [ 7.01542952e-02 4.97239059e-03 9.97523759e-01 1.01585542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.360888478999996 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:13.69, Y:1.65, Z:1.02 [[ 9.89649383e-01 -1.24659453e-01 -7.10923260e-02 1.36921866e+01] [ 1.24542174e-01 9.92195580e-01 -6.09732525e-03 1.64779376e+00] [ 7.12975809e-02 -2.81977865e-03 9.97451103e-01 1.01839501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390888478999997 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:13.72, Y:1.66, Z:1.01 [[ 9.89641517e-01 -1.25025654e-01 -7.05567421e-02 1.37184727e+01] [ 1.23956540e-01 9.92098961e-01 -1.93501543e-02 1.66007607e+00] [ 7.24185363e-02 1.04037464e-02 9.97320068e-01 1.01455787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.420888479 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:13.74, Y:1.68, Z:1.00 [[ 0.98979604 -0.12978004 -0.05882983 13.74163435] [ 0.12738858 0.99093157 -0.04274067 1.68016314] [ 0.06384322 0.0348103 0.99735264 0.99737624] [ 0. 0. 0. 1. ]] SLAMing on 16.450888478999996 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:13.78, Y:1.65, Z:1.03 [[ 0.98949062 -0.12420055 -0.07404415 13.77733408] [ 0.12597612 0.99183578 0.01979409 1.65478792] [ 0.0709812 -0.02891386 0.9970585 1.03358941] [ 0. 0. 0. 1. ]] SLAMing on 16.480888478999997 meters Centerline goodness : 0.997488 Centerline is valid? [True, True] Translation: X:13.80, Y:1.67, Z:1.03 [[ 9.89525786e-01 -1.27125077e-01 -6.83954138e-02 1.38025228e+01] [ 1.26891562e-01 9.91886196e-01 -7.76567534e-03 1.66950070e+00] [ 6.88276788e-02 -9.94464884e-04 9.97628068e-01 1.02962227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510888479 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:13.83, Y:1.68, Z:1.03 [[ 0.98803804 -0.13756444 -0.06969113 13.83453227] [ 0.13575022 0.99028409 -0.03015452 1.68385706] [ 0.07316221 0.02033322 0.99711276 1.02517727] [ 0. 0. 0. 1. ]] SLAMing on 16.540888479 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:13.86, Y:1.69, Z:1.01 [[ 0.98857592 -0.13942833 -0.05724853 13.85603128] [ 0.1378021 0.98996023 -0.03145349 1.69351834] [ 0.06105927 0.0232052 0.99786436 1.01323425] [ 0. 0. 0. 1. ]] SLAMing on 16.570888478999997 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:13.88, Y:1.69, Z:1.02 [[ 9.88171339e-01 -1.41528534e-01 -5.90514900e-02 1.38829954e+01] [ 1.41065651e-01 9.89928044e-01 -1.19561998e-02 1.69441344e+00] [ 6.01488694e-02 3.48463711e-03 9.98183335e-01 1.01841300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.600888478999998 meters Centerline goodness : 0.996984 Centerline is valid? [True, True] Translation: X:13.91, Y:1.69, Z:1.03 [[ 9.87778106e-01 -1.40691169e-01 -6.70850838e-02 1.39076042e+01] [ 1.41120248e-01 9.89991042e-01 1.67688826e-03 1.69407108e+00] [ 6.61777087e-02 -1.11234572e-02 9.97745849e-01 1.02591773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630888479 meters Centerline goodness : 0.997009 Centerline is valid? [True, True] Translation: X:13.94, Y:1.71, Z:1.02 [[ 9.88272349e-01 -1.41447696e-01 -5.75353177e-02 1.39361354e+01] [ 1.40538274e-01 9.89881669e-01 -1.95773918e-02 1.70862898e+00] [ 5.97223333e-02 1.12618807e-02 9.98151498e-01 1.02004771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.660888478999997 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:13.96, Y:1.72, Z:1.02 [[ 0.98806276 -0.14384794 -0.05513391 13.95928283] [ 0.14217204 0.98928432 -0.03322107 1.71847527] [ 0.05932189 0.024986 0.99792616 1.01814678] [ 0. 0. 0. 1. ]] SLAMing on 16.690888478999998 meters Centerline goodness : 0.997236 Centerline is valid? [True, True] Translation: X:14.00, Y:1.70, Z:1.04 [[ 9.87946696e-01 -1.37169822e-01 -7.17339921e-02 1.39950640e+01] [ 1.38417295e-01 9.90292631e-01 1.26947528e-02 1.70399269e+00] [ 6.92963068e-02 -2.24709642e-02 9.97343009e-01 1.04072405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.720888479 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:14.02, Y:1.73, Z:1.03 [[ 0.98836279 -0.13747906 -0.06510385 14.02342669] [ 0.13622096 0.99040195 -0.02340567 1.72751359] [ 0.06769677 0.01426478 0.99760396 1.03205612] [ 0. 0. 0. 1. ]] SLAMing on 16.750888478999997 meters Centerline goodness : 0.997138 Centerline is valid? [True, True] Translation: X:14.05, Y:1.74, Z:1.03 [[ 0.98856484 -0.13746933 -0.06198177 14.04671205] [ 0.13622951 0.9903908 -0.02382399 1.73570445] [ 0.06466124 0.01510782 0.9977929 1.03032777] [ 0. 0. 0. 1. ]] SLAMing on 16.780888478999998 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:14.08, Y:1.74, Z:1.04 [[ 9.89659190e-01 -1.27351719e-01 -6.60017184e-02 1.40774185e+01] [ 1.27365662e-01 9.91847709e-01 -4.01371546e-03 1.73782022e+00] [ 6.59748068e-02 -4.43414219e-03 9.97811437e-01 1.04328597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810888479 meters Centerline goodness : 0.997329 Centerline is valid? [True, True] Translation: X:14.10, Y:1.76, Z:1.03 [[ 0.99017592 -0.1294214 -0.05293161 14.09918728] [ 0.12771042 0.99121005 -0.03453538 1.76091064] [ 0.05693596 0.02743618 0.99800078 1.03185525] [ 0. 0. 0. 1. ]] SLAMing on 16.840888478999997 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:14.13, Y:1.76, Z:1.04 [[ 9.90080910e-01 -1.27991317e-01 -5.79483722e-02 1.41347690e+01] [ 1.27129738e-01 9.91716650e-01 -1.83334526e-02 1.76390445e+00] [ 5.98148883e-02 1.07846400e-02 9.98151226e-01 1.03855957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870888478999998 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:14.16, Y:1.75, Z:1.05 [[ 0.99018125 -0.12244541 -0.06744039 14.16259311] [ 0.12381798 0.99216697 0.01654715 1.75258722] [ 0.06488601 -0.02473501 0.99758608 1.05262017] [ 0. 0. 0. 1. ]] SLAMing on 16.900888479 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:14.19, Y:1.77, Z:1.05 [[ 9.90152267e-01 -1.23566884e-01 -6.58005641e-02 1.41880445e+01] [ 1.23155138e-01 9.92334049e-01 -1.02930351e-02 1.76647593e+00] [ 6.65680185e-02 2.08799451e-03 9.97779705e-01 1.05226006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930888478999996 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:14.21, Y:1.77, Z:1.05 [[ 9.89995436e-01 -1.25269148e-01 -6.49359511e-02 1.42145968e+01] [ 1.24590260e-01 9.92103533e-01 -1.44169167e-02 1.77332476e+00] [ 6.62291814e-02 6.18229471e-03 9.97785285e-01 1.05411354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.960888478999998 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:14.24, Y:1.78, Z:1.05 [[ 9.89182360e-01 -1.30295023e-01 -6.73903961e-02 1.42422709e+01] [ 1.29463349e-01 9.91445528e-01 -1.65833310e-02 1.78440336e+00] [ 6.89746324e-02 7.67935211e-03 9.97588857e-01 1.05267287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990888479 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:14.27, Y:1.79, Z:1.05 [[ 9.89101664e-01 -1.31626300e-01 -6.59728327e-02 1.42687165e+01] [ 1.30731830e-01 9.91259475e-01 -1.77155592e-02 1.79338469e+00] [ 6.77280291e-02 8.89773994e-03 9.97664144e-01 1.05127622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.020888478999996 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:14.30, Y:1.80, Z:1.05 [[ 9.88869961e-01 -1.32593157e-01 -6.74926254e-02 1.42951458e+01] [ 1.32114476e-01 9.91167440e-01 -1.15269379e-02 1.79788288e+00] [ 6.84248859e-02 2.48188973e-03 9.97653184e-01 1.05379050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.050888478999997 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:14.32, Y:1.80, Z:1.06 [[ 9.89080139e-01 -1.32740809e-01 -6.40340207e-02 1.43234079e+01] [ 1.32313543e-01 9.91148127e-01 -1.08865113e-02 1.80359897e+00] [ 6.49122840e-02 2.29506397e-03 9.97888334e-01 1.05665193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.080888479 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:14.35, Y:1.81, Z:1.06 [[ 9.89186428e-01 -1.33899676e-01 -5.98421839e-02 1.43499845e+01] [ 1.33114324e-01 9.90955891e-01 -1.69410658e-02 1.81366220e+00] [ 6.15693679e-02 8.79202052e-03 9.98064083e-01 1.05508131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110888478999996 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:14.38, Y:1.82, Z:1.06 [[ 9.89340134e-01 -1.33516214e-01 -5.81336296e-02 1.43767090e+01] [ 1.32803481e-01 9.91013669e-01 -1.59731873e-02 1.82083033e+00] [ 5.97439011e-02 8.08256685e-03 9.98181015e-01 1.05575639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.140888478999997 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:14.41, Y:1.82, Z:1.07 [[ 9.89062817e-01 -1.31318171e-01 -6.71586386e-02 1.44063180e+01] [ 1.31362195e-01 9.91327237e-01 -3.77935741e-03 1.82219044e+00] [ 6.70724860e-02 -5.08408430e-03 9.97735152e-01 1.06861649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170888479 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:14.43, Y:1.83, Z:1.07 [[ 9.88828350e-01 -1.33204703e-01 -6.68954478e-02 1.44331299e+01] [ 1.32593890e-01 9.91078383e-01 -1.35092019e-02 1.83369592e+00] [ 6.80981214e-02 4.48835414e-03 9.97668532e-01 1.06861496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.200888478999996 meters Centerline goodness : 0.997288 Centerline is valid? [True, True] Translation: X:14.46, Y:1.84, Z:1.07 [[ 9.89109730e-01 -1.31984697e-01 -6.51305014e-02 1.44598416e+01] [ 1.31952913e-01 9.91244323e-01 -4.80837035e-03 1.83769627e+00] [ 6.51948711e-02 -3.83815348e-03 9.97865170e-01 1.07283874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230888478999997 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:14.49, Y:1.86, Z:1.07 [[ 0.98874673 -0.13450602 -0.06548312 14.48726063] [ 0.13292982 0.99073325 -0.02787982 1.85538964] [ 0.06862631 0.01886142 0.99746412 1.06920927] [ 0. 0. 0. 1. ]] SLAMing on 17.260888479 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:14.51, Y:1.86, Z:1.07 [[ 9.88835272e-01 -1.29942441e-01 -7.29367276e-02 1.45137501e+01] [ 1.29700237e-01 9.91520431e-01 -8.06748470e-03 1.85733065e+00] [ 7.33665642e-02 -1.48249742e-03 9.97303940e-01 1.07217484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.290888479 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:14.54, Y:1.87, Z:1.07 [[ 9.89126173e-01 -1.28109514e-01 -7.22313385e-02 1.45404145e+01] [ 1.27378509e-01 9.91745884e-01 -1.46566032e-02 1.86642040e+00] [ 7.35127830e-02 5.29650961e-03 9.97280210e-01 1.07232640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.320888478999997 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:14.57, Y:1.87, Z:1.07 [[ 9.89295602e-01 -1.26682320e-01 -7.24279012e-02 1.45678260e+01] [ 1.25941914e-01 9.91928428e-01 -1.47182581e-02 1.87294858e+00] [ 7.37078373e-02 5.43899950e-03 9.97265046e-01 1.07416253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.350888478999998 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:14.60, Y:1.88, Z:1.08 [[ 9.89992935e-01 -1.23380699e-01 -6.84922706e-02 1.45952672e+01] [ 1.23180085e-01 9.92358497e-01 -7.16095940e-03 1.87959203e+00] [ 6.88524109e-02 -1.34758452e-03 9.97625947e-01 1.07812988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.380888479 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:14.62, Y:1.89, Z:1.08 [[ 9.90205571e-01 -1.23313485e-01 -6.54729865e-02 1.46225437e+01] [ 1.22247794e-01 9.92296942e-01 -2.00563304e-02 1.89312374e+00] [ 6.74418603e-02 1.18559620e-02 9.97652761e-01 1.07852630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410888478999997 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:14.65, Y:1.90, Z:1.08 [[ 9.90674825e-01 -1.20023460e-01 -6.44806923e-02 1.46495777e+01] [ 1.19419920e-01 9.92756774e-01 -1.31480422e-02 1.89676029e+00] [ 6.55917176e-02 5.32515530e-03 9.97832335e-01 1.08160874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.440888478999998 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:14.67, Y:1.91, Z:1.07 [[ 0.99025248 -0.12588735 -0.05960194 14.67344335] [ 0.12436007 0.99182227 -0.02869058 1.90871619] [ 0.06272631 0.02099881 0.99780983 1.07495998] [ 0. 0. 0. 1. ]] SLAMing on 17.470888479 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:14.71, Y:1.90, Z:1.09 [[ 9.89662217e-01 -1.24454546e-01 -7.12724478e-02 1.47089110e+01] [ 1.24979481e-01 9.92154982e-01 2.93622357e-03 1.89966044e+00] [ 7.03478877e-02 -1.18134630e-02 9.97452564e-01 1.09303863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.500888478999997 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:14.74, Y:1.91, Z:1.09 [[ 9.89558893e-01 -1.27308952e-01 -6.75694306e-02 1.47357842e+01] [ 1.26668922e-01 9.91850563e-01 -1.36910655e-02 1.90962874e+00] [ 6.87617730e-02 4.98916867e-03 9.97620633e-01 1.09215045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530888478999998 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:14.76, Y:1.91, Z:1.09 [[ 9.89083281e-01 -1.30398311e-01 -6.86334058e-02 1.47634111e+01] [ 1.29743869e-01 9.91449726e-01 -1.39273103e-02 1.91273472e+00] [ 6.98626691e-02 4.87050613e-03 9.97544729e-01 1.09318765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.560888479 meters Centerline goodness : 0.997084 Centerline is valid? [True, True] Translation: X:14.79, Y:1.92, Z:1.09 [[ 9.88953595e-01 -1.31229607e-01 -6.89171755e-02 1.47912530e+01] [ 1.30570288e-01 9.91340126e-01 -1.40054990e-02 1.91799588e+00] [ 7.01582976e-02 4.85225311e-03 9.97524069e-01 1.09469456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590888478999997 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:14.82, Y:1.93, Z:1.09 [[ 9.88929536e-01 -1.34895674e-01 -6.18185323e-02 1.48175974e+01] [ 1.33923444e-01 9.90797268e-01 -1.96286808e-02 1.92929736e+00] [ 6.38974570e-02 1.11324314e-02 9.97894375e-01 1.08565176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.620888478999998 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:14.84, Y:1.93, Z:1.09 [[ 9.88955259e-01 -1.34825554e-01 -6.15594411e-02 1.48440678e+01] [ 1.34245913e-01 9.90856416e-01 -1.34758068e-02 1.93275182e+00] [ 6.28134503e-02 5.06286661e-03 9.98012444e-01 1.08808071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650888479 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:14.88, Y:1.93, Z:1.10 [[ 9.88842285e-01 -1.31757528e-01 -6.95045956e-02 1.48751775e+01] [ 1.31604598e-01 9.91279001e-01 -6.79493498e-03 1.93299612e+00] [ 6.97937299e-02 -2.42800531e-03 9.97558490e-01 1.10001200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.680888478999996 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:14.90, Y:1.94, Z:1.10 [[ 9.89084569e-01 -1.31272231e-01 -6.69277037e-02 1.49037097e+01] [ 1.31102714e-01 9.91344514e-01 -6.93785883e-03 1.93881168e+00] [ 6.72591601e-02 -1.91227445e-03 9.97733706e-01 1.10219761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710888478999998 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:14.93, Y:1.95, Z:1.10 [[ 9.89412960e-01 -1.29541159e-01 -6.54299775e-02 1.49298716e+01] [ 1.29140924e-01 9.91572468e-01 -1.03277247e-02 1.94731075e+00] [ 6.62164297e-02 1.76869692e-03 9.97803716e-01 1.10161677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.740888479 meters Centerline goodness : 0.997319 Centerline is valid? [True, True] Translation: X:14.96, Y:1.96, Z:1.10 [[ 0.98973734 -0.13019335 -0.05890405 14.95581715] [ 0.1289152 0.99133998 -0.02501847 1.96104499] [ 0.06165118 0.01716809 0.99795009 1.09575422] [ 0. 0. 0. 1. ]] SLAMing on 17.770888478999996 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:14.99, Y:1.96, Z:1.11 [[ 9.89599548e-01 -1.27189541e-01 -6.71978863e-02 1.49852532e+01] [ 1.26748299e-01 9.91876041e-01 -1.08068720e-02 1.95906628e+00] [ 6.80264945e-02 2.17725789e-03 9.97681139e-01 1.10584564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.800888478999997 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:15.01, Y:1.97, Z:1.10 [[ 0.98988532 -0.1285445 -0.06002804 15.01129175] [ 0.12698989 0.99147858 -0.02904798 1.97379586] [ 0.06325047 0.02113121 0.99777395 1.09543382] [ 0. 0. 0. 1. ]] SLAMing on 17.830888479 meters Centerline goodness : 0.996733 Centerline is valid? [True, True] Translation: X:15.04, Y:1.97, Z:1.10 [[ 9.89841391e-01 -1.26842035e-01 -6.42270871e-02 1.50397687e+01] [ 1.26691563e-01 9.91921340e-01 -6.42669756e-03 1.97127110e+00] [ 6.45233937e-02 -1.77561880e-03 9.97914615e-01 1.09995843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.860888478999996 meters Centerline goodness : 0.996733 Centerline is valid? [True, True] Translation: X:15.07, Y:1.98, Z:1.10 [[ 9.89847480e-01 -1.27429902e-01 -6.29570274e-02 1.50662055e+01] [ 1.26838296e-01 9.91833939e-01 -1.33223255e-02 1.97970531e+00] [ 6.41405791e-02 5.20170821e-03 9.97927316e-01 1.10052540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890888478999997 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:15.10, Y:1.99, Z:1.10 [[ 0.98917885 -0.13133929 -0.06538503 15.10245859] [ 0.12986655 0.99118249 -0.0263051 1.99443048] [ 0.06826339 0.01752912 0.99751333 1.09900764] [ 0. 0. 0. 1. ]] SLAMing on 17.920888479 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:15.12, Y:1.99, Z:1.11 [[ 9.90245848e-01 -1.23040706e-01 -6.53769474e-02 1.51219735e+01] [ 1.23583983e-01 9.92324729e-01 4.31635187e-03 1.98749826e+00] [ 6.43440747e-02 -1.23537930e-02 9.97851303e-01 1.10579981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950888478999996 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:15.15, Y:2.00, Z:1.10 [[ 0.99042772 -0.12328501 -0.06207851 15.1469604 ] [ 0.12192881 0.99221902 -0.02519476 2.00439886] [ 0.06470162 0.01738443 0.99775322 1.10279258] [ 0. 0. 0. 1. ]] SLAMing on 17.980888478999997 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:15.18, Y:2.00, Z:1.11 [[ 9.90407876e-01 -1.22754580e-01 -6.34314707e-02 1.51754531e+01] [ 1.21981292e-01 9.92404430e-01 -1.59377726e-02 2.00346373e+00] [ 6.49061071e-02 8.04744278e-03 9.97858926e-01 1.10617686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010888479 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:15.21, Y:1.99, Z:1.12 [[ 9.89701919e-01 -1.20595729e-01 -7.71153825e-02 1.52093695e+01] [ 1.21342528e-01 9.92597819e-01 5.05573329e-03 1.99092976e+00] [ 7.59348607e-02 -1.43610444e-02 9.97009357e-01 1.12402958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.040888478999996 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:15.24, Y:2.00, Z:1.12 [[ 9.89597466e-01 -1.24483702e-01 -7.21156270e-02 1.52357942e+01] [ 1.23728967e-01 9.92204817e-01 -1.48574754e-02 2.00285254e+00] [ 7.34029860e-02 5.78012793e-03 9.97285612e-01 1.12234736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070888478999997 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:15.26, Y:2.01, Z:1.12 [[ 9.89496108e-01 -1.25893894e-01 -7.10505488e-02 1.52628522e+01] [ 1.25163415e-01 9.92027838e-01 -1.46590820e-02 2.00778349e+00] [ 7.23296112e-02 5.61217532e-03 9.97364994e-01 1.12251695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.100888478999998 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:15.29, Y:2.01, Z:1.12 [[ 9.88573879e-01 -1.34680191e-01 -6.76973606e-02 1.52908234e+01] [ 1.34036220e-01 9.90877717e-01 -1.39871596e-02 2.01316341e+00] [ 6.89635995e-02 4.75344225e-03 9.97607852e-01 1.12362224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130888479 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:15.31, Y:2.03, Z:1.12 [[ 0.98829258 -0.14059154 -0.0592604 15.31450561] [ 0.13919275 0.9898937 -0.02712626 2.02677534] [ 0.06247521 0.01856006 0.99787393 1.11518566] [ 0. 0. 0. 1. ]] SLAMing on 18.160888478999997 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:15.34, Y:2.02, Z:1.12 [[ 9.88015525e-01 -1.40153179e-01 -6.46715464e-02 1.53381724e+01] [ 1.39842903e-01 9.90129819e-01 -9.32222734e-03 2.02255843e+00] [ 6.53397664e-02 1.66648557e-04 9.97863060e-01 1.12013269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190888478999998 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:15.38, Y:2.02, Z:1.13 [[ 9.87215179e-01 -1.40879456e-01 -7.45598318e-02 1.53753120e+01] [ 1.40838072e-01 9.90015426e-01 -5.83895914e-03 2.02350243e+00] [ 7.46379730e-02 -4.73655388e-03 9.97199447e-01 1.12847975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.220888479 meters Centerline goodness : 0.996779 Centerline is valid? [True, True] Translation: X:15.40, Y:2.04, Z:1.12 [[ 0.98699089 -0.1460047 -0.06731727 15.39924651] [ 0.14449539 0.98914258 -0.02679608 2.03841907] [ 0.07049874 0.01672045 0.99737172 1.11904522] [ 0. 0. 0. 1. ]] SLAMing on 18.250888478999997 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:15.43, Y:2.04, Z:1.13 [[ 9.86934180e-01 -1.45331197e-01 -6.95684452e-02 1.54288303e+01] [ 1.44703272e-01 9.89375921e-01 -1.40089577e-02 2.03564469e+00] [ 7.08652831e-02 3.75913748e-03 9.97478812e-01 1.12701654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.280888478999998 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:15.46, Y:2.04, Z:1.13 [[ 9.86881851e-01 -1.46743129e-01 -6.73102248e-02 1.54563174e+01] [ 1.46636169e-01 9.89168782e-01 -6.55394411e-03 2.03647753e+00] [ 6.75429194e-02 -3.40214503e-03 9.97710569e-01 1.13279032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310888479 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:15.49, Y:2.04, Z:1.14 [[ 9.86706998e-01 -1.46616190e-01 -7.00927416e-02 1.54857498e+01] [ 1.46500458e-01 9.89187113e-01 -6.81694584e-03 2.04340181e+00] [ 7.03343113e-02 -3.54229060e-03 9.97517186e-01 1.14000326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.340888478999997 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:15.51, Y:2.06, Z:1.14 [[ 9.86902885e-01 -1.45313852e-01 -7.00469904e-02 1.55111228e+01] [ 1.44373026e-01 9.89353379e-01 -1.83390383e-02 2.05580564e+00] [ 7.19661429e-02 7.98595384e-03 9.97375104e-01 1.13920495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370888478999998 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:15.54, Y:2.06, Z:1.14 [[ 9.87141791e-01 -1.44307483e-01 -6.87490738e-02 1.55369534e+01] [ 1.43469544e-01 9.89508713e-01 -1.69999165e-02 2.06360911e+00] [ 7.04810227e-02 6.91792968e-03 9.97489132e-01 1.13771931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.400888479 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:15.57, Y:2.06, Z:1.14 [[ 9.87765979e-01 -1.39168946e-01 -7.03588977e-02 1.55665644e+01] [ 1.38636192e-01 9.90265454e-01 -1.24232518e-02 2.06414482e+00] [ 7.14029166e-02 2.51697585e-03 9.97444379e-01 1.14333245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430888478999996 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:15.59, Y:2.07, Z:1.15 [[ 9.88038695e-01 -1.38247031e-01 -6.83176156e-02 1.55941528e+01] [ 1.37585629e-01 9.90386409e-01 -1.43162947e-02 2.06814713e+00] [ 6.96400232e-02 4.74553101e-03 9.97560899e-01 1.14600786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.460888478999998 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:15.62, Y:2.07, Z:1.15 [[ 9.88244487e-01 -1.38090594e-01 -6.56035191e-02 1.56218402e+01] [ 1.37479195e-01 9.90408988e-01 -1.37661602e-02 2.07223263e+00] [ 6.68752923e-02 4.58521290e-03 9.97750806e-01 1.14866846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490888479 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:15.65, Y:2.08, Z:1.15 [[ 9.88265136e-01 -1.37921553e-01 -6.56480526e-02 1.56491845e+01] [ 1.37806101e-01 9.90439155e-01 -6.30546329e-03 2.07626143e+00] [ 6.58900611e-02 -2.81523265e-03 9.97822917e-01 1.15062249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.520888478999996 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:15.68, Y:2.09, Z:1.15 [[ 9.88258756e-01 -1.37667278e-01 -6.62748229e-02 1.56754667e+01] [ 1.36559790e-01 9.90409600e-01 -2.09820988e-02 2.08869565e+00] [ 6.85277693e-02 1.16852669e-02 9.97580773e-01 1.14961691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550888478999997 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:15.70, Y:2.09, Z:1.15 [[ 9.88162754e-01 -1.36621051e-01 -6.97786441e-02 1.57018495e+01] [ 1.35921224e-01 9.90610539e-01 -1.47030930e-02 2.09237793e+00] [ 7.11322122e-02 5.04465016e-03 9.97454139e-01 1.15121854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.580888479 meters Centerline goodness : 0.997779 Centerline is valid? [True, True] Translation: X:15.73, Y:2.10, Z:1.15 [[ 9.88580028e-01 -1.33508868e-01 -6.98921280e-02 1.57298008e+01] [ 1.32798341e-01 9.91033517e-01 -1.47366453e-02 2.09617657e+00] [ 7.12329142e-02 5.28679460e-03 9.97445699e-01 1.15345616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610888478999996 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:15.76, Y:2.10, Z:1.16 [[ 9.88732837e-01 -1.32588581e-01 -6.94812529e-02 1.57568304e+01] [ 1.31882712e-01 9.91156767e-01 -1.46701707e-02 2.09986949e+00] [ 7.08119111e-02 5.34150342e-03 9.97475384e-01 1.15659641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.640888478999997 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:15.78, Y:2.11, Z:1.16 [[ 9.88433057e-01 -1.35222343e-01 -6.86659231e-02 1.57832634e+01] [ 1.34319966e-01 9.90781453e-01 -1.76141966e-02 2.10773063e+00] [ 7.04147559e-02 8.18724977e-03 9.97484201e-01 1.15600820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670888479 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:15.81, Y:2.11, Z:1.16 [[ 9.88259185e-01 -1.36826747e-01 -6.79869426e-02 1.58105413e+01] [ 1.36368042e-01 9.90593054e-01 -1.13647685e-02 2.11101030e+00] [ 6.89023974e-02 1.96009064e-03 9.97621480e-01 1.16307202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.700888478999996 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:15.84, Y:2.12, Z:1.16 [[ 9.88264627e-01 -1.37728885e-01 -6.60589196e-02 1.58379017e+01] [ 1.37077340e-01 9.90456863e-01 -1.43180147e-02 2.11892483e+00] [ 6.74005145e-02 5.09480649e-03 9.97712992e-01 1.16484345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730888478999997 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:15.87, Y:2.12, Z:1.17 [[ 9.87833887e-01 -1.38953706e-01 -6.98289229e-02 1.58657267e+01] [ 1.38900161e-01 9.90290297e-01 -5.64553445e-03 2.12312794e+00] [ 6.99353728e-02 -4.12239838e-03 9.97543006e-01 1.17008898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.760888479 meters Centerline goodness : 0.997140 Centerline is valid? [True, True] Translation: X:15.89, Y:2.14, Z:1.16 [[ 9.87803419e-01 -1.42180942e-01 -6.34742930e-02 1.58905538e+01] [ 1.40969736e-01 9.89742222e-01 -2.31919773e-02 2.13936082e+00] [ 6.61206450e-02 1.39611602e-02 9.97713960e-01 1.16314411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790888478999996 meters Centerline goodness : 0.996589 Centerline is valid? [True, True] Translation: X:15.92, Y:2.14, Z:1.17 [[ 9.87550660e-01 -1.41913007e-01 -6.78556660e-02 1.59194845e+01] [ 1.41286364e-01 9.89870181e-01 -1.39709981e-02 2.14241206e+00] [ 6.91509667e-02 4.20998808e-03 9.97597323e-01 1.16606434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.820888478999997 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:15.95, Y:2.15, Z:1.17 [[ 9.87471568e-01 -1.41972607e-01 -6.88743831e-02 1.59467187e+01] [ 1.41295542e-01 9.89859360e-01 -1.46293018e-02 2.14774008e+00] [ 7.02529129e-02 4.71437632e-03 9.97518071e-01 1.16836165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850888478999998 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:15.97, Y:2.15, Z:1.17 [[ 9.87614996e-01 -1.40759477e-01 -6.93064810e-02 1.59748800e+01] [ 1.40069435e-01 9.90031935e-01 -1.47418058e-02 2.15162639e+00] [ 7.06906783e-02 4.85150879e-03 9.97486487e-01 1.17048488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.880888479 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:16.00, Y:2.16, Z:1.17 [[ 9.87525420e-01 -1.40502357e-01 -7.10818684e-02 1.60014179e+01] [ 1.39774187e-01 9.90067633e-01 -1.51413166e-02 2.15830934e+00] [ 7.25032478e-02 5.01702467e-03 9.97355558e-01 1.17042695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910888478999997 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:16.03, Y:2.16, Z:1.18 [[ 9.87422419e-01 -1.40227229e-01 -7.30293773e-02 1.60290245e+01] [ 1.39759691e-01 9.90118683e-01 -1.14987631e-02 2.16369944e+00] [ 7.39201906e-02 1.14757333e-03 9.97263500e-01 1.17558449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.940888478999998 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:16.06, Y:2.17, Z:1.18 [[ 9.87983437e-01 -1.38039505e-01 -6.95256990e-02 1.60571865e+01] [ 1.37555260e-01 9.90424656e-01 -1.17281853e-02 2.17064540e+00] [ 7.04789194e-02 2.02362719e-03 9.97511216e-01 1.17937567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970888479 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:16.08, Y:2.18, Z:1.18 [[ 9.88282917e-01 -1.37965343e-01 -6.52873659e-02 1.60845601e+01] [ 1.37022657e-01 9.90390925e-01 -1.87244879e-02 2.17896638e+00] [ 6.72433451e-02 9.55924318e-03 9.97690811e-01 1.17827736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.000888478999997 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:16.11, Y:2.18, Z:1.18 [[ 9.88529156e-01 -1.37650297e-01 -6.21490479e-02 1.61108687e+01] [ 1.36959008e-01 9.90459016e-01 -1.52698357e-02 2.18285146e+00] [ 6.36579823e-02 6.58280584e-03 9.97950063e-01 1.17919652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030888478999998 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:16.14, Y:2.19, Z:1.18 [[ 9.88595373e-01 -1.37017630e-01 -6.24928523e-02 1.61396570e+01] [ 1.36069071e-01 9.90513087e-01 -1.92102227e-02 2.18905767e+00] [ 6.45321273e-02 1.04877929e-02 9.97860517e-01 1.18069105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.060888479 meters Centerline goodness : 0.997330 Centerline is valid? [True, True] Translation: X:16.17, Y:2.19, Z:1.19 [[ 9.88828238e-01 -1.34770609e-01 -6.36835774e-02 1.61675326e+01] [ 1.34614020e-01 9.90875032e-01 -6.76292245e-03 2.18887542e+00] [ 6.40139100e-02 -1.88533366e-03 9.97947225e-01 1.18574342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090888478999997 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:16.19, Y:2.20, Z:1.18 [[ 9.88692251e-01 -1.37458357e-01 -5.99402368e-02 1.61935487e+01] [ 1.36518556e-01 9.90445149e-01 -1.95215282e-02 2.20102379e+00] [ 6.20509140e-02 1.11178291e-02 9.98011061e-01 1.18145664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.120888478999998 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:16.22, Y:2.20, Z:1.18 [[ 9.88362618e-01 -1.38970542e-01 -6.18589078e-02 1.62215766e+01] [ 1.38296980e-01 9.90276278e-01 -1.50611443e-02 2.20335012e+00] [ 6.33504643e-02 6.33097189e-03 9.97971261e-01 1.18279780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150888479 meters Centerline goodness : 0.997034 Centerline is valid? [True, True] Translation: X:16.25, Y:2.20, Z:1.19 [[ 9.88263964e-01 -1.38571590e-01 -6.42825931e-02 1.62520760e+01] [ 1.38383070e-01 9.90351151e-01 -7.39753386e-03 2.20448951e+00] [ 6.46874281e-02 -1.58490645e-03 9.97904316e-01 1.18822078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.180888478999996 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:16.27, Y:2.21, Z:1.19 [[ 9.88368938e-01 -1.39394155e-01 -6.07956651e-02 1.62749174e+01] [ 1.38548716e-01 9.90193343e-01 -1.79275477e-02 2.21412083e+00] [ 6.26984582e-02 9.29586997e-03 9.97989223e-01 1.18546958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210888478999998 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:16.30, Y:2.22, Z:1.19 [[ 9.88515280e-01 -1.39066301e-01 -5.91447761e-02 1.63027515e+01] [ 1.38410695e-01 9.90260397e-01 -1.50607330e-02 2.21925870e+00] [ 6.06631698e-02 6.70149513e-03 9.98135797e-01 1.18829369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.240888479 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:16.33, Y:2.22, Z:1.20 [[ 9.88858261e-01 -1.35439979e-01 -6.17685410e-02 1.63334031e+01] [ 1.35269348e-01 9.90784451e-01 -6.95520905e-03 2.21935064e+00] [ 6.21413234e-02 -1.47767432e-03 9.98066267e-01 1.19679647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270888478999996 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:16.36, Y:2.23, Z:1.20 [[ 9.88834925e-01 -1.36797446e-01 -5.90927187e-02 1.63561366e+01] [ 1.36144571e-01 9.90576087e-01 -1.49556906e-02 2.22899277e+00] [ 6.05817343e-02 6.74355642e-03 9.98140460e-01 1.19508986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.300888478999997 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:16.39, Y:2.23, Z:1.20 [[ 9.89211543e-01 -1.33093985e-01 -6.12087832e-02 1.63889080e+01] [ 1.32629832e-01 9.91097728e-01 -1.16026690e-02 2.23281945e+00] [ 6.22081314e-02 3.35938342e-03 9.98057545e-01 1.20100986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330888479 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:16.42, Y:2.24, Z:1.20 [[ 9.89317606e-01 -1.31096729e-01 -6.37520369e-02 1.64161652e+01] [ 1.30483550e-01 9.91355725e-01 -1.37065408e-02 2.24177139e+00] [ 6.49978295e-02 5.24153001e-03 9.97871639e-01 1.19924046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.360888478999996 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:16.44, Y:2.24, Z:1.21 [[ 9.89139628e-01 -1.27957345e-01 -7.23167621e-02 1.64446017e+01] [ 1.28821158e-01 9.91640303e-01 7.39043911e-03 2.23699210e+00] [ 7.07665549e-02 -1.66261052e-02 9.97354334e-01 1.21170047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390888478999997 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:16.47, Y:2.26, Z:1.20 [[ 0.98964128 -0.1307003 -0.05939329 16.47116755] [ 0.12875096 0.99103928 -0.0355574 2.26157035] [ 0.06350845 0.02754213 0.99760118 1.1972266 ] [ 0. 0. 0. 1. ]] SLAMing on 19.420888479 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:16.50, Y:2.24, Z:1.22 [[ 9.89105243e-01 -1.27364825e-01 -7.38174751e-02 1.64980594e+01] [ 1.28378062e-01 9.91683288e-01 9.12853256e-03 2.24495453e+00] [ 7.20409024e-02 -1.85056238e-02 9.97229989e-01 1.21688907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450888478999996 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:16.52, Y:2.27, Z:1.20 [[ 0.98946714 -0.13200954 -0.05939915 16.51955499] [ 0.1303075 0.99096717 -0.03168619 2.26802109] [ 0.06304549 0.02361228 0.99773129 1.20129862] [ 0. 0. 0. 1. ]] SLAMing on 19.480888478999997 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:16.55, Y:2.26, Z:1.22 [[ 9.88983175e-01 -1.28212987e-01 -7.39845255e-02 1.65541231e+01] [ 1.28875692e-01 9.91651717e-01 4.23417172e-03 2.25585745e+00] [ 7.28240060e-02 -1.37223315e-02 9.97250401e-01 1.22108878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510888479 meters Centerline goodness : 0.997191 Centerline is valid? [True, True] Translation: X:16.58, Y:2.29, Z:1.20 [[ 0.98917514 -0.13313444 -0.06170709 16.58060581] [ 0.13069592 0.99053176 -0.04201672 2.2858358 ] [ 0.06671671 0.03349703 0.99720952 1.20240796] [ 0. 0. 0. 1. ]] SLAMing on 19.540888478999996 meters Centerline goodness : 0.997232 Centerline is valid? [True, True] Translation: X:16.60, Y:2.28, Z:1.21 [[ 9.88736882e-01 -1.32611424e-01 -6.93800214e-02 1.66041196e+01] [ 1.32156297e-01 9.91166405e-01 -1.11297621e-02 2.28105007e+00] [ 7.02430800e-02 1.83539957e-03 9.97528216e-01 1.20958519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570888478999997 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:16.63, Y:2.29, Z:1.21 [[ 9.88880541e-01 -1.31654757e-01 -6.91541851e-02 1.66326723e+01] [ 1.30804608e-01 9.91267486e-01 -1.67010656e-02 2.28748794e+00] [ 7.07490699e-02 7.46967278e-03 9.97466176e-01 1.21008531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.600888478999998 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:16.66, Y:2.29, Z:1.22 [[ 9.88951378e-01 -1.32059803e-01 -6.73452353e-02 1.66621743e+01] [ 1.31288803e-01 9.91218752e-01 -1.57681624e-02 2.28582342e+00] [ 6.88362006e-02 6.75227059e-03 9.97605124e-01 1.21569322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630888479 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:16.69, Y:2.29, Z:1.22 [[ 9.89127365e-01 -1.30849495e-01 -6.71227610e-02 1.66899424e+01] [ 1.30469836e-01 9.91401564e-01 -1.00280332e-02 2.28569312e+00] [ 6.78577733e-02 1.16150647e-03 9.97694329e-01 1.22057350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.660888478999997 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:16.72, Y:2.30, Z:1.22 [[ 9.88752429e-01 -1.34154215e-01 -6.61156624e-02 1.67188735e+01] [ 1.32932156e-01 9.90868152e-01 -2.25687447e-02 2.29868979e+00] [ 6.85395964e-02 1.35260036e-02 9.97556701e-01 1.21977776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690888478999998 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:16.75, Y:2.31, Z:1.22 [[ 9.88241953e-01 -1.35734285e-01 -7.03849826e-02 1.67459078e+01] [ 1.34981276e-01 9.90728953e-01 -1.53687064e-02 2.30560122e+00] [ 7.18185005e-02 5.68734567e-03 9.97401502e-01 1.22022831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.720888479 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:16.77, Y:2.31, Z:1.22 [[ 9.88526634e-01 -1.34442677e-01 -6.88495465e-02 1.67739954e+01] [ 1.33942533e-01 9.90918236e-01 -1.18510508e-02 2.31003940e+00] [ 6.98175582e-02 2.49319670e-03 9.97556661e-01 1.22219612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750888478999997 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:16.80, Y:2.32, Z:1.22 [[ 9.88500213e-01 -1.34991475e-01 -6.81515262e-02 1.68015486e+01] [ 1.34290299e-01 9.90831683e-01 -1.47882382e-02 2.31760966e+00] [ 6.95229774e-02 5.46608774e-03 9.97565375e-01 1.22333806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.780888478999998 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:16.83, Y:2.32, Z:1.22 [[ 9.88387005e-01 -1.34691664e-01 -7.03511435e-02 1.68277823e+01] [ 1.33710715e-01 9.90847844e-01 -1.84931075e-02 2.32490587e+00] [ 7.21981463e-02 8.87164549e-03 9.97350852e-01 1.22481618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810888479 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:16.86, Y:2.33, Z:1.23 [[ 9.88026684e-01 -1.36473732e-01 -7.19596514e-02 1.68580291e+01] [ 1.35402191e-01 9.90597083e-01 -1.95874037e-02 2.33135057e+00] [ 7.39561868e-02 9.60938307e-03 9.97215194e-01 1.22780052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.840888478999997 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:16.88, Y:2.34, Z:1.23 [[ 0.98855466 -0.13660396 -0.06402373 16.88142735] [ 0.13446737 0.99024222 -0.0365906 2.34104225] [ 0.06839743 0.02756271 0.99727734 1.22505541] [ 0. 0. 0. 1. ]] SLAMing on 19.870888478999998 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:16.91, Y:2.34, Z:1.23 [[ 9.88454901e-01 -1.36074793e-01 -6.66375233e-02 1.69103083e+01] [ 1.35024700e-01 9.90639605e-01 -2.00375508e-02 2.33901321e+00] [ 6.87403753e-02 1.08085037e-02 9.97576031e-01 1.23015791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.900888479 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:16.94, Y:2.34, Z:1.24 [[ 9.88270501e-01 -1.36945388e-01 -6.75823752e-02 1.69408886e+01] [ 1.36671354e-01 9.90578383e-01 -8.68381942e-03 2.34077870e+00] [ 6.81348489e-02 -6.54612151e-04 9.97675906e-01 1.23542679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930888478999996 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:16.97, Y:2.35, Z:1.23 [[ 9.88499376e-01 -1.35734902e-01 -6.66709804e-02 1.69656831e+01] [ 1.34487686e-01 9.90651248e-01 -2.28728630e-02 2.35341355e+00] [ 6.91523357e-02 1.36433850e-02 9.97512813e-01 1.23449044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.960888478999998 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:17.00, Y:2.35, Z:1.25 [[ 9.88479106e-01 -1.29614129e-01 -7.81615900e-02 1.69981315e+01] [ 1.30713846e-01 9.91378375e-01 9.09987907e-03 2.34514008e+00] [ 7.63082372e-02 -1.92118424e-02 9.96899171e-01 1.25163982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990888479 meters Centerline goodness : 0.996439 Centerline is valid? [True, True] Translation: X:17.02, Y:2.36, Z:1.24 [[ 9.88806327e-01 -1.31672128e-01 -7.01747652e-02 1.70226073e+01] [ 1.30357339e-01 9.91199863e-01 -2.30172932e-02 2.36423470e+00] [ 7.25879537e-02 1.36118495e-02 9.97269124e-01 1.24381409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.020888478999996 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:17.05, Y:2.37, Z:1.25 [[ 9.88760138e-01 -1.31135961e-01 -7.18105097e-02 1.70504024e+01] [ 1.30203782e-01 9.91332234e-01 -1.75321878e-02 2.36656907e+00] [ 7.34871733e-02 7.98512847e-03 9.97264194e-01 1.24729275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050888478999997 meters Centerline goodness : 0.996308 Centerline is valid? [True, True] Translation: X:17.08, Y:2.36, Z:1.26 [[ 9.88350290e-01 -1.30230056e-01 -7.87644346e-02 1.70816713e+01] [ 1.30147880e-01 9.91475221e-01 -6.19795161e-03 2.36184463e+00] [ 7.89001448e-02 -4.12527692e-03 9.96873989e-01 1.25784754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.080888479 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:17.11, Y:2.37, Z:1.26 [[ 9.88390505e-01 -1.29222476e-01 -7.99109572e-02 1.71094702e+01] [ 1.28855280e-01 9.91615412e-01 -9.75665023e-03 2.36604433e+00] [ 8.05017152e-02 -6.53568331e-04 9.96754256e-01 1.26233695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110888478999996 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:17.14, Y:2.37, Z:1.26 [[ 9.88332115e-01 -1.30644106e-01 -7.83054810e-02 1.71368297e+01] [ 1.29698349e-01 9.91406616e-01 -1.70663382e-02 2.37409497e+00] [ 7.98621884e-02 6.71111849e-03 9.96783322e-01 1.26266649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.140888478999997 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:17.17, Y:2.38, Z:1.27 [[ 9.88146969e-01 -1.31749971e-01 -7.87877708e-02 1.71652902e+01] [ 1.31332349e-01 9.91282979e-01 -1.04818511e-02 2.37775515e+00] [ 7.94819597e-02 1.02263868e-05 9.96836305e-01 1.26505199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170888479 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:17.19, Y:2.39, Z:1.26 [[ 9.87698148e-01 -1.35767468e-01 -7.75858446e-02 1.71916048e+01] [ 1.34327420e-01 9.90658032e-01 -2.35118770e-02 2.39022143e+00] [ 8.00531881e-02 1.28007310e-02 9.96708397e-01 1.26280715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.200888478999996 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:17.22, Y:2.39, Z:1.27 [[ 9.87369668e-01 -1.37514888e-01 -7.86815964e-02 1.72170873e+01] [ 1.36844347e-01 9.90495351e-01 -1.38774397e-02 2.39307882e+00] [ 7.98421101e-02 2.93503129e-03 9.96803202e-01 1.26695122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230888478999997 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:17.24, Y:2.40, Z:1.26 [[ 9.87327178e-01 -1.40451069e-01 -7.38819339e-02 1.72435510e+01] [ 1.38819762e-01 9.89955079e-01 -2.67958036e-02 2.40487731e+00] [ 7.69032950e-02 1.61999527e-02 9.96906939e-01 1.26335141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.260888479 meters Centerline goodness : 0.996374 Centerline is valid? [True, True] Translation: X:17.27, Y:2.41, Z:1.27 [[ 9.86996733e-01 -1.41061785e-01 -7.70650529e-02 1.72715620e+01] [ 1.40067325e-01 9.89974925e-01 -1.81877173e-02 2.40600788e+00] [ 7.88580618e-02 7.15692171e-03 9.96860163e-01 1.26752457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290888478999996 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:17.30, Y:2.41, Z:1.27 [[ 9.86994225e-01 -1.41465923e-01 -7.63530809e-02 1.73005313e+01] [ 1.40506952e-01 9.89919383e-01 -1.78160266e-02 2.40877733e+00] [ 7.81037554e-02 6.85617669e-03 9.96921660e-01 1.27187522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.320888478999997 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:17.33, Y:2.41, Z:1.28 [[ 9.86882630e-01 -1.40133846e-01 -8.01572245e-02 1.73310612e+01] [ 1.39707263e-01 9.90132485e-01 -1.09335305e-02 2.40924527e+00] [ 8.08984296e-02 -4.08435172e-04 9.96722267e-01 1.28007280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350888478999998 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:17.35, Y:2.43, Z:1.27 [[ 0.98695108 -0.14428979 -0.07147035 17.35372361] [ 0.14253885 0.98936286 -0.02904823 2.42599564] [ 0.07490148 0.01848188 0.99701965 1.27107537] [ 0. 0. 0. 1. ]] SLAMing on 20.380888479 meters Centerline goodness : 0.996452 Centerline is valid? [True, True] Translation: X:17.38, Y:2.43, Z:1.27 [[ 9.86850106e-01 -1.44099277e-01 -7.32274968e-02 1.73817185e+01] [ 1.42996692e-01 9.89518828e-01 -2.01105780e-02 2.43233899e+00] [ 7.53579065e-02 9.37483617e-03 9.97112480e-01 1.27251255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410888478999997 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:17.41, Y:2.44, Z:1.28 [[ 9.86844917e-01 -1.42064210e-01 -7.71678004e-02 1.74110106e+01] [ 1.41509875e-01 9.89856236e-01 -1.26327782e-02 2.43501855e+00] [ 7.81796941e-02 1.54658719e-03 9.96938084e-01 1.27714972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.440888478999998 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:17.44, Y:2.44, Z:1.28 [[ 9.86968000e-01 -1.39973041e-01 -7.93833367e-02 1.74377272e+01] [ 1.39529267e-01 9.90155311e-01 -1.11374613e-02 2.43909822e+00] [ 8.01607768e-02 -8.39808825e-05 9.96781943e-01 1.28277975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470888479 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:17.47, Y:2.45, Z:1.28 [[ 9.87183777e-01 -1.36935341e-01 -8.19567181e-02 1.74658453e+01] [ 1.35980344e-01 9.90563095e-01 -1.71493623e-02 2.44553366e+00] [ 8.35316541e-02 5.78506954e-03 9.96488332e-01 1.28411584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.500888478999997 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:17.49, Y:2.45, Z:1.29 [[ 9.87347159e-01 -1.35121945e-01 -8.29918549e-02 1.74934099e+01] [ 1.34164878e-01 9.90812704e-01 -1.70285208e-02 2.45150343e+00] [ 8.45303110e-02 5.67846956e-03 9.96404728e-01 1.28712092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530888478999998 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:17.52, Y:2.45, Z:1.29 [[ 9.87324953e-01 -1.32858815e-01 -8.68215022e-02 1.75223761e+01] [ 1.32358639e-01 9.91134966e-01 -1.15182280e-02 2.45464874e+00] [ 8.75821248e-02 -1.19341992e-04 9.96157295e-01 1.29387355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.560888479 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:17.55, Y:2.47, Z:1.29 [[ 9.87813852e-01 -1.33842001e-01 -7.94362193e-02 1.75480893e+01] [ 1.32069251e-01 9.90867513e-01 -2.71898016e-02 2.46743670e+00] [ 8.23499065e-02 1.63673807e-02 9.96469067e-01 1.28958057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590888478999997 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:17.58, Y:2.47, Z:1.30 [[ 9.87976347e-01 -1.31722275e-01 -8.09443030e-02 1.75781386e+01] [ 1.30874866e-01 9.91274412e-01 -1.57101636e-02 2.46606334e+00] [ 8.23073949e-02 4.92769516e-03 9.96594808e-01 1.29825154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.620888478999998 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:17.60, Y:2.47, Z:1.30 [[ 9.88027343e-01 -1.33149297e-01 -7.79309607e-02 1.76028265e+01] [ 1.31850355e-01 9.91034148e-01 -2.16055867e-02 2.47472097e+00] [ 8.01090119e-02 1.10716856e-02 9.96724618e-01 1.29586534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650888479 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:17.63, Y:2.48, Z:1.30 [[ 9.87947175e-01 -1.31701209e-01 -8.13336995e-02 1.76313903e+01] [ 1.31022538e-01 9.91285424e-01 -1.36492427e-02 2.47626205e+00] [ 8.24225326e-02 2.82818310e-03 9.96593461e-01 1.30140073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.680888478999996 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:17.66, Y:2.49, Z:1.30 [[ 9.87759138e-01 -1.34174222e-01 -7.95560348e-02 1.76567928e+01] [ 1.33007297e-01 9.90916977e-01 -1.98142216e-02 2.48668449e+00] [ 8.14919833e-02 8.99014526e-03 9.96633450e-01 1.29860136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710888478999998 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:17.68, Y:2.49, Z:1.30 [[ 9.87581968e-01 -1.34945360e-01 -8.04462945e-02 1.76844305e+01] [ 1.33936044e-01 9.90829419e-01 -1.78381123e-02 2.49106003e+00] [ 8.21157257e-02 6.84193957e-03 9.96599315e-01 1.30151314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.740888479 meters Centerline goodness : 0.996642 Centerline is valid? [True, True] Translation: X:17.71, Y:2.49, Z:1.31 [[ 9.87330889e-01 -1.34040088e-01 -8.49174362e-02 1.77149171e+01] [ 1.33584435e-01 9.90975816e-01 -1.10512853e-02 2.49117526e+00] [ 8.56324409e-02 -4.32372346e-04 9.96326703e-01 1.30772021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770888478999996 meters Centerline goodness : 0.996493 Centerline is valid? [True, True] Translation: X:17.74, Y:2.50, Z:1.30 [[ 9.87085232e-01 -1.37560619e-01 -8.20964177e-02 1.77423320e+01] [ 1.36001558e-01 9.90410157e-01 -2.43165948e-02 2.50092382e+00] [ 8.46541318e-02 1.28373109e-02 9.96327698e-01 1.30352207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.800888478999997 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:17.77, Y:2.50, Z:1.31 [[ 9.86829843e-01 -1.38998712e-01 -8.27418780e-02 1.77699897e+01] [ 1.37879227e-01 9.90264453e-01 -1.91214867e-02 2.50434560e+00] [ 8.45942026e-02 7.46126751e-03 9.96387550e-01 1.30778849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830888479 meters Centerline goodness : 0.996599 Centerline is valid? [True, True] Translation: X:17.80, Y:2.51, Z:1.31 [[ 9.86726029e-01 -1.41274755e-01 -8.00823785e-02 1.77972168e+01] [ 1.40364465e-01 9.89955435e-01 -1.69130951e-02 2.50840971e+00] [ 8.16673792e-02 5.44787096e-03 9.96644751e-01 1.31344388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.860888478999996 meters Centerline goodness : 0.996580 Centerline is valid? [True, True] Translation: X:17.82, Y:2.51, Z:1.32 [[ 9.86735927e-01 -1.42695990e-01 -7.73955130e-02 1.78234471e+01] [ 1.41785738e-01 9.89748630e-01 -1.71596412e-02 2.51479742e+00] [ 7.90507150e-02 5.95845451e-03 9.96852788e-01 1.31508110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890888478999997 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:17.85, Y:2.52, Z:1.32 [[ 9.86424471e-01 -1.42126543e-01 -8.22606146e-02 1.78538596e+01] [ 1.41868071e-01 9.89844582e-01 -9.00857916e-03 2.51627275e+00] [ 8.27055819e-02 -2.78387180e-03 9.96570136e-01 1.32341484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.920888479 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:17.88, Y:2.53, Z:1.32 [[ 9.86520680e-01 -1.44856039e-01 -7.61161979e-02 1.78777235e+01] [ 1.43289251e-01 9.89347464e-01 -2.56863186e-02 2.52930974e+00] [ 7.90261857e-02 1.44334515e-02 9.96768046e-01 1.31632089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950888478999996 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:17.91, Y:2.53, Z:1.33 [[ 9.86389499e-01 -1.41864139e-01 -8.31283477e-02 1.79099992e+01] [ 1.41627705e-01 9.89881195e-01 -8.76430822e-03 2.52572644e+00] [ 8.35305292e-02 -3.12825551e-03 9.96500308e-01 1.32663923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.980888478999997 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:17.94, Y:2.53, Z:1.33 [[ 9.86599521e-01 -1.39682329e-01 -8.43221911e-02 1.79365377e+01] [ 1.39083844e-01 9.90195802e-01 -1.29598382e-02 2.53328611e+00] [ 8.53057400e-02 1.05831571e-03 9.96354260e-01 1.32908216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010888479 meters Centerline goodness : 0.997141 Centerline is valid? [True, True] Translation: X:17.96, Y:2.55, Z:1.32 [[ 9.86846034e-01 -1.40275699e-01 -8.03593971e-02 1.79625193e+01] [ 1.38833602e-01 9.90041863e-01 -2.32881866e-02 2.54620641e+00] [ 8.28259339e-02 1.18252701e-02 9.96493867e-01 1.32432212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.040888478999996 meters Centerline goodness : 0.996930 Centerline is valid? [True, True] Translation: X:17.99, Y:2.55, Z:1.33 [[ 9.86889995e-01 -1.37978241e-01 -8.37265995e-02 1.79909108e+01] [ 1.37322438e-01 9.90433449e-01 -1.35694598e-02 2.54864062e+00] [ 8.47979149e-02 1.89402329e-03 9.96396370e-01 1.32923704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070888478999997 meters Centerline goodness : 0.996903 Centerline is valid? [True, True] Translation: X:18.02, Y:2.55, Z:1.33 [[ 9.86844111e-01 -1.36397427e-01 -8.68011647e-02 1.80181266e+01] [ 1.35543411e-01 9.90647238e-01 -1.56854751e-02 2.55332071e+00] [ 8.81287925e-02 3.71379277e-03 9.96102165e-01 1.33126703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.100888478999998 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:18.04, Y:2.57, Z:1.32 [[ 0.98724144 -0.13835105 -0.07882462 18.04216074] [ 0.13610638 0.99013787 -0.03319711 2.56582202] [ 0.08264009 0.02204503 0.9963356 1.32271233] [ 0. 0. 0. 1. ]] SLAMing on 21.130888478999996 meters Centerline goodness : 0.996490 Centerline is valid? [True, True] Translation: X:18.07, Y:2.56, Z:1.34 [[ 9.86791546e-01 -1.35711338e-01 -8.84583405e-02 1.80734119e+01] [ 1.35693246e-01 9.90731210e-01 -6.24599508e-03 2.55663679e+00] [ 8.84860911e-02 -5.83970419e-03 9.96060294e-01 1.33830328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.160888478999997 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:18.10, Y:2.57, Z:1.34 [[ 9.87018354e-01 -1.38400805e-01 -8.14861162e-02 1.81002764e+01] [ 1.37204796e-01 9.90338227e-01 -2.01255896e-02 2.56520454e+00] [ 8.34842137e-02 8.68404042e-03 9.96471261e-01 1.33707612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.190888478999998 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:18.12, Y:2.57, Z:1.33 [[ 9.87312225e-01 -1.41402108e-01 -7.22496696e-02 1.81218916e+01] [ 1.40289912e-01 9.89902981e-01 -2.02689224e-02 2.57346279e+00] [ 7.43862316e-02 9.87585505e-03 9.97180604e-01 1.33331777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.220888479 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:18.15, Y:2.58, Z:1.34 [[ 9.87307107e-01 -1.40725949e-01 -7.36266537e-02 1.81535810e+01] [ 1.39231799e-01 9.89942350e-01 -2.50728686e-02 2.58202021e+00] [ 7.64145458e-02 1.45034499e-02 9.96970645e-01 1.33601659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250888478999997 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:18.18, Y:2.59, Z:1.33 [[ 9.87138545e-01 -1.43927574e-01 -6.95869763e-02 1.81761156e+01] [ 1.42711679e-01 9.89516071e-01 -2.21657744e-02 2.58892061e+00] [ 7.20476975e-02 1.19498161e-02 9.97329600e-01 1.33372172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.280888478999998 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:18.21, Y:2.58, Z:1.34 [[ 9.86660111e-01 -1.41783741e-01 -7.99949780e-02 1.82085409e+01] [ 1.41764325e-01 9.89882550e-01 -5.95095732e-03 2.58045083e+00] [ 8.00293818e-02 -5.46886185e-03 9.96777503e-01 1.34386438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310888479 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:18.23, Y:2.60, Z:1.33 [[ 0.98660028 -0.14734867 -0.07005902 18.23001896] [ 0.14486361 0.98866899 -0.03934664 2.59835784] [ 0.07506285 0.02867041 0.99676656 1.33072062] [ 0. 0. 0. 1. ]] SLAMing on 21.340888478999997 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:18.26, Y:2.60, Z:1.33 [[ 9.86395626e-01 -1.48413004e-01 -7.06912287e-02 1.82582721e+01] [ 1.46894397e-01 9.88803913e-01 -2.62460887e-02 2.59872623e+00] [ 7.37950245e-02 1.55048816e-02 9.97152893e-01 1.33272655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370888478999998 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:18.29, Y:2.60, Z:1.34 [[ 9.86863750e-01 -1.42811725e-01 -7.55297969e-02 1.82873502e+01] [ 1.42425137e-01 9.89749797e-01 -1.05080496e-02 2.59944441e+00] [ 7.62562739e-02 -3.87328442e-04 9.97088176e-01 1.34088207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.400888479 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:18.31, Y:2.61, Z:1.34 [[ 9.87108787e-01 -1.42372544e-01 -7.31184129e-02 1.83126142e+01] [ 1.41539193e-01 9.89795439e-01 -1.64816693e-02 2.60985618e+00] [ 7.47188088e-02 5.92007941e-03 9.97187070e-01 1.33980261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430888478999996 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:18.35, Y:2.61, Z:1.35 [[ 9.87317095e-01 -1.36573942e-01 -8.09475911e-02 1.83465977e+01] [ 1.36794662e-01 9.90595357e-01 -2.83892901e-03 2.60733698e+00] [ 8.05740316e-02 -8.27027525e-03 9.96714316e-01 1.35378531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.460888478999998 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:18.37, Y:2.62, Z:1.35 [[ 9.87805411e-01 -1.38340375e-01 -7.14311605e-02 1.83676887e+01] [ 1.36993796e-01 9.90294485e-01 -2.34421169e-02 2.62236498e+00] [ 7.39808755e-02 1.33706241e-02 9.97170024e-01 1.34811355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490888479 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:18.40, Y:2.62, Z:1.36 [[ 9.88137416e-01 -1.34964898e-01 -7.32729330e-02 1.83978002e+01] [ 1.34098976e-01 9.90828326e-01 -1.66340797e-02 2.62000602e+00] [ 7.48459144e-02 6.61093127e-03 9.97173197e-01 1.35645044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.520888478999996 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:18.43, Y:2.62, Z:1.36 [[ 9.88136347e-01 -1.34964469e-01 -7.32881488e-02 1.84258115e+01] [ 1.34390334e-01 9.90846673e-01 -1.27322230e-02 2.62294359e+00] [ 7.43357161e-02 2.73195354e-03 9.97229531e-01 1.35998698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550888478999997 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:18.45, Y:2.63, Z:1.36 [[ 9.88359973e-01 -1.34197820e-01 -7.16624669e-02 1.84516803e+01] [ 1.33100157e-01 9.90902778e-01 -1.99005776e-02 2.63185008e+00] [ 7.36811517e-02 1.01306487e-02 9.97230394e-01 1.36086739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.580888479 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:18.48, Y:2.64, Z:1.36 [[ 9.88240790e-01 -1.35072594e-01 -7.16626529e-02 1.84795779e+01] [ 1.33992907e-01 9.90786705e-01 -1.96877124e-02 2.64270986e+00] [ 7.36616741e-02 9.85391322e-03 9.97234605e-01 1.35915498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610888478999996 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:18.51, Y:2.65, Z:1.36 [[ 9.88269120e-01 -1.34189729e-01 -7.29195675e-02 1.85051032e+01] [ 1.33303602e-01 9.90931010e-01 -1.69080844e-02 2.64887351e+00] [ 7.45271519e-02 6.98929673e-03 9.97194491e-01 1.35956522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.640888478999997 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:18.53, Y:2.65, Z:1.36 [[ 9.88106818e-01 -1.35192732e-01 -7.32655578e-02 1.85327087e+01] [ 1.34199051e-01 9.90784620e-01 -1.83426211e-02 2.65462975e+00] [ 7.50701769e-02 8.29230068e-03 9.97143774e-01 1.36008243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670888479 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:18.56, Y:2.66, Z:1.36 [[ 9.88093920e-01 -1.35170426e-01 -7.34803513e-02 1.85605071e+01] [ 1.34208354e-01 9.90791468e-01 -1.78992908e-02 2.66063360e+00] [ 7.52231599e-02 7.82450343e-03 9.97136026e-01 1.36245479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.700888478999996 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:18.59, Y:2.66, Z:1.37 [[ 9.87461192e-01 -1.38782313e-01 -7.52320692e-02 1.85894327e+01] [ 1.37958657e-01 9.90307740e-01 -1.60620196e-02 2.66183682e+00] [ 7.67320247e-02 5.48170583e-03 9.97036683e-01 1.36664052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.730888478999997 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:18.62, Y:2.66, Z:1.38 [[ 9.87121175e-01 -1.38681952e-01 -7.97439850e-02 1.86184460e+01] [ 1.38541669e-01 9.90329581e-01 -7.31621571e-03 2.66214726e+00] [ 7.99874543e-02 -3.82587332e-03 9.96788528e-01 1.37627297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.760888479 meters Centerline goodness : 0.996445 Centerline is valid? [True, True] Translation: X:18.64, Y:2.67, Z:1.37 [[ 9.87147050e-01 -1.41219877e-01 -7.48174346e-02 1.86449095e+01] [ 1.39922192e-01 9.89910501e-01 -2.23378461e-02 2.67431116e+00] [ 7.72171121e-02 1.15821194e-02 9.96947026e-01 1.37405488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790888478999996 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:18.67, Y:2.68, Z:1.37 [[ 9.86481757e-01 -1.46774984e-01 -7.28755642e-02 1.86718388e+01] [ 1.45099163e-01 9.89026221e-01 -2.78094698e-02 2.68095859e+00] [ 7.61575784e-02 1.68593513e-02 9.96953251e-01 1.37116834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.820888478999997 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:18.71, Y:2.68, Z:1.38 [[ 9.86455635e-01 -1.43626204e-01 -7.92262208e-02 1.87067492e+01] [ 1.43192267e-01 9.89631953e-01 -1.11612357e-02 2.67606797e+00] [ 8.00078455e-02 -3.34518274e-04 9.96794178e-01 1.38365913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.850888478999998 meters Centerline goodness : 0.996831 Centerline is valid? [True, True] Translation: X:18.73, Y:2.69, Z:1.38 [[ 9.86362567e-01 -1.46776141e-01 -7.44691251e-02 1.87290674e+01] [ 1.45930223e-01 9.89153822e-01 -1.67058700e-02 2.68699296e+00] [ 7.61134429e-02 5.61074878e-03 9.97083378e-01 1.38319800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.880888478999996 meters Centerline goodness : 0.996766 Centerline is valid? [True, True] Translation: X:18.75, Y:2.70, Z:1.38 [[ 9.86156779e-01 -1.49245116e-01 -7.22544297e-02 1.87544224e+01] [ 1.47919459e-01 9.88722709e-01 -2.33931401e-02 2.69723350e+00] [ 7.49309073e-02 1.23814676e-02 9.97111859e-01 1.37997310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910888478999997 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:18.79, Y:2.69, Z:1.40 [[ 9.85901795e-01 -1.44448615e-01 -8.44526341e-02 1.87878391e+01] [ 1.45020565e-01 9.89428431e-01 6.44965966e-04 2.69069276e+00] [ 8.34666728e-02 -1.28832418e-02 9.96427286e-01 1.39623512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.940888478999998 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:18.81, Y:2.70, Z:1.40 [[ 9.86175874e-01 -1.43645521e-01 -8.26021188e-02 1.88147141e+01] [ 1.43162088e-01 9.89629183e-01 -1.17769694e-02 2.70095037e+00] [ 8.34371762e-02 -2.11328713e-04 9.96513017e-01 1.39833111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970888479 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:18.84, Y:2.71, Z:1.40 [[ 9.86188972e-01 -1.44415219e-01 -8.10898066e-02 1.88416812e+01] [ 1.43176097e-01 9.89476022e-01 -2.09238196e-02 2.71118669e+00] [ 8.32581373e-02 9.02471810e-03 9.96487148e-01 1.39663191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.000888478999997 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:18.87, Y:2.72, Z:1.39 [[ 0.98665715 -0.14482828 -0.07438029 18.8707907 ] [ 0.14233353 0.98909519 -0.0378401 2.72471504] [ 0.07904951 0.02674839 0.99651177 1.38719645] [ 0. 0. 0. 1. ]] SLAMing on 22.030888478999998 meters Centerline goodness : 0.996324 Centerline is valid? [True, True] Translation: X:18.90, Y:2.72, Z:1.40 [[ 9.86321476e-01 -1.43374461e-01 -8.13247201e-02 1.88956828e+01] [ 1.42828187e-01 9.89668236e-01 -1.25256090e-02 2.72133299e+00] [ 8.22803447e-02 7.38814832e-04 9.96608950e-01 1.39991124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.060888479 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:18.92, Y:2.73, Z:1.40 [[ 9.86484313e-01 -1.44530007e-01 -7.71995975e-02 1.89207646e+01] [ 1.43058432e-01 9.89416057e-01 -2.42930151e-02 2.73413655e+00] [ 7.98935910e-02 1.29206250e-02 9.96719655e-01 1.39609363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090888478999997 meters Centerline goodness : 0.995992 Centerline is valid? [True, True] Translation: X:18.95, Y:2.73, Z:1.41 [[ 9.86394373e-01 -1.39761177e-01 -8.65618482e-02 1.89520634e+01] [ 1.40243805e-01 9.90116869e-01 -5.10597145e-04 2.72959824e+00] [ 8.57777078e-02 -1.16361128e-02 9.96246348e-01 1.41194987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.120888478999998 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:18.98, Y:2.74, Z:1.41 [[ 9.86703503e-01 -1.40997994e-01 -8.08440627e-02 1.89789936e+01] [ 1.39555848e-01 9.89941252e-01 -2.32482849e-02 2.74422339e+00] [ 8.33088342e-02 1.16569024e-02 9.96455596e-01 1.40601873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150888479 meters Centerline goodness : 0.996239 Centerline is valid? [True, True] Translation: X:19.01, Y:2.75, Z:1.41 [[ 9.86559538e-01 -1.41180235e-01 -8.22704063e-02 1.90062237e+01] [ 1.39821032e-01 9.89930494e-01 -2.20838460e-02 2.74834995e+00] [ 8.45597865e-02 1.02838958e-02 9.96365337e-01 1.40768687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.180888478999996 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:19.03, Y:2.75, Z:1.41 [[ 9.86458104e-01 -1.41991322e-01 -8.20906465e-02 1.90314013e+01] [ 1.40395764e-01 9.89781750e-01 -2.49222021e-02 2.75437314e+00] [ 8.47905602e-02 1.30595292e-02 9.96313209e-01 1.40685356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210888478999998 meters Centerline goodness : 0.996639 Centerline is valid? [True, True] Translation: X:19.06, Y:2.75, Z:1.42 [[ 9.86237845e-01 -1.38509159e-01 -9.02780498e-02 1.90628726e+01] [ 1.38644516e-01 9.90330577e-01 -4.80058079e-03 2.75225974e+00] [ 9.00700376e-02 -7.78204205e-03 9.95905030e-01 1.42001142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.240888479 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:19.09, Y:2.77, Z:1.40 [[ 0.98712127 -0.14140836 -0.07480154 19.08892473] [ 0.13873088 0.98952678 -0.03988107 2.77347815] [ 0.07965765 0.02899017 0.99640064 1.40419184] [ 0. 0. 0. 1. ]] SLAMing on 22.270888478999996 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:19.12, Y:2.77, Z:1.41 [[ 9.86565405e-01 -1.42256185e-01 -8.03235876e-02 1.91167232e+01] [ 1.41234145e-01 9.89807169e-01 -1.82943740e-02 2.77133397e+00] [ 8.21073507e-02 6.70416325e-03 9.96600942e-01 1.41031805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.300888478999997 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:19.14, Y:2.77, Z:1.41 [[ 9.86122136e-01 -1.45616645e-01 -7.97428713e-02 1.91447539e+01] [ 1.44619349e-01 9.89320463e-01 -1.81732341e-02 2.77332065e+00] [ 8.15375797e-02 6.38866633e-03 9.96649792e-01 1.41417977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330888479 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:19.17, Y:2.77, Z:1.43 [[ 9.85562385e-01 -1.43699999e-01 -8.95382384e-02 1.91742505e+01] [ 1.44668017e-01 9.89470543e-01 4.38293149e-03 2.76595193e+00] [ 8.79656221e-02 -1.72729718e-02 9.95973742e-01 1.43431177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.360888478999996 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:19.20, Y:2.78, Z:1.43 [[ 9.85535508e-01 -1.46178063e-01 -8.57422684e-02 1.92008431e+01] [ 1.45206588e-01 9.89246698e-01 -1.74933348e-02 2.77813960e+00] [ 8.73773977e-02 4.78996038e-03 9.96163765e-01 1.43174966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390888478999997 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:19.23, Y:2.79, Z:1.43 [[ 9.85415138e-01 -1.48754519e-01 -8.26383622e-02 1.92268564e+01] [ 1.46914985e-01 9.88754270e-01 -2.79460396e-02 2.78838115e+00] [ 8.58661331e-02 1.53976367e-02 9.96187693e-01 1.42717794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.420888479 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:19.25, Y:2.80, Z:1.43 [[ 9.85424548e-01 -1.49885654e-01 -8.04534113e-02 1.92522994e+01] [ 1.48299268e-01 9.88616855e-01 -2.53779820e-02 2.79579200e+00] [ 8.33413938e-02 1.30769045e-02 9.96435250e-01 1.42651961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450888478999996 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:19.28, Y:2.80, Z:1.43 [[ 9.85485329e-01 -1.49323876e-01 -8.07529982e-02 1.92784189e+01] [ 1.48137579e-01 9.88753832e-01 -2.05211477e-02 2.80099466e+00] [ 8.29091338e-02 8.26073631e-03 9.96522873e-01 1.42922337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.480888478999997 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:19.31, Y:2.80, Z:1.44 [[ 9.85384651e-01 -1.47626576e-01 -8.49910801e-02 1.93083088e+01] [ 1.47139049e-01 9.89042941e-01 -1.20067053e-02 2.80351634e+00] [ 8.58323367e-02 -6.74283636e-04 9.96309367e-01 1.43656030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510888479 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:19.33, Y:2.81, Z:1.43 [[ 9.85602849e-01 -1.49276781e-01 -7.93943773e-02 1.93342734e+01] [ 1.47577870e-01 9.88684962e-01 -2.68852743e-02 2.81461225e+00] [ 8.25093741e-02 1.47813498e-02 9.96480665e-01 1.43093050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.540888478999996 meters Centerline goodness : 0.996785 Centerline is valid? [True, True] Translation: X:19.36, Y:2.81, Z:1.44 [[ 9.85527826e-01 -1.47579514e-01 -8.33977903e-02 1.93629946e+01] [ 1.46827409e-01 9.89046642e-01 -1.51146169e-02 2.81355077e+00] [ 8.47149123e-02 2.65079405e-03 9.96401705e-01 1.43963977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570888478999997 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:19.39, Y:2.83, Z:1.43 [[ 0.98521526 -0.15259805 -0.07787637 19.38632792] [ 0.15026385 0.98802494 -0.03503552 2.82957132] [ 0.08229015 0.02281553 0.99634722 1.4283887 ] [ 0. 0. 0. 1. ]] SLAMing on 22.600888478999998 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:19.42, Y:2.82, Z:1.44 [[ 9.84598808e-01 -1.50338651e-01 -8.92383133e-02 1.94173344e+01] [ 1.50312099e-01 9.88613413e-01 -7.05631231e-03 2.82113137e+00] [ 8.92830300e-02 -6.46596152e-03 9.95985307e-01 1.44357397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630888478999996 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:19.44, Y:2.83, Z:1.44 [[ 9.84557655e-01 -1.52135047e-01 -8.66091834e-02 1.94443826e+01] [ 1.50780312e-01 9.88322176e-01 -2.20130295e-02 2.83241341e+00] [ 8.89467298e-02 8.61413700e-03 9.95999134e-01 1.44019450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.660888478999997 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:19.47, Y:2.83, Z:1.45 [[ 9.84366466e-01 -1.51352807e-01 -9.00832299e-02 1.94735238e+01] [ 1.50817770e-01 9.88479271e-01 -1.27566103e-02 2.83233433e+00] [ 9.09761542e-02 -1.02897249e-03 9.95852540e-01 1.44858433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690888478999998 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:19.50, Y:2.84, Z:1.44 [[ 9.84549492e-01 -1.53465952e-01 -8.43237742e-02 1.95004055e+01] [ 1.51687658e-01 9.88055691e-01 -2.71441811e-02 2.84375145e+00] [ 8.74822926e-02 1.39339139e-02 9.96068619e-01 1.44380976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.720888479 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:19.53, Y:2.85, Z:1.44 [[ 9.84721017e-01 -1.53574099e-01 -8.20945505e-02 1.95289007e+01] [ 1.51849220e-01 9.88037705e-01 -2.68943827e-02 2.84802899e+00] [ 8.52427919e-02 1.40174704e-02 9.96261601e-01 1.44416258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750888478999997 meters Centerline goodness : 0.997321 Centerline is valid? [True, True] Translation: X:19.56, Y:2.84, Z:1.46 [[ 9.84623863e-01 -1.50904558e-01 -8.79980865e-02 1.95573172e+01] [ 1.50879067e-01 9.88527588e-01 -6.97957250e-03 2.84361078e+00] [ 8.80417855e-02 -6.40481553e-03 9.96096191e-01 1.45859614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.780888478999998 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:19.58, Y:2.85, Z:1.46 [[ 9.84536181e-01 -1.51321381e-01 -8.82629479e-02 1.95843726e+01] [ 1.50367107e-01 9.88477081e-01 -1.74009647e-02 2.85267675e+00] [ 8.98790391e-02 3.86003519e-03 9.95945209e-01 1.45783792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810888479 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:19.61, Y:2.86, Z:1.46 [[ 9.84554852e-01 -1.49309296e-01 -9.14247096e-02 1.96127603e+01] [ 1.48550888e-01 9.88789726e-01 -1.50834460e-02 2.85548679e+00] [ 9.26519123e-02 1.26925813e-03 9.95697751e-01 1.46340040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.840888478999997 meters Centerline goodness : 0.997484 Centerline is valid? [True, True] Translation: X:19.64, Y:2.86, Z:1.46 [[ 9.84758292e-01 -1.48949032e-01 -8.98069743e-02 1.96400286e+01] [ 1.47725834e-01 9.88822981e-01 -2.01541787e-02 2.86322635e+00] [ 9.18051455e-02 6.58018447e-03 9.95755249e-01 1.46257849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870888478999998 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:19.67, Y:2.87, Z:1.46 [[ 9.85032025e-01 -1.49872781e-01 -8.51472815e-02 1.96661015e+01] [ 1.48171453e-01 9.88619930e-01 -2.59972129e-02 2.87284502e+00] [ 8.80745741e-02 1.29916909e-02 9.96029159e-01 1.46006746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.900888479 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:19.70, Y:2.87, Z:1.47 [[ 9.84787864e-01 -1.48490222e-01 -9.02414348e-02 1.96965098e+01] [ 1.47795391e-01 9.88913540e-01 -1.43712715e-02 2.87392059e+00] [ 9.13749701e-02 8.15385703e-04 9.95816223e-01 1.46839458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930888478999996 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:19.72, Y:2.88, Z:1.47 [[ 9.84601721e-01 -1.51951770e-01 -8.64298053e-02 1.97237904e+01] [ 1.50585891e-01 9.88348809e-01 -2.21477214e-02 2.88044871e+00] [ 8.87881805e-02 8.79157539e-03 9.96011730e-01 1.46916808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.960888478999998 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:19.75, Y:2.88, Z:1.47 [[ 9.84210945e-01 -1.53861887e-01 -8.74947764e-02 1.97520009e+01] [ 1.53011422e-01 9.88088567e-01 -1.63856178e-02 2.88269345e+00] [ 8.89737103e-02 2.73920426e-03 9.96030208e-01 1.47375399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990888479 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:19.78, Y:2.90, Z:1.46 [[ 0.98411411 -0.15898623 -0.07901137 19.77634009] [ 0.15637586 0.98695731 -0.03823415 2.8987743 ] [ 0.08405955 0.0252713 0.99614023 1.46100312] [ 0. 0. 0. 1. ]] SLAMing on 23.020888478999996 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:19.81, Y:2.89, Z:1.48 [[ 9.83206611e-01 -1.57439176e-01 -9.22911985e-02 1.98082538e+01] [ 1.57374192e-01 9.87506418e-01 -8.02731440e-03 2.89131470e+00] [ 9.24019646e-02 -6.63174419e-03 9.95699702e-01 1.47747731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050888478999997 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:19.83, Y:2.91, Z:1.47 [[ 9.82961971e-01 -1.61471023e-01 -8.78229641e-02 1.98327859e+01] [ 1.59788608e-01 9.86811224e-01 -2.59077117e-02 2.90557399e+00] [ 9.08480313e-02 1.14331862e-02 9.95799135e-01 1.46986831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.080888479 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:19.86, Y:2.91, Z:1.48 [[ 9.82743331e-01 -1.61054421e-01 -9.09781264e-02 1.98608045e+01] [ 1.60066836e-01 9.86940266e-01 -1.80975111e-02 2.90751432e+00] [ 9.27046604e-02 3.22262752e-03 9.95688436e-01 1.47551900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110888478999996 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:19.89, Y:2.92, Z:1.47 [[ 9.82847110e-01 -1.63707513e-01 -8.49200169e-02 1.98876013e+01] [ 1.61703306e-01 9.86382931e-01 -3.00125830e-02 2.91959570e+00] [ 8.86769404e-02 1.57659330e-02 9.95935658e-01 1.47021984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.140888478999997 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:19.91, Y:2.92, Z:1.48 [[ 9.82879925e-01 -1.64619873e-01 -8.27487234e-02 1.99142714e+01] [ 1.63555904e-01 9.86340876e-01 -1.95229017e-02 2.92065797e+00] [ 8.48323058e-02 5.65462594e-03 9.96379197e-01 1.47770000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170888479 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:19.94, Y:2.93, Z:1.48 [[ 9.82791546e-01 -1.65793489e-01 -8.14450451e-02 1.99400605e+01] [ 1.64785411e-01 9.86146539e-01 -1.89939958e-02 2.92727281e+00] [ 8.34658302e-02 5.24618327e-03 9.96496830e-01 1.48020747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.200888478999996 meters Centerline goodness : 0.997181 Centerline is valid? [True, True] Translation: X:19.97, Y:2.93, Z:1.48 [[ 9.82474338e-01 -1.66970162e-01 -8.28561371e-02 1.99675124e+01] [ 1.66130135e-01 9.85957632e-01 -1.69801609e-02 2.93339547e+00] [ 8.45278209e-02 2.91767111e-03 9.96416848e-01 1.48345123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230888478999997 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:19.99, Y:2.94, Z:1.48 [[ 9.82345997e-01 -1.68451914e-01 -8.13651915e-02 1.99936589e+01] [ 1.67254014e-01 9.85682217e-01 -2.13696445e-02 2.93978829e+00] [ 8.37999799e-02 7.38372989e-03 9.96455239e-01 1.48261283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.260888479 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:20.02, Y:2.94, Z:1.49 [[ 9.82026363e-01 -1.68614522e-01 -8.48137146e-02 2.00224433e+01] [ 1.68171583e-01 9.85679846e-01 -1.23919591e-02 2.94196778e+00] [ 8.56886333e-02 -2.09402612e-03 9.96319765e-01 1.49072391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290888478999996 meters Centerline goodness : 0.997138 Centerline is valid? [True, True] Translation: X:20.05, Y:2.95, Z:1.49 [[ 9.81907135e-01 -1.71434510e-01 -8.04275309e-02 2.00478453e+01] [ 1.69847823e-01 9.85121362e-01 -2.62224768e-02 2.95434086e+00] [ 8.37263163e-02 1.20875961e-02 9.96415473e-01 1.48559133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.320888478999997 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:20.07, Y:2.96, Z:1.49 [[ 9.81701927e-01 -1.72356757e-01 -8.09597052e-02 2.00741686e+01] [ 1.71412715e-01 9.85025182e-01 -1.85222193e-02 2.95754997e+00] [ 8.29397780e-02 4.30577550e-03 9.96545259e-01 1.48950235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350888478999998 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:20.10, Y:2.96, Z:1.49 [[ 9.81268559e-01 -1.73493558e-01 -8.37376909e-02 2.01015464e+01] [ 1.72456366e-01 9.84823726e-01 -1.95200234e-02 2.96296865e+00] [ 8.58534630e-02 4.71328729e-03 9.96296626e-01 1.49014003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.380888478999996 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:20.13, Y:2.97, Z:1.49 [[ 9.81380930e-01 -1.72704901e-01 -8.40505065e-02 2.01309925e+01] [ 1.71523188e-01 9.84953285e-01 -2.11381763e-02 2.96970977e+00] [ 8.64364892e-02 6.32799227e-03 9.96237266e-01 1.49102371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410888478999997 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:20.15, Y:2.98, Z:1.49 [[ 9.81570813e-01 -1.74320804e-01 -7.83006803e-02 2.01540287e+01] [ 1.72593859e-01 9.84584755e-01 -2.83587709e-02 2.98153322e+00] [ 8.20371799e-02 1.43219252e-02 9.96526359e-01 1.48564815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.440888478999998 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:20.18, Y:2.98, Z:1.50 [[ 9.81899326e-01 -1.69667094e-01 -8.41830758e-02 2.01849791e+01] [ 1.69381768e-01 9.85493805e-01 -1.05725010e-02 2.98125134e+00] [ 8.47557052e-02 -3.87794660e-03 9.96394215e-01 1.49764013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470888479 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:20.21, Y:2.99, Z:1.50 [[ 9.82222393e-01 -1.69050638e-01 -8.16152715e-02 2.02122498e+01] [ 1.68005014e-01 9.85592000e-01 -1.95633639e-02 2.99184428e+00] [ 8.37465578e-02 5.50379933e-03 9.96471887e-01 1.49690244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.500888478999997 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:20.24, Y:3.00, Z:1.50 [[ 9.82329380e-01 -1.68693688e-01 -8.10643544e-02 2.02360220e+01] [ 1.67287429e-01 9.85618776e-01 -2.38860830e-02 3.00163416e+00] [ 8.39279812e-02 9.90295358e-03 9.96422614e-01 1.49695072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530888478999998 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:20.27, Y:3.00, Z:1.50 [[ 9.82613840e-01 -1.66614066e-01 -8.19133382e-02 2.02667902e+01] [ 1.65925588e-01 9.86021284e-01 -1.51896664e-02 3.00446940e+00] [ 8.32991071e-02 1.33405769e-03 9.96523697e-01 1.50122876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.560888479 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:20.29, Y:3.01, Z:1.50 [[ 9.82614013e-01 -1.67062770e-01 -8.09921721e-02 2.02942038e+01] [ 1.66052641e-01 9.85931920e-01 -1.90989580e-02 3.01269262e+00] [ 8.30434925e-02 5.31793975e-03 9.96531734e-01 1.50193738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590888478999997 meters Centerline goodness : 0.997330 Centerline is valid? [True, True] Translation: X:20.32, Y:3.02, Z:1.50 [[ 9.82648140e-01 -1.67405043e-01 -7.98635371e-02 2.03194615e+01] [ 1.66416325e-01 9.85873916e-01 -1.89269403e-02 3.01817571e+00] [ 8.19038433e-02 5.30792634e-03 9.96626102e-01 1.50423151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.620888478999998 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:20.35, Y:3.02, Z:1.51 [[ 9.82559780e-01 -1.66596482e-01 -8.25947416e-02 2.03476844e+01] [ 1.65625025e-01 9.86014786e-01 -1.85254702e-02 3.02304802e+00] [ 8.45259146e-02 4.52262576e-03 9.96411017e-01 1.50770564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.650888479 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:20.37, Y:3.03, Z:1.51 [[ 9.82737837e-01 -1.66207297e-01 -8.12494756e-02 2.03741737e+01] [ 1.65164111e-01 9.86074430e-01 -1.94431351e-02 3.03201089e+00] [ 8.33496212e-02 5.68800718e-03 9.96504133e-01 1.50856350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.680888478999996 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:20.40, Y:3.04, Z:1.51 [[ 9.83031445e-01 -1.65006570e-01 -8.01374439e-02 2.04028735e+01] [ 1.63833810e-01 9.86263533e-01 -2.10410521e-02 3.04064638e+00] [ 8.25085504e-02 7.55479307e-03 9.96561721e-01 1.50878788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710888478999998 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:20.43, Y:3.05, Z:1.51 [[ 9.83085751e-01 -1.65140970e-01 -7.91888058e-02 2.04285398e+01] [ 1.64256625e-01 9.86260623e-01 -1.75995745e-02 3.04763794e+00] [ 8.10072118e-02 4.29460496e-03 9.96704263e-01 1.51127482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.740888479 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:20.46, Y:3.05, Z:1.52 [[ 9.83246382e-01 -1.63014850e-01 -8.15641548e-02 2.04592850e+01] [ 1.62339323e-01 9.86622621e-01 -1.48911792e-02 3.05077283e+00] [ 8.29005235e-02 1.40062838e-03 9.96556843e-01 1.51687152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770888478999996 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:20.49, Y:3.06, Z:1.52 [[ 9.83274653e-01 -1.63534750e-01 -8.01707127e-02 2.04871358e+01] [ 1.62673873e-01 9.86529986e-01 -1.71987826e-02 3.05612652e+00] [ 8.19034107e-02 3.86944664e-03 9.96632760e-01 1.51930097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.800888478999997 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:20.51, Y:3.06, Z:1.52 [[ 9.83358178e-01 -1.63087712e-01 -8.00568033e-02 2.05143451e+01] [ 1.62240221e-01 9.86604442e-01 -1.70230746e-02 3.06078697e+00] [ 8.17606521e-02 3.75134612e-03 9.96644933e-01 1.52368324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830888479 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:20.54, Y:3.07, Z:1.52 [[ 9.83385689e-01 -1.63817031e-01 -7.82084908e-02 2.05409014e+01] [ 1.62784610e-01 9.86470057e-01 -1.94421290e-02 3.06878986e+00] [ 8.03352863e-02 6.38797275e-03 9.96747428e-01 1.52362975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.860888478999996 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:20.57, Y:3.08, Z:1.52 [[ 9.83315254e-01 -1.65474512e-01 -7.55598950e-02 2.05655783e+01] [ 1.63926210e-01 9.86122060e-01 -2.62960193e-02 3.08214942e+00] [ 7.88626002e-02 1.34710297e-02 9.96794473e-01 1.51703318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890888478999997 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:20.59, Y:3.08, Z:1.52 [[ 9.83034560e-01 -1.64538204e-01 -8.10569704e-02 2.05942847e+01] [ 1.63782873e-01 9.86367838e-01 -1.59266770e-02 3.08488898e+00] [ 8.25725355e-02 2.38073046e-03 9.96582214e-01 1.52143637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.920888479 meters Centerline goodness : 0.997199 Centerline is valid? [True, True] Translation: X:20.62, Y:3.09, Z:1.52 [[ 9.82896218e-01 -1.65268256e-01 -8.12491682e-02 2.06214991e+01] [ 1.64188738e-01 9.86229416e-01 -1.98393000e-02 3.09321726e+00] [ 8.34091262e-02 6.15977463e-03 9.96496350e-01 1.52111153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950888478999996 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:20.65, Y:3.10, Z:1.52 [[ 9.82979587e-01 -1.64210801e-01 -8.23768402e-02 2.06495986e+01] [ 1.62867903e-01 9.86384154e-01 -2.28111216e-02 3.09637996e+00] [ 8.50010424e-02 9.00632369e-03 9.96340157e-01 1.52402121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.980888478999997 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:20.67, Y:3.11, Z:1.52 [[ 9.83157229e-01 -1.66028516e-01 -7.63963052e-02 2.06740700e+01] [ 1.63971933e-01 9.85929754e-01 -3.24919186e-02 3.10689441e+00] [ 8.07159755e-02 1.94178148e-02 9.96547982e-01 1.52002644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010888479 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:20.70, Y:3.11, Z:1.53 [[ 9.83040689e-01 -1.65355073e-01 -7.93013534e-02 2.07019424e+01] [ 1.64440276e-01 9.86223227e-01 -1.79761281e-02 3.10758104e+00] [ 8.11812807e-02 4.63092893e-03 9.96688594e-01 1.52719782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.040888478999996 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:20.73, Y:3.12, Z:1.53 [[ 9.83250379e-01 -1.65697082e-01 -7.59155328e-02 2.07256989e+01] [ 1.64500524e-01 9.86136146e-01 -2.17963191e-02 3.11729936e+00] [ 7.84746374e-02 8.94309410e-03 9.96875996e-01 1.52608194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070888478999997 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:20.75, Y:3.13, Z:1.52 [[ 9.82795079e-01 -1.69535611e-01 -7.32905798e-02 2.07523911e+01] [ 1.67801266e-01 9.85386758e-01 -2.92518833e-02 3.12823708e+00] [ 7.71788027e-02 1.64503549e-02 9.96881547e-01 1.52136377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.100888478999998 meters Centerline goodness : 0.996834 Centerline is valid? [True, True] Translation: X:20.78, Y:3.13, Z:1.53 [[ 9.82450690e-01 -1.69904988e-01 -7.69606158e-02 2.07812650e+01] [ 1.68736850e-01 9.85426997e-01 -2.14827679e-02 3.13058501e+00] [ 7.94890979e-02 8.11966827e-03 9.96802666e-01 1.52514759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130888478999996 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:20.81, Y:3.14, Z:1.53 [[ 9.82394397e-01 -1.71317796e-01 -7.45081347e-02 2.08081268e+01] [ 1.70195950e-01 9.85182133e-01 -2.12014907e-02 3.13750976e+00] [ 7.70362758e-02 8.14724287e-03 9.96995002e-01 1.52556916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.160888478999997 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:20.84, Y:3.14, Z:1.53 [[ 9.82495042e-01 -1.70730006e-01 -7.45302512e-02 2.08365567e+01] [ 1.70393675e-01 9.85315830e-01 -1.08954062e-02 3.13851787e+00] [ 7.52960091e-02 -1.99480084e-03 9.97159231e-01 1.53493783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190888478999998 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:20.86, Y:3.15, Z:1.54 [[ 9.82327457e-01 -1.71317821e-01 -7.53854843e-02 2.08648053e+01] [ 1.70600921e-01 9.85211964e-01 -1.58969326e-02 3.14517368e+00] [ 7.69941089e-02 2.75516037e-03 9.97027741e-01 1.53669610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.220888479 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:20.89, Y:3.16, Z:1.53 [[ 9.82132086e-01 -1.73311375e-01 -7.33466692e-02 2.08916686e+01] [ 1.71696536e-01 9.84756852e-01 -2.78252079e-02 3.15572579e+00] [ 7.70510601e-02 1.47346604e-02 9.96918263e-01 1.53283514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250888478999997 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:20.92, Y:3.16, Z:1.54 [[ 9.82016237e-01 -1.73639392e-01 -7.41179589e-02 2.09187324e+01] [ 1.72405460e-01 9.84762562e-01 -2.27827525e-02 3.15980633e+00] [ 7.69445744e-02 9.59469209e-03 9.96989205e-01 1.53585646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.280888478999998 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] Translation: X:20.95, Y:3.17, Z:1.54 [[ 9.82513174e-01 -1.71070057e-01 -7.35044102e-02 2.09463136e+01] [ 1.69926752e-01 9.85220323e-01 -2.15827121e-02 3.16510751e+00] [ 7.61101946e-02 8.71493333e-03 9.97061326e-01 1.53872657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310888479 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:20.97, Y:3.17, Z:1.54 [[ 9.82734711e-01 -1.69727008e-01 -7.36561674e-02 2.09744973e+01] [ 1.68715147e-01 9.85466074e-01 -1.97943607e-02 3.17217183e+00] [ 7.59452917e-02 7.02569422e-03 9.97087234e-01 1.54098713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.340888478999997 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:21.01, Y:3.16, Z:1.57 [[ 9.82369847e-01 -1.62966127e-01 -9.16052708e-02 2.10081324e+01] [ 1.64983606e-01 9.86184525e-01 1.48490044e-02 3.16231396e+00] [ 8.79198157e-02 -2.97005820e-02 9.95684680e-01 1.56649745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370888478999998 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:21.03, Y:3.20, Z:1.53 [[ 0.98314155 -0.17034401 -0.0664501 21.02761521] [ 0.16695658 0.98450548 -0.053614 3.20157385] [ 0.07455331 0.04161587 0.99634829 1.53121299] [ 0. 0. 0. 1. ]] SLAMing on 24.400888479 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:21.06, Y:3.19, Z:1.54 [[ 9.82957836e-01 -1.66538070e-01 -7.78393479e-02 2.10590038e+01] [ 1.65567500e-01 9.86019135e-01 -1.88060695e-02 3.19032374e+00] [ 7.98830130e-02 5.59790718e-03 9.96788527e-01 1.54448348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430888478999996 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:21.09, Y:3.19, Z:1.55 [[ 9.83086435e-01 -1.65491918e-01 -7.84441618e-02 2.10873916e+01] [ 1.64542083e-01 9.86197190e-01 -1.84663209e-02 3.19449333e+00] [ 8.04174389e-02 5.24662385e-03 9.96747465e-01 1.54978257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.460888478999998 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:21.12, Y:3.20, Z:1.55 [[ 9.82996120e-01 -1.65859084e-01 -7.87997022e-02 2.11160340e+01] [ 1.64707501e-01 9.86120131e-01 -2.09410237e-02 3.20030956e+00] [ 8.11792317e-02 7.60604293e-03 9.96670497e-01 1.55248354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490888479 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:21.15, Y:3.19, Z:1.58 [[ 9.82621535e-01 -1.60743120e-01 -9.28254694e-02 2.11471169e+01] [ 1.62558068e-01 9.86622509e-01 1.22841079e-02 3.18820154e+00] [ 8.96091117e-02 -2.71601580e-02 9.95606616e-01 1.58159259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.520888478999996 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:21.17, Y:3.22, Z:1.56 [[ 0.98277924 -0.16650863 -0.08012391 21.1703532 ] [ 0.16348702 0.9856103 -0.04294563 3.21617524] [ 0.08612177 0.02910685 0.99585934 1.56001376] [ 0. 0. 0. 1. ]] SLAMing on 24.550888478999997 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:21.20, Y:3.20, Z:1.58 [[ 9.82126030e-01 -1.64880360e-01 -9.07905735e-02 2.12007087e+01] [ 1.65721841e-01 9.86170971e-01 1.75688968e-03 3.20395279e+00] [ 8.92453515e-02 -1.67714680e-02 9.95868458e-01 1.58220606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.580888479 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:21.23, Y:3.22, Z:1.57 [[ 9.82289485e-01 -1.67927765e-01 -8.31121698e-02 2.12255607e+01] [ 1.66843185e-01 9.85783063e-01 -1.98772293e-02 3.22342313e+00] [ 8.52685080e-02 5.65849413e-03 9.96341941e-01 1.57222741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610888478999996 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:21.25, Y:3.24, Z:1.56 [[ 0.9826236 -0.17194877 -0.06988909 21.2503948 ] [ 0.16927971 0.98465069 -0.04251354 3.24451204] [ 0.07612649 0.02994401 0.99664844 1.55552427] [ 0. 0. 0. 1. ]] SLAMing on 24.640888478999997 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:21.28, Y:3.23, Z:1.58 [[ 9.82535716e-01 -1.65137228e-01 -8.57511657e-02 2.12799985e+01] [ 1.66084628e-01 9.86103453e-01 3.98464125e-03 3.22654438e+00] [ 8.39015080e-02 -1.81570028e-02 9.96308617e-01 1.58111398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670888479 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:21.31, Y:3.24, Z:1.58 [[ 9.82218261e-01 -1.68589629e-01 -8.26124928e-02 2.13079181e+01] [ 1.67331519e-01 9.85655790e-01 -2.19733175e-02 3.24123525e+00] [ 8.51319553e-02 7.75891981e-03 9.96339475e-01 1.57574125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.700888478999996 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:21.34, Y:3.24, Z:1.58 [[ 9.81900530e-01 -1.68920067e-01 -8.56583868e-02 2.13356332e+01] [ 1.67756569e-01 9.85612019e-01 -2.06562843e-02 3.24434047e+00] [ 8.79151964e-02 5.91265945e-03 9.96110415e-01 1.57916886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730888478999997 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:21.36, Y:3.25, Z:1.58 [[ 9.81832378e-01 -1.68899997e-01 -8.64752680e-02 2.13624942e+01] [ 1.67711849e-01 9.85614956e-01 -2.08781035e-02 3.24947262e+00] [ 8.87576290e-02 5.99587092e-03 9.96035207e-01 1.58232426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.760888479 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:21.38, Y:3.27, Z:1.57 [[ 9.82712072e-01 -1.69235072e-01 -7.50764577e-02 2.13846584e+01] [ 1.67164794e-01 9.85373268e-01 -3.30976593e-02 3.26521056e+00] [ 7.95796192e-02 1.99753287e-02 9.96628351e-01 1.57157433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790888478999996 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:21.42, Y:3.27, Z:1.58 [[ 9.82665916e-01 -1.67744074e-01 -7.89279571e-02 2.14165056e+01] [ 1.66842073e-01 9.85820510e-01 -1.79344569e-02 3.26746165e+00] [ 8.08171978e-02 4.45507554e-03 9.96718984e-01 1.58112729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.820888478999997 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:21.44, Y:3.27, Z:1.58 [[ 9.82697970e-01 -1.67319040e-01 -7.94294523e-02 2.14445821e+01] [ 1.66526143e-01 9.85898125e-01 -1.65508523e-02 3.27482400e+00] [ 8.10786208e-02 3.03740863e-03 9.96703081e-01 1.58311681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850888478999998 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:21.47, Y:3.28, Z:1.59 [[ 9.82530878e-01 -1.66586366e-01 -8.29581583e-02 2.14706439e+01] [ 1.66271619e-01 9.86021531e-01 -1.07372676e-02 3.27752934e+00] [ 8.35872127e-02 -3.24389033e-03 9.96495186e-01 1.59084698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.880888478999996 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:21.50, Y:3.29, Z:1.59 [[ 9.82557920e-01 -1.67371309e-01 -8.10356640e-02 2.14978812e+01] [ 1.66322114e-01 9.85877120e-01 -1.95769879e-02 3.28546809e+00] [ 8.31678331e-02 5.75750159e-03 9.96518922e-01 1.59085615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910888478999997 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:21.53, Y:3.29, Z:1.59 [[ 9.82318791e-01 -1.68003212e-01 -8.26118216e-02 2.15260664e+01] [ 1.66912866e-01 9.85769151e-01 -1.99818670e-02 3.28967839e+00] [ 8.47932032e-02 5.83958751e-03 9.96381459e-01 1.59349884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.940888478999998 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:21.55, Y:3.30, Z:1.59 [[ 9.81779641e-01 -1.70599025e-01 -8.36941393e-02 2.15543066e+01] [ 1.68446821e-01 9.85185058e-01 -3.21880501e-02 3.29772242e+00] [ 8.79454654e-02 1.75035606e-02 9.95971496e-01 1.58886878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970888479 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:21.58, Y:3.30, Z:1.60 [[ 9.81553801e-01 -1.70206820e-01 -8.70733805e-02 2.15841867e+01] [ 1.69284243e-01 9.85404223e-01 -1.79265729e-02 3.29973705e+00] [ 8.88537018e-02 2.85574443e-03 9.96040594e-01 1.59538330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.000888478999997 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:21.61, Y:3.31, Z:1.60 [[ 9.81446116e-01 -1.70977308e-01 -8.67771904e-02 2.16100006e+01] [ 1.69997542e-01 9.85268695e-01 -1.86127487e-02 3.30845939e+00] [ 8.86812068e-02 3.51550082e-03 9.96053856e-01 1.59624702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030888478999998 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:21.64, Y:3.32, Z:1.60 [[ 9.81308117e-01 -1.72232043e-01 -8.58516297e-02 2.16371450e+01] [ 1.71164753e-01 9.85045505e-01 -1.96972117e-02 3.31710757e+00] [ 8.79602530e-02 4.63426070e-03 9.96113205e-01 1.59745889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.060888479 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:21.66, Y:3.33, Z:1.59 [[ 9.81172660e-01 -1.76092050e-01 -7.93208724e-02 2.16630459e+01] [ 1.74260875e-01 9.84257552e-01 -2.94994709e-02 3.32629677e+00] [ 8.32667900e-02 1.51215497e-02 9.96412555e-01 1.59449043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090888478999997 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:21.69, Y:3.32, Z:1.61 [[ 9.80626483e-01 -1.74815749e-01 -8.83807425e-02 2.16912624e+01] [ 1.75060955e-01 9.84544750e-01 -5.02959241e-03 3.31853033e+00] [ 8.78940480e-02 -1.05398657e-02 9.96074067e-01 1.61190304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.120888478999998 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:21.72, Y:3.34, Z:1.60 [[ 9.80720702e-01 -1.79208929e-01 -7.79170300e-02 2.17185671e+01] [ 1.76892101e-01 9.83581120e-01 -3.57402406e-02 3.33519570e+00] [ 8.30426899e-02 2.12682867e-02 9.96319011e-01 1.59864382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150888479 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:21.75, Y:3.34, Z:1.60 [[ 9.80475058e-01 -1.80111989e-01 -7.89197805e-02 2.17476211e+01] [ 1.78615494e-01 9.83583609e-01 -2.56863725e-02 3.33623355e+00] [ 8.22506262e-02 1.10885520e-02 9.96549988e-01 1.60376158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.180888478999996 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:21.78, Y:3.33, Z:1.62 [[ 9.80089503e-01 -1.76852304e-01 -9.02653207e-02 2.17763963e+01] [ 1.77634066e-01 9.84096404e-01 6.37753314e-04 3.33197804e+00] [ 8.87169894e-02 -1.66592513e-02 9.95917549e-01 1.62254796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210888478999998 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:21.80, Y:3.36, Z:1.60 [[ 0.98050545 -0.1818634 -0.074396 21.80150944] [ 0.17918532 0.98294934 -0.04127009 3.3598202 ] [ 0.08063302 0.02713488 0.99637444 1.59825321] [ 0. 0. 0. 1. ]] SLAMing on 25.240888479 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:21.83, Y:3.36, Z:1.61 [[ 9.80366261e-01 -1.81092827e-01 -7.80216730e-02 2.18308310e+01] [ 1.79712116e-01 9.83415911e-01 -2.44274726e-02 3.35967867e+00] [ 8.11513947e-02 9.92643010e-03 9.96652355e-01 1.60601145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270888478999996 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:21.86, Y:3.35, Z:1.63 [[ 9.79704175e-01 -1.77692886e-01 -9.27629679e-02 2.18606280e+01] [ 1.78899885e-01 9.83855597e-01 4.79527065e-03 3.34695353e+00] [ 9.04132797e-02 -2.12932309e-02 9.95676673e-01 1.63174932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.300888478999997 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:21.89, Y:3.36, Z:1.62 [[ 9.79694187e-01 -1.80117657e-01 -8.80734319e-02 2.18851255e+01] [ 1.78309131e-01 9.83574544e-01 -2.80529956e-02 3.36392648e+00] [ 9.16796254e-02 1.17790597e-02 9.95718886e-01 1.62304357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330888479 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:21.91, Y:3.38, Z:1.62 [[ 0.97991609 -0.18148644 -0.08262638 21.91425991] [ 0.17877924 0.98311103 -0.0391239 3.37604364] [ 0.08833137 0.02356626 0.99581233 1.61620702] [ 0. 0. 0. 1. ]] SLAMing on 25.360888478999996 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:21.94, Y:3.37, Z:1.63 [[ 9.80497811e-01 -1.75032515e-01 -8.93737209e-02 2.19446353e+01] [ 1.74359009e-01 9.84562509e-01 -1.53493143e-02 3.37420884e+00] [ 9.06806440e-02 -5.33144372e-04 9.95879881e-01 1.62817737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390888478999997 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:21.97, Y:3.39, Z:1.62 [[ 9.81023025e-01 -1.74825961e-01 -8.38433485e-02 2.19708112e+01] [ 1.73257851e-01 9.84541528e-01 -2.56845447e-02 3.38729834e+00] [ 8.70375838e-02 1.06706114e-02 9.96147879e-01 1.62474968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.420888479 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:22.00, Y:3.39, Z:1.63 [[ 9.81206618e-01 -1.72401131e-01 -8.66684611e-02 2.19996155e+01] [ 1.71735446e-01 9.85026826e-01 -1.51356487e-02 3.38892129e+00] [ 8.79801622e-02 -3.28480702e-05 9.96122226e-01 1.63391512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.450888478999996 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:22.03, Y:3.40, Z:1.64 [[ 9.81507724e-01 -1.72657729e-01 -8.26552868e-02 2.20274362e+01] [ 1.71121733e-01 9.84923104e-01 -2.53738553e-02 3.39611260e+00] [ 8.57900939e-02 1.07605191e-02 9.96255123e-01 1.63578802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.480888478999997 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:22.06, Y:3.40, Z:1.64 [[ 9.81400310e-01 -1.72560889e-01 -8.41199797e-02 2.20555261e+01] [ 1.71403195e-01 9.84980309e-01 -2.08503225e-02 3.40109586e+00] [ 8.64544738e-02 6.04407962e-03 9.96237468e-01 1.64018457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510888479 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:22.08, Y:3.41, Z:1.64 [[ 9.80950993e-01 -1.73982444e-01 -8.64017249e-02 2.20847227e+01] [ 1.73031486e-01 9.84743772e-01 -1.84338930e-02 3.40649506e+00] [ 8.82907342e-02 3.13252679e-03 9.96089822e-01 1.64208556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.540888478999996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:22.11, Y:3.41, Z:1.65 [[ 9.80843867e-01 -1.74079394e-01 -8.74166588e-02 2.21119625e+01] [ 1.73355056e-01 9.84731535e-01 -1.58691208e-02 3.41173483e+00] [ 8.88444275e-02 4.11010012e-04 9.96045430e-01 1.64821864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.570888478999997 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:22.14, Y:3.42, Z:1.65 [[ 9.80405424e-01 -1.76379259e-01 -8.77243546e-02 2.21380493e+01] [ 1.75337520e-01 9.84315178e-01 -1.95034351e-02 3.41759732e+00] [ 8.97884152e-02 3.73990280e-03 9.95953841e-01 1.64725981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.600888478999998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:22.17, Y:3.42, Z:1.65 [[ 9.80200240e-01 -1.76986080e-01 -8.87886132e-02 2.21654775e+01] [ 1.75781041e-01 9.84199372e-01 -2.12749206e-02 3.42245023e+00] [ 9.11510621e-02 5.24632747e-03 9.95823257e-01 1.65164164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630888478999996 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:22.19, Y:3.43, Z:1.65 [[ 9.80013804e-01 -1.78800539e-01 -8.71969667e-02 2.21922608e+01] [ 1.76963821e-01 9.83806920e-01 -2.84209481e-02 3.43075205e+00] [ 9.08666601e-02 1.24222131e-02 9.95785589e-01 1.65068119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.660888478999997 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:22.22, Y:3.43, Z:1.67 [[ 9.79362866e-01 -1.75755771e-01 -9.97912141e-02 2.22202584e+01] [ 1.76045833e-01 9.84363920e-01 -5.96132886e-03 3.42675172e+00] [ 9.92786086e-02 -1.17295233e-02 9.94990541e-01 1.66672537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690888478999998 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:22.25, Y:3.44, Z:1.66 [[ 9.79313464e-01 -1.78527103e-01 -9.52534126e-02 2.22460937e+01] [ 1.76019731e-01 9.83793240e-01 -3.41747835e-02 3.44452081e+00] [ 9.98107884e-02 1.67013456e-02 9.94866258e-01 1.65916488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.720888478999996 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:22.28, Y:3.44, Z:1.66 [[ 9.79405831e-01 -1.77340252e-01 -9.65124552e-02 2.22759416e+01] [ 1.76226196e-01 9.84146177e-01 -2.00157313e-02 3.44413919e+00] [ 9.85319587e-02 2.59550108e-03 9.95130502e-01 1.66451338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750888478999997 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:22.30, Y:3.45, Z:1.67 [[ 9.79453781e-01 -1.77916876e-01 -9.49519697e-02 2.23038869e+01] [ 1.76444493e-01 9.84023988e-01 -2.37514666e-02 3.45135472e+00] [ 9.76608027e-02 6.50971161e-03 9.95198468e-01 1.66710364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.780888478999998 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:22.33, Y:3.45, Z:1.67 [[ 9.78896771e-01 -1.79601818e-01 -9.74899952e-02 2.23304975e+01] [ 1.78802137e-01 9.83739032e-01 -1.69502997e-02 3.45490307e+00] [ 9.89490181e-02 -8.38825749e-04 9.95092151e-01 1.67396634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810888479 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:22.36, Y:3.46, Z:1.67 [[ 9.78616296e-01 -1.82137230e-01 -9.55833368e-02 2.23565142e+01] [ 1.80670605e-01 9.83254356e-01 -2.38538091e-02 3.46312269e+00] [ 9.83273989e-02 6.07462708e-03 9.95135579e-01 1.67436630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.840888478999997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:22.38, Y:3.47, Z:1.68 [[ 9.78243318e-01 -1.84683379e-01 -9.45095750e-02 2.23840759e+01] [ 1.83260146e-01 9.82781159e-01 -2.35990058e-02 3.46853447e+00] [ 9.72405738e-02 5.76573126e-03 9.95244205e-01 1.67769066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870888478999998 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:22.41, Y:3.47, Z:1.68 [[ 9.77331861e-01 -1.90084571e-01 -9.32217170e-02 2.24114427e+01] [ 1.88721791e-01 9.81754038e-01 -2.33044011e-02 3.47257143e+00] [ 9.59506042e-02 5.18316429e-03 9.95372602e-01 1.68176769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.900888479 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:22.44, Y:3.48, Z:1.68 [[ 9.76756647e-01 -1.92716172e-01 -9.38452461e-02 2.24380879e+01] [ 1.91344440e-01 9.81241879e-01 -2.34878779e-02 3.47758068e+00] [ 9.66113795e-02 4.98517477e-03 9.95309695e-01 1.68430893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930888478999996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:22.46, Y:3.48, Z:1.69 [[ 9.76430662e-01 -1.94152783e-01 -9.42754385e-02 2.24646303e+01] [ 1.92773854e-01 9.80959176e-01 -2.36079719e-02 3.48189965e+00] [ 9.70639099e-02 4.87770797e-03 9.95266198e-01 1.68944660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.960888478999998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:22.49, Y:3.49, Z:1.69 [[ 9.76000609e-01 -1.95651428e-01 -9.56207590e-02 2.24917107e+01] [ 1.94238539e-01 9.80661705e-01 -2.39585109e-02 3.48725850e+00] [ 9.84591334e-02 4.81028466e-03 9.95129469e-01 1.69228995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990888479 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:22.52, Y:3.49, Z:1.69 [[ 9.75733755e-01 -1.96773899e-01 -9.60399553e-02 2.25186207e+01] [ 1.95351117e-01 9.80437406e-01 -2.40921879e-02 3.49451942e+00] [ 9.89018784e-02 4.74604841e-03 9.95085872e-01 1.69312060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.020888478999996 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:22.54, Y:3.52, Z:1.66 [[ 0.97619311 -0.2034901 -0.07509186 22.53982803] [ 0.19907441 0.97800176 -0.06230514 3.52294986] [ 0.08611846 0.04587298 0.99522826 1.66469357] [ 0. 0. 0. 1. ]] SLAMing on 26.050888478999997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:22.58, Y:3.49, Z:1.71 [[ 9.75768389e-01 -1.92024131e-01 -1.04894158e-01 2.25756741e+01] [ 1.94746597e-01 9.80718754e-01 1.62631253e-02 3.49342591e+00] [ 9.97487553e-02 -3.62968239e-02 9.94350404e-01 1.71303307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.080888479 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:22.60, Y:3.51, Z:1.70 [[ 9.75905942e-01 -1.95677423e-01 -9.65294738e-02 2.25996573e+01] [ 1.94230847e-01 9.80655973e-01 -2.42536886e-02 3.51437169e+00] [ 9.94081042e-02 4.92031739e-03 9.95034582e-01 1.70120485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110888478999996 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:22.63, Y:3.52, Z:1.70 [[ 9.75704971e-01 -1.95608425e-01 -9.86770181e-02 2.26268792e+01] [ 1.94094008e-01 9.80669031e-01 -2.48146632e-02 3.51934990e+00] [ 1.01623453e-01 5.05917229e-03 9.94810072e-01 1.70417868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.140888478999997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:22.65, Y:3.52, Z:1.71 [[ 9.75890995e-01 -1.94071406e-01 -9.98651828e-02 2.26541202e+01] [ 1.92509067e-01 9.80973022e-01 -2.51433843e-02 3.52359326e+00] [ 1.02844662e-01 5.31224911e-03 9.94683244e-01 1.70975180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170888479 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:22.68, Y:3.55, Z:1.68 [[ 0.97607794 -0.20203142 -0.08034397 22.67511325] [ 0.19735133 0.9783362 -0.06253583 3.55121887] [ 0.09123762 0.04518385 0.99480356 1.68070342] [ 0. 0. 0. 1. ]] SLAMing on 26.200888478999996 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:22.71, Y:3.52, Z:1.73 [[ 9.75489627e-01 -1.91163458e-01 -1.08979449e-01 2.27119092e+01] [ 1.93750508e-01 9.80957028e-01 1.35665277e-02 3.52328184e+00] [ 1.04310732e-01 -3.43488308e-02 9.93951422e-01 1.72952422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230888478999997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:22.73, Y:3.55, Z:1.72 [[ 9.75783014e-01 -1.95708088e-01 -9.77028811e-02 2.27349728e+01] [ 1.94217796e-01 9.80649147e-01 -2.46312468e-02 3.54653140e+00] [ 1.00632781e-01 5.05911401e-03 9.94910774e-01 1.71540518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.260888479 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:22.76, Y:3.55, Z:1.72 [[ 9.75467910e-01 -1.98096966e-01 -9.60205610e-02 2.27626403e+01] [ 1.96667873e-01 9.80170955e-01 -2.42207884e-02 3.55289051e+00] [ 9.89146297e-02 4.74244233e-03 9.95084622e-01 1.71806556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290888478999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:22.79, Y:3.56, Z:1.72 [[ 9.75337040e-01 -1.99329761e-01 -9.47908437e-02 2.27896837e+01] [ 1.97940117e-01 9.79921739e-01 -2.39394249e-02 3.55783663e+00] [ 9.76594482e-02 4.58609718e-03 9.95209325e-01 1.72376506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.320888478999997 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:22.82, Y:3.56, Z:1.73 [[ 9.74847231e-01 -2.01089743e-01 -9.61030224e-02 2.28173029e+01] [ 1.99666792e-01 9.79562484e-01 -2.43004652e-02 3.56159576e+00] [ 9.90254897e-02 4.50065906e-03 9.95074719e-01 1.72753569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350888478999998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:22.84, Y:3.57, Z:1.73 [[ 9.74749363e-01 -2.01527039e-01 -9.61796865e-02 2.28439674e+01] [ 2.00101026e-01 9.79472667e-01 -2.43489910e-02 3.56909572e+00] [ 9.91123541e-02 4.48850954e-03 9.95066126e-01 1.73036464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.380888478999996 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:22.86, Y:3.61, Z:1.69 [[ 0.9747193 -0.21310393 -0.06714904 22.85568361] [ 0.20828567 0.97540555 -0.07211866 3.60584266] [ 0.08086631 0.05630927 0.99513311 1.69286909] [ 0. 0. 0. 1. ]] SLAMing on 26.410888478999997 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:22.90, Y:3.57, Z:1.76 [[ 0.97476247 -0.19544021 -0.10789459 22.90194942] [ 0.19918829 0.9796417 0.02502338 3.56716372] [ 0.10080747 -0.04588319 0.99384737 1.75594643] [ 0. 0. 0. 1. ]] SLAMing on 26.440888478999998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:22.92, Y:3.60, Z:1.74 [[ 9.75663386e-01 -1.97322947e-01 -9.56274601e-02 2.29237402e+01] [ 1.95894087e-01 9.80326403e-01 -2.42002281e-02 3.59643125e+00] [ 9.85213843e-02 4.87842254e-03 9.95122976e-01 1.73908224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470888478999996 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:22.94, Y:3.64, Z:1.69 [[ 0.97561308 -0.20934624 -0.06597939 22.93510687] [ 0.20393873 0.97569224 -0.08020999 3.63699402] [ 0.08116724 0.06479816 0.99459192 1.69349688] [ 0. 0. 0. 1. ]] SLAMing on 26.500888478999997 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:22.98, Y:3.59, Z:1.77 [[ 0.97566192 -0.18763238 -0.1134809 22.98385184] [ 0.19231229 0.98082148 0.03170495 3.58779666] [ 0.10535563 -0.05275708 0.99303418 1.76661738] [ 0. 0. 0. 1. ]] SLAMing on 26.530888478999998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:22.99, Y:3.64, Z:1.71 [[ 0.97641853 -0.20123031 -0.07818702 22.99459005] [ 0.19659076 0.97844888 -0.0631653 3.64058652] [ 0.08921278 0.04630492 0.99493564 1.71275633] [ 0. 0. 0. 1. ]] SLAMing on 26.560888479 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:23.03, Y:3.62, Z:1.75 [[ 9.76949846e-01 -1.89406434e-01 -9.84591336e-02 2.30295794e+01] [ 1.89398927e-01 9.81854177e-01 -9.50898241e-03 3.62308600e+00] [ 9.84735741e-02 -9.35825533e-03 9.95095663e-01 1.74620660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590888478999997 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:23.06, Y:3.62, Z:1.76 [[ 9.77118132e-01 -1.83640014e-01 -1.07314966e-01 2.30641635e+01] [ 1.84195001e-01 9.82877984e-01 -4.80316683e-03 3.62482131e+00] [ 1.06359571e-01 -1.50736188e-02 9.94213472e-01 1.76185860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.620888478999998 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:23.09, Y:3.64, Z:1.75 [[ 9.77268732e-01 -1.85648417e-01 -1.02374264e-01 2.30893985e+01] [ 1.83967646e-01 9.82596118e-01 -2.57055395e-02 3.64140280e+00] [ 1.05364747e-01 6.28766764e-03 9.94413765e-01 1.75382075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650888479 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:23.12, Y:3.65, Z:1.76 [[ 9.77484192e-01 -1.85592393e-01 -1.00399791e-01 2.31167126e+01] [ 1.83972644e-01 9.82607253e-01 -2.52399015e-02 3.64830948e+00] [ 1.03337896e-01 6.20078974e-03 9.94626980e-01 1.75679627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.680888478999996 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:23.14, Y:3.66, Z:1.75 [[ 0.97751127 -0.19081294 -0.08978941 23.13732747] [ 0.18776627 0.98134447 -0.04131421 3.66428946] [ 0.09599763 0.02352568 0.99510351 1.74521311] [ 0. 0. 0. 1. ]] SLAMing on 26.710888478999998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:23.17, Y:3.65, Z:1.77 [[ 9.77397221e-01 -1.83680188e-01 -1.04672162e-01 2.31734202e+01] [ 1.83723645e-01 9.82933847e-01 -9.30995272e-03 3.65256759e+00] [ 1.04595865e-01 -1.01312293e-02 9.94463204e-01 1.77160253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.740888479 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:23.20, Y:3.67, Z:1.77 [[ 9.77544478e-01 -1.84786834e-01 -1.01294721e-01 2.31986834e+01] [ 1.83129186e-01 9.82757885e-01 -2.55076770e-02 3.66527924e+00] [ 1.04261668e-01 6.38486901e-03 9.94529405e-01 1.76761676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.770888478999996 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:23.23, Y:3.67, Z:1.77 [[ 9.77804836e-01 -1.82936335e-01 -1.02137166e-01 2.32251118e+01] [ 1.81239300e-01 9.83102256e-01 -2.57346062e-02 3.67396257e+00] [ 1.05119073e-01 6.65215398e-03 9.94437393e-01 1.77028977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.800888478999997 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:23.25, Y:3.68, Z:1.77 [[ 9.77983147e-01 -1.82294538e-01 -1.01575910e-01 2.32521098e+01] [ 1.80609509e-01 9.83221044e-01 -2.56238871e-02 3.68197037e+00] [ 1.04542667e-01 6.71415453e-03 9.94497738e-01 1.77330359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830888479 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:23.28, Y:3.69, Z:1.78 [[ 9.77909877e-01 -1.82065953e-01 -1.02685254e-01 2.32791100e+01] [ 1.80339176e-01 9.83262501e-01 -2.59352062e-02 3.68867243e+00] [ 1.05688478e-01 6.84412024e-03 9.94375736e-01 1.77502720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.860888478999996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:23.31, Y:3.69, Z:1.78 [[ 9.77473357e-01 -1.82467054e-01 -1.06073605e-01 2.33068812e+01] [ 1.80622661e-01 9.83186617e-01 -2.68240798e-02 3.69239744e+00] [ 1.09184660e-01 7.06052653e-03 9.93996408e-01 1.77907443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890888478999997 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:23.33, Y:3.70, Z:1.78 [[ 9.77140472e-01 -1.83542052e-01 -1.07279141e-01 2.33340065e+01] [ 1.81658114e-01 9.82986560e-01 -2.71616123e-02 3.69807418e+00] [ 1.10439252e-01 7.05258413e-03 9.93857853e-01 1.78180425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.920888479 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:23.36, Y:3.71, Z:1.78 [[ 9.76812805e-01 -1.84940169e-01 -1.07860457e-01 2.33606876e+01] [ 1.83040473e-01 9.82725102e-01 -2.73415154e-02 3.70514949e+00] [ 1.11053723e-01 6.96471336e-03 9.93790000e-01 1.78392246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950888478999996 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:23.39, Y:3.72, Z:1.78 [[ 9.76548655e-01 -1.86687976e-01 -1.07239567e-01 2.33864399e+01] [ 1.84817319e-01 9.82396027e-01 -2.72140421e-02 3.71603119e+00] [ 1.10432259e-01 6.75610699e-03 9.93860690e-01 1.78260450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.980888478999997 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:23.41, Y:3.72, Z:1.79 [[ 9.76673245e-01 -1.87208385e-01 -1.05177909e-01 2.34136828e+01] [ 1.85410564e-01 9.82298170e-01 -2.67063402e-02 3.72387533e+00] [ 1.08315719e-01 6.58227251e-03 9.94094753e-01 1.78518657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010888479 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:23.43, Y:3.75, Z:1.76 [[ 0.97667123 -0.19860399 -0.08166869 23.42770797] [ 0.19372331 0.97896929 -0.06395626 3.75276002] [ 0.0926531 0.04664311 0.99460536 1.75548489] [ 0. 0. 0. 1. ]] SLAMing on 27.040888478999996 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:23.46, Y:3.73, Z:1.78 [[ 9.76044120e-01 -1.96016532e-01 -9.44213701e-02 2.34625457e+01] [ 1.95072185e-01 9.80600532e-01 -1.92208194e-02 3.73256597e+00] [ 9.63572441e-02 3.41384761e-04 9.95346756e-01 1.78403662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070888478999997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:23.50, Y:3.72, Z:1.81 [[ 9.75615859e-01 -1.89019983e-01 -1.11557800e-01 2.35000804e+01] [ 1.90694762e-01 9.81639338e-01 4.44059212e-03 3.72104858e+00] [ 1.08670164e-01 -2.56058001e-02 9.93748026e-01 1.81448083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.100888478999998 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:23.53, Y:3.74, Z:1.80 [[ 9.75416388e-01 -1.93948326e-01 -1.04627511e-01 2.35253524e+01] [ 1.92210478e-01 9.80994724e-01 -2.65421058e-02 3.73951181e+00] [ 1.07786833e-01 5.77910107e-03 9.94157231e-01 1.80354921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130888478999996 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:23.55, Y:3.75, Z:1.80 [[ 9.75284569e-01 -1.94516418e-01 -1.04801585e-01 2.35510523e+01] [ 1.92772647e-01 9.80882371e-01 -2.66173113e-02 3.74821970e+00] [ 1.07975531e-01 5.75657407e-03 9.94136885e-01 1.80361576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.160888478999997 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:23.57, Y:3.77, Z:1.78 [[ 0.97537176 -0.20129712 -0.09016319 23.56892065] [ 0.19742531 0.97903839 -0.05007076 3.77068102] [ 0.09835233 0.03103711 0.99466754 1.78296506] [ 0. 0. 0. 1. ]] SLAMing on 27.190888478999998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:23.60, Y:3.76, Z:1.81 [[ 9.75352220e-01 -1.94618372e-01 -1.03979497e-01 2.36020864e+01] [ 1.94180132e-01 9.80859905e-01 -1.44195237e-02 3.75948495e+00] [ 1.04795624e-01 -6.12663807e-03 9.94474907e-01 1.80630575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.220888478999996 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:23.64, Y:3.76, Z:1.82 [[ 9.75620670e-01 -1.90405212e-01 -1.09133694e-01 2.36353572e+01] [ 1.89778086e-01 9.81693332e-01 -1.62012641e-02 3.76069865e+00] [ 1.10220625e-01 -4.90489537e-03 9.93895043e-01 1.81852973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250888478999997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:23.66, Y:3.78, Z:1.81 [[ 9.76020585e-01 -1.94350075e-01 -9.80401226e-02 2.36573331e+01] [ 1.91515744e-01 9.80768002e-01 -3.76277228e-02 3.77877495e+00] [ 1.03467566e-01 1.79492050e-02 9.94470859e-01 1.80689364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.280888478999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.68, Y:3.79, Z:1.80 [[ 0.9761775 -0.19697268 -0.09099041 23.68093317] [ 0.19379674 0.98011638 -0.04259946 3.78996964] [ 0.09757212 0.02395099 0.99494022 1.80297124] [ 0. 0. 0. 1. ]] SLAMing on 27.310888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:23.71, Y:3.79, Z:1.81 [[ 9.76069473e-01 -1.95644389e-01 -9.49297489e-02 2.37103626e+01] [ 1.93762000e-01 9.80627266e-01 -2.87480879e-02 3.79110109e+00] [ 9.87151022e-02 9.66635292e-03 9.95068787e-01 1.81052014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.340888478999997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:23.75, Y:3.79, Z:1.83 [[ 9.75346152e-01 -1.91997174e-01 -1.08797837e-01 2.37454855e+01] [ 1.92307843e-01 9.81304210e-01 -7.72920134e-03 3.78712032e+00] [ 1.08247761e-01 -1.33840306e-02 9.94033848e-01 1.82868413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370888478999998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:23.77, Y:3.80, Z:1.82 [[ 9.75445839e-01 -1.94105514e-01 -1.04059906e-01 2.37718676e+01] [ 1.92317600e-01 9.80959983e-01 -2.70453714e-02 3.80200409e+00] [ 1.07328260e-01 6.36874357e-03 9.94203241e-01 1.82370506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.400888479 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:23.79, Y:3.82, Z:1.81 [[ 0.975214 -0.20024167 -0.09413247 23.79376818] [ 0.19676599 0.97941936 -0.04495389 3.81976429] [ 0.1011968 0.0253176 0.99454423 1.81101122] [ 0. 0. 0. 1. ]] SLAMing on 27.430888478999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:23.83, Y:3.80, Z:1.85 [[ 9.74765106e-01 -1.93300180e-01 -1.11660323e-01 2.38294589e+01] [ 1.94608844e-01 9.80880572e-01 8.37541810e-04 3.80323242e+00] [ 1.09363545e-01 -2.25464930e-02 9.93746080e-01 1.84677163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.460888478999998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:23.85, Y:3.82, Z:1.84 [[ 9.74479506e-01 -1.98962659e-01 -1.03940138e-01 2.38542811e+01] [ 1.97271691e-01 9.79993120e-01 -2.64076762e-02 3.82013252e+00] [ 1.07114762e-01 5.22929248e-03 9.94232912e-01 1.83810073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.88, Y:3.84, Z:1.82 [[ 0.97398298 -0.21034671 -0.08432921 23.87543764] [ 0.20604143 0.976884 -0.05696114 3.84018033] [ 0.09436145 0.03810387 0.99480853 1.81924861] [ 0. 0. 0. 1. ]] SLAMing on 27.520888478999996 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:23.90, Y:3.84, Z:1.83 [[ 9.73545494e-01 -2.11110324e-01 -8.74162547e-02 2.39043459e+01] [ 2.08559772e-01 9.77292205e-01 -3.74535327e-02 3.83996536e+00] [ 9.33380518e-02 1.82312038e-02 9.95467544e-01 1.82698164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550888478999997 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:23.94, Y:3.82, Z:1.87 [[ 9.72699004e-01 -2.00640258e-01 -1.16619611e-01 2.39415802e+01] [ 2.03943641e-01 9.78835089e-01 1.69958695e-02 3.82385919e+00] [ 1.10741312e-01 -4.03156935e-02 9.93031221e-01 1.86595171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.580888479 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:23.97, Y:3.85, Z:1.85 [[ 9.73257907e-01 -2.03749481e-01 -1.06090508e-01 2.39661607e+01] [ 2.02019601e-01 9.79011452e-01 -2.69194819e-02 3.84995153e+00] [ 1.09348653e-01 4.76723656e-03 9.93992025e-01 1.84930504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610888478999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.99, Y:3.86, Z:1.85 [[ 9.73468917e-01 -2.02411959e-01 -1.06713009e-01 2.39936072e+01] [ 2.00650074e-01 9.79287809e-01 -2.71096666e-02 3.85761102e+00] [ 1.09990070e-01 4.97844467e-03 9.93920218e-01 1.85117276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.640888478999997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:24.02, Y:3.86, Z:1.85 [[ 9.73575150e-01 -2.00785620e-01 -1.08795971e-01 2.40205074e+01] [ 1.98940349e-01 9.79620894e-01 -2.76702136e-02 3.86293815e+00] [ 1.12134587e-01 5.29512392e-03 9.93678920e-01 1.85335323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670888479 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:24.05, Y:3.87, Z:1.86 [[ 9.73657939e-01 -2.00344493e-01 -1.08868274e-01 2.40466512e+01] [ 1.98492424e-01 9.79710834e-01 -2.77027102e-02 3.86787086e+00] [ 1.12209513e-01 5.36343620e-03 9.93670096e-01 1.85790095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.700888478999996 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:24.07, Y:3.87, Z:1.86 [[ 9.73776302e-01 -2.00173689e-01 -1.08121260e-01 2.40738873e+01] [ 1.98344282e-01 9.79745760e-01 -2.75280025e-02 3.87330297e+00] [ 1.11441728e-01 5.36088279e-03 9.93756510e-01 1.86381005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730888478999997 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:24.10, Y:3.88, Z:1.86 [[ 9.73177869e-01 -2.03054483e-01 -1.08137468e-01 2.41006971e+01] [ 2.01238624e-01 9.79154349e-01 -2.75640358e-02 3.88324767e+00] [ 1.11480273e-01 5.06327443e-03 9.93753748e-01 1.86359323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.760888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:24.13, Y:3.89, Z:1.87 [[ 9.73321116e-01 -2.03345970e-01 -1.06284625e-01 2.41274447e+01] [ 2.01590314e-01 9.79094316e-01 -2.71231557e-02 3.89100728e+00] [ 1.09578057e-01 4.97358923e-03 9.93965750e-01 1.86688359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790888478999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.15, Y:3.90, Z:1.87 [[ 9.72990398e-01 -2.04647096e-01 -1.06814102e-01 2.41542298e+01] [ 2.02878096e-01 9.78823643e-01 -2.72901850e-02 3.89816363e+00] [ 1.10137026e-01 4.88284627e-03 9.93904419e-01 1.86881477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.820888478999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:24.18, Y:3.90, Z:1.87 [[ 9.71871145e-01 -2.08122358e-01 -1.10234121e-01 2.41818953e+01] [ 2.06256102e-01 9.78091657e-01 -2.81980580e-02 3.90171990e+00] [ 1.13687721e-01 4.66841876e-03 9.93505565e-01 1.86972487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850888478999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:24.21, Y:3.91, Z:1.87 [[ 9.71899657e-01 -2.08165829e-01 -1.09900154e-01 2.42086590e+01] [ 2.06307638e-01 9.78082353e-01 -2.81437426e-02 3.90538263e+00] [ 1.13349967e-01 4.67965255e-03 9.93544104e-01 1.87447210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.880888478999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.23, Y:3.91, Z:1.88 [[ 9.71488455e-01 -2.09557945e-01 -1.10885751e-01 2.42347902e+01] [ 2.07673478e-01 9.77785538e-01 -2.84107009e-02 3.91086768e+00] [ 1.14376172e-01 4.57263829e-03 9.93426989e-01 1.87744000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910888478999997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:24.26, Y:3.92, Z:1.88 [[ 9.71068390e-01 -2.11183365e-01 -1.11479904e-01 2.42620130e+01] [ 2.09287293e-01 9.77436462e-01 -2.85795630e-02 3.91827034e+00] [ 1.15000052e-01 4.42138281e-03 9.93355646e-01 1.87952548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.940888478999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:24.29, Y:3.93, Z:1.88 [[ 9.70350466e-01 -2.14311620e-01 -1.11760920e-01 2.42876384e+01] [ 2.12422939e-01 9.76756769e-01 -2.86829104e-02 3.92780864e+00] [ 1.15310316e-01 4.09189237e-03 9.93321090e-01 1.87906151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970888478999996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:24.31, Y:3.93, Z:1.88 [[ 9.70237151e-01 -2.15724164e-01 -1.10013431e-01 2.43142185e+01] [ 2.13901652e-01 9.76446649e-01 -2.82493481e-02 3.93368273e+00] [ 1.13516313e-01 3.87651235e-03 9.93528570e-01 1.88297325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.000888478999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.34, Y:3.94, Z:1.89 [[ 9.70014581e-01 -2.16892013e-01 -1.09679382e-01 2.43414837e+01] [ 2.15085392e-01 9.76188396e-01 -2.81867043e-02 3.93880236e+00] [ 1.13181211e-01 3.75108142e-03 9.93567282e-01 1.88736137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030888478999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.37, Y:3.94, Z:1.89 [[ 9.69509425e-01 -2.18943850e-01 -1.10068455e-01 2.43677259e+01] [ 2.17133984e-01 9.75730986e-01 -2.83174169e-02 3.94258649e+00] [ 1.13597127e-01 3.55440041e-03 9.93520538e-01 1.89234111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.060888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:24.40, Y:3.95, Z:1.89 [[ 9.69276659e-01 -2.20077240e-01 -1.09857939e-01 2.43952898e+01] [ 2.18279739e-01 9.75476416e-01 -2.82792580e-02 3.94968696e+00] [ 1.13387450e-01 3.43066242e-03 9.93544924e-01 1.89463783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090888478999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:24.42, Y:3.96, Z:1.90 [[ 9.68882115e-01 -2.21621427e-01 -1.10233348e-01 2.44214594e+01] [ 2.19817964e-01 9.75127226e-01 -2.84069609e-02 3.95753947e+00] [ 1.13787130e-01 3.29172638e-03 9.93499700e-01 1.89593953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.120888478999998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:24.45, Y:3.97, Z:1.90 [[ 9.68752577e-01 -2.22604255e-01 -1.09388259e-01 2.44484209e+01] [ 2.20832869e-01 9.74903746e-01 -2.82051365e-02 3.96543308e+00] [ 1.12921607e-01 3.16727557e-03 9.93598852e-01 1.89806376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:24.47, Y:3.97, Z:1.90 [[ 9.68759912e-01 -2.23318893e-01 -1.07855950e-01 2.44748258e+01] [ 2.21597844e-01 9.74740601e-01 -2.78416156e-02 3.97460335e+00] [ 1.11349133e-01 3.07119500e-03 9.93776604e-01 1.89939933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.180888478999996 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:24.50, Y:3.98, Z:1.90 [[ 9.68874045e-01 -2.22854517e-01 -1.07791228e-01 2.45007661e+01] [ 2.21129242e-01 9.74846616e-01 -2.78555949e-02 3.98086047e+00] [ 1.11287659e-01 3.15277046e-03 9.93783234e-01 1.90272722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210888478999998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:24.53, Y:3.99, Z:1.90 [[ 9.68535714e-01 -2.23176538e-01 -1.10139924e-01 2.45284494e+01] [ 2.21375145e-01 9.74772788e-01 -2.84790671e-02 3.98771135e+00] [ 1.13717261e-01 3.20075188e-03 9.93507997e-01 1.90461450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.240888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.56, Y:3.99, Z:1.91 [[ 9.69132936e-01 -2.19876686e-01 -1.11514999e-01 2.45556355e+01] [ 2.18004270e-01 9.75520787e-01 -2.88674951e-02 3.99350537e+00] [ 1.15132488e-01 3.66569443e-03 9.93343381e-01 1.90857719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270888478999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:4.00, Z:1.91 [[ 9.69639949e-01 -2.17868982e-01 -1.11047177e-01 2.45821411e+01] [ 2.15995473e-01 9.75970157e-01 -2.87786230e-02 4.00067243e+00] [ 1.14648700e-01 3.91921499e-03 9.93398367e-01 1.91219995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.300888478999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:24.61, Y:4.01, Z:1.91 [[ 9.69826993e-01 -2.17181154e-01 -1.10760777e-01 2.46087365e+01] [ 2.15309172e-01 9.76123031e-01 -2.87365258e-02 4.00862093e+00] [ 1.14357177e-01 4.02164719e-03 9.93431559e-01 1.91450920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:24.64, Y:4.02, Z:1.92 [[ 9.70592435e-01 -2.16079848e-01 -1.06112320e-01 2.46354346e+01] [ 2.14352462e-01 9.76367485e-01 -2.75600413e-02 4.01685746e+00] [ 1.09559788e-01 4.00413059e-03 9.93972142e-01 1.91887256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.360888478999996 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:24.66, Y:4.03, Z:1.92 [[ 9.70735860e-01 -2.16494506e-01 -1.03932760e-01 2.46621513e+01] [ 2.14836775e-01 9.76276030e-01 -2.70235831e-02 4.02533020e+00] [ 1.07317520e-01 3.90418212e-03 9.94217133e-01 1.92230138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390888478999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.69, Y:4.03, Z:1.92 [[ 9.70754620e-01 -2.17142546e-01 -1.02394252e-01 2.46885293e+01] [ 2.15534176e-01 9.76132493e-01 -2.66528428e-02 4.03358010e+00] [ 1.05737823e-01 3.80390960e-03 9.94386767e-01 1.92434071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.420888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:24.71, Y:4.04, Z:1.93 [[ 9.70374935e-01 -2.17782374e-01 -1.04610342e-01 2.47145573e+01] [ 2.16103797e-01 9.75989779e-01 -2.72598618e-02 4.04026815e+00] [ 1.08035342e-01 3.84559441e-03 9.94139616e-01 1.92514912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450888478999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.74, Y:4.05, Z:1.93 [[ 9.70002253e-01 -2.18236418e-01 -1.07091058e-01 2.47412662e+01] [ 2.16478191e-01 9.75888138e-01 -2.79201589e-02 4.04637104e+00] [ 1.10602088e-01 3.89973870e-03 9.93857118e-01 1.92728090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.480888478999997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:24.77, Y:4.05, Z:1.93 [[ 9.69242170e-01 -2.19331309e-01 -1.11639565e-01 2.47685208e+01] [ 2.17425212e-01 9.75642427e-01 -2.91227015e-02 4.05236017e+00] [ 1.15307816e-01 3.95369430e-03 9.93321940e-01 1.92950011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.80, Y:4.06, Z:1.93 [[ 9.69205232e-01 -2.19223165e-01 -1.12171398e-01 2.47952775e+01] [ 2.17294208e-01 9.75666469e-01 -2.92945253e-02 4.06029538e+00] [ 1.15863910e-01 4.01821218e-03 9.93256970e-01 1.93305649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.540888478999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.82, Y:4.07, Z:1.93 [[ 9.69116634e-01 -2.19604292e-01 -1.12191376e-01 2.48215204e+01] [ 2.17673357e-01 9.75580807e-01 -2.93325689e-02 4.07016519e+00] [ 1.15893311e-01 4.00560708e-03 9.93253591e-01 1.93440544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570888478999997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:24.85, Y:4.08, Z:1.94 [[ 9.69304369e-01 -2.19508613e-01 -1.10747504e-01 2.48467079e+01] [ 2.17623203e-01 9.75602387e-01 -2.89849004e-02 4.08026846e+00] [ 1.14407965e-01 3.99396395e-03 9.93425823e-01 1.93577995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.600888478999998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:24.87, Y:4.09, Z:1.94 [[ 9.69465697e-01 -2.20169646e-01 -1.07988838e-01 2.48731604e+01] [ 2.18379758e-01 9.75454071e-01 -2.82778610e-02 4.08850998e+00] [ 1.11564078e-01 3.83183992e-03 9.93749855e-01 1.93799241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630888478999996 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:24.90, Y:4.09, Z:1.94 [[ 9.69247135e-01 -2.20781171e-01 -1.08699885e-01 2.48994670e+01] [ 2.18967930e-01 9.75315902e-01 -2.84944929e-02 4.09329890e+00] [ 1.12307773e-01 3.81641686e-03 9.93666141e-01 1.94274409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.660888478999997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:24.93, Y:4.10, Z:1.95 [[ 9.69043967e-01 -2.21490098e-01 -1.09068448e-01 2.49267226e+01] [ 2.19667174e-01 9.75155362e-01 -2.86068724e-02 4.09796539e+00] [ 1.12694821e-01 3.76255935e-03 9.93622524e-01 1.94861342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690888478999998 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:24.95, Y:4.10, Z:1.95 [[ 9.68409282e-01 -2.23227485e-01 -1.11143840e-01 2.49531739e+01] [ 2.21341911e-01 9.74759504e-01 -2.91833634e-02 4.10461407e+00] [ 1.14853043e-01 3.66065013e-03 9.93375749e-01 1.94950561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.720888478999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:24.98, Y:4.12, Z:1.95 [[ 9.68394560e-01 -2.23083830e-01 -1.11559763e-01 2.49785167e+01] [ 2.21180624e-01 9.74792194e-01 -2.93139950e-02 4.11621322e+00] [ 1.15287064e-01 3.71265522e-03 9.93325279e-01 1.95022638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750888478999997 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:25.01, Y:4.13, Z:1.95 [[ 9.68649229e-01 -2.22271943e-01 -1.10967809e-01 2.50051046e+01] [ 2.20381810e-01 9.74977286e-01 -2.91744606e-02 4.12659327e+00] [ 1.14675757e-01 3.80453231e-03 9.93395690e-01 1.95069776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.780888478999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:25.03, Y:4.13, Z:1.95 [[ 9.69129723e-01 -2.20663497e-01 -1.09978184e-01 2.50312431e+01] [ 2.18793135e-01 9.75341839e-01 -2.89458329e-02 4.13469788e+00] [ 1.13653613e-01 3.98979543e-03 9.93512425e-01 1.95493408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810888478999995 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:25.06, Y:4.14, Z:1.96 [[ 9.69683971e-01 -2.18335168e-01 -1.09739469e-01 2.50583284e+01] [ 2.16454433e-01 9.75864434e-01 -2.89151327e-02 4.14067795e+00] [ 1.13404035e-01 4.28494621e-03 9.93539714e-01 1.95792149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.840888478999997 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:25.09, Y:4.15, Z:1.96 [[ 9.69997315e-01 -2.17276899e-01 -1.09068591e-01 2.50855019e+01] [ 2.15408871e-01 9.76100033e-01 -2.87705399e-02 4.14710052e+00] [ 1.12713029e-01 4.41300439e-03 9.93617783e-01 1.96228204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870888478999998 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:25.11, Y:4.15, Z:1.97 [[ 9.70459303e-01 -2.15704303e-01 -1.08075874e-01 2.51108040e+01] [ 2.13857174e-01 9.76447977e-01 -2.85387183e-02 4.15371542e+00] [ 1.11686393e-01 4.58286368e-03 9.93732935e-01 1.96785910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.900888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:25.14, Y:4.16, Z:1.97 [[ 9.70718945e-01 -2.14777530e-01 -1.07588766e-01 2.51358194e+01] [ 2.12939882e-01 9.76651778e-01 -2.84237733e-02 4.16474194e+00] [ 1.11181547e-01 4.68155613e-03 9.93789086e-01 1.96734715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930888478999996 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:25.16, Y:4.17, Z:1.97 [[ 9.70970334e-01 -2.13909580e-01 -1.07048133e-01 2.51623445e+01] [ 2.12083534e-01 9.76841813e-01 -2.82956974e-02 4.17407327e+00] [ 1.10621814e-01 4.77113628e-03 9.93851121e-01 1.96936993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.960888478999998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:25.19, Y:4.18, Z:1.97 [[ 9.71017956e-01 -2.13707893e-01 -1.07018995e-01 2.51878280e+01] [ 2.11878353e-01 9.76885709e-01 -2.83174164e-02 4.18252786e+00] [ 1.10596982e-01 4.82171140e-03 9.93853640e-01 1.97137927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990888479 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:25.21, Y:4.21, Z:1.94 [[ 0.97111042 -0.22257522 -0.08605128 25.20766043] [ 0.21720727 0.97378848 -0.06750557 4.21054911] [ 0.09882081 0.0468644 0.99400109 1.94435551] [ 0. 0. 0. 1. ]] SLAMing on 29.020888478999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:25.25, Y:4.18, Z:2.00 [[ 9.70205555e-01 -2.11471508e-01 -1.18241204e-01 2.52452145e+01] [ 2.14341034e-01 9.76685713e-01 1.19557397e-02 4.17798233e+00] [ 1.12956197e-01 -3.69434671e-02 9.92912926e-01 1.99767372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050888478999997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:25.27, Y:4.20, Z:1.99 [[ 9.70046867e-01 -2.17672052e-01 -1.07832986e-01 2.52700062e+01] [ 2.15835347e-01 9.76011894e-01 -2.85637078e-02 4.20074363e+00] [ 1.11463798e-01 4.43396537e-03 9.93758603e-01 1.98533066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.080888479 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:25.30, Y:4.21, Z:1.99 [[ 9.69475571e-01 -2.20743006e-01 -1.06722267e-01 2.52953601e+01] [ 2.18959254e-01 9.75323524e-01 -2.82996166e-02 4.21081908e+00] [ 1.10335680e-01 4.06795904e-03 9.93886055e-01 1.98679662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110888478999996 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:25.32, Y:4.22, Z:1.99 [[ 9.69606802e-01 -2.19911452e-01 -1.07245528e-01 2.53218495e+01] [ 2.19073819e-01 9.75509846e-01 -1.96774749e-02 4.21642173e+00] [ 1.08946371e-01 -4.41527388e-03 9.94037823e-01 1.99216800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.140888478999997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:25.35, Y:4.23, Z:1.99 [[ 9.69220384e-01 -2.22309930e-01 -1.05783468e-01 2.53477924e+01] [ 2.19563395e-01 9.74893090e-01 -3.70861040e-02 4.23211475e+00] [ 1.11372181e-01 1.27184307e-02 9.93697378e-01 1.98852879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170888479 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:25.38, Y:4.24, Z:1.99 [[ 9.68915560e-01 -2.21643180e-01 -1.09895127e-01 2.53754121e+01] [ 2.19749217e-01 9.75118996e-01 -2.92100207e-02 4.23722806e+00] [ 1.13635028e-01 4.15267535e-03 9.93513883e-01 1.99226372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.200888478999996 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:25.40, Y:4.24, Z:2.00 [[ 9.68940725e-01 -2.21545023e-01 -1.09871169e-01 2.54027144e+01] [ 2.19647576e-01 9.75141121e-01 -2.92358825e-02 4.24499551e+00] [ 1.13616959e-01 4.19490130e-03 9.93515772e-01 1.99562568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230888478999997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:25.43, Y:4.25, Z:2.00 [[ 9.68997706e-01 -2.21373390e-01 -1.09714486e-01 2.54281868e+01] [ 2.19476771e-01 9.75179908e-01 -2.92248940e-02 4.25290789e+00] [ 1.13460976e-01 4.23907416e-03 9.93533410e-01 1.99816865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.260888479 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:25.46, Y:4.26, Z:2.00 [[ 9.69027077e-01 -2.21272731e-01 -1.09658119e-01 2.54551570e+01] [ 2.19375608e-01 9.75202643e-01 -2.92258145e-02 4.26098274e+00] [ 1.13405763e-01 4.26428919e-03 9.93539606e-01 2.00143659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290888478999996 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:25.48, Y:4.27, Z:2.00 [[ 9.68971011e-01 -2.21522043e-01 -1.09650192e-01 2.54826032e+01] [ 2.19623152e-01 9.75146033e-01 -2.92555275e-02 4.26840794e+00] [ 1.13405693e-01 4.26603735e-03 9.93539606e-01 2.00434213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.320888478999997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:25.51, Y:4.28, Z:2.01 [[ 9.69120416e-01 -2.21341275e-01 -1.08690662e-01 2.55098034e+01] [ 2.19471105e-01 9.75187026e-01 -2.90292745e-02 4.27568250e+00] [ 1.12419100e-01 4.27840275e-03 9.93651670e-01 2.00807532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350888478999998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:25.54, Y:4.28, Z:2.01 [[ 9.69457807e-01 -2.20401781e-01 -1.07585388e-01 2.55368644e+01] [ 2.18560284e-01 9.75399369e-01 -2.87658382e-02 4.28133436e+00] [ 1.11278761e-01 4.37337350e-03 9.93779609e-01 2.01267676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.380888478999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:25.56, Y:4.29, Z:2.02 [[ 9.69706877e-01 -2.19754310e-01 -1.06661217e-01 2.55622506e+01] [ 2.17937171e-01 9.75545150e-01 -2.85490646e-02 4.28813261e+00] [ 1.10326613e-01 4.43878038e-03 9.93885474e-01 2.01687447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410888478999997 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:25.59, Y:4.30, Z:2.02 [[ 9.70213956e-01 -2.18405506e-01 -1.04804169e-01 2.55878478e+01] [ 2.16642035e-01 9.75847613e-01 -2.80653554e-02 4.29835414e+00] [ 1.08402526e-01 4.52441111e-03 9.94096787e-01 2.01550910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.440888478999998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:25.61, Y:4.31, Z:2.02 [[ 9.70739878e-01 -2.16282549e-01 -1.04335746e-01 2.56142741e+01] [ 2.14521134e-01 9.76319241e-01 -2.79539327e-02 4.30635113e+00] [ 1.07910944e-01 4.75377472e-03 9.94149199e-01 2.01985852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470888478999996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:25.64, Y:4.31, Z:2.02 [[ 9.70927146e-01 -2.15100175e-01 -1.05035192e-01 2.56413142e+01] [ 2.13304685e-01 9.76579450e-01 -2.81724791e-02 4.31388330e+00] [ 1.08635116e-01 4.94892618e-03 9.94069374e-01 2.02071020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.500888478999997 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:25.67, Y:4.32, Z:2.02 [[ 9.71213123e-01 -2.11501244e-01 -1.09600606e-01 2.56683574e+01] [ 2.09519173e-01 9.77361581e-01 -2.94288462e-02 4.31820934e+00] [ 1.13343659e-01 5.61825336e-03 9.93539959e-01 2.02396501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530888478999998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:25.70, Y:4.32, Z:2.03 [[ 9.71653408e-01 -2.09154906e-01 -1.10199275e-01 2.56959871e+01] [ 2.07134160e-01 9.77864477e-01 -2.96058311e-02 4.32390373e+00] [ 1.13952161e-01 5.94057238e-03 9.93468477e-01 2.02956880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.560888478999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:25.72, Y:4.33, Z:2.03 [[ 9.71986585e-01 -2.07826597e-01 -1.09773328e-01 2.57223348e+01] [ 2.05809510e-01 9.78146643e-01 -2.95227056e-02 4.33126595e+00] [ 1.13510016e-01 6.10327907e-03 9.93518106e-01 2.03264826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590888478999997 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:25.75, Y:4.34, Z:2.03 [[ 9.72548746e-01 -2.06086116e-01 -1.08062250e-01 2.57480940e+01] [ 2.04119427e-01 9.78514085e-01 -2.90765231e-02 4.34135835e+00] [ 1.11732702e-01 6.22073146e-03 9.93718826e-01 2.03376480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.620888478999998 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:25.77, Y:4.35, Z:2.04 [[ 9.72807531e-01 -2.05507647e-01 -1.06827496e-01 2.57748134e+01] [ 2.03580684e-01 9.78635684e-01 -2.87594005e-02 4.34926674e+00] [ 1.10455477e-01 6.22934668e-03 9.93861551e-01 2.03749168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650888479 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:25.80, Y:4.36, Z:2.04 [[ 9.72582302e-01 -2.06914317e-01 -1.06160872e-01 2.58019374e+01] [ 2.05016268e-01 9.78340285e-01 -2.86114693e-02 4.35775328e+00] [ 1.09781580e-01 6.06230307e-03 9.93937248e-01 2.03751233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.680888478999996 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:25.83, Y:4.36, Z:2.04 [[ 9.72275671e-01 -2.08813370e-01 -1.05247308e-01 2.58285419e+01] [ 2.06955634e-01 9.77938146e-01 -2.83962825e-02 4.36296066e+00] [ 1.08854880e-01 5.82749138e-03 9.94040570e-01 2.04097514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710888478999998 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:25.86, Y:4.37, Z:2.04 [[ 9.71994306e-01 -2.09817926e-01 -1.05846617e-01 2.58559301e+01] [ 2.07942313e-01 9.77723449e-01 -2.85806178e-02 4.36898280e+00] [ 1.09485446e-01 5.77020743e-03 9.93971650e-01 2.04457158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.740888479 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:25.88, Y:4.39, Z:2.02 [[ 0.97207561 -0.21680166 -0.08981114 25.877162 ] [ 0.21198053 0.97541528 -0.06024361 4.39304192] [ 0.10066408 0.03952313 0.99413513 2.02195346] [ 0. 0. 0. 1. ]] SLAMing on 29.770888478999996 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:25.91, Y:4.37, Z:2.06 [[ 9.71240493e-01 -2.06928166e-01 -1.17782166e-01 2.59127434e+01] [ 2.08727484e-01 9.77969193e-01 3.01584729e-03 4.37006174e+00] [ 1.14563266e-01 -2.75134881e-02 9.93034877e-01 2.06229899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.800888478999997 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:25.93, Y:4.41, Z:2.02 [[ 0.97191134 -0.21665875 -0.09190934 25.93182444] [ 0.21149461 0.97536301 -0.06274571 4.41070347] [ 0.10323938 0.04154493 0.99378853 2.02454964] [ 0. 0. 0. 1. ]] SLAMing on 29.830888479 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:25.97, Y:4.39, Z:2.07 [[ 9.71323049e-01 -2.05519307e-01 -1.19554792e-01 2.59681807e+01] [ 2.07504627e-01 9.78224737e-01 4.26546912e-03 4.38588443e+00] [ 1.16074819e-01 -2.89513210e-02 9.92818441e-01 2.06955287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.860888478999996 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:25.99, Y:4.40, Z:2.06 [[ 9.71428837e-01 -2.09860296e-01 -1.10836236e-01 2.59930581e+01] [ 2.07797216e-01 9.77712407e-01 -2.99794328e-02 4.40465923e+00] [ 1.14657456e-01 6.09142421e-03 9.93386411e-01 2.05882556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890888478999997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:26.02, Y:4.41, Z:2.06 [[ 9.71417181e-01 -2.09655347e-01 -1.11325184e-01 2.60207448e+01] [ 2.07568805e-01 9.77755850e-01 -3.01444768e-02 4.40940671e+00] [ 1.15168801e-01 6.17522723e-03 9.93326741e-01 2.06444877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.920888479 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:26.05, Y:4.42, Z:2.07 [[ 9.71036647e-01 -2.10952817e-01 -1.12190642e-01 2.60482071e+01] [ 2.08838210e-01 9.77477199e-01 -3.04126322e-02 4.41524047e+00] [ 1.16079424e-01 6.10208755e-03 9.93221190e-01 2.06665722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950888478999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:26.08, Y:4.42, Z:2.07 [[ 9.70851482e-01 -2.11308435e-01 -1.13120048e-01 2.60755069e+01] [ 2.09156826e-01 9.77400119e-01 -3.06990238e-02 4.42133304e+00] [ 1.17050511e-01 6.14436241e-03 9.93106955e-01 2.06883827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.980888478999997 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:26.10, Y:4.45, Z:2.04 [[ 0.97145041 -0.21931193 -0.09047864 26.09635112] [ 0.2133334 0.97437566 -0.07128069 4.45108624] [ 0.10379289 0.04994354 0.99334419 2.03831998] [ 0. 0. 0. 1. ]] SLAMing on 30.010888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:26.13, Y:4.42, Z:2.09 [[ 9.70578829e-01 -2.06612737e-01 -1.23644303e-01 2.61339779e+01] [ 2.09635527e-01 9.77708216e-01 1.18148098e-02 4.41897900e+00] [ 1.18446961e-01 -3.73874428e-02 9.92256266e-01 2.09079971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.040888478999996 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:26.16, Y:4.44, Z:2.07 [[ 9.70623300e-01 -2.12788628e-01 -1.12300529e-01 2.61584189e+01] [ 2.10672958e-01 9.77080047e-01 -3.05202539e-02 4.44457199e+00] [ 1.16220969e-01 5.96498482e-03 9.93205470e-01 2.07303501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070888478999997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:26.18, Y:4.45, Z:2.08 [[ 9.70566227e-01 -2.13298011e-01 -1.11826465e-01 2.61848341e+01] [ 2.11199951e-01 9.76969311e-01 -3.04227786e-02 4.45126787e+00] [ 1.15740143e-01 5.90957750e-03 9.93261947e-01 2.07608864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.100888478999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:26.21, Y:4.47, Z:2.06 [[ 0.97081393 -0.22064153 -0.09400869 26.20873062] [ 0.21549359 0.9745408 -0.06190915 4.47400871] [ 0.10527503 0.039844 0.99364462 2.05592619] [ 0. 0. 0. 1. ]] SLAMing on 30.130888478999996 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:26.24, Y:4.45, Z:2.10 [[ 9.70014522e-01 -2.11653091e-01 -1.19477181e-01 2.62426927e+01] [ 2.13503047e-01 9.76938517e-01 2.75365951e-03 4.44834442e+00] [ 1.16139040e-01 -2.81798319e-02 9.92833128e-01 2.09945995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.160888478999997 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:26.27, Y:4.48, Z:2.07 [[ 0.97028302 -0.22077312 -0.09904587 26.26674072] [ 0.216782 0.97496277 -0.04952933 4.47681436] [ 0.10750078 0.02658611 0.99384947 2.0744565 ] [ 0. 0. 0. 1. ]] SLAMing on 30.190888478999998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:26.30, Y:4.47, Z:2.10 [[ 9.69908985e-01 -2.15200350e-01 -1.13865583e-01 2.62959741e+01] [ 2.15627514e-01 9.76436943e-01 -8.69892573e-03 4.46591351e+00] [ 1.13054573e-01 -1.61153863e-02 9.93458081e-01 2.10303882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.220888478999996 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:26.32, Y:4.48, Z:2.10 [[ 9.70073743e-01 -2.18410047e-01 -1.06084799e-01 2.63206804e+01] [ 2.16545138e-01 9.75843786e-01 -2.89328336e-02 4.48378069e+00] [ 1.09841413e-01 5.09483467e-03 9.93936068e-01 2.09635993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250888478999997 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:26.35, Y:4.49, Z:2.10 [[ 9.69396559e-01 -2.22164951e-01 -1.04465527e-01 2.63478954e+01] [ 2.20375076e-01 9.74998113e-01 -2.85220168e-02 4.49164598e+00] [ 1.08190284e-01 4.62754646e-03 9.94119434e-01 2.09644521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.280888478999998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:26.38, Y:4.50, Z:2.10 [[ 9.68823146e-01 -2.24458598e-01 -1.04881116e-01 2.63753541e+01] [ 2.22664336e-01 9.74473603e-01 -2.86668996e-02 4.49710860e+00] [ 1.08638411e-01 4.41987182e-03 9.94071507e-01 2.09955399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310888478999995 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:26.40, Y:4.50, Z:2.10 [[ 9.68301463e-01 -2.26434713e-01 -1.05449503e-01 2.64027742e+01] [ 2.24629039e-01 9.74017062e-01 -2.88540657e-02 4.50243937e+00] [ 1.09243177e-01 4.25241360e-03 9.94005958e-01 2.10390256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.340888478999997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:26.43, Y:4.51, Z:2.10 [[ 9.67582439e-01 -2.29121928e-01 -1.06242019e-01 2.64288355e+01] [ 2.26628186e-01 9.73347112e-01 -3.51434790e-02 4.50968497e+00] [ 1.11462504e-01 9.92677710e-03 9.93719060e-01 2.10490298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370888478999998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:26.46, Y:4.51, Z:2.11 [[ 9.67583732e-01 -2.28035854e-01 -1.08542026e-01 2.64577239e+01] [ 2.26784412e-01 9.73651600e-01 -2.39037951e-02 4.51330112e+00] [ 1.11133040e-01 -1.48671640e-03 9.93804426e-01 2.11212510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.400888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:26.48, Y:4.52, Z:2.11 [[ 9.67722910e-01 -2.27901636e-01 -1.07578872e-01 2.64828822e+01] [ 2.26022323e-01 9.73674900e-01 -2.95143692e-02 4.52412272e+00] [ 1.11473221e-01 4.24650455e-03 9.93758365e-01 2.11361788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430888478999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:26.51, Y:4.53, Z:2.12 [[ 9.67843808e-01 -2.27257890e-01 -1.07852742e-01 2.65096578e+01] [ 2.25363226e-01 9.73824910e-01 -2.96050964e-02 4.53313156e+00] [ 1.11757678e-01 4.34706735e-03 9.93725981e-01 2.11550071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.460888478999998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:26.54, Y:4.56, Z:2.09 [[ 0.96867418 -0.23042074 -0.09261001 26.53743097] [ 0.22546303 0.97234139 -0.06098064 4.55554069] [ 0.10409975 0.03819024 0.99383336 2.09274747] [ 0. 0. 0. 1. ]] SLAMing on 30.490888479 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:26.57, Y:4.54, Z:2.11 [[ 9.68520430e-01 -2.26689282e-01 -1.02859840e-01 2.65667519e+01] [ 2.25310874e-01 9.73966596e-01 -2.49816089e-02 4.54467197e+00] [ 1.05845111e-01 1.01975820e-03 9.94382106e-01 2.11086329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.520888478999996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:26.59, Y:4.54, Z:2.14 [[ 9.67850392e-01 -2.22939479e-01 -1.16462904e-01 2.65930222e+01] [ 2.24730925e-01 9.74418109e-01 2.31531873e-03 4.53644563e+00] [ 1.12967386e-01 -2.84136982e-02 9.93192344e-01 2.13830061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550888478999997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:26.62, Y:4.56, Z:2.13 [[ 9.67920682e-01 -2.27755915e-01 -1.06098050e-01 2.66180108e+01] [ 2.25918553e-01 9.73708844e-01 -2.91872404e-02 4.55674596e+00] [ 1.09956176e-01 4.28141575e-03 9.93927215e-01 2.12744393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.580888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:26.64, Y:4.57, Z:2.13 [[ 9.67739146e-01 -2.29232390e-01 -1.04563176e-01 2.66446447e+01] [ 2.27453239e-01 9.73363158e-01 -2.87956010e-02 4.56639683e+00] [ 1.08378828e-01 4.08339726e-03 9.94101280e-01 2.12821310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610888478999996 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:26.67, Y:4.58, Z:2.13 [[ 9.67599977e-01 -2.30716074e-01 -1.02568890e-01 2.66711714e+01] [ 2.29009442e-01 9.73013416e-01 -2.82766482e-02 4.57507246e+00] [ 1.06324784e-01 3.87123987e-03 9.94323918e-01 2.13009696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.640888478999997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:26.70, Y:4.58, Z:2.13 [[ 9.67394296e-01 -2.32351394e-01 -1.00802315e-01 2.66970340e+01] [ 2.30708947e-01 9.72625036e-01 -2.78194352e-02 4.58181673e+00] [ 1.04506740e-01 3.65636696e-03 9.94517457e-01 2.13296011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670888479 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:26.72, Y:4.58, Z:2.14 [[ 9.66965950e-01 -2.34187304e-01 -1.00663592e-01 2.67249748e+01] [ 2.32557868e-01 9.72185317e-01 -2.77947425e-02 4.58434536e+00] [ 1.04372842e-01 3.46645927e-03 9.94532198e-01 2.13937246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.700888478999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:26.75, Y:4.59, Z:2.14 [[ 9.66745996e-01 -2.34743406e-01 -1.01477641e-01 2.67512518e+01] [ 2.33087210e-01 9.72051198e-01 -2.80503380e-02 4.58954917e+00] [ 1.05226095e-01 3.46441172e-03 9.94442289e-01 2.14258180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730888478999997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:26.78, Y:4.60, Z:2.15 [[ 9.66658972e-01 -2.34789806e-01 -1.02196768e-01 2.67786390e+01] [ 2.33108717e-01 9.72039871e-01 -2.82633172e-02 4.59601812e+00] [ 1.05975272e-01 3.49803168e-03 9.94362613e-01 2.14620407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.760888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:26.80, Y:4.61, Z:2.15 [[ 9.66963221e-01 -2.32774684e-01 -1.03913794e-01 2.68037852e+01] [ 2.31021511e-01 9.72523221e-01 -2.87688520e-02 4.60515249e+00] [ 1.07755238e-01 3.81210006e-03 9.94170145e-01 2.14713646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790888478999996 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:26.83, Y:4.61, Z:2.15 [[ 9.67414940e-01 -2.31111787e-01 -1.03419904e-01 2.68298997e+01] [ 2.29364305e-01 9.72919013e-01 -2.86462841e-02 4.61431761e+00] [ 1.07239684e-01 3.99200884e-03 9.94225183e-01 2.14928097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.820888478999997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:26.86, Y:4.62, Z:2.15 [[ 9.67802308e-01 -2.29764382e-01 -1.02796015e-01 2.68561704e+01] [ 2.27814555e-01 9.73227274e-01 -3.04827999e-02 4.62424967e+00] [ 1.07047748e-01 6.08289553e-03 9.94235273e-01 2.14859147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850888478999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:26.88, Y:4.63, Z:2.15 [[ 9.68408432e-01 -2.27010952e-01 -1.03204346e-01 2.68830715e+01] [ 2.24887312e-01 9.73861730e-01 -3.19222033e-02 4.63137611e+00] [ 1.07753452e-01 7.70438297e-03 9.94147794e-01 2.15339190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.880888478999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:26.91, Y:4.63, Z:2.16 [[ 9.68731344e-01 -2.25033839e-01 -1.04495714e-01 2.69097002e+01] [ 2.23789878e-01 9.74350825e-01 -2.36338596e-02 4.63479364e+00] [ 1.07133904e-01 -4.90222640e-04 9.94244480e-01 2.15995041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910888478999997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:26.94, Y:4.64, Z:2.16 [[ 9.68510129e-01 -2.26823738e-01 -1.02660225e-01 2.69364040e+01] [ 2.25068205e-01 9.73925324e-01 -2.85265855e-02 4.64467888e+00] [ 1.06453900e-01 4.52273436e-03 9.94307353e-01 2.16004354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.940888478999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:26.96, Y:4.65, Z:2.17 [[ 9.68230202e-01 -2.28181263e-01 -1.02291674e-01 2.69630684e+01] [ 2.26442647e-01 9.73608783e-01 -2.84546354e-02 4.65148738e+00] [ 1.06084887e-01 4.38743996e-03 9.94347398e-01 2.16513962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970888478999996 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:26.99, Y:4.66, Z:2.17 [[ 9.67502268e-01 -2.30868706e-01 -1.03145533e-01 2.69901474e+01] [ 2.29112681e-01 9.72976029e-01 -2.87232887e-02 4.65855351e+00] [ 1.06989440e-01 4.15789739e-03 9.94251463e-01 2.16732194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.000888478999997 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:27.02, Y:4.67, Z:2.17 [[ 9.66668476e-01 -2.33892659e-01 -1.04145484e-01 2.70162843e+01] [ 2.32116443e-01 9.72254641e-01 -2.90322193e-02 4.66568713e+00] [ 1.08046353e-01 3.89065195e-03 9.94138244e-01 2.16780808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030888478999998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:27.04, Y:4.67, Z:2.17 [[ 9.65712841e-01 -2.38328564e-01 -1.02947584e-01 2.70435220e+01] [ 2.36616700e-01 9.71178742e-01 -2.87121748e-02 4.67259769e+00] [ 1.06823437e-01 3.36859817e-03 9.94272300e-01 2.17044015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.060888478999995 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:27.07, Y:4.68, Z:2.17 [[ 9.65339887e-01 -2.40263106e-01 -1.01943818e-01 2.70706812e+01] [ 2.38592128e-01 9.70702684e-01 -2.84621890e-02 4.67977574e+00] [ 1.05795551e-01 3.15269399e-03 9.94382905e-01 2.17370990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090888478999997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:27.10, Y:4.69, Z:2.18 [[ 9.64969379e-01 -2.41965545e-01 -1.01423731e-01 2.70967741e+01] [ 2.40317855e-01 9.70280267e-01 -2.83466495e-02 4.68601489e+00] [ 1.05268357e-01 2.97971528e-03 9.94439387e-01 2.17733790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.120888478999998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:27.12, Y:4.69, Z:2.18 [[ 9.64627715e-01 -2.43285587e-01 -1.01515987e-01 2.71239779e+01] [ 2.41640727e-01 9.69950510e-01 -2.83860337e-02 4.69273657e+00] [ 1.05371396e-01 2.85155783e-03 9.94428850e-01 2.18130137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:27.15, Y:4.70, Z:2.18 [[ 9.64164903e-01 -2.44996776e-01 -1.01796958e-01 2.71501703e+01] [ 2.43349083e-01 9.69520130e-01 -2.84945759e-02 4.70206127e+00] [ 1.05675279e-01 2.70127372e-03 9.94397023e-01 2.18351275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.180888478999996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:27.18, Y:4.71, Z:2.19 [[ 9.64102188e-01 -2.45246706e-01 -1.01789115e-01 2.71775293e+01] [ 2.43597448e-01 9.69456934e-01 -2.85225637e-02 4.70982582e+00] [ 1.05675229e-01 2.70309728e-03 9.94397023e-01 2.18642860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210888478999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:27.20, Y:4.72, Z:2.19 [[ 9.63999572e-01 -2.45685374e-01 -1.01703103e-01 2.72043653e+01] [ 2.44038338e-01 9.69345920e-01 -2.85267798e-02 4.71853860e+00] [ 1.05594101e-01 2.68034722e-03 9.94405703e-01 2.19041355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.240888479 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:27.23, Y:4.73, Z:2.19 [[ 9.63344025e-01 -2.48628647e-01 -1.00757559e-01 2.72300531e+01] [ 2.44949431e-01 9.68367951e-01 -4.75740249e-02 4.73405177e+00] [ 1.09398657e-01 2.11496458e-02 9.93772925e-01 2.18731336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270888478999996 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:27.26, Y:4.72, Z:2.20 [[ 9.63467797e-01 -2.45830542e-01 -1.06288044e-01 2.72600796e+01] [ 2.46208224e-01 9.69167816e-01 -9.75983752e-03 4.72443407e+00] [ 1.05410218e-01 -1.67657015e-02 9.94287482e-01 2.20348949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.300888478999997 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:27.29, Y:4.74, Z:2.20 [[ 9.63327786e-01 -2.48426217e-01 -1.01410011e-01 2.72862307e+01] [ 2.46796850e-01 9.68647756e-01 -2.85103455e-02 4.73918807e+00] [ 1.05313297e-01 2.43713660e-03 9.94436106e-01 2.19837664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:27.31, Y:4.75, Z:2.20 [[ 9.63449402e-01 -2.48266883e-01 -1.00641963e-01 2.73121441e+01] [ 2.46658204e-01 9.68688537e-01 -2.83240105e-02 4.74685360e+00] [ 1.04522630e-01 2.46458517e-03 9.94519455e-01 2.20260257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.360888478999996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:27.34, Y:4.76, Z:2.20 [[ 9.63598643e-01 -2.47515990e-01 -1.01061811e-01 2.73391035e+01] [ 2.45888254e-01 9.68880400e-01 -2.84558922e-02 4.75588592e+00] [ 1.04960096e-01 2.57014700e-03 9.94473113e-01 2.20493562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390888478999997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:27.37, Y:4.77, Z:2.20 [[ 9.64303007e-01 -2.44396329e-01 -1.01932062e-01 2.73652724e+01] [ 2.42719757e-01 9.69670896e-01 -2.87310566e-02 4.76646508e+00] [ 1.05862319e-01 2.96451897e-03 9.94376378e-01 2.20490039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.420888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:27.39, Y:4.77, Z:2.21 [[ 9.65091038e-01 -2.41607604e-01 -1.01119010e-01 2.73907958e+01] [ 2.39939433e-01 9.70368516e-01 -2.85308927e-02 4.77395228e+00] [ 1.05015985e-01 3.27247086e-03 9.94465150e-01 2.20901013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450888478999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:27.41, Y:4.79, Z:2.19 [[ 9.65419556e-01 -2.44511735e-01 -9.04383366e-02 2.74124680e+01] [ 2.41114520e-01 9.69361661e-01 -4.69229044e-02 4.79271021e+00] [ 9.91406570e-02 2.34942935e-02 9.94796034e-01 2.19185392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.480888478999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.45, Y:4.78, Z:2.22 [[ 9.66487346e-01 -2.33730359e-01 -1.06171226e-01 2.74467803e+01] [ 2.34041500e-01 9.72178258e-01 -9.69589178e-03 4.78081567e+00] [ 1.05483581e-01 -1.54775162e-02 9.94300589e-01 2.22471509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:27.47, Y:4.80, Z:2.22 [[ 9.66572648e-01 -2.35913249e-01 -1.00410432e-01 2.74727412e+01] [ 2.34235737e-01 9.71766360e-01 -2.83506713e-02 4.79712208e+00] [ 1.04263779e-01 3.88327179e-03 9.94542098e-01 2.21752765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.540888478999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:27.49, Y:4.81, Z:2.20 [[ 9.67245850e-01 -2.38173452e-01 -8.78001856e-02 2.74946067e+01] [ 2.35311132e-01 9.71021865e-01 -4.17756941e-02 4.81334142e+00] [ 9.52057613e-02 1.97470057e-02 9.95261734e-01 2.20455571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570888478999997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:27.53, Y:4.81, Z:2.23 [[ 9.66792972e-01 -2.34702350e-01 -1.01124464e-01 2.75263191e+01] [ 2.34690221e-01 9.71993819e-01 -1.21867314e-02 4.80811865e+00] [ 1.01152608e-01 -1.19508765e-02 9.94799139e-01 2.22998616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.600888478999998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:27.55, Y:4.82, Z:2.23 [[ 9.66851952e-01 -2.35980306e-01 -9.75222960e-02 2.75518795e+01] [ 2.34390250e-01 9.71750239e-01 -2.76167415e-02 4.82149550e+00] [ 1.01284322e-01 3.84302512e-03 9.94850098e-01 2.22514154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630888478999996 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:27.58, Y:4.83, Z:2.23 [[ 9.66992423e-01 -2.35143059e-01 -9.81498673e-02 2.75788774e+01] [ 2.33525058e-01 9.71952601e-01 -2.78242398e-02 4.82760352e+00] [ 1.01939696e-01 3.98537560e-03 9.94782597e-01 2.22882632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.660888478999997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:27.60, Y:4.83, Z:2.23 [[ 9.67399409e-01 -2.32837709e-01 -9.96242213e-02 2.76048192e+01] [ 2.31154914e-01 9.72505986e-01 -2.82756422e-02 4.83257905e+00] [ 1.03468787e-01 4.32521124e-03 9.94623297e-01 2.23446345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690888478999998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:27.63, Y:4.84, Z:2.24 [[ 9.67529673e-01 -2.32072587e-01 -1.00143127e-01 2.76316468e+01] [ 2.30366409e-01 9.72688310e-01 -2.84388513e-02 4.84138269e+00] [ 1.04007927e-01 4.44581984e-03 9.94566532e-01 2.23515736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.720888478999996 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:27.66, Y:4.85, Z:2.24 [[ 9.67950412e-01 -2.30981119e-01 -9.85886507e-02 2.76579487e+01] [ 2.29319080e-01 9.72947735e-01 -2.80261295e-02 4.85103007e+00] [ 1.02395111e-01 4.51964486e-03 9.94733539e-01 2.23598030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750888478999997 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:27.68, Y:4.86, Z:2.24 [[ 9.68139012e-01 -2.30455881e-01 -9.79639789e-02 2.76844705e+01] [ 2.28809176e-01 9.73072020e-01 -2.78784093e-02 4.85858901e+00] [ 1.01750750e-01 4.57511827e-03 9.94799403e-01 2.23820695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.780888478999998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:27.71, Y:4.87, Z:2.24 [[ 9.68231453e-01 -2.30504705e-01 -9.69300489e-02 2.77111803e+01] [ 2.28889964e-01 9.73060573e-01 -2.76135006e-02 4.86554184e+00] [ 1.00683851e-01 4.54994440e-03 9.94908066e-01 2.24327395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810888478999995 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:27.74, Y:4.87, Z:2.24 [[ 9.67602408e-01 -2.33710395e-01 -9.55250272e-02 2.77383399e+01] [ 2.32154952e-01 9.72297257e-01 -2.72419292e-02 4.87476608e+00] [ 9.92454439e-02 4.18274825e-03 9.95054193e-01 2.24305852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.840888478999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:27.77, Y:4.88, Z:2.25 [[ 9.67767669e-01 -2.32537487e-01 -9.67060281e-02 2.77655912e+01] [ 2.30934239e-01 9.72577539e-01 -2.76099368e-02 4.87699851e+00] [ 1.00474456e-01 4.38727126e-03 9.94929965e-01 2.24970918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870888478999998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:27.79, Y:4.88, Z:2.25 [[ 9.67438013e-01 -2.33209171e-01 -9.83726239e-02 2.77925493e+01] [ 2.31550227e-01 9.72416534e-01 -2.81171928e-02 4.88394110e+00] [ 1.02216353e-01 4.42343775e-03 9.94752356e-01 2.25163662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.900888479 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:27.82, Y:4.89, Z:2.25 [[ 9.67154892e-01 -2.33405763e-01 -1.00663620e-01 2.78182770e+01] [ 2.31666168e-01 9.72368844e-01 -2.88030989e-02 4.89161598e+00] [ 1.04604977e-01 4.53670298e-03 9.94503503e-01 2.25307377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930888478999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:27.84, Y:4.90, Z:2.26 [[ 9.67372018e-01 -2.32374781e-01 -1.00962077e-01 2.78446251e+01] [ 2.30617792e-01 9.72615084e-01 -2.89021156e-02 4.89931720e+00] [ 1.04913361e-01 4.67544672e-03 9.94470375e-01 2.25550021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.960888478999998 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:27.87, Y:4.90, Z:2.27 [[ 9.67246495e-01 -2.30060407e-01 -1.07268018e-01 2.78708164e+01] [ 2.29362917e-01 9.73156214e-01 -1.89640637e-02 4.89978505e+00] [ 1.08751418e-01 -6.26038131e-03 9.94049263e-01 2.26668960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:4.91, Z:2.27 [[ 9.67823199e-01 -2.29417377e-01 -1.03372733e-01 2.78993963e+01] [ 2.27750007e-01 9.73322282e-01 -2.78149185e-02 4.90859936e+00] [ 1.06996210e-01 3.37678274e-03 9.94253694e-01 2.27019542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.020888479 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:27.92, Y:4.92, Z:2.26 [[ 9.67709476e-01 -2.31977898e-01 -9.86135096e-02 2.79245813e+01] [ 2.28992711e-01 9.72575225e-01 -4.07402670e-02 4.92302628e+00] [ 1.05359898e-01 1.68429676e-02 9.94291510e-01 2.26064740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:27.95, Y:4.93, Z:2.26 [[ 9.67112292e-01 -2.34992855e-01 -9.73250907e-02 2.79468411e+01] [ 2.32226340e-01 9.71879535e-01 -3.90012372e-02 4.92975045e+00] [ 1.03753276e-01 1.51171263e-02 9.94488175e-01 2.25896371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.080888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:27.98, Y:4.93, Z:2.27 [[ 9.67064933e-01 -2.32114337e-01 -1.04443042e-01 2.79798401e+01] [ 2.31277446e-01 9.72677638e-01 -2.02226700e-02 4.92779399e+00] [ 1.06283383e-01 -4.59868496e-03 9.94325246e-01 2.27452046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110888479 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:28.00, Y:4.94, Z:2.27 [[ 9.66722554e-01 -2.36170721e-01 -9.83407019e-02 2.80018806e+01] [ 2.33631250e-01 9.71630503e-01 -3.67505698e-02 4.94119007e+00] [ 1.04230234e-01 1.25521435e-02 9.94473983e-01 2.26556462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.140888479 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:28.03, Y:4.94, Z:2.28 [[ 9.66501783e-01 -2.34321109e-01 -1.04727847e-01 2.80341063e+01] [ 2.33233053e-01 9.72156057e-01 -2.26923751e-02 4.94035904e+00] [ 1.07129113e-01 -2.49377459e-03 9.94241990e-01 2.27977573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:28.06, Y:4.95, Z:2.28 [[ 9.66058315e-01 -2.36541857e-01 -1.03823319e-01 2.80601105e+01] [ 2.34699969e-01 9.71611285e-01 -2.97898504e-02 4.94753533e+00] [ 1.07922455e-01 4.41140294e-03 9.94149528e-01 2.28123557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.200888479 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:28.09, Y:4.95, Z:2.28 [[ 9.65841307e-01 -2.37341142e-01 -1.04018034e-01 2.80872612e+01] [ 2.35494523e-01 9.71416617e-01 -2.98678184e-02 4.95407418e+00] [ 1.08133708e-01 4.35189563e-03 9.94126834e-01 2.28423196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.230888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:28.11, Y:4.96, Z:2.29 [[ 9.65678461e-01 -2.38373423e-01 -1.03165986e-01 2.81135193e+01] [ 2.36559711e-01 9.71164362e-01 -2.96527587e-02 4.95860075e+00] [ 1.07259558e-01 4.23011473e-03 9.94222054e-01 2.28817243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.260888479 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:28.13, Y:4.97, Z:2.27 [[ 9.64974975e-01 -2.43985539e-01 -9.64072338e-02 2.81312284e+01] [ 2.40588478e-01 9.69555702e-01 -4.55952383e-02 4.97408201e+00] [ 1.04596762e-01 2.08037943e-02 9.94297098e-01 2.27446356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290888479 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:28.17, Y:4.97, Z:2.30 [[ 9.65409512e-01 -2.36160210e-01 -1.10511668e-01 2.81695276e+01] [ 2.35805234e-01 9.71660927e-01 -1.64600928e-02 4.96606800e+00] [ 1.11267089e-01 -1.01684996e-02 9.93738515e-01 2.29939797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.320888479000004 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:28.20, Y:4.98, Z:2.30 [[ 9.65682133e-01 -2.37107519e-01 -1.06009633e-01 2.81952900e+01] [ 2.35184091e-01 9.71473011e-01 -3.04734617e-02 4.97921519e+00] [ 1.10210984e-01 4.49589834e-03 9.93898046e-01 2.29565867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:28.22, Y:4.99, Z:2.30 [[ 9.66284430e-01 -2.34760842e-01 -1.05743779e-01 2.82222275e+01] [ 2.32829597e-01 9.72041396e-01 -3.04286605e-02 4.98746314e+00] [ 1.09930788e-01 4.78245944e-03 9.93927739e-01 2.29800787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.380888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:28.25, Y:4.99, Z:2.30 [[ 9.66723531e-01 -2.33908292e-01 -1.03597906e-01 2.82478931e+01] [ 2.32046829e-01 9.72246775e-01 -2.98408810e-02 4.99443593e+00] [ 1.07702760e-01 4.80831624e-03 9.94171512e-01 2.30164498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.410888479 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:28.26, Y:5.02, Z:2.28 [[ 0.96625645 -0.24153951 -0.0894826 28.26259625] [ 0.23710219 0.96978512 -0.05744019 5.0178957 ] [ 0.10065297 0.03428544 0.99433067 2.27850836] [ 0. 0. 0. 1. ]] SLAMing on 32.440888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:28.31, Y:5.00, Z:2.32 [[ 9.66413799e-01 -2.29155859e-01 -1.16326964e-01 2.83057533e+01] [ 2.30166078e-01 9.73139248e-01 -4.85602254e-03 4.99517263e+00] [ 1.14315120e-01 -2.20815938e-02 9.93199102e-01 2.32087656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:28.33, Y:5.01, Z:2.31 [[ 9.66550502e-01 -2.32134663e-01 -1.09057898e-01 2.83296591e+01] [ 2.30060986e-01 9.72669422e-01 -3.14028326e-02 5.01276643e+00] [ 1.13366968e-01 5.26245611e-03 9.93539248e-01 2.31190948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.500888479000004 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:28.34, Y:5.04, Z:2.28 [[ 0.96621759 -0.24245592 -0.08739961 28.34189328] [ 0.237207 0.96919494 -0.06628726 5.04162325] [ 0.100779 0.04331611 0.99396545 2.28180382] [ 0. 0. 0. 1. ]] SLAMing on 32.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:5.01, Z:2.34 [[ 9.65917083e-01 -2.29972282e-01 -1.18814726e-01 2.83863583e+01] [ 2.32042133e-01 9.72698695e-01 3.70090537e-03 5.01227630e+00] [ 1.14719823e-01 -3.11447901e-02 9.92909545e-01 2.33523856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.41, Y:5.03, Z:2.32 [[ 9.65930708e-01 -2.34389640e-01 -1.09724033e-01 2.84097403e+01] [ 2.32307440e-01 9.72129839e-01 -3.15725963e-02 5.03368390e+00] [ 1.14066296e-01 5.00723115e-03 9.93460522e-01 2.32166445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.590888479 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:28.44, Y:5.04, Z:2.32 [[ 9.65417320e-01 -2.34857016e-01 -1.13188254e-01 2.84371271e+01] [ 2.32641808e-01 9.72016404e-01 -3.25867867e-02 5.04158133e+00] [ 1.17674075e-01 5.12752815e-03 9.93039033e-01 2.32319690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.620888479 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:28.46, Y:5.05, Z:2.32 [[ 9.65136326e-01 -2.34876929e-01 -1.15519262e-01 2.84640577e+01] [ 2.32565046e-01 9.72010851e-01 -3.32927133e-02 5.04835075e+00] [ 1.20105666e-01 5.26626458e-03 9.92747146e-01 2.32446684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650888479 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:28.49, Y:5.06, Z:2.33 [[ 9.64979627e-01 -2.35043105e-01 -1.16486298e-01 2.84911534e+01] [ 2.32689088e-01 9.71970364e-01 -3.36065466e-02 5.05594116e+00] [ 1.21120216e-01 5.32454239e-03 9.92623565e-01 2.32701931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.680888479000004 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:28.52, Y:5.06, Z:2.33 [[ 9.64698526e-01 -2.35905758e-01 -1.17069327e-01 2.85184579e+01] [ 2.33530000e-01 9.71761609e-01 -3.38099785e-02 5.06363467e+00] [ 1.21739446e-01 5.27723644e-03 9.92548063e-01 2.32978367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:28.55, Y:5.07, Z:2.33 [[ 9.64148668e-01 -2.38525882e-01 -1.16287361e-01 2.85450930e+01] [ 2.36196606e-01 9.71123541e-01 -3.36189301e-02 5.07069064e+00] [ 1.20948379e-01 4.94696658e-03 9.92646471e-01 2.33211289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.740888479 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:28.57, Y:5.08, Z:2.34 [[ 9.63788785e-01 -2.40054275e-01 -1.16125465e-01 2.85709117e+01] [ 2.37738649e-01 9.70747701e-01 -3.36040990e-02 5.07732837e+00] [ 1.20795336e-01 4.77974247e-03 9.92665926e-01 2.33517959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.770888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:28.60, Y:5.08, Z:2.34 [[ 9.63472664e-01 -2.41996357e-01 -1.14709147e-01 2.85978658e+01] [ 2.39748705e-01 9.70266736e-01 -3.32117496e-02 5.08409692e+00] [ 1.19335592e-01 4.49724350e-03 9.92843790e-01 2.33922135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.800888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:28.62, Y:5.09, Z:2.34 [[ 9.63080009e-01 -2.44101290e-01 -1.13540547e-01 2.86237351e+01] [ 2.41910136e-01 9.69740542e-01 -3.29054321e-02 5.09032355e+00] [ 1.18137130e-01 4.22395477e-03 9.92988306e-01 2.34252087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830888479 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:28.65, Y:5.10, Z:2.35 [[ 9.61808571e-01 -2.48454006e-01 -1.14868963e-01 2.86509595e+01] [ 2.46238904e-01 9.68636405e-01 -3.33154128e-02 5.09634471e+00] [ 1.19543608e-01 3.75784195e-03 9.92821839e-01 2.34572844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.860888479 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:28.68, Y:5.10, Z:2.35 [[ 9.61392089e-01 -2.50017980e-01 -1.14962001e-01 2.86773561e+01] [ 2.47806302e-01 9.68234503e-01 -3.33763930e-02 5.10448561e+00] [ 1.19654874e-01 3.59949197e-03 9.92809022e-01 2.34776315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890888479 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:28.70, Y:5.11, Z:2.35 [[ 9.61068535e-01 -2.51414624e-01 -1.14620930e-01 2.87046518e+01] [ 2.49221957e-01 9.67873338e-01 -3.33109330e-02 5.11281380e+00] [ 1.19313398e-01 3.44803710e-03 9.92850656e-01 2.34967675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.73, Y:5.12, Z:2.35 [[ 9.60946821e-01 -2.52457465e-01 -1.13342114e-01 2.87317899e+01] [ 2.50316899e-01 9.67602319e-01 -3.29727420e-02 5.11939007e+00] [ 1.17994307e-01 3.31360498e-03 9.93008743e-01 2.35399502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.950888479 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:28.76, Y:5.13, Z:2.36 [[ 9.60594754e-01 -2.52875359e-01 -1.15376649e-01 2.87582909e+01] [ 2.50656052e-01 9.67493055e-01 -3.35966164e-02 5.12634389e+00] [ 1.20121863e-01 3.35287831e-03 9.92753492e-01 2.35657141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.79, Y:5.13, Z:2.36 [[ 9.60734191e-01 -2.52158636e-01 -1.15783577e-01 2.87851198e+01] [ 2.49916239e-01 9.67679682e-01 -3.37328720e-02 5.13361541e+00] [ 1.20547450e-01 3.47212735e-03 9.92701494e-01 2.36039695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:28.81, Y:5.14, Z:2.36 [[ 9.60484625e-01 -2.52138498e-01 -1.17879021e-01 2.88110241e+01] [ 2.49809546e-01 9.67684569e-01 -3.43768155e-02 5.14157340e+00] [ 1.22737428e-01 3.57109802e-03 9.92432754e-01 2.36222790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.040888479 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:28.84, Y:5.15, Z:2.36 [[ 9.60443880e-01 -2.52175858e-01 -1.18130813e-01 2.88373469e+01] [ 2.49834019e-01 9.67674731e-01 -3.44757695e-02 5.14984410e+00] [ 1.23006160e-01 3.59894587e-03 9.92399381e-01 2.36429699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070888479000004 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:28.86, Y:5.16, Z:2.37 [[ 9.60493353e-01 -2.52489223e-01 -1.17054310e-01 2.88638967e+01] [ 2.50188220e-01 9.67593162e-01 -3.41954419e-02 5.15838820e+00] [ 1.21894930e-01 3.55888531e-03 9.92536629e-01 2.36733024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.100888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:28.89, Y:5.17, Z:2.37 [[ 9.60429631e-01 -2.52735759e-01 -1.17045117e-01 2.88911705e+01] [ 2.50432750e-01 9.67528789e-01 -3.42268800e-02 5.16647147e+00] [ 1.21894877e-01 3.56057912e-03 9.92536630e-01 2.37025672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.130888479 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:28.92, Y:5.18, Z:2.37 [[ 9.60602145e-01 -2.53400098e-01 -1.14157389e-01 2.89161361e+01] [ 2.51211048e-01 9.67355526e-01 -3.34110107e-02 5.17675513e+00] [ 1.18897135e-01 3.41709113e-03 9.92900697e-01 2.37150064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.160888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:28.94, Y:5.19, Z:2.37 [[ 9.60461338e-01 -2.54181034e-01 -1.13604671e-01 2.89430612e+01] [ 2.52016633e-01 9.67150958e-01 -3.32662175e-02 5.18572240e+00] [ 1.18328508e-01 3.32064913e-03 9.92968951e-01 2.37455363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190888479 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:28.97, Y:5.19, Z:2.38 [[ 9.60265366e-01 -2.54810933e-01 -1.13849966e-01 2.89696387e+01] [ 2.52637505e-01 9.66985321e-01 -3.33718561e-02 5.19338421e+00] [ 1.18594759e-01 3.28306631e-03 9.92937311e-01 2.37779007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.220888479 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:29.00, Y:5.20, Z:2.38 [[ 9.60306736e-01 -2.54467984e-01 -1.14267312e-01 2.89961084e+01] [ 2.52272272e-01 9.67075331e-01 -3.35261909e-02 5.19956678e+00] [ 1.19036441e-01 3.36895266e-03 9.92884170e-01 2.38282263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250888479000004 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:29.02, Y:5.21, Z:2.39 [[ 9.60161022e-01 -2.54659044e-01 -1.15063386e-01 2.90214493e+01] [ 2.52432036e-01 9.67024985e-01 -3.37749245e-02 5.20722106e+00] [ 1.19870259e-01 3.38368131e-03 9.92783799e-01 2.38597022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.280888479 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:29.05, Y:5.22, Z:2.39 [[ 9.60281305e-01 -2.54359441e-01 -1.14721794e-01 2.90478674e+01] [ 2.52141484e-01 9.67103679e-01 -3.36919264e-02 5.21625449e+00] [ 1.19517728e-01 3.42760376e-03 9.92826150e-01 2.38875408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:29.07, Y:5.23, Z:2.39 [[ 9.60456783e-01 -2.53386541e-01 -1.15403764e-01 2.90731085e+01] [ 2.51130930e-01 9.67358403e-01 -3.39260526e-02 5.22892979e+00] [ 1.20233206e-01 3.60305266e-03 9.92739137e-01 2.38918998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.340888479 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:29.10, Y:5.24, Z:2.39 [[ 9.60480816e-01 -2.53098725e-01 -1.15834529e-01 2.90993695e+01] [ 2.50819923e-01 9.67433433e-01 -3.40869373e-02 5.24020426e+00] [ 1.20689557e-01 3.68624162e-03 9.92683455e-01 2.38819470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370888479 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:29.13, Y:5.25, Z:2.39 [[ 9.60641476e-01 -2.52849669e-01 -1.15043467e-01 2.91256850e+01] [ 2.50596146e-01 9.67498409e-01 -3.38880616e-02 5.24990527e+00] [ 1.19872956e-01 3.72482812e-03 9.92782252e-01 2.39060080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.400888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:29.15, Y:5.26, Z:2.39 [[ 9.60785583e-01 -2.52483253e-01 -1.14644101e-01 2.91513293e+01] [ 2.50239092e-01 9.67593852e-01 -3.38014020e-02 5.25754973e+00] [ 1.19463215e-01 3.78746407e-03 9.92831403e-01 2.39453904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430888479000004 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:29.18, Y:5.26, Z:2.40 [[ 9.60790406e-01 -2.52782453e-01 -1.13942206e-01 2.91784317e+01] [ 2.50565870e-01 9.67515900e-01 -3.36114119e-02 5.26427282e+00] [ 1.18737272e-01 3.74349399e-03 9.92918651e-01 2.39909166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.460888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:29.21, Y:5.27, Z:2.40 [[ 9.60768685e-01 -2.53218248e-01 -1.13154993e-01 2.92054994e+01] [ 2.51031452e-01 9.67402120e-01 -3.34117987e-02 5.27274281e+00] [ 1.17926858e-01 3.69554767e-03 9.93015407e-01 2.40283565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490888479 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:29.23, Y:5.28, Z:2.41 [[ 9.60769912e-01 -2.53726502e-01 -1.12000170e-01 2.92312662e+01] [ 2.51584190e-01 9.67269209e-01 -3.31009565e-02 5.28154960e+00] [ 1.16732906e-01 3.62493095e-03 9.93156729e-01 2.40604120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.520888479 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:29.26, Y:5.29, Z:2.41 [[ 9.60708647e-01 -2.54190769e-01 -1.11471740e-01 2.92574538e+01] [ 2.52069935e-01 9.67147522e-01 -3.29608707e-02 5.29103797e+00] [ 1.16187966e-01 3.56711925e-03 9.93220838e-01 2.40759744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550888479 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:29.28, Y:5.30, Z:2.41 [[ 9.60724843e-01 -2.54071247e-01 -1.11604558e-01 2.92834794e+01] [ 2.51940781e-01 9.67178741e-01 -3.30321774e-02 5.30075395e+00] [ 1.16334082e-01 3.61709396e-03 9.93203553e-01 2.40964945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.580888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:29.31, Y:5.31, Z:2.41 [[ 9.60706954e-01 -2.54203147e-01 -1.11458099e-01 2.93105826e+01] [ 2.52075266e-01 9.67144039e-01 -3.30222492e-02 5.30786455e+00] [ 1.16190396e-01 3.62887446e-03 9.93220330e-01 2.41409215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:29.34, Y:5.31, Z:2.42 [[ 9.60872480e-01 -2.54221999e-01 -1.09978419e-01 2.93366681e+01] [ 2.52146980e-01 9.67139161e-01 -3.26150986e-02 5.31473810e+00] [ 1.14655912e-01 3.60822445e-03 9.93398713e-01 2.41965935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.640888479 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:29.36, Y:5.32, Z:2.42 [[ 9.60738065e-01 -2.54744986e-01 -1.09942544e-01 2.93620835e+01] [ 2.52673058e-01 9.67001720e-01 -3.26189891e-02 5.32464682e+00] [ 1.14624153e-01 3.55878579e-03 9.93402556e-01 2.41908331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:29.39, Y:5.34, Z:2.42 [[ 9.60671907e-01 -2.55040057e-01 -1.09836499e-01 2.93879466e+01] [ 2.52972213e-01 9.66924024e-01 -3.26035510e-02 5.33509435e+00] [ 1.14518761e-01 3.53573331e-03 9.93414794e-01 2.42012825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.700888479 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:29.41, Y:5.34, Z:2.42 [[ 9.60613466e-01 -2.55185606e-01 -1.10009429e-01 2.94144154e+01] [ 2.53108443e-01 9.66885549e-01 -3.26871683e-02 5.34497582e+00] [ 1.14707822e-01 3.55541871e-03 9.93392910e-01 2.42080891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.730888479 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:29.44, Y:5.35, Z:2.42 [[ 9.60549979e-01 -2.55740136e-01 -1.09273607e-01 2.94413649e+01] [ 2.53690692e-01 9.66739239e-01 -3.25003993e-02 5.35402358e+00] [ 1.13950740e-01 3.49656100e-03 9.93480248e-01 2.42315909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.760888479 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:29.47, Y:5.36, Z:2.43 [[ 9.60555134e-01 -2.56802322e-01 -1.06707086e-01 2.94667179e+01] [ 2.54851566e-01 9.66458250e-01 -3.17668015e-02 5.36168802e+00] [ 1.11285732e-01 3.31929636e-03 9.93782908e-01 2.42755648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790888479 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:29.49, Y:5.37, Z:2.43 [[ 9.60512358e-01 -2.57345611e-01 -1.05779239e-01 2.94930827e+01] [ 2.55430398e-01 9.66313989e-01 -3.15053302e-02 5.37029226e+00] [ 1.10323717e-01 3.24202575e-03 9.93890420e-01 2.43043703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.820888479000004 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:29.52, Y:5.38, Z:2.43 [[ 9.60683507e-01 -2.57437354e-01 -1.03986575e-01 2.95187699e+01] [ 2.55584053e-01 9.66289676e-01 -3.10008533e-02 5.37942587e+00] [ 1.08461931e-01 3.20469821e-03 9.94095438e-01 2.43277636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:29.54, Y:5.39, Z:2.44 [[ 9.60689016e-01 -2.57462661e-01 -1.03872961e-01 2.95448301e+01] [ 2.55612019e-01 9.66282909e-01 -3.09812101e-02 5.38804757e+00] [ 1.08347172e-01 3.21213110e-03 9.94107928e-01 2.43590333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.880888479 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:29.57, Y:5.40, Z:2.44 [[ 9.60635180e-01 -2.57502740e-01 -1.04270747e-01 2.95717417e+01] [ 2.55634697e-01 9.66272102e-01 -3.11307938e-02 5.39727529e+00] [ 1.08770179e-01 3.25011486e-03 9.94061610e-01 2.43745497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.910888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:29.60, Y:5.41, Z:2.44 [[ 9.60518727e-01 -2.56867726e-01 -1.06877251e-01 2.95970763e+01] [ 2.54897332e-01 9.66440459e-01 -3.19403957e-02 5.40787136e+00] [ 1.11494956e-01 3.43662207e-03 9.93759057e-01 2.43695412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.940888479 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:29.62, Y:5.42, Z:2.44 [[ 9.60381768e-01 -2.56628006e-01 -1.08668885e-01 2.96238053e+01] [ 2.54587371e-01 9.66503773e-01 -3.24919676e-02 5.41686866e+00] [ 1.13367236e-01 3.53896750e-03 9.93546851e-01 2.43753578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970888479 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:29.65, Y:5.42, Z:2.44 [[ 9.60381321e-01 -2.56307416e-01 -1.09426811e-01 2.96491831e+01] [ 2.54232396e-01 9.66588491e-01 -3.27502419e-02 5.42477031e+00] [ 1.14164826e-01 3.63288019e-03 9.93455180e-01 2.43898985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.000888479000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.67, Y:5.43, Z:2.45 [[ 9.60724425e-01 -2.55180923e-01 -1.09047126e-01 2.96749863e+01] [ 2.53111465e-01 9.66885982e-01 -3.26509340e-02 5.43005432e+00] [ 1.13768033e-01 3.76747207e-03 9.93500197e-01 2.44560930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:29.70, Y:5.44, Z:2.45 [[ 9.60629382e-01 -2.56064074e-01 -1.07807140e-01 2.97021576e+01] [ 2.54045395e-01 9.66652974e-01 -3.22949648e-02 5.43790326e+00] [ 1.12481673e-01 3.63558467e-03 9.93647149e-01 2.44771528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.060888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:29.73, Y:5.45, Z:2.45 [[ 9.60620197e-01 -2.56531798e-01 -1.06772062e-01 2.97286374e+01] [ 2.54551077e-01 9.66529170e-01 -3.20173655e-02 5.44607562e+00] [ 1.11411785e-01 3.57758446e-03 9.93767888e-01 2.45158820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.090888479 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:29.75, Y:5.46, Z:2.45 [[ 9.60458065e-01 -2.57766912e-01 -1.05245070e-01 2.97540313e+01] [ 2.55846642e-01 9.66201098e-01 -3.15901021e-02 5.45669510e+00] [ 1.09830786e-01 3.41437048e-03 9.93944435e-01 2.45244356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.120888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:29.78, Y:5.47, Z:2.45 [[ 9.60381112e-01 -2.58339657e-01 -1.04540621e-01 2.97809951e+01] [ 2.56446846e-01 9.66048374e-01 -3.13935255e-02 5.46551292e+00] [ 1.09101489e-01 3.34063655e-03 9.94025002e-01 2.45499205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:29.81, Y:5.47, Z:2.46 [[ 9.60112017e-01 -2.59553776e-01 -1.04003614e-01 2.98080837e+01] [ 2.57684091e-01 9.65723300e-01 -3.12636849e-02 5.47302570e+00] [ 1.08553320e-01 3.21656290e-03 9.94085424e-01 2.45721309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.180888479000004 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:29.83, Y:5.48, Z:2.46 [[ 9.59861063e-01 -2.60643018e-01 -1.03595158e-01 2.98341090e+01] [ 2.58790985e-01 9.65430234e-01 -3.11719214e-02 5.47852289e+00] [ 1.08138641e-01 3.11122057e-03 9.94130954e-01 2.46170461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:5.48, Z:2.47 [[ 9.59175383e-01 -2.63064262e-01 -1.03825718e-01 2.98608388e+01] [ 2.61216511e-01 9.64774079e-01 -3.12555908e-02 5.48190536e+00] [ 1.08390590e-01 2.85860148e-03 9.94104274e-01 2.46729384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.240888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:29.89, Y:5.49, Z:2.47 [[ 9.58984044e-01 -2.64055884e-01 -1.03073243e-01 2.98873253e+01] [ 2.62238296e-01 9.64503470e-01 -3.10504917e-02 5.49030632e+00] [ 1.07613566e-01 2.74717445e-03 9.94189003e-01 2.46879803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.270888479 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:29.91, Y:5.50, Z:2.47 [[ 9.59015469e-01 -2.64498453e-01 -1.01636106e-01 2.99141388e+01] [ 2.62730686e-01 9.64382363e-01 -3.06470896e-02 5.50071937e+00] [ 1.06122176e-01 2.68810919e-03 9.94349465e-01 2.46922809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.300888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:29.94, Y:5.51, Z:2.47 [[ 9.59251762e-01 -2.64566453e-01 -9.92000448e-02 2.99399507e+01] [ 2.62880009e-01 9.64363833e-01 -2.99415881e-02 5.51169632e+00] [ 1.03586475e-01 2.64381251e-03 9.94616938e-01 2.47132383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:29.97, Y:5.52, Z:2.47 [[ 9.59760757e-01 -2.63294819e-01 -9.76479740e-02 2.99660293e+01] [ 2.61651369e-01 9.64711455e-01 -2.95020197e-02 5.52200781e+00] [ 1.01969848e-01 2.76515472e-03 9.94783647e-01 2.47492031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.360888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:29.99, Y:5.53, Z:2.48 [[ 9.59791129e-01 -2.63173569e-01 -9.76763108e-02 2.99919357e+01] [ 2.61525450e-01 9.64744416e-01 -2.95406795e-02 5.52972816e+00] [ 1.02007001e-01 2.80804107e-03 9.94779718e-01 2.47887191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:30.02, Y:5.54, Z:2.48 [[ 9.59758769e-01 -2.63348549e-01 -9.75225453e-02 3.00191249e+01] [ 2.61705221e-01 9.64696696e-01 -2.95069682e-02 5.53766499e+00] [ 1.01850295e-01 2.79741224e-03 9.94795804e-01 2.48227220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.05, Y:5.55, Z:2.49 [[ 9.59748443e-01 -2.63270685e-01 -9.78339004e-02 3.00457942e+01] [ 2.61613404e-01 9.64717815e-01 -2.96304489e-02 5.54576914e+00] [ 1.02182935e-01 2.84311751e-03 9.94761562e-01 2.48776862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.450888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:30.07, Y:5.55, Z:2.49 [[ 9.59350443e-01 -2.64365770e-01 -9.87798923e-02 3.00718702e+01] [ 2.62678805e-01 9.64418476e-01 -2.99474378e-02 5.55416926e+00] [ 1.03182231e-01 2.78270368e-03 9.94658577e-01 2.48854212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.480888479 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:30.10, Y:5.57, Z:2.49 [[ 9.58384591e-01 -2.66748969e-01 -1.01705272e-01 3.00985014e+01] [ 2.64971277e-01 9.63762474e-01 -3.08563832e-02 5.56503124e+00] [ 1.06250633e-01 2.62330625e-03 9.94335920e-01 2.48807131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:30.12, Y:5.57, Z:2.49 [[ 9.58081321e-01 -2.67785165e-01 -1.01839524e-01 3.01246334e+01] [ 2.66005372e-01 9.63475298e-01 -3.09272147e-02 5.57441918e+00] [ 1.06401715e-01 2.54092627e-03 9.94319978e-01 2.49072350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.540888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:30.15, Y:5.58, Z:2.49 [[ 9.57756485e-01 -2.69038762e-01 -1.01590651e-01 3.01504026e+01] [ 2.67271520e-01 9.63126298e-01 -3.08815374e-02 5.58349357e+00] [ 1.06152959e-01 2.42470491e-03 9.94346856e-01 2.49327026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570888479000004 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:30.18, Y:5.59, Z:2.50 [[ 9.57160995e-01 -2.70729027e-01 -1.02706491e-01 3.01765603e+01] [ 2.68930774e-01 9.62652904e-01 -3.12349967e-02 5.59208561e+00] [ 1.07326922e-01 2.27598427e-03 9.94221178e-01 2.49658954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.600888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.20, Y:5.61, Z:2.48 [[ 9.56739038e-01 -2.75992278e-01 -9.20797284e-02 3.01982591e+01] [ 2.72332929e-01 9.60880382e-01 -5.04347844e-02 5.61233141e+00] [ 1.02397216e-01 2.31765850e-02 9.94473557e-01 2.48187551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630888479 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:30.23, Y:5.60, Z:2.51 [[ 9.56297328e-01 -2.70343528e-01 -1.11399266e-01 3.02324038e+01] [ 2.70675419e-01 9.62590506e-01 -1.24231863e-02 5.60238711e+00] [ 1.10590404e-01 -1.82727832e-02 9.93698077e-01 2.50784771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.660888479 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:30.26, Y:5.62, Z:2.50 [[ 9.55855569e-01 -2.73953284e-01 -1.06253141e-01 3.02570676e+01] [ 2.72043725e-01 9.61740881e-01 -3.23525818e-02 5.62226356e+00] [ 1.11051085e-01 2.01889525e-03 9.93812649e-01 2.50028737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:30.28, Y:5.63, Z:2.50 [[ 9.55776702e-01 -2.74581547e-01 -1.05336936e-01 3.02821383e+01] [ 2.72705271e-01 9.61561822e-01 -3.21044890e-02 5.63038078e+00] [ 1.10103276e-01 1.95878492e-03 9.93918222e-01 2.50393120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.720888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.31, Y:5.64, Z:2.51 [[ 9.55937641e-01 -2.74695210e-01 -1.03565286e-01 3.03089909e+01] [ 2.72880820e-01 9.61529422e-01 -3.15789159e-02 5.63856390e+00] [ 1.08255647e-01 1.92649413e-03 9.94121222e-01 2.50985976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750888479000004 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:30.34, Y:5.65, Z:2.51 [[ 9.55475009e-01 -2.76398744e-01 -1.03301705e-01 3.03357704e+01] [ 2.74600080e-01 9.61041434e-01 -3.15302815e-02 5.64774008e+00] [ 1.07992149e-01 1.75973957e-03 9.94150189e-01 2.51131553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.780888479 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:30.36, Y:5.66, Z:2.52 [[ 9.55271397e-01 -2.77644138e-01 -1.01834628e-01 3.03606531e+01] [ 2.75900164e-01 9.60682618e-01 -3.11128216e-02 5.65849360e+00] [ 1.06469049e-01 1.62499814e-03 9.94314689e-01 2.51500042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810888479 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:30.39, Y:5.67, Z:2.52 [[ 9.55095600e-01 -2.77961310e-01 -1.02615321e-01 3.03862483e+01] [ 2.76190748e-01 9.60590912e-01 -3.13651038e-02 5.66801139e+00] [ 1.07289630e-01 1.61527037e-03 9.94226496e-01 2.51832542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.840888479 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:30.41, Y:5.68, Z:2.52 [[ 9.54990546e-01 -2.77967403e-01 -1.03572101e-01 3.04123121e+01] [ 2.76162025e-01 9.60589101e-01 -3.16719896e-02 5.67779017e+00] [ 1.08294012e-01 1.64376955e-03 9.94117551e-01 2.52065614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870888479 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:30.44, Y:5.69, Z:2.52 [[ 9.54699252e-01 -2.78250307e-01 -1.05480355e-01 3.04380766e+01] [ 2.76375697e-01 9.60507141e-01 -3.22878739e-02 5.68797552e+00] [ 1.10298745e-01 1.67300251e-03 9.93897071e-01 2.52067053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.900888479 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:30.46, Y:5.70, Z:2.52 [[ 9.54653245e-01 -2.78219261e-01 -1.05977470e-01 3.04646963e+01] [ 2.76360270e-01 9.60516580e-01 -3.21387655e-02 5.69872986e+00] [ 1.10734741e-01 1.39341447e-03 9.93849020e-01 2.52431466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930888479000004 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:30.49, Y:5.71, Z:2.53 [[ 9.54810164e-01 -2.77366933e-01 -1.06794825e-01 3.04888014e+01] [ 2.75462794e-01 9.60762734e-01 -3.24841302e-02 5.70717103e+00] [ 1.11614512e-01 1.59817671e-03 9.93750294e-01 2.52517536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.960888479 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:30.52, Y:5.72, Z:2.53 [[ 9.54655661e-01 -2.77566202e-01 -1.07654879e-01 3.05151051e+01] [ 2.75604397e-01 9.60704776e-01 -3.29931909e-02 5.71701566e+00] [ 1.12582351e-01 1.82697834e-03 9.93640718e-01 2.52751396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990888479 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:30.54, Y:5.73, Z:2.53 [[ 9.54585925e-01 -2.77809374e-01 -1.07646013e-01 3.05422560e+01] [ 2.75845852e-01 9.60634482e-01 -3.30220956e-02 5.72544946e+00] [ 1.12582319e-01 1.82872166e-03 9.93640718e-01 2.53044978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.020888479 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:30.57, Y:5.74, Z:2.53 [[ 9.54473325e-01 -2.77931108e-01 -1.08328074e-01 3.05673861e+01] [ 2.75940044e-01 9.60599221e-01 -3.32600300e-02 5.73538336e+00] [ 1.13303860e-01 1.85375800e-03 9.93558654e-01 2.53383473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.050888479 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:30.59, Y:5.74, Z:2.54 [[ 9.54479067e-01 -2.77955387e-01 -1.08215126e-01 3.05941012e+01] [ 2.75966879e-01 9.60592176e-01 -3.32408320e-02 5.74361929e+00] [ 1.13190071e-01 1.86388783e-03 9.93571605e-01 2.53904007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.080888479 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:30.62, Y:5.75, Z:2.54 [[ 9.54628021e-01 -2.77656382e-01 -1.07667430e-01 3.06199996e+01] [ 2.75682508e-01 9.60678534e-01 -3.31045241e-02 5.75285412e+00] [ 1.12625471e-01 1.92047908e-03 9.93635655e-01 2.54301131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110888479 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:30.64, Y:5.76, Z:2.55 [[ 9.54874181e-01 -2.77111586e-01 -1.06885300e-01 3.06449111e+01] [ 2.75159522e-01 9.60835662e-01 -3.28948058e-02 5.76309378e+00] [ 1.11814740e-01 1.99989277e-03 9.93727057e-01 2.54627880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.140888479 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:30.67, Y:5.77, Z:2.55 [[ 9.54814345e-01 -2.77313943e-01 -1.06895017e-01 3.06713430e+01] [ 2.75360266e-01 9.60777282e-01 -3.29201847e-02 5.77415481e+00] [ 1.11831530e-01 1.99802417e-03 9.93725172e-01 2.54777653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170888479 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:30.70, Y:5.78, Z:2.55 [[ 9.54859645e-01 -2.76804638e-01 -1.07806542e-01 3.06962499e+01] [ 2.74810626e-01 9.60923909e-01 -3.32319195e-02 5.78465365e+00] [ 1.12792634e-01 2.10543545e-03 9.93616319e-01 2.54899155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.200888479 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:30.72, Y:5.79, Z:2.55 [[ 9.54850333e-01 -2.76543710e-01 -1.08556057e-01 3.07229233e+01] [ 2.74518280e-01 9.60998898e-01 -3.34788236e-02 5.79285293e+00] [ 1.13580609e-01 2.16664387e-03 9.93526422e-01 2.55232915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.230888479 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:30.75, Y:5.80, Z:2.56 [[ 9.54548612e-01 -2.77230057e-01 -1.09455214e-01 3.07494806e+01] [ 2.75171550e-01 9.60801198e-01 -3.37886980e-02 5.80057770e+00] [ 1.14531943e-01 2.13399388e-03 9.93417274e-01 2.55501151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.260888479 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:30.78, Y:5.81, Z:2.56 [[ 9.54261695e-01 -2.78243753e-01 -1.09384785e-01 3.07762389e+01] [ 2.76190814e-01 9.60508325e-01 -3.37992746e-02 5.80805736e+00] [ 1.14469433e-01 2.04228034e-03 9.93424671e-01 2.55852750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290888479 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:30.80, Y:5.82, Z:2.56 [[ 9.54241992e-01 -2.79321817e-01 -1.06778006e-01 3.08022208e+01] [ 2.77369144e-01 9.60195670e-01 -3.30247301e-02 5.81607680e+00] [ 1.11752307e-01 1.89666013e-03 9.93734283e-01 2.56435702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.320888479 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:30.83, Y:5.83, Z:2.56 [[ 9.53758718e-01 -2.80469227e-01 -1.08080160e-01 3.08279112e+01] [ 2.78472188e-01 9.59861302e-01 -3.34592416e-02 5.82610030e+00] [ 1.13126251e-01 1.81472470e-03 9.93578964e-01 2.56436673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350888479 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:30.85, Y:5.84, Z:2.57 [[ 9.53751529e-01 -2.80516481e-01 -1.08020951e-01 3.08538339e+01] [ 2.78520136e-01 9.59847477e-01 -3.34567561e-02 5.83635832e+00] [ 1.13068809e-01 1.82342221e-03 9.93585487e-01 2.56611538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.380888479 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:30.88, Y:5.84, Z:2.57 [[ 9.53419012e-01 -2.81106671e-01 -1.09413108e-01 3.08824797e+01] [ 2.80170845e-01 9.59646231e-01 -2.41538425e-02 5.84364420e+00] [ 1.11787683e-01 -7.62563029e-03 9.93702855e-01 2.57069904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.410888479 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:30.91, Y:5.86, Z:2.57 [[ 9.54418489e-01 -2.79213043e-01 -1.05477127e-01 3.09066071e+01] [ 2.76333145e-01 9.60174296e-01 -4.12954463e-02 5.85824490e+00] [ 1.12806654e-01 1.02663112e-02 9.93563919e-01 2.56888513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.440888479 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:30.93, Y:5.86, Z:2.58 [[ 9.54794703e-01 -2.77202081e-01 -1.07359593e-01 3.09345993e+01] [ 2.75195954e-01 9.60808847e-01 -3.33698385e-02 5.86093810e+00] [ 1.12402236e-01 2.31641926e-03 9.93660089e-01 2.57784839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470888479 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:30.96, Y:5.88, Z:2.57 [[ 9.54764554e-01 -2.80729728e-01 -9.80584808e-02 3.09576012e+01] [ 2.76747152e-01 9.59514380e-01 -5.23752727e-02 5.87923175e+00] [ 1.08791818e-01 2.28686486e-02 9.93801472e-01 2.56536280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.500888479000004 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:30.99, Y:5.87, Z:2.59 [[ 9.54771937e-01 -2.73941118e-01 -1.15614934e-01 3.09908248e+01] [ 2.74061478e-01 9.61592568e-01 -1.51670314e-02 5.87078377e+00] [ 1.15329335e-01 -1.72045437e-02 9.93178306e-01 2.59054901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530888479 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:31.02, Y:5.89, Z:2.58 [[ 9.55279293e-01 -2.75024801e-01 -1.08640837e-01 3.10153837e+01] [ 2.72949393e-01 9.61433447e-01 -3.38283372e-02 5.89062287e+00] [ 1.13754566e-01 2.66205950e-03 9.93505316e-01 2.58451414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.560888479 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:31.04, Y:5.90, Z:2.58 [[ 9.55449421e-01 -2.74807765e-01 -1.07689811e-01 3.10408342e+01] [ 2.72763730e-01 9.61495414e-01 -3.35636062e-02 5.90129880e+00] [ 1.12766799e-01 2.69445358e-03 9.93617828e-01 2.58485830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.590888479 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:31.07, Y:5.91, Z:2.59 [[ 9.55351541e-01 -2.75690738e-01 -1.06292285e-01 3.10692169e+01] [ 2.73394623e-01 9.61232171e-01 -3.58900147e-02 5.90887857e+00] [ 1.12066109e-01 5.22784154e-03 9.93687001e-01 2.58806485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.620888479 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:31.10, Y:5.91, Z:2.60 [[ 9.55607199e-01 -2.74618537e-01 -1.06768634e-01 3.10955787e+01] [ 2.72943118e-01 9.61553233e-01 -3.02891767e-02 5.91065192e+00] [ 1.10981694e-01 -1.97208488e-04 9.93822431e-01 2.59680590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650888479 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:31.12, Y:5.92, Z:2.60 [[ 9.54826096e-01 -2.77018511e-01 -1.07554034e-01 3.11229077e+01] [ 2.74986587e-01 9.60861355e-01 -3.35832338e-02 5.91750538e+00] [ 1.12647692e-01 2.49023123e-03 9.93631872e-01 2.59957735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.680888479000004 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:31.14, Y:5.94, Z:2.58 [[ 0.95431506 -0.28460093 -0.09102238 31.14399432] [ 0.27966703 0.95800938 -0.06328011 5.942349 ] [ 0.10520987 0.0349332 0.99383628 2.5786121 ] [ 0. 0. 0. 1. ]] SLAMing on 35.710888479 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:31.18, Y:5.92, Z:2.61 [[ 9.53717617e-01 -2.76429184e-01 -1.18362210e-01 3.11798393e+01] [ 2.78018832e-01 9.60570309e-01 -3.19535283e-03 5.92202613e+00] [ 1.14578514e-01 -2.98594592e-02 9.92965345e-01 2.61483894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.740888479 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:31.20, Y:5.94, Z:2.61 [[ 9.53932344e-01 -2.79905606e-01 -1.08008959e-01 3.12039634e+01] [ 2.77869911e-01 9.60025005e-01 -3.37683556e-02 5.94345674e+00] [ 1.13143254e-01 2.20028677e-03 9.93576249e-01 2.60523889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.770888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:31.23, Y:5.95, Z:2.61 [[ 9.53951106e-01 -2.79915291e-01 -1.07817984e-01 3.12313451e+01] [ 2.77883338e-01 9.60022124e-01 -3.37397748e-02 5.95093778e+00] [ 1.12951929e-01 2.22527431e-03 9.93597962e-01 2.60876962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.800888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:31.25, Y:5.98, Z:2.58 [[ 0.95375976 -0.28843072 -0.0845579 31.24838255] [ 0.28301074 0.95651883 -0.07054534 5.97926343] [ 0.10122867 0.04335251 0.99391816 2.58096231] [ 0. 0. 0. 1. ]] SLAMing on 35.830888479 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:31.29, Y:5.95, Z:2.63 [[ 9.53736697e-01 -2.76204782e-01 -1.18731765e-01 3.12885000e+01] [ 2.78788096e-01 9.60337485e-01 5.39562976e-03 5.94832599e+00] [ 1.12532265e-01 -3.82470127e-02 9.92911706e-01 2.62724365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.860888479 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:31.31, Y:5.99, Z:2.59 [[ 0.95372982 -0.28686201 -0.0900534 31.30537503] [ 0.28164045 0.9572188 -0.06641409 5.99209494] [ 0.10525249 0.03797842 0.99372006 2.59068133] [ 0. 0. 0. 1. ]] SLAMing on 35.890888479 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:31.34, Y:5.99, Z:2.60 [[ 9.53449363e-01 -2.84583262e-01 -9.97330411e-02 3.13353108e+01] [ 2.81819693e-01 9.58587501e-01 -4.10811837e-02 5.98976503e+00] [ 1.07293864e-01 1.10620934e-02 9.94165810e-01 2.60209323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.920888479 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:31.37, Y:5.97, Z:2.64 [[ 9.52889034e-01 -2.75501687e-01 -1.26890937e-01 3.13728248e+01] [ 2.77912925e-01 9.60605316e-01 1.35386940e-03 5.97247036e+00] [ 1.21519116e-01 -3.65547189e-02 9.91915751e-01 2.63834012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.950888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:31.40, Y:6.00, Z:2.63 [[ 9.52830256e-01 -2.80766413e-01 -1.15259376e-01 3.13955904e+01] [ 2.78447841e-01 9.59773411e-01 -3.60804510e-02 5.99510960e+00] [ 1.20753064e-01 2.28482088e-03 9.92679947e-01 2.62661909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.980888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.42, Y:6.00, Z:2.63 [[ 9.52530156e-01 -2.82360660e-01 -1.13836546e-01 3.14224843e+01] [ 2.80108569e-01 9.59306084e-01 -3.56514753e-02 6.00038685e+00] [ 1.19270666e-01 2.07251333e-03 9.92859614e-01 2.63136946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:31.45, Y:6.01, Z:2.63 [[ 9.52117479e-01 -2.83997674e-01 -1.13214958e-01 3.14491994e+01] [ 2.81777796e-01 9.58823108e-01 -3.54897248e-02 6.00862319e+00] [ 1.18632117e-01 1.88892605e-03 9.92936480e-01 2.63368352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.040888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:31.48, Y:6.02, Z:2.64 [[ 9.51919328e-01 -2.85410314e-01 -1.11312829e-01 3.14760408e+01] [ 2.83270357e-01 9.58403885e-01 -3.49270255e-02 6.01722101e+00] [ 1.16651181e-01 1.71608593e-03 9.93171464e-01 2.63740583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:31.50, Y:6.02, Z:2.64 [[ 9.50855758e-01 -2.89288590e-01 -1.10387673e-01 3.15024279e+01] [ 2.87206492e-01 9.57241099e-01 -3.46685532e-02 6.02437506e+00] [ 1.15696834e-01 1.26073703e-03 9.93283773e-01 2.63882653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.100888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.53, Y:6.03, Z:2.64 [[ 9.50883424e-01 -2.89666453e-01 -1.09151544e-01 3.15283111e+01] [ 2.87631725e-01 9.57126883e-01 -3.42946082e-02 6.03144362e+00] [ 1.14405875e-01 1.21472747e-03 9.93433350e-01 2.64451451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:31.56, Y:6.04, Z:2.65 [[ 9.50660664e-01 -2.90305668e-01 -1.09393428e-01 3.15551692e+01] [ 2.88264276e-01 9.56933270e-01 -3.43863824e-02 6.03849218e+00] [ 1.14664772e-01 1.15556389e-03 9.93403571e-01 2.64714822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.160888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:31.58, Y:6.05, Z:2.65 [[ 9.50749030e-01 -2.89829253e-01 -1.09887609e-01 3.15824007e+01] [ 2.87762300e-01 9.57077552e-01 -3.45748173e-02 6.04574793e+00] [ 1.15191757e-01 1.25046293e-03 9.93342486e-01 2.65108932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190888479 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:31.60, Y:6.07, Z:2.63 [[ 9.51356168e-01 -2.92540995e-01 -9.66499211e-02 3.16042193e+01] [ 2.87840674e-01 9.55812290e-01 -5.97546008e-02 6.06849101e+00] [ 1.09859853e-01 2.90281296e-02 9.93523115e-01 2.63061729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.220888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:31.64, Y:6.05, Z:2.67 [[ 9.51966822e-01 -2.81424091e-01 -1.20663376e-01 3.16389185e+01] [ 2.82343141e-01 9.59263749e-01 -9.76788059e-03 6.05233593e+00] [ 1.18496919e-01 -2.47697782e-02 9.92645424e-01 2.66522749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250888479000004 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:31.66, Y:6.07, Z:2.66 [[ 9.52802765e-01 -2.81703381e-01 -1.13181693e-01 3.16616535e+01] [ 2.79446006e-01 9.59498644e-01 -3.56690603e-02 6.07288265e+00] [ 1.18645775e-01 2.35740735e-03 9.92933846e-01 2.65552882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.280888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:31.69, Y:6.08, Z:2.66 [[ 9.54330723e-01 -2.76719983e-01 -1.12600724e-01 3.16882929e+01] [ 2.74449185e-01 9.60945982e-01 -3.55030283e-02 6.08270728e+00] [ 1.18027610e-01 2.97845383e-03 9.93005847e-01 2.65725865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:31.72, Y:6.09, Z:2.65 [[ 9.55145610e-01 -2.75698749e-01 -1.08106725e-01 3.17154225e+01] [ 2.72772083e-01 9.61192702e-01 -4.12792881e-02 6.09393247e+00] [ 1.15292043e-01 9.93923429e-03 9.93281912e-01 2.65492201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.340888479 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:31.74, Y:6.10, Z:2.67 [[ 9.55301281e-01 -2.72989523e-01 -1.13473266e-01 3.17416445e+01] [ 2.71514278e-01 9.62010546e-01 -2.85605762e-02 6.09592785e+00] [ 1.16959217e-01 -3.52565700e-03 9.93130460e-01 2.66564272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:31.77, Y:6.11, Z:2.67 [[ 9.56337924e-01 -2.70787834e-01 -1.09962373e-01 3.17673027e+01] [ 2.68575294e-01 9.62631975e-01 -3.47417815e-02 6.10637496e+00] [ 1.15260948e-01 3.69170664e-03 9.93328387e-01 2.66780071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.400888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:31.79, Y:6.11, Z:2.67 [[ 9.56785791e-01 -2.69786247e-01 -1.08518806e-01 3.17942384e+01] [ 2.67621498e-01 9.62912765e-01 -3.43182415e-02 6.11471234e+00] [ 1.13752733e-01 3.79324040e-03 9.93501851e-01 2.67162130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.82, Y:6.14, Z:2.66 [[ 9.57462242e-01 -2.73232318e-01 -9.27909199e-02 3.18179674e+01] [ 2.68655646e-01 9.61432806e-01 -5.89160739e-02 6.13591626e+00] [ 1.05310010e-01 3.14811117e-02 9.93941015e-01 2.65662146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.460888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:31.85, Y:6.12, Z:2.69 [[ 9.56998580e-01 -2.65642815e-01 -1.16565913e-01 3.18505929e+01] [ 2.66567866e-01 9.63784029e-01 -7.86879433e-03 6.11811423e+00] [ 1.14434654e-01 -2.35423017e-02 9.93151786e-01 2.69034427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490888479 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:31.87, Y:6.14, Z:2.68 [[ 9.57506225e-01 -2.67233164e-01 -1.08481633e-01 3.18743876e+01] [ 2.65044869e-01 9.63622880e-01 -3.43825887e-02 6.13707691e+00] [ 1.13723551e-01 4.16904271e-03 9.93503685e-01 2.68180429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.520888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:31.90, Y:6.15, Z:2.68 [[ 9.57748943e-01 -2.66551421e-01 -1.08015287e-01 3.19006638e+01] [ 2.64375900e-01 9.63811345e-01 -3.42501935e-02 6.14654974e+00] [ 1.13235797e-01 4.24644786e-03 9.93559068e-01 2.68315177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.93, Y:6.16, Z:2.69 [[ 9.58139419e-01 -2.65749787e-01 -1.06517157e-01 3.19271500e+01] [ 2.63625971e-01 9.64032400e-01 -3.38064890e-02 6.15642052e+00] [ 1.11670057e-01 4.31064091e-03 9.93735989e-01 2.68733986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.580888479 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:31.95, Y:6.18, Z:2.66 [[ 0.95799666 -0.27199425 -0.09089298 31.95106892] [ 0.26679119 0.96153159 -0.06541757 6.18010865] [ 0.10518967 0.03842037 0.99370972 2.66339961] [ 0. 0. 0. 1. ]] SLAMing on 36.610888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:31.99, Y:6.16, Z:2.71 [[ 9.57514150e-01 -2.63119138e-01 -1.18046482e-01 3.19852147e+01] [ 2.64784656e-01 9.64306191e-01 -1.62951765e-03 6.15661988e+00] [ 1.14261710e-01 -2.96966108e-02 9.93006734e-01 2.70790010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.640888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:32.01, Y:6.18, Z:2.70 [[ 9.57411593e-01 -2.67383543e-01 -1.08945316e-01 3.20091875e+01] [ 2.65163243e-01 9.63580640e-01 -3.46526430e-02 6.17743066e+00] [ 1.14243144e-01 4.28854877e-03 9.93443563e-01 2.69580601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.04, Y:6.18, Z:2.70 [[ 9.57425238e-01 -2.66717169e-01 -1.10448472e-01 3.20361665e+01] [ 2.64426530e-01 9.63764515e-01 -3.51648985e-02 6.18422879e+00] [ 1.15825400e-01 4.46225515e-03 9.93259566e-01 2.69968908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.700888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:32.06, Y:6.19, Z:2.70 [[ 9.57460374e-01 -2.66010390e-01 -1.11839640e-01 3.20617636e+01] [ 2.63652499e-01 9.63958995e-01 -3.56428912e-02 6.19191693e+00] [ 1.17290207e-01 4.63985530e-03 9.93086844e-01 2.70244110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.730888479 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:32.09, Y:6.21, Z:2.69 [[ 9.57332764e-01 -2.69754486e-01 -1.03665305e-01 3.20893827e+01] [ 2.65569425e-01 9.62660558e-01 -5.25121904e-02 6.20893538e+00] [ 1.13959899e-01 2.27413050e-02 9.93225037e-01 2.69465439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.760888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:32.12, Y:6.20, Z:2.72 [[ 9.56059464e-01 -2.67125283e-01 -1.20807217e-01 3.21197328e+01] [ 2.67114671e-01 9.63522024e-01 -1.65849720e-02 6.19724379e+00] [ 1.20830680e-01 -1.64131607e-02 9.92537433e-01 2.72219117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:32.14, Y:6.21, Z:2.72 [[ 9.55675628e-01 -2.71218341e-01 -1.14563108e-01 3.21441341e+01] [ 2.68763987e-01 9.62508531e-01 -3.66503296e-02 6.21129393e+00] [ 1.20208210e-01 4.23538920e-03 9.92739668e-01 2.71824523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.820888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:32.17, Y:6.22, Z:2.72 [[ 9.55026686e-01 -2.73365866e-01 -1.14870066e-01 3.21704971e+01] [ 2.70911851e-01 9.61901853e-01 -3.67640204e-02 6.21685050e+00] [ 1.20543758e-01 3.99095831e-03 9.92699992e-01 2.72124363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.20, Y:6.22, Z:2.73 [[ 9.54202542e-01 -2.76546768e-01 -1.14102558e-01 3.21976145e+01] [ 2.74146162e-01 9.60993788e-01 -3.65352142e-02 6.22382049e+00] [ 1.19755545e-01 3.58121598e-03 9.92796950e-01 2.72599486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:6.23, Z:2.73 [[ 9.53874988e-01 -2.77686703e-01 -1.14072794e-01 3.22240467e+01] [ 2.75291309e-01 9.60665420e-01 -3.65601588e-02 6.23233350e+00] [ 1.19738058e-01 3.47057232e-03 9.92799452e-01 2.72791190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.910888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.25, Y:6.24, Z:2.73 [[ 9.53701877e-01 -2.78404611e-01 -1.13769958e-01 3.22507929e+01] [ 2.76022823e-01 9.60457847e-01 -3.64982863e-02 6.24044165e+00] [ 1.19432540e-01 3.40537921e-03 9.92836478e-01 2.73040081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.940888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.28, Y:6.25, Z:2.73 [[ 9.53629453e-01 -2.78656731e-01 -1.13759799e-01 3.22778265e+01] [ 2.76272959e-01 9.60384723e-01 -3.65299242e-02 6.24921839e+00] [ 1.19432482e-01 3.40725548e-03 9.92836478e-01 2.73350868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:32.31, Y:6.25, Z:2.74 [[ 9.53080465e-01 -2.80313505e-01 -1.14288964e-01 3.23050071e+01] [ 2.77915444e-01 9.59903019e-01 -3.67314443e-02 6.25364370e+00] [ 1.20002641e-01 3.24535385e-03 9.92768268e-01 2.73602468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.000888479000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:32.33, Y:6.26, Z:2.74 [[ 9.53051200e-01 -2.80659779e-01 -1.13681565e-01 3.23312705e+01] [ 2.78287881e-01 9.59801987e-01 -3.65513521e-02 6.25879946e+00] [ 1.19370286e-01 3.19910817e-03 9.92844651e-01 2.74349206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:32.36, Y:6.26, Z:2.75 [[ 9.52837815e-01 -2.81547800e-01 -1.13273719e-01 3.23588103e+01] [ 2.79197228e-01 9.59542220e-01 -3.64367349e-02 6.26465056e+00] [ 1.18949599e-01 3.09259046e-03 9.92895477e-01 2.74809646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.39, Y:6.28, Z:2.74 [[ 9.53282478e-01 -2.84358409e-01 -1.01945140e-01 3.23885826e+01] [ 2.80143103e-01 9.58448045e-01 -5.38255175e-02 6.28054579e+00] [ 1.13014858e-01 2.27516950e-02 9.93332775e-01 2.73573206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:6.27, Z:2.76 [[ 9.52567237e-01 -2.80414297e-01 -1.18251771e-01 3.24144975e+01] [ 2.80477261e-01 9.59719640e-01 -1.64535242e-02 6.27219849e+00] [ 1.18102350e-01 -1.74938447e-02 9.92847320e-01 2.76371278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.120888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.44, Y:6.30, Z:2.74 [[ 9.53396978e-01 -2.84705118e-01 -9.98859243e-02 3.24412932e+01] [ 2.80599317e-01 9.58344450e-01 -5.32910813e-02 6.29904369e+00] [ 1.10897365e-01 2.27796337e-02 9.93570764e-01 2.74062984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.47, Y:6.30, Z:2.75 [[ 9.53542537e-01 -2.81851075e-01 -1.06379519e-01 3.24711327e+01] [ 2.79835108e-01 9.59455164e-01 -3.37357388e-02 6.29922908e+00] [ 1.11574833e-01 2.39973783e-03 9.93753137e-01 2.75264107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.180888479000004 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:32.50, Y:6.31, Z:2.76 [[ 9.53681893e-01 -2.80749842e-01 -1.08029505e-01 3.24976021e+01] [ 2.78672311e-01 9.59777737e-01 -3.41824308e-02 6.30507072e+00] [ 1.13281026e-01 2.49433343e-03 9.93559856e-01 2.75603670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.52, Y:6.30, Z:2.78 [[ 9.52887827e-01 -2.78588144e-01 -1.19972640e-01 3.25215009e+01] [ 2.78629701e-01 9.60252172e-01 -1.67706630e-02 6.30468106e+00] [ 1.19876096e-01 -1.74473801e-02 9.92635538e-01 2.77581937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.240888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.55, Y:6.32, Z:2.77 [[ 9.52864736e-01 -2.80903461e-01 -1.14638738e-01 3.25463091e+01] [ 2.78464090e-01 9.59729913e-01 -3.70977806e-02 6.32113556e+00] [ 1.20443121e-01 3.42639513e-03 9.92714317e-01 2.76999278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.270888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:32.57, Y:6.33, Z:2.77 [[ 9.52821003e-01 -2.80986975e-01 -1.14797461e-01 3.25733480e+01] [ 2.78537097e-01 9.59705362e-01 -3.71847098e-02 6.32968902e+00] [ 1.20620158e-01 3.45502106e-03 9.92692722e-01 2.77273300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.300888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:32.60, Y:6.34, Z:2.78 [[ 9.53120373e-01 -2.80760272e-01 -1.12850454e-01 3.25992105e+01] [ 2.78387505e-01 9.59771703e-01 -3.65879096e-02 6.33880530e+00] [ 1.18583104e-01 3.45652578e-03 9.92938115e-01 2.77539778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:6.35, Z:2.78 [[ 9.53218326e-01 -2.80950939e-01 -1.11540994e-01 3.26255752e+01] [ 2.78631582e-01 9.59716053e-01 -3.61875544e-02 6.34848315e+00] [ 1.17214610e-01 3.41579632e-03 9.93100734e-01 2.77898600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.65, Y:6.36, Z:2.78 [[ 9.53446988e-01 -2.80787719e-01 -1.09986808e-01 3.26508819e+01] [ 2.78527922e-01 9.59763809e-01 -3.57159397e-02 6.35772587e+00] [ 1.15589955e-01 3.41885804e-03 9.93291132e-01 2.78178716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:32.68, Y:6.37, Z:2.78 [[ 9.53505427e-01 -2.81024139e-01 -1.08870722e-01 3.26769441e+01] [ 2.78809927e-01 9.59694783e-01 -3.53687523e-02 6.36646197e+00] [ 1.14422137e-01 3.37005922e-03 9.93426503e-01 2.78498870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.71, Y:6.38, Z:2.77 [[ 9.54161985e-01 -2.83254349e-01 -9.66534063e-02 3.27053553e+01] [ 2.79215551e-01 9.58747507e-01 -5.33094122e-02 6.38208756e+00] [ 1.07766335e-01 2.38786804e-02 9.93889443e-01 2.77255459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.450888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:32.73, Y:6.39, Z:2.78 [[ 9.53851953e-01 -2.84194556e-01 -9.69531165e-02 3.27310786e+01] [ 2.81249209e-01 9.58666818e-01 -4.30907670e-02 6.38700168e+00] [ 1.05191897e-01 1.38342250e-02 9.94355710e-01 2.77570072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.480888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:32.76, Y:6.38, Z:2.81 [[ 9.53244610e-01 -2.77567004e-01 -1.19504274e-01 3.27601700e+01] [ 2.79174949e-01 9.60234206e-01 -3.40837738e-03 6.37633909e+00] [ 1.15698145e-01 -3.01135824e-02 9.92827836e-01 2.81127877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:6.40, Z:2.80 [[ 9.53578465e-01 -2.80557819e-01 -1.09432267e-01 3.27828264e+01] [ 2.78305384e-01 9.59830579e-01 -3.56563286e-02 6.39986412e+00] [ 1.15040098e-01 3.54551803e-03 9.93354521e-01 2.79802159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.81, Y:6.41, Z:2.80 [[ 9.53718870e-01 -2.80144042e-01 -1.09268629e-01 3.28092087e+01] [ 2.77893031e-01 9.59951181e-01 -3.56257500e-02 6.40938388e+00] [ 1.14872891e-01 3.61195966e-03 9.93373632e-01 2.80101447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:32.84, Y:6.43, Z:2.79 [[ 9.54268128e-01 -2.82453089e-01 -9.79417778e-02 3.28354898e+01] [ 2.78405557e-01 9.58996236e-01 -5.30713261e-02 6.42922606e+00] [ 1.08915956e-01 2.33767398e-02 9.93776052e-01 2.78697133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.600888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:32.86, Y:6.43, Z:2.80 [[ 9.54352996e-01 -2.80143397e-01 -1.03585889e-01 3.28633553e+01] [ 2.77924006e-01 9.59944315e-01 -3.55690667e-02 6.43255602e+00] [ 1.09401124e-01 5.15644014e-03 9.93984308e-01 2.79607496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.89, Y:6.45, Z:2.79 [[ 9.54612593e-01 -2.80151696e-01 -1.01142592e-01 3.28895636e+01] [ 2.77300829e-01 9.59885865e-01 -4.15135663e-02 6.44697107e+00] [ 1.08715441e-01 1.15824485e-02 9.94005432e-01 2.79393759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.660888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:32.92, Y:6.45, Z:2.80 [[ 9.54822003e-01 -2.77741397e-01 -1.05710261e-01 3.29167452e+01] [ 2.75828402e-01 9.60653857e-01 -3.26015341e-02 6.45299727e+00] [ 1.10605766e-01 1.97076970e-03 9.93862405e-01 2.80149656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:32.94, Y:6.46, Z:2.80 [[ 9.55260606e-01 -2.75456229e-01 -1.07708130e-01 3.29415019e+01] [ 2.73058879e-01 9.61297027e-01 -3.66997776e-02 6.46301802e+00] [ 1.13648688e-01 5.64719048e-03 9.93504950e-01 2.80320492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:6.47, Z:2.81 [[ 9.55283499e-01 -2.72801679e-01 -1.14073137e-01 3.29703400e+01] [ 2.71330994e-01 9.62063183e-01 -2.85293348e-02 6.46695107e+00] [ 1.17528416e-01 -3.69797492e-03 9.93062635e-01 2.81485294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750888479000004 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:33.00, Y:6.48, Z:2.82 [[ 9.55305303e-01 -2.73365543e-01 -1.12530256e-01 3.29958156e+01] [ 2.71177031e-01 9.61906836e-01 -3.46158315e-02 6.47883054e+00] [ 1.17706399e-01 2.55306646e-03 9.93045158e-01 2.81637518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.780888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.02, Y:6.48, Z:2.83 [[ 9.54977041e-01 -2.71194591e-01 -1.20301057e-01 3.30213216e+01] [ 2.70560069e-01 9.62454136e-01 -2.18925915e-02 6.48291103e+00] [ 1.21721402e-01 -1.16417401e-02 9.92496030e-01 2.83316666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:33.04, Y:6.50, Z:2.83 [[ 9.55003235e-01 -2.73572951e-01 -1.14571647e-01 3.30446745e+01] [ 2.71022445e-01 9.61839082e-01 -3.75821113e-02 6.49985485e+00] [ 1.20480937e-01 4.83954994e-03 9.92703844e-01 2.82904706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.07, Y:6.52, Z:2.82 [[ 9.55147357e-01 -2.76821585e-01 -1.05182397e-01 3.30701145e+01] [ 2.72695333e-01 9.60690923e-01 -5.20596397e-02 6.51808529e+00] [ 1.15459006e-01 2.10418785e-02 9.93089350e-01 2.81773595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.10, Y:6.52, Z:2.84 [[ 9.54617918e-01 -2.72012869e-01 -1.21299749e-01 3.30979732e+01] [ 2.71349987e-01 9.62223040e-01 -2.22711981e-02 6.51517663e+00] [ 1.22775466e-01 -1.16542006e-02 9.92366044e-01 2.84033486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.12, Y:6.53, Z:2.84 [[ 9.54580142e-01 -2.73974443e-01 -1.17110022e-01 3.31221467e+01] [ 2.71302676e-01 9.61724128e-01 -3.84910300e-02 6.53087444e+00] [ 1.23173093e-01 4.97051050e-03 9.92372754e-01 2.83684903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:6.54, Z:2.84 [[ 9.54520253e-01 -2.73942373e-01 -1.17671844e-01 3.31487129e+01] [ 2.71242353e-01 9.61733028e-01 -3.86932664e-02 6.53905427e+00] [ 1.23768624e-01 5.01591859e-03 9.92298427e-01 2.84123354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.17, Y:6.57, Z:2.81 [[ 0.95461843 -0.28257483 -0.09410168 33.16826179] [ 0.27613701 0.9581222 -0.07583014 6.56956962] [ 0.11158859 0.04640389 0.99267047 2.81204527] [ 0. 0. 0. 1. ]] SLAMing on 37.990888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:33.20, Y:6.57, Z:2.83 [[ 9.53718951e-01 -2.82827583e-01 -1.02121104e-01 3.31969958e+01] [ 2.79636866e-01 9.59068690e-01 -4.46146913e-02 6.56858285e+00] [ 1.10559418e-01 1.39930513e-02 9.93771005e-01 2.82515994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.020888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.23, Y:6.55, Z:2.87 [[ 9.52899209e-01 -2.72206880e-01 -1.33740465e-01 3.32336223e+01] [ 2.75744838e-01 9.61194831e-01 8.32352035e-03 6.55029277e+00] [ 1.26284924e-01 -4.48097187e-02 9.90981436e-01 2.87302585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:6.58, Z:2.86 [[ 9.52737164e-01 -2.79729584e-01 -1.18504243e-01 3.32564142e+01] [ 2.77034047e-01 9.60069171e-01 -3.89784972e-02 6.57926786e+00] [ 1.24675709e-01 4.30655293e-03 9.92188198e-01 2.85563683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.080888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:33.28, Y:6.59, Z:2.86 [[ 9.52108039e-01 -2.81777701e-01 -1.18708088e-01 3.32830686e+01] [ 2.79084104e-01 9.59471040e-01 -3.90817956e-02 6.58689360e+00] [ 1.24909351e-01 4.08055145e-03 9.92159767e-01 2.86078972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.31, Y:6.60, Z:2.86 [[ 9.51863104e-01 -2.82696374e-01 -1.18487941e-01 3.33092995e+01] [ 2.80015197e-01 9.59201153e-01 -3.90466157e-02 6.59605849e+00] [ 1.24692106e-01 3.98860868e-03 9.92187467e-01 2.86424970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.33, Y:6.61, Z:2.87 [[ 9.51549817e-01 -2.83520597e-01 -1.19033679e-01 3.33347843e+01] [ 2.80816468e-01 9.58958081e-01 -3.92620722e-02 6.60525699e+00] [ 1.25279914e-01 3.93320034e-03 9.92113639e-01 2.86744708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.35, Y:6.64, Z:2.83 [[ 0.95096158 -0.29521152 -0.09231588 33.35082103] [ 0.28810425 0.95400108 -0.08293299 6.64151884] [ 0.11255223 0.05226949 0.99227007 2.83082423] [ 0. 0. 0. 1. ]] SLAMing on 38.200888479 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:33.39, Y:6.61, Z:2.88 [[ 9.49184916e-01 -2.86988469e-01 -1.29172808e-01 3.33911141e+01] [ 2.88753220e-01 9.57389112e-01 -5.25988812e-03 6.61384794e+00] [ 1.25178167e-01 -3.23064578e-02 9.91608148e-01 2.87960773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.230888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.41, Y:6.63, Z:2.87 [[ 9.49968444e-01 -2.89425210e-01 -1.17443616e-01 3.34131203e+01] [ 2.87425552e-01 9.57199514e-01 -3.39947422e-02 6.63493231e+00] [ 1.22255907e-01 -1.46236374e-03 9.92497534e-01 2.86943344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.260888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.44, Y:6.65, Z:2.87 [[ 9.49908069e-01 -2.90630849e-01 -1.14927677e-01 3.34389607e+01] [ 2.88108274e-01 9.56829498e-01 -3.83527738e-02 6.64610681e+00] [ 1.21112690e-01 3.31999475e-03 9.92633212e-01 2.87045439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:33.46, Y:6.68, Z:2.84 [[ 0.94941214 -0.30027844 -0.09192084 33.45608041] [ 0.29447235 0.95297375 -0.07160348 6.67547739] [ 0.10909913 0.04091307 0.99318855 2.84289865] [ 0. 0. 0. 1. ]] SLAMing on 38.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.50, Y:6.65, Z:2.90 [[ 9.49064735e-01 -2.88425252e-01 -1.26834550e-01 3.34969318e+01] [ 2.90348097e-01 9.56914828e-01 -3.46326068e-03 6.64708019e+00] [ 1.22368753e-01 -3.35393117e-02 9.91917841e-01 2.89630405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:6.67, Z:2.88 [[ 9.49338300e-01 -2.92604240e-01 -1.14627879e-01 3.35196073e+01] [ 2.90104898e-01 9.56228626e-01 -3.82878900e-02 6.67103046e+00] [ 1.20813659e-01 3.09405114e-03 9.92670382e-01 2.88448553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.380888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:33.55, Y:6.68, Z:2.89 [[ 9.49347327e-01 -2.92523367e-01 -1.14759453e-01 3.35454668e+01] [ 2.90013444e-01 9.56253215e-01 -3.83665400e-02 6.68130786e+00] [ 1.20962206e-01 3.14138796e-03 9.92652143e-01 2.88694178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.57, Y:6.69, Z:2.89 [[ 9.49679638e-01 -2.91063686e-01 -1.15717394e-01 3.35704967e+01] [ 2.88496488e-01 9.56697678e-01 -3.87211696e-02 6.69276191e+00] [ 1.21976889e-01 3.38864464e-03 9.92527156e-01 2.88800111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.440888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.60, Y:6.70, Z:2.89 [[ 9.49863597e-01 -2.90258187e-01 -1.16229654e-01 3.35955126e+01] [ 2.87660022e-01 9.56941882e-01 -3.89094603e-02 6.70225817e+00] [ 1.22518813e-01 3.52405523e-03 9.92459934e-01 2.89049283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:6.71, Z:2.89 [[ 9.50030669e-01 -2.89707541e-01 -1.16237983e-01 3.36215521e+01] [ 2.87101729e-01 9.57108372e-01 -3.89379200e-02 6.71201255e+00] [ 1.22532956e-01 3.62009228e-03 9.92457843e-01 2.89370094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.500888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:6.72, Z:2.89 [[ 9.50282888e-01 -2.90897464e-01 -1.11090492e-01 3.36451267e+01] [ 2.87676743e-01 9.56699961e-01 -4.43539918e-02 6.72493916e+00] [ 1.19182733e-01 1.01906886e-02 9.92820037e-01 2.89077545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:33.67, Y:6.73, Z:2.90 [[ 9.50835847e-01 -2.86296050e-01 -1.18092185e-01 3.36741863e+01] [ 2.84367418e-01 9.58139159e-01 -3.32343882e-02 6.72941490e+00] [ 1.22663621e-01 -1.98112200e-03 9.92446327e-01 2.90363145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.560888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:33.70, Y:6.74, Z:2.90 [[ 9.51239148e-01 -2.85802172e-01 -1.16022418e-01 3.36984837e+01] [ 2.83167398e-01 9.58279472e-01 -3.89445504e-02 6.74182683e+00] [ 1.22312339e-01 4.19181475e-03 9.92482806e-01 2.90363646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.590888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:33.72, Y:6.76, Z:2.90 [[ 9.51604459e-01 -2.85860811e-01 -1.12838603e-01 3.37226369e+01] [ 2.82744728e-01 9.58228217e-01 -4.30592963e-02 6.75552263e+00] [ 1.20434098e-01 9.07089835e-03 9.92679881e-01 2.90254193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.620888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:33.75, Y:6.76, Z:2.91 [[ 9.52290937e-01 -2.81367378e-01 -1.18213242e-01 3.37500407e+01] [ 2.79170797e-01 9.59600034e-01 -3.50918898e-02 6.76177779e+00] [ 1.23311144e-01 4.16003656e-04 9.92367970e-01 2.91281712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:33.78, Y:6.77, Z:2.91 [[ 9.52436534e-01 -2.81076746e-01 -1.17730673e-01 3.37753692e+01] [ 2.78318323e-01 9.59672571e-01 -3.95912504e-02 6.77248643e+00] [ 1.24111077e-01 4.94155002e-03 9.92256026e-01 2.91457047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.680888479000004 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:33.80, Y:6.78, Z:2.92 [[ 9.52273583e-01 -2.81169202e-01 -1.18822994e-01 3.38017309e+01] [ 2.78356495e-01 9.59645177e-01 -3.99849485e-02 6.78170512e+00] [ 1.25270449e-01 5.00145799e-03 9.92110024e-01 2.91753535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710888479 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:33.83, Y:6.79, Z:2.92 [[ 9.52240698e-01 -2.80968622e-01 -1.19558715e-01 3.38282370e+01] [ 2.78114709e-01 9.59703436e-01 -4.02681486e-02 6.79180640e+00] [ 1.26054996e-01 5.09393284e-03 9.92010176e-01 2.92006092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.740888479 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:33.85, Y:6.80, Z:2.92 [[ 9.52303507e-01 -2.80782086e-01 -1.19496653e-01 3.38533490e+01] [ 2.77925005e-01 9.59757720e-01 -4.02841189e-02 6.80441919e+00] [ 1.25998894e-01 5.15159992e-03 9.92017006e-01 2.92180861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.770888479 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:33.88, Y:6.81, Z:2.92 [[ 9.52367573e-01 -2.80883440e-01 -1.18745522e-01 3.38792794e+01] [ 2.78058512e-01 9.59728121e-01 -4.00674099e-02 6.81463587e+00] [ 1.25217689e-01 5.14069869e-03 9.92115973e-01 2.92429806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.800888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:33.91, Y:6.82, Z:2.93 [[ 9.52389602e-01 -2.80820723e-01 -1.18717173e-01 3.39054823e+01] [ 2.77992036e-01 9.59746246e-01 -4.00945353e-02 6.82389244e+00] [ 1.25197738e-01 5.18318979e-03 9.92118270e-01 2.92801933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:33.93, Y:6.83, Z:2.93 [[ 9.52316805e-01 -2.81072178e-01 -1.18706080e-01 3.39323723e+01] [ 2.78241351e-01 9.59672624e-01 -4.01273539e-02 6.83308188e+00] [ 1.25197658e-01 5.18501336e-03 9.92118270e-01 2.93110727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.860888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:33.94, Y:6.87, Z:2.89 [[ 0.95175218 -0.29440339 -0.08657036 33.94312159] [ 0.28686764 0.9537628 -0.08968541 6.87277768] [ 0.10897127 0.06052405 0.99220064 2.89419094] [ 0. 0. 0. 1. ]] SLAMing on 38.890888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:33.99, Y:6.83, Z:2.96 [[ 9.51211004e-01 -2.76073449e-01 -1.37771828e-01 3.39910837e+01] [ 2.80125335e-01 9.59905429e-01 1.05529428e-02 6.83186769e+00] [ 1.29334538e-01 -4.86314547e-02 9.90407774e-01 2.96021557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.920888479 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:34.01, Y:6.86, Z:2.94 [[ 9.51520973e-01 -2.82980082e-01 -1.20540912e-01 3.40109706e+01] [ 2.80077920e-01 9.59112774e-01 -4.07313718e-02 6.86340138e+00] [ 1.27138495e-01 4.99590670e-03 9.91872393e-01 2.94165882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.950888479 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:34.04, Y:6.87, Z:2.94 [[ 9.51094991e-01 -2.84305860e-01 -1.20782847e-01 3.40373539e+01] [ 2.81400152e-01 9.58721380e-01 -4.08322186e-02 6.87387175e+00] [ 1.27405937e-01 4.84700701e-03 9.91838814e-01 2.94447892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.980888479 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:34.06, Y:6.88, Z:2.95 [[ 9.50228377e-01 -2.86739051e-01 -1.21847233e-01 3.40631375e+01] [ 2.83797004e-01 9.57997704e-01 -4.12269170e-02 6.88164173e+00] [ 1.28550737e-01 4.59510672e-03 9.91692288e-01 2.94796163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:34.09, Y:6.89, Z:2.95 [[ 9.49770324e-01 -2.88380441e-01 -1.21544448e-01 3.40895951e+01] [ 2.85463902e-01 9.57505890e-01 -4.11440342e-02 6.88906361e+00] [ 1.28244659e-01 4.38083049e-03 9.91732885e-01 2.95247091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.040888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:34.12, Y:6.90, Z:2.96 [[ 9.49478166e-01 -2.89658903e-01 -1.20784651e-01 3.41161704e+01] [ 2.86784261e-01 9.57120643e-01 -4.09250814e-02 6.89691684e+00] [ 1.27459797e-01 4.21833437e-03 9.91834767e-01 2.95734280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070888479 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:34.13, Y:6.95, Z:2.90 [[ 0.9487936 -0.30710654 -0.0740019 34.12524402] [ 0.29816412 0.94799762 -0.11134929 6.95040717] [ 0.10434972 0.08358278 0.99102223 2.90273953] [ 0. 0. 0. 1. ]] SLAMing on 39.100888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:34.18, Y:6.89, Z:2.99 [[ 9.48161347e-01 -2.82755271e-01 -1.45050049e-01 3.41775357e+01] [ 2.90318859e-01 9.56343716e-01 3.34911563e-02 6.88764931e+00] [ 1.29247902e-01 -7.38657847e-02 9.88857333e-01 2.99452204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130888479 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:34.20, Y:6.93, Z:2.97 [[ 9.48734213e-01 -2.92020961e-01 -1.20942763e-01 3.41968120e+01] [ 2.89153026e-01 9.56403794e-01 -4.10159864e-02 6.92806580e+00] [ 1.27647645e-01 3.94230387e-03 9.91811745e-01 2.96544125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.160888479 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:34.21, Y:6.98, Z:2.91 [[ 0.94844282 -0.30876825 -0.0715429 34.20565263] [ 0.29947463 0.94693867 -0.11671372 6.98415895] [ 0.10378423 0.08927101 0.99058544 2.90624797] [ 0. 0. 0. 1. ]] SLAMing on 39.190888479 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:34.25, Y:6.92, Z:2.99 [[ 9.48061346e-01 -2.86591805e-01 -1.38002975e-01 3.42536444e+01] [ 2.93007718e-01 9.55693313e-01 2.82270756e-02 6.91923997e+00] [ 1.23798871e-01 -6.71969360e-02 9.90029500e-01 2.99065315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.220888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:34.28, Y:6.95, Z:2.97 [[ 9.48484490e-01 -2.95107860e-01 -1.15275861e-01 3.42752383e+01] [ 2.92885556e-01 9.55463800e-01 -3.61521489e-02 6.95434906e+00] [ 1.20810696e-01 5.27117786e-04 9.92675424e-01 2.96788741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250888479000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:34.30, Y:6.96, Z:2.97 [[ 9.48486090e-01 -2.95577252e-01 -1.14053602e-01 3.43005317e+01] [ 2.92976401e-01 9.55310979e-01 -3.93161878e-02 6.96390779e+00] [ 1.20577629e-01 3.87584334e-03 9.92696335e-01 2.97025855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.280888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:34.33, Y:6.97, Z:2.97 [[ 9.48425046e-01 -2.96325308e-01 -1.12611027e-01 3.43264275e+01] [ 2.93793300e-01 9.55079713e-01 -3.88360441e-02 6.97367015e+00] [ 1.19060610e-01 3.74871179e-03 9.92879911e-01 2.97381400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:34.35, Y:6.98, Z:2.98 [[ 9.48333448e-01 -2.97171567e-01 -1.11142837e-01 3.43530233e+01] [ 2.94707317e-01 9.54817214e-01 -3.83625433e-02 6.98342143e+00] [ 1.17521352e-01 3.62587561e-03 9.93063737e-01 2.97711453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.340888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.38, Y:6.99, Z:2.98 [[ 9.48251395e-01 -2.97998814e-01 -1.09617511e-01 3.43790469e+01] [ 2.95603569e-01 9.54559799e-01 -3.78697816e-02 6.99249665e+00] [ 1.15921619e-01 3.50674586e-03 9.93252174e-01 2.98031092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.370888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:34.41, Y:7.00, Z:2.98 [[ 9.48122152e-01 -2.98740179e-01 -1.08713798e-01 3.44057338e+01] [ 2.96385340e-01 9.54328354e-01 -3.75915187e-02 7.00141410e+00] [ 1.14978757e-01 3.42017560e-03 9.93362063e-01 2.98353845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.400888479 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:34.43, Y:7.01, Z:2.99 [[ 9.47945877e-01 -2.99164283e-01 -1.09084127e-01 3.44307908e+01] [ 2.96792326e-01 9.54195521e-01 -3.77521163e-02 7.01080746e+00] [ 1.15381670e-01 3.41163119e-03 9.93315373e-01 2.98538226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430888479000004 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:34.46, Y:7.02, Z:2.99 [[ 9.47848873e-01 -2.99500301e-01 -1.09004974e-01 3.44566980e+01] [ 2.97132033e-01 9.54090202e-01 -3.77417627e-02 7.02054270e+00] [ 1.15304247e-01 3.38461756e-03 9.93324456e-01 2.98753218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.460888479 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:34.48, Y:7.03, Z:2.99 [[ 9.47728559e-01 -2.99780048e-01 -1.09281756e-01 3.44819801e+01] [ 2.97397840e-01 9.54002323e-01 -3.78694115e-02 7.02967258e+00] [ 1.15607543e-01 3.38976461e-03 9.93289185e-01 2.98984668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.51, Y:7.04, Z:2.99 [[ 9.47101074e-01 -3.00939294e-01 -1.11512762e-01 3.45082290e+01] [ 2.98464316e-01 9.53637476e-01 -3.86602768e-02 7.03861236e+00] [ 1.17977146e-01 3.33260926e-03 9.93010718e-01 2.99296203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.520888479 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:34.53, Y:7.05, Z:3.00 [[ 9.46801520e-01 -3.01522698e-01 -1.12476420e-01 3.45341742e+01] [ 2.99004842e-01 9.53453221e-01 -3.90263888e-02 7.04721753e+00] [ 1.19008347e-01 3.31925004e-03 9.92887706e-01 2.99556667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.550888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:34.56, Y:7.06, Z:3.00 [[ 9.46406592e-01 -3.02485653e-01 -1.13212159e-01 3.45604829e+01] [ 2.99939316e-01 9.53148443e-01 -3.92995201e-02 7.05637510e+00] [ 1.19795534e-01 3.23654737e-03 9.92793309e-01 2.99863753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.580888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:34.59, Y:7.06, Z:3.00 [[ 9.46033031e-01 -3.03557619e-01 -1.13464871e-01 3.45865102e+01] [ 3.01003383e-01 9.52807907e-01 -3.94215126e-02 7.06488836e+00] [ 1.20076927e-01 3.14074293e-03 9.92759622e-01 3.00232815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610888479 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:34.61, Y:7.07, Z:3.01 [[ 9.45998214e-01 -3.03812121e-01 -1.13073314e-01 3.46130992e+01] [ 3.01273236e-01 9.52726821e-01 -3.93197396e-02 7.07341270e+00] [ 1.19673792e-01 3.13044033e-03 9.92808332e-01 3.00538908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.640888479 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:34.64, Y:7.08, Z:3.01 [[ 9.46008920e-01 -3.04059711e-01 -1.12315694e-01 3.46397956e+01] [ 3.01552536e-01 9.52647897e-01 -3.90903100e-02 7.08205772e+00] [ 1.18883098e-01 3.11069964e-03 9.92903385e-01 3.00863408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670888479 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:34.67, Y:7.09, Z:3.01 [[ 9.46077117e-01 -3.04146124e-01 -1.11504366e-01 3.46654635e+01] [ 3.01671901e-01 9.52620319e-01 -3.88405895e-02 7.09055662e+00] [ 1.18034539e-01 3.10845893e-03 9.93004625e-01 3.01211020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.700888479 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:34.69, Y:7.10, Z:3.02 [[ 9.46344408e-01 -3.03790758e-01 -1.10197259e-01 3.46914080e+01] [ 3.01370002e-01 9.52733628e-01 -3.84025477e-02 7.09976668e+00] [ 1.16654974e-01 3.13188802e-03 9.93167563e-01 3.01527808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.730888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:34.72, Y:7.11, Z:3.02 [[ 9.47091094e-01 -3.02217412e-01 -1.08088371e-01 3.47175943e+01] [ 2.99874816e-01 9.53233337e-01 -3.77001215e-02 7.11015878e+00] [ 1.14427071e-01 3.29246902e-03 9.93426195e-01 3.01687698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.760888479 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:34.74, Y:7.12, Z:3.02 [[ 9.47318281e-01 -3.01173389e-01 -1.09007636e-01 3.47429277e+01] [ 2.98780036e-01 9.53563049e-01 -3.80526155e-02 7.11928287e+00] [ 1.15406089e-01 3.47863304e-03 9.93312304e-01 3.01925911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790888479 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:34.77, Y:7.13, Z:3.02 [[ 9.47598911e-01 -2.99874678e-01 -1.10143003e-01 3.47693607e+01] [ 2.97420241e-01 9.53971461e-01 -3.84662485e-02 7.12772748e+00] [ 1.16608335e-01 3.69181675e-03 9.93171117e-01 3.02223486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.820888479 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:34.80, Y:7.13, Z:3.03 [[ 9.48432468e-01 -2.97000314e-01 -1.10754991e-01 3.47950989e+01] [ 2.94495050e-01 9.54868582e-01 -3.87124875e-02 7.13367176e+00] [ 1.17254082e-01 4.09938331e-03 9.93093488e-01 3.02702546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:34.82, Y:7.14, Z:3.03 [[ 9.48799498e-01 -2.96040293e-01 -1.10180112e-01 3.48219576e+01] [ 2.93552608e-01 9.55166164e-01 -3.85287691e-02 7.14188656e+00] [ 1.16646383e-01 4.21241754e-03 9.93164577e-01 3.03087800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.880888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:34.85, Y:7.15, Z:3.03 [[ 9.48993653e-01 -2.95184850e-01 -1.10801402e-01 3.48489403e+01] [ 2.92659068e-01 9.55430145e-01 -3.87802534e-02 7.15038133e+00] [ 1.17310342e-01 4.37517941e-03 9.93085667e-01 3.03470734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.910888479 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:34.87, Y:7.16, Z:3.04 [[ 9.49385993e-01 -2.93636894e-01 -1.11550931e-01 3.48741167e+01] [ 2.91062222e-01 9.55905827e-01 -3.90747157e-02 7.15945934e+00] [ 1.18105963e-01 4.62872584e-03 9.92990210e-01 3.03611644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.940888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.90, Y:7.17, Z:3.04 [[ 9.49392526e-01 -2.93856220e-01 -1.10915977e-01 3.48999009e+01] [ 2.91310358e-01 9.55838606e-01 -3.88694492e-02 7.16998854e+00] [ 1.17439802e-01 4.59139165e-03 9.93069389e-01 3.03817625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970888479 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:34.93, Y:7.18, Z:3.04 [[ 9.49534197e-01 -2.94072380e-01 -1.09115739e-01 3.49263853e+01] [ 2.91606466e-01 9.55772461e-01 -3.82710204e-02 7.17997555e+00] [ 1.15544269e-01 4.52078755e-03 9.93292044e-01 3.04017338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.000888479000004 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:34.95, Y:7.19, Z:3.04 [[ 9.49433801e-01 -2.94727091e-01 -1.08219218e-01 3.49531753e+01] [ 2.92302120e-01 9.55571172e-01 -3.79895454e-02 7.18879003e+00] [ 1.14607713e-01 4.43585177e-03 9.93400924e-01 3.04262484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030888479 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:34.98, Y:7.20, Z:3.05 [[ 9.49229632e-01 -2.95520113e-01 -1.07846970e-01 3.49797267e+01] [ 2.93113147e-01 9.55326583e-01 -3.78919830e-02 7.19615906e+00] [ 1.14226920e-01 4.35682840e-03 9.93445131e-01 3.04615641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.060888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.01, Y:7.20, Z:3.05 [[ 9.48758005e-01 -2.97180070e-01 -1.07434884e-01 3.50077452e+01] [ 2.94798320e-01 9.54812334e-01 -3.77803815e-02 7.20100114e+00] [ 1.13807729e-01 4.17281602e-03 9.93494030e-01 3.05233206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.090888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.03, Y:7.21, Z:3.06 [[ 9.48579274e-01 -2.97870153e-01 -1.07101512e-01 3.50339143e+01] [ 2.95503805e-01 9.54597553e-01 -3.76963335e-02 7.20959527e+00] [ 1.13467454e-01 4.10905647e-03 9.93533217e-01 3.05538055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.120888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.06, Y:7.22, Z:3.06 [[ 9.48320083e-01 -2.98915037e-01 -1.06483900e-01 3.50598747e+01] [ 2.96578836e-01 9.54271378e-01 -3.75117559e-02 7.22009395e+00] [ 1.12827366e-01 3.99228029e-03 9.93606586e-01 3.05649766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:35.09, Y:7.23, Z:3.06 [[ 9.48086442e-01 -2.99281972e-01 -1.07528598e-01 3.50852100e+01] [ 2.96898102e-01 9.54156248e-01 -3.79126881e-02 7.22876726e+00] [ 1.13945667e-01 4.01946909e-03 9.93478852e-01 3.05898151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.180888479000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:35.11, Y:7.24, Z:3.06 [[ 9.47989699e-01 -2.99457168e-01 -1.07893164e-01 3.51118798e+01] [ 2.97055405e-01 9.54101211e-01 -3.80652683e-02 7.23756411e+00] [ 1.14339916e-01 4.03523450e-03 9.93433491e-01 3.06135606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.14, Y:7.25, Z:3.06 [[ 9.48061786e-01 -2.99281340e-01 -1.07747522e-01 3.51383486e+01] [ 2.96881189e-01 9.54156179e-01 -3.80466233e-02 7.24623008e+00] [ 1.14194609e-01 4.08233709e-03 9.93450012e-01 3.06408249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.240888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:35.16, Y:7.25, Z:3.07 [[ 9.48301410e-01 -2.98065017e-01 -1.09003131e-01 3.51642773e+01] [ 2.95596543e-01 9.54535838e-01 -3.85229497e-02 7.25327018e+00] [ 1.15529738e-01 4.31041891e-03 9.93294669e-01 3.06719519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.270888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:35.18, Y:7.28, Z:3.04 [[ 0.94850135 -0.30396381 -0.08916942 35.18469368] [ 0.29837214 0.95182054 -0.07079355 7.28000707] [ 0.10639196 0.04054211 0.9934974 3.04129879] [ 0. 0. 0. 1. ]] SLAMing on 40.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.22, Y:7.26, Z:3.09 [[ 9.48255976e-01 -2.92973952e-01 -1.22380015e-01 3.52207210e+01] [ 2.94604468e-01 9.55606393e-01 -4.96269578e-03 7.25724814e+00] [ 1.18401065e-01 -3.13477931e-02 9.92470908e-01 3.08640007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:35.24, Y:7.28, Z:3.07 [[ 9.48720072e-01 -2.96140576e-01 -1.10593781e-01 3.52425868e+01] [ 2.93580927e-01 9.55133022e-01 -3.91299125e-02 7.28114264e+00] [ 1.17219727e-01 4.65510866e-03 9.93095094e-01 3.07374138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.360888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.27, Y:7.29, Z:3.08 [[ 9.49224309e-01 -2.94989746e-01 -1.09335543e-01 3.52693615e+01] [ 2.92477801e-01 9.55488535e-01 -3.87091183e-02 7.29012046e+00] [ 1.15887651e-01 4.76541674e-03 9.93250896e-01 3.07656875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.30, Y:7.30, Z:3.08 [[ 9.49243005e-01 -2.95064429e-01 -1.08971094e-01 3.52958533e+01] [ 2.92565935e-01 9.55465443e-01 -3.86129693e-02 7.29727338e+00] [ 1.15511428e-01 4.77186097e-03 9.93294689e-01 3.08087576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.32, Y:7.30, Z:3.09 [[ 9.49266465e-01 -2.95321327e-01 -1.08067069e-01 3.53221115e+01] [ 2.92862323e-01 9.55386274e-01 -3.83239806e-02 7.30412320e+00] [ 1.14563683e-01 4.73089681e-03 9.93404641e-01 3.08558895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.450888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.35, Y:7.31, Z:3.09 [[ 9.49447461e-01 -2.95014326e-01 -1.07312933e-01 3.53479138e+01] [ 2.92585977e-01 9.55481029e-01 -3.80716388e-02 7.31048956e+00] [ 1.13767150e-01 4.74876158e-03 9.93496092e-01 3.09032769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.480888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:35.37, Y:7.32, Z:3.09 [[ 9.49580350e-01 -2.94817025e-01 -1.06677459e-01 3.53744073e+01] [ 2.92413617e-01 9.55541840e-01 -3.78690899e-02 7.32001480e+00] [ 1.13099228e-01 4.76580194e-03 9.93572268e-01 3.09243202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.40, Y:7.33, Z:3.09 [[ 9.49695734e-01 -2.94459963e-01 -1.06636498e-01 3.54008654e+01] [ 2.92052391e-01 9.55651568e-01 -3.78877427e-02 7.32981053e+00] [ 1.13063760e-01 4.83838332e-03 9.93575954e-01 3.09479410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.540888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.43, Y:7.34, Z:3.10 [[ 9.49993764e-01 -2.93691591e-01 -1.06099469e-01 3.54261388e+01] [ 2.91299952e-01 9.55887490e-01 -3.77285552e-02 7.33918955e+00] [ 1.12499714e-01 4.93512201e-03 9.93639501e-01 3.09679665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.45, Y:7.35, Z:3.10 [[ 9.50786520e-01 -2.91532451e-01 -1.04946768e-01 3.54520830e+01] [ 2.89178015e-01 9.56547090e-01 -3.73328268e-02 7.34803757e+00] [ 1.11270256e-01 5.14725047e-03 9.93776854e-01 3.09907176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.48, Y:7.36, Z:3.10 [[ 9.51015627e-01 -2.90800931e-01 -1.04900410e-01 3.54774993e+01] [ 2.88442597e-01 9.56769209e-01 -3.73302597e-02 7.35654581e+00] [ 1.11221157e-01 5.24391354e-03 9.93781845e-01 3.10201792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.50, Y:7.37, Z:3.10 [[ 9.51210512e-01 -2.90240270e-01 -1.04685951e-01 3.55036535e+01] [ 2.87886542e-01 9.56939056e-01 -3.72690371e-02 7.36509581e+00] [ 1.10995050e-01 5.31302343e-03 9.93806757e-01 3.10477878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.53, Y:7.37, Z:3.11 [[ 9.51251883e-01 -2.89994774e-01 -1.04989935e-01 3.55303638e+01] [ 2.87622115e-01 9.57013055e-01 -3.74103087e-02 7.37320624e+00] [ 1.11325533e-01 5.38919934e-03 9.93769381e-01 3.10826626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:35.56, Y:7.38, Z:3.11 [[ 9.51163781e-01 -2.90140177e-01 -1.05385667e-01 3.55553293e+01] [ 2.87746829e-01 9.56968790e-01 -3.75832150e-02 7.38193018e+00] [ 1.11755195e-01 5.42340125e-03 9.93720968e-01 3.11076005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.720888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.58, Y:7.39, Z:3.11 [[ 9.51013338e-01 -2.90503143e-01 -1.05742873e-01 3.55814037e+01] [ 2.88093892e-01 9.56858717e-01 -3.77267086e-02 7.39089214e+00] [ 1.12140717e-01 5.41472712e-03 9.93677584e-01 3.11319867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750888479000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.61, Y:7.40, Z:3.12 [[ 9.50938399e-01 -2.90752151e-01 -1.05732436e-01 3.56081545e+01] [ 2.88341189e-01 9.56783072e-01 -3.77559396e-02 7.40054569e+00] [ 1.12140625e-01 5.41655650e-03 9.93677584e-01 3.11613012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.63, Y:7.41, Z:3.12 [[ 9.50798894e-01 -2.91025419e-01 -1.06234024e-01 3.56345339e+01] [ 2.88589566e-01 9.56699852e-01 -3.79665081e-02 7.40911461e+00] [ 1.12683293e-01 5.44048313e-03 9.93616061e-01 3.11897419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:35.66, Y:7.42, Z:3.12 [[ 9.50342726e-01 -2.92463949e-01 -1.06365132e-01 3.56599905e+01] [ 2.90027437e-01 9.56261824e-01 -3.80448369e-02 7.41712888e+00] [ 1.12839658e-01 5.30682739e-03 9.93599038e-01 3.12170931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.840888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:35.69, Y:7.43, Z:3.12 [[ 9.50100337e-01 -2.93309263e-01 -1.06202757e-01 3.56866317e+01] [ 2.90883656e-01 9.56003396e-01 -3.80026990e-02 7.42658412e+00] [ 1.12676740e-01 5.21373098e-03 9.93618020e-01 3.12413467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.870888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.71, Y:7.44, Z:3.13 [[ 9.49807737e-01 -2.94248027e-01 -1.06223169e-01 3.57118754e+01] [ 2.91823684e-01 9.55715302e-01 -3.80420665e-02 7.43539414e+00] [ 1.12712911e-01 5.13421265e-03 9.93614331e-01 3.12643470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.900888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:35.74, Y:7.44, Z:3.13 [[ 9.49171093e-01 -2.95693241e-01 -1.07887644e-01 3.57383094e+01] [ 2.93198644e-01 9.55269526e-01 -3.86611927e-02 7.44253410e+00] [ 1.14493632e-01 5.06357573e-03 9.93411077e-01 3.12918242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930888479000004 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:35.76, Y:7.45, Z:3.13 [[ 9.48779346e-01 -2.96686191e-01 -1.08605046e-01 3.57634547e+01] [ 2.94162122e-01 9.54961949e-01 -3.89399758e-02 7.45085788e+00] [ 1.15266640e-01 4.99795388e-03 9.93322013e-01 3.13152104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.960888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:35.79, Y:7.46, Z:3.13 [[ 9.48433325e-01 -2.97779264e-01 -1.08635800e-01 3.57903444e+01] [ 2.95258996e-01 9.54622268e-01 -3.89673145e-02 7.46030044e+00] [ 1.15309812e-01 4.88220242e-03 9.93317578e-01 3.13382845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:35.81, Y:7.49, Z:3.10 [[ 0.9474685 -0.30824376 -0.08537698 35.80845019] [ 0.30276868 0.95039217 -0.0713151 7.48954721] [ 0.10312405 0.04171933 0.9937932 3.10492304] [ 0. 0. 0. 1. ]] SLAMing on 41.020888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.85, Y:7.46, Z:3.16 [[ 9.47114123e-01 -2.97712820e-01 -1.19757729e-01 3.58479517e+01] [ 2.99419521e-01 9.54113577e-01 -3.90276702e-03 7.46309657e+00] [ 1.15424379e-01 -3.21614362e-02 9.92795475e-01 3.15642726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.86, Y:7.51, Z:3.11 [[ 0.94667316 -0.31162199 -0.08186365 35.86201122] [ 0.30607301 0.94915695 -0.07362338 7.50736819] [ 0.10064412 0.04464103 0.99392049 3.11053115] [ 0. 0. 0. 1. ]] SLAMing on 41.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.90, Y:7.48, Z:3.17 [[ 9.46049377e-01 -3.01853025e-01 -1.17793579e-01 3.59029615e+01] [ 3.03994969e-01 9.52673610e-01 2.27860277e-04 7.47740398e+00] [ 1.12150054e-01 -3.60242226e-02 9.93038076e-01 3.16692120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.92, Y:7.52, Z:3.12 [[ 0.94588659 -0.3138196 -0.08255799 35.92046219] [ 0.30894563 0.94873902 -0.06668492 7.52053311] [ 0.09925302 0.03757045 0.9943527 3.12416309] [ 0. 0. 0. 1. ]] SLAMing on 41.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.96, Y:7.50, Z:3.17 [[ 9.45678095e-01 -3.04553693e-01 -1.13754070e-01 3.59550232e+01] [ 3.06044890e-01 9.52006231e-01 -4.54546196e-03 7.49929457e+00] [ 1.09678921e-01 -3.05153081e-02 9.93498541e-01 3.16987002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.98, Y:7.52, Z:3.16 [[ 9.45651978e-01 -3.08011319e-01 -1.04265831e-01 3.59789049e+01] [ 3.05742118e-01 9.51375979e-01 -3.74900521e-02 7.52154780e+00] [ 1.10743368e-01 3.57408578e-03 9.93842609e-01 3.15791174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.200888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:36.01, Y:7.53, Z:3.16 [[ 9.45503107e-01 -3.07993617e-01 -1.05658914e-01 3.60058068e+01] [ 3.05659245e-01 9.51381396e-01 -3.80245387e-02 7.52974104e+00] [ 1.12233240e-01 3.65669575e-03 9.93675162e-01 3.16184492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.230888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:36.03, Y:7.56, Z:3.14 [[ 0.94558447 -0.31402481 -0.08519643 36.02774736] [ 0.30880497 0.94861235 -0.06909482 7.55605673] [ 0.10251587 0.03902591 0.99396553 3.13690711] [ 0. 0. 0. 1. ]] SLAMing on 41.260888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:36.06, Y:7.53, Z:3.18 [[ 9.45083939e-01 -3.04519231e-01 -1.18677660e-01 3.60624729e+01] [ 3.06124291e-01 9.51978891e-01 -4.91018085e-03 7.53429418e+00] [ 1.14473871e-01 -3.16895814e-02 9.92920693e-01 3.18434166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.08, Y:7.56, Z:3.17 [[ 9.45114899e-01 -3.09012162e-01 -1.06157016e-01 3.60839757e+01] [ 3.06654423e-01 9.51051209e-01 -3.82709135e-02 7.55806847e+00] [ 1.12786936e-01 3.61689193e-03 9.93612613e-01 3.17137270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.320888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:36.10, Y:7.59, Z:3.15 [[ 0.94448871 -0.316965 -0.08645384 36.1043175 ] [ 0.31191401 0.94773832 -0.06709489 7.58524573] [ 0.10320235 0.0364042 0.99399397 3.14560859] [ 0. 0. 0. 1. ]] SLAMing on 41.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.14, Y:7.56, Z:3.19 [[ 9.43807687e-01 -3.08979916e-01 -1.17296467e-01 3.61400190e+01] [ 3.10302731e-01 9.50609960e-01 -7.27458154e-03 7.56493964e+00] [ 1.13750889e-01 -2.95316079e-02 9.93070299e-01 3.19046427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.380888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.16, Y:7.58, Z:3.18 [[ 9.42443003e-01 -3.16674354e-01 -1.07324461e-01 3.61644583e+01] [ 3.14308052e-01 9.48530252e-01 -3.87402925e-02 7.58224583e+00] [ 1.14068555e-01 2.77757525e-03 9.93468998e-01 3.18268952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.410888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:36.19, Y:7.59, Z:3.19 [[ 9.41615584e-01 -3.19042282e-01 -1.07573763e-01 3.61915224e+01] [ 3.16676432e-01 9.47737109e-01 -3.88639925e-02 7.58993682e+00] [ 1.14350904e-01 2.52886542e-03 9.93437203e-01 3.18712061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.440888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:36.21, Y:7.62, Z:3.15 [[ 0.94046256 -0.33053594 -0.07922222 36.20769025] [ 0.3247516 0.94260876 -0.07762163 7.62255741] [ 0.1003323 0.0472727 0.99383033 3.1521419 ] [ 0. 0. 0. 1. ]] SLAMing on 41.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.25, Y:7.59, Z:3.21 [[ 9.40311583e-01 -3.18349337e-01 -1.20282280e-01 3.62487687e+01] [ 3.21103780e-01 9.47036652e-01 3.73383209e-03 7.59352207e+00] [ 1.12723065e-01 -4.21340604e-02 9.92732709e-01 3.21286094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.500888479000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.27, Y:7.62, Z:3.20 [[ 9.40379753e-01 -3.23857312e-01 -1.03934413e-01 3.62710954e+01] [ 3.21674763e-01 9.46104007e-01 -3.75839594e-02 7.62097060e+00] [ 1.10504605e-01 1.91011680e-03 9.93873777e-01 3.19646859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.30, Y:7.63, Z:3.20 [[ 9.40492840e-01 -3.23888477e-01 -1.02807943e-01 3.62959222e+01] [ 3.21749911e-01 9.46093329e-01 -3.72076301e-02 7.63036539e+00] [ 1.09317031e-01 1.91506331e-03 9.94005090e-01 3.19967949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.560888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:36.32, Y:7.64, Z:3.20 [[ 9.40524016e-01 -3.23853280e-01 -1.02633462e-01 3.63221405e+01] [ 3.21720195e-01 9.46105348e-01 -3.71589374e-02 7.64031142e+00] [ 1.09136111e-01 1.92961568e-03 9.94024942e-01 3.20345485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.590888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.35, Y:7.65, Z:3.21 [[ 9.40903540e-01 -3.22768487e-01 -1.02572081e-01 3.63485342e+01] [ 3.20627985e-01 9.46475650e-01 -3.71690527e-02 7.65016741e+00] [ 1.09078976e-01 2.08501369e-03 9.94030900e-01 3.20674192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.37, Y:7.66, Z:3.21 [[ 9.41093771e-01 -3.21997831e-01 -1.03246843e-01 3.63739011e+01] [ 3.19820787e-01 9.46737804e-01 -3.74458792e-02 7.65981610e+00] [ 1.09805182e-01 2.21959706e-03 9.93950650e-01 3.20961328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.40, Y:7.67, Z:3.21 [[ 9.41125265e-01 -3.21711482e-01 -1.03850651e-01 3.63996642e+01] [ 3.19505375e-01 9.46835001e-01 -3.76801684e-02 7.67002416e+00] [ 1.10451574e-01 2.28091735e-03 9.93878890e-01 3.21250316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.680888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:7.68, Z:3.22 [[ 9.41226312e-01 -3.21311604e-01 -1.04172369e-01 3.64257567e+01] [ 3.19085606e-01 9.46970565e-01 -3.78302162e-02 7.68077477e+00] [ 1.10803455e-01 2.36689143e-03 9.93839520e-01 3.21551517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.45, Y:7.69, Z:3.22 [[ 9.41660573e-01 -3.19953415e-01 -1.04427860e-01 3.64508798e+01] [ 3.17704406e-01 9.47429805e-01 -3.79562346e-02 7.69236857e+00] [ 1.11082294e-01 2.56469831e-03 9.93807902e-01 3.21793468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.740888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:36.48, Y:7.70, Z:3.22 [[ 9.41702585e-01 -3.19770337e-01 -1.04609621e-01 3.64769973e+01] [ 3.17508645e-01 9.47491454e-01 -3.80552998e-02 7.70330008e+00] [ 1.11285678e-01 2.62231513e-03 9.93784998e-01 3.22103283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.770888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:36.50, Y:7.71, Z:3.22 [[ 9.41775991e-01 -3.19654769e-01 -1.04301541e-01 3.65022693e+01] [ 3.17402169e-01 9.47530349e-01 -3.79750099e-02 7.71328212e+00] [ 1.10967769e-01 2.65841709e-03 9.93820450e-01 3.22433891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.800888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:36.53, Y:7.72, Z:3.23 [[ 9.41832904e-01 -3.19679142e-01 -1.03711264e-01 3.65278969e+01] [ 3.17450548e-01 9.47522137e-01 -3.77749899e-02 7.72373433e+00] [ 1.10344595e-01 2.65453075e-03 9.93889845e-01 3.22811729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:36.55, Y:7.73, Z:3.23 [[ 9.41718105e-01 -3.19828601e-01 -1.04291308e-01 3.65542988e+01] [ 3.17572196e-01 9.47471618e-01 -3.80188540e-02 7.73397996e+00] [ 1.10972571e-01 2.68302338e-03 9.93819848e-01 3.23072618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.860888479 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:36.58, Y:7.74, Z:3.23 [[ 9.41532775e-01 -3.20338907e-01 -1.04398362e-01 3.65798975e+01] [ 3.18077254e-01 9.47299278e-01 -3.80911769e-02 7.74430629e+00] [ 1.11098579e-01 2.65734720e-03 9.93805838e-01 3.23353223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:36.60, Y:7.76, Z:3.24 [[ 9.41475491e-01 -3.21327798e-01 -1.01844712e-01 3.66049765e+01] [ 3.19178120e-01 9.46964707e-01 -3.71910036e-02 7.75624407e+00] [ 1.08393851e-01 2.50781467e-03 9.94104866e-01 3.23620126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.920888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.63, Y:7.77, Z:3.24 [[ 9.41377676e-01 -3.22109569e-01 -1.00267127e-01 3.66307176e+01] [ 3.20027230e-01 9.46699328e-01 -3.66463334e-02 7.76699868e+00] [ 1.06726957e-01 2.40982911e-03 9.94285447e-01 3.23874704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.950888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:36.66, Y:7.78, Z:3.24 [[ 9.41128828e-01 -3.22983769e-01 -9.97898443e-02 3.66554669e+01] [ 3.20922808e-01 9.46401637e-01 -3.65033321e-02 7.77699871e+00] [ 1.06231256e-01 2.32950116e-03 9.94338722e-01 3.24189402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.68, Y:7.80, Z:3.22 [[ 9.40364260e-01 -3.29540385e-01 -8.43693824e-02 3.66755292e+01] [ 3.25745173e-01 9.43811570e-01 -5.57655964e-02 7.80029930e+00] [ 9.80058153e-02 2.49570547e-02 9.94872859e-01 3.22275814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:7.79, Z:3.26 [[ 9.40866935e-01 -3.21312452e-01 -1.07367213e-01 3.67108503e+01] [ 3.21562408e-01 9.46762294e-01 -1.54523556e-02 7.78901659e+00] [ 1.06616263e-01 -1.99866491e-02 9.94099344e-01 3.25873900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.040888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:36.73, Y:7.81, Z:3.25 [[ 9.40939628e-01 -3.23361901e-01 -1.00347879e-01 3.67344904e+01] [ 3.21275243e-01 9.46272477e-01 -3.67507447e-02 7.80798062e+00] [ 1.06840226e-01 2.34094292e-03 9.94273446e-01 3.25219971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:36.76, Y:7.82, Z:3.25 [[ 9.40887702e-01 -3.23358503e-01 -1.00844493e-01 3.67600120e+01] [ 3.21247619e-01 9.46273533e-01 -3.69644239e-02 7.81851238e+00] [ 1.07379235e-01 2.38331872e-03 9.94215278e-01 3.25421049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.79, Y:7.83, Z:3.26 [[ 9.40878782e-01 -3.23134805e-01 -1.01641602e-01 3.67860887e+01] [ 3.20985485e-01 9.46349751e-01 -3.72889658e-02 7.82883418e+00] [ 1.08237868e-01 2.45891772e-03 9.94121983e-01 3.25719427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.81, Y:7.84, Z:3.26 [[ 9.41016804e-01 -3.22055715e-01 -1.03766526e-01 3.68104521e+01] [ 3.19805096e-01 9.46716955e-01 -3.81012720e-02 7.83930775e+00] [ 1.10508262e-01 2.66887337e-03 9.93871622e-01 3.26009753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.160888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:36.84, Y:7.85, Z:3.26 [[ 9.40957062e-01 -3.22086994e-01 -1.04210250e-01 3.68359728e+01] [ 3.19814663e-01 9.46706230e-01 -3.82870063e-02 7.85065602e+00] [ 1.10988240e-01 2.69846287e-03 9.93818056e-01 3.26168206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.190888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:36.86, Y:7.86, Z:3.26 [[ 9.41306928e-01 -3.20922858e-01 -1.04641230e-01 3.68614625e+01] [ 3.18620831e-01 9.47100963e-01 -3.84776810e-02 7.86385836e+00] [ 1.11454177e-01 2.87843193e-03 9.93765405e-01 3.26182792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.220888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:36.88, Y:7.89, Z:3.23 [[ 0.9409498 -0.32832226 -0.08257098 36.87890403] [ 0.32313715 0.94374477 -0.07020114 7.8949689 ] [ 0.10097453 0.03937399 0.99410957 3.23366306] [ 0. 0. 0. 1. ]] SLAMing on 42.250888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:36.92, Y:7.87, Z:3.28 [[ 9.41717485e-01 -3.15258455e-01 -1.17389460e-01 3.69178104e+01] [ 3.16907962e-01 9.48443987e-01 -4.83192867e-03 7.86989545e+00] [ 1.12860634e-01 -3.26513427e-02 9.93074200e-01 3.28361853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.280888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:36.94, Y:7.89, Z:3.27 [[ 9.42402815e-01 -3.17663882e-01 -1.04721496e-01 3.69393450e+01] [ 3.15333919e-01 9.48197630e-01 -3.85457318e-02 7.89239955e+00] [ 1.11541261e-01 3.30336640e-03 9.93754313e-01 3.27264690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.97, Y:7.90, Z:3.28 [[ 9.42775275e-01 -3.16530158e-01 -1.04801912e-01 3.69651880e+01] [ 3.14187939e-01 9.48576157e-01 -3.85903271e-02 7.90178184e+00] [ 1.11627597e-01 3.45450950e-03 9.93744105e-01 3.27687524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.340888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:36.99, Y:7.91, Z:3.28 [[ 9.43913285e-01 -3.13742368e-01 -1.02924422e-01 3.69910656e+01] [ 3.11463665e-01 9.49500762e-01 -3.79300359e-02 7.91382164e+00] [ 1.09627076e-01 3.74544721e-03 9.93965732e-01 3.27940346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.370888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:37.02, Y:7.92, Z:3.28 [[ 9.44541630e-01 -3.12020775e-01 -1.02392112e-01 3.70155558e+01] [ 3.09752224e-01 9.50067051e-01 -3.77644971e-02 7.92429212e+00] [ 1.09062679e-01 3.95395526e-03 9.94027011e-01 3.28169632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.400888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.04, Y:7.93, Z:3.28 [[ 9.44862094e-01 -3.11125883e-01 -1.02158256e-01 3.70412079e+01] [ 3.08860980e-01 9.50360033e-01 -3.76922255e-02 7.93425539e+00] [ 1.08814150e-01 4.06125611e-03 9.94053815e-01 3.28435255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430888479000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:37.07, Y:7.94, Z:3.29 [[ 9.45250905e-01 -3.09507586e-01 -1.03468739e-01 3.70666551e+01] [ 3.07170849e-01 9.50887102e-01 -3.82071789e-02 7.94275642e+00] [ 1.10212501e-01 4.33278999e-03 9.93898602e-01 3.28632841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.460888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:37.09, Y:7.95, Z:3.29 [[ 9.45275560e-01 -3.09212288e-01 -1.04124330e-01 3.70929887e+01] [ 3.06842309e-01 9.50982817e-01 -3.84639923e-02 7.95219118e+00] [ 1.10913988e-01 4.40932195e-03 9.93820228e-01 3.28875628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.12, Y:7.96, Z:3.29 [[ 9.45133704e-01 -3.09462553e-01 -1.04667139e-01 3.71197902e+01] [ 3.07065615e-01 9.50901293e-01 -3.86967673e-02 7.96135434e+00] [ 1.11503318e-01 4.43393951e-03 9.93754170e-01 3.29163805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.520888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:37.15, Y:7.97, Z:3.29 [[ 9.45251898e-01 -3.09150496e-01 -1.04521867e-01 3.71451823e+01] [ 3.06754699e-01 9.51002503e-01 -3.86754950e-02 7.96949477e+00] [ 1.11357106e-01 4.49551123e-03 9.93770288e-01 3.29386807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.550888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.17, Y:7.98, Z:3.30 [[ 9.45346261e-01 -3.09023396e-01 -1.04043203e-01 3.71705588e+01] [ 3.06647208e-01 9.51043774e-01 -3.85127078e-02 7.97917662e+00] [ 1.10850968e-01 4.50328648e-03 9.93826838e-01 3.29671339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.580888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.19, Y:8.02, Z:3.26 [[ 0.94469708 -0.31984221 -0.07244582 37.18519727] [ 0.31389759 0.94585457 -0.08262833 8.01670907] [ 0.09495124 0.05531818 0.99394374 3.25945143] [ 0. 0. 0. 1. ]] SLAMing on 42.610888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:37.22, Y:8.00, Z:3.29 [[ 9.44992887e-01 -3.12811102e-01 -9.55911005e-02 3.72201321e+01] [ 3.11912747e-01 9.49792557e-01 -2.45873226e-02 7.99997574e+00] [ 9.84829033e-02 -6.58123785e-03 9.95116981e-01 3.28935068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.640888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:37.25, Y:8.01, Z:3.29 [[ 9.44961887e-01 -3.13958271e-01 -9.20719110e-02 3.72456186e+01] [ 3.11953777e-01 9.49423120e-01 -3.57852016e-02 8.01462118e+00] [ 9.86502611e-02 5.09347122e-03 9.95109131e-01 3.28811534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.28, Y:8.00, Z:3.33 [[ 9.45613319e-01 -3.02959746e-01 -1.18451859e-01 3.72816147e+01] [ 3.05167361e-01 9.52298591e-01 5.24958395e-04 8.00100104e+00] [ 1.12642497e-01 -3.66440488e-02 9.92959658e-01 3.32814485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.700888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.30, Y:8.04, Z:3.29 [[ 0.94556264 -0.31469464 -0.08293722 37.29659812] [ 0.30952037 0.94834576 -0.06955182 8.04483338] [ 0.10054074 0.04009484 0.99412472 3.28524933] [ 0. 0. 0. 1. ]] SLAMing on 42.730888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:37.33, Y:8.04, Z:3.30 [[ 9.45440411e-01 -3.12738328e-01 -9.13080887e-02 3.73271163e+01] [ 3.09894721e-01 9.49743713e-01 -4.41830398e-02 8.04367637e+00] [ 1.00537013e-01 1.34765366e-02 9.94842044e-01 3.29681725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.36, Y:8.03, Z:3.34 [[ 9.45601952e-01 -3.02733224e-01 -1.19119868e-01 3.73641471e+01] [ 3.05067695e-01 9.52329589e-01 1.43385913e-03 8.02655210e+00] [ 1.13007298e-01 -3.76954837e-02 9.92878845e-01 3.34011175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:37.39, Y:8.05, Z:3.32 [[ 9.45689610e-01 -3.08130496e-01 -1.03570070e-01 3.73863873e+01] [ 3.05756754e-01 9.51332459e-01 -3.84624336e-02 8.05288616e+00] [ 1.10381018e-01 4.70627542e-03 9.93878203e-01 3.32479621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.820888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.41, Y:8.06, Z:3.33 [[ 9.45449401e-01 -3.09021580e-01 -1.03107193e-01 3.74127184e+01] [ 3.06670927e-01 9.51043848e-01 -3.83215563e-02 8.06283965e+00] [ 1.09901650e-01 4.61111389e-03 9.93931771e-01 3.32776379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:37.43, Y:8.09, Z:3.30 [[ 0.944382 -0.31934394 -0.078499 37.42942845] [ 0.31399501 0.94658873 -0.07332744 8.09146839] [ 0.09772295 0.04460082 0.99421376 3.29769884] [ 0. 0. 0. 1. ]] SLAMing on 42.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:8.06, Z:3.35 [[ 9.44617226e-01 -3.05867612e-01 -1.18925610e-01 3.74713873e+01] [ 3.07849968e-01 9.51433241e-01 -1.78457165e-03 8.06232022e+00] [ 1.13695621e-01 -3.49255080e-02 9.92901563e-01 3.35211594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.48, Y:8.11, Z:3.30 [[ 0.94393804 -0.32058774 -0.07876847 37.4839454 ] [ 0.31483291 0.94599217 -0.07732436 8.11013829] [ 0.0993036 0.0481905 0.99388957 3.3025956 ] [ 0. 0. 0. 1. ]] SLAMing on 42.940888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:37.52, Y:8.10, Z:3.32 [[ 9.44029701e-01 -3.14815482e-01 -9.84841871e-02 3.75161459e+01] [ 3.12986731e-01 9.49152156e-01 -3.39041609e-02 8.10024357e+00] [ 1.04150033e-01 1.18229120e-03 9.94560894e-01 3.32443805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.54, Y:8.11, Z:3.33 [[ 9.44248721e-01 -3.13937654e-01 -9.91841828e-02 3.75420823e+01] [ 3.11907261e-01 9.49439384e-01 -3.57591316e-02 8.10924683e+00] [ 1.05395507e-01 2.82924747e-03 9.94426358e-01 3.32824691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.000888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:37.58, Y:8.10, Z:3.36 [[ 9.44886408e-01 -3.04188093e-01 -1.21075516e-01 3.75771221e+01] [ 3.05732651e-01 9.52098087e-01 -6.06460784e-03 8.09885431e+00] [ 1.17120549e-01 -3.12863730e-02 9.92624773e-01 3.36432994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:37.60, Y:8.12, Z:3.35 [[ 9.45234511e-01 -3.07807520e-01 -1.08564500e-01 3.76001759e+01] [ 3.05185400e-01 9.51435167e-01 -4.04103250e-02 8.12074297e+00] [ 1.15730685e-01 5.06493336e-03 9.93267716e-01 3.35355576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:8.15, Z:3.33 [[ 0.94525011 -0.31466386 -0.08653829 37.61958983] [ 0.30921292 0.94835222 -0.07081979 8.1476953 ] [ 0.10435321 0.04018366 0.99372817 3.32819007] [ 0. 0. 0. 1. ]] SLAMing on 43.090888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:37.65, Y:8.14, Z:3.35 [[ 9.45320700e-01 -3.10127950e-01 -1.00942703e-01 3.76516264e+01] [ 3.08285059e-01 9.50694488e-01 -3.37685112e-02 8.14187326e+00] [ 1.06438230e-01 8.02945591e-04 9.94318992e-01 3.34883495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.68, Y:8.14, Z:3.38 [[ 9.45797155e-01 -3.02746489e-01 -1.17525761e-01 3.76832441e+01] [ 3.03552004e-01 9.52746445e-01 -1.14189376e-02 8.13873201e+00] [ 1.15429294e-01 -2.48751817e-02 9.93004181e-01 3.37659440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:8.16, Z:3.37 [[ 9.46338553e-01 -3.05662287e-01 -1.04947176e-01 3.77072013e+01] [ 3.03192331e-01 9.52125745e-01 -3.91276917e-02 8.15984439e+00] [ 1.11882768e-01 5.20886414e-03 9.93707761e-01 3.36635707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.180888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.73, Y:8.17, Z:3.37 [[ 9.46204971e-01 -3.05969379e-01 -1.05256316e-01 3.77334734e+01] [ 3.03482997e-01 9.52027047e-01 -3.92755907e-02 8.16765860e+00] [ 1.12223988e-01 5.21925688e-03 9.93669229e-01 3.37070443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.76, Y:8.18, Z:3.37 [[ 9.45981835e-01 -3.06522628e-01 -1.05651538e-01 3.77589895e+01] [ 3.04017240e-01 9.51849145e-01 -3.94553135e-02 8.17503343e+00] [ 1.12658272e-01 5.20412086e-03 9.93620164e-01 3.37459409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.240888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.78, Y:8.19, Z:3.36 [[ 9.45415952e-01 -3.11707659e-01 -9.50105927e-02 3.77829329e+01] [ 3.07642070e-01 9.49901337e-01 -5.51706980e-02 8.19333615e+00] [ 1.07447818e-01 2.29300025e-02 9.93946267e-01 3.36237390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.270888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.81, Y:8.20, Z:3.36 [[ 9.45220183e-01 -3.13328738e-01 -9.15636779e-02 3.78071590e+01] [ 3.09715197e-01 9.49423506e-01 -5.16865754e-02 8.20496705e+00] [ 1.03127598e-01 2.04965316e-02 9.94456933e-01 3.35874014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.84, Y:8.19, Z:3.40 [[ 9.45377031e-01 -3.03886185e-01 -1.17963790e-01 3.78415377e+01] [ 3.05175814e-01 9.52267163e-01 -7.41439703e-03 8.19232643e+00] [ 1.14586176e-01 -2.89902949e-02 9.92990217e-01 3.39656741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.86, Y:8.23, Z:3.36 [[ 0.94531598 -0.31443726 -0.0866424 37.85870772] [ 0.30903401 0.94844784 -0.0703184 8.23276847] [ 0.10428653 0.03969766 0.99375471 3.35645496] [ 0. 0. 0. 1. ]] SLAMing on 43.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.89, Y:8.23, Z:3.37 [[ 9.44972157e-01 -3.11781898e-01 -9.90942476e-02 3.78905716e+01] [ 3.09038044e-01 9.50107492e-01 -4.23230461e-02 8.22770976e+00] [ 1.07345747e-01 9.37020774e-03 9.94177595e-01 3.37427252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.92, Y:8.24, Z:3.38 [[ 9.44706147e-01 -3.12290816e-01 -1.00023702e-01 3.79173461e+01] [ 3.09627337e-01 9.49950607e-01 -4.15301789e-02 8.23685638e+00] [ 1.07987070e-01 8.26374282e-03 9.94117952e-01 3.37813087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.420888479 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:37.95, Y:8.23, Z:3.40 [[ 9.44091173e-01 -3.08043213e-01 -1.17478664e-01 3.79473043e+01] [ 3.08166070e-01 9.51170226e-01 -1.75748150e-02 8.23319316e+00] [ 1.17156010e-01 -1.96107105e-02 9.92919881e-01 3.40309137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.97, Y:8.26, Z:3.38 [[ 9.44241251e-01 -3.15914684e-01 -9.27705317e-02 3.79688657e+01] [ 3.11480551e-01 9.48400683e-01 -5.92959577e-02 8.26460857e+00] [ 1.06716099e-01 2.70934730e-02 9.93920328e-01 3.37588132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:8.27, Z:3.39 [[ 9.44200734e-01 -3.13529268e-01 -1.00917649e-01 3.79995335e+01] [ 3.11099002e-01 9.49560841e-01 -3.93906174e-02 8.26639142e+00] [ 1.08177559e-01 5.79726989e-03 9.94114685e-01 3.38898828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:8.28, Z:3.39 [[ 9.44125477e-01 -3.13020574e-01 -1.03175602e-01 3.80270062e+01] [ 3.10856906e-01 9.49742482e-01 -3.68402222e-02 8.27532717e+00] [ 1.09521999e-01 2.70894399e-03 9.93980681e-01 3.39431338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:8.27, Z:3.43 [[ 9.43951442e-01 -3.06319271e-01 -1.22980400e-01 3.80570554e+01] [ 3.07546536e-01 9.51487104e-01 -9.34978527e-03 8.26964172e+00] [ 1.19878284e-01 -2.89964527e-02 9.92365055e-01 3.42565419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.08, Y:8.29, Z:3.42 [[ 9.44353396e-01 -3.09645973e-01 -1.10977632e-01 3.80798445e+01] [ 3.06885152e-01 9.50837626e-01 -4.15850060e-02 8.29125475e+00] [ 1.18398338e-01 5.21355421e-03 9.92952493e-01 3.41560386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.600888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.11, Y:8.30, Z:3.42 [[ 9.44427670e-01 -3.09473495e-01 -1.10826591e-01 3.81059976e+01] [ 3.06715071e-01 9.50893522e-01 -4.15616977e-02 8.30155318e+00] [ 1.18246531e-01 5.25983163e-03 9.92970338e-01 3.41886449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.13, Y:8.31, Z:3.42 [[ 9.44577973e-01 -3.09097242e-01 -1.10595424e-01 3.81323571e+01] [ 3.06343863e-01 9.51015517e-01 -4.15081163e-02 8.31231493e+00] [ 1.18008009e-01 5.32742288e-03 9.92998353e-01 3.42163238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.660888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.16, Y:8.32, Z:3.42 [[ 9.44687997e-01 -3.08710851e-01 -1.10734816e-01 3.81572466e+01] [ 3.05944026e-01 9.51140529e-01 -4.15926396e-02 8.32307990e+00] [ 1.18164471e-01 5.41341190e-03 9.92979281e-01 3.42389055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.690888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:38.18, Y:8.33, Z:3.43 [[ 9.44564453e-01 -3.08883441e-01 -1.11305950e-01 3.81817345e+01] [ 3.06087327e-01 9.51084377e-01 -4.18217187e-02 8.33367029e+00] [ 1.18779386e-01 5.43396827e-03 9.92905801e-01 3.42544328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.720888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:38.21, Y:8.34, Z:3.43 [[ 9.44305823e-01 -3.09419194e-01 -1.12010159e-01 3.82074515e+01] [ 3.06589437e-01 9.50910322e-01 -4.21007796e-02 8.34270087e+00] [ 1.19538406e-01 5.41487963e-03 9.92814811e-01 3.42860546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.23, Y:8.35, Z:3.43 [[ 9.43875347e-01 -3.10302294e-01 -1.13189294e-01 3.82336715e+01] [ 3.07416720e-01 9.50622740e-01 -4.25601532e-02 8.35208436e+00] [ 1.20806830e-01 5.37519795e-03 9.92661482e-01 3.43219824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:8.36, Z:3.44 [[ 9.43471632e-01 -3.10778655e-01 -1.15229800e-01 3.82595327e+01] [ 3.07786598e-01 9.50466707e-01 -4.33641315e-02 8.36155542e+00] [ 1.22998735e-01 5.44663986e-03 9.92391881e-01 3.43511639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.29, Y:8.37, Z:3.44 [[ 9.43328096e-01 -3.11249475e-01 -1.15134126e-01 3.82857480e+01] [ 3.08261438e-01 9.50312812e-01 -4.33641109e-02 8.37208312e+00] [ 1.22910492e-01 5.41517288e-03 9.92402986e-01 3.43809207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.840888479 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:38.31, Y:8.39, Z:3.43 [[ 9.42390284e-01 -3.15128862e-01 -1.12224568e-01 3.83090137e+01] [ 3.09627717e-01 9.48706261e-01 -6.39304889e-02 8.38997694e+00] [ 1.26614493e-01 2.54996347e-02 9.91624192e-01 3.43496217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.870888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.34, Y:8.38, Z:3.45 [[ 9.42366420e-01 -3.12243098e-01 -1.20207229e-01 3.83392338e+01] [ 3.11686610e-01 9.49884554e-01 -2.38912500e-02 8.38326082e+00] [ 1.21642868e-01 -1.49526719e-02 9.92461299e-01 3.45347886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:8.40, Z:3.45 [[ 9.42029812e-01 -3.16145916e-01 -1.12390362e-01 3.83633331e+01] [ 3.13322746e-01 9.48698693e-01 -4.24222326e-02 8.40015268e+00] [ 1.20036205e-01 4.74855104e-03 9.92758158e-01 3.44903358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:8.41, Z:3.45 [[ 9.41500096e-01 -3.18372291e-01 -1.10528971e-01 3.83895276e+01] [ 3.15653566e-01 9.47955450e-01 -4.17527267e-02 8.40930706e+00] [ 1.18069452e-01 4.42133228e-03 9.92995497e-01 3.45319153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.960888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.41, Y:8.42, Z:3.46 [[ 9.41384070e-01 -3.18791528e-01 -1.10308636e-01 3.84146241e+01] [ 3.16082559e-01 9.47814683e-01 -4.17030399e-02 8.41844902e+00] [ 1.17846721e-01 4.39194147e-03 9.93022085e-01 3.45628726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.44, Y:8.43, Z:3.46 [[ 9.41194055e-01 -3.19517941e-01 -1.09827302e-01 3.84403469e+01] [ 3.16835699e-01 9.47570483e-01 -4.15369692e-02 8.42820189e+00] [ 1.17340917e-01 4.29713844e-03 9.93082395e-01 3.45951516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.020888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:8.44, Z:3.46 [[ 9.41233892e-01 -3.19432851e-01 -1.09733377e-01 3.84652771e+01] [ 3.16750583e-01 9.47598990e-01 -4.15357964e-02 8.43752001e+00] [ 1.17251135e-01 4.33678829e-03 9.93092827e-01 3.46324352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.050888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:38.49, Y:8.45, Z:3.47 [[ 9.41664492e-01 -3.18243868e-01 -1.09493498e-01 3.84897388e+01] [ 3.15563569e-01 9.47998252e-01 -4.14602041e-02 8.44875911e+00] [ 1.16994100e-01 4.48944325e-03 9.93122462e-01 3.46548433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.080888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:38.52, Y:8.46, Z:3.46 [[ 9.42030118e-01 -3.17516976e-01 -1.08453799e-01 3.85164320e+01] [ 3.14880945e-01 9.48241670e-01 -4.10819512e-02 8.45930184e+00] [ 1.15884629e-01 4.55040055e-03 9.93252257e-01 3.46456681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:38.54, Y:8.47, Z:3.47 [[ 9.42255825e-01 -3.16397061e-01 -1.09758189e-01 3.85403007e+01] [ 3.13685115e-01 9.48614806e-01 -4.16124764e-02 8.47045608e+00] [ 1.17284308e-01 4.78008815e-03 9.93086875e-01 3.47031715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.140888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.57, Y:8.48, Z:3.47 [[ 9.42925344e-01 -3.13897812e-01 -1.11175354e-01 3.85657853e+01] [ 3.11095692e-01 9.49442673e-01 -4.21673056e-02 8.48138918e+00] [ 1.18790851e-01 5.17444735e-03 9.92905816e-01 3.47371320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:38.59, Y:8.49, Z:3.48 [[ 9.43360877e-01 -3.12368813e-01 -1.11785424e-01 3.85903402e+01] [ 3.09520994e-01 9.49945393e-01 -4.24323512e-02 8.49227977e+00] [ 1.19444592e-01 5.42908448e-03 9.92826024e-01 3.47610234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.200888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:38.62, Y:8.50, Z:3.48 [[ 9.43612427e-01 -3.11250318e-01 -1.12777781e-01 3.86156622e+01] [ 3.08341494e-01 9.50311246e-01 -4.28259177e-02 8.50453254e+00] [ 1.20503574e-01 5.63699868e-03 9.92696889e-01 3.47789306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.230888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:38.64, Y:8.52, Z:3.48 [[ 9.44117895e-01 -3.09217847e-01 -1.14130293e-01 3.86408508e+01] [ 3.06219240e-01 9.50972283e-01 -4.33761949e-02 8.51818116e+00] [ 1.21947439e-01 6.00335026e-03 9.92518404e-01 3.47950911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.260888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.67, Y:8.53, Z:3.48 [[ 9.44005283e-01 -3.09308164e-01 -1.14815008e-01 3.86669491e+01] [ 3.06269396e-01 9.50942529e-01 -4.36733764e-02 8.52898956e+00] [ 1.22691006e-01 6.06357468e-03 9.92426395e-01 3.48288601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:38.69, Y:8.54, Z:3.49 [[ 9.43661919e-01 -3.09910402e-01 -1.16007433e-01 3.86916694e+01] [ 3.06807951e-01 9.50746310e-01 -4.41626080e-02 8.53866119e+00] [ 1.23980091e-01 6.08256846e-03 9.92266063e-01 3.48766260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.320888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:38.72, Y:8.55, Z:3.49 [[ 9.43143583e-01 -3.11601030e-01 -1.15693473e-01 3.87179092e+01] [ 3.08525805e-01 9.50194948e-01 -4.40611854e-02 8.54922224e+00] [ 1.23660864e-01 5.86160255e-03 9.92307227e-01 3.49164499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:38.74, Y:8.56, Z:3.50 [[ 9.42675620e-01 -3.13237280e-01 -1.15087281e-01 3.87437902e+01] [ 3.10202046e-01 9.49658082e-01 -4.38659134e-02 8.55955237e+00] [ 1.23034006e-01 5.65101695e-03 9.92386366e-01 3.49547100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.380888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:38.77, Y:8.57, Z:3.50 [[ 9.41717407e-01 -3.16722932e-01 -1.13379497e-01 3.87684964e+01] [ 3.13798408e-01 9.48504117e-01 -4.32492784e-02 8.57137286e+00] [ 1.21238958e-01 5.15029270e-03 9.92609989e-01 3.49831892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.410888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:38.79, Y:8.58, Z:3.50 [[ 9.40977015e-01 -3.19256674e-01 -1.12416335e-01 3.87943509e+01] [ 3.16396816e-01 9.47656097e-01 -4.29066000e-02 8.58279367e+00] [ 1.20230244e-01 4.80595384e-03 9.92734401e-01 3.50071842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.440888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.82, Y:8.59, Z:3.50 [[ 9.40247750e-01 -3.21559725e-01 -1.11953166e-01 3.88190663e+01] [ 3.18735627e-01 9.46878486e-01 -4.27636832e-02 8.59333037e+00] [ 1.19757123e-01 4.52499424e-03 9.92792907e-01 3.50261286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.84, Y:8.60, Z:3.51 [[ 9.39350414e-01 -3.24203942e-01 -1.11859747e-01 3.88449358e+01] [ 3.21401201e-01 9.45977886e-01 -4.27446720e-02 8.60325300e+00] [ 1.19674838e-01 4.20036845e-03 9.92804256e-01 3.50630830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.500888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.87, Y:8.61, Z:3.51 [[ 9.37757356e-01 -3.29052180e-01 -1.11066668e-01 3.88708595e+01] [ 3.26318858e-01 9.44304919e-01 -4.24761406e-02 8.61060505e+00] [ 1.18857668e-01 3.58916502e-03 9.92904816e-01 3.51105166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.90, Y:8.62, Z:3.51 [[ 9.37702537e-01 -3.29210166e-01 -1.11061328e-01 3.88973308e+01] [ 3.26476296e-01 9.44249872e-01 -4.24900993e-02 8.62083979e+00] [ 1.18857817e-01 3.58418301e-03 9.92904816e-01 3.51423362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.560888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.92, Y:8.63, Z:3.52 [[ 9.36604336e-01 -3.32394984e-01 -1.10841743e-01 3.89236871e+01] [ 3.29691493e-01 9.43134862e-01 -4.24281955e-02 8.62978509e+00] [ 1.18641631e-01 3.19485224e-03 9.92932000e-01 3.51823520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.590888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.95, Y:8.64, Z:3.52 [[ 9.35690912e-01 -3.35134094e-01 -1.10307095e-01 3.89487561e+01] [ 3.32471667e-01 9.42166083e-01 -4.22571081e-02 8.63880696e+00] [ 1.18089401e-01 2.86560823e-03 9.92998833e-01 3.52142907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:8.65, Z:3.52 [[ 9.34720389e-01 -3.37879711e-01 -1.10159409e-01 3.89746783e+01] [ 3.35241495e-01 9.41185899e-01 -4.22166309e-02 8.64946345e+00] [ 1.17944625e-01 2.53074078e-03 9.93016949e-01 3.52411300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.00, Y:8.66, Z:3.53 [[ 9.33287942e-01 -3.42194408e-01 -1.08979836e-01 3.90004158e+01] [ 3.39637880e-01 9.39627055e-01 -4.17984255e-02 8.66185415e+00] [ 1.16703590e-01 1.99628601e-03 9.93164783e-01 3.52524185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.680888479000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.03, Y:8.67, Z:3.53 [[ 9.32659502e-01 -3.43949234e-01 -1.08835556e-01 3.90267700e+01] [ 3.41407308e-01 9.38986506e-01 -4.17778864e-02 8.67213254e+00] [ 1.16564590e-01 1.80728862e-03 9.93181469e-01 3.52729365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:39.05, Y:8.68, Z:3.53 [[ 9.31029420e-01 -3.47877378e-01 -1.10297545e-01 3.90525182e+01] [ 3.45289679e-01 9.37539045e-01 -4.23742462e-02 8.67918800e+00] [ 1.18149297e-01 1.36706589e-03 9.92994902e-01 3.53121874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.740888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:39.08, Y:8.69, Z:3.53 [[ 9.30220550e-01 -3.49777930e-01 -1.11108630e-01 3.90775590e+01] [ 3.47163505e-01 9.36831938e-01 -4.27015344e-02 8.68773651e+00] [ 1.19026168e-01 1.14898322e-03 9.92890453e-01 3.53435159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.770888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.10, Y:8.70, Z:3.54 [[ 9.29273538e-01 -3.52091132e-01 -1.11725225e-01 3.91028391e+01] [ 3.49462260e-01 9.35965317e-01 -4.29540975e-02 8.69780824e+00] [ 1.19694692e-01 8.72356542e-04 9.92810364e-01 3.53707151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.13, Y:8.71, Z:3.54 [[ 9.28441998e-01 -3.54168572e-01 -1.12071756e-01 3.91289133e+01] [ 3.51536340e-01 9.35181392e-01 -4.31041320e-02 8.70913648e+00] [ 1.20073550e-01 6.22391405e-04 9.92764804e-01 3.53913291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:8.72, Z:3.54 [[ 9.27941214e-01 -3.55452008e-01 -1.12156018e-01 3.91536523e+01] [ 3.52820962e-01 9.34694405e-01 -4.31710346e-02 8.71941587e+00] [ 1.20176834e-01 4.89187977e-04 9.92752381e-01 3.54167802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.18, Y:8.73, Z:3.55 [[ 9.27448445e-01 -3.57162031e-01 -1.10791087e-01 3.91804384e+01] [ 3.54605055e-01 9.34042400e-01 -4.26620412e-02 8.72823842e+00] [ 1.18720834e-01 2.79764174e-04 9.92927633e-01 3.54664611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.21, Y:8.74, Z:3.55 [[ 9.27374490e-01 -3.57772725e-01 -1.09431410e-01 3.92056312e+01] [ 3.55278614e-01 9.33808666e-01 -4.21720543e-02 8.73723216e+00] [ 1.17276010e-01 2.30647629e-04 9.93099333e-01 3.55136897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.920888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.23, Y:8.75, Z:3.55 [[ 9.27274925e-01 -3.58649757e-01 -1.07385125e-01 3.92308095e+01] [ 3.56252466e-01 9.33472193e-01 -4.13986265e-02 8.74901505e+00] [ 1.15088635e-01 1.31692880e-04 9.93355218e-01 3.55489520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.950888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.26, Y:8.76, Z:3.56 [[ 9.27339883e-01 -3.58578985e-01 -1.07060039e-01 3.92562995e+01] [ 3.56191895e-01 9.33499374e-01 -4.13068048e-02 8.76094909e+00] [ 1.14752232e-01 1.71529447e-04 9.93394129e-01 3.55805678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.28, Y:8.77, Z:3.56 [[ 9.27455306e-01 -3.58413714e-01 -1.06612690e-01 3.92803894e+01] [ 3.56041706e-01 9.33562831e-01 -4.11672601e-02 8.77259208e+00] [ 1.14284555e-01 2.22229869e-04 9.93448031e-01 3.55960572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:39.31, Y:8.78, Z:3.56 [[ 9.27443081e-01 -3.58321525e-01 -1.07028112e-01 3.93063693e+01] [ 3.55928572e-01 9.33598213e-01 -4.13428248e-02 8.78420336e+00] [ 1.14735278e-01 2.48753640e-04 9.93396071e-01 3.56145587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:8.79, Z:3.56 [[ 9.27339531e-01 -3.57901741e-01 -1.09305713e-01 3.93317960e+01] [ 3.55398523e-01 9.33759192e-01 -4.22570848e-02 8.79449808e+00] [ 1.17189099e-01 3.39576164e-04 9.93109561e-01 3.56481403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:8.80, Z:3.57 [[ 9.27219399e-01 -3.57930150e-01 -1.10227916e-01 3.93581492e+01] [ 3.55380495e-01 9.33748290e-01 -4.26477906e-02 8.80456372e+00] [ 1.18190058e-01 3.71007596e-04 9.92990923e-01 3.56886815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.100888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.38, Y:8.82, Z:3.57 [[ 9.27214931e-01 -3.57972371e-01 -1.10128351e-01 3.93838437e+01] [ 3.55423438e-01 9.33732094e-01 -4.26445440e-02 8.81520970e+00] [ 1.18095944e-01 3.98460741e-04 9.93002109e-01 3.57206442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.41, Y:8.83, Z:3.57 [[ 9.27391455e-01 -3.57912071e-01 -1.08830321e-01 3.94079027e+01] [ 3.55418592e-01 9.33755194e-01 -4.21765682e-02 8.82878473e+00] [ 1.16716380e-01 4.33869446e-04 9.93165192e-01 3.57429978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.160888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.43, Y:8.84, Z:3.58 [[ 9.27517685e-01 -3.57740607e-01 -1.08317134e-01 3.94320051e+01] [ 3.55266748e-01 9.33820878e-01 -4.20012561e-02 8.84114159e+00] [ 1.16174356e-01 4.75431970e-04 9.93228721e-01 3.57685452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.190888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:39.46, Y:8.85, Z:3.58 [[ 9.27795792e-01 -3.56957778e-01 -1.08517799e-01 3.94572707e+01] [ 3.54467522e-01 9.34120334e-01 -4.20948717e-02 8.85379582e+00] [ 1.16394775e-01 5.89409514e-04 9.93202854e-01 3.58014376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.220888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:39.48, Y:8.86, Z:3.58 [[ 9.27744248e-01 -3.56917587e-01 -1.09089167e-01 3.94835521e+01] [ 3.54396541e-01 9.34135664e-01 -4.23515390e-02 8.86382048e+00] [ 1.17020090e-01 6.30573306e-04 9.93129347e-01 3.58351742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:39.51, Y:8.87, Z:3.59 [[ 9.27471909e-01 -3.57405531e-01 -1.09805032e-01 3.95099214e+01] [ 3.54850394e-01 9.33949099e-01 -4.26647268e-02 8.87362996e+00] [ 1.17800920e-01 6.05976726e-04 9.93037047e-01 3.58714184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.280888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:39.54, Y:8.88, Z:3.59 [[ 9.27081643e-01 -3.58288889e-01 -1.10221138e-01 3.95352286e+01] [ 3.55716249e-01 9.33610621e-01 -4.28620865e-02 8.88449363e+00] [ 1.18260634e-01 5.29203769e-04 9.92982448e-01 3.58981401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:39.56, Y:8.90, Z:3.59 [[ 9.26940058e-01 -3.58807865e-01 -1.09722581e-01 3.95587778e+01] [ 3.56258040e-01 9.33411310e-01 -4.27028865e-02 8.89841932e+00] [ 1.17738430e-01 4.93464424e-04 9.93044520e-01 3.58996081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.340888479 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:39.58, Y:8.91, Z:3.59 [[ 9.26944095e-01 -3.58881798e-01 -1.09446334e-01 3.95844025e+01] [ 3.56342459e-01 9.33382879e-01 -4.26198633e-02 8.91027764e+00] [ 1.17450827e-01 5.05854938e-04 9.93078571e-01 3.59238225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.370888479 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:39.61, Y:8.92, Z:3.60 [[ 9.26936405e-01 -3.58988744e-01 -1.09160352e-01 3.96103843e+01] [ 3.56459387e-01 9.33341742e-01 -4.25428961e-02 8.92149237e+00] [ 1.17156334e-01 5.23327033e-04 9.93113347e-01 3.59568476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.400888479 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:39.63, Y:8.93, Z:3.60 [[ 9.27215003e-01 -3.58307174e-01 -1.09033513e-01 3.96346244e+01] [ 3.55775014e-01 9.33603534e-01 -4.25274116e-02 8.93212118e+00] [ 1.17031950e-01 6.40654321e-04 9.93127944e-01 3.59878229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430888479000004 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:39.66, Y:8.94, Z:3.60 [[ 9.28333444e-01 -3.55517142e-01 -1.08648880e-01 3.96593019e+01] [ 3.52981952e-01 9.34669221e-01 -4.23932520e-02 8.94462405e+00] [ 1.16622292e-01 1.00397979e-03 9.93175832e-01 3.60257431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.460888479 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:39.68, Y:8.96, Z:3.61 [[ 9.29109370e-01 -3.53468949e-01 -1.08699039e-01 3.96845523e+01] [ 3.50913360e-01 9.35445363e-01 -4.24474693e-02 8.95565240e+00] [ 1.16685874e-01 1.29439646e-03 9.93168028e-01 3.60576295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490888479 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:39.71, Y:8.97, Z:3.61 [[ 9.29923437e-01 -3.51122830e-01 -1.09339655e-01 3.97087497e+01] [ 3.48516648e-01 9.36327986e-01 -4.27322825e-02 8.96660470e+00] [ 1.17382059e-01 1.63106107e-03 9.93085491e-01 3.60888337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.520888479 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:39.73, Y:8.98, Z:3.61 [[ 9.31601549e-01 -3.46150831e-01 -1.10897049e-01 3.97338931e+01] [ 3.43432385e-01 9.38176039e-01 -4.33580026e-02 8.98065267e+00] [ 1.19049363e-01 2.30674442e-03 9.92885657e-01 3.60955276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.550888479 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:39.76, Y:8.99, Z:3.61 [[ 9.32314144e-01 -3.44106817e-01 -1.11269204e-01 3.97577732e+01] [ 3.41351342e-01 9.38926882e-01 -4.35381649e-02 8.99266605e+00] [ 1.19455426e-01 2.60935474e-03 9.92836136e-01 3.61086449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.580888479 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:39.78, Y:9.00, Z:3.61 [[ 9.33083231e-01 -3.42102756e-01 -1.11001755e-01 3.97829284e+01] [ 3.39344415e-01 9.39658150e-01 -4.34502962e-02 9.00433515e+00] [ 1.19168170e-01 2.87491719e-03 9.92869922e-01 3.61255379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610888479 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:39.81, Y:9.02, Z:3.61 [[ 9.34434120e-01 -3.38387177e-01 -1.11026995e-01 3.98078613e+01] [ 3.35597131e-01 9.41000887e-01 -4.34959418e-02 9.01669625e+00] [ 1.19194970e-01 3.38375107e-03 9.92865101e-01 3.61479479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.640888479 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:39.83, Y:9.03, Z:3.62 [[ 9.35127164e-01 -3.36462632e-01 -1.11040915e-01 3.98328245e+01] [ 3.33654184e-01 9.41689695e-01 -4.35362295e-02 9.02775709e+00] [ 1.19214400e-01 3.66264483e-03 9.92861779e-01 3.61746136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670888479 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:39.86, Y:9.04, Z:3.62 [[ 9.35686193e-01 -3.34828816e-01 -1.11269998e-01 3.98583548e+01] [ 3.31995154e-01 9.42270922e-01 -4.36431734e-02 9.03894220e+00] [ 1.19459475e-01 3.89521475e-03 9.92831436e-01 3.62035922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.700888479 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:39.88, Y:9.05, Z:3.62 [[ 9.36173502e-01 -3.33492366e-01 -1.11184602e-01 3.98828626e+01] [ 3.30649441e-01 9.42743901e-01 -4.36449741e-02 9.04906359e+00] [ 1.19373872e-01 4.09614157e-03 9.92840924e-01 3.62385952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.730888479 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:39.91, Y:9.06, Z:3.63 [[ 9.36933703e-01 -3.31417197e-01 -1.10985937e-01 3.99088530e+01] [ 3.28568070e-01 9.43474199e-01 -4.35827818e-02 9.05686296e+00] [ 1.19156451e-01 4.36774212e-03 9.92865884e-01 3.62874861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.760888479 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:39.94, Y:9.07, Z:3.63 [[ 9.37162392e-01 -3.31142018e-01 -1.09870902e-01 3.99350019e+01] [ 3.28346302e-01 9.43570792e-01 -4.31609354e-02 9.06673495e+00] [ 1.17963374e-01 4.37310096e-03 9.93008317e-01 3.63221288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790888479 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:39.95, Y:9.11, Z:3.59 [[ 0.93634511 -0.34286575 -0.07550436 39.94639426] [ 0.33640584 0.93774078 -0.08644845 9.10745387] [ 0.10044373 0.05554547 0.99339104 3.59420766] [ 0. 0. 0. 1. ]] SLAMing on 45.820888479 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:39.99, Y:9.07, Z:3.66 [[ 9.36862749e-01 -3.26111419e-01 -1.26251857e-01 3.99924854e+01] [ 3.29304391e-01 9.44212069e-01 4.71026310e-03 9.07203564e+00] [ 1.17672457e-01 -4.59881609e-02 9.91987037e-01 3.65515921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850888479 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:40.01, Y:9.10, Z:3.64 [[ 9.36765903e-01 -3.32660193e-01 -1.08659279e-01 4.00131064e+01] [ 3.29933023e-01 9.43037583e-01 -4.27120275e-02 9.10150874e+00] [ 1.16678375e-01 4.16088666e-03 9.93161036e-01 3.63874119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.880888479 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:40.04, Y:9.11, Z:3.64 [[ 9.36471438e-01 -3.33219195e-01 -1.09481568e-01 4.00396313e+01] [ 3.30450161e-01 9.42840232e-01 -4.30695773e-02 9.10736572e+00] [ 1.17575237e-01 4.15522711e-03 9.93055284e-01 3.64324698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.910888479 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:40.07, Y:9.12, Z:3.65 [[ 9.36309503e-01 -3.33708540e-01 -1.09376075e-01 4.00657274e+01] [ 3.30946293e-01 9.42667364e-01 -4.30440660e-02 9.11558972e+00] [ 1.17469429e-01 4.10496146e-03 9.93068015e-01 3.64766066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.940888479 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:40.09, Y:9.13, Z:3.65 [[ 9.36178791e-01 -3.34246968e-01 -1.08849597e-01 4.00916308e+01] [ 3.31510892e-01 9.42476820e-01 -4.28715798e-02 9.12504217e+00] [ 1.16917918e-01 4.05063668e-03 9.93133321e-01 3.65066708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970888479 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:40.12, Y:9.14, Z:3.65 [[ 9.36085637e-01 -3.34620102e-01 -1.08503767e-01 4.01177985e+01] [ 3.31899871e-01 9.42344520e-01 -4.27701072e-02 9.13550966e+00] [ 1.16559668e-01 4.02409678e-03 9.93175539e-01 3.65365528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.000888479 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:40.14, Y:9.15, Z:3.65 [[ 9.36268910e-01 -3.34656603e-01 -1.06796473e-01 4.01427530e+01] [ 3.32017987e-01 9.42331714e-01 -4.21307146e-02 9.14819686e+00] [ 1.14737025e-01 3.98732830e-03 9.93387898e-01 3.65420486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030888479 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:40.17, Y:9.16, Z:3.66 [[ 9.36302266e-01 -3.34582537e-01 -1.06736087e-01 4.01673146e+01] [ 3.31942430e-01 9.42357846e-01 -4.21415986e-02 9.15883294e+00] [ 1.14683432e-01 4.02703839e-03 9.93393927e-01 3.65593268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.060888479 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:40.19, Y:9.18, Z:3.64 [[ 9.35925812e-01 -3.40758259e-01 -8.90319258e-02 4.01860847e+01] [ 3.35751818e-01 9.39589458e-01 -6.66510873e-02 9.18420950e+00] [ 1.06365367e-01 3.24878420e-02 9.93796231e-01 3.63602174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.090888479 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:40.22, Y:9.16, Z:3.67 [[ 9.35824434e-01 -3.32557194e-01 -1.16783310e-01 4.02240773e+01] [ 3.33045033e-01 9.42777034e-01 -1.58892973e-02 9.16433017e+00] [ 1.15384723e-01 -2.40245089e-02 9.93030306e-01 3.67394718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.120888479 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:40.25, Y:9.18, Z:3.67 [[ 9.35679287e-01 -3.36422232e-01 -1.06415947e-01 4.02478188e+01] [ 3.33804774e-01 9.41703456e-01 -4.20591588e-02 9.18356214e+00] [ 1.14361901e-01 3.83173274e-03 9.93431766e-01 3.66785023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150888479 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:40.27, Y:9.19, Z:3.67 [[ 9.34915417e-01 -3.38881163e-01 -1.05321987e-01 4.02741349e+01] [ 3.36329079e-01 9.40822577e-01 -4.16608896e-02 9.19428983e+00] [ 1.13207394e-01 3.52656095e-03 9.93565121e-01 3.67026432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.180888479000004 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:40.30, Y:9.21, Z:3.67 [[ 9.34509153e-01 -3.40068223e-01 -1.05101127e-01 4.02983460e+01] [ 3.37530454e-01 9.40394592e-01 -4.16077309e-02 9.20561326e+00] [ 1.12985999e-01 3.40797415e-03 9.93590736e-01 3.67199740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210888479 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:40.32, Y:9.22, Z:3.67 [[ 9.34179979e-01 -3.41296138e-01 -1.04041882e-01 4.03240095e+01] [ 3.38815403e-01 9.39950238e-01 -4.12028260e-02 9.21738850e+00] [ 1.11856557e-01 3.23986306e-03 9.93719082e-01 3.67342622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.240888479 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:40.35, Y:9.23, Z:3.68 [[ 9.34017801e-01 -3.41754400e-01 -1.03993643e-01 4.03503383e+01] [ 3.39274950e-01 9.39783799e-01 -4.12179583e-02 9.22661136e+00] [ 1.11817960e-01 3.21586861e-03 9.93723504e-01 3.67731346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.270888479 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:40.38, Y:9.23, Z:3.68 [[ 9.33939951e-01 -3.41936485e-01 -1.04094229e-01 4.03756635e+01] [ 3.39449496e-01 9.39717516e-01 -4.12919969e-02 9.23479216e+00] [ 1.11938410e-01 3.22951201e-03 9.93709899e-01 3.68154220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.300888479 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:40.40, Y:9.24, Z:3.69 [[ 9.33592713e-01 -3.42668735e-01 -1.04798782e-01 4.04021641e+01] [ 3.40150739e-01 9.39450926e-01 -4.15864426e-02 9.24364721e+00] [ 1.12703687e-01 3.17741649e-03 9.93623562e-01 3.68595407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330888479 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:40.43, Y:9.25, Z:3.69 [[ 9.33367661e-01 -3.43259312e-01 -1.04870658e-01 4.04275917e+01] [ 3.40737661e-01 9.39235423e-01 -4.16493156e-02 9.25308902e+00] [ 1.12794752e-01 3.14074146e-03 9.93613345e-01 3.68953751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.360888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:40.45, Y:9.26, Z:3.69 [[ 9.32849089e-01 -3.44763406e-01 -1.04550325e-01 4.04536113e+01] [ 3.42264923e-01 9.38684937e-01 -4.15368738e-02 9.26434113e+00] [ 1.12460209e-01 2.96372600e-03 9.93651809e-01 3.69183302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390888479 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:40.48, Y:9.28, Z:3.69 [[ 9.32545124e-01 -3.45820833e-01 -1.03766771e-01 4.04792993e+01] [ 3.43362531e-01 9.38296248e-01 -4.12592128e-02 9.27564433e+00] [ 1.11632267e-01 2.84645664e-03 9.93745508e-01 3.69461253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.420888479 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:40.51, Y:9.29, Z:3.70 [[ 9.32454656e-01 -3.46068171e-01 -1.03755169e-01 4.05056566e+01] [ 3.43608154e-01 9.38205045e-01 -4.12883672e-02 9.28622971e+00] [ 1.11632213e-01 2.84840814e-03 9.93745508e-01 3.69782067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.450888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:40.53, Y:9.30, Z:3.70 [[ 9.32521950e-01 -3.46286522e-01 -1.02413176e-01 4.05303232e+01] [ 3.43887798e-01 9.38124577e-01 -4.07855432e-02 9.29598538e+00] [ 1.10199801e-01 2.81477270e-03 9.93905469e-01 3.70084788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.480888479 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:40.56, Y:9.31, Z:3.71 [[ 9.32067751e-01 -3.47867025e-01 -1.01184189e-01 4.05552315e+01] [ 3.45533447e-01 9.37540252e-01 -4.03102104e-02 9.30521534e+00] [ 1.08886843e-01 2.60932540e-03 9.94050726e-01 3.70506906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.510888479 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:40.58, Y:9.32, Z:3.71 [[ 9.31550537e-01 -3.49216561e-01 -1.01298518e-01 4.05808840e+01] [ 3.46884158e-01 9.37038797e-01 -4.03692241e-02 9.31572356e+00] [ 1.09018243e-01 2.46712128e-03 9.94036687e-01 3.70879166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.540888479 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:40.61, Y:9.33, Z:3.71 [[ 9.31112902e-01 -3.50443787e-01 -1.01083712e-01 4.06069617e+01] [ 3.48124904e-01 9.36580820e-01 -4.03164788e-02 9.32703800e+00] [ 1.08801726e-01 2.34943582e-03 9.94060695e-01 3.71157551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:40.63, Y:9.34, Z:3.71 [[ 9.30583878e-01 -3.51891736e-01 -1.00924982e-01 4.06321697e+01] [ 3.49584954e-01 9.36038102e-01 -4.02868558e-02 9.33740159e+00] [ 1.08646240e-01 2.20844337e-03 9.94078024e-01 3.71499037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.600888479 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:40.66, Y:9.35, Z:3.72 [[ 9.30582129e-01 -3.52011994e-01 -1.00520935e-01 4.06578183e+01] [ 3.49722942e-01 9.35992908e-01 -4.01390026e-02 9.34705426e+00] [ 1.08216293e-01 2.19816140e-03 9.94124943e-01 3.71835257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630888479 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:40.68, Y:9.36, Z:3.72 [[ 9.30788088e-01 -3.51594272e-01 -1.00074987e-01 4.06821433e+01] [ 3.49319515e-01 9.36149733e-01 -3.99944215e-02 9.35743791e+00] [ 1.07746982e-01 2.26818512e-03 9.94175761e-01 3.72125763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.660888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:40.71, Y:9.37, Z:3.72 [[ 9.32056253e-01 -3.48772821e-01 -9.81257419e-02 4.07070076e+01] [ 3.46569157e-01 9.37203815e-01 -3.92279167e-02 9.37119369e+00] [ 1.05645451e-01 2.55526937e-03 9.94400578e-01 3.72236818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.690888479 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:40.73, Y:9.38, Z:3.72 [[ 9.32603401e-01 -3.47394416e-01 -9.78162321e-02 4.07326451e+01] [ 3.45193810e-01 9.37715124e-01 -3.91353942e-02 9.38351054e+00] [ 1.05319178e-01 2.73224382e-03 9.94434717e-01 3.72471939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.720888479 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:40.76, Y:9.40, Z:3.73 [[ 9.33936741e-01 -3.43555924e-01 -9.86483148e-02 4.07577311e+01] [ 3.41292817e-01 9.39126690e-01 -3.95002849e-02 9.39628694e+00] [ 1.06213822e-01 3.22280607e-03 9.94338090e-01 3.72668860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750888479 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:40.78, Y:9.41, Z:3.73 [[ 9.34448571e-01 -3.42002260e-01 -9.91984019e-02 4.07819030e+01] [ 3.39701416e-01 9.39692795e-01 -3.97542425e-02 9.40694761e+00] [ 1.06812064e-01 3.45045750e-03 9.94273241e-01 3.72956530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.780888479 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:40.81, Y:9.42, Z:3.73 [[ 9.34828537e-01 -3.40909667e-01 -9.93790976e-02 4.08078829e+01] [ 3.38592825e-01 9.40089187e-01 -3.98399283e-02 9.41831292e+00] [ 1.07007032e-01 3.59445243e-03 9.94251766e-01 3.73262187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810888479 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:40.83, Y:9.43, Z:3.74 [[ 9.34848096e-01 -3.40791702e-01 -9.95994679e-02 4.08335427e+01] [ 3.38460559e-01 9.40131762e-01 -3.99589866e-02 9.42963620e+00] [ 1.07254314e-01 3.64509099e-03 9.94224937e-01 3.73520171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.840888479 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:40.86, Y:9.45, Z:3.73 [[ 9.33468064e-01 -3.46157228e-01 -9.38751686e-02 4.08562691e+01] [ 3.42428272e-01 9.38002387e-01 -5.37996371e-02 9.44843338e+00] [ 1.06678265e-01 1.80747313e-02 9.94129293e-01 3.72617779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.870888479 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:40.88, Y:9.46, Z:3.73 [[ 9.32429615e-01 -3.47973678e-01 -9.74132036e-02 4.08830270e+01] [ 3.45064251e-01 9.37460056e-01 -4.58181861e-02 9.45628907e+00] [ 1.07264510e-01 9.10841943e-03 9.94188796e-01 3.72964211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.900888479 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:40.91, Y:9.45, Z:3.75 [[ 9.31647512e-01 -3.45598484e-01 -1.12225672e-01 4.09133683e+01] [ 3.45208048e-01 9.38231513e-01 -2.35166239e-02 9.45429599e+00] [ 1.13420971e-01 -1.68320010e-02 9.93404433e-01 3.74977471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930888479000004 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:40.94, Y:9.48, Z:3.73 [[ 9.29670694e-01 -3.55741424e-01 -9.57101892e-02 4.09354204e+01] [ 3.51805786e-01 9.34406549e-01 -5.58309042e-02 9.47990703e+00] [ 1.09293593e-01 1.82329571e-02 9.93842276e-01 3.73429383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.960888479 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:40.97, Y:9.48, Z:3.75 [[ 9.28779190e-01 -3.53656684e-01 -1.10888081e-01 4.09651813e+01] [ 3.52847496e-01 9.35276640e-01 -2.75000075e-02 9.47555584e+00] [ 1.13436594e-01 -1.35851472e-02 9.93452356e-01 3.75477414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990888479 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:40.99, Y:9.49, Z:3.75 [[ 9.27925155e-01 -3.57812852e-01 -1.04522107e-01 4.09895618e+01] [ 3.55335502e-01 9.33791381e-01 -4.20753701e-02 9.49211056e+00] [ 1.12656950e-01 1.90237905e-03 9.93632121e-01 3.75155787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.020888479 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:41.02, Y:9.50, Z:3.75 [[ 9.27026146e-01 -3.60413591e-01 -1.03559489e-01 4.10155514e+01] [ 3.57994121e-01 9.32791226e-01 -4.17221564e-02 9.50265668e+00] [ 1.11636615e-01 1.60384176e-03 9.93747802e-01 3.75414378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.050888479 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:41.04, Y:9.51, Z:3.76 [[ 9.25571677e-01 -3.64512124e-01 -1.02215370e-01 4.10414959e+01] [ 3.62176358e-01 9.31197960e-01 -4.12146195e-02 9.51130916e+00] [ 1.10205973e-01 1.12709395e-03 9.93908131e-01 3.75724838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.080888479 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:41.07, Y:9.52, Z:3.76 [[ 9.24946815e-01 -3.66207166e-01 -1.01812085e-01 4.10665065e+01] [ 3.63898474e-01 9.30532878e-01 -4.10665745e-02 9.52001759e+00] [ 1.09778366e-01 9.35134898e-04 9.93955651e-01 3.76036447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110888479 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:41.09, Y:9.53, Z:3.76 [[ 9.24447078e-01 -3.67378237e-01 -1.02131438e-01 4.10923889e+01] [ 3.65060554e-01 9.30071273e-01 -4.12094614e-02 9.52941299e+00] [ 1.10128976e-01 8.11806814e-04 9.93916973e-01 3.76373620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.140888479 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:41.12, Y:9.54, Z:3.77 [[ 9.24589226e-01 -3.67085645e-01 -1.01896478e-01 4.11179679e+01] [ 3.64773349e-01 9.30186736e-01 -4.11465629e-02 9.53978564e+00] [ 1.09887065e-01 8.74549292e-04 9.93943695e-01 3.76556287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170888479 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:41.14, Y:9.55, Z:3.77 [[ 9.25172573e-01 -3.65634860e-01 -1.01817778e-01 4.11428073e+01] [ 3.63313647e-01 9.30757749e-01 -4.11485921e-02 9.55015036e+00] [ 1.09813045e-01 1.07776066e-03 9.93951676e-01 3.76837963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.200888479 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:41.17, Y:9.56, Z:3.77 [[ 9.26052059e-01 -3.63330487e-01 -1.02071256e-01 4.11679498e+01] [ 3.60982092e-01 9.31659318e-01 -4.12655239e-02 9.56013518e+00] [ 1.10088659e-01 1.36812797e-03 9.93920829e-01 3.77105603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.230888479 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:41.19, Y:9.57, Z:3.77 [[ 9.27876618e-01 -3.58166919e-01 -1.03737360e-01 4.11938525e+01] [ 3.55707119e-01 9.33655369e-01 -4.19535198e-02 9.56947362e+00] [ 1.11881306e-01 2.02757276e-03 9.93719509e-01 3.77451785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.260888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:41.22, Y:9.58, Z:3.78 [[ 9.28880516e-01 -3.55384521e-01 -1.04320800e-01 4.12201652e+01] [ 3.52875623e-01 9.34717094e-01 -4.22226120e-02 9.57936598e+00] [ 1.12515698e-01 2.40749427e-03 9.93647031e-01 3.77737578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290888479 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:41.25, Y:9.59, Z:3.78 [[ 9.29893838e-01 -3.52565394e-01 -1.04857486e-01 4.12454741e+01] [ 3.50008730e-01 9.35783003e-01 -4.24742412e-02 9.58947757e+00] [ 1.13098801e-01 2.79549978e-03 9.93579814e-01 3.78034877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.320888479 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:41.27, Y:9.60, Z:3.78 [[ 9.31688335e-01 -3.48000412e-01 -1.04175621e-01 4.12700381e+01] [ 3.45446878e-01 9.37488424e-01 -4.22126694e-02 9.59965903e+00] [ 1.12353465e-01 3.34190845e-03 9.93662684e-01 3.78290345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350888479 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:41.30, Y:9.61, Z:3.78 [[ 9.32273486e-01 -3.46706162e-01 -1.03252046e-01 4.13006352e+01] [ 3.43763455e-01 9.37947388e-01 -4.56221883e-02 9.61036416e+00] [ 1.12662481e-01 7.03807627e-03 9.93608389e-01 3.78391559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.380888479 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:41.32, Y:9.62, Z:3.79 [[ 9.31322410e-01 -3.48184186e-01 -1.06800474e-01 4.13230285e+01] [ 3.46067434e-01 9.37425323e-01 -3.83548467e-02 9.61613183e+00] [ 1.13472020e-01 -1.23943793e-03 9.93540419e-01 3.79092483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.410888479 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:41.35, Y:9.63, Z:3.79 [[ 9.30626347e-01 -3.50548424e-01 -1.05120906e-01 4.13483742e+01] [ 3.47957144e-01 9.36539405e-01 -4.26587572e-02 9.62671700e+00] [ 1.13403831e-01 3.12179322e-03 9.93544073e-01 3.79275268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.440888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:41.37, Y:9.64, Z:3.80 [[ 9.29796925e-01 -3.52919761e-01 -1.04524256e-01 4.13746923e+01] [ 3.50371193e-01 9.35649311e-01 -4.24310497e-02 9.63523652e+00] [ 1.12772804e-01 2.82997142e-03 9.93616770e-01 3.79649098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470888479 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:41.40, Y:9.64, Z:3.80 [[ 9.29001260e-01 -3.55179471e-01 -1.03943265e-01 4.14000192e+01] [ 3.52669463e-01 9.34794587e-01 -4.22294942e-02 9.64268889e+00] [ 1.12164651e-01 2.57363779e-03 9.93686302e-01 3.80051347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.500888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:41.43, Y:9.65, Z:3.81 [[ 9.28027766e-01 -3.57801420e-01 -1.03646556e-01 4.14270105e+01] [ 3.55320414e-01 9.33794955e-01 -4.21234516e-02 9.65110463e+00] [ 1.11856462e-01 2.26399553e-03 9.93721795e-01 3.80540017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.45, Y:9.66, Z:3.81 [[ 9.26927361e-01 -3.60845886e-01 -1.02936458e-01 4.14527332e+01] [ 3.58413728e-01 9.32623491e-01 -4.18691212e-02 9.65808706e+00] [ 1.11109259e-01 1.91579445e-03 9.93806351e-01 3.80919553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.560888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:41.48, Y:9.67, Z:3.81 [[ 9.26604162e-01 -3.61660195e-01 -1.02988496e-01 4.14786071e+01] [ 3.59227994e-01 9.32308165e-01 -4.19134081e-02 9.66841894e+00] [ 1.11175427e-01 1.84078760e-03 9.93799092e-01 3.81144428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.590888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:41.50, Y:9.68, Z:3.81 [[ 9.26871710e-01 -3.60451132e-01 -1.04803701e-01 4.15041395e+01] [ 3.57920469e-01 9.32775838e-01 -4.26869417e-02 9.67673150e+00] [ 1.13144917e-01 2.05392864e-03 9.93576373e-01 3.81337609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.620888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:41.53, Y:9.68, Z:3.82 [[ 9.27240515e-01 -3.59421065e-01 -1.05078661e-01 4.15306653e+01] [ 3.56868765e-01 9.33172900e-01 -4.28138287e-02 9.68494201e+00] [ 1.13444751e-01 2.19942455e-03 9.93541872e-01 3.81708869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:41.56, Y:9.69, Z:3.82 [[ 9.27755965e-01 -3.57934240e-01 -1.05602794e-01 4.15565416e+01] [ 3.55342786e-01 9.33743646e-01 -4.30616706e-02 9.69327352e+00] [ 1.14019184e-01 2.42553077e-03 9.93475587e-01 3.82122515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.680888479000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:41.58, Y:9.70, Z:3.82 [[ 9.29218448e-01 -3.53987637e-01 -1.06046354e-01 4.15827938e+01] [ 3.51346894e-01 9.35245491e-01 -4.32577425e-02 9.70285426e+00] [ 1.14492081e-01 2.93683504e-03 9.93419820e-01 3.82434810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:41.61, Y:9.71, Z:3.83 [[ 9.30158590e-01 -3.51372419e-01 -1.06500801e-01 4.16078708e+01] [ 3.48687839e-01 9.36229938e-01 -4.34775056e-02 9.71372877e+00] [ 1.14986035e-01 3.30544102e-03 9.93361609e-01 3.82724629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.740888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:41.63, Y:9.72, Z:3.83 [[ 9.31258570e-01 -3.48410791e-01 -1.06617993e-01 4.16322880e+01] [ 3.45699176e-01 9.37334683e-01 -4.35404710e-02 9.72413312e+00] [ 1.15106712e-01 3.68968457e-03 9.93346280e-01 3.82988483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.770888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:41.66, Y:9.73, Z:3.83 [[ 9.33013250e-01 -3.43157042e-01 -1.08302903e-01 4.16590517e+01] [ 3.40320566e-01 9.39267594e-01 -4.42526624e-02 9.73194109e+00] [ 1.16911020e-01 4.43061502e-03 9.93132510e-01 3.83437703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.800888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:41.69, Y:9.74, Z:3.84 [[ 9.33443820e-01 -3.41769194e-01 -1.08979142e-01 4.16855654e+01] [ 3.38883555e-01 9.39772337e-01 -4.45633318e-02 9.74042888e+00] [ 1.17645957e-01 4.66612770e-03 9.93044640e-01 3.83793773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.71, Y:9.75, Z:3.84 [[ 9.33726683e-01 -3.40880152e-01 -1.09339850e-01 4.17113538e+01] [ 3.37965030e-01 9.40094365e-01 -4.47462028e-02 9.74968610e+00] [ 1.18042869e-01 4.82767793e-03 9.92996765e-01 3.84146227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.860888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:41.74, Y:9.76, Z:3.84 [[ 9.33955132e-01 -3.40226041e-01 -1.09426014e-01 4.17358908e+01] [ 3.37297689e-01 9.40330668e-01 -4.48163381e-02 9.75987934e+00] [ 1.18144322e-01 4.94730750e-03 9.92984110e-01 3.84424733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:9.77, Z:3.84 [[ 9.34340598e-01 -3.39332391e-01 -1.08909026e-01 4.17618934e+01] [ 3.36422859e-01 9.40652930e-01 -4.46287418e-02 9.77170132e+00] [ 1.17589572e-01 5.05895925e-03 9.93049394e-01 3.84491533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.920888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:41.79, Y:9.78, Z:3.85 [[ 9.34326114e-01 -3.39179574e-01 -1.09507665e-01 4.17866895e+01] [ 3.36232647e-01 9.40707607e-01 -4.49088440e-02 9.78080695e+00] [ 1.18246856e-01 5.13945376e-03 9.92970930e-01 3.84791296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.950888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:41.81, Y:9.79, Z:3.85 [[ 9.34407368e-01 -3.39757230e-01 -1.06994837e-01 4.18144639e+01] [ 3.36282598e-01 9.40456521e-01 -4.95534676e-02 9.79060343e+00] [ 1.17460141e-01 1.03226234e-02 9.93023947e-01 3.84764092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.980888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.84, Y:9.79, Z:3.86 [[ 9.33743711e-01 -3.39853961e-01 -1.12347531e-01 4.18410901e+01] [ 3.37473440e-01 9.40478129e-01 -4.01567836e-02 9.79236762e+00] [ 1.19307838e-01 -4.18163760e-04 9.92857223e-01 3.86079217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.010888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:41.87, Y:9.80, Z:3.86 [[ 9.33028991e-01 -3.42800012e-01 -1.09293429e-01 4.18666945e+01] [ 3.39881357e-01 9.39396472e-01 -4.48879879e-02 9.80393440e+00] [ 1.18057465e-01 4.73499502e-03 9.92995476e-01 3.86260570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.040888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.89, Y:9.82, Z:3.86 [[ 9.32497857e-01 -3.44507211e-01 -1.08455194e-01 4.18926556e+01] [ 3.41640854e-01 9.38772812e-01 -4.45772956e-02 9.81587683e+00] [ 1.17171987e-01 4.51550757e-03 9.93101372e-01 3.86442603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.92, Y:9.83, Z:3.87 [[ 9.32151762e-01 -3.45596821e-01 -1.07962634e-01 4.19181595e+01] [ 3.42759786e-01 9.38372825e-01 -4.44091266e-02 9.82686427e+00] [ 1.16656855e-01 4.39079623e-03 9.93162574e-01 3.86613430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:9.84, Z:3.87 [[ 9.31735383e-01 -3.46820011e-01 -1.07633897e-01 4.19437467e+01] [ 3.44004390e-01 9.37922042e-01 -4.43082610e-02 9.83703929e+00] [ 1.16319196e-01 4.25704123e-03 9.93202760e-01 3.86855292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:41.97, Y:9.84, Z:3.87 [[ 9.30860786e-01 -3.48951247e-01 -1.08310777e-01 4.19699977e+01] [ 3.46110271e-01 9.37132134e-01 -4.46211093e-02 9.84340478e+00] [ 1.17072102e-01 4.04856835e-03 9.93115166e-01 3.87385610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.160888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.00, Y:9.86, Z:3.87 [[ 9.30309149e-01 -3.52011933e-01 -1.03016926e-01 4.19975112e+01] [ 3.48262408e-01 9.35899652e-01 -5.29635394e-02 9.85607497e+00] [ 1.15057303e-01 1.33955424e-02 9.93268532e-01 3.87051522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:9.86, Z:3.88 [[ 9.29411913e-01 -3.53167281e-01 -1.07081128e-01 4.20244128e+01] [ 3.50432602e-01 9.35554145e-01 -4.39935472e-02 9.86195424e+00] [ 1.15717275e-01 3.36340838e-03 9.93276497e-01 3.87862976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.05, Y:9.87, Z:3.89 [[ 9.27946191e-01 -3.55207255e-01 -1.12887876e-01 4.20504347e+01] [ 3.53455696e-01 9.34764036e-01 -3.58506241e-02 9.87047675e+00] [ 1.18257929e-01 -6.63341280e-03 9.92960755e-01 3.88863159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:42.07, Y:9.89, Z:3.89 [[ 9.27380519e-01 -3.57784460e-01 -1.09341913e-01 4.20740746e+01] [ 3.54940313e-01 9.33799253e-01 -4.51256954e-02 9.88594473e+00] [ 1.18248669e-01 3.03883801e-03 9.92979364e-01 3.88655155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.280888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:42.10, Y:9.90, Z:3.89 [[ 9.25710518e-01 -3.61886010e-01 -1.09993418e-01 4.20997981e+01] [ 3.59034519e-01 9.32218876e-01 -4.54112512e-02 9.89618014e+00] [ 1.18971637e-01 2.54623907e-03 9.92894388e-01 3.88975550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.13, Y:9.91, Z:3.89 [[ 9.24576931e-01 -3.64553469e-01 -1.10717061e-01 4.21265329e+01] [ 3.61678814e-01 9.31179734e-01 -4.57464619e-02 9.90553038e+00] [ 1.19774515e-01 2.25210788e-03 9.92798566e-01 3.89355141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.340888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.15, Y:9.92, Z:3.90 [[ 9.24482307e-01 -3.64797221e-01 -1.10704341e-01 4.21527520e+01] [ 3.61920625e-01 9.31084264e-01 -4.57772248e-02 9.91647156e+00] [ 1.19774474e-01 2.25405015e-03 9.92798567e-01 3.89678591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:9.93, Z:3.90 [[ 9.23264583e-01 -3.67513219e-01 -1.11877358e-01 4.21790292e+01] [ 3.64590694e-01 9.30016243e-01 -4.62970231e-02 9.92639294e+00] [ 1.21062528e-01 1.95495817e-03 9.92642958e-01 3.90084723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:9.94, Z:3.90 [[ 9.21089801e-01 -3.72918428e-01 -1.11917047e-01 4.22033652e+01] [ 3.70029186e-01 9.27863250e-01 -4.63485767e-02 9.93660070e+00] [ 1.21127953e-01 1.27862742e-03 9.92636078e-01 3.90386289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430888479000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:9.95, Z:3.91 [[ 9.19906410e-01 -3.76098148e-01 -1.11006216e-01 4.22293546e+01] [ 3.73276946e-01 9.26579424e-01 -4.59879637e-02 9.94774448e+00] [ 1.20152064e-01 8.68561219e-04 9.92755119e-01 3.90701497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.460888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:42.26, Y:9.96, Z:3.91 [[ 9.18533534e-01 -3.79542755e-01 -1.10650099e-01 4.22551992e+01] [ 3.76760287e-01 9.25174089e-01 -4.58758284e-02 9.95864128e+00] [ 1.19782443e-01 4.49923622e-04 9.92800062e-01 3.91020782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.28, Y:9.97, Z:3.91 [[ 9.17269410e-01 -3.82732291e-01 -1.10149094e-01 4.22801162e+01] [ 3.79993854e-01 9.23859291e-01 -4.57020947e-02 9.96882939e+00] [ 1.19253931e-01 6.51547273e-05 9.92863785e-01 3.91318628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.520888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:9.98, Z:3.92 [[ 9.15174400e-01 -3.88133886e-01 -1.08664182e-01 4.23058745e+01] [ 3.85505060e-01 9.21602793e-01 -4.51014390e-02 9.97812707e+00] [ 1.17650610e-01 -6.14909463e-04 9.93054860e-01 3.91863672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.34, Y:9.98, Z:3.93 [[ 9.15509246e-01 -3.86662025e-01 -1.11064392e-01 4.23405228e+01] [ 3.84592843e-01 9.22203484e-01 -4.03618453e-02 9.98424490e+00] [ 1.18030362e-01 -5.76292756e-03 9.92993264e-01 3.92723943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:10.00, Z:3.93 [[ 9.13735989e-01 -3.92690726e-01 -1.04309811e-01 4.23574995e+01] [ 3.89882911e-01 9.19667932e-01 -4.69277180e-02 1.00009918e+01] [ 1.14358468e-01 2.21093193e-03 9.93437090e-01 3.92756800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:10.01, Z:3.93 [[ 9.13449461e-01 -3.93049002e-01 -1.05463564e-01 4.23825191e+01] [ 3.90597613e-01 9.19516815e-01 -4.38444083e-02 1.00122943e+01] [ 1.14208521e-01 -1.14416529e-03 9.93456141e-01 3.93177288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.41, Y:10.03, Z:3.93 [[ 9.13205890e-01 -3.93523766e-01 -1.05801934e-01 4.24070464e+01] [ 3.91055683e-01 9.19313693e-01 -4.40203009e-02 1.00255715e+01] [ 1.14588201e-01 -1.17484949e-03 9.93412384e-01 3.93387997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:42.43, Y:10.04, Z:3.93 [[ 9.12803494e-01 -3.94150754e-01 -1.06934397e-01 4.24320012e+01] [ 3.91629503e-01 9.19044972e-01 -4.45272087e-02 1.00403175e+01] [ 1.15827953e-01 -1.23407304e-03 9.93268525e-01 3.93358773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.700888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.46, Y:10.05, Z:3.94 [[ 9.12604223e-01 -3.94481397e-01 -1.07414897e-01 4.24566371e+01] [ 3.91935474e-01 9.18903079e-01 -4.47628880e-02 1.00521144e+01] [ 1.16362006e-01 -1.24890792e-03 9.93206083e-01 3.93954668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.730888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:42.48, Y:10.07, Z:3.94 [[ 9.11957638e-01 -3.95653593e-01 -1.08588674e-01 4.24800789e+01] [ 3.93055558e-01 9.18398785e-01 -4.52879708e-02 1.00655994e+01] [ 1.17646055e-01 -1.38067099e-03 9.93054631e-01 3.94365021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:10.08, Z:3.95 [[ 9.11699609e-01 -3.95986368e-01 -1.09538208e-01 4.25041146e+01] [ 3.93343028e-01 9.18255289e-01 -4.56999621e-02 1.00781717e+01] [ 1.18680601e-01 -1.42145281e-03 9.92931465e-01 3.94621584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:42.53, Y:10.09, Z:3.95 [[ 9.11330399e-01 -3.96423099e-01 -1.11020861e-01 4.25289990e+01] [ 3.93708609e-01 9.18066734e-01 -4.63357630e-02 1.00919560e+01] [ 1.20293126e-01 -1.48267951e-03 9.92737309e-01 3.94829678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.820888479 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:42.55, Y:10.13, Z:3.92 [[ 9.11576223e-01 -4.00991684e-01 -9.07439208e-02 4.25511158e+01] [ 3.95226259e-01 9.15496989e-01 -7.52427173e-02 1.01261955e+01] [ 1.13247490e-01 3.27250917e-02 9.93027731e-01 3.91971666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:42.58, Y:10.11, Z:3.97 [[ 9.11060769e-01 -3.92749156e-01 -1.25364968e-01 4.25814924e+01] [ 3.94122945e-01 9.18940140e-01 -1.47011672e-02 1.01108008e+01] [ 1.20976772e-01 -3.60155535e-02 9.92001764e-01 3.96506967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.880888479 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:42.60, Y:10.14, Z:3.95 [[ 9.10661008e-01 -3.97797586e-01 -1.11595736e-01 4.26015405e+01] [ 3.95056921e-01 9.17471790e-01 -4.66427250e-02 1.01391238e+01] [ 1.20940303e-01 -1.61095707e-03 9.92658475e-01 3.95368548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.910888479 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:42.63, Y:10.15, Z:3.96 [[ 9.10560760e-01 -3.98080504e-01 -1.11404731e-01 4.26256901e+01] [ 3.95347013e-01 9.17349068e-01 -4.65985771e-02 1.01525786e+01] [ 1.20747011e-01 -1.61269175e-03 9.92682003e-01 3.95834084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.940888479 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:42.65, Y:10.18, Z:3.94 [[ 9.10697813e-01 -4.01341192e-01 -9.77483554e-02 4.26502035e+01] [ 3.96496101e-01 9.15687616e-01 -6.56279775e-02 1.01776854e+01] [ 1.15846169e-01 2.10104137e-02 9.93044927e-01 3.94116722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970888479 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:42.67, Y:10.18, Z:3.97 [[ 9.10950388e-01 -3.94980944e-01 -1.18993466e-01 4.26747248e+01] [ 3.94981687e-01 9.18359869e-01 -2.45889721e-02 1.01773649e+01] [ 1.18990999e-01 -2.46009063e-02 9.92590519e-01 3.97218557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.000888479 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:42.70, Y:10.20, Z:3.96 [[ 9.11284324e-01 -3.97012126e-01 -1.09280619e-01 4.26968873e+01] [ 3.94364127e-01 9.17812354e-01 -4.57975749e-02 1.02009320e+01] [ 1.18481294e-01 -1.36174360e-03 9.92955351e-01 3.96467489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030888479 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:42.72, Y:10.22, Z:3.97 [[ 9.12866614e-01 -3.93607506e-01 -1.08386698e-01 4.27202526e+01] [ 3.90974894e-01 9.19278171e-01 -4.54563227e-02 1.02172326e+01] [ 1.17529475e-01 -8.80918423e-04 9.93069004e-01 3.96996445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.060888479 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:42.74, Y:10.23, Z:3.97 [[ 9.13476410e-01 -3.92389813e-01 -1.07661891e-01 4.27433805e+01] [ 3.89779936e-01 9.19798762e-01 -4.51867217e-02 1.02309747e+01] [ 1.16758083e-01 -6.87440550e-04 9.93160147e-01 3.97290735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.090888479 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:42.77, Y:10.25, Z:3.98 [[ 9.14011360e-01 -3.91325730e-01 -1.06992560e-01 4.27672136e+01] [ 3.88739239e-01 9.20252079e-01 -4.49212124e-02 1.02452375e+01] [ 1.16038952e-01 -5.33707801e-04 9.93244520e-01 3.97534014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.120888479 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:42.79, Y:10.26, Z:3.97 [[ 9.14634968e-01 -3.89769811e-01 -1.07342305e-01 4.27903783e+01] [ 3.87151552e-01 9.20912266e-01 -4.51029307e-02 1.02637004e+01] [ 1.16432606e-01 -3.05022384e-04 9.93198548e-01 3.97488332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150888479 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:42.81, Y:10.28, Z:3.98 [[ 9.15258295e-01 -3.88263608e-01 -1.07487790e-01 4.28147397e+01] [ 3.85623773e-01 9.21548351e-01 -4.51989148e-02 1.02783547e+01] [ 1.16604290e-01 -8.11655242e-05 9.93178450e-01 3.97792576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.180888479000004 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:42.84, Y:10.30, Z:3.97 [[ 9.16612735e-01 -3.87374536e-01 -9.88031524e-02 4.28411509e+01] [ 3.83427978e-01 9.21810652e-01 -5.69921617e-02 1.02987693e+01] [ 1.13155111e-01 1.43558483e-02 9.93473618e-01 3.97164035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210888479 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:42.87, Y:10.31, Z:3.97 [[ 9.16857809e-01 -3.86840387e-01 -9.86218689e-02 4.28657890e+01] [ 3.83302911e-01 9.22079524e-01 -5.33688156e-02 1.03128173e+01] [ 1.11582419e-01 1.11295659e-02 9.93692858e-01 3.97065062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.240888479 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:42.89, Y:10.32, Z:3.99 [[ 9.18208259e-01 -3.79511558e-01 -1.13422092e-01 4.28946126e+01] [ 3.78099805e-01 9.25119728e-01 -3.45546940e-02 1.03173137e+01] [ 1.18042920e-01 -1.11564654e-02 9.92945820e-01 3.98676112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.270888479 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:42.92, Y:10.34, Z:3.98 [[ 9.18440561e-01 -3.81618728e-01 -1.04086904e-01 4.29158003e+01] [ 3.77792191e-01 9.24251313e-01 -5.50687736e-02 1.03406044e+01] [ 1.17217733e-01 1.12541756e-02 9.93042470e-01 3.97847083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.300888479 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:42.94, Y:10.34, Z:4.00 [[ 9.19258183e-01 -3.73822886e-01 -1.23372782e-01 4.29412460e+01] [ 3.73656325e-01 9.27220304e-01 -2.53665019e-02 1.03433742e+01] [ 1.23876328e-01 -2.27806559e-02 9.92036137e-01 3.99976311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.330888479 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:42.96, Y:10.37, Z:3.99 [[ 9.20719226e-01 -3.75069759e-01 -1.07697649e-01 4.29649396e+01] [ 3.70963978e-01 9.26915837e-01 -5.66812057e-02 1.03706337e+01] [ 1.21086062e-01 1.22355277e-02 9.92566601e-01 3.98723590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.360888479 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:42.99, Y:10.37, Z:4.00 [[ 9.20939395e-01 -3.71718947e-01 -1.17028433e-01 4.29882362e+01] [ 3.69953259e-01 9.28302060e-01 -3.72809710e-02 1.03743376e+01] [ 1.22495778e-01 -8.96153526e-03 9.92428574e-01 4.00145311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390888479 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:43.01, Y:10.39, Z:4.00 [[ 9.22504383e-01 -3.71217420e-01 -1.05751079e-01 4.30142173e+01] [ 3.67252279e-01 9.28463589e-01 -5.55079121e-02 1.03944342e+01] [ 1.18791531e-01 1.23689673e-02 9.92842173e-01 3.99607462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.420888479 meters Centerline goodness : 0.997335 Centerline is valid? [True, True] Translation: X:43.04, Y:10.40, Z:4.01 [[ 9.22941777e-01 -3.67718798e-01 -1.13847977e-01 4.30377475e+01] [ 3.65983438e-01 9.29903220e-01 -3.65530409e-02 1.03978527e+01] [ 1.19308841e-01 -7.93014563e-03 9.92825520e-01 4.01118078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.450888479 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:43.06, Y:10.41, Z:4.01 [[ 9.23590162e-01 -3.67392050e-01 -1.09564107e-01 4.30616066e+01] [ 3.64466105e-01 9.30061680e-01 -4.63651731e-02 1.04146896e+01] [ 1.18935574e-01 2.89001429e-03 9.92897768e-01 4.01034425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.480888479 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:43.08, Y:10.44, Z:3.99 [[ 9.25084491e-01 -3.68315734e-01 -9.25321870e-02 4.30823081e+01] [ 3.63034022e-01 9.29202947e-01 -6.91966998e-02 1.04424915e+01] [ 1.11467414e-01 3.04204618e-02 9.93302376e-01 3.99395738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.510888479 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:43.11, Y:10.44, Z:4.02 [[ 9.25316239e-01 -3.61911830e-01 -1.13179877e-01 4.31117426e+01] [ 3.60169122e-01 9.32184064e-01 -3.62087618e-02 1.04378719e+01] [ 1.18608857e-01 -7.25934182e-03 9.92914518e-01 4.01507530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.540888479 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:43.14, Y:10.46, Z:4.01 [[ 9.27315804e-01 -3.61575164e-01 -9.66891969e-02 4.31364564e+01] [ 3.57700331e-01 9.32191870e-01 -5.53966595e-02 1.04604844e+01] [ 1.10162940e-01 1.67844400e-02 9.93771809e-01 4.00663596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570888479 meters Centerline goodness : 0.997232 Centerline is valid? [True, True] Translation: X:43.16, Y:10.47, Z:4.01 [[ 9.27834074e-01 -3.59190515e-01 -1.00529126e-01 4.31642155e+01] [ 3.56255414e-01 9.33236255e-01 -4.63915189e-02 1.04677773e+01] [ 1.10480818e-01 7.22958666e-03 9.93851962e-01 4.01355715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.600888479 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:43.19, Y:10.46, Z:4.04 [[ 9.28458162e-01 -3.51173346e-01 -1.21007116e-01 4.31943668e+01] [ 3.51771073e-01 9.35929906e-01 -1.70974487e-02 1.04632262e+01] [ 1.19258347e-01 -2.66925374e-02 9.92504385e-01 4.04020816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630888479 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:43.21, Y:10.50, Z:4.01 [[ 9.28976793e-01 -3.59336960e-01 -8.87641081e-02 4.32102437e+01] [ 3.53428081e-01 9.32395395e-01 -7.56797130e-02 1.05046883e+01] [ 1.09957764e-01 3.89329687e-02 9.93173456e-01 4.00819012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.660888479 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:43.24, Y:10.50, Z:4.03 [[ 9.30625776e-01 -3.49030167e-01 -1.10061838e-01 4.32423622e+01] [ 3.46718494e-01 9.37111121e-01 -4.01127628e-02 1.05007095e+01] [ 1.17140737e-01 -8.30503739e-04 9.93114977e-01 4.02641491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.690888479 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:43.26, Y:10.52, Z:4.02 [[ 9.31079598e-01 -3.49604993e-01 -1.04245528e-01 4.32649353e+01] [ 3.45813507e-01 9.36802085e-01 -5.30553730e-02 1.05186200e+01] [ 1.16205851e-01 1.33492637e-02 9.93135438e-01 4.02142982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.720888479 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:43.30, Y:10.52, Z:4.04 [[ 9.31627684e-01 -3.42747769e-01 -1.20804905e-01 4.32962905e+01] [ 3.41789167e-01 9.39322180e-01 -2.92234135e-02 1.05158358e+01] [ 1.23490986e-01 -1.40644667e-02 9.92246021e-01 4.03981818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750888479 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:43.32, Y:10.54, Z:4.03 [[ 9.32339924e-01 -3.44496329e-01 -1.09838728e-01 4.33197546e+01] [ 3.40335373e-01 9.38681884e-01 -5.52101013e-02 1.05367243e+01] [ 1.22123301e-01 1.40925772e-02 9.92414882e-01 4.03364153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.780888479 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:43.35, Y:10.55, Z:4.04 [[ 9.32656106e-01 -3.43821114e-01 -1.09268615e-01 4.33459931e+01] [ 3.40100344e-01 9.38970863e-01 -5.16282339e-02 1.05464457e+01] [ 1.20350923e-01 1.09890940e-02 9.92670587e-01 4.03754191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810888479 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:43.37, Y:10.56, Z:4.04 [[ 9.32442239e-01 -3.44043174e-01 -1.10389149e-01 4.33714188e+01] [ 3.40713518e-01 9.38924263e-01 -4.83272901e-02 1.05556662e+01] [ 1.20273725e-01 7.45133116e-03 9.92712803e-01 4.04152332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.840888479 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:43.40, Y:10.55, Z:4.06 [[ 9.31930571e-01 -3.39864779e-01 -1.26480601e-01 4.34025996e+01] [ 3.39166403e-01 9.40318903e-01 -2.76859541e-02 1.05533536e+01] [ 1.28341581e-01 -1.70965835e-02 9.91582647e-01 4.06167194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.870888479 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:43.42, Y:10.58, Z:4.04 [[ 9.31475758e-01 -3.48964492e-01 -1.02843061e-01 4.34220188e+01] [ 3.42919676e-01 9.36592723e-01 -7.21121907e-02 1.05840371e+01] [ 1.21486657e-01 3.19038482e-02 9.92080207e-01 4.03949600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.900888479 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:43.45, Y:10.58, Z:4.05 [[ 9.31162064e-01 -3.46076685e-01 -1.14752510e-01 4.34537949e+01] [ 3.43572181e-01 9.38205952e-01 -4.15661885e-02 1.05772222e+01] [ 1.22046576e-01 -7.20912189e-04 9.92524112e-01 4.05419043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930888479000004 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:43.48, Y:10.59, Z:4.05 [[ 9.30638582e-01 -3.49861576e-01 -1.07278645e-01 4.34792562e+01] [ 3.45455149e-01 9.36651411e-01 -5.78348958e-02 1.05947933e+01] [ 1.20716902e-01 1.67634250e-02 9.92545423e-01 4.05018453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.960888479 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:43.51, Y:10.60, Z:4.06 [[ 9.30468944e-01 -3.49429042e-01 -1.10122151e-01 4.35069557e+01] [ 3.46068310e-01 9.36933617e-01 -4.89093320e-02 1.05995348e+01] [ 1.20267486e-01 7.39882777e-03 9.92713951e-01 4.05796139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990888479 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:43.54, Y:10.60, Z:4.07 [[ 9.29818806e-01 -3.49380341e-01 -1.15630294e-01 4.35370931e+01] [ 3.46846815e-01 9.36980411e-01 -4.20118552e-02 1.06021603e+01] [ 1.23021436e-01 -1.04258609e-03 9.92403466e-01 4.06730179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.020888479 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:43.56, Y:10.60, Z:4.09 [[ 9.29471714e-01 -3.46559053e-01 -1.26408685e-01 4.35646882e+01] [ 3.45751339e-01 9.37878348e-01 -2.89864778e-02 1.06024371e+01] [ 1.28601495e-01 -1.67638606e-02 9.91554652e-01 4.08655384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.050888479 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:43.59, Y:10.63, Z:4.06 [[ 9.29919537e-01 -3.53615111e-01 -1.01024785e-01 4.35863666e+01] [ 3.47470739e-01 9.34795821e-01 -7.36264770e-02 1.06338688e+01] [ 1.20472982e-01 3.33635427e-02 9.92155802e-01 4.06184140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.080888479 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:43.62, Y:10.62, Z:4.09 [[ 9.29608408e-01 -3.45148070e-01 -1.29232416e-01 4.36195410e+01] [ 3.44918644e-01 9.38303010e-01 -2.48714795e-02 1.06194835e+01] [ 1.29843508e-01 -2.14539332e-02 9.91302372e-01 4.09260849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110888479 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:43.64, Y:10.64, Z:4.09 [[ 9.30779274e-01 -3.45852107e-01 -1.18474733e-01 4.36421203e+01] [ 3.42200135e-01 9.38266477e-01 -5.05478635e-02 1.06366757e+01] [ 1.28642955e-01 6.50683421e-03 9.91669628e-01 4.08695369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.140888479 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:43.67, Y:10.65, Z:4.07 [[ 9.31318400e-01 -3.49295736e-01 -1.03143234e-01 4.36684126e+01] [ 3.43079435e-01 9.36430825e-01 -7.34425657e-02 1.06525926e+01] [ 1.22239679e-01 3.30120902e-02 9.91951442e-01 4.07144121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170888479 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:43.70, Y:10.65, Z:4.08 [[ 9.31082476e-01 -3.46515022e-01 -1.14073500e-01 4.36988791e+01] [ 3.43088247e-01 9.38021687e-01 -4.90486464e-02 1.06530927e+01] [ 1.23999510e-01 6.53105793e-03 9.92260786e-01 4.08431922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.200888479 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:43.73, Y:10.66, Z:4.09 [[ 9.30937362e-01 -3.46773716e-01 -1.14471034e-01 4.37250856e+01] [ 3.43331390e-01 9.37926503e-01 -4.91673831e-02 1.06643249e+01] [ 1.24415373e-01 6.47025462e-03 9.92209127e-01 4.08810035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.230888479 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:43.75, Y:10.67, Z:4.09 [[ 9.31054672e-01 -3.47127357e-01 -1.12426848e-01 4.37505920e+01] [ 3.43458775e-01 9.37774897e-01 -5.11303500e-02 1.06740513e+01] [ 1.23179819e-01 8.99116367e-03 9.92343636e-01 4.09105139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.260888479 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:43.78, Y:10.68, Z:4.10 [[ 9.30931296e-01 -3.47014024e-01 -1.13790110e-01 4.37770779e+01] [ 3.43585993e-01 9.37836608e-01 -4.91035727e-02 1.06843303e+01] [ 1.23756159e-01 6.61536474e-03 9.92290608e-01 4.09568686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290888479 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:43.81, Y:10.69, Z:4.10 [[ 9.31085553e-01 -3.45900467e-01 -1.15898924e-01 4.38056031e+01] [ 3.43012109e-01 9.38269460e-01 -4.46442885e-02 1.06895046e+01] [ 1.24186901e-01 1.81291756e-03 9.92257188e-01 4.10178271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.320888479 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:43.83, Y:10.70, Z:4.10 [[ 9.31482389e-01 -3.45801761e-01 -1.12967696e-01 4.38314026e+01] [ 3.42149072e-01 9.38266817e-01 -5.08860793e-02 1.07026574e+01] [ 1.23590337e-01 8.74769426e-03 9.92294768e-01 4.10288458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350888479 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:43.86, Y:10.71, Z:4.11 [[ 9.31634221e-01 -3.44419662e-01 -1.15899846e-01 4.38584190e+01] [ 3.40996053e-01 9.38796956e-01 -4.88053975e-02 1.07116015e+01] [ 1.25615961e-01 5.94738843e-03 9.92061117e-01 4.10749841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.380888479 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:43.89, Y:10.71, Z:4.13 [[ 9.31720056e-01 -3.37677776e-01 -1.33684167e-01 4.38877009e+01] [ 3.36942264e-01 9.41085277e-01 -2.87821558e-02 1.07076162e+01] [ 1.35527295e-01 -1.82269339e-02 9.90605941e-01 4.12821729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.410888479 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:43.91, Y:10.74, Z:4.10 [[ 9.32275534e-01 -3.46484971e-01 -1.03973525e-01 4.39073821e+01] [ 3.39335318e-01 9.37210209e-01 -8.05516312e-02 1.07430207e+01] [ 1.25354979e-01 3.98144258e-02 9.91312736e-01 4.09777282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.440888479 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:43.94, Y:10.72, Z:4.14 [[ 9.31927288e-01 -3.35826704e-01 -1.36864731e-01 4.39427742e+01] [ 3.35879182e-01 9.41614086e-01 -2.34112830e-02 1.07217225e+01] [ 1.36735893e-01 -2.41524005e-02 9.90313060e-01 4.14050008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470888479 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:43.97, Y:10.74, Z:4.13 [[ 9.31729524e-01 -3.41671976e-01 -1.23046147e-01 4.39653030e+01] [ 3.37652913e-01 9.39788072e-01 -5.28099416e-02 1.07411473e+01] [ 1.33680978e-01 7.65769184e-03 9.90994831e-01 4.13050390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.500888479 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:43.98, Y:10.78, Z:4.10 [[ 0.93104935 -0.35317309 -0.09173812 43.97922121] [ 0.34527193 0.93401952 -0.09162332 10.77543341] [ 0.11804409 0.05363124 0.99155902 4.09760654] [ 0. 0. 0. 1. ]] SLAMing on 50.530888479 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:44.01, Y:10.77, Z:4.12 [[ 9.30879241e-01 -3.48926110e-01 -1.08233121e-01 4.40144184e+01] [ 3.45214225e-01 9.37085905e-01 -5.19340444e-02 1.07659739e+01] [ 1.19544876e-01 1.09807109e-02 9.92768073e-01 4.11851495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.560888479 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:44.04, Y:10.77, Z:4.13 [[ 9.30548051e-01 -3.49561169e-01 -1.09028954e-01 4.40400340e+01] [ 3.46297270e-01 9.36886814e-01 -4.81798693e-02 1.07723050e+01] [ 1.18989601e-01 7.07725438e-03 9.92870277e-01 4.12565475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.590888479 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:44.08, Y:10.76, Z:4.17 [[ 9.29748981e-01 -3.40382178e-01 -1.40380932e-01 4.40769653e+01] [ 3.42465536e-01 9.39479331e-01 -9.79504939e-03 1.07578562e+01] [ 1.35219044e-01 -3.89686938e-02 9.90049115e-01 4.16676094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.620888479 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:44.10, Y:10.78, Z:4.15 [[ 9.29508876e-01 -3.47767393e-01 -1.22764368e-01 4.40983949e+01] [ 3.43822177e-01 9.37556569e-01 -5.26686894e-02 1.07848412e+01] [ 1.33414993e-01 6.74690191e-03 9.91037294e-01 4.15207854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650888479 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:44.12, Y:10.81, Z:4.13 [[ 9.28371347e-01 -3.57220490e-01 -1.02567852e-01 4.41202407e+01] [ 3.50194243e-01 9.33214583e-01 -8.04644862e-02 1.08092502e+01] [ 1.24461378e-01 3.87822521e-02 9.91466239e-01 4.12796982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.680888479 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:44.15, Y:10.80, Z:4.15 [[ 9.26554239e-01 -3.57453185e-01 -1.17151452e-01 4.41517485e+01] [ 3.53882575e-01 9.33914762e-01 -5.06985266e-02 1.08019306e+01] [ 1.27531820e-01 5.51707733e-03 9.91819135e-01 4.14500098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710888479 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:44.18, Y:10.81, Z:4.15 [[ 9.25724536e-01 -3.59617199e-01 -1.17087798e-01 4.41791350e+01] [ 3.55816869e-01 9.33073314e-01 -5.26169787e-02 1.08116841e+01] [ 1.28173470e-01 7.04701455e-03 9.91726727e-01 4.15023151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.740888479 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:44.21, Y:10.81, Z:4.16 [[ 9.24670491e-01 -3.58908808e-01 -1.27157192e-01 4.42103215e+01] [ 3.56715545e-01 9.33338445e-01 -4.04149443e-02 1.08131421e+01] [ 1.33185975e-01 -7.98844063e-03 9.91058868e-01 4.16415826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.770888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:44.23, Y:10.83, Z:4.16 [[ 9.23896721e-01 -3.63776662e-01 -1.18665032e-01 4.42332868e+01] [ 3.59724609e-01 9.31453019e-01 -5.47126910e-02 1.08292176e+01] [ 1.30434103e-01 7.86214345e-03 9.91425807e-01 4.16416864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.800888479 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:44.26, Y:10.83, Z:4.19 [[ 9.21234003e-01 -3.65188503e-01 -1.34034583e-01 4.42643959e+01] [ 3.63951905e-01 9.30778434e-01 -3.45038716e-02 1.08257594e+01] [ 1.37356917e-01 -1.69960021e-02 9.90375794e-01 4.18547249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.830888479 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:44.29, Y:10.84, Z:4.18 [[ 9.20486733e-01 -3.70307289e-01 -1.24806594e-01 4.42881335e+01] [ 3.66418745e-01 9.28902138e-01 -5.36481242e-02 1.08436309e+01] [ 1.35799404e-01 3.65091099e-03 9.90729627e-01 4.18236765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.860888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:44.31, Y:10.85, Z:4.19 [[ 9.19461010e-01 -3.73013487e-01 -1.24307644e-01 4.43137072e+01] [ 3.69175267e-01 9.27820139e-01 -5.34734752e-02 1.08529837e+01] [ 1.35281463e-01 3.27546793e-03 9.90801795e-01 4.18792687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:44.34, Y:10.86, Z:4.19 [[ 9.17142934e-01 -3.78618646e-01 -1.24485981e-01 4.43400953e+01] [ 3.74815133e-01 9.25549414e-01 -5.35900937e-02 1.08608085e+01] [ 1.35508135e-01 2.49054640e-03 9.90773103e-01 4.19220394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.920888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:44.37, Y:10.87, Z:4.20 [[ 9.15987355e-01 -3.81490649e-01 -1.24225801e-01 4.43665864e+01] [ 3.77723725e-01 9.24370313e-01 -5.35192756e-02 1.08705517e+01] [ 1.35247745e-01 2.09994760e-03 9.90809587e-01 4.19590009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.950888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:44.39, Y:10.88, Z:4.20 [[ 9.14779178e-01 -3.84525391e-01 -1.23771079e-01 4.43919101e+01] [ 3.80808101e-01 9.23112879e-01 -5.33647992e-02 1.08812644e+01] [ 1.34774797e-01 1.68397764e-03 9.90874825e-01 4.19859118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:10.89, Z:4.20 [[ 9.14185214e-01 -3.86176418e-01 -1.23016948e-01 4.44161178e+01] [ 3.82513897e-01 9.22423772e-01 -5.30801585e-02 1.08918911e+01] [ 1.33972063e-01 1.46940375e-03 9.90984020e-01 4.20433616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.010888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:44.44, Y:10.90, Z:4.20 [[ 9.12227637e-01 -3.91419700e-01 -1.20960144e-01 4.44418785e+01] [ 3.87922636e-01 9.20211999e-01 -5.22102122e-02 1.09044751e+01] [ 1.31745082e-01 7.04420544e-04 9.91283379e-01 4.20459486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.040888479 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:44.47, Y:10.91, Z:4.21 [[ 9.11391255e-01 -3.93580032e-01 -1.20252812e-01 4.44666320e+01] [ 3.90137395e-01 9.19290257e-01 -5.19445522e-02 1.09146055e+01] [ 1.30991577e-01 4.26691957e-04 9.91383389e-01 4.20789667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:44.49, Y:10.92, Z:4.22 [[ 9.10207015e-01 -3.96219295e-01 -1.20554803e-01 4.44920113e+01] [ 3.92779964e-01 9.18155905e-01 -5.20925507e-02 1.09242601e+01] [ 1.31328178e-01 6.34938211e-05 9.91338946e-01 4.21503059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.100888479 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:44.52, Y:10.94, Z:4.22 [[ 9.09534099e-01 -3.97437157e-01 -1.21620015e-01 4.45164112e+01] [ 3.93941932e-01 9.17629392e-01 -5.25932845e-02 1.09358171e+01] [ 1.32504626e-01 -7.58382690e-05 9.91182384e-01 4.21718726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:44.54, Y:10.95, Z:4.22 [[ 9.09440846e-01 -3.97584513e-01 -1.21835559e-01 4.45416295e+01] [ 3.94075743e-01 9.17565555e-01 -5.27044646e-02 1.09479966e+01] [ 1.32746591e-01 -8.08454171e-05 9.91150007e-01 4.22315561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.160888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:44.56, Y:10.96, Z:4.22 [[ 9.09082618e-01 -3.98184919e-01 -1.22546171e-01 4.45644312e+01] [ 3.94634910e-01 9.17305158e-01 -5.30521920e-02 1.09624746e+01] [ 1.33536817e-01 -1.32171377e-04 9.91043844e-01 4.22449410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.190888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:44.59, Y:10.98, Z:4.22 [[ 9.08531153e-01 -3.99038763e-01 -1.23851563e-01 4.45897163e+01] [ 3.95417714e-01 9.16934025e-01 -5.36360385e-02 1.09764971e+01] [ 1.34966571e-01 -2.43090163e-04 9.90850123e-01 4.22391956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.220888479 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:44.61, Y:10.99, Z:4.23 [[ 9.08530724e-01 -3.98899233e-01 -1.24303360e-01 4.46147572e+01] [ 3.95244748e-01 9.16994748e-01 -5.38722718e-02 1.09896393e+01] [ 1.35475136e-01 -1.85636168e-04 9.90780729e-01 4.22587963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:44.64, Y:11.00, Z:4.23 [[ 9.09285130e-01 -3.96823506e-01 -1.25425904e-01 4.46375395e+01] [ 3.93077124e-01 9.17894917e-01 -5.43994097e-02 1.10025915e+01] [ 1.36714764e-01 1.62520796e-04 9.90610442e-01 4.23156140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.280888479 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:44.66, Y:11.01, Z:4.23 [[ 9.09560751e-01 -3.96084859e-01 -1.25761780e-01 4.46626342e+01] [ 3.92308606e-01 9.18213863e-01 -5.45642635e-02 1.10149177e+01] [ 1.37088288e-01 2.92084014e-04 9.90558790e-01 4.23499950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310888479 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:44.69, Y:11.03, Z:4.24 [[ 9.10033676e-01 -3.94897502e-01 -1.26074073e-01 4.46868840e+01] [ 3.91085348e-01 9.18725042e-01 -5.47407321e-02 1.10274588e+01] [ 1.37444386e-01 5.10186995e-04 9.90509354e-01 4.23832105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.340888479 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:44.71, Y:11.04, Z:4.24 [[ 9.11115951e-01 -3.92220986e-01 -1.26611302e-01 4.47104699e+01] [ 3.88347614e-01 9.19870546e-01 -5.49937224e-02 1.10425207e+01] [ 1.38035699e-01 9.36460718e-04 9.90426811e-01 4.24234309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.370888479 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:44.73, Y:11.06, Z:4.25 [[ 9.11655394e-01 -3.90937647e-01 -1.26697272e-01 4.47341550e+01] [ 3.87040825e-01 9.20416420e-01 -5.50728035e-02 1.10553938e+01] [ 1.38144282e-01 1.17040173e-03 9.90411423e-01 4.24610311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.400888479 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:44.76, Y:11.07, Z:4.25 [[ 9.13408724e-01 -3.87116968e-01 -1.25797281e-01 4.47570594e+01] [ 3.83235595e-01 9.22028930e-01 -5.47095101e-02 1.10693408e+01] [ 1.37167712e-01 1.76214791e-03 9.90546270e-01 4.25103613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.430888479 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:44.78, Y:11.08, Z:4.25 [[ 9.14079012e-01 -3.85797525e-01 -1.24979320e-01 4.47814734e+01] [ 3.81951880e-01 9.22581384e-01 -5.43723359e-02 1.10825195e+01] [ 1.36280307e-01 1.96452487e-03 9.90668370e-01 4.25401271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.460888479 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:44.81, Y:11.10, Z:4.26 [[ 9.14749146e-01 -3.84342152e-01 -1.24559668e-01 4.48051287e+01] [ 3.80503339e-01 9.23188072e-01 -5.42309263e-02 1.10955187e+01] [ 1.35835231e-01 2.21232401e-03 9.90728972e-01 4.25660504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490888479 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:44.83, Y:11.11, Z:4.26 [[ 9.15230920e-01 -3.83044660e-01 -1.25016605e-01 4.48304159e+01] [ 3.79162751e-01 9.23726623e-01 -5.44493794e-02 1.11088566e+01] [ 1.36337710e-01 2.43211578e-03 9.90659434e-01 4.25875290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.520888479 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:44.85, Y:11.12, Z:4.26 [[ 9.17689753e-01 -3.77242538e-01 -1.24633807e-01 4.48535551e+01] [ 3.73325439e-01 9.26108537e-01 -5.43239832e-02 1.11225475e+01] [ 1.35917749e-01 3.32359214e-03 9.90714550e-01 4.26479160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.550888479 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:44.88, Y:11.14, Z:4.27 [[ 9.18907251e-01 -3.74417348e-01 -1.24181776e-01 4.48782822e+01] [ 3.70499123e-01 9.27252690e-01 -5.41557922e-02 1.11359078e+01] [ 1.35424754e-01 3.75491106e-03 9.90780519e-01 4.26944700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.580888479 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:44.90, Y:11.15, Z:4.27 [[ 9.19737793e-01 -3.72059033e-01 -1.25117820e-01 4.49029714e+01] [ 3.68053647e-01 9.28199687e-01 -5.46063656e-02 1.11493764e+01] [ 1.36451113e-01 4.17346834e-03 9.90638015e-01 4.27216088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610888479 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:44.93, Y:11.16, Z:4.27 [[ 9.20337918e-01 -3.69987648e-01 -1.26835551e-01 4.49268684e+01] [ 3.65845431e-01 9.29025369e-01 -5.53984187e-02 1.11618759e+01] [ 1.38330175e-01 4.58305856e-03 9.90375564e-01 4.27441659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.640888479 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:44.95, Y:11.17, Z:4.28 [[ 9.21942539e-01 -3.65820643e-01 -1.27268267e-01 4.49521781e+01] [ 3.61607593e-01 9.30670585e-01 -5.56076532e-02 1.11744793e+01] [ 1.38787260e-01 5.24588928e-03 9.90308324e-01 4.27878291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670888479 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:44.98, Y:11.19, Z:4.28 [[ 9.22749308e-01 -3.63883418e-01 -1.26974694e-01 4.49768191e+01] [ 3.59665833e-01 9.31427885e-01 -5.55210190e-02 1.11865894e+01] [ 1.38470949e-01 5.56352267e-03 9.90350869e-01 4.28399205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.700888479 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:45.00, Y:11.20, Z:4.29 [[ 9.23550249e-01 -3.61873397e-01 -1.26895953e-01 4.50007019e+01] [ 3.57636225e-01 9.32208569e-01 -5.55294090e-02 1.12015722e+01] [ 1.38388110e-01 5.90161005e-03 9.90360491e-01 4.28594528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.730888479 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:45.03, Y:11.21, Z:4.29 [[ 9.23659221e-01 -3.61294507e-01 -1.27749449e-01 4.50259409e+01] [ 3.56988194e-01 9.32431997e-01 -5.59463974e-02 1.12141130e+01] [ 1.39330800e-01 6.07036084e-03 9.90227287e-01 4.28900722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.760888479 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:45.05, Y:11.23, Z:4.29 [[ 9.23489961e-01 -3.61309222e-01 -1.28926097e-01 4.50506166e+01] [ 3.56916806e-01 9.32425672e-01 -5.65045149e-02 1.12252171e+01] [ 1.40629605e-01 6.16546151e-03 9.90043081e-01 4.29193932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790888479 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:45.08, Y:11.24, Z:4.30 [[ 9.22983254e-01 -3.62523366e-01 -1.29146128e-01 4.50765211e+01] [ 3.58123294e-01 9.31955241e-01 -5.66315695e-02 1.12363761e+01] [ 1.40888678e-01 6.01975352e-03 9.90007143e-01 4.29604120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.820888479 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:45.10, Y:11.25, Z:4.30 [[ 9.22589577e-01 -3.63582099e-01 -1.28982674e-01 4.51020224e+01] [ 3.59197383e-01 9.31543533e-01 -5.66028870e-02 1.12475522e+01] [ 1.40732772e-01 5.89099465e-03 9.90030092e-01 4.30052769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850888479 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:45.13, Y:11.26, Z:4.30 [[ 9.21416603e-01 -3.66301052e-01 -1.29672598e-01 4.51272684e+01] [ 3.61889519e-01 9.30479862e-01 -5.69491251e-02 1.12598252e+01] [ 1.41518266e-01 5.54671523e-03 9.89920105e-01 4.30373076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.880888479 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:45.15, Y:11.27, Z:4.31 [[ 9.20718281e-01 -3.67775954e-01 -1.30455717e-01 4.51513524e+01] [ 3.63319167e-01 9.29898790e-01 -5.73360481e-02 1.12709953e+01] [ 1.42397433e-01 5.39328538e-03 9.89794869e-01 4.30647348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.910888479 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:45.18, Y:11.28, Z:4.31 [[ 9.20422371e-01 -3.68478013e-01 -1.30562681e-01 4.51770171e+01] [ 3.64016405e-01 9.29621250e-01 -5.74141750e-02 1.12816940e+01] [ 1.42529704e-01 5.31833315e-03 9.89776237e-01 4.31149093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.940888479 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:45.20, Y:11.29, Z:4.32 [[ 9.20140689e-01 -3.69394836e-01 -1.29956023e-01 4.52029618e+01] [ 3.64977650e-01 9.29258032e-01 -5.71911304e-02 1.12921758e+01] [ 1.41888786e-01 5.19284233e-03 9.89868985e-01 4.31647095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970888479 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:45.23, Y:11.30, Z:4.32 [[ 9.19426691e-01 -3.71259193e-01 -1.29696459e-01 4.52273072e+01] [ 3.66872067e-01 9.28516158e-01 -5.71194437e-02 1.13024170e+01] [ 1.41631376e-01 4.93513320e-03 9.89907166e-01 4.32059063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.000888479 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:45.25, Y:11.31, Z:4.33 [[ 9.19386078e-01 -3.71283452e-01 -1.29914735e-01 4.52519873e+01] [ 3.66877291e-01 9.28506279e-01 -5.72463348e-02 1.13143538e+01] [ 1.41881264e-01 4.96871721e-03 9.89871213e-01 4.32512095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030888479 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:45.28, Y:11.33, Z:4.33 [[ 9.18884075e-01 -3.72192911e-01 -1.30860589e-01 4.52765429e+01] [ 3.67725004e-01 9.28142439e-01 -5.77055839e-02 1.13275294e+01] [ 1.42934875e-01 4.90403149e-03 9.89719946e-01 4.32593739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.060888479 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:45.30, Y:11.34, Z:4.33 [[ 9.18604854e-01 -3.72778284e-01 -1.31154386e-01 4.53014926e+01] [ 3.68289986e-01 9.27907698e-01 -5.78773671e-02 1.13375807e+01] [ 1.43274590e-01 4.86358329e-03 9.89671025e-01 4.32997806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.090888479 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:45.33, Y:11.35, Z:4.33 [[ 9.18594024e-01 -3.72659739e-01 -1.31566475e-01 4.53269216e+01] [ 3.68139014e-01 9.27955039e-01 -5.80785034e-02 1.13470713e+01] [ 1.43731293e-01 4.91581367e-03 9.89604542e-01 4.33439466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.120888479 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:45.35, Y:11.36, Z:4.34 [[ 9.18777207e-01 -3.71936528e-01 -1.32331641e-01 4.53528229e+01] [ 3.67352171e-01 9.28244270e-01 -5.84376453e-02 1.13563737e+01] [ 1.44571183e-01 5.07886083e-03 9.89481368e-01 4.33980641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150888479 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:45.38, Y:11.37, Z:4.34 [[ 9.18546599e-01 -3.72351884e-01 -1.32763776e-01 4.53782142e+01] [ 3.67735092e-01 9.28077770e-01 -5.86732914e-02 1.13678991e+01] [ 1.45062219e-01 5.07225297e-03 9.89409533e-01 4.34164005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.180888479 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:45.40, Y:11.38, Z:4.35 [[ 9.18448844e-01 -3.72598848e-01 -1.32747202e-01 4.54040942e+01] [ 3.67979210e-01 9.27978635e-01 -5.87107676e-02 1.13794431e+01] [ 1.45062131e-01 5.07462626e-03 9.89409534e-01 4.34535446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210888479 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:45.43, Y:11.39, Z:4.35 [[ 9.18495941e-01 -3.72525760e-01 -1.32626408e-01 4.54294781e+01] [ 3.67907603e-01 9.28007722e-01 -5.86997821e-02 1.13905754e+01] [ 1.44945512e-01 5.12124767e-03 9.89426385e-01 4.34922285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.240888479 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:45.45, Y:11.40, Z:4.35 [[ 9.19318480e-01 -3.71085811e-01 -1.30953632e-01 4.54541775e+01] [ 3.66563518e-01 9.28583346e-01 -5.80013586e-02 1.13995655e+01] [ 1.43124843e-01 5.31889671e-03 9.89690350e-01 4.35451626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.270888479 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:45.48, Y:11.41, Z:4.36 [[ 9.19153748e-01 -3.71222688e-01 -1.31719791e-01 4.54794288e+01] [ 3.66645545e-01 9.28528470e-01 -5.83603050e-02 1.14097077e+01] [ 1.43970245e-01 5.34761852e-03 9.89567568e-01 4.35703322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.300888479 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:45.50, Y:11.43, Z:4.34 [[ 9.19912094e-01 -3.76680488e-01 -1.08965819e-01 4.55024848e+01] [ 3.68694446e-01 9.25496302e-01 -8.67236982e-02 1.14344085e+01] [ 1.33514587e-01 3.96030866e-02 9.90255245e-01 4.33635365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.330888479 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:45.54, Y:11.42, Z:4.38 [[ 9.19171969e-01 -3.66707863e-01 -1.43694932e-01 4.55366227e+01] [ 3.66971665e-01 9.29878799e-01 -2.56362522e-02 1.14151932e+01] [ 1.43019886e-01 -2.91678440e-02 9.89289922e-01 4.37930336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.360888479 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:45.56, Y:11.44, Z:4.37 [[ 9.20146890e-01 -3.70030860e-01 -1.28089277e-01 4.55570168e+01] [ 3.65684801e-01 9.29003595e-01 -5.68062171e-02 1.14382555e+01] [ 1.40015452e-01 5.42976246e-03 9.90134431e-01 4.37254172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390888479 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:45.58, Y:11.45, Z:4.37 [[ 9.19951926e-01 -3.70399705e-01 -1.28423175e-01 4.55828983e+01] [ 3.66031542e-01 9.28856730e-01 -5.69744269e-02 1.14502664e+01] [ 1.40390041e-01 5.40680111e-03 9.90081513e-01 4.37460436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.420888479 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:45.61, Y:11.46, Z:4.38 [[ 9.20629816e-01 -3.68862879e-01 -1.27987961e-01 4.56091196e+01] [ 3.64503620e-01 9.29466577e-01 -5.68242261e-02 1.14601463e+01] [ 1.39920879e-01 5.66200172e-03 9.90146499e-01 4.37995609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.450888479 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:45.63, Y:11.47, Z:4.38 [[ 9.20595136e-01 -3.68787322e-01 -1.28454297e-01 4.56340647e+01] [ 3.64389448e-01 9.29496121e-01 -5.70726886e-02 1.14707807e+01] [ 1.40445454e-01 5.73344931e-03 9.90071817e-01 4.38133911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.480888479 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:45.66, Y:11.48, Z:4.39 [[ 9.21310406e-01 -3.67268408e-01 -1.27675574e-01 4.56604883e+01] [ 3.62906699e-01 9.30095990e-01 -5.67466057e-02 1.14804338e+01] [ 1.39591775e-01 5.94691725e-03 9.90191280e-01 4.38588986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.510888479 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:45.69, Y:11.49, Z:4.39 [[ 9.21591549e-01 -3.66669476e-01 -1.27367622e-01 4.56863647e+01] [ 3.62317328e-01 9.30331524e-01 -5.66516429e-02 1.14911330e+01] [ 1.39266542e-01 6.06217882e-03 9.90236376e-01 4.39099029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.540888479 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:45.71, Y:11.50, Z:4.39 [[ 9.21211170e-01 -3.67249834e-01 -1.28442750e-01 4.57107113e+01] [ 3.62823126e-01 9.30102560e-01 -5.71717295e-02 1.15025736e+01] [ 1.40461239e-01 6.06523578e-03 9.90067600e-01 4.39048181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570888479 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:45.74, Y:11.52, Z:4.39 [[ 9.21331774e-01 -3.66622948e-01 -1.29365283e-01 4.57362863e+01] [ 3.62122924e-01 9.30348782e-01 -5.76032238e-02 1.15154207e+01] [ 1.41473497e-01 6.22554587e-03 9.89922468e-01 4.39201803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.600888479 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:45.76, Y:11.53, Z:4.40 [[ 9.22066452e-01 -3.65183084e-01 -1.28198178e-01 4.57604793e+01] [ 3.60744738e-01 9.30913543e-01 -5.71245056e-02 1.15255607e+01] [ 1.40202323e-01 6.42577215e-03 9.90102024e-01 4.39738568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630888479 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:45.79, Y:11.54, Z:4.40 [[ 9.22067474e-01 -3.65076933e-01 -1.28492829e-01 4.57861235e+01] [ 3.60614116e-01 9.30954828e-01 -5.72762418e-02 1.15365296e+01] [ 1.40531255e-01 6.47623153e-03 9.90055062e-01 4.39949918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.660888479 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:45.81, Y:11.55, Z:4.40 [[ 9.22495856e-01 -3.63931733e-01 -1.28666586e-01 4.58119265e+01] [ 3.59439497e-01 9.31401520e-01 -5.73973597e-02 1.15455958e+01] [ 1.40728974e-01 6.70097354e-03 9.90025481e-01 4.40449629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.690888479 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:45.84, Y:11.56, Z:4.41 [[ 9.22696674e-01 -3.63626604e-01 -1.28088020e-01 4.58375444e+01] [ 3.59165852e-01 9.31520279e-01 -5.71826968e-02 1.15564964e+01] [ 1.40109738e-01 6.75744138e-03 9.90112922e-01 4.40842376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.720888479 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:45.86, Y:11.57, Z:4.41 [[ 9.22456222e-01 -3.64057658e-01 -1.28594483e-01 4.58627045e+01] [ 3.59559244e-01 9.31351877e-01 -5.74528640e-02 1.15680104e+01] [ 1.40682868e-01 6.76041690e-03 9.90031630e-01 4.40992392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750888479 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:45.89, Y:11.58, Z:4.41 [[ 9.22371824e-01 -3.64005037e-01 -1.29346635e-01 4.58870868e+01] [ 3.59446930e-01 9.31371798e-01 -5.78314610e-02 1.15777859e+01] [ 1.41520751e-01 6.84885918e-03 9.89911597e-01 4.41414472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.780888479 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:45.91, Y:11.59, Z:4.42 [[ 9.22196449e-01 -3.64270224e-01 -1.29849581e-01 4.59117329e+01] [ 3.59676224e-01 9.31268080e-01 -5.80756235e-02 1.15880576e+01] [ 1.42079990e-01 6.85332685e-03 9.89831455e-01 4.41719134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810888479 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:45.94, Y:11.60, Z:4.42 [[ 9.21724969e-01 -3.65217789e-01 -1.30533702e-01 4.59382452e+01] [ 3.60581335e-01 9.30897538e-01 -5.84027013e-02 1.15971996e+01] [ 1.42843207e-01 6.76321161e-03 9.89722222e-01 4.42143890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.840888479 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:45.96, Y:11.61, Z:4.42 [[ 9.21523401e-01 -3.65793119e-01 -1.30345756e-01 4.59640545e+01] [ 3.61169680e-01 9.30672041e-01 -5.83610680e-02 1.16074583e+01] [ 1.42657228e-01 6.70415498e-03 9.89749448e-01 4.42441965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.870888479 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:45.99, Y:11.62, Z:4.43 [[ 9.21162711e-01 -3.66774033e-01 -1.30138647e-01 4.59894625e+01] [ 3.62168871e-01 9.30286775e-01 -5.83114541e-02 1.16181685e+01] [ 1.42453390e-01 6.58217031e-03 9.89779625e-01 4.42663042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.900888479 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:46.02, Y:11.63, Z:4.43 [[ 9.21002613e-01 -3.67522094e-01 -1.29157642e-01 4.60153017e+01] [ 3.62987758e-01 9.29992378e-01 -5.79142853e-02 1.16287340e+01] [ 1.41400402e-01 6.45656520e-03 9.89931432e-01 4.43047707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.930888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:46.04, Y:11.64, Z:4.44 [[ 9.20302445e-01 -3.69413925e-01 -1.28750776e-01 4.60404900e+01] [ 3.64920550e-01 9.29244360e-01 -5.77746533e-02 1.16378281e+01] [ 1.40983694e-01 6.18635060e-03 9.89992589e-01 4.43541231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.960888479 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:46.07, Y:11.65, Z:4.44 [[ 9.19800967e-01 -3.70552237e-01 -1.29062854e-01 4.60657854e+01] [ 3.66042010e-01 9.28791816e-01 -5.79569639e-02 1.16475222e+01] [ 1.41348605e-01 6.06644494e-03 9.89941296e-01 4.43781941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:46.09, Y:11.66, Z:4.44 [[ 9.19017125e-01 -3.72840128e-01 -1.28053750e-01 4.60930052e+01] [ 3.68418360e-01 9.27878107e-01 -5.75337329e-02 1.16553213e+01] [ 1.40269155e-01 5.69713333e-03 9.90097019e-01 4.44401930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.020888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:46.12, Y:11.66, Z:4.45 [[ 9.18615121e-01 -3.73909155e-01 -1.27820978e-01 4.61179615e+01] [ 3.69507693e-01 9.27448642e-01 -5.74724453e-02 1.16643397e+01] [ 1.40036866e-01 5.56422245e-03 9.90130656e-01 4.44827553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.050888479 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:46.14, Y:11.67, Z:4.45 [[ 9.18291161e-01 -3.74791456e-01 -1.27564523e-01 4.61440841e+01] [ 3.70413302e-01 9.27093197e-01 -5.73776124e-02 1.16744316e+01] [ 1.39768840e-01 5.43775823e-03 9.90169229e-01 4.45214967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.080888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:46.17, Y:11.69, Z:4.46 [[ 9.17900161e-01 -3.75823049e-01 -1.27343352e-01 4.61696484e+01] [ 3.71464158e-01 9.26676231e-01 -5.73196492e-02 1.16851384e+01] [ 1.39548103e-01 5.31022418e-03 9.90201055e-01 4.45567998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110888479 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:46.19, Y:11.69, Z:4.46 [[ 9.17845604e-01 -3.76456325e-01 -1.25857391e-01 4.61949625e+01] [ 3.72199306e-01 9.26419826e-01 -5.66919965e-02 1.16947933e+01] [ 1.37938843e-01 5.19046629e-03 9.90427148e-01 4.45808241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.140888479 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:46.22, Y:11.70, Z:4.46 [[ 9.17698374e-01 -3.76786843e-01 -1.25941928e-01 4.62202487e+01] [ 3.72524572e-01 9.26285610e-01 -5.67486679e-02 1.17046491e+01] [ 1.38040347e-01 5.16169738e-03 9.90413156e-01 4.46008908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:46.25, Y:11.71, Z:4.47 [[ 9.18235964e-01 -3.75661715e-01 -1.25383370e-01 4.62458080e+01] [ 3.71424431e-01 9.26741568e-01 -5.65151166e-02 1.17129399e+01] [ 1.37428547e-01 5.32376554e-03 9.90497376e-01 4.46515752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:11.72, Z:4.47 [[ 9.18501114e-01 -3.74906133e-01 -1.25702408e-01 4.62718916e+01] [ 3.70637414e-01 9.27046645e-01 -5.66782685e-02 1.17236600e+01] [ 1.37781026e-01 5.46903736e-03 9.90447615e-01 4.46858882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.230888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:46.30, Y:11.73, Z:4.47 [[ 9.18871630e-01 -3.73862482e-01 -1.26102232e-01 4.62972181e+01] [ 3.69551024e-01 9.27466746e-01 -5.68988168e-02 1.17342031e+01] [ 1.38227960e-01 5.68149946e-03 9.90384144e-01 4.47117237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.260888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.32, Y:11.75, Z:4.48 [[ 9.19410829e-01 -3.72677372e-01 -1.25679370e-01 4.63225498e+01] [ 3.68381297e-01 9.27942491e-01 -5.67270136e-02 1.17451379e+01] [ 1.37764102e-01 5.85750115e-03 9.90447748e-01 4.47569855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290888479 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:46.35, Y:11.77, Z:4.46 [[ 9.20612069e-01 -3.74149845e-01 -1.11737694e-01 4.63456936e+01] [ 3.67883570e-01 9.27000455e-01 -7.30194212e-02 1.17650040e+01] [ 1.30901098e-01 2.61160987e-02 9.91051387e-01 4.46126609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.320888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:46.38, Y:11.76, Z:4.49 [[ 9.20817709e-01 -3.66683210e-01 -1.32808774e-01 4.63767278e+01] [ 3.64910780e-01 9.30252781e-01 -3.83390910e-02 1.17588368e+01] [ 1.37604033e-01 -1.31600395e-02 9.90399891e-01 4.49103614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350888479 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:46.40, Y:11.78, Z:4.49 [[ 9.21174774e-01 -3.68537836e-01 -1.24967594e-01 4.64009642e+01] [ 3.64239192e-01 9.29589806e-01 -5.65031320e-02 1.17758324e+01] [ 1.36992144e-01 6.53116433e-03 9.90550603e-01 4.48676571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.380888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.42, Y:11.80, Z:4.46 [[ 9.21267435e-01 -3.74970673e-01 -1.03263291e-01 4.64230729e+01] [ 3.67411619e-01 9.26150522e-01 -8.51699051e-02 1.18020878e+01] [ 1.27573567e-01 4.05241271e-02 9.91000898e-01 4.46379793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.410888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:46.46, Y:11.78, Z:4.51 [[ 9.20162545e-01 -3.65741314e-01 -1.39764738e-01 4.64573552e+01] [ 3.65978570e-01 9.30289098e-01 -2.49375105e-02 1.17838745e+01] [ 1.39142290e-01 -2.82043359e-02 9.89870668e-01 4.50978637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.440888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.48, Y:11.81, Z:4.50 [[ 9.19957309e-01 -3.71352716e-01 -1.25601396e-01 4.64785687e+01] [ 3.67025054e-01 9.28471050e-01 -5.68693133e-02 1.18088290e+01] [ 1.37735834e-01 6.21848110e-03 9.90449479e-01 4.49850457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:46.50, Y:11.82, Z:4.50 [[ 9.19057096e-01 -3.73646702e-01 -1.25388183e-01 4.65040718e+01] [ 3.69349029e-01 9.27552303e-01 -5.68156640e-02 1.18213421e+01] [ 1.37533083e-01 5.90483563e-03 9.90479573e-01 4.49931958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.500888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:46.53, Y:11.83, Z:4.50 [[ 9.18110699e-01 -3.75980718e-01 -1.25344504e-01 4.65290172e+01] [ 3.71701820e-01 9.26610610e-01 -5.68377942e-02 1.18308879e+01] [ 1.37515462e-01 5.59260687e-03 9.90483832e-01 4.50178554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:46.56, Y:11.84, Z:4.51 [[ 9.17643353e-01 -3.77213737e-01 -1.25061877e-01 4.65550233e+01] [ 3.72962886e-01 9.26110408e-01 -5.67291557e-02 1.18408652e+01] [ 1.37220123e-01 5.41369397e-03 9.90525785e-01 4.50664068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.560888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:46.58, Y:11.85, Z:4.51 [[ 9.17108772e-01 -3.78859492e-01 -1.24003971e-01 4.65803054e+01] [ 3.74689895e-01 9.25439810e-01 -5.62906753e-02 1.18507948e+01] [ 1.36084468e-01 5.16163733e-03 9.90683792e-01 4.51150625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.590888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:46.61, Y:11.86, Z:4.52 [[ 9.16752462e-01 -3.80098274e-01 -1.22842282e-01 4.66063712e+01] [ 3.76014014e-01 9.24932825e-01 -5.57918462e-02 1.18617367e+01] [ 1.34827243e-01 4.95689294e-03 9.90856722e-01 4.51562956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.620888479 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:46.63, Y:11.87, Z:4.52 [[ 9.16207016e-01 -3.81650964e-01 -1.22095233e-01 4.66304010e+01] [ 3.77624704e-01 9.24294381e-01 -5.54930665e-02 1.18736919e+01] [ 1.34030920e-01 4.73696072e-03 9.90965829e-01 4.51739667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.650888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:46.66, Y:11.89, Z:4.52 [[ 9.16083600e-01 -3.81829792e-01 -1.22461615e-01 4.66557546e+01] [ 3.77778282e-01 9.24220493e-01 -5.56780974e-02 1.18864209e+01] [ 1.34441091e-01 4.74245339e-03 9.90910239e-01 4.52101652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.69, Y:11.89, Z:4.53 [[ 9.17213659e-01 -3.77366534e-01 -1.27724715e-01 4.66908066e+01] [ 3.73719158e-01 9.26063942e-01 -5.23408760e-02 1.18941569e+01] [ 1.38032948e-01 2.74593436e-04 9.90427599e-01 4.52710717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:46.71, Y:11.91, Z:4.53 [[ 9.15961555e-01 -3.81398977e-01 -1.24696631e-01 4.67055617e+01] [ 3.76836435e-01 9.24381723e-01 -5.92682959e-02 1.19105182e+01] [ 1.37872154e-01 7.29724658e-03 9.90423152e-01 4.52553889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.740888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:46.73, Y:11.92, Z:4.53 [[ 9.15949479e-01 -3.80762538e-01 -1.26714013e-01 4.67310298e+01] [ 3.76399793e-01 9.24658457e-01 -5.77055860e-02 1.19207359e+01] [ 1.39139309e-01 5.16027305e-03 9.90259372e-01 4.52914560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.770888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:46.76, Y:11.93, Z:4.53 [[ 9.15843018e-01 -3.80870401e-01 -1.27158577e-01 4.67565725e+01] [ 3.76471886e-01 9.24613800e-01 -5.79503193e-02 1.19330940e+01] [ 1.39644137e-01 5.20176596e-03 9.90188092e-01 4.53247478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:11.93, Z:4.55 [[ 9.16401892e-01 -3.75574923e-01 -1.38387315e-01 4.67949215e+01] [ 3.73296422e-01 9.26711851e-01 -4.30688653e-02 1.19346634e+01] [ 1.44420750e-01 -1.21910998e-02 9.89441269e-01 4.54986488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.830888479 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:46.81, Y:11.96, Z:4.53 [[ 9.15400014e-01 -3.84254806e-01 -1.19962740e-01 4.68057120e+01] [ 3.78171853e-01 9.23021722e-01 -7.08304383e-02 1.19633242e+01] [ 1.37945151e-01 1.94716528e-02 9.90248449e-01 4.53330644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.860888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:46.83, Y:11.97, Z:4.54 [[ 9.14886681e-01 -3.83684207e-01 -1.25573844e-01 4.68330733e+01] [ 3.79408513e-01 9.23451892e-01 -5.73217469e-02 1.19685670e+01] [ 1.37954853e-01 4.79911750e-03 9.90426891e-01 4.54372774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:46.87, Y:11.97, Z:4.57 [[ 9.15431908e-01 -3.77116499e-01 -1.40597184e-01 4.68746369e+01] [ 3.75427192e-01 9.26014718e-01 -3.93848361e-02 1.19667698e+01] [ 1.45047734e-01 -1.67298706e-02 9.89283208e-01 4.56608647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.920888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:46.88, Y:12.00, Z:4.55 [[ 9.14073708e-01 -3.88518351e-01 -1.16287350e-01 4.68834497e+01] [ 3.82257666e-01 9.21173204e-01 -7.29315149e-02 1.19976504e+01] [ 1.35456023e-01 2.22130491e-02 9.90534324e-01 4.54646766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:11.99, Z:4.58 [[ 9.14923275e-01 -3.79639312e-01 -1.37074409e-01 4.69259533e+01] [ 3.77831116e-01 9.25009874e-01 -4.00047686e-02 1.19894777e+01] [ 1.41982565e-01 -1.51896830e-02 9.89752608e-01 4.57519517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.980888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:46.95, Y:12.01, Z:4.57 [[ 9.14956993e-01 -3.82082085e-01 -1.29872945e-01 4.69508875e+01] [ 3.78188019e-01 9.24128146e-01 -5.44149992e-02 1.20075782e+01] [ 1.40810240e-01 6.70992233e-04 9.90036376e-01 4.57217858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.97, Y:12.02, Z:4.58 [[ 9.14293368e-01 -3.83523477e-01 -1.30297273e-01 4.69747479e+01] [ 3.79890675e-01 9.23530163e-01 -5.26793428e-02 1.20187588e+01] [ 1.40537226e-01 -1.33434509e-03 9.90074496e-01 4.57719839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.040888479 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:46.99, Y:12.05, Z:4.56 [[ 9.13116017e-01 -3.92015501e-01 -1.11995473e-01 4.69850881e+01] [ 3.85805325e-01 9.19648045e-01 -7.34964296e-02 1.20468550e+01] [ 1.31808157e-01 2.39023173e-02 9.90987028e-01 4.55921763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070888479 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:47.01, Y:12.05, Z:4.57 [[ 9.12931352e-01 -3.89952084e-01 -1.20389863e-01 4.70133589e+01] [ 3.86034993e-01 9.20826508e-01 -5.52768125e-02 1.20506209e+01] [ 1.32413486e-01 3.98923512e-03 9.91186539e-01 4.57116561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.100888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:47.04, Y:12.06, Z:4.58 [[ 9.12384007e-01 -3.91761268e-01 -1.18652994e-01 4.70391162e+01] [ 3.87967293e-01 9.20059440e-01 -5.45161101e-02 1.20621875e+01] [ 1.30525108e-01 3.70614607e-03 9.91438077e-01 4.57565815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:47.08, Y:12.06, Z:4.61 [[ 9.13333025e-01 -3.82342004e-01 -1.40133429e-01 4.70837068e+01] [ 3.82171938e-01 9.23629715e-01 -2.92020537e-02 1.20555834e+01] [ 1.40596570e-01 -2.68838639e-02 9.89701906e-01 4.60620562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:12.10, Z:4.57 [[ 9.11725354e-01 -3.96435580e-01 -1.07683380e-01 4.70872392e+01] [ 3.89617606e-01 9.17563374e-01 -7.92185308e-02 1.20953751e+01] [ 1.30211370e-01 3.02702023e-02 9.91024073e-01 4.57310897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.190888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:47.12, Y:12.10, Z:4.59 [[ 9.11192977e-01 -3.93982301e-01 -1.20437973e-01 4.71151252e+01] [ 3.90082693e-01 9.19111344e-01 -5.54060477e-02 1.20956280e+01] [ 1.32524910e-01 3.50483259e-03 9.91173479e-01 4.58679407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.220888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:47.14, Y:12.11, Z:4.59 [[ 9.10961191e-01 -3.94243089e-01 -1.21334640e-01 4.71401791e+01] [ 3.90283464e-01 9.18999458e-01 -5.58463421e-02 1.21077825e+01] [ 1.33523503e-01 3.51894681e-03 9.91039399e-01 4.58950130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:47.17, Y:12.12, Z:4.59 [[ 9.10743876e-01 -3.94604982e-01 -1.21788756e-01 4.71656271e+01] [ 3.90613250e-01 9.18844133e-01 -5.60958761e-02 1.21203432e+01] [ 1.34040596e-01 3.51667378e-03 9.90969602e-01 4.59214509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.280888479 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:47.19, Y:12.13, Z:4.60 [[ 9.10517235e-01 -3.94924522e-01 -1.22445853e-01 4.71902627e+01] [ 3.90886648e-01 9.18706799e-01 -5.64397503e-02 1.21314506e+01] [ 1.34781279e-01 3.52691625e-03 9.90869097e-01 4.59510388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:47.22, Y:12.14, Z:4.60 [[ 9.10102680e-01 -3.95667628e-01 -1.23126926e-01 4.72159150e+01] [ 3.91588619e-01 9.18387281e-01 -5.67728450e-02 1.21432173e+01] [ 1.35541380e-01 3.45401558e-03 9.90765666e-01 4.59884430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.340888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:47.23, Y:12.18, Z:4.57 [[ 0.90975178 -0.40484194 -0.09194951 47.23287128] [ 0.39616018 0.91279596 -0.09930078 12.17737501] [ 0.12413226 0.05391232 0.9908 4.56523331] [ 0. 0. 0. 1. ]] SLAMing on 54.370888479 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:47.27, Y:12.17, Z:4.59 [[ 9.09416251e-01 -4.00232086e-01 -1.13032558e-01 4.72651714e+01] [ 3.96744778e-01 9.16408275e-01 -5.28152855e-02 1.21674056e+01] [ 1.24722344e-01 3.18600167e-03 9.92186568e-01 4.58926384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.400888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:47.30, Y:12.16, Z:4.63 [[ 9.09111052e-01 -3.91021966e-01 -1.43592888e-01 4.72985387e+01] [ 3.93516136e-01 9.19242016e-01 -1.17969118e-02 1.21572367e+01] [ 1.36609467e-01 -4.57814154e-02 9.89566529e-01 4.63400172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:12.21, Z:4.58 [[ 0.90897826 -0.40598107 -0.09454045 47.31004555] [ 0.39788745 0.912649 -0.09358086 12.20757323] [ 0.1242743 0.04744651 0.99111287 4.58246809] [ 0. 0. 0. 1. ]] SLAMing on 54.460888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:47.34, Y:12.21, Z:4.60 [[ 9.08946437e-01 -4.02657109e-01 -1.08090830e-01 4.73392679e+01] [ 3.97671687e-01 9.15205498e-01 -6.52389925e-02 1.22069377e+01] [ 1.25194266e-01 1.63140871e-02 9.91998108e-01 4.59723283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:47.38, Y:12.19, Z:4.64 [[ 9.08830464e-01 -3.90630556e-01 -1.46406818e-01 4.73765508e+01] [ 3.93655926e-01 9.19214526e-01 -8.92570298e-03 1.21934945e+01] [ 1.38065926e-01 -4.95219608e-02 9.89184197e-01 4.64471950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.520888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:47.38, Y:12.25, Z:4.59 [[ 0.90880507 -0.40642155 -0.09431262 47.38448569] [ 0.39793296 0.91229124 -0.09681972 12.24621529] [ 0.1253902 0.05046015 0.99082343 4.58932915] [ 0. 0. 0. 1. ]] SLAMing on 54.550888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:47.43, Y:12.22, Z:4.65 [[ 9.08842655e-01 -3.91971327e-01 -1.42700765e-01 4.74271101e+01] [ 3.93810710e-01 9.19046778e-01 -1.63139552e-02 1.22193045e+01] [ 1.37543281e-01 -4.13702713e-02 9.89631419e-01 4.64933869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.580888479 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:47.45, Y:12.25, Z:4.64 [[ 9.09000354e-01 -3.98264490e-01 -1.22897328e-01 4.74478881e+01] [ 3.94205087e-01 9.17265070e-01 -5.68079206e-02 1.22475035e+01] [ 1.35354004e-01 3.19166803e-03 9.90792161e-01 4.63536292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:47.46, Y:12.28, Z:4.60 [[ 0.90821739 -0.40901677 -0.08858028 47.45969881] [ 0.40034824 0.91080117 -0.10080928 12.28386867] [ 0.1219117 0.05609378 0.9909546 4.59810156] [ 0. 0. 0. 1. ]] SLAMing on 54.640888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:47.49, Y:12.28, Z:4.62 [[ 9.08326276e-01 -4.04555638e-01 -1.06198453e-01 4.74918917e+01] [ 4.00122708e-01 9.14420495e-01 -6.11308126e-02 1.22788152e+01] [ 1.21840857e-01 1.30343108e-02 9.92464061e-01 4.61775031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:12.26, Z:4.67 [[ 9.09133509e-01 -3.89736412e-01 -1.46907430e-01 4.75324096e+01] [ 3.93310475e-01 9.19391593e-01 -5.09605214e-03 1.22621894e+01] [ 1.37051573e-01 -5.31472394e-02 9.89137118e-01 4.67171928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.700888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:47.55, Y:12.30, Z:4.65 [[ 9.10168993e-01 -3.95151728e-01 -1.24288037e-01 4.75495816e+01] [ 3.90959170e-01 9.18608118e-01 -5.75330616e-02 1.22981529e+01] [ 1.36906288e-01 3.77326110e-03 9.90576817e-01 4.64851921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.730888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:47.57, Y:12.32, Z:4.63 [[ 9.10785879e-01 -3.98162774e-01 -1.09249663e-01 4.75717202e+01] [ 3.91247169e-01 9.16829693e-01 -7.96804020e-02 1.23208932e+01] [ 1.31889105e-01 2.98281635e-02 9.90815596e-01 4.63187112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.760888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:47.60, Y:12.31, Z:4.67 [[ 9.10407818e-01 -3.90330676e-01 -1.37111515e-01 4.76048446e+01] [ 3.89378210e-01 9.20419366e-01 -3.48252815e-02 1.23120878e+01] [ 1.39793469e-01 -2.16830276e-02 9.89943247e-01 4.66661351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:47.63, Y:12.33, Z:4.66 [[ 9.10422928e-01 -3.93884835e-01 -1.26431122e-01 4.76270537e+01] [ 3.89525129e-01 9.19150706e-01 -5.85845924e-02 1.23339128e+01] [ 1.39284838e-01 4.08865700e-03 9.90243918e-01 4.65962248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.65, Y:12.36, Z:4.63 [[ 9.10362474e-01 -4.01478187e-01 -1.00276774e-01 4.76458843e+01] [ 3.93351813e-01 9.14813817e-01 -9.15971135e-02 1.23630020e+01] [ 1.28508822e-01 4.39425238e-02 9.90734342e-01 4.63384169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:47.68, Y:12.34, Z:4.68 [[ 9.09795872e-01 -3.90323852e-01 -1.41133845e-01 4.76827162e+01] [ 3.91260446e-01 9.20011803e-01 -2.22158750e-02 1.23423128e+01] [ 1.38516189e-01 -3.50081796e-02 9.89741225e-01 4.68403720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.880888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:47.70, Y:12.37, Z:4.67 [[ 9.09698756e-01 -3.96403634e-01 -1.23743011e-01 4.77022081e+01] [ 3.92238552e-01 9.18068841e-01 -5.74327561e-02 1.23690595e+01] [ 1.36371156e-01 3.70972747e-03 9.90650870e-01 4.67203337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.910888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:47.73, Y:12.38, Z:4.68 [[ 9.09726745e-01 -3.96349314e-01 -1.23711236e-01 4.77264967e+01] [ 3.92183352e-01 9.18092195e-01 -5.74363939e-02 1.23804092e+01] [ 1.36343195e-01 3.73393649e-03 9.90654627e-01 4.67558386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.940888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:47.75, Y:12.39, Z:4.68 [[ 9.09641389e-01 -3.96531238e-01 -1.23755887e-01 4.77508181e+01] [ 3.92361344e-01 9.18013670e-01 -5.74758834e-02 1.23934451e+01] [ 1.36400580e-01 3.72541612e-03 9.90646760e-01 4.67838412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:47.76, Y:12.44, Z:4.63 [[ 0.90921097 -0.40811432 -0.08232925 47.75968771] [ 0.39851634 0.91034438 -0.11161466 12.43701903] [ 0.12049951 0.06867172 0.99033533 4.63125956] [ 0. 0. 0. 1. ]] SLAMing on 55.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.79, Y:12.43, Z:4.65 [[ 9.09938471e-01 -4.01054900e-01 -1.05673772e-01 4.77912715e+01] [ 3.95641837e-01 9.15815566e-01 -6.89157858e-02 1.24299780e+01] [ 1.24416698e-01 2.09001597e-02 9.92009913e-01 4.65170812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:47.84, Y:12.40, Z:4.72 [[ 9.10412562e-01 -3.80776091e-01 -1.61736007e-01 4.78362552e+01] [ 3.86866356e-01 9.22111162e-01 6.74004004e-03 1.24026049e+01] [ 1.46572131e-01 -6.87064367e-02 9.86811044e-01 4.72113355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.060888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:47.85, Y:12.44, Z:4.69 [[ 9.10980166e-01 -3.90932199e-01 -1.31480621e-01 4.78528549e+01] [ 3.86203405e-01 9.20407956e-01 -6.07957582e-02 1.24438466e+01] [ 1.44782829e-01 4.60546635e-03 9.89452739e-01 4.69396166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.090888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:47.88, Y:12.46, Z:4.70 [[ 9.11292540e-01 -3.90085727e-01 -1.31829558e-01 4.78769261e+01] [ 3.85316540e-01 9.20766070e-01 -6.10000767e-02 1.24566473e+01] [ 1.45179443e-01 4.79280570e-03 9.89393733e-01 4.69772382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.120888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:47.90, Y:12.47, Z:4.70 [[ 9.11210752e-01 -3.90147015e-01 -1.32212977e-01 4.79019935e+01] [ 3.85346043e-01 9.20739931e-01 -6.12078907e-02 1.24689937e+01] [ 1.45613843e-01 4.82554049e-03 9.89329734e-01 4.70204567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.150888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:47.93, Y:12.48, Z:4.71 [[ 9.10772463e-01 -3.90592915e-01 -1.33905547e-01 4.79270434e+01] [ 3.85665415e-01 9.20550685e-01 -6.20372769e-02 1.24819296e+01] [ 1.47498164e-01 4.85910509e-03 9.89050393e-01 4.70554791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.180888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:47.95, Y:12.49, Z:4.71 [[ 9.10613496e-01 -3.90664385e-01 -1.34775367e-01 4.79513743e+01] [ 3.85666241e-01 9.20520024e-01 -6.24854905e-02 1.24936766e+01] [ 1.48474280e-01 4.92182158e-03 9.88904022e-01 4.70867421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:47.98, Y:12.51, Z:4.71 [[ 9.10397960e-01 -3.90912472e-01 -1.35510123e-01 4.79763665e+01] [ 3.85858740e-01 9.20414659e-01 -6.28481441e-02 1.25054989e+01] [ 1.49293627e-01 4.92905691e-03 9.88780621e-01 4.71276695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.240888479 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:48.00, Y:12.52, Z:4.72 [[ 9.09989632e-01 -3.91922595e-01 -1.35334950e-01 4.80020255e+01] [ 3.86886477e-01 9.19985684e-01 -6.28107818e-02 1.25166700e+01] [ 1.49123181e-01 4.79789808e-03 9.88806987e-01 4.71760823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.270888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:48.03, Y:12.53, Z:4.72 [[ 9.09512926e-01 -3.92944922e-01 -1.35574798e-01 4.80264173e+01] [ 3.87895358e-01 9.19550099e-01 -6.29667146e-02 1.25279763e+01] [ 1.49410270e-01 4.68020607e-03 9.88764212e-01 4.72241543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.300888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:48.05, Y:12.54, Z:4.73 [[ 9.09028559e-01 -3.94140043e-01 -1.35354001e-01 4.80514548e+01] [ 3.89115360e-01 9.19039348e-01 -6.28960551e-02 1.25397680e+01] [ 1.49185507e-01 4.50598937e-03 9.88798959e-01 4.72675184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.330888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:48.08, Y:12.55, Z:4.73 [[ 9.08725987e-01 -3.95001085e-01 -1.34874843e-01 4.80767211e+01] [ 3.90014774e-01 9.18670161e-01 -6.27185125e-02 1.25516085e+01] [ 1.48679374e-01 4.39076094e-03 9.88875708e-01 4.73158964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.360888479 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:48.10, Y:12.56, Z:4.74 [[ 9.08503129e-01 -3.95779884e-01 -1.34090818e-01 4.81004312e+01] [ 3.90853590e-01 9.18335437e-01 -6.23978878e-02 1.25626068e+01] [ 1.47836179e-01 4.27879890e-03 9.89002607e-01 4.73709713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:48.13, Y:12.58, Z:4.74 [[ 9.07785968e-01 -3.97986311e-01 -1.32406695e-01 4.81266662e+01] [ 3.91774810e-01 9.17302705e-01 -7.11916068e-02 1.25786487e+01] [ 1.49790305e-01 1.27531337e-02 9.88635536e-01 4.73855336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.420888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:48.15, Y:12.58, Z:4.75 [[ 9.08196301e-01 -3.95210558e-01 -1.37797293e-01 4.81525756e+01] [ 3.91545709e-01 9.18577072e-01 -5.39269897e-02 1.25827449e+01] [ 1.47889950e-01 -4.97764637e-03 9.88991297e-01 4.74982450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.450888479 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:48.18, Y:12.60, Z:4.75 [[ 9.08135097e-01 -3.96631047e-01 -1.34068855e-01 4.81767554e+01] [ 3.91705705e-01 9.17968499e-01 -6.24537892e-02 1.25980277e+01] [ 1.47842098e-01 4.20094235e-03 9.89002056e-01 4.75032753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.480888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.20, Y:12.61, Z:4.76 [[ 9.07357681e-01 -3.97455014e-01 -1.36863254e-01 4.82011200e+01] [ 3.92322866e-01 9.17612058e-01 -6.38034480e-02 1.26098987e+01] [ 1.50946372e-01 4.19796472e-03 9.88533039e-01 4.75788024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.510888479 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:48.22, Y:12.62, Z:4.76 [[ 9.07987560e-01 -3.96845930e-01 -1.34431759e-01 4.82248120e+01] [ 3.91882010e-01 9.17875330e-01 -6.27165749e-02 1.26240961e+01] [ 1.48280413e-01 4.26448190e-03 9.88936162e-01 4.75735687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.540888479 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:48.25, Y:12.64, Z:4.76 [[ 9.07724437e-01 -3.97716645e-01 -1.33633145e-01 4.82493243e+01] [ 3.92814374e-01 9.17498954e-01 -6.23902019e-02 1.26375965e+01] [ 1.47421892e-01 4.14009070e-03 9.89065036e-01 4.75968256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:48.27, Y:12.65, Z:4.76 [[ 9.08224475e-01 -3.95966823e-01 -1.35420005e-01 4.82730156e+01] [ 3.90905208e-01 9.18253649e-01 -6.32720618e-02 1.26490667e+01] [ 1.49403551e-01 4.52885000e-03 9.88765932e-01 4.76493902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.600888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:48.30, Y:12.66, Z:4.77 [[ 9.08688150e-01 -3.94248870e-01 -1.37308685e-01 4.82971118e+01] [ 3.89017551e-01 9.18990528e-01 -6.42008846e-02 1.26601917e+01] [ 1.51496507e-01 4.92309475e-03 9.88445533e-01 4.77017496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:48.32, Y:12.67, Z:4.77 [[ 9.08925590e-01 -3.93326734e-01 -1.38377570e-01 4.83220608e+01] [ 3.87997334e-01 9.19384346e-01 -6.47340219e-02 1.26725269e+01] [ 1.52683793e-01 5.14828101e-03 9.88261683e-01 4.77431707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.660888479 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:48.35, Y:12.69, Z:4.78 [[ 9.09733511e-01 -3.90671932e-01 -1.40571621e-01 4.83466985e+01] [ 3.85132058e-01 9.20512151e-01 -6.58078802e-02 1.26866263e+01] [ 1.55107177e-01 5.72899601e-03 9.87881036e-01 4.77733974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.690888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.37, Y:12.70, Z:4.78 [[ 9.10072547e-01 -3.89666606e-01 -1.41166200e-01 4.83715665e+01] [ 3.84059888e-01 9.20936637e-01 -6.61340590e-02 1.27004785e+01] [ 1.55775360e-01 5.97051663e-03 9.87774463e-01 4.78035958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.720888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:48.40, Y:12.71, Z:4.78 [[ 9.10518649e-01 -3.88451833e-01 -1.41636731e-01 4.83950657e+01] [ 3.82785588e-01 9.21447888e-01 -6.64001848e-02 1.27137091e+01] [ 1.56304140e-01 6.24210720e-03 9.87689249e-01 4.78306087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:48.42, Y:12.73, Z:4.79 [[ 9.11286565e-01 -3.87086460e-01 -1.40431010e-01 4.84195067e+01] [ 3.81497166e-01 9.22020918e-01 -6.58584714e-02 1.27284243e+01] [ 1.54973252e-01 6.44190779e-03 9.87897663e-01 4.78563098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.780888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:48.44, Y:12.74, Z:4.79 [[ 9.11305065e-01 -3.87065725e-01 -1.40368095e-01 4.84449924e+01] [ 3.81473762e-01 9.22029308e-01 -6.58765882e-02 1.27403640e+01] [ 1.54922067e-01 6.48692339e-03 9.87905397e-01 4.79071298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:48.47, Y:12.75, Z:4.80 [[ 9.11363087e-01 -3.87079297e-01 -1.39953356e-01 4.84690319e+01] [ 3.81513749e-01 9.22023471e-01 -6.57265328e-02 1.27507499e+01] [ 1.54481659e-01 6.50660637e-03 9.87974231e-01 4.79562964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.840888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:48.49, Y:12.76, Z:4.80 [[ 9.10917371e-01 -3.88252285e-01 -1.39605538e-01 4.84946658e+01] [ 3.82724638e-01 9.21531501e-01 -6.55861552e-02 1.27617852e+01] [ 1.54114876e-01 6.31308918e-03 9.88032768e-01 4.80226496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.870888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.52, Y:12.77, Z:4.81 [[ 9.10720725e-01 -3.88826601e-01 -1.39289753e-01 4.85179511e+01] [ 3.83323979e-01 9.21289807e-01 -6.54814307e-02 1.27742332e+01] [ 1.53787152e-01 6.24219383e-03 9.88084281e-01 4.80585348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.900888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:48.54, Y:12.79, Z:4.81 [[ 9.10639148e-01 -3.89052514e-01 -1.39192255e-01 4.85420345e+01] [ 3.83556773e-01 9.21194576e-01 -6.54580445e-02 1.27889867e+01] [ 1.53689767e-01 6.22052562e-03 9.88099570e-01 4.80801247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.930888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.57, Y:12.80, Z:4.82 [[ 9.10128097e-01 -3.89552684e-01 -1.41122474e-01 4.85695029e+01] [ 3.85420550e-01 9.20999853e-01 -5.66592475e-02 1.27992128e+01] [ 1.52045540e-01 -2.82432851e-03 9.88369454e-01 4.81500830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.960888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.59, Y:12.81, Z:4.82 [[ 9.10100539e-01 -3.90898582e-01 -1.37532935e-01 4.85939986e+01] [ 3.85656653e-01 9.20418957e-01 -6.40147602e-02 1.28146869e+01] [ 1.51611199e-01 5.21937640e-03 9.88426427e-01 4.81568544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:48.62, Y:12.83, Z:4.82 [[ 9.10248246e-01 -3.91295758e-01 -1.35409604e-01 4.86173072e+01] [ 3.84754971e-01 9.20158625e-01 -7.26065851e-02 1.28302188e+01] [ 1.53008964e-01 1.39904985e-02 9.88125763e-01 4.81600359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.020888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:48.64, Y:12.84, Z:4.82 [[ 9.09544571e-01 -3.91695622e-01 -1.38936001e-01 4.86435689e+01] [ 3.86223798e-01 9.20075775e-01 -6.55114153e-02 1.28396068e+01] [ 1.53492183e-01 5.92516214e-03 9.88132097e-01 4.82364067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.050888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:48.67, Y:12.85, Z:4.83 [[ 9.09123826e-01 -3.92541439e-01 -1.39302149e-01 4.86677805e+01] [ 3.87043278e-01 9.19715776e-01 -6.57296953e-02 1.28516240e+01] [ 1.53920013e-01 5.84047174e-03 9.88066050e-01 4.82783277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.080888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:48.69, Y:12.87, Z:4.83 [[ 9.08041840e-01 -3.94540291e-01 -1.40705279e-01 4.86915917e+01] [ 3.88950480e-01 9.18861709e-01 -6.64129744e-02 1.28650629e+01] [ 1.55491287e-01 5.57837362e-03 9.87821513e-01 4.83140338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:48.72, Y:12.88, Z:4.84 [[ 9.07606289e-01 -3.95555862e-01 -1.40664085e-01 4.87161381e+01] [ 3.89977739e-01 9.18425899e-01 -6.64170966e-02 1.28782384e+01] [ 1.55461211e-01 5.42471282e-03 9.87827103e-01 4.83504105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.140888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:48.74, Y:12.89, Z:4.84 [[ 9.07371343e-01 -3.96107594e-01 -1.40627234e-01 4.87397820e+01] [ 3.90532210e-01 9.18188406e-01 -6.64427818e-02 1.28905469e+01] [ 1.55440786e-01 5.36881171e-03 9.87830622e-01 4.83921237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:48.76, Y:12.90, Z:4.84 [[ 9.06555801e-01 -3.97463448e-01 -1.42054168e-01 4.87642745e+01] [ 3.91786339e-01 9.17603208e-01 -6.71402779e-02 1.29029391e+01] [ 1.57035167e-01 5.21152591e-03 9.87579261e-01 4.84414494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.200888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:48.79, Y:12.92, Z:4.85 [[ 9.05980181e-01 -3.98323421e-01 -1.43312122e-01 4.87892411e+01] [ 3.92547680e-01 9.17230562e-01 -6.77821100e-02 1.29156036e+01] [ 1.58449460e-01 5.15240715e-03 9.87353645e-01 4.84780522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.230888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:48.81, Y:12.93, Z:4.85 [[ 9.05339918e-01 -3.99571041e-01 -1.43884038e-01 4.88137043e+01] [ 3.93756624e-01 9.16688601e-01 -6.81008781e-02 1.29282778e+01] [ 1.59107997e-01 4.99915021e-03 9.87248527e-01 4.85100953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.260888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:48.84, Y:12.94, Z:4.85 [[ 9.04589767e-01 -4.01032740e-01 -1.44534060e-01 4.88373806e+01] [ 3.95176729e-01 9.16051122e-01 -6.84521415e-02 1.29404648e+01] [ 1.59852138e-01 4.80460974e-03 9.87129277e-01 4.85433927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290888479 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:48.86, Y:12.95, Z:4.86 [[ 9.03095490e-01 -4.04301619e-01 -1.44771323e-01 4.88622477e+01] [ 3.98463734e-01 9.14615809e-01 -6.85899018e-02 1.29513905e+01] [ 1.60141149e-01 4.25710887e-03 9.87084945e-01 4.85984161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.320888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:48.89, Y:12.96, Z:4.87 [[ 9.02299139e-01 -4.05752235e-01 -1.45675627e-01 4.88866626e+01] [ 3.99852013e-01 9.13974059e-01 -6.90636489e-02 1.29615472e+01] [ 1.61166474e-01 4.06737829e-03 9.86918854e-01 4.86551285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:48.91, Y:12.97, Z:4.87 [[ 9.01660285e-01 -4.07031832e-01 -1.46061007e-01 4.89116476e+01] [ 4.01112678e-01 9.13405766e-01 -6.92714007e-02 1.29722607e+01] [ 1.61608631e-01 3.87234920e-03 9.86847331e-01 4.87105884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.380888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:48.94, Y:12.98, Z:4.88 [[ 9.00778335e-01 -4.09128175e-01 -1.45645213e-01 4.89354209e+01] [ 4.03262933e-01 9.12470108e-01 -6.91180794e-02 1.29838039e+01] [ 1.61175057e-01 3.52675290e-03 9.86919532e-01 4.87625825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.410888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:48.96, Y:13.00, Z:4.88 [[ 9.00370143e-01 -4.10146105e-01 -1.45305810e-01 4.89603293e+01] [ 4.04317522e-01 9.12013645e-01 -6.89815424e-02 1.29965496e+01] [ 1.60813392e-01 3.35923617e-03 9.86979112e-01 4.88003792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.440888479 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:48.98, Y:13.01, Z:4.88 [[ 9.00105516e-01 -4.10970784e-01 -1.44613534e-01 4.89843246e+01] [ 4.05200969e-01 9.11642759e-01 -6.86997405e-02 1.30086860e+01] [ 1.60069468e-01 3.23947106e-03 9.87100436e-01 4.88313854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.470888479 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:49.01, Y:13.02, Z:4.89 [[ 8.99835319e-01 -4.11764434e-01 -1.44036283e-01 4.90096373e+01] [ 4.06045345e-01 9.11284988e-01 -6.84605604e-02 1.30206383e+01] [ 1.59447726e-01 3.11796810e-03 9.87201449e-01 4.88665602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.500888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:49.03, Y:13.03, Z:4.89 [[ 8.98950228e-01 -4.13188274e-01 -1.45478306e-01 4.90349299e+01] [ 4.07364372e-01 9.10640887e-01 -6.91913577e-02 1.30299714e+01] [ 1.61067551e-01 2.93690829e-03 9.86939015e-01 4.89158233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.06, Y:13.04, Z:4.90 [[ 8.98386496e-01 -4.14246441e-01 -1.45950638e-01 4.90605747e+01] [ 4.08394145e-01 9.10160513e-01 -6.94410684e-02 1.30407844e+01] [ 1.61604223e-01 2.77953200e-03 9.86851736e-01 4.89567089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.560888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:49.09, Y:13.05, Z:4.90 [[ 8.97840273e-01 -4.15226347e-01 -1.46526195e-01 4.90856848e+01] [ 4.09332403e-01 9.09714247e-01 -6.97636842e-02 1.30517029e+01] [ 1.62264687e-01 2.65872568e-03 9.86743686e-01 4.89975800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.590888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:49.11, Y:13.06, Z:4.90 [[ 8.97353662e-01 -4.16045968e-01 -1.47180697e-01 4.91117068e+01] [ 4.10321020e-01 9.09342593e-01 -6.87946876e-02 1.30626265e+01] [ 1.62459429e-01 1.34183112e-03 9.86714312e-01 4.90428429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.620888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:49.14, Y:13.07, Z:4.91 [[ 8.97829995e-01 -4.15695103e-01 -1.45254540e-01 4.91362198e+01] [ 4.09746807e-01 9.09497405e-01 -7.01571470e-02 1.30748600e+01] [ 1.61272610e-01 3.47160702e-03 9.86903791e-01 4.90768159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.650888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.16, Y:13.09, Z:4.91 [[ 8.98016018e-01 -4.15442881e-01 -1.44825563e-01 4.91604406e+01] [ 4.09670984e-01 9.09615294e-01 -6.90630281e-02 1.30857604e+01] [ 1.60427290e-01 2.68887454e-03 9.87043998e-01 4.91257772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.680888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.19, Y:13.09, Z:4.92 [[ 8.98577105e-01 -4.14262881e-01 -1.44725436e-01 4.91853776e+01] [ 4.09049757e-01 9.10157215e-01 -6.55144250e-02 1.30948528e+01] [ 1.58863094e-01 -3.30142190e-04 9.87300566e-01 4.91732756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:49.20, Y:13.14, Z:4.88 [[ 0.89870907 -0.42501009 -0.10811305 49.20154491] [ 0.41244425 0.90291343 -0.12098381 13.13748526] [ 0.14903606 0.06413864 0.98674945 4.88205041] [ 0. 0. 0. 1. ]] SLAMing on 56.740888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.25, Y:13.09, Z:4.96 [[ 8.98364550e-01 -4.01574752e-01 -1.77985545e-01 4.92492167e+01] [ 4.05811100e-01 9.13856227e-01 -1.35700994e-02 1.30904236e+01] [ 1.68102608e-01 -6.00376137e-02 9.83939530e-01 4.95969959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.770888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:13.13, Z:4.94 [[ 8.99487296e-01 -4.10149769e-01 -1.50664433e-01 4.92677628e+01] [ 4.03907237e-01 9.12012078e-01 -7.13646526e-02 1.31260959e+01] [ 1.66677978e-01 3.33714356e-03 9.86005738e-01 4.93798837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.800888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.29, Y:13.14, Z:4.94 [[ 9.00038358e-01 -4.08955566e-01 -1.50619716e-01 4.92928995e+01] [ 4.02691422e-01 9.12547176e-01 -7.13951720e-02 1.31374992e+01] [ 1.66645049e-01 3.60512592e-03 9.86010360e-01 4.94206166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:13.15, Z:4.95 [[ 9.00805136e-01 -4.07542206e-01 -1.49864797e-01 4.93171891e+01] [ 4.01313706e-01 9.13178082e-01 -7.10851568e-02 1.31483418e+01] [ 1.65823449e-01 3.89107746e-03 9.86147780e-01 4.94563148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.860888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.34, Y:13.16, Z:4.95 [[ 9.02579741e-01 -4.04407019e-01 -1.47664400e-01 4.93421072e+01] [ 3.98316131e-01 9.14568435e-01 -7.00630936e-02 1.31583196e+01] [ 1.63383206e-01 4.42041651e-03 9.86552780e-01 4.94932786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.37, Y:13.17, Z:4.95 [[ 9.03364377e-01 -4.02975310e-01 -1.46777727e-01 4.93676689e+01] [ 3.96935212e-01 9.15198921e-01 -6.96661471e-02 1.31695182e+01] [ 1.62404555e-01 4.67266738e-03 9.86713194e-01 4.95410698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.39, Y:13.18, Z:4.96 [[ 9.04351821e-01 -4.01117430e-01 -1.45782684e-01 4.93933441e+01] [ 3.95127775e-01 9.16012908e-01 -6.92415595e-02 1.31812279e+01] [ 1.61312817e-01 5.01594281e-03 9.86890579e-01 4.95764065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.42, Y:13.19, Z:4.96 [[ 9.05977873e-01 -3.97592841e-01 -1.45341071e-01 4.94184615e+01] [ 3.91587169e-01 9.17544438e-01 -6.90774405e-02 1.31924028e+01] [ 1.60821588e-01 5.66893388e-03 9.86967213e-01 4.95979447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.980888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.44, Y:13.20, Z:4.96 [[ 9.06497356e-01 -3.96723299e-01 -1.44475493e-01 4.94430632e+01] [ 3.90775178e-01 9.17919879e-01 -6.86866490e-02 1.32039735e+01] [ 1.59866521e-01 5.80682923e-03 9.87121561e-01 4.96275669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:13.22, Z:4.97 [[ 9.07138535e-01 -3.95952182e-01 -1.42553666e-01 4.94690677e+01] [ 3.90149462e-01 9.18252292e-01 -6.77947326e-02 1.32151408e+01] [ 1.57743703e-01 5.88197852e-03 9.87462570e-01 4.96558564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.040888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:49.49, Y:13.23, Z:4.97 [[ 9.07295053e-01 -3.95626717e-01 -1.42461183e-01 4.94944351e+01] [ 3.89820018e-01 9.18391940e-01 -6.77982179e-02 1.32264540e+01] [ 1.57657988e-01 5.97876696e-03 9.87475677e-01 4.96920841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:13.24, Z:4.97 [[ 9.07312691e-01 -3.95615081e-01 -1.42381136e-01 4.95198106e+01] [ 3.89807084e-01 9.18396667e-01 -6.78085442e-02 1.32381702e+01] [ 1.57588443e-01 6.02237735e-03 9.87486513e-01 4.97271711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.100888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:49.54, Y:13.25, Z:4.98 [[ 9.07472502e-01 -3.95216102e-01 -1.42470668e-01 4.95444651e+01] [ 3.89388144e-01 9.18567649e-01 -6.78995388e-02 1.32492031e+01] [ 1.57703937e-01 6.14057544e-03 9.87467347e-01 4.97647074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.57, Y:13.26, Z:4.98 [[ 9.07760654e-01 -3.94626064e-01 -1.42270397e-01 4.95698974e+01] [ 3.88801898e-01 9.18820442e-01 -6.78386328e-02 1.32601648e+01] [ 1.57491841e-01 6.26624140e-03 9.87500407e-01 4.98046940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.160888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:49.60, Y:13.27, Z:4.98 [[ 9.07672210e-01 -3.94329831e-01 -1.43649380e-01 4.95953441e+01] [ 3.88380074e-01 9.18946522e-01 -6.85434665e-02 1.32698873e+01] [ 1.59034831e-01 6.42444294e-03 9.87252070e-01 4.98433451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:13.28, Z:4.99 [[ 9.07388740e-01 -3.94876589e-01 -1.43938024e-01 4.96206613e+01] [ 3.88904022e-01 9.18712065e-01 -6.87153795e-02 1.32821782e+01] [ 1.59371694e-01 6.37348505e-03 9.87198076e-01 4.98677285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:13.29, Z:4.99 [[ 9.06856967e-01 -3.96025581e-01 -1.44132510e-01 4.96456624e+01] [ 3.90043279e-01 9.18218375e-01 -6.88567820e-02 1.32948923e+01] [ 1.59614166e-01 6.22533574e-03 9.87159847e-01 4.98886624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:49.67, Y:13.31, Z:4.99 [[ 9.06270258e-01 -3.97527531e-01 -1.43687443e-01 4.96704609e+01] [ 3.91593223e-01 9.17570713e-01 -6.86930491e-02 1.33071253e+01] [ 1.59150767e-01 5.98743865e-03 9.87236134e-01 4.99117399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.280888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:49.70, Y:13.32, Z:4.99 [[ 9.04952202e-01 -4.00790611e-01 -1.42927947e-01 4.96964304e+01] [ 3.94951824e-01 9.16153591e-01 -6.83787592e-02 1.33168261e+01] [ 1.58349517e-01 5.42985520e-03 9.87368192e-01 4.99455918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.72, Y:13.33, Z:5.00 [[ 9.04167727e-01 -4.02579090e-01 -1.42866362e-01 4.97211024e+01] [ 3.96759848e-01 9.15370670e-01 -6.83970778e-02 1.33267342e+01] [ 1.58310911e-01 5.15879423e-03 9.87375836e-01 4.99915400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.340888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.75, Y:13.34, Z:5.00 [[ 9.03394974e-01 -4.04373198e-01 -1.42687900e-01 4.97459739e+01] [ 3.98587324e-01 9.14581168e-01 -6.83332446e-02 1.33368450e+01] [ 1.58131799e-01 4.85832154e-03 9.87406062e-01 5.00331104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.370888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:49.77, Y:13.35, Z:5.01 [[ 9.01657838e-01 -4.08409933e-01 -1.42177603e-01 4.97720365e+01] [ 4.02711793e-01 9.12789160e-01 -6.81113957e-02 1.33467431e+01] [ 1.57595545e-01 4.15657642e-03 9.87494996e-01 5.00790829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:13.36, Z:5.01 [[ 9.00607124e-01 -4.11108017e-01 -1.41056748e-01 4.97977248e+01] [ 4.05525319e-01 9.11579135e-01 -6.76217153e-02 1.33582343e+01] [ 1.56384218e-01 3.69851576e-03 9.87689373e-01 5.01199665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.82, Y:13.37, Z:5.02 [[ 8.99627696e-01 -4.13648979e-01 -1.39873265e-01 4.98232743e+01] [ 4.08183265e-01 9.10430565e-01 -6.71014798e-02 1.33700498e+01] [ 1.55101354e-01 3.27242373e-03 9.87893143e-01 5.01630500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:13.38, Z:5.02 [[ 8.97464208e-01 -4.18850923e-01 -1.38281961e-01 4.98476559e+01] [ 4.13563634e-01 9.08051868e-01 -6.63846804e-02 1.33798555e+01] [ 1.53372477e-01 2.38948439e-03 9.88165560e-01 5.02045694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:13.39, Z:5.02 [[ 8.96407990e-01 -4.21321455e-01 -1.37626117e-01 4.98720403e+01] [ 4.16110223e-01 9.06909216e-01 -6.60905205e-02 1.33907233e+01] [ 1.52659748e-01 1.97643651e-03 9.88276831e-01 5.02421142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.520888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:49.90, Y:13.40, Z:5.03 [[ 8.94430964e-01 -4.25700298e-01 -1.37012798e-01 4.98979623e+01] [ 4.20583475e-01 9.04863366e-01 -6.58166326e-02 1.34008655e+01] [ 1.51996022e-01 1.24311527e-03 9.88380324e-01 5.02776538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.550888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.92, Y:13.41, Z:5.03 [[ 8.93442694e-01 -4.27847990e-01 -1.36770797e-01 4.99229072e+01] [ 4.22767330e-01 9.03850239e-01 -6.57459486e-02 1.34126865e+01] [ 1.51749590e-01 9.18012721e-04 9.88418545e-01 5.03148757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.580888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:49.95, Y:13.42, Z:5.04 [[ 8.92729248e-01 -4.29348137e-01 -1.36728441e-01 4.99483934e+01] [ 4.24280988e-01 9.03138793e-01 -6.57720571e-02 1.34249363e+01] [ 1.51723869e-01 7.05361144e-04 9.88422668e-01 5.03510310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.610888478999996 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.97, Y:13.44, Z:5.04 [[ 8.92072395e-01 -4.30928022e-01 -1.36043679e-01 4.99737875e+01] [ 4.25923039e-01 9.02386177e-01 -6.54885658e-02 1.34373418e+01] [ 1.50984793e-01 4.76404550e-04 9.88535971e-01 5.03868087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.640888479 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:50.00, Y:13.45, Z:5.04 [[ 8.90967711e-01 -4.33463105e-01 -1.35226753e-01 4.99978637e+01] [ 4.28540581e-01 9.01171310e-01 -6.51401663e-02 1.34486594e+01] [ 1.50098329e-01 8.76336546e-05 9.88671070e-01 5.04399222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670888479 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:50.02, Y:13.46, Z:5.05 [[ 8.90459739e-01 -4.34513177e-01 -1.35202637e-01 5.00225986e+01] [ 4.29601353e-01 9.00665473e-01 -6.51489337e-02 1.34606816e+01] [ 1.50080417e-01 -7.07333717e-05 9.88673790e-01 5.04884949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.700888479 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:50.05, Y:13.47, Z:5.05 [[ 8.89963127e-01 -4.35582716e-01 -1.35030849e-01 5.00466307e+01] [ 4.30689076e-01 9.00148684e-01 -6.51096584e-02 1.34733672e+01] [ 1.49908483e-01 -2.11116318e-04 9.88699854e-01 5.05265806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.730888479 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:50.07, Y:13.49, Z:5.06 [[ 8.88978006e-01 -4.37266865e-01 -1.36072754e-01 5.00712149e+01] [ 4.32313487e-01 8.99331673e-01 -6.56322373e-02 1.34857341e+01] [ 1.51073340e-01 -4.80471215e-04 9.88522440e-01 5.05668139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.760888479 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:50.10, Y:13.50, Z:5.06 [[ 8.88585712e-01 -4.37878473e-01 -1.36667025e-01 5.00962435e+01] [ 4.32881738e-01 8.99034006e-01 -6.59640528e-02 1.34977922e+01] [ 1.51752542e-01 -5.45944485e-04 9.88418367e-01 5.06053292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790888479 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:50.12, Y:13.51, Z:5.06 [[ 8.88106509e-01 -4.38772772e-01 -1.36913415e-01 5.01209221e+01] [ 4.33761468e-01 8.98597808e-01 -6.61284233e-02 1.35108943e+01] [ 1.52045447e-01 -6.58680964e-04 9.88373284e-01 5.06412144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.14, Y:13.53, Z:5.07 [[ 8.87944571e-01 -4.39331268e-01 -1.36170764e-01 5.01441100e+01] [ 4.34374314e-01 8.98324848e-01 -6.58135443e-02 1.35258088e+01] [ 1.51239529e-01 -7.10302773e-04 9.88496889e-01 5.06689080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.17, Y:13.54, Z:5.07 [[ 8.87836748e-01 -4.39551569e-01 -1.36162869e-01 5.01695276e+01] [ 4.34594687e-01 8.98217059e-01 -6.58298741e-02 1.35382085e+01] [ 1.51239436e-01 -7.29478162e-04 9.88496890e-01 5.07107202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.880888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:50.19, Y:13.55, Z:5.07 [[ 8.87819435e-01 -4.40005860e-01 -1.34801681e-01 5.01939193e+01] [ 4.35147146e-01 8.97994579e-01 -6.52127145e-02 1.35517556e+01] [ 1.49745156e-01 -7.61451535e-04 9.88724334e-01 5.07433045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:13.56, Z:5.08 [[ 8.87799288e-01 -4.40826526e-01 -1.32228579e-01 5.02186610e+01] [ 4.36155274e-01 8.97591924e-01 -6.40102779e-02 1.35646215e+01] [ 1.46904733e-01 -8.43913083e-04 9.89150285e-01 5.07991464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.24, Y:13.58, Z:5.09 [[ 8.87502835e-01 -4.41482979e-01 -1.32028393e-01 5.02437946e+01] [ 4.36826609e-01 8.97269162e-01 -6.39575205e-02 1.35769354e+01] [ 1.46701162e-01 -9.11034303e-04 9.89180438e-01 5.08585260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:13.59, Z:5.09 [[ 8.87707094e-01 -4.41259334e-01 -1.31401348e-01 5.02688735e+01] [ 4.36638360e-01 8.97379246e-01 -6.36979714e-02 1.35896071e+01] [ 1.46024167e-01 -8.29728048e-04 9.89280675e-01 5.09032449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.29, Y:13.60, Z:5.09 [[ 8.88206326e-01 -4.40259118e-01 -1.31382764e-01 5.02932421e+01] [ 4.35622010e-01 8.97870547e-01 -6.37333977e-02 1.36027668e+01] [ 1.46023924e-01 -6.24816686e-04 9.89280862e-01 5.09437855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.32, Y:13.62, Z:5.10 [[ 8.90535846e-01 -4.35503744e-01 -1.31462526e-01 5.03153266e+01] [ 4.30802627e-01 9.00186898e-01 -6.38172851e-02 1.36182073e+01] [ 1.46133510e-01 1.97178447e-04 9.89264858e-01 5.09711742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.34, Y:13.63, Z:5.10 [[ 8.91892975e-01 -4.32653092e-01 -1.31674687e-01 5.03388967e+01] [ 4.27902859e-01 9.01560222e-01 -6.39398873e-02 1.36329398e+01] [ 1.46376450e-01 6.83561283e-04 9.89228724e-01 5.10026216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.36, Y:13.65, Z:5.10 [[ 8.93483211e-01 -4.29294912e-01 -1.31884912e-01 5.03624612e+01] [ 4.24486398e-01 9.03163467e-01 -6.40862635e-02 1.36473447e+01] [ 1.46625542e-01 1.27664910e-03 9.89191246e-01 5.10333880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.39, Y:13.66, Z:5.11 [[ 8.96292041e-01 -4.23095274e-01 -1.32856939e-01 5.03858981e+01] [ 4.18140331e-01 9.06082147e-01 -6.46050107e-02 1.36636506e+01] [ 1.47713375e-01 2.35211268e-03 9.89027414e-01 5.10681042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.41, Y:13.68, Z:5.11 [[ 8.97263421e-01 -4.20651704e-01 -1.34054082e-01 5.04088710e+01] [ 4.15572384e-01 9.07217822e-01 -6.52335543e-02 1.36768934e+01] [ 1.49056859e-01 2.82250745e-03 9.88824598e-01 5.11069109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:13.69, Z:5.11 [[ 8.98113330e-01 -4.18612042e-01 -1.34745700e-01 5.04331948e+01] [ 4.13453828e-01 9.08159532e-01 -6.55911231e-02 1.36907965e+01] [ 1.49827826e-01 3.19713649e-03 9.88706934e-01 5.11462743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.46, Y:13.71, Z:5.12 [[ 8.99185950e-01 -4.15871779e-01 -1.36070905e-01 5.04563671e+01] [ 4.10572527e-01 9.09415593e-01 -6.62833301e-02 1.37057878e+01] [ 1.51310369e-01 3.73406376e-03 9.88479251e-01 5.11859242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.240888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:13.72, Z:5.12 [[ 8.99642894e-01 -4.14869333e-01 -1.36110616e-01 5.04802077e+01] [ 4.09548598e-01 9.09872446e-01 -6.63481541e-02 1.37189914e+01] [ 1.51369114e-01 3.94573334e-03 9.88469434e-01 5.12264807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.270888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.50, Y:13.73, Z:5.13 [[ 9.00374104e-01 -4.13163771e-01 -1.36463073e-01 5.05033203e+01] [ 4.07792692e-01 9.10646765e-01 -6.65401386e-02 1.37328599e+01] [ 1.51761630e-01 4.26237392e-03 9.88407932e-01 5.12674119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.300888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.53, Y:13.75, Z:5.13 [[ 9.00518403e-01 -4.12894558e-01 -1.36325678e-01 5.05279362e+01] [ 4.07528106e-01 9.10768577e-01 -6.64939320e-02 1.37459027e+01] [ 1.51616126e-01 4.32246408e-03 9.88430001e-01 5.13113027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.55, Y:13.76, Z:5.14 [[ 9.00599775e-01 -4.12872503e-01 -1.35854118e-01 5.05522546e+01] [ 4.07536097e-01 9.10778429e-01 -6.63097501e-02 1.37587836e+01] [ 1.51110473e-01 4.35308902e-03 9.88507297e-01 5.13571708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.360888478999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.58, Y:13.77, Z:5.14 [[ 9.00584980e-01 -4.12994895e-01 -1.35579905e-01 5.05772141e+01] [ 4.07674545e-01 9.10722876e-01 -6.62216632e-02 1.37719198e+01] [ 1.50824929e-01 4.36575941e-03 9.88550849e-01 5.13998088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.60, Y:13.78, Z:5.14 [[ 9.00153316e-01 -4.13783201e-01 -1.36042162e-01 5.06007301e+01] [ 4.08427967e-01 9.10365334e-01 -6.64947758e-02 1.37844173e+01] [ 1.51362490e-01 4.29206914e-03 9.88469006e-01 5.14326011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.420888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:50.63, Y:13.80, Z:5.15 [[ 8.99708607e-01 -4.14563160e-01 -1.36608232e-01 5.06256984e+01] [ 4.09168525e-01 9.10010855e-01 -6.67934281e-02 1.37965083e+01] [ 1.52005068e-01 4.19883354e-03 9.88370795e-01 5.14738769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:13.81, Z:5.15 [[ 8.99187285e-01 -4.15616351e-01 -1.36840325e-01 5.06509426e+01] [ 4.10207976e-01 9.09530905e-01 -6.69548248e-02 1.38083511e+01] [ 1.52288025e-01 4.07193440e-03 9.88327768e-01 5.15158304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.480888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.67, Y:13.82, Z:5.16 [[ 8.98899610e-01 -4.16324059e-01 -1.36578800e-01 5.06746317e+01] [ 4.10937400e-01 9.09207556e-01 -6.68735653e-02 1.38201612e+01] [ 1.52019551e-01 3.98728482e-03 9.88369444e-01 5.15556679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.510888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.70, Y:13.83, Z:5.16 [[ 8.98680929e-01 -4.16808865e-01 -1.36539215e-01 5.06994874e+01] [ 4.11425880e-01 9.08985639e-01 -6.68868675e-02 1.38321191e+01] [ 1.51991225e-01 3.93418543e-03 9.88374013e-01 5.16020111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.540888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.72, Y:13.84, Z:5.16 [[ 8.98675311e-01 -4.17062194e-01 -1.35800631e-01 5.07246740e+01] [ 4.11733406e-01 9.08869527e-01 -6.65716494e-02 1.38447704e+01] [ 1.51189574e-01 3.91264117e-03 9.88497043e-01 5.16466085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.75, Y:13.86, Z:5.17 [[ 8.98708567e-01 -4.17057611e-01 -1.35594473e-01 5.07497065e+01] [ 4.11737959e-01 9.08871469e-01 -6.65169648e-02 1.38572576e+01] [ 1.50979354e-01 3.94997448e-03 9.88529024e-01 5.16893522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.600888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.77, Y:13.87, Z:5.17 [[ 8.98737507e-01 -4.16944382e-01 -1.35750786e-01 5.07743032e+01] [ 4.11603987e-01 9.08923127e-01 -6.66401321e-02 1.38692633e+01] [ 1.51172258e-01 4.01642130e-03 9.88499275e-01 5.17345013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.80, Y:13.88, Z:5.18 [[ 8.98899885e-01 -4.16491733e-01 -1.36064814e-01 5.07983064e+01] [ 4.11114259e-01 9.09130057e-01 -6.68401574e-02 1.38805323e+01] [ 1.51538985e-01 4.14442460e-03 9.88442593e-01 5.17755947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.82, Y:13.89, Z:5.18 [[ 8.98585425e-01 -4.17071791e-01 -1.36364790e-01 5.08229829e+01] [ 4.11673786e-01 9.08864409e-01 -6.70088137e-02 1.38927607e+01] [ 1.51884590e-01 4.07533380e-03 9.88389833e-01 5.18208164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.85, Y:13.90, Z:5.19 [[ 8.98416760e-01 -4.17565228e-01 -1.35965461e-01 5.08470599e+01] [ 4.12197636e-01 9.08638050e-01 -6.68580799e-02 1.39047331e+01] [ 1.51461000e-01 4.02177796e-03 9.88455052e-01 5.18606202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.720888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.87, Y:13.92, Z:5.19 [[ 8.97552524e-01 -4.19387114e-01 -1.36065850e-01 5.08705318e+01] [ 4.14029229e-01 9.07799809e-01 -6.69276094e-02 1.39168252e+01] [ 1.51589130e-01 3.73580564e-03 9.88436533e-01 5.19006011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:50.89, Y:13.93, Z:5.19 [[ 8.96937992e-01 -4.20805386e-01 -1.35738965e-01 5.08949550e+01] [ 4.15486387e-01 9.07144164e-01 -6.67871931e-02 1.39295128e+01] [ 1.51239221e-01 3.50627875e-03 9.88490973e-01 5.19377787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.780888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.92, Y:13.94, Z:5.20 [[ 8.95990549e-01 -4.23357572e-01 -1.34049626e-01 5.09188234e+01] [ 4.18192396e-01 9.05957444e-01 -6.60017444e-02 1.39424855e+01] [ 1.49385594e-01 3.07840508e-03 9.88774225e-01 5.19771104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.94, Y:13.95, Z:5.20 [[ 8.95194538e-01 -4.25160799e-01 -1.33660144e-01 5.09438831e+01] [ 4.20042629e-01 9.05113540e-01 -6.58306108e-02 1.39547343e+01] [ 1.48966202e-01 2.78824484e-03 9.88838357e-01 5.20199728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.840888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.97, Y:13.97, Z:5.21 [[ 8.94002000e-01 -4.27525784e-01 -1.34097459e-01 5.09688858e+01] [ 4.22393236e-01 9.03999848e-01 -6.60925739e-02 1.39663661e+01] [ 1.49480362e-01 2.44503336e-03 9.88761672e-01 5.20722401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.870888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.99, Y:13.98, Z:5.21 [[ 8.91748074e-01 -4.31986854e-01 -1.34806270e-01 5.09943801e+01] [ 4.26843031e-01 9.01878205e-01 -6.64885757e-02 1.39781557e+01] [ 1.50301027e-01 1.74994249e-03 9.88638730e-01 5.21177815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.900888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:51.02, Y:13.99, Z:5.22 [[ 8.90663472e-01 -4.34144674e-01 -1.35044367e-01 5.10191011e+01] [ 4.29000003e-01 9.00842024e-01 -6.66531704e-02 1.39909647e+01] [ 1.50590760e-01 1.43151050e-03 9.88595152e-01 5.21558884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.930888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.04, Y:14.00, Z:5.22 [[ 8.89840260e-01 -4.35835789e-01 -1.35023985e-01 5.10429658e+01] [ 4.30704918e-01 9.00025419e-01 -6.66897269e-02 1.40034745e+01] [ 1.50590788e-01 1.18770956e-03 9.88595470e-01 5.21943238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.960888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:51.07, Y:14.02, Z:5.22 [[ 8.88823834e-01 -4.38304261e-01 -1.33721979e-01 5.10676835e+01] [ 4.33297077e-01 8.98826327e-01 -6.60672232e-02 1.40169972e+01] [ 1.49150381e-01 7.80780023e-04 9.88814216e-01 5.22301639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:51.09, Y:14.03, Z:5.23 [[ 8.88502662e-01 -4.39031054e-01 -1.33471922e-01 5.10913024e+01] [ 4.34043966e-01 8.98471616e-01 -6.59893249e-02 1.40291715e+01] [ 1.48892096e-01 6.99008662e-04 9.88853202e-01 5.22709297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.020888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.12, Y:14.04, Z:5.23 [[ 8.88388042e-01 -4.39073585e-01 -1.34093526e-01 5.11156821e+01] [ 4.34037016e-01 8.98450820e-01 -6.63173609e-02 1.40415358e+01] [ 1.49594640e-01 7.13996480e-04 9.88747154e-01 5.23129334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:14.05, Z:5.23 [[ 8.88653799e-01 -4.38191206e-01 -1.35214248e-01 5.11388779e+01] [ 4.33052359e-01 8.98881324e-01 -6.69180008e-02 1.40544225e+01] [ 1.50864442e-01 9.12086352e-04 9.88554039e-01 5.23489092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.080888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:51.16, Y:14.07, Z:5.24 [[ 8.88992964e-01 -4.37396638e-01 -1.35556963e-01 5.11637937e+01] [ 4.32219115e-01 8.99268057e-01 -6.71088570e-02 1.40678842e+01] [ 1.51255236e-01 1.06899099e-03 9.88494163e-01 5.23872611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.110888478999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:51.19, Y:14.08, Z:5.24 [[ 8.89545506e-01 -4.35991393e-01 -1.36456215e-01 5.11872225e+01] [ 4.30720884e-01 8.99949808e-01 -6.76007587e-02 1.40808480e+01] [ 1.52277094e-01 1.35940952e-03 9.88336906e-01 5.24248129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.140888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:51.21, Y:14.10, Z:5.25 [[ 8.90910571e-01 -4.33115842e-01 -1.36707797e-01 5.12112989e+01] [ 4.27788708e-01 9.01336315e-01 -6.77470865e-02 1.40955480e+01] [ 1.52562038e-01 1.87454390e-03 9.88292118e-01 5.24539854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:51.24, Y:14.11, Z:5.25 [[ 8.91475461e-01 -4.31729931e-01 -1.37407310e-01 5.12357210e+01] [ 4.26324041e-01 9.02000318e-01 -6.81413087e-02 1.41089501e+01] [ 1.53360080e-01 2.16626482e-03 9.88167998e-01 5.24947044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.200888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:51.26, Y:14.12, Z:5.25 [[ 8.92337381e-01 -4.30048627e-01 -1.37084562e-01 5.12590147e+01] [ 4.24641029e-01 9.02802282e-01 -6.80296727e-02 1.41212622e+01] [ 1.53016322e-01 2.49369062e-03 9.88220515e-01 5.25340276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.230888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:51.28, Y:14.13, Z:5.26 [[ 8.93178594e-01 -4.28397260e-01 -1.36776410e-01 5.12835053e+01] [ 4.22989609e-01 9.03586155e-01 -6.79106070e-02 1.41335506e+01] [ 1.52681988e-01 2.80130046e-03 9.88271402e-01 5.25792390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.260888479 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:51.31, Y:14.15, Z:5.26 [[ 8.95303436e-01 -4.24059321e-01 -1.36401796e-01 5.13069203e+01] [ 4.18624133e-01 9.05627360e-01 -6.77710914e-02 1.41458706e+01] [ 1.52268161e-01 3.57460741e-03 9.88332752e-01 5.26238490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:51.33, Y:14.16, Z:5.27 [[ 8.96311434e-01 -4.21933001e-01 -1.36375789e-01 5.13310876e+01] [ 4.16470387e-01 9.06618343e-01 -6.77908329e-02 1.41587221e+01] [ 1.52243981e-01 3.96522093e-03 9.88334987e-01 5.26675574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.320888479 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:51.36, Y:14.17, Z:5.27 [[ 8.98195467e-01 -4.18173802e-01 -1.35556533e-01 5.13552627e+01] [ 4.12727325e-01 9.08355300e-01 -6.74299991e-02 1.41724367e+01] [ 1.51330954e-01 4.61743445e-03 9.88472368e-01 5.27090787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350888479 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:51.38, Y:14.18, Z:5.27 [[ 8.98875113e-01 -4.16676706e-01 -1.35661538e-01 5.13789874e+01] [ 4.11197745e-01 9.09041450e-01 -6.75281858e-02 1.41843707e+01] [ 1.51459383e-01 4.91568733e-03 9.88451259e-01 5.27461265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.380888479 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:51.40, Y:14.20, Z:5.28 [[ 8.99359167e-01 -4.15444862e-01 -1.36230158e-01 5.14041060e+01] [ 4.09902231e-01 9.09603700e-01 -6.78326655e-02 1.41965648e+01] [ 1.52096188e-01 5.16488378e-03 9.88352201e-01 5.27862492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.410888479 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:51.43, Y:14.21, Z:5.28 [[ 9.00159794e-01 -4.13323955e-01 -1.37388696e-01 5.14291215e+01] [ 4.07654372e-01 9.10566745e-01 -6.84552124e-02 1.42068522e+01] [ 1.53395757e-01 5.61352716e-03 9.88148891e-01 5.28357369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.440888479 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:51.45, Y:14.22, Z:5.29 [[ 9.00331491e-01 -4.12981872e-01 -1.37292315e-01 5.14543656e+01] [ 4.07313043e-01 9.10721487e-01 -6.84284845e-02 1.42188231e+01] [ 1.53294785e-01 5.68736866e-03 9.88164137e-01 5.28766706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.470888479 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:51.48, Y:14.23, Z:5.29 [[ 9.00562699e-01 -4.12603453e-01 -1.36913168e-01 5.14790206e+01] [ 4.06954681e-01 9.10892424e-01 -6.82852758e-02 1.42308684e+01] [ 1.52887908e-01 5.77771763e-03 9.88226647e-01 5.29179744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.500888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:51.50, Y:14.24, Z:5.30 [[ 9.00509309e-01 -4.12684397e-01 -1.37020335e-01 5.15039027e+01] [ 4.07020547e-01 9.10855544e-01 -6.83845930e-02 1.42431838e+01] [ 1.53026986e-01 5.81087102e-03 9.88204926e-01 5.29541971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530888479 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:51.53, Y:14.25, Z:5.30 [[ 9.00639208e-01 -4.12291286e-01 -1.37349599e-01 5.15292117e+01] [ 4.06588323e-01 9.11032753e-01 -6.85948899e-02 1.42548905e+01] [ 1.53411059e-01 5.93450426e-03 9.88144640e-01 5.29925251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.560888479 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:51.55, Y:14.27, Z:5.30 [[ 9.00817702e-01 -4.11681769e-01 -1.38005754e-01 5.15542623e+01] [ 4.05909534e-01 9.11307185e-01 -6.89685759e-02 1.42662838e+01] [ 1.54158741e-01 6.11026271e-03 9.88027200e-01 5.30394360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.590888479 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:51.58, Y:14.28, Z:5.31 [[ 9.01191063e-01 -4.10542905e-01 -1.38957517e-01 5.15795816e+01] [ 4.04669531e-01 9.11818876e-01 -6.94903458e-02 1.42767917e+01] [ 1.55232855e-01 6.39220546e-03 9.87857227e-01 5.30781019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.620888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:51.60, Y:14.29, Z:5.31 [[ 9.01547691e-01 -4.09343171e-01 -1.40178203e-01 5.16044220e+01] [ 4.03343923e-01 9.12355898e-01 -7.01455302e-02 1.42873618e+01] [ 1.56606004e-01 6.69951463e-03 9.87638434e-01 5.31017090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.650888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:51.63, Y:14.30, Z:5.31 [[ 9.01305852e-01 -4.09660862e-01 -1.40803907e-01 5.16300846e+01] [ 4.03607903e-01 9.12213328e-01 -7.04805286e-02 1.42990407e+01] [ 1.57316315e-01 6.69494319e-03 9.87525572e-01 5.31398224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.680888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:51.66, Y:14.31, Z:5.32 [[ 9.01105229e-01 -4.10190859e-01 -1.40544749e-01 5.16558416e+01] [ 4.04159517e-01 9.11975591e-01 -7.03960611e-02 1.43107326e+01] [ 1.57049201e-01 6.63176075e-03 9.87568513e-01 5.31770613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:51.68, Y:14.32, Z:5.32 [[ 9.00918253e-01 -4.10580477e-01 -1.40605739e-01 5.16812430e+01] [ 4.04541378e-01 9.11800417e-01 -7.04717931e-02 1.43219801e+01] [ 1.57138713e-01 6.60848551e-03 9.87554430e-01 5.32229017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.740888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:51.71, Y:14.33, Z:5.33 [[ 9.00802290e-01 -4.10841924e-01 -1.40585023e-01 5.17064543e+01] [ 4.04800906e-01 9.11682692e-01 -7.05045845e-02 1.43303982e+01] [ 1.57135171e-01 6.60174665e-03 9.87555039e-01 5.32755454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.770888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:51.73, Y:14.34, Z:5.33 [[ 9.00706540e-01 -4.11054673e-01 -1.40576616e-01 5.17316678e+01] [ 4.05013614e-01 9.11586920e-01 -7.05213422e-02 1.43431840e+01] [ 1.57135932e-01 6.58359076e-03 9.87555039e-01 5.33173487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.800888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.75, Y:14.36, Z:5.32 [[ 9.00237680e-01 -4.15598523e-01 -1.29807500e-01 5.17524911e+01] [ 4.07630717e-01 9.09261341e-01 -8.41487499e-02 1.43620692e+01] [ 1.53001038e-01 2.28403509e-02 9.87962044e-01 5.32358184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.830888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.78, Y:14.37, Z:5.33 [[ 9.00017678e-01 -4.13674813e-01 -1.37263715e-01 5.17809773e+01] [ 4.07732761e-01 9.10395852e-01 -7.02380863e-02 1.43663502e+01] [ 1.54020044e-01 7.24860593e-03 9.88041135e-01 5.33460204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.860888478999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.81, Y:14.38, Z:5.34 [[ 9.00086231e-01 -4.13918055e-01 -1.36075788e-01 5.18068232e+01] [ 4.07792244e-01 9.10270975e-01 -7.14999207e-02 1.43771098e+01] [ 1.53460949e-01 8.86544307e-03 9.88114943e-01 5.33777466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.83, Y:14.39, Z:5.34 [[ 9.00107432e-01 -4.13923322e-01 -1.35919440e-01 5.18325860e+01] [ 4.07920765e-01 9.10274763e-01 -7.07142528e-02 1.43887231e+01] [ 1.52994315e-01 8.20606241e-03 9.88192997e-01 5.34218510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.920888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:51.86, Y:14.39, Z:5.36 [[ 9.00727211e-01 -4.08264148e-01 -1.48360629e-01 5.18646077e+01] [ 4.04547577e-01 9.12811861e-01 -5.58190302e-02 1.43897920e+01] [ 1.58214251e-01 -9.74121373e-03 9.87356754e-01 5.36094582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.950888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.89, Y:14.41, Z:5.36 [[ 9.00687882e-01 -4.10814697e-01 -1.41395278e-01 5.18873890e+01] [ 4.04683459e-01 9.11693814e-01 -7.10330019e-02 1.44079753e+01] [ 1.58090601e-01 6.75823400e-03 9.87401483e-01 5.35811008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.980888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:51.91, Y:14.42, Z:5.36 [[ 9.00608411e-01 -4.10875131e-01 -1.41725500e-01 5.19120168e+01] [ 4.04708108e-01 9.11666211e-01 -7.12465186e-02 1.44191141e+01] [ 1.58479772e-01 6.80775487e-03 9.87338755e-01 5.36189003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:14.43, Z:5.37 [[ 9.00283737e-01 -4.11352607e-01 -1.42401634e-01 5.19371517e+01] [ 4.05128231e-01 9.11451086e-01 -7.16102908e-02 1.44298339e+01] [ 1.59249204e-01 6.77865816e-03 9.87215144e-01 5.36658037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.96, Y:14.44, Z:5.37 [[ 8.99610980e-01 -4.12947347e-01 -1.42037228e-01 5.19629090e+01] [ 4.06767011e-01 9.10731536e-01 -7.14749444e-02 1.44377445e+01] [ 1.58873171e-01 6.52358630e-03 9.87277447e-01 5.37225930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:14.45, Z:5.38 [[ 8.98040948e-01 -4.16576296e-01 -1.41374133e-01 5.19897560e+01] [ 4.10494752e-01 9.09081773e-01 -7.11645152e-02 1.44465767e+01] [ 1.58166098e-01 5.87530903e-03 9.87395041e-01 5.37724482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.01, Y:14.46, Z:5.38 [[ 8.97936678e-01 -4.16807507e-01 -1.41354961e-01 5.20149629e+01] [ 4.10722824e-01 9.08975773e-01 -7.12025768e-02 1.44593975e+01] [ 1.58166004e-01 5.87769638e-03 9.87395041e-01 5.38144470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.04, Y:14.47, Z:5.39 [[ 8.95831978e-01 -4.21691757e-01 -1.40218153e-01 5.20416046e+01] [ 4.15757397e-01 9.06725375e-01 -7.06744792e-02 1.44680211e+01] [ 1.56942203e-01 5.01572413e-03 9.87595052e-01 5.38580062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.07, Y:14.48, Z:5.39 [[ 8.94794521e-01 -4.24260160e-01 -1.39090191e-01 5.20672233e+01] [ 4.18444863e-01 9.05528808e-01 -7.01532261e-02 1.44783764e+01] [ 1.55713394e-01 4.57114629e-03 9.87791700e-01 5.39061586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.190888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:52.09, Y:14.49, Z:5.40 [[ 8.94072988e-01 -4.26383887e-01 -1.37223443e-01 5.20930225e+01] [ 4.20742289e-01 9.04532619e-01 -6.92579831e-02 1.44886267e+01] [ 1.53653569e-01 4.18598619e-03 9.88115913e-01 5.39541238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:14.50, Z:5.40 [[ 8.92597717e-01 -4.29879085e-01 -1.35916477e-01 5.21191062e+01] [ 4.24378026e-01 9.02879318e-01 -6.86456741e-02 1.44979251e+01] [ 1.52225516e-01 3.59300569e-03 9.88339255e-01 5.40088651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.14, Y:14.51, Z:5.40 [[ 8.91989117e-01 -4.30960777e-01 -1.36485248e-01 5.21445960e+01] [ 4.25418346e-01 9.02363998e-01 -6.89814848e-02 1.45090289e+01] [ 1.52887689e-01 3.46740509e-03 9.88237488e-01 5.40475430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.17, Y:14.52, Z:5.41 [[ 8.91438923e-01 -4.31463433e-01 -1.38477264e-01 5.21698861e+01] [ 4.25755390e-01 9.02123730e-01 -7.00365900e-02 1.45187396e+01] [ 1.55141853e-01 3.47590093e-03 9.87886088e-01 5.40828835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:14.55, Z:5.38 [[ 8.90492712e-01 -4.39943963e-01 -1.16069115e-01 5.21836141e+01] [ 4.30773839e-01 8.97316092e-01 -9.62170995e-02 1.45478453e+01] [ 1.46480817e-01 3.56810874e-02 9.88569790e-01 5.38299517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.21, Y:14.55, Z:5.40 [[ 8.90271842e-01 -4.36196810e-01 -1.30951863e-01 5.22130951e+01] [ 4.30600426e-01 8.99832367e-01 -6.98926627e-02 1.45474318e+01] [ 1.48321681e-01 5.83554174e-03 9.88921951e-01 5.39929756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.25, Y:14.54, Z:5.43 [[ 8.91240698e-01 -4.26215548e-01 -1.55017176e-01 5.22508149e+01] [ 4.24712090e-01 9.04239819e-01 -4.43845724e-02 1.45412202e+01] [ 1.59090098e-01 -2.62803316e-02 9.86914224e-01 5.43330853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.26, Y:14.59, Z:5.39 [[ 8.89708455e-01 -4.42241105e-01 -1.13321092e-01 5.22550380e+01] [ 4.32442134e-01 8.95952855e-01 -1.01302926e-01 1.45867869e+01] [ 1.46330674e-01 4.11252551e-02 9.88380517e-01 5.38864175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.430888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:52.30, Y:14.57, Z:5.44 [[ 8.90495856e-01 -4.27858737e-01 -1.54770898e-01 5.23011511e+01] [ 4.25545328e-01 9.03582869e-01 -4.94891091e-02 1.45675200e+01] [ 1.61022680e-01 -2.17921859e-02 9.86710088e-01 5.43957004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.460888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:52.32, Y:14.58, Z:5.44 [[ 8.91672574e-01 -4.29136647e-01 -1.44089410e-01 5.23239190e+01] [ 4.24520302e-01 9.03225656e-01 -6.29756169e-02 1.45832794e+01] [ 1.57170397e-01 -5.01524958e-03 9.87558765e-01 5.43748295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490888479 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:52.35, Y:14.60, Z:5.44 [[ 8.91632650e-01 -4.30683360e-01 -1.39653360e-01 5.23481570e+01] [ 4.24871674e-01 9.02495836e-01 -7.06068410e-02 1.45977629e+01] [ 1.56445767e-01 3.62060804e-03 9.87679914e-01 5.43907440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.520888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.37, Y:14.61, Z:5.45 [[ 8.90130582e-01 -4.32883949e-01 -1.42404470e-01 5.23676617e+01] [ 4.28257281e-01 9.01437675e-01 -6.32915412e-02 1.46081406e+01] [ 1.55766647e-01 -4.64801475e-03 9.87782946e-01 5.44601010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.40, Y:14.63, Z:5.44 [[ 8.91242275e-01 -4.32992124e-01 -1.34926012e-01 5.23958218e+01] [ 4.25825467e-01 9.01296725e-01 -7.96045565e-02 1.46274444e+01] [ 1.56076519e-01 1.34920140e-02 9.87652816e-01 5.44221455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:14.64, Z:5.45 [[ 8.90967073e-01 -4.31705066e-01 -1.40742360e-01 5.24216632e+01] [ 4.25800085e-01 9.02007832e-01 -7.12471708e-02 1.46372083e+01] [ 1.57708475e-01 3.55077443e-03 9.87479331e-01 5.44931761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.610888478999996 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:52.45, Y:14.65, Z:5.45 [[ 8.90676575e-01 -4.31814149e-01 -1.42238456e-01 5.24457014e+01] [ 4.25775557e-01 9.01955362e-01 -7.20534529e-02 1.46506941e+01] [ 1.59406439e-01 3.61466475e-03 9.87206423e-01 5.45196805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.640888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:52.47, Y:14.66, Z:5.46 [[ 8.90491547e-01 -4.31470955e-01 -1.44421676e-01 5.24696767e+01] [ 4.25231737e-01 9.02118915e-01 -7.32081441e-02 1.46619051e+01] [ 1.61872713e-01 3.77855347e-03 9.86804412e-01 5.45577849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:52.49, Y:14.67, Z:5.46 [[ 8.90105328e-01 -4.32177274e-01 -1.44690389e-01 5.24946446e+01] [ 4.25919905e-01 9.01781163e-01 -7.33687134e-02 1.46734526e+01] [ 1.62187358e-01 3.67936595e-03 9.86753122e-01 5.46068051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.700888479 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:52.52, Y:14.68, Z:5.47 [[ 8.89920404e-01 -4.32460871e-01 -1.44980240e-01 5.25193297e+01] [ 4.26173706e-01 9.01645188e-01 -7.35657964e-02 1.46842647e+01] [ 1.62535065e-01 3.68093683e-03 9.86695902e-01 5.46642835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.730888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:52.54, Y:14.70, Z:5.47 [[ 8.89449088e-01 -4.33781299e-01 -1.43923951e-01 5.25445298e+01] [ 4.27597379e-01 9.01011601e-01 -7.30655587e-02 1.46963889e+01] [ 1.61371623e-01 3.44659018e-03 9.86887694e-01 5.47157490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:14.71, Z:5.48 [[ 8.88795413e-01 -4.35808077e-01 -1.41823952e-01 5.25683613e+01] [ 4.29822510e-01 9.00034366e-01 -7.20468620e-02 1.47092313e+01] [ 1.59045035e-01 3.07579322e-03 9.87266538e-01 5.47599581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.790888479 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:52.59, Y:14.72, Z:5.48 [[ 8.88706658e-01 -4.36359768e-01 -1.40679169e-01 5.25923099e+01] [ 4.30474563e-01 8.99767371e-01 -7.14865674e-02 1.47223581e+01] [ 1.57772388e-01 2.97178479e-03 9.87471034e-01 5.47952929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.62, Y:14.73, Z:5.48 [[ 8.88062974e-01 -4.37709849e-01 -1.40549788e-01 5.26171601e+01] [ 4.31848687e-01 8.99112076e-01 -7.14435895e-02 1.47348786e+01] [ 1.57641574e-01 2.75016518e-03 9.87492567e-01 5.48367109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.64, Y:14.75, Z:5.49 [[ 8.87485767e-01 -4.38743170e-01 -1.40973203e-01 5.26410529e+01] [ 4.32851503e-01 8.98608686e-01 -7.17077816e-02 1.47456499e+01] [ 1.58141044e-01 2.61917283e-03 9.87413060e-01 5.48836062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:14.76, Z:5.49 [[ 8.86767612e-01 -4.39966254e-01 -1.41678852e-01 5.26663590e+01] [ 4.34024892e-01 8.98010977e-01 -7.21018593e-02 1.47568661e+01] [ 1.58951549e-01 2.44544511e-03 9.87283356e-01 5.49371553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:14.77, Z:5.50 [[ 8.85144683e-01 -4.43356352e-01 -1.41258754e-01 5.26899384e+01] [ 4.37485361e-01 8.96343475e-01 -7.19370058e-02 1.47689819e+01] [ 1.58510091e-01 1.87602113e-03 9.87355575e-01 5.49882011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.71, Y:14.78, Z:5.50 [[ 8.84301172e-01 -4.45166497e-01 -1.40848241e-01 5.27146552e+01] [ 4.39347030e-01 8.95446424e-01 -7.17627297e-02 1.47825776e+01] [ 1.58068417e-01 1.57860952e-03 9.87426900e-01 5.50247940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.74, Y:14.80, Z:5.51 [[ 8.83418240e-01 -4.47099118e-01 -1.40266149e-01 5.27379883e+01] [ 4.41344656e-01 8.94483519e-01 -7.15131403e-02 1.47952974e+01] [ 1.57439220e-01 1.27029727e-03 9.87527862e-01 5.50593662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.76, Y:14.81, Z:5.51 [[ 8.81498954e-01 -4.51083964e-01 -1.39580985e-01 5.27626359e+01] [ 4.45431937e-01 8.92481330e-01 -7.11861271e-02 1.48076911e+01] [ 1.56684343e-01 5.76668213e-04 9.87648563e-01 5.51061634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030888479 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:52.79, Y:14.82, Z:5.51 [[ 8.80686976e-01 -4.52875789e-01 -1.38902737e-01 5.27876279e+01] [ 4.47293536e-01 8.91573570e-01 -7.08876799e-02 1.48204502e+01] [ 1.55945323e-01 2.99560080e-04 9.87765643e-01 5.51498962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:14.83, Z:5.52 [[ 8.80051601e-01 -4.54208686e-01 -1.38577230e-01 5.28126038e+01] [ 4.48661521e-01 8.90895313e-01 -7.07699242e-02 1.48333266e+01] [ 1.55602119e-01 1.06914548e-04 9.87819806e-01 5.51962520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:14.85, Z:5.52 [[ 8.79774390e-01 -4.55101935e-01 -1.37401792e-01 5.28359272e+01] [ 4.49652344e-01 8.90439346e-01 -7.02178111e-02 1.48471465e+01] [ 1.54304224e-01 -7.20591721e-06 9.88023384e-01 5.52398557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.86, Y:14.86, Z:5.53 [[ 8.79822181e-01 -4.55075262e-01 -1.37183948e-01 5.28601124e+01] [ 4.49639222e-01 8.90452978e-01 -7.01289074e-02 1.48614906e+01] [ 1.54069786e-01 1.76844794e-05 9.88059968e-01 5.52786449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:14.88, Z:5.53 [[ 8.80206495e-01 -4.54400581e-01 -1.36954876e-01 5.28829641e+01] [ 4.48967311e-01 8.90797441e-01 -7.00590709e-02 1.48753529e+01] [ 1.53833936e-01 1.78186679e-04 9.88096700e-01 5.53157480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.180888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:52.91, Y:14.89, Z:5.54 [[ 8.80826206e-01 -4.53218082e-01 -1.36888880e-01 5.29066501e+01] [ 4.47772483e-01 8.91399578e-01 -7.00471012e-02 1.48893073e+01] [ 1.53769303e-01 4.04248717e-04 9.88106694e-01 5.53565016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.93, Y:14.90, Z:5.54 [[ 8.82547544e-01 -4.49578857e-01 -1.37799438e-01 5.29295119e+01] [ 4.44008485e-01 8.93239982e-01 -7.05606073e-02 1.49035696e+01] [ 1.54810524e-01 1.08897101e-03 9.87943579e-01 5.54070348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.240888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.95, Y:14.92, Z:5.55 [[ 8.83255770e-01 -4.47914033e-01 -1.38680442e-01 5.29537228e+01] [ 4.42246022e-01 8.94075501e-01 -7.10454394e-02 1.49170721e+01] [ 1.55813035e-01 1.42042032e-03 9.87785544e-01 5.54548309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.270888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.98, Y:14.93, Z:5.55 [[ 8.85027125e-01 -4.44317808e-01 -1.38955653e-01 5.29773865e+01] [ 4.38575545e-01 8.95866771e-01 -7.12335608e-02 1.49333877e+01] [ 1.56136092e-01 2.10108212e-03 9.87733317e-01 5.54802679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:14.95, Z:5.55 [[ 8.85747878e-01 -4.43065716e-01 -1.38359925e-01 5.30003675e+01] [ 4.37350084e-01 8.96486041e-01 -7.09766265e-02 1.49479083e+01] [ 1.55485051e-01 2.35567155e-03 9.87835437e-01 5.55088649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.02, Y:14.96, Z:5.55 [[ 8.86413208e-01 -4.41970777e-01 -1.37598898e-01 5.30240040e+01] [ 4.36297675e-01 8.97025748e-01 -7.06338929e-02 1.49621940e+01] [ 1.54647871e-01 2.57673657e-03 9.87966293e-01 5.55481943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.360888478999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:14.98, Z:5.56 [[ 8.86852367e-01 -4.41578301e-01 -1.36020158e-01 5.30480203e+01] [ 4.36023533e-01 8.97218783e-01 -6.98708406e-02 1.49757604e+01] [ 1.52893288e-01 2.65713058e-03 9.88239132e-01 5.55888034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:53.07, Y:14.99, Z:5.56 [[ 8.86659719e-01 -4.42061146e-01 -1.35707358e-01 5.30726490e+01] [ 4.36530353e-01 8.96981118e-01 -6.97576109e-02 1.49881376e+01] [ 1.52564067e-01 2.61088263e-03 9.88290134e-01 5.56384647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.420888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:53.10, Y:15.00, Z:5.57 [[ 8.86580255e-01 -4.42253563e-01 -1.35599545e-01 5.30961458e+01] [ 4.36726523e-01 8.96886240e-01 -6.97496713e-02 1.50003026e+01] [ 1.52464406e-01 2.61876380e-03 9.88305493e-01 5.56836005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.12, Y:15.02, Z:5.57 [[ 8.86347207e-01 -4.42936995e-01 -1.34890499e-01 5.31203848e+01] [ 4.37472568e-01 8.96549236e-01 -6.94061893e-02 1.50150409e+01] [ 1.51678543e-01 2.50708897e-03 9.88426696e-01 5.57137295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:15.03, Z:5.58 [[ 8.86261239e-01 -4.43263220e-01 -1.34382787e-01 5.31438916e+01] [ 4.37836642e-01 8.96388055e-01 -6.91919811e-02 1.50284049e+01] [ 1.51129385e-01 2.48446289e-03 9.88510868e-01 5.57506822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.17, Y:15.04, Z:5.58 [[ 8.86108590e-01 -4.43510499e-01 -1.34573414e-01 5.31685087e+01] [ 4.38068024e-01 8.96265787e-01 -6.93112227e-02 1.50415388e+01] [ 1.51353802e-01 2.46496012e-03 9.88476581e-01 5.57966443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.19, Y:15.05, Z:5.58 [[ 8.85558076e-01 -4.44679640e-01 -1.34338799e-01 5.31923386e+01] [ 4.39262535e-01 8.95686728e-01 -6.92366330e-02 1.50545109e+01] [ 1.51113600e-01 2.30305808e-03 9.88513721e-01 5.58248420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.21, Y:15.08, Z:5.56 [[ 8.84892481e-01 -4.51285092e-01 -1.15356245e-01 5.32129994e+01] [ 4.43113921e-01 8.91919032e-01 -9.01692471e-02 1.50815751e+01] [ 1.43580467e-01 2.86741308e-02 9.89223152e-01 5.56240660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.25, Y:15.07, Z:5.60 [[ 8.84471761e-01 -4.42929728e-01 -1.46707054e-01 5.32459297e+01] [ 4.41238382e-01 8.96226274e-01 -4.56854069e-02 1.50696166e+01] [ 1.51718141e-01 -2.43253307e-02 9.88124427e-01 5.60107813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:53.27, Y:15.09, Z:5.59 [[ 8.84101426e-01 -4.47607326e-01 -1.34210100e-01 5.32662622e+01] [ 4.42226787e-01 8.94228314e-01 -6.92184244e-02 1.50919731e+01] [ 1.50997146e-01 1.84480618e-03 9.88532477e-01 5.59389441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.29, Y:15.10, Z:5.60 [[ 8.83793740e-01 -4.48735164e-01 -1.32458969e-01 5.32911016e+01] [ 4.43504489e-01 8.93663268e-01 -6.83354415e-02 1.51044322e+01] [ 1.49038231e-01 1.64828797e-03 9.88830061e-01 5.59854996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:15.12, Z:5.60 [[ 8.83677928e-01 -4.48968798e-01 -1.32439941e-01 5.33161853e+01] [ 4.43735209e-01 8.93545910e-01 -6.83723008e-02 1.51174900e+01] [ 1.49038197e-01 1.65082835e-03 9.88830062e-01 5.60279102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:15.14, Z:5.59 [[ 8.83223360e-01 -4.54667725e-01 -1.14864072e-01 5.33364895e+01] [ 4.47041899e-01 8.90304640e-01 -8.66671116e-02 1.51422242e+01] [ 1.41668755e-01 2.51973645e-02 9.89593379e-01 5.58620679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:15.13, Z:5.62 [[ 8.83691105e-01 -4.46029877e-01 -1.41941466e-01 5.33691247e+01] [ 4.44081080e-01 8.94757848e-01 -4.69082993e-02 1.51339723e+01] [ 1.47925743e-01 -2.15810725e-02 9.88762981e-01 5.62201388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.39, Y:15.17, Z:5.60 [[ 8.83758637e-01 -4.52346517e-01 -1.19805263e-01 5.33902640e+01] [ 4.45379988e-01 8.91652495e-01 -8.11941767e-02 1.51652096e+01] [ 1.43552564e-01 1.83971885e-02 9.89471680e-01 5.60046079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.42, Y:15.16, Z:5.63 [[ 8.84050374e-01 -4.45813726e-01 -1.40374704e-01 5.34178923e+01] [ 4.42890818e-01 8.94997337e-01 -5.31741450e-02 1.51628823e+01] [ 1.49340750e-01 -1.51620448e-02 9.88669537e-01 5.62651988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.44, Y:15.18, Z:5.62 [[ 8.84655433e-01 -4.46685890e-01 -1.33628142e-01 5.34393286e+01] [ 4.41309838e-01 8.94688186e-01 -6.91279709e-02 1.51817687e+01] [ 1.50434009e-01 2.18302122e-03 9.88617643e-01 5.62181265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.46, Y:15.19, Z:5.63 [[ 8.84844902e-01 -4.46082302e-01 -1.34387794e-01 5.34641185e+01] [ 4.40634483e-01 8.94988943e-01 -6.95416741e-02 1.51946744e+01] [ 1.51296900e-01 2.31769957e-03 9.88485648e-01 5.62605060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.49, Y:15.21, Z:5.63 [[ 8.85344501e-01 -4.45114780e-01 -1.34305425e-01 5.34874420e+01] [ 4.39655503e-01 8.95469968e-01 -6.95454865e-02 1.52069440e+01] [ 1.51222199e-01 2.52359478e-03 9.88496575e-01 5.62947928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.930888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:53.51, Y:15.22, Z:5.63 [[ 8.85453789e-01 -4.44978128e-01 -1.34037504e-01 5.35116711e+01] [ 4.39534362e-01 8.95537749e-01 -6.94383591e-02 1.52201846e+01] [ 1.50934196e-01 2.57036931e-03 9.88540470e-01 5.63261969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.960888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:53.54, Y:15.23, Z:5.64 [[ 8.85670614e-01 -4.44803894e-01 -1.33180549e-01 5.35360021e+01] [ 4.39421118e-01 8.95624146e-01 -6.90396321e-02 1.52327685e+01] [ 1.49988813e-01 2.62402743e-03 9.88684212e-01 5.63689195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.56, Y:15.24, Z:5.64 [[ 8.85669620e-01 -4.45134981e-01 -1.32076394e-01 5.35598893e+01] [ 4.39838330e-01 8.95459743e-01 -6.85134487e-02 1.52438308e+01] [ 1.48766827e-01 2.58801936e-03 9.88868916e-01 5.64178677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.020888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.59, Y:15.25, Z:5.65 [[ 8.85334447e-01 -4.45430527e-01 -1.33321277e-01 5.35877952e+01] [ 4.40430192e-01 8.95316482e-01 -6.65555565e-02 1.52541424e+01] [ 1.49010613e-01 2.05211335e-04 9.88835575e-01 5.64728484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.61, Y:15.27, Z:5.65 [[ 8.84763927e-01 -4.47518493e-01 -1.30076865e-01 5.36095295e+01] [ 4.42132929e-01 8.94266498e-01 -6.93246184e-02 1.52687012e+01] [ 1.47347431e-01 3.82465626e-03 9.89077402e-01 5.64970020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:15.28, Z:5.65 [[ 8.84072338e-01 -4.48796864e-01 -1.30374369e-01 5.36345861e+01] [ 4.43659241e-01 8.93631454e-01 -6.77443862e-02 1.52803013e+01] [ 1.46910105e-01 2.04914430e-03 9.89147725e-01 5.65461465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.110888478999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:15.29, Z:5.66 [[ 8.83186333e-01 -4.50504603e-01 -1.30489479e-01 5.36596523e+01] [ 4.45369385e-01 8.92772272e-01 -6.78511703e-02 1.52921411e+01] [ 1.47064653e-01 1.80920738e-03 9.89125227e-01 5.65860806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:15.30, Z:5.66 [[ 8.82773309e-01 -4.51116680e-01 -1.31167929e-01 5.36835943e+01] [ 4.45927189e-01 8.92463246e-01 -6.82517151e-02 1.53045700e+01] [ 1.47852043e-01 1.75944671e-03 9.89007926e-01 5.66139736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:53.71, Y:15.32, Z:5.66 [[ 8.82439511e-01 -4.51516204e-01 -1.32036462e-01 5.37080091e+01] [ 4.46258696e-01 8.92261257e-01 -6.87242791e-02 1.53174520e+01] [ 1.48841145e-01 1.72259992e-03 9.88859619e-01 5.66439115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.200888479 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:53.73, Y:15.33, Z:5.67 [[ 8.82323752e-01 -4.51307433e-01 -1.33515533e-01 5.37332178e+01] [ 4.45921360e-01 8.92366679e-01 -6.95402849e-02 1.53295509e+01] [ 1.50528860e-01 1.81961708e-03 9.88603941e-01 5.66696708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.230888479 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:53.76, Y:15.34, Z:5.67 [[ 8.82245347e-01 -4.51488147e-01 -1.33422643e-01 5.37582806e+01] [ 4.46104456e-01 8.92275240e-01 -6.95392760e-02 1.53419224e+01] [ 1.50445879e-01 1.83026717e-03 9.88616552e-01 5.67072601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.260888479 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:53.78, Y:15.35, Z:5.68 [[ 8.82105389e-01 -4.51716110e-01 -1.33576341e-01 5.37819897e+01] [ 4.46315232e-01 8.92159841e-01 -6.96672917e-02 1.53540788e+01] [ 1.50641285e-01 1.83673805e-03 9.88586784e-01 5.67511848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.290888479 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:53.81, Y:15.37, Z:5.68 [[ 8.81777285e-01 -4.52363313e-01 -1.33552438e-01 5.38071510e+01] [ 4.46968545e-01 8.91832041e-01 -6.96759006e-02 1.53661972e+01] [ 1.50625165e-01 1.74488751e-03 9.88589407e-01 5.67911848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.320888479 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:53.83, Y:15.38, Z:5.68 [[ 8.81578289e-01 -4.52599568e-01 -1.34064729e-01 5.38315600e+01] [ 4.47158566e-01 8.91712148e-01 -6.99904418e-02 1.53777274e+01] [ 1.51224791e-01 1.75386179e-03 9.88497843e-01 5.68361775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350888479 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:53.86, Y:15.39, Z:5.69 [[ 8.81450677e-01 -4.52823172e-01 -1.34148717e-01 5.38566848e+01] [ 4.47372901e-01 8.91598635e-01 -7.00668316e-02 1.53896999e+01] [ 1.51334698e-01 1.74595564e-03 9.88481037e-01 5.68849784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.380888479 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:53.88, Y:15.40, Z:5.69 [[ 8.81487278e-01 -4.52928546e-01 -1.33551156e-01 5.38804850e+01] [ 4.47521117e-01 8.91545079e-01 -6.98013062e-02 1.54017660e+01] [ 1.50681880e-01 1.76200089e-03 9.88580733e-01 5.69210029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.410888479 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:53.90, Y:15.41, Z:5.70 [[ 8.81716000e-01 -4.52653968e-01 -1.32970976e-01 5.39046039e+01] [ 4.47285797e-01 8.91684383e-01 -6.95296860e-02 1.54148726e+01] [ 1.50041031e-01 1.82940743e-03 9.88678078e-01 5.69584461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.440888479 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:53.93, Y:15.43, Z:5.70 [[ 8.81941448e-01 -4.52233549e-01 -1.32906356e-01 5.39288669e+01] [ 4.46858931e-01 8.91897443e-01 -6.95416966e-02 1.54283498e+01] [ 1.49987927e-01 1.94131255e-03 9.88685922e-01 5.69968742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.470888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:53.95, Y:15.44, Z:5.70 [[ 8.82815274e-01 -4.50410855e-01 -1.33293857e-01 5.39523394e+01] [ 4.44977015e-01 8.92818445e-01 -6.97902658e-02 1.54412643e+01] [ 1.50441508e-01 2.29920985e-03 9.88616238e-01 5.70352284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.500888479 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:53.98, Y:15.45, Z:5.71 [[ 8.83348655e-01 -4.49300728e-01 -1.33506589e-01 5.39771096e+01] [ 4.43833726e-01 8.93377049e-01 -6.99218982e-02 1.54537035e+01] [ 1.50687683e-01 2.51068771e-03 9.88578231e-01 5.70766945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:54.00, Y:15.47, Z:5.71 [[ 8.83964861e-01 -4.48271326e-01 -1.32886953e-01 5.40017857e+01] [ 4.42836898e-01 8.93893424e-01 -6.96421500e-02 1.54659862e+01] [ 1.50005353e-01 2.71396727e-03 9.88681460e-01 5.71220362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.560888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:54.03, Y:15.48, Z:5.72 [[ 8.84729333e-01 -4.46857282e-01 -1.32561599e-01 5.40258172e+01] [ 4.41427076e-01 8.94600274e-01 -6.95160921e-02 1.54778262e+01] [ 1.49653415e-01 2.98664676e-03 9.88734006e-01 5.71703252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.590888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:54.05, Y:15.49, Z:5.72 [[ 8.85941737e-01 -4.44694681e-01 -1.31734119e-01 5.40502399e+01] [ 4.39305810e-01 8.95675963e-01 -6.91011939e-02 1.54905388e+01] [ 1.48720017e-01 3.34806804e-03 9.88873676e-01 5.72202211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.620888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:54.07, Y:15.50, Z:5.73 [[ 8.86469658e-01 -4.43538373e-01 -1.32080496e-01 5.40737591e+01] [ 4.38101022e-01 8.96248175e-01 -6.93303973e-02 1.55036275e+01] [ 1.49127595e-01 3.59469344e-03 9.88811427e-01 5.72581591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.650888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:54.10, Y:15.52, Z:5.73 [[ 8.87411924e-01 -4.41223855e-01 -1.33497513e-01 5.40965223e+01] [ 4.35639231e-01 8.97387951e-01 -7.00951118e-02 1.55178004e+01] [ 1.50726695e-01 4.04648400e-03 9.88567190e-01 5.72772645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.680888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.12, Y:15.53, Z:5.73 [[ 8.87816676e-01 -4.40058729e-01 -1.34647183e-01 5.41200768e+01] [ 4.34360381e-01 8.97958696e-01 -7.07194422e-02 1.55307716e+01] [ 1.52028317e-01 4.30049854e-03 9.88366782e-01 5.73078648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:54.15, Y:15.54, Z:5.74 [[ 8.87893978e-01 -4.39287024e-01 -1.36642578e-01 5.41451076e+01] [ 4.33404947e-01 8.98335397e-01 -7.17890490e-02 1.55437120e+01] [ 1.54286862e-01 4.51949494e-03 9.88015758e-01 5.73512232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.740888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:54.17, Y:15.56, Z:5.74 [[ 8.87833265e-01 -4.38950782e-01 -1.38109755e-01 5.41697579e+01] [ 4.32928892e-01 8.98498952e-01 -7.26099743e-02 1.55560536e+01] [ 1.55963675e-01 4.67384734e-03 9.87751734e-01 5.73914911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.770888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.19, Y:15.57, Z:5.74 [[ 8.87823887e-01 -4.38800541e-01 -1.38646427e-01 5.41945814e+01] [ 4.32721885e-01 8.98571865e-01 -7.29408942e-02 1.55670188e+01] [ 1.56590283e-01 4.76332476e-03 9.87652163e-01 5.74346062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.800888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:54.22, Y:15.58, Z:5.75 [[ 8.87594245e-01 -4.39357817e-01 -1.38351601e-01 5.42191303e+01] [ 4.33308286e-01 8.98299977e-01 -7.28085223e-02 1.55794729e+01] [ 1.56270234e-01 4.67553013e-03 9.87703272e-01 5.74823356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.830888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:54.24, Y:15.59, Z:5.75 [[ 8.86549626e-01 -4.41652740e-01 -1.37741124e-01 5.42437380e+01] [ 4.35677029e-01 8.97175802e-01 -7.25334851e-02 1.55914077e+01] [ 1.55612616e-01 4.29389037e-03 9.87808826e-01 5.75333358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.860888478999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:54.27, Y:15.60, Z:5.76 [[ 8.86050651e-01 -4.42860976e-01 -1.37070783e-01 5.42688615e+01] [ 4.36950421e-01 8.96580895e-01 -7.22289930e-02 1.56042189e+01] [ 1.54882448e-01 4.10540972e-03 9.87924376e-01 5.75784036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:54.30, Y:15.61, Z:5.78 [[ 8.84866747e-01 -4.41403002e-01 -1.48910137e-01 5.42959267e+01] [ 4.37924438e-01 8.97190237e-01 -5.72002140e-02 1.56072874e+01] [ 1.58849068e-01 -1.45968208e-02 9.87194969e-01 5.77609488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.920888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:54.32, Y:15.64, Z:5.76 [[ 8.84597804e-01 -4.49152721e-01 -1.25493262e-01 5.43161924e+01] [ 4.41030960e-01 8.93172991e-01 -8.79414588e-02 1.56360454e+01] [ 1.51586338e-01 2.24464074e-02 9.88189122e-01 5.75922318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:15.64, Z:5.77 [[ 8.84043291e-01 -4.47715881e-01 -1.34230959e-01 5.43440134e+01] [ 4.42089327e-01 8.94169867e-01 -7.08327384e-02 1.56403290e+01] [ 1.51738220e-01 3.27713289e-03 9.88415284e-01 5.77215093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:15.65, Z:5.78 [[ 8.83822628e-01 -4.48139734e-01 -1.34269654e-01 5.43679386e+01] [ 4.42507454e-01 8.93957620e-01 -7.09008261e-02 1.56521069e+01] [ 1.51804858e-01 3.24843170e-03 9.88405146e-01 5.77670450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.010888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:54.39, Y:15.66, Z:5.78 [[ 8.83743515e-01 -4.48201657e-01 -1.34583334e-01 5.43917822e+01] [ 4.42540341e-01 8.93926517e-01 -7.10874765e-02 1.56641743e+01] [ 1.52169136e-01 3.26454200e-03 9.88349076e-01 5.78090201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.040888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.42, Y:15.68, Z:5.79 [[ 8.83922285e-01 -4.47654638e-01 -1.35228394e-01 5.44162105e+01] [ 4.41928980e-01 8.94200093e-01 -7.14490818e-02 1.56780982e+01] [ 1.52905756e-01 3.39408936e-03 9.88234947e-01 5.78510138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:15.69, Z:5.79 [[ 8.84092079e-01 -4.47371391e-01 -1.35055674e-01 5.44403443e+01] [ 4.41649974e-01 8.94341503e-01 -7.14043147e-02 1.56920794e+01] [ 1.52730142e-01 3.48065386e-03 9.88261802e-01 5.78916910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.46, Y:15.71, Z:5.79 [[ 8.84471447e-01 -4.46399323e-01 -1.35786245e-01 5.44640994e+01] [ 4.40596346e-01 8.94826158e-01 -7.18401480e-02 1.57058793e+01] [ 1.53574478e-01 3.71363628e-03 9.88130097e-01 5.79354220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.49, Y:15.72, Z:5.80 [[ 8.84644772e-01 -4.45980002e-01 -1.36034795e-01 5.44871653e+01] [ 4.40143187e-01 8.95034700e-01 -7.20198700e-02 1.57184896e+01] [ 1.53875283e-01 3.83721343e-03 9.88082827e-01 5.79737879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.51, Y:15.73, Z:5.80 [[ 8.85163777e-01 -4.44619039e-01 -1.37109441e-01 5.45104742e+01] [ 4.38669408e-01 8.95710268e-01 -7.26103793e-02 1.57324616e+01] [ 1.55094291e-01 4.12636045e-03 9.87891054e-01 5.80136609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.190888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.53, Y:15.75, Z:5.81 [[ 8.85444666e-01 -4.43762425e-01 -1.38067570e-01 5.45347826e+01] [ 4.37714897e-01 8.96134021e-01 -7.31401694e-02 1.57466988e+01] [ 1.56183905e-01 4.32734072e-03 9.87718513e-01 5.80532053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.220888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.56, Y:15.76, Z:5.81 [[ 8.85744679e-01 -4.43022475e-01 -1.38518775e-01 5.45576747e+01] [ 4.36918378e-01 8.96499127e-01 -7.34278350e-02 1.57601223e+01] [ 1.56712142e-01 4.51691573e-03 9.87633992e-01 5.80853985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.58, Y:15.77, Z:5.81 [[ 8.85891522e-01 -4.42498052e-01 -1.39254029e-01 5.45820180e+01] [ 4.36318369e-01 8.96757378e-01 -7.38409477e-02 1.57743364e+01] [ 1.57551554e-01 4.65597874e-03 9.87499787e-01 5.81287421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.60, Y:15.79, Z:5.82 [[ 8.86025462e-01 -4.42135366e-01 -1.39553571e-01 5.46049813e+01] [ 4.35916680e-01 8.96935627e-01 -7.40481523e-02 1.57888861e+01] [ 1.57909877e-01 4.77481901e-03 9.87441984e-01 5.81753311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.63, Y:15.80, Z:5.82 [[ 8.85871487e-01 -4.42608689e-01 -1.39029699e-01 5.46277274e+01] [ 4.36439305e-01 8.96702590e-01 -7.37915857e-02 1.58021866e+01] [ 1.57329089e-01 4.69183638e-03 9.87535085e-01 5.82123950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.65, Y:15.82, Z:5.83 [[ 8.85550279e-01 -4.43459322e-01 -1.38363775e-01 5.46508781e+01] [ 4.37356341e-01 8.96283016e-01 -7.34587376e-02 1.58160701e+01] [ 1.56589064e-01 4.53713095e-03 9.87653421e-01 5.82567959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.67, Y:15.83, Z:5.83 [[ 8.84722876e-01 -4.45534756e-01 -1.36982529e-01 5.46732503e+01] [ 4.39575416e-01 8.95255047e-01 -7.27451376e-02 1.58302342e+01] [ 1.55044787e-01 4.14513532e-03 9.87898746e-01 5.83014742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.70, Y:15.84, Z:5.83 [[ 8.83937855e-01 -4.47082262e-01 -1.37008466e-01 5.46967452e+01] [ 4.41135996e-01 8.94484376e-01 -7.27786602e-02 1.58434324e+01] [ 1.55089980e-01 3.89244652e-03 9.87892680e-01 5.83496174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.72, Y:15.86, Z:5.84 [[ 8.82305846e-01 -4.50498592e-01 -1.36335661e-01 5.47205193e+01] [ 4.44648216e-01 8.92771060e-01 -7.24416926e-02 1.58575559e+01] [ 1.54351413e-01 3.29432048e-03 9.88010521e-01 5.83896715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.74, Y:15.87, Z:5.84 [[ 8.81515248e-01 -4.51989636e-01 -1.36514604e-01 5.47440189e+01] [ 4.46133875e-01 8.92017866e-01 -7.25857590e-02 1.58711824e+01] [ 1.54581476e-01 3.08166425e-03 9.87975238e-01 5.84300804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.77, Y:15.89, Z:5.85 [[ 8.80552106e-01 -4.53928718e-01 -1.36296400e-01 5.47677360e+01] [ 4.48111331e-01 8.91033735e-01 -7.24921942e-02 1.58852270e+01] [ 1.54350979e-01 2.75719302e-03 9.88012233e-01 5.84654845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.520888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:15.90, Z:5.85 [[ 8.78771372e-01 -4.57384425e-01 -1.36236425e-01 5.47903871e+01] [ 4.51605762e-01 8.89266369e-01 -7.25090376e-02 1.58998731e+01] [ 1.54314976e-01 2.19371173e-03 9.88019269e-01 5.84995574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.81, Y:15.91, Z:5.85 [[ 8.77799805e-01 -4.59253282e-01 -1.36212792e-01 5.48143287e+01] [ 4.53493667e-01 8.88303343e-01 -7.25304368e-02 1.59137846e+01] [ 1.54308120e-01 1.89556464e-03 9.88020957e-01 5.85417650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.84, Y:15.93, Z:5.86 [[ 8.76795961e-01 -4.61101299e-01 -1.36434727e-01 5.48379725e+01] [ 4.55337468e-01 8.87346032e-01 -7.26967037e-02 1.59274915e+01] [ 1.54585358e-01 1.61633318e-03 9.87978114e-01 5.85845071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.610888478999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.86, Y:15.94, Z:5.86 [[ 8.76716461e-01 -4.61258391e-01 -1.36414604e-01 5.48628503e+01] [ 4.55490579e-01 8.87264354e-01 -7.27344444e-02 1.59408712e+01] [ 1.54585189e-01 1.63191759e-03 9.87978115e-01 5.86268994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.89, Y:15.95, Z:5.87 [[ 8.74855630e-01 -4.64530132e-01 -1.37256634e-01 5.48861022e+01] [ 4.58725480e-01 8.85556644e-01 -7.32145049e-02 1.59547045e+01] [ 1.55558868e-01 1.08900648e-03 9.87826023e-01 5.86738940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:15.97, Z:5.87 [[ 8.73823925e-01 -4.66374204e-01 -1.37574889e-01 5.49091369e+01] [ 4.60559882e-01 8.84587177e-01 -7.34174484e-02 1.59683762e+01] [ 1.55936987e-01 7.92448290e-04 9.87766687e-01 5.87088953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:15.98, Z:5.87 [[ 8.72863810e-01 -4.68073799e-01 -1.37897379e-01 5.49319781e+01] [ 4.62249688e-01 8.83689232e-01 -7.36109146e-02 1.59819883e+01] [ 1.56313769e-01 5.09283074e-04 9.87707318e-01 5.87413783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.96, Y:16.00, Z:5.88 [[ 8.70702074e-01 -4.71955389e-01 -1.38332964e-01 5.49555917e+01] [ 4.66139201e-01 8.81622415e-01 -7.38658440e-02 1.59975558e+01] [ 1.56818825e-01 -1.67273722e-04 9.87627373e-01 5.87754515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.98, Y:16.01, Z:5.88 [[ 8.69852571e-01 -4.73291140e-01 -1.39111473e-01 5.49784188e+01] [ 4.67418270e-01 8.80905989e-01 -7.43289930e-02 1.60107872e+01] [ 1.57723384e-01 -3.67978566e-04 9.87483265e-01 5.88170331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:16.02, Z:5.89 [[ 8.69009949e-01 -4.74799681e-01 -1.39237105e-01 5.50028371e+01] [ 4.68931731e-01 8.80093675e-01 -7.44187805e-02 1.60247747e+01] [ 1.57875709e-01 -6.22036025e-04 9.87458796e-01 5.88562402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:16.04, Z:5.89 [[ 8.68051409e-01 -4.76780149e-01 -1.38446527e-01 5.50252907e+01] [ 4.70996643e-01 8.79022079e-01 -7.40428700e-02 1.60395381e+01] [ 1.56999724e-01 -9.34831690e-04 9.87598204e-01 5.88981955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.05, Y:16.05, Z:5.89 [[ 8.67596187e-01 -4.77864541e-01 -1.37558488e-01 5.50487713e+01] [ 4.72165526e-01 8.78432844e-01 -7.35897681e-02 1.60540560e+01] [ 1.56001835e-01 -1.10417394e-03 9.87756148e-01 5.89423356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:16.07, Z:5.90 [[ 8.67423729e-01 -4.78382456e-01 -1.36844068e-01 5.50720089e+01] [ 4.72741933e-01 8.78150843e-01 -7.32540839e-02 1.60686811e+01] [ 1.55213202e-01 -1.14959858e-03 9.87880327e-01 5.89837440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.09, Y:16.09, Z:5.90 [[ 8.67758777e-01 -4.78102865e-01 -1.35692137e-01 5.50943484e+01] [ 4.72546932e-01 8.78303222e-01 -7.26832035e-02 1.60852745e+01] [ 1.53928889e-01 -1.04941526e-03 9.88081371e-01 5.90183435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.12, Y:16.10, Z:5.91 [[ 8.68012408e-01 -4.77597979e-01 -1.35847817e-01 5.51176345e+01] [ 4.72015540e-01 8.78578015e-01 -7.28148475e-02 1.60998015e+01] [ 1.54129129e-01 -9.18089414e-04 9.88050287e-01 5.90564877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:16.11, Z:5.91 [[ 8.68391604e-01 -4.76811981e-01 -1.36185010e-01 5.51401865e+01] [ 4.71184498e-01 8.79005000e-01 -7.30436760e-02 1.61138469e+01] [ 1.54535405e-01 -7.37750751e-04 9.87986976e-01 5.90942612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.000888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.16, Y:16.13, Z:5.91 [[ 8.69576565e-01 -4.74312411e-01 -1.37347496e-01 5.51612775e+01] [ 4.68551614e-01 8.80356556e-01 -7.37002006e-02 1.61309073e+01] [ 1.55871689e-01 -2.66423822e-04 9.87777275e-01 5.91221011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.030888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:55.18, Y:16.15, Z:5.92 [[ 8.70153526e-01 -4.72983633e-01 -1.38272647e-01 5.51845722e+01] [ 4.67124191e-01 8.81071213e-01 -7.42193137e-02 1.61467050e+01] [ 1.56932570e-01 -8.30106409e-06 9.87609320e-01 5.91539811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.060888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.21, Y:16.16, Z:5.92 [[ 8.70671578e-01 -4.71686949e-01 -1.39436097e-01 5.52069697e+01] [ 4.65703540e-01 8.81766040e-01 -7.48923481e-02 1.61616145e+01] [ 1.58275759e-01 2.70754610e-04 9.87394911e-01 5.91883158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:55.23, Y:16.18, Z:5.92 [[ 8.71144647e-01 -4.70609360e-01 -1.40120782e-01 5.52297796e+01] [ 4.64549302e-01 8.82341539e-01 -7.52818345e-02 1.61758425e+01] [ 1.59062722e-01 4.88355715e-04 9.87268359e-01 5.92268353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.120888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.25, Y:16.19, Z:5.93 [[ 8.71797377e-01 -4.69412835e-01 -1.40074707e-01 5.52522881e+01] [ 4.63337754e-01 8.82978517e-01 -7.52799011e-02 1.61914744e+01] [ 1.59020309e-01 7.26920227e-04 9.87275044e-01 5.92803355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:55.28, Y:16.21, Z:5.93 [[ 8.71957957e-01 -4.69195338e-01 -1.39803638e-01 5.52758225e+01] [ 4.63133369e-01 8.83094039e-01 -7.51824516e-02 1.62064910e+01] [ 1.58735015e-01 8.08207260e-04 9.87320891e-01 5.93192968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.180888479 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:55.30, Y:16.22, Z:5.94 [[ 8.72084106e-01 -4.69214167e-01 -1.38950989e-01 5.52981451e+01] [ 4.63218884e-01 8.83084002e-01 -7.47723925e-02 1.62211177e+01] [ 1.57789661e-01 8.43093249e-04 9.87472385e-01 5.93583520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210888479 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:55.32, Y:16.24, Z:5.94 [[ 8.72164448e-01 -4.69436820e-01 -1.37688953e-01 5.53218628e+01] [ 4.63549783e-01 8.82965688e-01 -7.41160729e-02 1.62360152e+01] [ 1.56367435e-01 8.15719588e-04 9.87698618e-01 5.93993677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.240888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:55.34, Y:16.25, Z:5.94 [[ 8.72689021e-01 -4.68720105e-01 -1.36804006e-01 5.53442077e+01] [ 4.62892496e-01 8.83346194e-01 -7.36887943e-02 1.62506263e+01] [ 1.55384718e-01 9.81853877e-04 9.87853545e-01 5.94464056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27088847899999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:55.37, Y:16.26, Z:5.95 [[ 8.73095658e-01 -4.68046470e-01 -1.36515470e-01 5.53676016e+01] [ 4.62231791e-01 8.83703144e-01 -7.35562632e-02 1.62647150e+01] [ 1.55066899e-01 1.11986400e-03 9.87903337e-01 5.94892440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.300888479 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:55.39, Y:16.28, Z:5.95 [[ 8.73555826e-01 -4.67385333e-01 -1.35835084e-01 5.53914112e+01] [ 4.61613318e-01 8.84052785e-01 -7.32380882e-02 1.62797550e+01] [ 1.54315792e-01 1.27427495e-03 9.88020755e-01 5.95314251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.330888479 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:55.41, Y:16.30, Z:5.96 [[ 8.75274510e-01 -4.64327775e-01 -1.35256233e-01 5.54141263e+01] [ 4.58561228e-01 8.85661502e-01 -7.29746788e-02 1.62967939e+01] [ 1.53675409e-01 1.84961168e-03 9.88119652e-01 5.95652171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.360888479 meters Centerline goodness : 0.995699 Centerline is valid? [True, True] Translation: X:55.43, Y:16.32, Z:5.96 [[ 8.75340131e-01 -4.65224581e-01 -1.31703243e-01 5.54346296e+01] [ 4.57137515e-01 8.85033003e-01 -8.79879321e-02 1.63180898e+01] [ 1.57495866e-01 1.68128746e-02 9.87376514e-01 5.95585136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.390888479 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:55.46, Y:16.33, Z:5.95 [[ 8.77374131e-01 -4.62130449e-01 -1.29035201e-01 5.54567976e+01] [ 4.54720271e-01 8.86688452e-01 -8.37440458e-02 1.63346081e+01] [ 1.53114696e-01 1.47999378e-02 9.88097592e-01 5.95269590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.420888479 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:55.49, Y:16.33, Z:5.99 [[ 8.78867741e-01 -4.49583928e-01 -1.59580030e-01 5.54932336e+01] [ 4.47688879e-01 8.92806742e-01 -4.97070240e-02 1.63269946e+01] [ 1.64821606e-01 -2.77563050e-02 9.85932769e-01 5.98890054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.450888479 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:55.51, Y:16.35, Z:5.98 [[ 8.79768990e-01 -4.52769170e-01 -1.44936547e-01 5.55125992e+01] [ 4.46065532e-01 8.91620017e-01 -7.77128512e-02 1.63534073e+01] [ 1.64414310e-01 3.71815852e-03 9.86384362e-01 5.98160122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.480888479 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:55.53, Y:16.37, Z:5.99 [[ 8.81231989e-01 -4.49895166e-01 -1.44998347e-01 5.55349090e+01] [ 4.43138599e-01 8.93071009e-01 -7.77968888e-02 1.63681217e+01] [ 1.64494264e-01 4.30274278e-03 9.86368655e-01 5.98661355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510888479 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:55.56, Y:16.38, Z:5.99 [[ 8.81598067e-01 -4.49135337e-01 -1.45128553e-01 5.55571727e+01] [ 4.42352407e-01 8.93452556e-01 -7.78901689e-02 1.63825193e+01] [ 1.64648704e-01 4.46985770e-03 9.86342144e-01 5.98997020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.540888479 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:55.58, Y:16.40, Z:5.99 [[ 8.82002446e-01 -4.48227101e-01 -1.45479040e-01 5.55805064e+01] [ 4.41392802e-01 8.93907449e-01 -7.81144454e-02 1.63971958e+01] [ 1.65057809e-01 4.68373094e-03 9.86272773e-01 5.99321648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570888479 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:55.60, Y:16.41, Z:6.00 [[ 8.82396718e-01 -4.47407478e-01 -1.45611062e-01 5.56037212e+01] [ 4.40540969e-01 8.94316864e-01 -7.82368247e-02 1.64115405e+01] [ 1.65226169e-01 4.88827884e-03 9.86243590e-01 5.99632474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.600888479 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:55.62, Y:16.43, Z:5.99 [[ 8.82136096e-01 -4.49881493e-01 -1.39436543e-01 5.56234461e+01] [ 4.42442857e-01 8.93022884e-01 -8.21854402e-02 1.64294027e+01] [ 1.61493732e-01 1.08060408e-02 9.86814574e-01 5.99485294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630888479 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:55.65, Y:16.44, Z:6.01 [[ 8.82578361e-01 -4.46737432e-01 -1.46564335e-01 5.56534194e+01] [ 4.40651150e-01 8.94665071e-01 -7.34913187e-02 1.64365264e+01] [ 1.63957315e-01 2.78104592e-04 9.86467395e-01 6.00861393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.660888479 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:55.68, Y:16.45, Z:6.01 [[ 8.82189285e-01 -4.48419386e-01 -1.43743246e-01 5.56755492e+01] [ 4.41731579e-01 8.93810938e-01 -7.72995394e-02 1.64514142e+01] [ 1.63141898e-01 4.69689435e-03 9.86591435e-01 6.01148575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.690888479 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:55.70, Y:16.46, Z:6.02 [[ 8.81872580e-01 -4.48984583e-01 -1.43922189e-01 5.56985394e+01] [ 4.42283728e-01 8.93527567e-01 -7.74182884e-02 1.64648970e+01] [ 1.63358061e-01 4.61862374e-03 9.86556036e-01 6.01593364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.720888479 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:55.72, Y:16.48, Z:6.02 [[ 8.81742894e-01 -4.49376470e-01 -1.43493057e-01 5.57218313e+01] [ 4.42717300e-01 8.93330882e-01 -7.72096322e-02 1.64782915e+01] [ 1.62882971e-01 4.55218599e-03 9.86634895e-01 6.01950078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.750888479 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:55.73, Y:16.51, Z:6.00 [[ 8.80429253e-01 -4.58239381e-01 -1.21905700e-01 5.57346224e+01] [ 4.48585124e-01 8.88233321e-01 -9.90603542e-02 1.65072200e+01] [ 1.53674060e-01 3.25305501e-02 9.87585969e-01 6.00175369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.780888479 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:55.78, Y:16.49, Z:6.04 [[ 8.81051360e-01 -4.46414162e-01 -1.56406193e-01 5.57761283e+01] [ 4.43639337e-01 8.94564905e-01 -5.42011829e-02 1.64937167e+01] [ 1.64111667e-01 -2.16339140e-02 9.86204509e-01 6.03874827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.810888479 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:55.80, Y:16.52, Z:6.03 [[ 8.81046461e-01 -4.50672802e-01 -1.43705113e-01 5.57962845e+01] [ 4.44007272e-01 8.92678665e-01 -7.73456163e-02 1.65173361e+01] [ 1.63140054e-01 4.33896634e-03 9.86593379e-01 6.03329913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.840888479 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:55.82, Y:16.53, Z:6.04 [[ 8.81044013e-01 -4.50889215e-01 -1.43039726e-01 5.58189472e+01] [ 4.44280122e-01 8.92569444e-01 -7.70386990e-02 1.65306336e+01] [ 1.62408807e-01 4.32477755e-03 9.86714080e-01 6.03744781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870888479 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:55.84, Y:16.54, Z:6.04 [[ 8.81008489e-01 -4.50977218e-01 -1.42981090e-01 5.58421398e+01] [ 4.44370991e-01 8.92524971e-01 -7.70298556e-02 1.65447914e+01] [ 1.62352903e-01 4.32730782e-03 9.86723269e-01 6.04010880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.900888479 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:55.87, Y:16.56, Z:6.04 [[ 8.80691599e-01 -4.51274662e-01 -1.43991277e-01 5.58668620e+01] [ 4.44574109e-01 8.92374628e-01 -7.75975866e-02 1.65578183e+01] [ 1.63511987e-01 4.32474902e-03 9.86531868e-01 6.04416215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930888479 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:55.89, Y:16.57, Z:6.05 [[ 8.80461681e-01 -4.51444702e-01 -1.44861692e-01 5.58906040e+01] [ 4.44655992e-01 8.92288415e-01 -7.81180712e-02 1.65694825e+01] [ 1.64524399e-01 4.36634878e-03 9.86363349e-01 6.04788771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.960888479 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:55.92, Y:16.58, Z:6.05 [[ 8.79997414e-01 -4.51737446e-01 -1.46757729e-01 5.59156656e+01] [ 4.44768268e-01 8.92140116e-01 -7.91656515e-02 1.65808371e+01] [ 1.66690546e-01 4.39238775e-03 9.85999477e-01 6.05342969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990888479 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:55.94, Y:16.59, Z:6.06 [[ 8.79860292e-01 -4.51950814e-01 -1.46922867e-01 5.59393402e+01] [ 4.44960214e-01 8.92031994e-01 -7.93052987e-02 1.65929721e+01] [ 1.66901993e-01 4.40275272e-03 9.85963661e-01 6.05748169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02088847899999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:55.96, Y:16.61, Z:6.06 [[ 8.79558353e-01 -4.52512844e-01 -1.47000777e-01 5.59637753e+01] [ 4.45518414e-01 8.91747418e-01 -7.93718151e-02 1.66059990e+01] [ 1.67004329e-01 4.32058995e-03 9.85946696e-01 6.06153103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.050888479 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:55.99, Y:16.62, Z:6.07 [[ 8.79425107e-01 -4.53041383e-01 -1.46167669e-01 5.59883991e+01] [ 4.46125322e-01 8.91479397e-01 -7.89726624e-02 1.66189599e+01] [ 1.66083349e-01 4.24144380e-03 9.86102597e-01 6.06611869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.080888479 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:56.01, Y:16.63, Z:6.07 [[ 8.79341979e-01 -4.53498294e-01 -1.45248000e-01 5.60121240e+01] [ 4.46667614e-01 8.91247377e-01 -7.85248772e-02 1.66309339e+01] [ 1.65062797e-01 4.17264357e-03 9.86274233e-01 6.07038416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.110888479 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:56.04, Y:16.64, Z:6.07 [[ 8.79061775e-01 -4.54337839e-01 -1.44317442e-01 5.60358671e+01] [ 4.47602580e-01 8.90820441e-01 -7.80440414e-02 1.66421975e+01] [ 1.64019288e-01 4.00867429e-03 9.86448987e-01 6.07483413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.140888479 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:56.06, Y:16.65, Z:6.08 [[ 8.78217234e-01 -4.56269252e-01 -1.43362688e-01 5.60620980e+01] [ 4.49643639e-01 8.89834271e-01 -7.75600992e-02 1.66520231e+01] [ 1.62957321e-01 3.65249532e-03 9.86626358e-01 6.08048300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.170888479 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:56.09, Y:16.66, Z:6.08 [[ 8.77846569e-01 -4.56951181e-01 -1.43460866e-01 5.60858993e+01] [ 4.50317194e-01 8.89484597e-01 -7.76632235e-02 1.66638454e+01] [ 1.63094532e-01 3.57349959e-03 9.86603975e-01 6.08456983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.200888479 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:56.11, Y:16.68, Z:6.09 [[ 8.77585026e-01 -4.57370704e-01 -1.43723904e-01 5.61106377e+01] [ 4.50713879e-01 8.89269152e-01 -7.78291325e-02 1.66767130e+01] [ 1.63405999e-01 3.52332317e-03 9.86552617e-01 6.08844723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230888479 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:56.14, Y:16.69, Z:6.09 [[ 8.77354782e-01 -4.57800488e-01 -1.43761258e-01 5.61351944e+01] [ 4.51137278e-01 8.89048101e-01 -7.79014192e-02 1.66894813e+01] [ 1.63473981e-01 3.49112007e-03 9.86541469e-01 6.09234251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.260888479 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:56.16, Y:16.70, Z:6.10 [[ 8.77430259e-01 -4.57757583e-01 -1.43436873e-01 5.61590698e+01] [ 4.51115576e-01 8.89070010e-01 -7.77769534e-02 1.67013365e+01] [ 1.63128412e-01 3.53724499e-03 9.86598505e-01 6.09674711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290888479 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:56.18, Y:16.71, Z:6.10 [[ 8.77888232e-01 -4.56994562e-01 -1.43067194e-01 5.61844884e+01] [ 4.50373007e-01 8.89461831e-01 -7.76002974e-02 1.67130383e+01] [ 1.62715722e-01 3.69078529e-03 9.86666089e-01 6.10224367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.320888479 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:56.21, Y:16.73, Z:6.11 [[ 8.78052702e-01 -4.56565050e-01 -1.43428753e-01 5.62096093e+01] [ 4.49895441e-01 8.89681802e-01 -7.78484636e-02 1.67257854e+01] [ 1.63148840e-01 3.82711154e-03 9.86594045e-01 6.10680745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350888479 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:56.23, Y:16.74, Z:6.11 [[ 8.78402694e-01 -4.55826056e-01 -1.43636044e-01 5.62339658e+01] [ 4.49118630e-01 8.90059813e-01 -7.80127293e-02 1.67380472e+01] [ 1.63404906e-01 4.01696809e-03 9.86550911e-01 6.11074177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.380888479 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:56.26, Y:16.75, Z:6.11 [[ 8.78526938e-01 -4.55123729e-01 -1.45095866e-01 5.62588683e+01] [ 4.48264547e-01 8.90418238e-01 -7.88305662e-02 1.67507262e+01] [ 1.65073666e-01 4.21344357e-03 9.86272240e-01 6.11303104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.410888479 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:56.28, Y:16.76, Z:6.12 [[ 8.78642942e-01 -4.54673599e-01 -1.45802943e-01 5.62825561e+01] [ 4.47732035e-01 8.90647435e-01 -7.92664523e-02 1.67632305e+01] [ 1.65899381e-01 4.36626037e-03 9.86133019e-01 6.11660583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.440888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:56.31, Y:16.78, Z:6.12 [[ 8.78695809e-01 -4.54482308e-01 -1.46080479e-01 5.63059585e+01] [ 4.47507577e-01 8.90744739e-01 -7.94404013e-02 1.67753616e+01] [ 1.66224675e-01 4.43182642e-03 9.86077946e-01 6.12052851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.470888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:56.33, Y:16.79, Z:6.12 [[ 8.78579820e-01 -4.54709783e-01 -1.46070233e-01 5.63307118e+01] [ 4.47735043e-01 8.90628745e-01 -7.94592372e-02 1.67889320e+01] [ 1.66225241e-01 4.41052038e-03 9.86077947e-01 6.12499630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.500888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:56.36, Y:16.80, Z:6.13 [[ 8.78545941e-01 -4.54840000e-01 -1.45868446e-01 5.63556257e+01] [ 4.47878189e-01 8.90562184e-01 -7.93985205e-02 1.68003422e+01] [ 1.66018545e-01 4.42395254e-03 9.86112707e-01 6.12924976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.530888479 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:56.38, Y:16.81, Z:6.13 [[ 8.78366139e-01 -4.55221835e-01 -1.45760100e-01 5.63799364e+01] [ 4.48267025e-01 8.90367209e-01 -7.93908549e-02 1.68120740e+01] [ 1.65920464e-01 4.39479236e-03 9.86129345e-01 6.13409302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.560888479 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:56.40, Y:16.82, Z:6.14 [[ 8.78128138e-01 -4.55717444e-01 -1.45645408e-01 5.64040494e+01] [ 4.48774460e-01 8.90113962e-01 -7.93638412e-02 1.68237621e+01] [ 1.65808498e-01 4.32968299e-03 9.86148465e-01 6.13887035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:56.43, Y:16.84, Z:6.14 [[ 8.78095354e-01 -4.55882430e-01 -1.45326387e-01 5.64279489e+01] [ 4.48966549e-01 8.90029521e-01 -7.92242931e-02 1.68358612e+01] [ 1.65461738e-01 4.31979707e-03 9.86206749e-01 6.14366213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.620888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:56.45, Y:16.85, Z:6.15 [[ 8.78651344e-01 -4.55322647e-01 -1.43711873e-01 5.64529970e+01] [ 4.48549484e-01 8.90315656e-01 -7.83670424e-02 1.68488821e+01] [ 1.63631219e-01 4.39542078e-03 9.86511786e-01 6.14812880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:56.48, Y:16.86, Z:6.15 [[ 8.78846640e-01 -4.55106417e-01 -1.43201723e-01 5.64777411e+01] [ 4.48370467e-01 8.90425862e-01 -7.81390394e-02 1.68616346e+01] [ 1.63072096e-01 4.46480884e-03 9.86604053e-01 6.15253273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.680888479 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:56.50, Y:16.87, Z:6.16 [[ 8.79163809e-01 -4.54491479e-01 -1.43207869e-01 5.65015484e+01] [ 4.47738634e-01 8.90739084e-01 -7.81920748e-02 1.68734619e+01] [ 1.63098478e-01 4.62394674e-03 9.86598959e-01 6.15691318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710888479 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:56.53, Y:16.89, Z:6.16 [[ 8.79643754e-01 -4.53420298e-01 -1.43655487e-01 5.65267890e+01] [ 4.46604858e-01 8.91283523e-01 -7.84715404e-02 1.68852059e+01] [ 1.63618358e-01 4.86976218e-03 9.86511692e-01 6.16062009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.740888479 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:56.55, Y:16.90, Z:6.16 [[ 8.79809440e-01 -4.52985960e-01 -1.44010653e-01 5.65510674e+01] [ 4.46122302e-01 8.91503578e-01 -7.87163380e-02 1.68978515e+01] [ 1.64043408e-01 5.00901317e-03 9.86440404e-01 6.16432150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77088847899999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:56.57, Y:16.91, Z:6.17 [[ 8.80255453e-01 -4.52031952e-01 -1.44282545e-01 5.65748022e+01] [ 4.45121136e-01 8.91986343e-01 -7.89147499e-02 1.69098342e+01] [ 1.64370048e-01 5.24192875e-03 9.86384818e-01 6.16837521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.800888479 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:56.60, Y:16.92, Z:6.17 [[ 8.80651501e-01 -4.51297109e-01 -1.44166061e-01 5.65985725e+01] [ 4.44384074e-01 8.92357449e-01 -7.88731768e-02 1.69216935e+01] [ 1.64242895e-01 5.39467979e-03 9.86405175e-01 6.17231976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.830888479 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:56.62, Y:16.93, Z:6.18 [[ 8.81613717e-01 -4.49692103e-01 -1.43297824e-01 5.66240785e+01] [ 4.42837869e-01 8.93165582e-01 -7.84210738e-02 1.69329329e+01] [ 1.63254022e-01 5.67939128e-03 9.86567721e-01 6.17758191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.860888479 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:56.65, Y:16.95, Z:6.18 [[ 8.81916191e-01 -4.49211889e-01 -1.42942337e-01 5.66478316e+01] [ 4.42377479e-01 8.93406436e-01 -7.82758376e-02 1.69452936e+01] [ 1.62868041e-01 5.79825773e-03 9.86630823e-01 6.18213100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.890888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:56.67, Y:16.96, Z:6.19 [[ 8.82110528e-01 -4.48970055e-01 -1.42502301e-01 5.66727272e+01] [ 4.42171096e-01 8.93527685e-01 -7.80576549e-02 1.69580131e+01] [ 1.62375301e-01 5.84508055e-03 9.86711760e-01 6.18621522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.920888479 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:56.70, Y:16.97, Z:6.19 [[ 8.82007750e-01 -4.49295984e-01 -1.42110691e-01 5.66985992e+01] [ 4.42530551e-01 8.93364042e-01 -7.78935122e-02 1.69688039e+01] [ 1.61953823e-01 5.81435905e-03 9.86781208e-01 6.19025117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.950888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:56.72, Y:16.98, Z:6.19 [[ 8.81572736e-01 -4.49987430e-01 -1.42621262e-01 5.67230064e+01] [ 4.43173451e-01 8.93016347e-01 -7.82246547e-02 1.69805613e+01] [ 1.62563229e-01 5.75476608e-03 9.86681346e-01 6.19453400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.980888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.75, Y:16.99, Z:6.20 [[ 8.81127813e-01 -4.50839135e-01 -1.42680944e-01 5.67482625e+01] [ 4.44024562e-01 8.92587446e-01 -7.82932905e-02 1.69927510e+01] [ 1.62652899e-01 5.63255217e-03 9.86667274e-01 6.19888262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:56.77, Y:17.00, Z:6.20 [[ 8.80711674e-01 -4.51695258e-01 -1.42542420e-01 5.67721051e+01] [ 4.44896813e-01 8.92155246e-01 -7.82677697e-02 1.70040370e+01] [ 1.62523149e-01 5.51466990e-03 9.86689320e-01 6.20285485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.040888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:56.80, Y:17.01, Z:6.21 [[ 8.79449095e-01 -4.54034482e-01 -1.42905489e-01 5.67981462e+01] [ 4.47227801e-01 8.90969417e-01 -7.84907098e-02 1.70135827e+01] [ 1.62961909e-01 5.11727617e-03 9.86619091e-01 6.20867881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:17.03, Z:6.21 [[ 8.78813391e-01 -4.55298438e-01 -1.42794804e-01 5.68233835e+01] [ 4.48510692e-01 8.90325270e-01 -7.84797598e-02 1.70250474e+01] [ 1.62865534e-01 4.92406761e-03 9.86635987e-01 6.21374008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.100888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:56.85, Y:17.04, Z:6.22 [[ 8.78227904e-01 -4.56647343e-01 -1.42087834e-01 5.68488811e+01] [ 4.49936380e-01 8.89635406e-01 -7.81415330e-02 1.70371567e+01] [ 1.62089491e-01 4.69558900e-03 9.86764890e-01 6.21822195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.87, Y:17.05, Z:6.22 [[ 8.77819273e-01 -4.57597215e-01 -1.41556045e-01 5.68727968e+01] [ 4.50940863e-01 8.89147967e-01 -7.78988519e-02 1.70488615e+01] [ 1.61510567e-01 4.54770855e-03 9.86860504e-01 6.22280446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.160888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:56.90, Y:17.06, Z:6.23 [[ 8.77289874e-01 -4.58632670e-01 -1.41486926e-01 5.68986163e+01] [ 4.51992491e-01 8.88615175e-01 -7.78836222e-02 1.70592269e+01] [ 1.61447403e-01 4.37548506e-03 9.86871618e-01 6.22828985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.190888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:56.92, Y:17.07, Z:6.23 [[ 8.77153754e-01 -4.58849013e-01 -1.41629361e-01 5.69233826e+01] [ 4.52190225e-01 8.88503442e-01 -7.80104754e-02 1.70707640e+01] [ 1.61633204e-01 4.38376879e-03 9.86841168e-01 6.23313705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.220888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:56.95, Y:17.08, Z:6.24 [[ 8.76864353e-01 -4.59357707e-01 -1.41772364e-01 5.69487365e+01] [ 4.52684076e-01 8.88240778e-01 -7.81373577e-02 1.70810532e+01] [ 1.61820992e-01 4.33777204e-03 9.86810595e-01 6.23861549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.97, Y:17.10, Z:6.24 [[ 8.76291954e-01 -4.61708453e-01 -1.37614372e-01 5.69734752e+01] [ 4.54302283e-01 8.86972971e-01 -8.29962917e-02 1.70961833e+01] [ 1.60380318e-01 1.02104591e-02 9.87002482e-01 6.23825036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.280888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.00, Y:17.10, Z:6.25 [[ 8.76049689e-01 -4.59733535e-01 -1.45540437e-01 5.70009521e+01] [ 4.53858612e-01 8.88054977e-01 -7.32851844e-02 1.71031855e+01] [ 1.62939566e-01 -1.85331753e-03 9.86634311e-01 6.25178591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:17.12, Z:6.25 [[ 8.75549160e-01 -4.61269674e-01 -1.43680047e-01 5.70249258e+01] [ 4.54420291e-01 8.87250315e-01 -7.93037056e-02 1.71175484e+01] [ 1.64060562e-01 4.14316395e-03 9.86441568e-01 6.25344956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:17.14, Z:6.24 [[ 8.74163797e-01 -4.66760163e-01 -1.34061948e-01 5.70475825e+01] [ 4.57833605e-01 8.84159430e-01 -9.30080215e-02 1.71370588e+01] [ 1.61944575e-01 1.99261801e-02 9.86598653e-01 6.24438794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:17.13, Z:6.27 [[ 8.73673998e-01 -4.61891817e-01 -1.52806070e-01 5.70776758e+01] [ 4.57315160e-01 8.86852126e-01 -6.60011451e-02 1.71345456e+01] [ 1.66001777e-01 -1.22170481e-02 9.86049773e-01 6.26927448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.10, Y:17.15, Z:6.27 [[ 8.73136024e-01 -4.65373326e-01 -1.45124602e-01 5.71006749e+01] [ 4.58420463e-01 8.85107512e-01 -8.02207670e-02 1.71527190e+01] [ 1.65783481e-01 3.51555427e-03 9.86155910e-01 6.26773648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:17.16, Z:6.27 [[ 8.71741430e-01 -4.68045152e-01 -1.44915890e-01 5.71265052e+01] [ 4.61140469e-01 8.83699293e-01 -8.01562759e-02 1.71627397e+01] [ 1.65578826e-01 3.04896521e-03 9.86191846e-01 6.27472688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:17.17, Z:6.28 [[ 8.70992659e-01 -4.69475503e-01 -1.44791366e-01 5.71503674e+01] [ 4.62593745e-01 8.82940992e-01 -8.01388283e-02 1.71748886e+01] [ 1.65465449e-01 2.82075115e-03 9.86211554e-01 6.27949072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:17.19, Z:6.28 [[ 8.70158457e-01 -4.71145378e-01 -1.44382450e-01 5.71751111e+01] [ 4.64321458e-01 8.82051979e-01 -7.99367887e-02 1.71873586e+01] [ 1.65014674e-01 2.51780314e-03 9.86287898e-01 6.28474265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:17.20, Z:6.29 [[ 8.69434357e-01 -4.72597645e-01 -1.43997798e-01 5.71996230e+01] [ 4.65821329e-01 8.81275357e-01 -7.97761550e-02 1.71996029e+01] [ 1.64603734e-01 2.28288444e-03 9.86357136e-01 6.28953613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:17.21, Z:6.30 [[ 8.68157119e-01 -4.75098295e-01 -1.43474135e-01 5.72242781e+01] [ 4.68396926e-01 8.79930790e-01 -7.95369362e-02 1.72102123e+01] [ 1.64035171e-01 1.84771377e-03 9.86452760e-01 6.29545666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:17.22, Z:6.30 [[ 8.67743497e-01 -4.75835850e-01 -1.43532115e-01 5.72478098e+01] [ 4.69135266e-01 8.79532406e-01 -7.95917618e-02 1.72220977e+01] [ 1.64113760e-01 1.72925686e-03 9.86439904e-01 6.30016142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.610888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:57.27, Y:17.23, Z:6.30 [[ 8.67323967e-01 -4.76668571e-01 -1.43304606e-01 5.72721194e+01] [ 4.69996741e-01 8.79081649e-01 -7.94891083e-02 1.72348710e+01] [ 1.63866409e-01 1.59011097e-03 9.86481258e-01 6.30478517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.30, Y:17.25, Z:6.31 [[ 8.66895777e-01 -4.77412503e-01 -1.43419016e-01 5.72965770e+01] [ 4.70731606e-01 8.78678021e-01 -7.96033335e-02 1.72479925e+01] [ 1.64022764e-01 1.49592988e-03 9.86455420e-01 6.30929570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.670888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:57.32, Y:17.26, Z:6.31 [[ 8.66384216e-01 -4.78237567e-01 -1.43760985e-01 5.73213369e+01] [ 4.71527303e-01 8.78229413e-01 -7.98442275e-02 1.72594913e+01] [ 1.64439635e-01 1.38854878e-03 9.86386171e-01 6.31393073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:17.27, Z:6.32 [[ 8.66173351e-01 -4.78522227e-01 -1.44084020e-01 5.73448933e+01] [ 4.71776915e-01 8.78074351e-01 -8.00748203e-02 1.72716656e+01] [ 1.64834064e-01 1.38316091e-03 9.86320343e-01 6.31854613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.37, Y:17.28, Z:6.32 [[ 8.65928859e-01 -4.78944293e-01 -1.44151225e-01 5.73694309e+01] [ 4.72192422e-01 8.77844280e-01 -8.01482122e-02 1.72848840e+01] [ 1.64928857e-01 1.33553404e-03 9.86304562e-01 6.32240059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.760888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:57.39, Y:17.30, Z:6.33 [[ 8.65764275e-01 -4.79120422e-01 -1.44553937e-01 5.73946123e+01] [ 4.72324213e-01 8.77748138e-01 -8.04241559e-02 1.72973492e+01] [ 1.65414804e-01 1.35203668e-03 9.86223157e-01 6.32725406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:17.31, Z:6.33 [[ 8.65677558e-01 -4.79230074e-01 -1.44709714e-01 5.74192640e+01] [ 4.72411947e-01 8.77688234e-01 -8.05625002e-02 1.73103849e+01] [ 1.65617986e-01 1.37855066e-03 9.86189020e-01 6.33201269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.44, Y:17.32, Z:6.34 [[ 8.65607948e-01 -4.79252382e-01 -1.45051834e-01 5.74426293e+01] [ 4.72394040e-01 8.77675987e-01 -8.08005802e-02 1.73235125e+01] [ 1.66032382e-01 1.42000275e-03 9.86119279e-01 6.33640487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:57.47, Y:17.34, Z:6.34 [[ 8.65777252e-01 -4.78944774e-01 -1.45057413e-01 5.74659428e+01] [ 4.72077658e-01 8.77843752e-01 -8.08271663e-02 1.73367520e+01] [ 1.66049493e-01 1.49995801e-03 9.86116279e-01 6.34065588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:17.35, Z:6.35 [[ 8.66015900e-01 -4.78348782e-01 -1.45598435e-01 5.74899074e+01] [ 4.71415494e-01 8.78168385e-01 -8.11647696e-02 1.73506521e+01] [ 1.66685011e-01 1.65262292e-03 9.86008811e-01 6.34592521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.910888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:57.51, Y:17.36, Z:6.35 [[ 8.66164606e-01 -4.78107057e-01 -1.45507788e-01 5.75145695e+01] [ 4.71170263e-01 8.78299834e-01 -8.11664056e-02 1.73642077e+01] [ 1.66605698e-01 1.74452501e-03 9.86022058e-01 6.35094648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.54, Y:17.38, Z:6.36 [[ 8.66274540e-01 -4.77953738e-01 -1.45356962e-01 5.75385111e+01] [ 4.71020432e-01 8.78383126e-01 -8.11346758e-02 1.73773037e+01] [ 1.66457724e-01 1.81880511e-03 9.86046915e-01 6.35610149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.56, Y:17.39, Z:6.36 [[ 8.66165771e-01 -4.78252766e-01 -1.45021203e-01 5.75630809e+01] [ 4.71347039e-01 8.78220381e-01 -8.09995733e-02 1.73908271e+01] [ 1.66098846e-01 1.80374326e-03 9.86107459e-01 6.36101631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.59, Y:17.40, Z:6.37 [[ 8.65910913e-01 -4.78861140e-01 -1.44534769e-01 5.75875431e+01] [ 4.72001676e-01 8.77888959e-01 -8.07799067e-02 1.74046266e+01] [ 1.65567836e-01 1.72754972e-03 9.86196891e-01 6.36541246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.61, Y:17.42, Z:6.37 [[ 8.65502698e-01 -4.79648122e-01 -1.44370213e-01 5.76110097e+01] [ 4.72806642e-01 8.77459430e-01 -8.07392564e-02 1.74181902e+01] [ 1.65405438e-01 1.62084861e-03 9.86224322e-01 6.36960898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:17.43, Z:6.37 [[ 8.65240357e-01 -4.80288175e-01 -1.43813744e-01 5.76353820e+01] [ 4.73504441e-01 8.77109444e-01 -8.04522737e-02 1.74322135e+01] [ 1.64780669e-01 1.51410741e-03 9.86329072e-01 6.37381161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.66, Y:17.45, Z:6.38 [[ 8.65186782e-01 -4.80343701e-01 -1.43950550e-01 5.76584255e+01] [ 4.73539048e-01 8.77078972e-01 -8.05806884e-02 1.74453776e+01] [ 1.64962426e-01 1.55114026e-03 9.86298632e-01 6.37892491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.120888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.68, Y:17.46, Z:6.38 [[ 8.65387459e-01 -4.79858359e-01 -1.44362394e-01 5.76827214e+01] [ 4.73001570e-01 8.77344362e-01 -8.08479201e-02 1.74589606e+01] [ 1.65451082e-01 1.68113731e-03 9.86216565e-01 6.38365962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:57.71, Y:17.47, Z:6.39 [[ 8.65424098e-01 -4.79572063e-01 -1.45092268e-01 5.77067182e+01] [ 4.72632821e-01 8.77500675e-01 -8.13067164e-02 1.74723983e+01] [ 1.66310993e-01 1.78942367e-03 9.86071727e-01 6.38817066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.180888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:57.73, Y:17.49, Z:6.39 [[ 8.65576210e-01 -4.79228390e-01 -1.45320248e-01 5.77302549e+01] [ 4.72253628e-01 8.77688170e-01 -8.14861216e-02 1.74859168e+01] [ 1.66596325e-01 1.90443405e-03 9.86023345e-01 6.39225592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:17.50, Z:6.40 [[ 8.65675497e-01 -4.78942550e-01 -1.45670752e-01 5.77540796e+01] [ 4.71925629e-01 8.77844000e-01 -8.17074779e-02 1.74998358e+01] [ 1.67009383e-01 1.98640027e-03 9.85953305e-01 6.39692233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.240888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:57.78, Y:17.52, Z:6.40 [[ 8.65808162e-01 -4.78501012e-01 -1.46331840e-01 5.77777604e+01] [ 4.71404416e-01 8.78084420e-01 -8.21317675e-02 1.75153500e+01] [ 1.67791843e-01 2.12887911e-03 9.85820149e-01 6.39923099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27088847899999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:57.80, Y:17.53, Z:6.40 [[ 8.65670822e-01 -4.78524801e-01 -1.47064755e-01 5.78017615e+01] [ 4.71347616e-01 8.78071324e-01 -8.25964520e-02 1.75295396e+01] [ 1.68657795e-01 2.18271674e-03 9.85672250e-01 6.40331011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.300888479 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:57.83, Y:17.54, Z:6.41 [[ 8.65551265e-01 -4.78487202e-01 -1.47888490e-01 5.78254972e+01] [ 4.71219410e-01 8.78091648e-01 -8.31103209e-02 1.75427698e+01] [ 1.69626873e-01 2.24831627e-03 9.85505793e-01 6.40736800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.330888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:57.85, Y:17.56, Z:6.41 [[ 8.65224842e-01 -4.78942842e-01 -1.48323048e-01 5.78501589e+01] [ 4.71634187e-01 8.77843361e-01 -8.33800190e-02 1.75561942e+01] [ 1.70138666e-01 2.18824348e-03 9.85417701e-01 6.41249669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:17.57, Z:6.42 [[ 8.65087569e-01 -4.79469297e-01 -1.47420121e-01 5.78737993e+01] [ 4.72249006e-01 8.77556103e-01 -8.29226259e-02 1.75691498e+01] [ 1.69128280e-01 2.11632705e-03 9.85591775e-01 6.41780463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:17.58, Z:6.42 [[ 8.64969315e-01 -4.79685844e-01 -1.47409551e-01 5.78983624e+01] [ 4.72465473e-01 8.77437803e-01 -8.29414123e-02 1.75830872e+01] [ 1.69128534e-01 2.09585332e-03 9.85591775e-01 6.42228348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:17.60, Z:6.43 [[ 8.64927231e-01 -4.80134664e-01 -1.46190248e-01 5.79223774e+01] [ 4.73032349e-01 8.77192435e-01 -8.23032718e-02 1.75968708e+01] [ 1.67753633e-01 2.03362456e-03 9.85826852e-01 6.42635574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.450888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:57.95, Y:17.61, Z:6.43 [[ 8.64704917e-01 -4.80661876e-01 -1.45772313e-01 5.79462179e+01] [ 4.73599279e-01 8.76903802e-01 -8.21184819e-02 1.76101032e+01] [ 1.67299519e-01 1.97059269e-03 9.85904147e-01 6.43108988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.480888479 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:57.97, Y:17.62, Z:6.44 [[ 8.64495317e-01 -4.81580359e-01 -1.43972931e-01 5.79702011e+01] [ 4.74696243e-01 8.76400057e-01 -8.11567433e-02 1.76229821e+01] [ 1.65261379e-01 1.81621484e-03 9.86248132e-01 6.43527749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:57.99, Y:17.64, Z:6.44 [[ 8.64008162e-01 -4.82336438e-01 -1.44365702e-01 5.79938859e+01] [ 4.75420869e-01 8.75984405e-01 -8.14022054e-02 1.76359795e+01] [ 1.65725354e-01 1.69770231e-03 9.86170485e-01 6.44010401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.540888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:58.02, Y:17.65, Z:6.44 [[ 8.63810547e-01 -4.82793047e-01 -1.44021568e-01 5.80179114e+01] [ 4.75910775e-01 8.75732943e-01 -8.12449791e-02 1.76495676e+01] [ 1.65348943e-01 1.63885392e-03 9.86233766e-01 6.44370699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:17.66, Z:6.45 [[ 8.63752109e-01 -4.82784684e-01 -1.44399596e-01 5.80417839e+01] [ 4.75857270e-01 8.75737456e-01 -8.15093026e-02 1.76626698e+01] [ 1.65807578e-01 1.69023460e-03 9.86156676e-01 6.44747334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.600888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:58.07, Y:17.68, Z:6.45 [[ 8.64052434e-01 -4.82070068e-01 -1.44989108e-01 5.80660023e+01] [ 4.75071397e-01 8.76130699e-01 -8.18667616e-02 1.76757838e+01] [ 1.66494924e-01 1.85699640e-03 9.86040563e-01 6.45108088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:58.09, Y:17.69, Z:6.46 [[ 8.64295038e-01 -4.81483828e-01 -1.45490246e-01 5.80904831e+01] [ 4.74419008e-01 8.76452637e-01 -8.22032865e-02 1.76895667e+01] [ 1.67094863e-01 2.02455459e-03 9.85938745e-01 6.45577971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.660888479 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:58.11, Y:17.70, Z:6.46 [[ 8.64715680e-01 -4.80754818e-01 -1.45401504e-01 5.81146857e+01] [ 4.73679411e-01 8.76852276e-01 -8.22064528e-02 1.77030579e+01] [ 1.67016788e-01 2.21150983e-03 9.85951572e-01 6.45965677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.690888479 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:58.14, Y:17.72, Z:6.46 [[ 8.65307559e-01 -4.79599554e-01 -1.45695217e-01 5.81393457e+01] [ 4.72469972e-01 8.77483949e-01 -8.24259939e-02 1.77168614e+01] [ 1.67376684e-01 2.48722073e-03 9.85889882e-01 6.46404941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.720888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:58.16, Y:17.73, Z:6.47 [[ 8.65546092e-01 -4.79067236e-01 -1.46029261e-01 5.81639897e+01] [ 4.71887969e-01 8.77774225e-01 -8.26689436e-02 1.77307844e+01] [ 1.67784703e-01 2.64432987e-03 9.85820116e-01 6.46813962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.750888479 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:58.19, Y:17.74, Z:6.47 [[ 8.65624386e-01 -4.79023029e-01 -1.45709845e-01 5.81874608e+01] [ 4.71865853e-01 8.77798201e-01 -8.25405039e-02 1.77442753e+01] [ 1.67442642e-01 2.69357252e-03 9.85878140e-01 6.47163720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.780888479 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:58.21, Y:17.76, Z:6.48 [[ 8.66452028e-01 -4.77867147e-01 -1.44581719e-01 5.82111751e+01] [ 4.70799131e-01 8.78427247e-01 -8.19374718e-02 1.77567803e+01] [ 1.66159748e-01 2.92594073e-03 9.86094507e-01 6.47599616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.810888479 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:58.24, Y:17.77, Z:6.48 [[ 8.66947163e-01 -4.77207027e-01 -1.43791760e-01 5.82354671e+01] [ 4.70201547e-01 8.78785551e-01 -8.15258333e-02 1.77698971e+01] [ 1.65266822e-01 3.06748167e-03 9.86244122e-01 6.48085794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:17.78, Z:6.49 [[ 8.67424031e-01 -4.76463918e-01 -1.43379517e-01 5.82596540e+01] [ 4.69479978e-01 8.79188032e-01 -8.13446728e-02 1.77827525e+01] [ 1.64815357e-01 3.24651158e-03 9.86319096e-01 6.48596115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.28, Y:17.80, Z:6.49 [[ 8.67930056e-01 -4.75785514e-01 -1.42567748e-01 5.82833097e+01] [ 4.68863487e-01 8.79554761e-01 -8.09348657e-02 1.77960647e+01] [ 1.63903778e-01 3.40099123e-03 9.86470468e-01 6.49046625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.900888479 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:58.31, Y:17.81, Z:6.49 [[ 8.67649498e-01 -4.76334025e-01 -1.42443830e-01 5.83069064e+01] [ 4.69427482e-01 8.79258154e-01 -8.08884242e-02 1.78102631e+01] [ 1.63774808e-01 3.31575222e-03 9.86492178e-01 6.49355171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930888479 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:58.33, Y:17.82, Z:6.50 [[ 8.67357090e-01 -4.76915128e-01 -1.42280144e-01 5.83311512e+01] [ 4.70023956e-01 8.78943352e-01 -8.08459319e-02 1.78241892e+01] [ 1.63612834e-01 3.24721626e-03 9.86519283e-01 6.49713437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:17.84, Z:6.50 [[ 8.66863981e-01 -4.77697417e-01 -1.42660494e-01 5.83555314e+01] [ 4.70770983e-01 8.78518769e-01 -8.11138310e-02 1.78379316e+01] [ 1.64077789e-01 3.15423754e-03 9.86442360e-01 6.50145537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990888479 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:58.38, Y:17.85, Z:6.51 [[ 8.65939616e-01 -4.79251641e-01 -1.43060986e-01 5.83799235e+01] [ 4.72298346e-01 8.77672701e-01 -8.13935014e-02 1.78506128e+01] [ 1.64568691e-01 2.91439019e-03 9.86361319e-01 6.50569095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.40, Y:17.86, Z:6.51 [[ 8.65517221e-01 -4.80061278e-01 -1.42902445e-01 5.84047076e+01] [ 4.73125862e-01 8.77230478e-01 -8.13548231e-02 1.78641033e+01] [ 1.64413681e-01 2.80315780e-03 9.86387492e-01 6.51000944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.050888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:58.42, Y:17.89, Z:6.49 [[ 8.64290678e-01 -4.87552246e-01 -1.23670657e-01 5.84196496e+01] [ 4.77872041e-01 8.72649428e-01 -1.00604609e-01 1.78910708e+01] [ 1.56971132e-01 2.78528762e-02 9.87210353e-01 6.49127815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:17.88, Z:6.53 [[ 8.64803001e-01 -4.77834779e-01 -1.54239080e-01 5.84571683e+01] [ 4.74454678e-01 8.78201217e-01 -6.04597438e-02 1.78819578e+01] [ 1.64342716e-01 -2.08936852e-02 9.86181994e-01 6.53035954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.110888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:58.48, Y:17.90, Z:6.52 [[ 8.64526793e-01 -4.82010738e-01 -1.42334370e-01 5.84769611e+01] [ 4.75147422e-01 8.76161817e-01 -8.10888279e-02 1.79046073e+01] [ 1.63793626e-01 2.47365552e-03 9.86491525e-01 6.52353172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.50, Y:17.92, Z:6.53 [[ 8.64160331e-01 -4.82776555e-01 -1.41963798e-01 5.85008165e+01] [ 4.75955497e-01 8.75740433e-01 -8.09015413e-02 1.79192213e+01] [ 1.63380805e-01 2.34345287e-03 9.86560298e-01 6.52678338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.52, Y:17.93, Z:6.53 [[ 8.64017521e-01 -4.83064206e-01 -1.41854490e-01 5.85244042e+01] [ 4.76248845e-01 8.75581821e-01 -8.08919805e-02 1.79334576e+01] [ 1.63281233e-01 2.33405163e-03 9.86576805e-01 6.53081026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:17.95, Z:6.53 [[ 8.63752182e-01 -4.83590371e-01 -1.41677524e-01 5.85472981e+01] [ 4.76790528e-01 8.75291474e-01 -8.08432376e-02 1.79466917e+01] [ 1.63104140e-01 2.27802135e-03 9.86606228e-01 6.53489289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:58.57, Y:17.97, Z:6.53 [[ 8.62740750e-01 -4.88159607e-01 -1.31827902e-01 5.85664307e+01] [ 4.79934928e-01 8.72629536e-01 -9.04442209e-02 1.79677488e+01] [ 1.59188136e-01 1.47611004e-02 9.87137907e-01 6.52603095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.260888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:58.60, Y:17.97, Z:6.55 [[ 8.62325271e-01 -4.84268752e-01 -1.47915188e-01 5.85971291e+01] [ 4.79194518e-01 8.74862425e-01 -7.06282578e-02 1.79693587e+01] [ 1.63608498e-01 -9.97561547e-03 9.86474909e-01 6.54956726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:17.99, Z:6.55 [[ 8.61638434e-01 -4.87597191e-01 -1.40812603e-01 5.86197323e+01] [ 4.80920802e-01 8.73067284e-01 -8.04282288e-02 1.79881529e+01] [ 1.62155455e-01 1.58034326e-03 9.86763959e-01 6.54830241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.320888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:58.64, Y:18.00, Z:6.55 [[ 8.60863726e-01 -4.89163406e-01 -1.40117123e-01 5.86429305e+01] [ 4.82565621e-01 8.72191155e-01 -8.00812724e-02 1.80016162e+01] [ 1.61381743e-01 1.32335623e-03 9.86891170e-01 6.55215931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:58.67, Y:18.02, Z:6.56 [[ 8.59545547e-01 -4.91815609e-01 -1.38920335e-01 5.86660347e+01] [ 4.85361544e-01 8.70698975e-01 -7.94195645e-02 1.80160878e+01] [ 1.60017575e-01 8.38144520e-04 9.87113810e-01 6.55679766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:18.03, Z:6.56 [[ 8.58794170e-01 -4.93259087e-01 -1.38448716e-01 5.86899310e+01] [ 4.86859594e-01 8.69882233e-01 -7.91999758e-02 1.80310094e+01] [ 1.59500186e-01 6.11391583e-04 9.87197709e-01 6.56055395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.410888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:58.71, Y:18.05, Z:6.56 [[ 8.58331861e-01 -4.94092203e-01 -1.38344903e-01 5.87137102e+01] [ 4.87704988e-01 8.69409365e-01 -7.91909100e-02 1.80453572e+01] [ 1.59405965e-01 5.00582149e-04 9.87212990e-01 6.56452472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.440888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:58.74, Y:18.06, Z:6.57 [[ 8.57799016e-01 -4.94984304e-01 -1.38460782e-01 5.87374536e+01] [ 4.88589696e-01 8.68901833e-01 -7.93077181e-02 1.80592526e+01] [ 1.59564903e-01 3.79571209e-04 9.87187367e-01 6.56880239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.470888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:58.76, Y:18.07, Z:6.57 [[ 8.57007506e-01 -4.96423914e-01 -1.38207930e-01 5.87607447e+01] [ 4.90063185e-01 8.68080223e-01 -7.92136445e-02 1.80738190e+01] [ 1.59299118e-01 1.56069563e-04 9.87230351e-01 6.57239739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.500888479 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:58.78, Y:18.09, Z:6.58 [[ 8.56691962e-01 -4.97203748e-01 -1.37358350e-01 5.87838125e+01] [ 4.90923399e-01 8.67633811e-01 -7.87768116e-02 1.80893673e+01] [ 1.58344875e-01 5.50329873e-05 9.87383865e-01 6.57580109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:18.10, Z:6.58 [[ 8.56675729e-01 -4.97386897e-01 -1.36795358e-01 5.88057032e+01] [ 4.91152540e-01 8.67528830e-01 -7.85042152e-02 1.81044595e+01] [ 1.57720885e-01 6.52681454e-05 9.87483731e-01 6.57893019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.560888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:58.83, Y:18.12, Z:6.58 [[ 8.56749672e-01 -4.97481691e-01 -1.35985171e-01 5.88285675e+01] [ 4.91319191e-01 8.67474474e-01 -7.80608074e-02 1.81201886e+01] [ 1.56797487e-01 6.64470082e-05 9.87630773e-01 6.58288474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.85, Y:18.13, Z:6.59 [[ 8.56647898e-01 -4.97783212e-01 -1.35522149e-01 5.88510226e+01] [ 4.91658836e-01 8.67301488e-01 -7.78441937e-02 1.81340614e+01] [ 1.56288095e-01 5.44027129e-05 9.87711511e-01 6.58741783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.620888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:58.87, Y:18.15, Z:6.59 [[ 8.56595848e-01 -4.98042745e-01 -1.34896174e-01 5.88746748e+01] [ 4.91975076e-01 8.67152480e-01 -7.75054915e-02 1.81484422e+01] [ 1.55576599e-01 2.53269330e-05 9.87823831e-01 6.59200787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.90, Y:18.16, Z:6.60 [[ 8.56613092e-01 -4.98188970e-01 -1.34245153e-01 5.88972295e+01] [ 4.92174185e-01 8.67068479e-01 -7.71804594e-02 1.81627313e+01] [ 1.54850194e-01 4.17931591e-05 9.87937961e-01 6.59641961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:18.18, Z:6.60 [[ 8.56520162e-01 -4.98367669e-01 -1.34174809e-01 5.89204338e+01] [ 4.92358174e-01 8.66965781e-01 -7.71606282e-02 1.81777263e+01] [ 1.54779331e-01 2.75695335e-05 9.87949066e-01 6.60047290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:18.19, Z:6.60 [[ 8.56806606e-01 -4.97950434e-01 -1.33894754e-01 5.89418483e+01] [ 4.91953508e-01 8.67205480e-01 -7.70480502e-02 1.81936862e+01] [ 1.54480375e-01 1.45284192e-04 9.87995847e-01 6.60357638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.740888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:18.21, Z:6.61 [[ 8.56991870e-01 -4.97822041e-01 -1.33184648e-01 5.89650951e+01] [ 4.91884286e-01 8.67279183e-01 -7.66594261e-02 1.82091911e+01] [ 1.53671025e-01 1.85069211e-04 9.88122048e-01 6.60714161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:18.22, Z:6.62 [[ 8.57741403e-01 -4.95023766e-01 -1.38676443e-01 5.89945589e+01] [ 4.90033917e-01 8.68847241e-01 -7.05069555e-02 1.82198416e+01] [ 1.55391263e-01 -7.47942555e-03 9.87824688e-01 6.61755625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.800888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:59.01, Y:18.24, Z:6.61 [[ 8.57910689e-01 -4.97433848e-01 -1.28642207e-01 5.90105911e+01] [ 4.90712414e-01 8.67473248e-01 -8.18015354e-02 1.82420164e+01] [ 1.52284525e-01 7.05208365e-03 9.88311536e-01 6.61205306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:18.25, Z:6.62 [[ 8.58198813e-01 -4.96085601e-01 -1.31885836e-01 5.90346351e+01] [ 4.90224645e-01 8.68273412e-01 -7.60334065e-02 1.82528576e+01] [ 1.52232043e-01 5.98092220e-04 9.88344600e-01 6.61945132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.06, Y:18.27, Z:6.62 [[ 8.58537989e-01 -4.95401935e-01 -1.32247661e-01 5.90585250e+01] [ 4.89497431e-01 8.68663558e-01 -7.62619711e-02 1.82670806e+01] [ 1.52659052e-01 7.38909025e-04 9.88278639e-01 6.62419712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:18.28, Z:6.63 [[ 8.59696349e-01 -4.93115866e-01 -1.33262636e-01 5.90814899e+01] [ 4.87084644e-01 8.69962819e-01 -7.68976148e-02 1.82834431e+01] [ 1.53852972e-01 1.19841531e-03 9.88093025e-01 6.62704110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.10, Y:18.30, Z:6.63 [[ 8.60404244e-01 -4.91683794e-01 -1.33983522e-01 5.91034783e+01] [ 4.85561494e-01 8.70772516e-01 -7.73644666e-02 1.82978497e+01] [ 1.54708023e-01 1.50747645e-03 9.87959086e-01 6.63115377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.13, Y:18.31, Z:6.64 [[ 8.61003733e-01 -4.90649838e-01 -1.33922768e-01 5.91272713e+01] [ 4.84517367e-01 8.71355156e-01 -7.73505893e-02 1.83128178e+01] [ 1.54646349e-01 1.71123911e-03 9.87968410e-01 6.63540837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.15, Y:18.33, Z:6.64 [[ 8.61671060e-01 -4.89341613e-01 -1.34416409e-01 5.91500750e+01] [ 4.83139699e-01 8.72089899e-01 -7.76868031e-02 1.83269642e+01] [ 1.55238578e-01 1.99856655e-03 9.87874987e-01 6.63972538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:18.34, Z:6.64 [[ 8.62507676e-01 -4.87672627e-01 -1.35114458e-01 5.91726649e+01] [ 4.81381867e-01 8.73023468e-01 -7.81122392e-02 1.83428092e+01] [ 1.56051293e-01 2.33075603e-03 9.87746203e-01 6.64307435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:18.36, Z:6.65 [[ 8.62474771e-01 -4.87557749e-01 -1.35737652e-01 5.91962413e+01] [ 4.81199038e-01 8.73087422e-01 -7.85228589e-02 1.83580829e+01] [ 1.56795265e-01 2.40715732e-03 9.87628194e-01 6.64684583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.22, Y:18.37, Z:6.65 [[ 8.62284324e-01 -4.87769031e-01 -1.36187802e-01 5.92203266e+01] [ 4.81362459e-01 8.72969365e-01 -7.88331876e-02 1.83727566e+01] [ 1.57340166e-01 2.42092667e-03 9.87541498e-01 6.65108153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:18.39, Z:6.65 [[ 8.62029839e-01 -4.88263693e-01 -1.36026188e-01 5.92443333e+01] [ 4.81870407e-01 8.72692922e-01 -7.87907042e-02 1.83875494e+01] [ 1.57179731e-01 2.37294363e-03 9.87567163e-01 6.65498783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:18.40, Z:6.66 [[ 8.61137157e-01 -4.90035315e-01 -1.35307751e-01 5.92683263e+01] [ 4.83723513e-01 8.71700092e-01 -7.84252069e-02 1.84015329e+01] [ 1.56378900e-01 2.08331902e-03 9.87694942e-01 6.65970440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.29, Y:18.41, Z:6.67 [[ 8.60419077e-01 -4.91257789e-01 -1.35442964e-01 5.92919065e+01] [ 4.84940256e-01 8.71012138e-01 -7.85544637e-02 1.84144440e+01] [ 1.56562958e-01 1.90801351e-03 9.87666138e-01 6.66501992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:18.43, Z:6.67 [[ 8.59654688e-01 -4.92596763e-01 -1.35433551e-01 5.93152124e+01] [ 4.86293140e-01 8.70256051e-01 -7.85709080e-02 1.84275677e+01] [ 1.56565642e-01 1.68344258e-03 9.87666121e-01 6.67005868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.34, Y:18.44, Z:6.67 [[ 8.58901166e-01 -4.93984777e-01 -1.35158523e-01 5.93391100e+01] [ 4.87718747e-01 8.69469331e-01 -7.84442804e-02 1.84419336e+01] [ 1.56266471e-01 1.45653840e-03 9.87713860e-01 6.67462932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.250888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:59.36, Y:18.46, Z:6.68 [[ 8.58719740e-01 -4.94288538e-01 -1.35200777e-01 5.93625751e+01] [ 4.88014498e-01 8.69296700e-01 -7.85181266e-02 1.84566938e+01] [ 1.56340200e-01 1.44512571e-03 9.87702209e-01 6.67902045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.280888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:59.39, Y:18.47, Z:6.68 [[ 8.58591632e-01 -4.94517038e-01 -1.35178800e-01 5.93869428e+01] [ 4.88239860e-01 8.69166729e-01 -7.85559463e-02 1.84709664e+01] [ 1.56340169e-01 1.44780000e-03 9.87702210e-01 6.68350250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.41, Y:18.49, Z:6.69 [[ 8.58720732e-01 -4.94324653e-01 -1.35062364e-01 5.94099955e+01] [ 4.88048462e-01 8.69276030e-01 -7.85358624e-02 1.84852921e+01] [ 1.56228688e-01 1.52339442e-03 9.87719736e-01 6.68790125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:18.50, Z:6.69 [[ 8.58719434e-01 -4.94531935e-01 -1.34309715e-01 5.94338256e+01] [ 4.88325107e-01 8.69158172e-01 -7.81195416e-02 1.84999423e+01] [ 1.55368995e-01 1.49596246e-03 9.87855373e-01 6.69226079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:18.52, Z:6.70 [[ 8.58539372e-01 -4.94687686e-01 -1.34886029e-01 5.94574507e+01] [ 4.88421270e-01 8.69069497e-01 -7.85039643e-02 1.85150051e+01] [ 1.56060278e-01 1.51753859e-03 9.87746368e-01 6.69695846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:18.53, Z:6.70 [[ 8.58355934e-01 -4.94859504e-01 -1.35422165e-01 5.94801742e+01] [ 4.88536963e-01 8.68971639e-01 -7.88665074e-02 1.85282546e+01] [ 1.56705862e-01 1.53680125e-03 9.87644122e-01 6.70093165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:59.50, Y:18.54, Z:6.71 [[ 8.57864930e-01 -4.95630224e-01 -1.35714566e-01 5.95041396e+01] [ 4.89286293e-01 8.68532480e-01 -7.90585455e-02 1.85418362e+01] [ 1.57056313e-01 1.41827679e-03 9.87588630e-01 6.70525088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:18.55, Z:6.71 [[ 8.56606371e-01 -4.97726722e-01 -1.35991307e-01 5.95285082e+01] [ 4.91375064e-01 8.67333237e-01 -7.92691736e-02 1.85543931e+01] [ 1.57404167e-01 1.07974168e-03 9.87533677e-01 6.71071921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.55, Y:18.57, Z:6.71 [[ 8.56112400e-01 -4.98689415e-01 -1.35574425e-01 5.95512131e+01] [ 4.92380832e-01 8.66780235e-01 -7.90768023e-02 1.85676422e+01] [ 1.56947997e-01 9.44382594e-04 9.87606417e-01 6.71495630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:18.58, Z:6.72 [[ 8.55291964e-01 -5.00134589e-01 -1.35429130e-01 5.95744533e+01] [ 4.93854124e-01 8.65947404e-01 -7.90139099e-02 1.85821972e+01] [ 1.56792093e-01 6.97727688e-04 9.87631385e-01 6.71942087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:18.60, Z:6.72 [[ 8.54559777e-01 -5.01606120e-01 -1.34606421e-01 5.95975567e+01] [ 4.95412475e-01 8.65095995e-01 -7.85837032e-02 1.85977640e+01] [ 1.55865542e-01 4.68771654e-04 9.87778170e-01 6.72261106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.62, Y:18.61, Z:6.73 [[ 8.54168001e-01 -5.02166666e-01 -1.35002467e-01 5.96205749e+01] [ 4.95935155e-01 8.64770761e-01 -7.88660433e-02 1.86113257e+01] [ 1.56350084e-01 4.12381003e-04 9.87701615e-01 6.72713979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.64, Y:18.62, Z:6.73 [[ 8.53681912e-01 -5.02947911e-01 -1.35168754e-01 5.96435156e+01] [ 4.96707163e-01 8.64316675e-01 -7.89853066e-02 1.86247656e+01] [ 1.56554103e-01 2.89039387e-04 9.87669342e-01 6.73127450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.67, Y:18.64, Z:6.74 [[ 8.53307377e-01 -5.03681413e-01 -1.34801912e-01 5.96675429e+01] [ 4.97480566e-01 8.63889463e-01 -7.87913772e-02 1.86386155e+01] [ 1.56139703e-01 1.71932005e-04 9.87734966e-01 6.73595669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:18.65, Z:6.74 [[ 8.52242298e-01 -5.05343944e-01 -1.35316529e-01 5.96918007e+01] [ 4.99108325e-01 8.62918009e-01 -7.91415818e-02 1.86525077e+01] [ 1.56760789e-01 -8.98025656e-05 9.87636597e-01 6.74192931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:18.67, Z:6.75 [[ 8.52090458e-01 -5.05722890e-01 -1.34856256e-01 5.97145207e+01] [ 4.99526603e-01 8.62695975e-01 -7.89229183e-02 1.86665001e+01] [ 1.56253075e-01 -1.14821779e-04 9.87717046e-01 6.74588098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:18.68, Z:6.75 [[ 8.51806131e-01 -5.06147460e-01 -1.35059480e-01 5.97377809e+01] [ 4.99934220e-01 8.62446937e-01 -7.90636296e-02 1.86819705e+01] [ 1.56499490e-01 -1.73971413e-04 9.87678024e-01 6.74976984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:18.70, Z:6.75 [[ 8.52363746e-01 -5.05117618e-01 -1.35396592e-01 5.97590668e+01] [ 4.98852134e-01 8.63050513e-01 -7.93117949e-02 1.86981721e+01] [ 1.56915883e-01 5.96200256e-05 9.87611969e-01 6.75282939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.78, Y:18.71, Z:6.76 [[ 8.52749578e-01 -5.04531874e-01 -1.35150822e-01 5.97830847e+01] [ 4.98276514e-01 8.63393044e-01 -7.92020597e-02 1.87130864e+01] [ 1.56648243e-01 1.97042566e-04 9.87654438e-01 6.75716835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.81, Y:18.73, Z:6.76 [[ 8.52973108e-01 -5.04095115e-01 -1.35369834e-01 5.98055359e+01] [ 4.97805706e-01 8.63648083e-01 -7.93817892e-02 1.87270463e+01] [ 1.56927870e-01 3.22655779e-04 9.87610014e-01 6.76245921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:18.74, Z:6.77 [[ 8.53810123e-01 -5.02897865e-01 -1.34543715e-01 5.98287133e+01] [ 4.96665278e-01 8.64345656e-01 -7.89315482e-02 1.87429542e+01] [ 1.55986783e-01 5.69363103e-04 9.87758978e-01 6.76761483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.85, Y:18.76, Z:6.77 [[ 8.54211212e-01 -5.02189996e-01 -1.34641799e-01 5.98507465e+01] [ 4.95931367e-01 8.64756991e-01 -7.90406573e-02 1.87575462e+01] [ 1.56125865e-01 7.44324017e-04 9.87736888e-01 6.77184374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.87, Y:18.77, Z:6.78 [[ 8.54636407e-01 -5.01463573e-01 -1.34651019e-01 5.98739498e+01] [ 4.95191637e-01 8.65178295e-01 -7.90680818e-02 1.87727088e+01] [ 1.56146902e-01 8.96402691e-04 9.87733436e-01 6.77580507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.90, Y:18.79, Z:6.78 [[ 8.55046485e-01 -5.00660671e-01 -1.35034817e-01 5.98967642e+01] [ 4.94334916e-01 8.65642944e-01 -7.93428295e-02 1.87875150e+01] [ 1.56615771e-01 1.08938243e-03 9.87659007e-01 6.78073405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:18.80, Z:6.78 [[ 8.55491127e-01 -4.99865282e-01 -1.35165203e-01 5.99184390e+01] [ 4.93509343e-01 8.66102223e-01 -7.94699228e-02 1.88033753e+01] [ 1.56791138e-01 1.28052317e-03 9.87630953e-01 6.78463881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.94, Y:18.82, Z:6.79 [[ 8.55283727e-01 -5.00155622e-01 -1.35403472e-01 5.99411634e+01] [ 4.93775242e-01 8.65934621e-01 -7.96444770e-02 1.88180073e+01] [ 1.57085187e-01 1.25974314e-03 9.87584253e-01 6.78881118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.030888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.96, Y:18.83, Z:6.79 [[ 8.54676548e-01 -5.01137993e-01 -1.35604979e-01 5.99646704e+01] [ 4.94747310e-01 8.65366687e-01 -7.97846928e-02 1.88330855e+01] [ 1.57331172e-01 1.09990747e-03 9.87545286e-01 6.79346467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.060888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:59.99, Y:18.85, Z:6.80 [[ 8.53106348e-01 -5.03779739e-01 -1.35703844e-01 5.99869406e+01] [ 4.97404474e-01 8.63831893e-01 -7.98952386e-02 1.88484824e+01] [ 1.57474911e-01 6.59435940e-04 9.87522768e-01 6.79719356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.090888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:60.01, Y:18.86, Z:6.80 [[ 8.51835275e-01 -5.05874634e-01 -1.35895253e-01 6.00103741e+01] [ 4.99502008e-01 8.62606957e-01 -8.00436277e-02 1.88642926e+01] [ 1.57716231e-01 3.04034045e-04 9.87484429e-01 6.80117310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:18.88, Z:6.81 [[ 8.50495251e-01 -5.08107853e-01 -1.35956751e-01 6.00334702e+01] [ 5.01749782e-01 8.61293449e-01 -8.01295855e-02 1.88795289e+01] [ 1.57813131e-01 -6.64385032e-05 9.87468993e-01 6.80520148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:60.06, Y:18.89, Z:6.81 [[ 8.47937440e-01 -5.12266058e-01 -1.36328956e-01 6.00565780e+01] [ 5.05917991e-01 8.58826438e-01 -8.03998479e-02 1.88936567e+01] [ 1.58269025e-01 -7.97230517e-04 9.87395706e-01 6.80885940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.180888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:60.08, Y:18.91, Z:6.81 [[ 8.46411244e-01 -5.14719492e-01 -1.36571781e-01 6.00803958e+01] [ 5.08376735e-01 8.57357750e-01 -8.05654042e-02 1.89083600e+01] [ 1.58559459e-01 -1.23845201e-03 9.87348654e-01 6.81375914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:60.10, Y:18.92, Z:6.82 [[ 8.45106911e-01 -5.16802925e-01 -1.36781017e-01 6.01038392e+01] [ 5.10459425e-01 8.56102925e-01 -8.07400592e-02 1.89232018e+01] [ 1.58825327e-01 -1.58717720e-03 9.87305422e-01 6.81845838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.240888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:60.13, Y:18.94, Z:6.82 [[ 8.43951042e-01 -5.18792439e-01 -1.36385642e-01 6.01268524e+01] [ 5.12503380e-01 8.54898094e-01 -8.05576398e-02 1.89388877e+01] [ 1.58388520e-01 -1.91139843e-03 9.87375017e-01 6.82266608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.15, Y:18.96, Z:6.83 [[ 8.42552899e-01 -5.21057358e-01 -1.36395905e-01 6.01486773e+01] [ 5.14788556e-01 8.53518584e-01 -8.06149451e-02 1.89559418e+01] [ 1.58421450e-01 -2.29269528e-03 9.87368922e-01 6.82635561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.300888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:60.17, Y:18.97, Z:6.83 [[ 8.42109904e-01 -5.21764555e-01 -1.36428219e-01 6.01705778e+01] [ 5.15493683e-01 8.53086207e-01 -8.06857229e-02 1.89705529e+01] [ 1.58483982e-01 -2.38163855e-03 9.87358676e-01 6.83017971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.330888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:60.19, Y:18.99, Z:6.83 [[ 8.41691347e-01 -5.22350396e-01 -1.36768928e-01 6.01922967e+01] [ 5.16049972e-01 8.52727373e-01 -8.09225110e-02 1.89854233e+01] [ 1.58896514e-01 -2.46782399e-03 9.87292159e-01 6.83430192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.360888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:60.21, Y:19.00, Z:6.84 [[ 8.41966242e-01 -5.21740073e-01 -1.37405036e-01 6.02134518e+01] [ 5.15366834e-01 8.53101313e-01 -8.13337353e-02 1.90011764e+01] [ 1.59655486e-01 -2.33373895e-03 9.87170036e-01 6.83848698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.390888479 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:60.24, Y:19.02, Z:6.84 [[ 8.42283556e-01 -5.21203742e-01 -1.37495715e-01 6.02362897e+01] [ 5.14811290e-01 8.53429410e-01 -8.14099359e-02 1.90164202e+01] [ 1.59774050e-01 -2.21409639e-03 9.87151129e-01 6.84266916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.420888479 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:60.26, Y:19.03, Z:6.85 [[ 8.42840006e-01 -5.20268318e-01 -1.37628491e-01 6.02593312e+01] [ 5.13842898e-01 8.54000525e-01 -8.15388210e-02 1.90315038e+01] [ 1.59956869e-01 -1.99524233e-03 9.87121988e-01 6.84727168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.450888479 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:60.28, Y:19.05, Z:6.85 [[ 8.43232215e-01 -5.19641040e-01 -1.37595861e-01 6.02819228e+01] [ 5.13202140e-01 8.54382722e-01 -8.15703892e-02 1.90472937e+01] [ 1.59946848e-01 -1.83171023e-03 9.87123929e-01 6.85177344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.480888479 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:60.30, Y:19.06, Z:6.86 [[ 8.44165091e-01 -5.18147447e-01 -1.37508264e-01 6.03047419e+01] [ 5.11688726e-01 8.55289989e-01 -8.15701117e-02 1.90629858e+01] [ 1.59874787e-01 -1.50278769e-03 9.87136158e-01 6.85576128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510888479 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:60.33, Y:19.08, Z:6.86 [[ 8.46237230e-01 -5.14701916e-01 -1.37711611e-01 6.03259290e+01] [ 5.08170105e-01 8.57368816e-01 -8.17426331e-02 1.90812003e+01] [ 1.60142731e-01 -8.07264581e-04 9.87093539e-01 6.85964640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.540888479 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:60.35, Y:19.10, Z:6.86 [[ 8.47603732e-01 -5.12302331e-01 -1.38254243e-01 6.03481324e+01] [ 5.05678209e-01 8.58805116e-01 -8.21177360e-02 1.90964739e+01] [ 1.60802559e-01 -3.08858540e-04 9.86986546e-01 6.86374525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570888479 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:60.37, Y:19.11, Z:6.87 [[ 8.48764873e-01 -5.10347967e-01 -1.38358749e-01 6.03709983e+01] [ 5.03684039e-01 8.59967991e-01 -8.22036720e-02 1.91120184e+01] [ 1.60936572e-01 8.24956714e-05 9.86964748e-01 6.86865065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.600888479 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:60.39, Y:19.13, Z:6.87 [[ 8.51474427e-01 -5.05929373e-01 -1.37937556e-01 6.03920351e+01] [ 4.99239912e-01 8.62574370e-01 -8.20058890e-02 1.91284999e+01] [ 1.60470589e-01 9.61984042e-04 9.87040154e-01 6.87343394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63088847899999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:60.42, Y:19.14, Z:6.88 [[ 8.52680319e-01 -5.03967892e-01 -1.37668577e-01 6.04152283e+01] [ 4.97273376e-01 8.63721317e-01 -8.18820886e-02 1.91446399e+01] [ 1.60173228e-01 1.36032724e-03 9.87087983e-01 6.87775465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.660888479 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:60.44, Y:19.16, Z:6.88 [[ 8.53448753e-01 -5.02670739e-01 -1.37649385e-01 6.04382017e+01] [ 4.95953046e-01 8.64476380e-01 -8.19217048e-02 1.91610495e+01] [ 1.60174286e-01 1.64834495e-03 9.87087373e-01 6.88201797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.690888479 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:60.46, Y:19.18, Z:6.89 [[ 8.55170671e-01 -4.99777046e-01 -1.37499189e-01 6.04595276e+01] [ 4.93028337e-01 8.66151205e-01 -8.18849738e-02 1.91785367e+01] [ 1.60019319e-01 2.23463136e-03 9.87111353e-01 6.88531003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.720888479 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:60.48, Y:19.19, Z:6.89 [[ 8.55636187e-01 -4.98950548e-01 -1.37604743e-01 6.04815096e+01] [ 4.92177032e-01 8.66627103e-01 -8.19709302e-02 1.91935479e+01] [ 1.60151441e-01 2.41139988e-03 9.87089510e-01 6.88902786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.750888479 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:60.50, Y:19.21, Z:6.89 [[ 8.55858943e-01 -4.98676334e-01 -1.37212917e-01 6.05044458e+01] [ 4.91934358e-01 8.66784739e-01 -8.17606412e-02 1.92083189e+01] [ 1.59706159e-01 2.47582788e-03 9.87161493e-01 6.89381586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.780888479 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:60.53, Y:19.22, Z:6.90 [[ 8.55932565e-01 -4.98663071e-01 -1.36801268e-01 6.05278410e+01] [ 4.91953140e-01 8.66792252e-01 -8.15677615e-02 1.92230617e+01] [ 1.59253109e-01 2.51669010e-03 9.87234579e-01 6.89855530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.810888479 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:60.55, Y:19.24, Z:6.90 [[ 8.56244499e-01 -4.98264332e-01 -1.36301186e-01 6.05500480e+01] [ 4.91590320e-01 8.67021197e-01 -8.13215910e-02 1.92388687e+01] [ 1.58695666e-01 2.62682126e-03 9.87324053e-01 6.90310555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.840888479 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:60.57, Y:19.25, Z:6.91 [[ 8.56187320e-01 -4.98500336e-01 -1.35796494e-01 6.05729066e+01] [ 4.91873269e-01 8.66885594e-01 -8.10558728e-02 1.92546761e+01] [ 1.58126404e-01 2.60434515e-03 9.87415443e-01 6.90742670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870888479 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:60.60, Y:19.27, Z:6.91 [[ 8.56279802e-01 -4.98517502e-01 -1.35148807e-01 6.05951729e+01] [ 4.91946064e-01 8.66875636e-01 -8.07199015e-02 1.92693024e+01] [ 1.57397492e-01 2.63289756e-03 9.87531821e-01 6.91126210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.900888479 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:60.62, Y:19.28, Z:6.92 [[ 8.55679740e-01 -4.99709795e-01 -1.34544802e-01 6.06188191e+01] [ 4.93208535e-01 8.66189504e-01 -8.03808746e-02 1.92845893e+01] [ 1.56708405e-01 2.42164142e-03 9.87641945e-01 6.91587312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930888479 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:60.64, Y:19.30, Z:6.92 [[ 8.55261774e-01 -5.00229044e-01 -1.35270840e-01 6.06417137e+01] [ 4.93655049e-01 8.65889839e-01 -8.08670476e-02 1.92979320e+01] [ 1.57581692e-01 2.38536134e-03 9.87503074e-01 6.91994238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.960888479 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:60.67, Y:19.31, Z:6.92 [[ 8.54780250e-01 -5.00883755e-01 -1.35890356e-01 6.06658574e+01] [ 4.94253538e-01 8.65511522e-01 -8.12603517e-02 1.93123397e+01] [ 1.58316659e-01 2.29545430e-03 9.87385723e-01 6.92443036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990888479 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:60.69, Y:19.33, Z:6.93 [[ 8.54017091e-01 -5.01890101e-01 -1.36971293e-01 6.06893260e+01] [ 4.95157872e-01 8.64928676e-01 -8.19577164e-02 1.93278173e+01] [ 1.59604166e-01 2.17087652e-03 9.87178706e-01 6.92793446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02088847899999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:60.71, Y:19.34, Z:6.93 [[ 8.53717146e-01 -5.02299034e-01 -1.37341597e-01 6.07129425e+01] [ 4.95526890e-01 8.64691318e-01 -8.22315414e-02 1.93431813e+01] [ 1.60062910e-01 2.14602247e-03 9.87104483e-01 6.93176460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.050888479 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:60.74, Y:19.36, Z:6.94 [[ 8.53615324e-01 -5.02403943e-01 -1.37590539e-01 6.07368888e+01] [ 4.95599880e-01 8.64630292e-01 -8.24331106e-02 1.93582780e+01] [ 1.60379667e-01 2.17631193e-03 9.87053001e-01 6.93564752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.080888479 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:60.76, Y:19.37, Z:6.94 [[ 8.53614992e-01 -5.02545585e-01 -1.37074364e-01 6.07606749e+01] [ 4.95786238e-01 8.64547947e-01 -8.21757492e-02 1.93721811e+01] [ 1.59804420e-01 2.18686828e-03 9.87146273e-01 6.94044414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.110888479 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:60.78, Y:19.39, Z:6.95 [[ 8.53665476e-01 -5.02523743e-01 -1.36839845e-01 6.07849736e+01] [ 4.95778980e-01 8.64560526e-01 -8.20871439e-02 1.93855666e+01] [ 1.59557067e-01 2.23264198e-03 9.87186182e-01 6.94608241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.140888479 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:60.81, Y:19.40, Z:6.95 [[ 8.53679179e-01 -5.02543464e-01 -1.36681845e-01 6.08076730e+01] [ 4.95806162e-01 8.64548960e-01 -8.20447814e-02 1.93985077e+01] [ 1.59399215e-01 2.27222089e-03 9.87211592e-01 6.95097554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.170888479 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:60.83, Y:19.41, Z:6.96 [[ 8.53967137e-01 -5.02166450e-01 -1.36268066e-01 6.08310672e+01] [ 4.95461670e-01 8.64767777e-01 -8.18194678e-02 1.94125003e+01] [ 1.58927224e-01 2.35553296e-03 9.87287490e-01 6.95536328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.200888479 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:60.86, Y:19.43, Z:6.96 [[ 8.53838943e-01 -5.02390507e-01 -1.36245510e-01 6.08552045e+01] [ 4.95682572e-01 8.64637622e-01 -8.18570118e-02 1.94271211e+01] [ 1.58927179e-01 2.35817962e-03 9.87287491e-01 6.95984551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230888479 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:60.88, Y:19.44, Z:6.96 [[ 8.54755035e-01 -5.00898917e-01 -1.35993035e-01 6.08778362e+01] [ 4.94189527e-01 8.65501665e-01 -8.17531588e-02 1.94427447e+01] [ 1.58652267e-01 2.67259044e-03 9.87330905e-01 6.96330247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.260888479 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:60.90, Y:19.46, Z:6.97 [[ 8.55446902e-01 -4.99704439e-01 -1.36037023e-01 6.09005492e+01] [ 4.92967432e-01 8.66190989e-01 -8.18308092e-02 1.94572220e+01] [ 1.58725262e-01 2.94009007e-03 9.87318412e-01 6.96688405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290888479 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:60.92, Y:19.47, Z:6.97 [[ 8.55936741e-01 -4.98788984e-01 -1.36315240e-01 6.09244390e+01] [ 4.92009011e-01 8.66717782e-01 -8.20208501e-02 1.94718061e+01] [ 1.59057939e-01 3.13633266e-03 9.87264268e-01 6.97131792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.320888479 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:60.95, Y:19.48, Z:6.98 [[ 8.57500468e-01 -4.95927947e-01 -1.36924866e-01 6.09490662e+01] [ 4.89042143e-01 8.68355665e-01 -8.24391948e-02 1.94836591e+01] [ 1.59783384e-01 3.72961817e-03 9.87145055e-01 6.97750289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350888479 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:60.97, Y:19.50, Z:6.98 [[ 8.58195464e-01 -4.94749120e-01 -1.36835135e-01 6.09719538e+01] [ 4.87849280e-01 8.69026684e-01 -8.24360508e-02 1.94970633e+01] [ 1.59698547e-01 3.99132266e-03 9.87157760e-01 6.98253897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38088847899999 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:61.00, Y:19.51, Z:6.99 [[ 8.58724519e-01 -4.93888922e-01 -1.36623330e-01 6.09953863e+01] [ 4.86996112e-01 8.69515031e-01 -8.23310264e-02 1.95117790e+01] [ 1.59458421e-01 4.16464047e-03 9.87195861e-01 6.98660660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.410888479 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:61.02, Y:19.53, Z:6.99 [[ 8.59547441e-01 -4.92432954e-01 -1.36703997e-01 6.10169772e+01] [ 4.85505349e-01 8.70338836e-01 -8.24309767e-02 1.95272151e+01] [ 1.59570527e-01 4.48281341e-03 9.87176353e-01 6.98926404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.440888479 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:61.04, Y:19.54, Z:6.99 [[ 8.59642435e-01 -4.92066481e-01 -1.37424391e-01 6.10407069e+01] [ 4.85056732e-01 8.70545494e-01 -8.28885412e-02 1.95416218e+01] [ 1.60420857e-01 4.59588135e-03 9.87038007e-01 6.99324743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.470888479 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:61.06, Y:19.55, Z:7.00 [[ 8.59874668e-01 -4.91530726e-01 -1.37888000e-01 6.10638559e+01] [ 4.84458123e-01 8.70847241e-01 -8.32190523e-02 1.95544688e+01] [ 1.60984105e-01 4.75699347e-03 9.86945535e-01 6.99719177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.500888479 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:61.09, Y:19.57, Z:7.00 [[ 8.59894315e-01 -4.91224326e-01 -1.38853985e-01 6.10881357e+01] [ 4.84043743e-01 8.71019488e-01 -8.38254527e-02 1.95672517e+01] [ 1.62121628e-01 4.86962783e-03 9.86758767e-01 7.00245394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.530888479 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:61.11, Y:19.58, Z:7.01 [[ 8.59896428e-01 -4.90985432e-01 -1.39683353e-01 6.11115000e+01] [ 4.83706679e-01 8.71153494e-01 -8.43767655e-02 1.95792092e+01] [ 1.63113404e-01 4.98950857e-03 9.86594710e-01 7.00756611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.560888479 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:61.14, Y:19.59, Z:7.01 [[ 8.59874341e-01 -4.91072724e-01 -1.39512353e-01 6.11350940e+01] [ 4.83809223e-01 8.71104303e-01 -8.42966708e-02 1.95942560e+01] [ 1.62925607e-01 4.98718135e-03 9.86625752e-01 7.01142336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.590888479 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:61.16, Y:19.61, Z:7.02 [[ 8.59642846e-01 -4.91461548e-01 -1.39569784e-01 6.11584470e+01] [ 4.84188751e-01 8.70885149e-01 -8.43819272e-02 1.96091041e+01] [ 1.63019725e-01 4.96020053e-03 9.86610341e-01 7.01555849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.620888479 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:61.18, Y:19.62, Z:7.02 [[ 8.59130995e-01 -4.92615281e-01 -1.38651071e-01 6.11822129e+01] [ 4.85445405e-01 8.70234219e-01 -8.38758772e-02 1.96222016e+01] [ 1.61977445e-01 4.75284064e-03 9.86783015e-01 7.02018566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650888479 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:61.21, Y:19.64, Z:7.03 [[ 8.58607431e-01 -4.93636441e-01 -1.38261869e-01 6.12065281e+01] [ 4.86514563e-01 8.69656318e-01 -8.36747738e-02 1.96354455e+01] [ 1.61545226e-01 4.57736955e-03 9.86854694e-01 7.02572196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.680888479 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:61.23, Y:19.65, Z:7.03 [[ 8.57848025e-01 -4.95028305e-01 -1.37999071e-01 6.12307731e+01] [ 4.87943483e-01 8.68865957e-01 -8.35649823e-02 1.96488946e+01] [ 1.61269726e-01 4.35030784e-03 9.86900780e-01 7.03061391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710888479 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:61.25, Y:19.66, Z:7.03 [[ 8.56900358e-01 -4.96715430e-01 -1.37824371e-01 6.12548915e+01] [ 4.89661899e-01 8.67903907e-01 -8.35106709e-02 1.96628266e+01] [ 1.61099349e-01 4.07298074e-03 9.86929790e-01 7.03481885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.740888479 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:61.28, Y:19.68, Z:7.04 [[ 8.54889840e-01 -4.99873886e-01 -1.38886501e-01 6.12787027e+01] [ 4.92742994e-01 8.66090918e-01 -8.42072687e-02 1.96766063e+01] [ 1.62381352e-01 3.55258808e-03 9.86721681e-01 7.03841028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77088847899999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:61.30, Y:19.69, Z:7.04 [[ 8.53644780e-01 -5.01803103e-01 -1.39585941e-01 6.13016803e+01] [ 4.94616180e-01 8.64975769e-01 -8.46862093e-02 1.96902359e+01] [ 1.63234259e-01 3.25047561e-03 9.86581984e-01 7.04208299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.800888479 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:61.33, Y:19.70, Z:7.05 [[ 8.52365855e-01 -5.03739686e-01 -1.40423564e-01 6.13252298e+01] [ 4.96485461e-01 8.63850532e-01 -8.52317150e-02 1.97036027e+01] [ 1.64239568e-01 2.93034591e-03 9.86416128e-01 7.04608501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.830888479 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:61.35, Y:19.72, Z:7.05 [[ 8.50011437e-01 -5.07346706e-01 -1.41703485e-01 6.13502830e+01] [ 5.00004051e-01 8.61739017e-01 -8.60338058e-02 1.97164691e+01] [ 1.65760389e-01 2.27740257e-03 9.86163428e-01 7.05063035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.860888479 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:61.37, Y:19.73, Z:7.06 [[ 8.49000459e-01 -5.09048126e-01 -1.41662366e-01 6.13745333e+01] [ 5.01724104e-01 8.60735753e-01 -8.60632741e-02 1.97303154e+01] [ 1.65744212e-01 1.99233555e-03 9.86166764e-01 7.05547379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.890888479 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:61.40, Y:19.74, Z:7.06 [[ 8.48026005e-01 -5.10667777e-01 -1.41669741e-01 6.13976392e+01] [ 5.03356390e-01 8.59776397e-01 -8.61213757e-02 1.97433991e+01] [ 1.65783711e-01 1.72279662e-03 9.86160632e-01 7.06000885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.920888479 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:61.42, Y:19.76, Z:7.06 [[ 8.47175603e-01 -5.12093224e-01 -1.41612246e-01 6.14212062e+01] [ 5.04803560e-01 8.58928627e-01 -8.61102727e-02 1.97569779e+01] [ 1.65731299e-01 1.46415646e-03 9.86169860e-01 7.06419837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.950888479 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:61.45, Y:19.77, Z:7.07 [[ 8.44899215e-01 -5.15611607e-01 -1.42442928e-01 6.14459843e+01] [ 5.08280754e-01 8.56822051e-01 -8.66409089e-02 1.97703968e+01] [ 1.66721300e-01 8.01837058e-04 9.86003735e-01 7.06894149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.980888479 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:61.47, Y:19.78, Z:7.07 [[ 8.44126452e-01 -5.16894977e-01 -1.42373159e-01 6.14694791e+01] [ 5.09580390e-01 8.56048614e-01 -8.66521627e-02 1.97836809e+01] [ 1.66668413e-01 5.94812741e-04 9.86012823e-01 7.07328304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010888479 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:61.49, Y:19.80, Z:7.08 [[ 8.43230818e-01 -5.18401343e-01 -1.42203498e-01 6.14935265e+01] [ 5.11121226e-01 8.55137384e-01 -8.65745136e-02 1.97977309e+01] [ 1.66483871e-01 3.19071689e-04 9.86044126e-01 7.07768452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.040888479 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:61.52, Y:19.81, Z:7.08 [[ 8.42501021e-01 -5.19698196e-01 -1.41794975e-01 6.15174890e+01] [ 5.12469280e-01 8.54349912e-01 -8.63797678e-02 1.98118019e+01] [ 1.66033934e-01 1.09473517e-04 9.86120034e-01 7.08207194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070888479 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:61.54, Y:19.83, Z:7.09 [[ 8.41731750e-01 -5.20988221e-01 -1.41629566e-01 6.15411636e+01] [ 5.13785265e-01 8.53563860e-01 -8.63332939e-02 1.98256568e+01] [ 1.65868508e-01 -9.77092786e-05 9.86147874e-01 7.08679609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.100888479 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:61.56, Y:19.84, Z:7.09 [[ 8.41537720e-01 -5.21324424e-01 -1.41545435e-01 6.15645013e+01] [ 5.14125674e-01 8.53358560e-01 -8.63363205e-02 1.98398597e+01] [ 1.65798241e-01 -1.16871832e-04 9.86159688e-01 7.09107116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13088847899999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:61.59, Y:19.85, Z:7.10 [[ 8.41765834e-01 -5.20890926e-01 -1.41784777e-01 6.15878465e+01] [ 5.13652649e-01 8.53623244e-01 -8.65350454e-02 1.98536930e+01] [ 1.66106101e-01 1.41184610e-05 9.86107886e-01 7.09575214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.160888479 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:61.61, Y:19.87, Z:7.10 [[ 8.42122358e-01 -5.20418118e-01 -1.41403382e-01 6.16113555e+01] [ 5.13208198e-01 8.53911568e-01 -8.63271650e-02 1.98677325e+01] [ 1.65672205e-01 1.28660803e-04 9.86180868e-01 7.10049052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.190888479 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:61.63, Y:19.88, Z:7.10 [[ 8.43519186e-01 -5.18354030e-01 -1.40657324e-01 6.16349439e+01] [ 5.11183111e-01 8.55165929e-01 -8.59247388e-02 1.98826350e+01] [ 1.64824786e-01 5.77517055e-04 9.86322694e-01 7.10495223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.220888479 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:61.66, Y:19.90, Z:7.11 [[ 8.44258242e-01 -5.17227980e-01 -1.40368219e-01 6.16582406e+01] [ 5.10062368e-01 8.55847245e-01 -8.58013587e-02 1.98982770e+01] [ 1.64512617e-01 8.41957848e-04 9.86374619e-01 7.10925304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.250888479 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:61.67, Y:19.93, Z:7.09 [[ 8.44357717e-01 -5.23053284e-01 -1.16083194e-01 6.16725401e+01] [ 5.12734931e-01 8.51706192e-01 -1.08164012e-01 1.99302655e+01] [ 1.55444317e-01 3.18092095e-02 9.87332385e-01 7.08993245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.280888479 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:61.71, Y:19.92, Z:7.13 [[ 8.47005179e-01 -5.08308571e-01 -1.55578350e-01 6.17102046e+01] [ 5.05529299e-01 8.60723959e-01 -5.99532671e-02 1.99174408e+01] [ 1.64384773e-01 -2.78686866e-02 9.86002527e-01 7.12914781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.310888479 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:61.73, Y:19.94, Z:7.12 [[ 8.47856810e-01 -5.11347706e-01 -1.40222510e-01 6.17282833e+01] [ 5.04099338e-01 8.59371409e-01 -8.58174793e-02 1.99434890e+01] [ 1.64385787e-01 2.07485979e-03 9.86393942e-01 7.12279135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.340888479 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:61.75, Y:19.96, Z:7.13 [[ 8.49312620e-01 -5.08835570e-01 -1.40550474e-01 6.17502671e+01] [ 5.01509769e-01 8.60859760e-01 -8.60722145e-02 1.99583365e+01] [ 1.64790852e-01 2.61478214e-03 9.86325067e-01 7.12648629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370888479 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:61.77, Y:19.97, Z:7.13 [[ 8.49967690e-01 -5.07727319e-01 -1.40598349e-01 6.17739323e+01] [ 5.00377194e-01 8.61513106e-01 -8.61268404e-02 1.99736271e+01] [ 1.64856270e-01 2.85282408e-03 9.86313475e-01 7.13058170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.400888479 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:61.80, Y:19.99, Z:7.13 [[ 8.50792334e-01 -5.06444605e-01 -1.40236466e-01 6.17964451e+01] [ 4.99106255e-01 8.62266780e-01 -8.59589779e-02 1.99884293e+01] [ 1.64454707e-01 3.14034201e-03 9.86379637e-01 7.13435446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430888479 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:61.82, Y:20.00, Z:7.14 [[ 8.51446811e-01 -5.05365480e-01 -1.40157269e-01 6.18194560e+01] [ 4.98016762e-01 8.62898825e-01 -8.59355728e-02 2.00034991e+01] [ 1.64370415e-01 3.36890012e-03 9.86392932e-01 7.13856571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.460888479 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:61.84, Y:20.02, Z:7.14 [[ 8.52431124e-01 -5.03733179e-01 -1.40050219e-01 6.18418311e+01] [ 4.96365150e-01 8.63851258e-01 -8.59223078e-02 2.00175041e+01] [ 1.64264475e-01 3.72680170e-03 9.86409293e-01 7.14278066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490888479 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:61.86, Y:20.04, Z:7.13 [[ 8.53887340e-01 -5.05850894e-01 -1.22438894e-01 6.18606623e+01] [ 4.95700274e-01 8.62138003e-01 -1.04877553e-01 2.00443034e+01] [ 1.58611628e-01 2.88606217e-02 9.86919154e-01 7.12978711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52088847899999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:61.89, Y:20.04, Z:7.16 [[ 8.54370507e-01 -4.96333908e-01 -1.53960021e-01 6.18943646e+01] [ 4.92343464e-01 8.67910686e-01 -6.57947879e-02 2.00370315e+01] [ 1.66279731e-01 -1.95880837e-02 9.85884049e-01 7.16147863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.550888479 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:61.91, Y:20.06, Z:7.16 [[ 8.54847888e-01 -4.99190375e-01 -1.41577036e-01 6.19127984e+01] [ 4.91582025e-01 8.66479407e-01 -8.69514226e-02 2.00605849e+01] [ 1.66078899e-01 4.73351408e-03 9.86101107e-01 7.15666244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.580888479 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:61.94, Y:20.08, Z:7.16 [[ 8.55711622e-01 -4.97702747e-01 -1.41596594e-01 6.19364540e+01] [ 4.90067738e-01 8.67332991e-01 -8.69890480e-02 2.00750062e+01] [ 1.66106085e-01 5.04561705e-03 9.86094980e-01 7.16010015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.610888479 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:61.96, Y:20.09, Z:7.16 [[ 8.55755650e-01 -4.97631282e-01 -1.41581689e-01 6.19592589e+01] [ 4.89987870e-01 8.67373641e-01 -8.70336359e-02 2.00892383e+01] [ 1.66114885e-01 5.10621559e-03 9.86093186e-01 7.16391404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.640888479 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:61.98, Y:20.10, Z:7.17 [[ 8.55960447e-01 -4.97262322e-01 -1.41640026e-01 6.19827859e+01] [ 4.89603242e-01 8.67584646e-01 -8.70950521e-02 2.01029682e+01] [ 1.66193800e-01 5.20250353e-03 9.86079386e-01 7.16841544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.670888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:62.01, Y:20.12, Z:7.17 [[ 8.55995451e-01 -4.97246818e-01 -1.41482826e-01 6.20072388e+01] [ 4.89595359e-01 8.67593257e-01 -8.70535770e-02 2.01168234e+01] [ 1.66036660e-01 5.24813078e-03 9.86105615e-01 7.17303009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.700888479 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:62.03, Y:20.13, Z:7.18 [[ 8.55968327e-01 -4.97358382e-01 -1.41254601e-01 6.20326184e+01] [ 4.89724020e-01 8.67529196e-01 -8.69682651e-02 2.01288242e+01] [ 1.65796886e-01 5.26630928e-03 9.86145861e-01 7.17839431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730888479 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:62.06, Y:20.14, Z:7.18 [[ 8.55910980e-01 -4.97359149e-01 -1.41598982e-01 6.20558658e+01] [ 4.89678037e-01 8.67528383e-01 -8.72348794e-02 2.01416874e+01] [ 1.66228202e-01 5.32737940e-03 9.86072920e-01 7.18271623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.760888479 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:62.08, Y:20.16, Z:7.19 [[ 8.55865623e-01 -4.97273587e-01 -1.42172488e-01 6.20800313e+01] [ 4.89524068e-01 8.67577050e-01 -8.76142095e-02 2.01553767e+01] [ 1.66913820e-01 5.38913539e-03 9.85956761e-01 7.18697519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790888479 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:62.10, Y:20.17, Z:7.19 [[ 8.55507617e-01 -4.97943125e-01 -1.41983665e-01 6.21048755e+01] [ 4.90214552e-01 8.67193507e-01 -8.75506448e-02 2.01681854e+01] [ 1.66722554e-01 5.29778497e-03 9.85989616e-01 7.19117805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.820888479 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:62.13, Y:20.18, Z:7.20 [[ 8.55330486e-01 -4.98403045e-01 -1.41436079e-01 6.21289954e+01] [ 4.90731436e-01 8.66929635e-01 -8.72677820e-02 2.01808899e+01] [ 1.66109657e-01 5.23566400e-03 9.86093388e-01 7.19623391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850888479 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:62.15, Y:20.19, Z:7.20 [[ 8.55122690e-01 -4.98920730e-01 -1.40866214e-01 6.21528870e+01] [ 4.91309249e-01 8.66632257e-01 -8.69698355e-02 2.01934301e+01] [ 1.65470258e-01 5.16100606e-03 9.86201276e-01 7.20164081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88088847899999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:62.18, Y:20.20, Z:7.21 [[ 8.54788114e-01 -4.99711152e-01 -1.40092985e-01 6.21783398e+01] [ 4.92189986e-01 8.66177665e-01 -8.65174565e-02 2.02048735e+01] [ 1.64579153e-01 5.00172904e-03 9.86351198e-01 7.20680486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.910888479 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:62.20, Y:20.22, Z:7.21 [[ 8.54727670e-01 -4.99908216e-01 -1.39758308e-01 6.22017430e+01] [ 4.92416867e-01 8.66063962e-01 -8.63645886e-02 2.02178099e+01] [ 1.64214002e-01 4.99885535e-03 9.86412071e-01 7.21098336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.940888479 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:62.23, Y:20.23, Z:7.22 [[ 8.54554583e-01 -5.00262337e-01 -1.39549488e-01 6.22259737e+01] [ 4.92791941e-01 8.65859705e-01 -8.62732511e-02 2.02314749e+01] [ 1.63989537e-01 4.95633915e-03 9.86449627e-01 7.21563282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.970888479 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:62.25, Y:20.24, Z:7.22 [[ 8.54593927e-01 -5.00170397e-01 -1.39638081e-01 6.22497459e+01] [ 4.92680431e-01 8.65912431e-01 -8.63808773e-02 2.02430668e+01] [ 1.64119508e-01 5.02362311e-03 9.86427671e-01 7.22006725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.000888479 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:62.27, Y:20.26, Z:7.22 [[ 8.54516308e-01 -5.00340034e-01 -1.39505306e-01 6.22739002e+01] [ 4.92862580e-01 8.65814515e-01 -8.63232522e-02 2.02562899e+01] [ 1.63976697e-01 5.00768190e-03 9.86451502e-01 7.22385989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.030888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:62.30, Y:20.27, Z:7.23 [[ 8.54290645e-01 -5.00676404e-01 -1.39680469e-01 6.22983216e+01] [ 4.93175226e-01 8.65620099e-01 -8.64872258e-02 2.02694119e+01] [ 1.64212335e-01 4.99828097e-03 9.86412351e-01 7.22834527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.060888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:62.32, Y:20.28, Z:7.23 [[ 8.54294966e-01 -5.00638182e-01 -1.39790991e-01 6.23229364e+01] [ 4.93115426e-01 8.65641860e-01 -8.66103132e-02 2.02801621e+01] [ 1.64369363e-01 5.05766066e-03 9.86385894e-01 7.23252816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.090888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:62.35, Y:20.30, Z:7.24 [[ 8.54162362e-01 -5.00867560e-01 -1.39779639e-01 6.23468888e+01] [ 4.93344857e-01 8.65509291e-01 -8.66286307e-02 2.02951040e+01] [ 1.64370047e-01 5.03535001e-03 9.86385895e-01 7.23703622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.120888479 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:62.37, Y:20.31, Z:7.24 [[ 8.53941595e-01 -5.01100554e-01 -1.40292504e-01 6.23708385e+01] [ 4.93516694e-01 8.65374306e-01 -8.69976061e-02 2.03074086e+01] [ 1.65000077e-01 5.05418191e-03 9.86280604e-01 7.24135682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:62.39, Y:20.32, Z:7.25 [[ 8.53725642e-01 -5.01364292e-01 -1.40664053e-01 6.23949734e+01] [ 4.93739391e-01 8.65221628e-01 -8.72522116e-02 2.03198871e+01] [ 1.65450724e-01 5.03806653e-03 9.86205190e-01 7.24602217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.180888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:62.42, Y:20.33, Z:7.25 [[ 8.53375639e-01 -5.01943791e-01 -1.40721174e-01 6.24198774e+01] [ 4.94316244e-01 8.64886079e-01 -8.73127764e-02 2.03327639e+01] [ 1.65533890e-01 4.94983430e-03 9.86191680e-01 7.25026735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.45, Y:20.34, Z:7.25 [[ 8.53099520e-01 -5.02430861e-01 -1.40657172e-01 6.24457401e+01] [ 4.94807664e-01 8.64603498e-01 -8.73279288e-02 2.03437122e+01] [ 1.65488929e-01 4.90116757e-03 9.86199469e-01 7.25498081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.240888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:62.47, Y:20.36, Z:7.26 [[ 8.53026753e-01 -5.02433012e-01 -1.41090140e-01 6.24698051e+01] [ 4.94753500e-01 8.64601895e-01 -8.76500844e-02 2.03561165e+01] [ 1.66025098e-01 4.96302633e-03 9.86109038e-01 7.25977094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.49, Y:20.37, Z:7.26 [[ 8.53210157e-01 -5.02318750e-01 -1.40386256e-01 6.24948993e+01] [ 4.94710547e-01 8.64668178e-01 -8.72377046e-02 2.03689282e+01] [ 1.65208663e-01 4.98153424e-03 9.86246056e-01 7.26386901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.300888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:62.52, Y:20.38, Z:7.27 [[ 8.53294772e-01 -5.02280307e-01 -1.40009016e-01 6.25197576e+01] [ 4.94703603e-01 8.64690269e-01 -8.70579331e-02 2.03819228e+01] [ 1.64791919e-01 5.02311467e-03 9.86315564e-01 7.26868416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.330888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:62.54, Y:20.39, Z:7.27 [[ 8.53853904e-01 -5.01657803e-01 -1.38827088e-01 6.25437225e+01] [ 4.94192433e-01 8.65050850e-01 -8.63763042e-02 2.03934290e+01] [ 1.63423837e-01 5.14544836e-03 9.86542535e-01 7.27228144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.360888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:62.57, Y:20.41, Z:7.28 [[ 8.53959345e-01 -5.01495212e-01 -1.38765951e-01 6.25678782e+01] [ 4.94030233e-01 8.65144817e-01 -8.63630384e-02 2.04065976e+01] [ 1.63363293e-01 5.19594868e-03 9.86552298e-01 7.27643006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.390888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.59, Y:20.42, Z:7.28 [[ 8.53943436e-01 -5.01605192e-01 -1.38466023e-01 6.25916241e+01] [ 4.94165281e-01 8.65080970e-01 -8.62298743e-02 2.04193694e+01] [ 1.63037674e-01 5.21033380e-03 9.86606086e-01 7.28065836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.62, Y:20.43, Z:7.29 [[ 8.53866258e-01 -5.01701037e-01 -1.38594669e-01 6.26162367e+01] [ 4.94244369e-01 8.65025338e-01 -8.63346246e-02 2.04321045e+01] [ 1.63202071e-01 5.21858822e-03 9.86578862e-01 7.28548608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.450888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:62.64, Y:20.45, Z:7.28 [[ 8.53957178e-01 -5.03826619e-01 -1.30061046e-01 6.26392864e+01] [ 4.95075355e-01 8.63642995e-01 -9.49798353e-02 2.04484094e+01] [ 1.60179680e-01 1.67186937e-02 9.86946278e-01 7.27913065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.67, Y:20.45, Z:7.30 [[ 8.54056502e-01 -4.99465469e-01 -1.45333190e-01 6.26670953e+01] [ 4.93482008e-01 8.66314986e-01 -7.72906960e-02 2.04521079e+01] [ 1.64508354e-01 -5.70869276e-03 9.86359170e-01 7.29878841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:62.69, Y:20.47, Z:7.30 [[ 8.54274800e-01 -5.00740711e-01 -1.39546790e-01 6.26887104e+01] [ 4.93147094e-01 8.65579546e-01 -8.70516739e-02 2.04697740e+01] [ 1.64379164e-01 5.54895717e-03 9.86381620e-01 7.29837561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.540888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:62.71, Y:20.48, Z:7.30 [[ 8.54618411e-01 -5.00216084e-01 -1.39324227e-01 6.27135282e+01] [ 4.92635815e-01 8.65882097e-01 -8.69376047e-02 2.04825048e+01] [ 1.64125942e-01 5.66237326e-03 9.86423141e-01 7.30268341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.74, Y:20.50, Z:7.31 [[ 8.54640845e-01 -5.00303727e-01 -1.38871185e-01 6.27367306e+01] [ 4.92765246e-01 8.65831384e-01 -8.67088636e-02 2.04960787e+01] [ 1.63619798e-01 5.67404272e-03 9.86507155e-01 7.30628223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.76, Y:20.51, Z:7.31 [[ 8.54260403e-01 -5.00839087e-01 -1.39281631e-01 6.27604957e+01] [ 4.93258478e-01 8.65522229e-01 -8.69904849e-02 2.05101085e+01] [ 1.64119583e-01 5.61068130e-03 9.86424494e-01 7.31057914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.78, Y:20.52, Z:7.31 [[ 8.53888460e-01 -5.01607131e-01 -1.38797637e-01 6.27839911e+01] [ 4.94080538e-01 8.65078107e-01 -8.67426716e-02 2.05223067e+01] [ 1.63581539e-01 5.49135541e-03 9.86514534e-01 7.31416553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:20.54, Z:7.32 [[ 8.53480263e-01 -5.02278714e-01 -1.38879564e-01 6.28080519e+01] [ 4.94747809e-01 8.64688998e-01 -8.68190217e-02 2.05354643e+01] [ 1.63694978e-01 5.38796128e-03 9.86496287e-01 7.31893428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.690888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:62.83, Y:20.55, Z:7.32 [[ 8.52981496e-01 -5.03092562e-01 -1.38997991e-01 6.28325781e+01] [ 4.95550531e-01 8.64216385e-01 -8.69465988e-02 2.05487669e+01] [ 1.63866529e-01 5.28331163e-03 9.86468371e-01 7.32332347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.86, Y:20.56, Z:7.32 [[ 8.51061960e-01 -5.06975122e-01 -1.36637353e-01 6.28561424e+01] [ 4.98995559e-01 8.61919718e-01 -8.99879526e-02 2.05640133e+01] [ 1.63392082e-01 8.40389129e-03 9.86525419e-01 7.32265605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.750888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:62.88, Y:20.58, Z:7.33 [[ 8.50425139e-01 -5.06703299e-01 -1.41523318e-01 6.28810303e+01] [ 4.99567400e-01 8.62119413e-01 -8.47498169e-02 2.05756376e+01] [ 1.64953012e-01 1.37293864e-03 9.86300471e-01 7.33180451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.90, Y:20.59, Z:7.33 [[ 8.49649905e-01 -5.09461588e-01 -1.36176095e-01 6.29026927e+01] [ 5.01310788e-01 8.60443647e-01 -9.12371877e-02 2.05927978e+01] [ 1.63653698e-01 9.25312257e-03 9.86474453e-01 7.33041260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.810888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:62.93, Y:20.60, Z:7.34 [[ 8.48925836e-01 -5.09135988e-01 -1.41793760e-01 6.29294876e+01] [ 5.02241058e-01 8.60686029e-01 -8.35073546e-02 2.06023277e+01] [ 1.64556507e-01 -3.23097008e-04 9.86367605e-01 7.34196196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.840888479 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:62.95, Y:20.62, Z:7.35 [[ 8.48534658e-01 -5.10436848e-01 -1.39438726e-01 6.29529756e+01] [ 5.02909709e-01 8.59905644e-01 -8.74305866e-02 2.06181350e+01] [ 1.64531941e-01 4.06279381e-03 9.86363389e-01 7.34548992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870888479 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:62.98, Y:20.63, Z:7.35 [[ 8.48306517e-01 -5.10996219e-01 -1.38776505e-01 6.29769038e+01] [ 5.03539714e-01 8.59573744e-01 -8.70674180e-02 2.06325963e+01] [ 1.63779761e-01 3.98037654e-03 9.86488898e-01 7.34945337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.00, Y:20.65, Z:7.35 [[ 8.47751385e-01 -5.11610570e-01 -1.39900728e-01 6.30008202e+01] [ 5.04031218e-01 8.59208413e-01 -8.78261557e-02 2.06475849e+01] [ 1.65136672e-01 3.94041098e-03 9.86262821e-01 7.35395510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:20.66, Z:7.36 [[ 8.47515058e-01 -5.11857867e-01 -1.40427033e-01 6.30240928e+01] [ 5.04215230e-01 8.59061050e-01 -8.82106298e-02 2.06627260e+01] [ 1.65786699e-01 3.95438834e-03 9.86153707e-01 7.35815583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.960888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:63.05, Y:20.68, Z:7.36 [[ 8.47592891e-01 -5.11753194e-01 -1.40338730e-01 6.30474874e+01] [ 5.04109621e-01 8.59123104e-01 -8.82098711e-02 2.06776641e+01] [ 1.65709929e-01 4.01995543e-03 9.86166345e-01 7.36147078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:20.69, Z:7.37 [[ 8.47278284e-01 -5.12305452e-01 -1.40223511e-01 6.30713355e+01] [ 5.04672739e-01 8.58794194e-01 -8.81927397e-02 2.06924527e+01] [ 1.65604758e-01 3.95680987e-03 9.86184267e-01 7.36656212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02088847899999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:63.09, Y:20.71, Z:7.37 [[ 8.47066092e-01 -5.12730396e-01 -1.39952053e-01 6.30939598e+01] [ 5.05124114e-01 8.58540755e-01 -8.80761128e-02 2.07061542e+01] [ 1.65313841e-01 3.91313190e-03 9.86233249e-01 7.37140345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.050888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:63.12, Y:20.72, Z:7.38 [[ 8.46649642e-01 -5.13505176e-01 -1.39631008e-01 6.31164952e+01] [ 5.05940478e-01 8.58078197e-01 -8.78978965e-02 2.07201907e+01] [ 1.64950349e-01 3.77374351e-03 9.86294652e-01 7.37629958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.080888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:63.14, Y:20.74, Z:7.38 [[ 8.46054154e-01 -5.14561682e-01 -1.39350796e-01 6.31398138e+01] [ 5.07037619e-01 8.57445884e-01 -8.77462740e-02 2.07351309e+01] [ 1.64636637e-01 3.58200379e-03 9.86347782e-01 7.38075154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.17, Y:20.75, Z:7.38 [[ 8.45908274e-01 -5.16484879e-01 -1.32975795e-01 6.31662611e+01] [ 5.07901507e-01 8.56205343e-01 -9.45963567e-02 2.07535985e+01] [ 1.62712174e-01 1.24812340e-02 9.86594632e-01 7.37802702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.140888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:63.19, Y:20.76, Z:7.39 [[ 8.44730723e-01 -5.15279093e-01 -1.44628703e-01 6.31883693e+01] [ 5.09229251e-01 8.56994733e-01 -7.90290988e-02 2.07603255e+01] [ 1.64668079e-01 -6.89085826e-03 9.86324967e-01 7.39368828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.21, Y:20.78, Z:7.39 [[ 8.44322996e-01 -5.17453816e-01 -1.39141030e-01 6.32096583e+01] [ 5.09970100e-01 8.55705429e-01 -8.77423255e-02 2.07791246e+01] [ 1.64466336e-01 3.12509797e-03 9.86377746e-01 7.39350676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.24, Y:20.80, Z:7.39 [[ 8.44750433e-01 -5.18353568e-01 -1.33064966e-01 6.32358364e+01] [ 5.09873814e-01 8.55087125e-01 -9.40994284e-02 2.07972216e+01] [ 1.62558913e-01 1.16441913e-02 9.86630130e-01 7.39164663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.26, Y:20.81, Z:7.40 [[ 8.44320651e-01 -5.17982197e-01 -1.37175371e-01 6.32616839e+01] [ 5.10570342e-01 8.55383178e-01 -8.73930526e-02 2.08106883e+01] [ 1.62605550e-01 3.75008321e-03 9.86684028e-01 7.39898924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.260888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:63.29, Y:20.82, Z:7.40 [[ 8.44358288e-01 -5.17615705e-01 -1.38322316e-01 6.32853432e+01] [ 5.10458674e-01 8.55611249e-01 -8.57982134e-02 2.08238940e+01] [ 1.62760632e-01 1.83660682e-03 9.86663876e-01 7.40438081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:20.84, Z:7.41 [[ 8.43759674e-01 -5.18712246e-01 -1.37866670e-01 6.33097826e+01] [ 5.11364900e-01 8.54943816e-01 -8.70460259e-02 2.08396101e+01] [ 1.63020096e-01 2.94575066e-03 9.86618351e-01 7.40968664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.33, Y:20.85, Z:7.42 [[ 8.42289243e-01 -5.18645797e-01 -1.46817469e-01 6.33292681e+01] [ 5.13081147e-01 8.54920272e-01 -7.65445383e-02 2.08495184e+01] [ 1.65216733e-01 -1.08566339e-02 9.86197528e-01 7.42358560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:20.87, Z:7.42 [[ 8.41912679e-01 -5.21191960e-01 -1.39792638e-01 6.33495139e+01] [ 5.13631006e-01 8.53435193e-01 -8.84961123e-02 2.08694785e+01] [ 1.65427419e-01 2.70416551e-03 9.86218260e-01 7.42202702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38088847899999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:63.38, Y:20.88, Z:7.43 [[ 8.42527248e-01 -5.20161660e-01 -1.39927421e-01 6.33819898e+01] [ 5.12503411e-01 8.54061593e-01 -8.89890415e-02 2.08848531e+01] [ 1.65795324e-01 3.26241160e-03 9.86154789e-01 7.42649364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.410888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:63.40, Y:20.90, Z:7.43 [[ 8.40407502e-01 -5.23424570e-01 -1.40506047e-01 6.33969910e+01] [ 5.16527585e-01 8.52070880e-01 -8.47022371e-02 2.08990815e+01] [ 1.64056343e-01 -1.39085373e-03 9.86449990e-01 7.43084464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:20.91, Z:7.43 [[ 8.39548587e-01 -5.25217434e-01 -1.38941773e-01 6.34186585e+01] [ 5.17786967e-01 8.50965748e-01 -8.80565292e-02 2.09143592e+01] [ 1.64483514e-01 1.98549531e-03 9.86377834e-01 7.43429547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.470888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:63.44, Y:20.93, Z:7.44 [[ 8.38036907e-01 -5.27859382e-01 -1.38052942e-01 6.34429974e+01] [ 5.20556021e-01 8.49330495e-01 -8.75165133e-02 2.09284592e+01] [ 1.63448986e-01 1.47777797e-03 9.86550680e-01 7.43939794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.48, Y:20.94, Z:7.46 [[ 8.38753018e-01 -5.24171787e-01 -1.47435791e-01 6.34776482e+01] [ 5.18238208e-01 8.51554779e-01 -7.92692806e-02 2.09362510e+01] [ 1.67100373e-01 -9.91951185e-03 9.85889988e-01 7.45541212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.530888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:63.49, Y:20.96, Z:7.45 [[ 8.36696621e-01 -5.31269048e-01 -1.33011137e-01 6.34876359e+01] [ 5.22865935e-01 8.47148659e-01 -9.46063642e-02 2.09611607e+01] [ 1.62941640e-01 9.60983257e-03 9.86588908e-01 7.44546427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:20.97, Z:7.45 [[ 8.35951082e-01 -5.31307318e-01 -1.37471169e-01 6.35106027e+01] [ 5.24091317e-01 8.47178676e-01 -8.72730334e-02 2.09730531e+01] [ 1.62831444e-01 9.08540734e-04 9.86653483e-01 7.45313873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.590888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:63.53, Y:20.99, Z:7.46 [[ 8.35936098e-01 -5.31387395e-01 -1.37252602e-01 6.35335783e+01] [ 5.24191622e-01 8.47128446e-01 -8.71581241e-02 2.09883809e+01] [ 1.62585312e-01 9.11958147e-04 9.86694068e-01 7.45686956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.620888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:63.56, Y:21.00, Z:7.46 [[ 8.35882608e-01 -5.31420373e-01 -1.37450548e-01 6.35565181e+01] [ 5.24195225e-01 8.47107713e-01 -8.73377817e-02 2.10035332e+01] [ 1.62848496e-01 9.53211770e-04 9.86650626e-01 7.46167736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:63.58, Y:21.02, Z:7.47 [[ 8.36041898e-01 -5.31199825e-01 -1.37334228e-01 6.35789846e+01] [ 5.23975306e-01 8.47245928e-01 -8.73167611e-02 2.10180091e+01] [ 1.62738514e-01 1.04072660e-03 9.86668685e-01 7.46588443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.60, Y:21.03, Z:7.47 [[ 8.36453930e-01 -5.30506390e-01 -1.37505611e-01 6.36014089e+01] [ 5.23250528e-01 8.47680091e-01 -8.74491176e-02 2.10330128e+01] [ 1.62953084e-01 1.19727457e-03 9.86633092e-01 7.47084475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:63.62, Y:21.05, Z:7.47 [[ 8.36653126e-01 -5.30242771e-01 -1.37310415e-01 6.36237695e+01] [ 5.23000290e-01 8.47844915e-01 -8.73481380e-02 2.10481215e+01] [ 1.62733655e-01 1.26670602e-03 9.86669222e-01 7.47459409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.740888479 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:63.65, Y:21.06, Z:7.48 [[ 8.36826639e-01 -5.29929269e-01 -1.37463253e-01 6.36471199e+01] [ 5.22662535e-01 8.48040772e-01 -8.74684181e-02 2.10637540e+01] [ 1.62926518e-01 1.34901013e-03 9.86637284e-01 7.47877092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77088847899999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:63.67, Y:21.08, Z:7.48 [[ 8.37150815e-01 -5.29248599e-01 -1.38110221e-01 6.36695540e+01] [ 5.21895323e-01 8.48465423e-01 -8.79300715e-02 2.10797048e+01] [ 1.63718615e-01 1.53165241e-03 9.86505889e-01 7.48294666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:21.10, Z:7.49 [[ 8.37249947e-01 -5.29253451e-01 -1.37489314e-01 6.36927040e+01] [ 5.21958166e-01 8.48462330e-01 -8.75862259e-02 2.10950742e+01] [ 1.63009816e-01 1.56789278e-03 9.86623201e-01 7.48714181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.830888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:63.73, Y:21.11, Z:7.49 [[ 8.39063342e-01 -5.25829701e-01 -1.39555846e-01 6.37267467e+01] [ 5.18559491e-01 8.50589540e-01 -8.71406261e-02 2.11080340e+01] [ 1.64525872e-01 7.48496346e-04 9.86372484e-01 7.49468319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:21.12, Z:7.50 [[ 8.37656278e-01 -5.28517532e-01 -1.37844760e-01 6.37395814e+01] [ 5.21555493e-01 8.48922343e-01 -8.55027695e-02 2.11248925e+01] [ 1.62209209e-01 -2.71759932e-04 9.86756352e-01 7.49813505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.890888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:63.76, Y:21.14, Z:7.50 [[ 8.37560998e-01 -5.29146889e-01 -1.35996852e-01 6.37607713e+01] [ 5.21990136e-01 8.48528599e-01 -8.67497202e-02 2.11411083e+01] [ 1.61300563e-01 1.66916679e-03 9.86903917e-01 7.50081097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.920888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:63.78, Y:21.16, Z:7.50 [[ 8.37349840e-01 -5.29613915e-01 -1.35478215e-01 6.37834909e+01] [ 5.22514318e-01 8.48237327e-01 -8.64420288e-02 2.11573286e+01] [ 1.60698580e-01 1.59291187e-03 9.87002244e-01 7.50474065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:21.17, Z:7.51 [[ 8.38617890e-01 -5.28612306e-01 -1.31487891e-01 6.38153805e+01] [ 5.20679153e-01 8.48822096e-01 -9.16202425e-02 2.11748493e+01] [ 1.60041415e-01 8.37137040e-03 9.87074802e-01 7.50517589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.83, Y:21.18, Z:7.52 [[ 8.36017736e-01 -5.30471795e-01 -1.40264107e-01 6.38302888e+01] [ 5.24792191e-01 8.47659988e-01 -7.78826116e-02 2.11840929e+01] [ 1.60210800e-01 -8.49826368e-03 9.87046240e-01 7.51809051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.85, Y:21.20, Z:7.52 [[ 8.35899300e-01 -5.32036818e-01 -1.34941411e-01 6.38523616e+01] [ 5.25004399e-01 8.46720323e-01 -8.62268842e-02 2.12032492e+01] [ 1.60133512e-01 1.23215789e-03 9.87094595e-01 7.51839115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:21.22, Z:7.52 [[ 8.35567254e-01 -5.32584592e-01 -1.34836999e-01 6.38745317e+01] [ 5.25562223e-01 8.46375973e-01 -8.62094132e-02 2.12180244e+01] [ 1.60036601e-01 1.16852976e-03 9.87110389e-01 7.52308136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:63.90, Y:21.23, Z:7.53 [[ 8.34944958e-01 -5.33600175e-01 -1.34676540e-01 6.38970931e+01] [ 5.26604002e-01 8.45736288e-01 -8.61298850e-02 2.12335453e+01] [ 1.59859759e-01 9.92508390e-04 9.87139237e-01 7.52754594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.92, Y:21.25, Z:7.53 [[ 8.34322101e-01 -5.34566676e-01 -1.34703753e-01 6.39185211e+01] [ 5.27571515e-01 8.45125873e-01 -8.62006724e-02 2.12487780e+01] [ 1.59921634e-01 8.53263018e-04 9.87129345e-01 7.53147847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:63.95, Y:21.27, Z:7.53 [[ 8.33907131e-01 -5.35728427e-01 -1.32642184e-01 6.39487931e+01] [ 5.27622548e-01 8.44355222e-01 -9.31595740e-02 2.12681453e+01] [ 1.61905352e-01 7.70142620e-03 9.86776239e-01 7.53261261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:21.28, Z:7.54 [[ 8.32919091e-01 -5.35939985e-01 -1.37891697e-01 6.39736422e+01] [ 5.29369038e-01 8.44249806e-01 -8.37298464e-02 2.12811113e+01] [ 1.61289211e-01 -3.25540720e-03 9.86901815e-01 7.54132356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:21.30, Z:7.55 [[ 8.30814742e-01 -5.38602083e-01 -1.40195081e-01 6.39878359e+01] [ 5.33031978e-01 8.42500872e-01 -7.79050124e-02 2.12960883e+01] [ 1.60074280e-01 -1.00038284e-02 9.87054278e-01 7.54869585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:21.32, Z:7.55 [[ 8.29528560e-01 -5.42006419e-01 -1.34578639e-01 6.40068487e+01] [ 5.35048385e-01 8.40374324e-01 -8.65691744e-02 2.13163821e+01] [ 1.60017481e-01 -1.94480724e-04 9.87114162e-01 7.54879058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.250888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:64.03, Y:21.33, Z:7.55 [[ 8.28974704e-01 -5.42862439e-01 -1.34541114e-01 6.40297386e+01] [ 5.35915762e-01 8.39821562e-01 -8.65681210e-02 2.13322241e+01] [ 1.59985110e-01 -3.39921048e-04 9.87119369e-01 7.55345129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:21.35, Z:7.56 [[ 8.28516412e-01 -5.43524539e-01 -1.34690867e-01 6.40522880e+01] [ 5.36562449e-01 8.39393171e-01 -8.67170247e-02 2.13485477e+01] [ 1.60191425e-01 -4.23583049e-04 9.87085877e-01 7.55818729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:21.36, Z:7.56 [[ 8.28585398e-01 -5.43390769e-01 -1.34806193e-01 6.40739942e+01] [ 5.36406112e-01 8.39479808e-01 -8.68454624e-02 2.13641765e+01] [ 1.60358100e-01 -3.51984077e-04 9.87058841e-01 7.56254220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:21.38, Z:7.57 [[ 8.29462486e-01 -5.42102942e-01 -1.34597119e-01 6.40947895e+01] [ 5.35117265e-01 8.40312082e-01 -8.67474402e-02 2.13820176e+01] [ 1.60129628e-01 -7.14949866e-05 9.87095992e-01 7.56679341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:21.40, Z:7.57 [[ 8.30081724e-01 -5.41200566e-01 -1.34410860e-01 6.41171146e+01] [ 5.34218813e-01 8.40893532e-01 -8.66506011e-02 2.13984828e+01] [ 1.59920577e-01 1.22270388e-04 9.87129877e-01 7.57170520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.400888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:64.14, Y:21.42, Z:7.58 [[ 8.31948318e-01 -5.38504128e-01 -1.33698544e-01 6.41378231e+01] [ 5.31553492e-01 8.42622595e-01 -8.62441133e-02 2.14161021e+01] [ 1.59100225e-01 6.82716916e-04 9.87262200e-01 7.57668534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.16, Y:21.43, Z:7.58 [[ 8.33235800e-01 -5.36637116e-01 -1.33186740e-01 6.41603849e+01] [ 5.29710467e-01 8.43812461e-01 -8.59497022e-02 2.14326901e+01] [ 1.58508431e-01 1.06595866e-03 9.87357048e-01 7.58110152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.460888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.18, Y:21.45, Z:7.59 [[ 8.34411341e-01 -5.34691986e-01 -1.33649518e-01 6.41828403e+01] [ 5.27683404e-01 8.45045721e-01 -8.63015336e-02 2.14490247e+01] [ 1.59084692e-01 1.48634568e-03 9.87263821e-01 7.58580309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:64.20, Y:21.47, Z:7.59 [[ 8.37025516e-01 -5.30455683e-01 -1.34182911e-01 6.42033887e+01] [ 5.23327492e-01 8.47709413e-01 -8.67011422e-02 2.14666125e+01] [ 1.59739230e-01 2.34946194e-03 9.87156451e-01 7.58983548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52088847899999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:64.22, Y:21.49, Z:7.59 [[ 8.37799685e-01 -5.30434828e-01 -1.29346747e-01 6.42213548e+01] [ 5.21077217e-01 8.47557166e-01 -1.00624967e-01 2.14886558e+01] [ 1.63003750e-01 1.69039228e-02 9.86480631e-01 7.58789580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.550888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.25, Y:21.50, Z:7.60 [[ 8.38954054e-01 -5.25527510e-01 -1.41339775e-01 6.42498949e+01] [ 5.20160999e-01 8.50716615e-01 -7.55895238e-02 2.14954484e+01] [ 1.59964469e-01 -1.01033013e-02 9.87071067e-01 7.60390119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.580888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:64.27, Y:21.52, Z:7.60 [[ 8.39718382e-01 -5.26383856e-01 -1.33390687e-01 6.42698949e+01] [ 5.19275517e-01 8.50241103e-01 -8.62728433e-02 2.15168918e+01] [ 1.58826876e-01 3.17837468e-03 9.87301333e-01 7.60350135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.610888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:64.29, Y:21.53, Z:7.61 [[ 8.40976241e-01 -5.24408753e-01 -1.33245723e-01 6.42906858e+01] [ 5.17282600e-01 8.51459065e-01 -8.62332382e-02 2.15331377e+01] [ 1.58674744e-01 3.59441041e-03 9.87324367e-01 7.60918442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.640888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:64.31, Y:21.55, Z:7.61 [[ 8.41303137e-01 -5.23904981e-01 -1.33163822e-01 6.43128050e+01] [ 5.16777639e-01 8.51768647e-01 -8.62035037e-02 2.15497989e+01] [ 1.58587213e-01 3.70719245e-03 9.87338013e-01 7.61381778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.670888479 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:64.33, Y:21.57, Z:7.62 [[ 8.41704400e-01 -5.23328502e-01 -1.32894627e-01 6.43334778e+01] [ 5.16214653e-01 8.52122312e-01 -8.60813447e-02 2.15675549e+01] [ 1.58291298e-01 3.85289303e-03 9.87384940e-01 7.61795267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.700888479 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:64.36, Y:21.58, Z:7.62 [[ 8.41474678e-01 -5.23755867e-01 -1.32665590e-01 6.43561432e+01] [ 5.16666342e-01 8.51859954e-01 -8.59680701e-02 2.15838492e+01] [ 1.58038785e-01 3.79610898e-03 9.87425608e-01 7.62166627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730888479 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:64.38, Y:21.60, Z:7.63 [[ 8.41118168e-01 -5.24356367e-01 -1.32554247e-01 6.43790516e+01] [ 5.17277977e-01 8.51490768e-01 -8.59474643e-02 2.16003593e+01] [ 1.57935818e-01 3.72458102e-03 9.87442355e-01 7.62594068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.760888479 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:64.40, Y:21.62, Z:7.63 [[ 8.40582192e-01 -5.25081518e-01 -1.33082597e-01 6.44023401e+01] [ 5.17946920e-01 8.51044120e-01 -8.63417237e-02 2.16163181e+01] [ 1.58595605e-01 3.64759438e-03 9.87336887e-01 7.62999294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790888479 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:64.42, Y:21.65, Z:7.61 [[ 8.40073025e-01 -5.31361000e-01 -1.09237363e-01 6.44190643e+01] [ 5.21144665e-01 8.46421515e-01 -1.09447965e-01 2.16462537e+01] [ 1.50617235e-01 3.50158142e-02 9.87971832e-01 7.61142566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.820888479 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:64.45, Y:21.64, Z:7.65 [[ 8.38918527e-01 -5.22910635e-01 -1.50931018e-01 6.44533880e+01] [ 5.20118307e-01 8.51939369e-01 -6.06321509e-02 2.16373495e+01] [ 1.60289273e-01 -2.76365510e-02 9.86683115e-01 7.65073579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850888479 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:64.47, Y:21.66, Z:7.64 [[ 8.38352135e-01 -5.28383861e-01 -1.34075331e-01 6.44693987e+01] [ 5.21165779e-01 8.48999782e-01 -8.70953601e-02 2.16648692e+01] [ 1.59849710e-01 3.14110660e-03 9.87136365e-01 7.64298323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88088847899999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:64.49, Y:21.68, Z:7.65 [[ 8.37138075e-01 -5.30094293e-01 -1.34906947e-01 6.44916847e+01] [ 5.22803944e-01 8.47933901e-01 -8.76591960e-02 2.16813650e+01] [ 1.60859813e-01 2.85296685e-03 9.86973141e-01 7.64781235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.910888479 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:64.51, Y:21.70, Z:7.65 [[ 8.36248231e-01 -5.31362205e-01 -1.35436716e-01 6.45146603e+01] [ 5.24021517e-01 8.47140539e-01 -8.80588267e-02 2.16973623e+01] [ 1.61525065e-01 2.66728501e-03 9.86865006e-01 7.65257377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.940888479 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:64.54, Y:21.71, Z:7.66 [[ 8.35543901e-01 -5.32371884e-01 -1.35818141e-01 6.45376932e+01] [ 5.24993649e-01 8.46506818e-01 -8.83621891e-02 2.17130982e+01] [ 1.62012528e-01 2.52682670e-03 9.86785466e-01 7.65708882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.970888479 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:64.56, Y:21.73, Z:7.66 [[ 8.34019389e-01 -5.34543211e-01 -1.36657291e-01 6.45592424e+01] [ 5.27092658e-01 8.45138370e-01 -8.89632831e-02 2.17296770e+01] [ 1.63049039e-01 2.16604815e-03 9.86615588e-01 7.66127188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.000888479 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:64.58, Y:21.75, Z:7.67 [[ 8.32943532e-01 -5.36080673e-01 -1.37195422e-01 6.45821342e+01] [ 5.28587455e-01 8.44164631e-01 -8.93385602e-02 2.17460912e+01] [ 1.63708198e-01 1.89419710e-03 9.86506988e-01 7.66585141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.030888479 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:64.60, Y:21.76, Z:7.67 [[ 8.32132576e-01 -5.37322107e-01 -1.37260080e-01 6.46046184e+01] [ 5.29829347e-01 8.43375403e-01 -8.94359728e-02 2.17618404e+01] [ 1.63817700e-01 1.69816811e-03 9.86489167e-01 7.67019606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.060888479 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:64.63, Y:21.78, Z:7.67 [[ 8.30895264e-01 -5.39216617e-01 -1.37326257e-01 6.46260390e+01] [ 5.31733057e-01 8.42165991e-01 -8.95343505e-02 2.17775865e+01] [ 1.63929913e-01 1.37275734e-03 9.86471033e-01 7.67488001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.090888479 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:64.65, Y:21.79, Z:7.68 [[ 8.30388195e-01 -5.40151278e-01 -1.36718844e-01 6.46489583e+01] [ 5.32740544e-01 8.41567062e-01 -8.91761894e-02 2.17937374e+01] [ 1.63226708e-01 1.21518388e-03 9.86587840e-01 7.67977999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.120888479 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:64.67, Y:21.81, Z:7.68 [[ 8.29868410e-01 -5.40996507e-01 -1.36532787e-01 6.46713026e+01] [ 5.33608316e-01 8.41024127e-01 -8.91099518e-02 2.18095110e+01] [ 1.63035541e-01 1.09450344e-03 9.86619590e-01 7.68460076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150888479 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:64.67, Y:21.86, Z:7.64 [[ 0.82745821 -0.55587903 -0.0794444 64.6709025 ] [ 0.54265864 0.82797759 -0.14133194 21.86155803] [ 0.14434164 0.07383509 0.98676941 7.63862164] [ 0. 0. 0. 1. ]] SLAMing on 76.180888479 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:64.73, Y:21.82, Z:7.72 [[ 8.29648563e-01 -5.29928270e-01 -1.75668128e-01 6.47295425e+01] [ 5.33453934e-01 8.45279020e-01 -3.05004615e-02 2.18152697e+01] [ 1.64651640e-01 -6.84061899e-02 9.83976845e-01 7.72386565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210888479 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:64.74, Y:21.86, Z:7.70 [[ 8.30253779e-01 -5.40125881e-01 -1.37632465e-01 6.47398878e+01] [ 5.32593063e-01 8.41583174e-01 -8.99021190e-02 2.18573012e+01] [ 1.64387628e-01 1.33947811e-03 9.86394908e-01 7.70158046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.240888479 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:64.76, Y:21.87, Z:7.71 [[ 8.30527021e-01 -5.39541630e-01 -1.38273993e-01 6.47623130e+01] [ 5.31920699e-01 8.41957572e-01 -9.03759746e-02 2.18736264e+01] [ 1.65182436e-01 1.50888996e-03 9.86261875e-01 7.70598224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27088847899999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:64.78, Y:21.89, Z:7.71 [[ 8.31959437e-01 -5.37056397e-01 -1.39333852e-01 6.47834504e+01] [ 5.29273305e-01 8.43543809e-01 -9.11241463e-02 2.18914255e+01] [ 1.66473014e-01 2.06590517e-03 9.86043847e-01 7.70914906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.300888479 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:64.81, Y:21.91, Z:7.71 [[ 8.32727976e-01 -5.35653826e-01 -1.40139564e-01 6.48058291e+01] [ 5.27750506e-01 8.44434236e-01 -9.17072807e-02 2.19076672e+01] [ 1.67462002e-01 2.40849225e-03 9.85875589e-01 7.71335799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.330888479 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:64.83, Y:21.92, Z:7.72 [[ 8.33526453e-01 -5.34187510e-01 -1.40987076e-01 6.48283386e+01] [ 5.26156937e-01 8.45361482e-01 -9.23192410e-02 2.19235208e+01] [ 1.68500829e-01 2.76920169e-03 9.85697622e-01 7.71758792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.360888479 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:64.85, Y:21.94, Z:7.72 [[ 8.34124725e-01 -5.32953330e-01 -1.42115064e-01 6.48497933e+01] [ 5.24765225e-01 8.46138989e-01 -9.31142892e-02 2.19388427e+01] [ 1.69874667e-01 3.09188713e-03 9.85460825e-01 7.72162809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.390888479 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:64.87, Y:21.96, Z:7.73 [[ 8.35296816e-01 -5.30769722e-01 -1.43397115e-01 6.48725013e+01] [ 5.22395296e-01 8.47508463e-01 -9.39816971e-02 2.19551885e+01] [ 1.71412907e-01 3.59263423e-03 9.85192726e-01 7.72662502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.420888479 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:64.90, Y:21.97, Z:7.73 [[ 8.35601075e-01 -5.30346439e-01 -1.43190426e-01 6.48952553e+01] [ 5.21980432e-01 8.47772847e-01 -9.39022306e-02 2.19700991e+01] [ 1.71193669e-01 3.72220449e-03 9.85230365e-01 7.73146977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.450888479 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:64.92, Y:21.99, Z:7.74 [[ 8.35634972e-01 -5.30503295e-01 -1.42409439e-01 6.49181618e+01] [ 5.22221624e-01 8.47674723e-01 -9.34459208e-02 2.19852069e+01] [ 1.70290250e-01 3.71739107e-03 9.85386935e-01 7.73678528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.480888479 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:64.94, Y:22.01, Z:7.74 [[ 8.36185545e-01 -5.31767361e-01 -1.34228192e-01 6.49426917e+01] [ 5.22409978e-01 8.46779405e-01 -1.00261928e-01 2.20058748e+01] [ 1.66977689e-01 1.37154280e-02 9.85865274e-01 7.73517157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510888479 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:64.97, Y:22.02, Z:7.74 [[ 8.35563634e-01 -5.32538839e-01 -1.35039988e-01 6.49667176e+01] [ 5.23805292e-01 8.46347071e-01 -9.65642369e-02 2.20208204e+01] [ 1.65714905e-01 9.95090461e-03 9.86123496e-01 7.73881043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.540888479 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:64.99, Y:22.03, Z:7.75 [[ 8.34884220e-01 -5.32604143e-01 -1.38928633e-01 6.49902131e+01] [ 5.24772699e-01 8.46358755e-01 -9.10520283e-02 2.20327169e+01] [ 1.66078152e-01 3.11194796e-03 9.86107683e-01 7.74557896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570888479 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:65.02, Y:22.04, Z:7.76 [[ 8.33296610e-01 -5.31293025e-01 -1.52789012e-01 6.50150970e+01] [ 5.25817235e-01 8.47044155e-01 -7.76687493e-02 2.20387976e+01] [ 1.70683904e-01 -1.56179905e-02 9.85202052e-01 7.76367480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.600888479 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:65.04, Y:22.06, Z:7.76 [[ 8.32960415e-01 -5.34576662e-01 -1.42845155e-01 6.50352967e+01] [ 5.26269194e-01 8.45114437e-01 -9.39272242e-02 2.20607793e+01] [ 1.70931805e-01 3.06265527e-03 9.85278102e-01 7.76207771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63088847899999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:65.06, Y:22.08, Z:7.77 [[ 8.32848635e-01 -5.34827186e-01 -1.42558875e-01 6.50585207e+01] [ 5.26546982e-01 8.44955948e-01 -9.37961751e-02 2.20758717e+01] [ 1.70620714e-01 3.05407108e-03 9.85332048e-01 7.76634441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.660888479 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:65.08, Y:22.09, Z:7.77 [[ 8.31792094e-01 -5.36535351e-01 -1.42308569e-01 6.50815900e+01] [ 5.27502513e-01 8.43851510e-01 -9.82635612e-02 2.20937293e+01] [ 1.72809175e-01 6.66672553e-03 9.84932761e-01 7.76930774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.690888479 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:65.11, Y:22.11, Z:7.77 [[ 8.31710003e-01 -5.36152025e-01 -1.44220237e-01 6.51054026e+01] [ 5.27365612e-01 8.44109835e-01 -9.67682691e-02 2.21087586e+01] [ 1.73620224e-01 4.42634394e-03 9.84802734e-01 7.77399717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.720888479 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:65.13, Y:22.12, Z:7.78 [[ 8.31983205e-01 -5.35274675e-01 -1.45893691e-01 6.51288067e+01] [ 5.26696678e-01 8.44674071e-01 -9.54794422e-02 2.21226734e+01] [ 1.74340345e-01 2.59556983e-03 9.84682033e-01 7.77907246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.750888479 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:65.15, Y:22.13, Z:7.79 [[ 8.32438523e-01 -5.33724473e-01 -1.48943924e-01 6.51530382e+01] [ 5.26086303e-01 8.45651570e-01 -9.00367940e-02 2.21324748e+01] [ 1.74009504e-01 -3.40726286e-03 9.84738078e-01 7.78654767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.780888479 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:65.18, Y:22.15, Z:7.79 [[ 8.32480965e-01 -5.34567425e-01 -1.45647211e-01 6.51752082e+01] [ 5.25878913e-01 8.45119133e-01 -9.60469691e-02 2.21490240e+01] [ 1.74432825e-01 3.36447668e-03 9.84663328e-01 7.78884115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.810888479 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:65.20, Y:22.17, Z:7.79 [[ 8.32210800e-01 -5.35667357e-01 -1.43128149e-01 6.51982829e+01] [ 5.25864320e-01 8.44369414e-01 -1.02503710e-01 2.21669505e+01] [ 1.75760923e-01 1.00387078e-02 9.84381695e-01 7.79092997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.840888479 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:65.22, Y:22.18, Z:7.80 [[ 8.32609192e-01 -5.33363219e-01 -1.49283653e-01 6.52240857e+01] [ 5.25657975e-01 8.45880225e-01 -9.03899239e-02 2.21765532e+01] [ 1.74486751e-01 -3.21266110e-03 9.84654281e-01 7.80028604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870888479 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:65.25, Y:22.19, Z:7.80 [[ 8.33030064e-01 -5.33929570e-01 -1.44845182e-01 6.52469734e+01] [ 5.25303370e-01 8.45521305e-01 -9.56561137e-02 2.21926813e+01] [ 1.73543315e-01 3.59675640e-03 9.84819669e-01 7.80202598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.900888479 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:65.27, Y:22.21, Z:7.81 [[ 8.32938517e-01 -5.34079445e-01 -1.44819106e-01 6.52704311e+01] [ 5.25448634e-01 8.45426572e-01 -9.56955767e-02 2.22083070e+01] [ 1.73542961e-01 3.61353052e-03 9.84819670e-01 7.80659974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930888479 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:65.29, Y:22.22, Z:7.81 [[ 8.32892600e-01 -5.34234604e-01 -1.44510568e-01 6.52927848e+01] [ 5.25636743e-01 8.45328572e-01 -9.55281123e-02 2.22220568e+01] [ 1.73193335e-01 3.60459359e-03 9.84881249e-01 7.81082184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.960888479 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:65.32, Y:22.24, Z:7.82 [[ 8.32706931e-01 -5.34501767e-01 -1.44592631e-01 6.53169357e+01] [ 5.25890844e-01 8.45159748e-01 -9.56233232e-02 2.22364836e+01] [ 1.73314707e-01 3.58626304e-03 9.84859965e-01 7.81542820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990888479 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:65.34, Y:22.25, Z:7.82 [[ 8.32493413e-01 -5.34995323e-01 -1.43995559e-01 6.53418985e+01] [ 5.26453068e-01 8.44847692e-01 -9.52866406e-02 2.22495471e+01] [ 1.72632223e-01 3.51859662e-03 9.84980068e-01 7.82064450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02088847899999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:65.37, Y:22.26, Z:7.83 [[ 8.32467163e-01 -5.35195314e-01 -1.43402925e-01 6.53652916e+01] [ 5.26716700e-01 8.44721045e-01 -9.49519575e-02 2.22636399e+01] [ 1.71953311e-01 3.51167141e-03 9.85098841e-01 7.82513112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.050888479 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:65.39, Y:22.28, Z:7.83 [[ 8.32609037e-01 -5.35155692e-01 -1.42725532e-01 6.53881122e+01] [ 5.26747450e-01 8.44745987e-01 -9.45586682e-02 2.22771272e+01] [ 1.71170430e-01 3.55009153e-03 9.85235038e-01 7.82943031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.080888479 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:65.41, Y:22.29, Z:7.83 [[ 8.32566148e-01 -5.35238509e-01 -1.42665158e-01 6.54127135e+01] [ 5.26833959e-01 8.44693497e-01 -9.45456328e-02 2.22907090e+01] [ 1.71112795e-01 3.55464331e-03 9.85245033e-01 7.83439899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.110888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:65.44, Y:22.30, Z:7.84 [[ 8.32597480e-01 -5.35159179e-01 -1.42779865e-01 6.54351772e+01] [ 5.26729994e-01 8.44743470e-01 -9.46783151e-02 2.23048868e+01] [ 1.71280328e-01 3.62248906e-03 9.85215675e-01 7.83851880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.140888479 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:65.46, Y:22.32, Z:7.84 [[ 8.32520913e-01 -5.35287826e-01 -1.42744083e-01 6.54586927e+01] [ 5.26860024e-01 8.44661974e-01 -9.46819164e-02 2.23198162e+01] [ 1.71252576e-01 3.61852425e-03 9.85220514e-01 7.84262604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.170888479 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:65.48, Y:22.33, Z:7.85 [[ 8.32512109e-01 -5.35350248e-01 -1.42561216e-01 6.54821805e+01] [ 5.26935047e-01 8.44622274e-01 -9.46185587e-02 2.23344169e+01] [ 1.71064447e-01 3.65059477e-03 9.85253078e-01 7.84723947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.200888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:65.50, Y:22.35, Z:7.85 [[ 8.32604303e-01 -5.35244499e-01 -1.42419803e-01 6.55049944e+01] [ 5.26834922e-01 8.44689005e-01 -9.45803890e-02 2.23473322e+01] [ 1.70924075e-01 3.71631281e-03 9.85277194e-01 7.85212462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.230888479 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:65.53, Y:22.36, Z:7.86 [[ 8.32333077e-01 -5.35728826e-01 -1.42183941e-01 6.55290041e+01] [ 5.27349667e-01 8.44382272e-01 -9.44505568e-02 2.23621616e+01] [ 1.70657485e-01 3.63366873e-03 9.85323713e-01 7.85659623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.260888479 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:65.55, Y:22.38, Z:7.86 [[ 8.31816993e-01 -5.36576778e-01 -1.42006518e-01 6.55514698e+01] [ 5.28221327e-01 8.43844234e-01 -9.43882318e-02 2.23758630e+01] [ 1.70477915e-01 3.50286349e-03 9.85355271e-01 7.86093793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:65.58, Y:22.39, Z:7.87 [[ 8.31279918e-01 -5.37461525e-01 -1.41805527e-01 6.55753023e+01] [ 5.29138068e-01 8.43281660e-01 -9.42812159e-02 2.23900828e+01] [ 1.70254526e-01 3.33937908e-03 9.85394462e-01 7.86546202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.320888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:65.60, Y:22.40, Z:7.87 [[ 8.29747387e-01 -5.39775673e-01 -1.41991184e-01 6.55993606e+01] [ 5.31453971e-01 8.41803844e-01 -9.44614474e-02 2.24041212e+01] [ 1.70516716e-01 2.91736055e-03 9.85350465e-01 7.86968636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350888479 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:65.62, Y:22.42, Z:7.87 [[ 8.29058960e-01 -5.40947913e-01 -1.41550681e-01 6.56220161e+01] [ 5.32685451e-01 8.41051711e-01 -9.42243557e-02 2.24182689e+01] [ 1.70021911e-01 2.71555801e-03 9.85436541e-01 7.87358727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38088847899999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:65.65, Y:22.43, Z:7.88 [[ 8.27296198e-01 -5.43802888e-01 -1.40923453e-01 6.56464463e+01] [ 5.35650508e-01 8.39210241e-01 -9.38333828e-02 2.24314797e+01] [ 1.69291270e-01 2.14228155e-03 9.85563735e-01 7.87826488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.410888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.67, Y:22.44, Z:7.88 [[ 8.26342942e-01 -5.45287601e-01 -1.40779171e-01 6.56692556e+01] [ 5.37163854e-01 8.38246911e-01 -9.37929101e-02 2.24447431e+01] [ 1.69151816e-01 1.88362739e-03 9.85588208e-01 7.88352729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.440888479 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:65.69, Y:22.46, Z:7.89 [[ 8.25419799e-01 -5.46738879e-01 -1.40565831e-01 6.56932794e+01] [ 5.38656294e-01 8.37301629e-01 -9.36769945e-02 2.24594991e+01] [ 1.68912854e-01 1.60617641e-03 9.85629681e-01 7.88816038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.470888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:65.72, Y:22.47, Z:7.89 [[ 8.24340925e-01 -5.48622606e-01 -1.39553848e-01 6.57166707e+01] [ 5.40674255e-01 8.36069168e-01 -9.30574892e-02 2.24738787e+01] [ 1.67730112e-01 1.25792382e-03 9.85832150e-01 7.89202965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.500888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:65.74, Y:22.49, Z:7.90 [[ 8.23848189e-01 -5.49304567e-01 -1.39780738e-01 6.57396316e+01] [ 5.41330417e-01 8.35621402e-01 -9.32644159e-02 2.24886132e+01] [ 1.68034346e-01 1.16815511e-03 9.85780449e-01 7.89676178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.530888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:65.76, Y:22.50, Z:7.90 [[ 8.23711743e-01 -5.49638503e-01 -1.39271249e-01 6.57622624e+01] [ 5.41718264e-01 8.35401826e-01 -9.29790899e-02 2.25030786e+01] [ 1.67452343e-01 1.14218899e-03 9.85879510e-01 7.90065193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.560888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:65.79, Y:22.52, Z:7.90 [[ 8.23495457e-01 -5.50057482e-01 -1.38895639e-01 6.57857590e+01] [ 5.42181842e-01 8.35126104e-01 -9.27536548e-02 2.25186980e+01] [ 1.67015216e-01 1.07551985e-03 9.85953732e-01 7.90478064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.590888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:65.81, Y:22.53, Z:7.91 [[ 8.23684305e-01 -5.49915093e-01 -1.38338560e-01 6.58088753e+01] [ 5.42091785e-01 8.35219778e-01 -9.24360260e-02 2.25336929e+01] [ 1.66375068e-01 1.14590667e-03 9.86061876e-01 7.90835264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.620888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:65.83, Y:22.55, Z:7.91 [[ 8.23628554e-01 -5.49996011e-01 -1.38348810e-01 6.58311373e+01] [ 5.42163359e-01 8.35166453e-01 -9.24980457e-02 2.25477720e+01] [ 1.66417841e-01 1.17637582e-03 9.86054622e-01 7.91233035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:65.85, Y:22.56, Z:7.92 [[ 8.23515734e-01 -5.50274736e-01 -1.37911384e-01 6.58545705e+01] [ 5.42491532e-01 8.34982886e-01 -9.22307844e-02 2.25624521e+01] [ 1.65905916e-01 1.13774434e-03 9.86140929e-01 7.91670526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.680888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:65.88, Y:22.58, Z:7.92 [[ 8.23967129e-01 -5.49728387e-01 -1.37393128e-01 6.58771807e+01] [ 5.41987426e-01 8.35342469e-01 -9.19379644e-02 2.25763607e+01] [ 1.65311224e-01 1.28851267e-03 9.86240609e-01 7.92127006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.90, Y:22.59, Z:7.93 [[ 8.24255684e-01 -5.49428776e-01 -1.36859735e-01 6.59004283e+01] [ 5.41740057e-01 8.35539442e-01 -9.16054078e-02 2.25921338e+01] [ 1.64682353e-01 1.36387769e-03 9.86345711e-01 7.92517972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.740888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:65.92, Y:22.61, Z:7.93 [[ 8.24623290e-01 -5.48873543e-01 -1.36873168e-01 6.59227601e+01] [ 5.41166476e-01 8.35904013e-01 -9.16696596e-02 2.26069339e+01] [ 1.64727881e-01 1.52176622e-03 9.86337878e-01 7.92912263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:65.95, Y:22.62, Z:7.93 [[ 8.25702847e-01 -5.47371052e-01 -1.36380864e-01 6.59457179e+01] [ 5.39695282e-01 8.36888022e-01 -9.13643308e-02 2.26212051e+01] [ 1.64145702e-01 1.83567903e-03 9.86434397e-01 7.93308429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.800888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.97, Y:22.64, Z:7.94 [[ 8.25991399e-01 -5.46930934e-01 -1.36399276e-01 6.59685869e+01] [ 5.39240805e-01 8.37175447e-01 -9.14145797e-02 2.26361789e+01] [ 1.64187586e-01 1.95560117e-03 9.86427196e-01 7.93705989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.99, Y:22.65, Z:7.94 [[ 8.26419696e-01 -5.46301893e-01 -1.36325813e-01 6.59909682e+01] [ 5.38602455e-01 8.37585650e-01 -9.14203196e-02 2.26511769e+01] [ 1.64127638e-01 2.12613521e-03 9.86436819e-01 7.94117666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:22.69, Z:7.91 [[ 8.26377739e-01 -5.54338837e-01 -9.90367887e-02 6.60030860e+01] [ 5.42017333e-01 8.30707891e-01 -1.27049640e-01 2.26880360e+01] [ 1.52699192e-01 5.13113383e-02 9.86939767e-01 7.91031139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.890888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.05, Y:22.66, Z:7.97 [[ 8.26700832e-01 -5.38404311e-01 -1.63360130e-01 6.60478022e+01] [ 5.37890157e-01 8.41456614e-01 -5.12342200e-02 2.26637051e+01] [ 1.65045187e-01 -4.55144338e-02 9.85235263e-01 7.97036387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.920888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:66.06, Y:22.70, Z:7.95 [[ 8.26853520e-01 -5.45590068e-01 -1.36545722e-01 6.60621241e+01] [ 5.37851204e-01 8.38049049e-01 -9.15962573e-02 2.26967556e+01] [ 1.64406021e-01 2.29540657e-03 9.86390081e-01 7.95455471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.950888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:66.09, Y:22.71, Z:7.96 [[ 8.26720738e-01 -5.45852699e-01 -1.36299859e-01 6.60855610e+01] [ 5.38139179e-01 8.37878078e-01 -9.14688461e-02 2.27119078e+01] [ 1.64131180e-01 2.27089768e-03 9.86435907e-01 7.95839098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.980888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:66.11, Y:22.73, Z:7.96 [[ 8.26643161e-01 -5.46066134e-01 -1.35914904e-01 6.61091283e+01] [ 5.38390321e-01 8.37739001e-01 -9.12646098e-02 2.27257185e+01] [ 1.63697729e-01 2.26799652e-03 9.86507937e-01 7.96307690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:66.13, Y:22.74, Z:7.97 [[ 8.26644909e-01 -5.46112951e-01 -1.35716025e-01 6.61318468e+01] [ 5.38451506e-01 8.37708393e-01 -9.11845597e-02 2.27399343e+01] [ 1.63487522e-01 2.30075424e-03 9.86542719e-01 7.96798223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.040888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:66.16, Y:22.75, Z:7.97 [[ 8.26719150e-01 -5.46172477e-01 -1.35022487e-01 6.61552100e+01] [ 5.38586625e-01 8.37669595e-01 -9.07419253e-02 2.27548805e+01] [ 1.62664974e-01 2.29678170e-03 9.86678687e-01 7.97215031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.18, Y:22.77, Z:7.98 [[ 8.26415327e-01 -5.46483573e-01 -1.35622312e-01 6.61774015e+01] [ 5.38825133e-01 8.37466691e-01 -9.11976847e-02 2.27694393e+01] [ 1.63417205e-01 2.29045415e-03 9.86554393e-01 7.97711369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.100888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:66.20, Y:22.78, Z:7.98 [[ 8.26433204e-01 -5.46523975e-01 -1.35350301e-01 6.62010263e+01] [ 5.38893156e-01 8.37440306e-01 -9.10379068e-02 2.27838867e+01] [ 1.63102196e-01 2.29739836e-03 9.86606505e-01 7.98100376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13088847899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:66.22, Y:22.80, Z:7.99 [[ 8.26108335e-01 -5.46925057e-01 -1.35712935e-01 6.62244828e+01] [ 5.39249259e-01 8.37178490e-01 -9.13368091e-02 2.27990938e+01] [ 1.63570339e-01 2.27099994e-03 9.86529060e-01 7.98579005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.160888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.25, Y:22.81, Z:7.99 [[ 8.25705932e-01 -5.47432459e-01 -1.36115456e-01 6.62472536e+01] [ 5.39708491e-01 8.36846915e-01 -9.16623412e-02 2.28136098e+01] [ 1.64086740e-01 2.22347151e-03 9.86443408e-01 7.98993701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.190888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:66.27, Y:22.83, Z:7.99 [[ 8.25004754e-01 -5.48285760e-01 -1.36930208e-01 6.62706340e+01] [ 5.40475899e-01 8.36288448e-01 -9.22357568e-02 2.28280167e+01] [ 1.65084703e-01 2.08746056e-03 9.86277184e-01 7.99411734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:22.86, Z:7.96 [[ 8.23645968e-01 -5.58001409e-01 -1.01201516e-01 6.62797979e+01] [ 5.45768577e-01 8.28423517e-01 -1.25901295e-01 2.28644641e+01] [ 1.54090816e-01 4.84654866e-02 9.86867325e-01 7.96234705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:22.84, Z:8.02 [[ 8.24812582e-01 -5.41596496e-01 -1.62349746e-01 6.63255993e+01] [ 5.40414525e-01 8.39581424e-01 -5.52736181e-02 2.28415332e+01] [ 1.66241829e-01 -4.21457853e-02 9.85183936e-01 8.02372183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.280888479 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:66.34, Y:22.87, Z:8.01 [[ 8.25095378e-01 -5.47945741e-01 -1.37742813e-01 6.63418925e+01] [ 5.40031502e-01 8.36510986e-01 -9.28188940e-02 2.28727014e+01] [ 1.66083094e-01 2.19898232e-03 9.86109310e-01 8.01044206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.310888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:66.36, Y:22.89, Z:8.01 [[ 8.24998029e-01 -5.48060178e-01 -1.37870567e-01 6.63645993e+01] [ 5.40123196e-01 8.36435943e-01 -9.29615350e-02 2.28873908e+01] [ 1.66268413e-01 2.22599197e-03 9.86078019e-01 8.01483313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:22.90, Z:8.02 [[ 8.24451221e-01 -5.48776527e-01 -1.38291387e-01 6.63879980e+01] [ 5.40796312e-01 8.35966429e-01 -9.32709918e-02 2.29028525e+01] [ 1.66791888e-01 2.10991078e-03 9.85989865e-01 8.01994951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:22.92, Z:8.02 [[ 8.23558760e-01 -5.50097522e-01 -1.38360706e-01 6.64112584e+01] [ 5.42118507e-01 8.35098285e-01 -9.33722594e-02 2.29182920e+01] [ 1.66908636e-01 1.88964307e-03 9.85970556e-01 8.02407305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.43, Y:22.93, Z:8.03 [[ 8.22813785e-01 -5.51234798e-01 -1.38266670e-01 6.64343194e+01] [ 5.43273106e-01 8.34348422e-01 -9.33651121e-02 2.29331771e+01] [ 1.66828677e-01 1.70553800e-03 9.85984424e-01 8.02860167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:66.46, Y:22.95, Z:8.02 [[ 8.22455028e-01 -5.53843394e-01 -1.29712073e-01 6.64571278e+01] [ 5.44809194e-01 8.32536567e-01 -1.00328492e-01 2.29524762e+01] [ 1.63556317e-01 1.18473424e-02 9.86462859e-01 8.02417465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.460888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:66.45, Y:23.00, Z:7.98 [[ 0.81587553 -0.5731362 -0.07656379 66.44982962] [ 0.55972465 0.81604231 -0.14416401 22.99779494] [ 0.1451049 0.07476525 0.98658741 7.97629792] [ 0. 0. 0. 1. ]] SLAMing on 78.490888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:66.52, Y:22.95, Z:8.08 [[ 8.19205300e-01 -5.43099632e-01 -1.84242955e-01 6.65188424e+01] [ 5.48206004e-01 8.35921194e-01 -2.65694215e-02 2.29452078e+01] [ 1.68442434e-01 -7.92372833e-02 9.82521552e-01 8.08042566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52088847899999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:66.53, Y:22.99, Z:8.05 [[ 8.18452541e-01 -5.57591589e-01 -1.38661665e-01 6.65289905e+01] [ 5.49642060e-01 8.30115227e-01 -9.38206552e-02 2.29902925e+01] [ 1.67418768e-01 5.73470231e-04 9.85885707e-01 8.05065573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.550888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.55, Y:23.01, Z:8.05 [[ 8.16838833e-01 -5.59945309e-01 -1.38692366e-01 6.65524077e+01] [ 5.52016218e-01 8.28529560e-01 -9.38981513e-02 2.30055582e+01] [ 1.67488555e-01 1.39220802e-04 9.85874011e-01 8.05485125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.580888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:66.58, Y:23.02, Z:8.06 [[ 8.16138771e-01 -5.60851259e-01 -1.39152335e-01 6.65755853e+01] [ 5.52872482e-01 8.27916581e-01 -9.42663965e-02 2.30217758e+01] [ 1.68075953e-01 9.64109520e-07 9.85774048e-01 8.05894841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.610888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:66.60, Y:23.04, Z:8.06 [[ 8.15723728e-01 -5.61444548e-01 -1.39193459e-01 6.65986331e+01] [ 5.53459971e-01 8.27514359e-01 -9.43506531e-02 2.30375461e+01] [ 1.68157246e-01 -7.39416141e-05 9.85760181e-01 8.06330031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.62, Y:23.05, Z:8.07 [[ 8.15430776e-01 -5.61878796e-01 -1.39157708e-01 6.66210045e+01] [ 5.53895194e-01 8.27219563e-01 -9.43817179e-02 2.30523748e+01] [ 1.68145064e-01 -1.17028117e-04 9.85762255e-01 8.06812607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.670888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.64, Y:23.07, Z:8.07 [[ 8.14762975e-01 -5.62752809e-01 -1.39536989e-01 6.66437126e+01] [ 5.54733752e-01 8.26625187e-01 -9.46639558e-02 2.30662542e+01] [ 1.68617196e-01 -2.77191066e-04 9.85681573e-01 8.07298091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:23.08, Z:8.08 [[ 8.14067647e-01 -5.63652046e-01 -1.39965130e-01 6.66667632e+01] [ 5.55589869e-01 8.26012218e-01 -9.49932287e-02 2.30815393e+01] [ 1.69156035e-01 -4.32293985e-04 9.85589189e-01 8.07745942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.69, Y:23.10, Z:8.08 [[ 8.13442549e-01 -5.64405691e-01 -1.40561148e-01 6.66898475e+01] [ 5.56275725e-01 8.25497377e-01 -9.54536412e-02 2.30967879e+01] [ 1.69907437e-01 -5.44701354e-04 9.85459875e-01 8.08189010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.760888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.71, Y:23.11, Z:8.09 [[ 8.13167794e-01 -5.64652111e-01 -1.41159954e-01 6.67127623e+01] [ 5.56446190e-01 8.25328837e-01 -9.59163582e-02 2.31132491e+01] [ 1.70662755e-01 -5.51825506e-04 9.85329346e-01 8.08553981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.73, Y:23.13, Z:8.09 [[ 8.13544429e-01 -5.63957331e-01 -1.41765972e-01 6.67341381e+01] [ 5.55659881e-01 8.25803850e-01 -9.63851511e-02 2.31285293e+01] [ 1.71427998e-01 -3.60060560e-04 9.85196585e-01 8.08976532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.820888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:66.76, Y:23.14, Z:8.09 [[ 8.14195809e-01 -5.62950134e-01 -1.42029334e-01 6.67572305e+01] [ 5.54601642e-01 8.26490854e-01 -9.65913422e-02 2.31445546e+01] [ 1.71762055e-01 -1.25435849e-04 9.85138458e-01 8.09409640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:66.78, Y:23.16, Z:8.10 [[ 8.14101390e-01 -5.63093195e-01 -1.42003453e-01 6.67804698e+01] [ 5.54740228e-01 8.26393394e-01 -9.66293774e-02 2.31604992e+01] [ 1.71762060e-01 -1.08917250e-04 9.85138459e-01 8.09873117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:23.18, Z:8.10 [[ 8.14987499e-01 -5.61497825e-01 -1.43232570e-01 6.68023145e+01] [ 5.52967670e-01 8.27478172e-01 -9.75019524e-02 2.31754374e+01] [ 1.73268959e-01 2.59891819e-04 9.84874510e-01 8.10354240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.83, Y:23.19, Z:8.11 [[ 8.15347096e-01 -5.61020011e-01 -1.43058242e-01 6.68252775e+01] [ 5.52496448e-01 8.27802145e-01 -9.74232154e-02 2.31914936e+01] [ 1.73080293e-01 3.94565313e-04 9.84907639e-01 8.10807499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:23.21, Z:8.11 [[ 8.15755494e-01 -5.60475538e-01 -1.42864080e-01 6.68470885e+01] [ 5.51957213e-01 8.28170793e-01 -9.73466671e-02 2.32068673e+01] [ 1.72876284e-01 5.56219345e-04 9.84943390e-01 8.11256206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.970888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.87, Y:23.22, Z:8.12 [[ 8.15941362e-01 -5.60391822e-01 -1.42129169e-01 6.68695386e+01] [ 5.51954619e-01 8.28227413e-01 -9.68785321e-02 2.32227837e+01] [ 1.72005211e-01 5.98350257e-04 9.85095858e-01 8.11730261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:23.24, Z:8.12 [[ 8.16793624e-01 -5.59516089e-01 -1.40676654e-01 6.68912046e+01] [ 5.51229412e-01 8.28819083e-01 -9.59430200e-02 2.32377476e+01] [ 1.70277159e-01 8.20537585e-04 9.85395868e-01 8.12201338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.030888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.91, Y:23.25, Z:8.13 [[ 8.17292367e-01 -5.58916754e-01 -1.40161507e-01 6.69141040e+01] [ 5.50675750e-01 8.29223199e-01 -9.56300429e-02 2.32532284e+01] [ 1.69674406e-01 9.74161229e-04 9.85499694e-01 8.12653361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.060888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:66.94, Y:23.27, Z:8.13 [[ 8.17478979e-01 -5.58599854e-01 -1.40336461e-01 6.69370865e+01] [ 5.50323942e-01 8.29436568e-01 -9.58046906e-02 2.32689932e+01] [ 1.69916679e-01 1.08780589e-03 9.85457832e-01 8.13161124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:23.28, Z:8.14 [[ 8.18271512e-01 -5.57508075e-01 -1.40058842e-01 6.69591935e+01] [ 5.49239702e-01 8.30170405e-01 -9.56705239e-02 2.32847032e+01] [ 1.69609795e-01 1.35858766e-03 9.85510361e-01 8.13588686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.98, Y:23.30, Z:8.14 [[ 8.18465544e-01 -5.57088676e-01 -1.40592891e-01 6.69816280e+01] [ 5.48745993e-01 8.30451706e-01 -9.60614311e-02 2.33004741e+01] [ 1.70270341e-01 1.47318602e-03 9.85396286e-01 8.13993053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:23.32, Z:8.14 [[ 8.18672091e-01 -5.56718525e-01 -1.40856278e-01 6.70042001e+01] [ 5.48329213e-01 8.30699659e-01 -9.62972044e-02 2.33163704e+01] [ 1.70619700e-01 1.60022146e-03 9.85335657e-01 8.14359456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:23.34, Z:8.14 [[ 8.19398639e-01 -5.56642544e-01 -1.36875668e-01 6.70231077e+01] [ 5.45831106e-01 8.30604440e-01 -1.10293552e-01 2.33360203e+01] [ 1.75083621e-01 1.56633893e-02 9.84428963e-01 8.14140642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:23.33, Z:8.18 [[ 8.20401435e-01 -5.44771965e-01 -1.73680719e-01 6.70638161e+01] [ 5.42664593e-01 8.37531662e-01 -6.36855866e-02 2.33262507e+01] [ 1.80157224e-01 -4.20026302e-02 9.82740634e-01 8.18267737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.240888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:67.07, Y:23.38, Z:8.14 [[ 8.20831119e-01 -5.57322053e-01 -1.25013614e-01 6.70674434e+01] [ 5.44340516e-01 8.29599890e-01 -1.24327895e-01 2.33761812e+01] [ 1.73001958e-01 3.40022306e-02 9.84334380e-01 8.14178861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:23.38, Z:8.16 [[ 8.20804193e-01 -5.52926304e-01 -1.43363100e-01 6.70960911e+01] [ 5.44144690e-01 8.33226161e-01 -9.81871776e-02 2.33794534e+01] [ 1.73744159e-01 2.58217748e-03 9.84787439e-01 8.15944013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.300888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:67.12, Y:23.39, Z:8.16 [[ 8.21130513e-01 -5.52445548e-01 -1.43347821e-01 6.71175461e+01] [ 5.43648571e-01 8.33544513e-01 -9.82332739e-02 2.33947594e+01] [ 1.73755325e-01 2.73150043e-03 9.84785066e-01 8.16359850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.14, Y:23.41, Z:8.17 [[ 8.21310328e-01 -5.52238193e-01 -1.43116465e-01 6.71405745e+01] [ 5.43461855e-01 8.33681697e-01 -9.81021953e-02 2.34108217e+01] [ 1.73489356e-01 2.79400700e-03 9.84831781e-01 8.16828528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.16, Y:23.43, Z:8.17 [[ 8.21624172e-01 -5.51812113e-01 -1.42958430e-01 6.71633645e+01] [ 5.43038820e-01 8.33963316e-01 -9.80511477e-02 2.34250150e+01] [ 1.73327898e-01 2.92921555e-03 9.84859817e-01 8.17353140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.390888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:67.19, Y:23.44, Z:8.18 [[ 8.21523545e-01 -5.51950440e-01 -1.43002718e-01 6.71856072e+01] [ 5.43169160e-01 8.33871794e-01 -9.81075718e-02 2.34394674e+01] [ 1.73396450e-01 2.92301406e-03 9.84847768e-01 8.17817815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.420888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.21, Y:23.46, Z:8.18 [[ 8.21396139e-01 -5.52273887e-01 -1.42484863e-01 6.72087810e+01] [ 5.43555720e-01 8.33657788e-01 -9.77848235e-02 2.34552623e+01] [ 1.72787621e-01 2.87161396e-03 9.84954919e-01 8.18293981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.450888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:67.23, Y:23.47, Z:8.19 [[ 8.21097303e-01 -5.52848624e-01 -1.41977527e-01 6.72312772e+01] [ 5.44191773e-01 8.33277043e-01 -9.74919704e-02 2.34712600e+01] [ 1.72204916e-01 2.78739174e-03 9.85057205e-01 8.18729832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.480888479 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:67.25, Y:23.49, Z:8.19 [[ 8.20448651e-01 -5.54027334e-01 -1.41130171e-01 6.72532009e+01] [ 5.45482004e-01 8.32494506e-01 -9.69653579e-02 2.34862241e+01] [ 1.71211550e-01 2.57112873e-03 9.85230935e-01 8.19117334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:67.28, Y:23.50, Z:8.20 [[ 8.19849076e-01 -5.54822885e-01 -1.41488720e-01 6.72753067e+01] [ 5.46241081e-01 8.31964932e-01 -9.72369974e-02 2.35007846e+01] [ 1.71662965e-01 2.43271113e-03 9.85152734e-01 8.19577553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.30, Y:23.52, Z:8.20 [[ 8.19328054e-01 -5.55582224e-01 -1.41527142e-01 6.72982271e+01] [ 5.47001329e-01 8.31458415e-01 -9.72956853e-02 2.35157504e+01] [ 1.71729686e-01 2.30154967e-03 9.85141420e-01 8.20053342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:67.32, Y:23.53, Z:8.21 [[ 8.18205037e-01 -5.57149851e-01 -1.41861065e-01 6.73216671e+01] [ 5.48541392e-01 8.30409501e-01 -9.75827987e-02 2.35302293e+01] [ 1.72171018e-01 2.02607129e-03 9.85064991e-01 8.20524625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.34, Y:23.55, Z:8.21 [[ 8.17247157e-01 -5.58417688e-01 -1.42396523e-01 6.73448020e+01] [ 5.49752347e-01 8.29557948e-01 -9.80100398e-02 2.35456802e+01] [ 1.72856707e-01 1.81560367e-03 9.84945309e-01 8.20978008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.37, Y:23.56, Z:8.21 [[ 8.16540180e-01 -5.59306857e-01 -1.42961441e-01 6.73675453e+01] [ 5.50575235e-01 8.28958989e-01 -9.84576359e-02 2.35609954e+01] [ 1.73577203e-01 1.68358675e-03 9.84818826e-01 8.21419949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.660888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:67.39, Y:23.58, Z:8.22 [[ 8.15261357e-01 -5.61002909e-01 -1.43612867e-01 6.73893373e+01] [ 5.52206958e-01 8.27812685e-01 -9.89627910e-02 2.35770793e+01] [ 1.74402967e-01 1.37651465e-03 9.84673403e-01 8.21651142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.41, Y:23.59, Z:8.22 [[ 8.14269820e-01 -5.62402956e-01 -1.43762218e-01 6.74118360e+01] [ 5.53605285e-01 8.26862566e-01 -9.90933159e-02 2.35925073e+01] [ 1.74601971e-01 1.10117251e-03 9.84638482e-01 8.22114390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.720888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:67.43, Y:23.61, Z:8.22 [[ 8.13166783e-01 -5.64391131e-01 -1.42205605e-01 6.74343419e+01] [ 5.54859696e-01 8.25491191e-01 -1.03416684e-01 2.36096373e+01] [ 1.75756934e-01 5.19085364e-03 9.84419908e-01 8.22453063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.750888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.46, Y:23.62, Z:8.23 [[ 8.11523978e-01 -5.65818879e-01 -1.45869219e-01 6.74586854e+01] [ 5.57818639e-01 8.24518110e-01 -9.49118098e-02 2.36203202e+01] [ 1.73974706e-01 -4.34535953e-03 9.84740534e-01 8.23325603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:23.64, Z:8.24 [[ 8.10445773e-01 -5.68179861e-01 -1.42650953e-01 6.74806938e+01] [ 5.59583834e-01 8.22904396e-01 -9.84595749e-02 2.36375902e+01] [ 1.73330844e-01 -2.90208454e-05 9.84863654e-01 8.23581174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.810888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:67.50, Y:23.65, Z:8.24 [[ 8.08006961e-01 -5.71904625e-01 -1.41597498e-01 6.75039465e+01] [ 5.63482937e-01 8.20319755e-01 -9.77879349e-02 2.36527976e+01] [ 1.72080597e-01 -7.74441657e-04 9.85082569e-01 8.24110039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.840888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:67.53, Y:23.67, Z:8.25 [[ 8.06800044e-01 -5.73840754e-01 -1.40643090e-01 6.75256724e+01] [ 5.65552658e-01 8.18966120e-01 -9.71837716e-02 2.36678580e+01] [ 1.70949935e-01 -1.13320242e-03 9.85279065e-01 8.24546312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.55, Y:23.68, Z:8.25 [[ 8.05740645e-01 -5.75416470e-01 -1.40277931e-01 6.75474596e+01] [ 5.67189986e-01 8.17859290e-01 -9.69623684e-02 2.36837208e+01] [ 1.70521353e-01 -1.43771672e-03 9.85352932e-01 8.25022535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:23.70, Z:8.25 [[ 8.04724121e-01 -5.76891121e-01 -1.40056148e-01 6.75697903e+01] [ 5.68707714e-01 8.16819239e-01 -9.68393847e-02 2.37000389e+01] [ 1.70266338e-01 -1.72202338e-03 9.85396574e-01 8.25463463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:23.72, Z:8.26 [[ 8.03282554e-01 -5.78977974e-01 -1.39719876e-01 6.75912859e+01] [ 5.70855714e-01 8.15340447e-01 -9.66628678e-02 2.37162893e+01] [ 1.69884937e-01 -2.11229397e-03 9.85461641e-01 8.25762243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:23.73, Z:8.26 [[ 8.02572753e-01 -5.79955301e-01 -1.39745573e-01 6.76139788e+01] [ 5.71839084e-01 8.14645072e-01 -9.67133317e-02 2.37322898e+01] [ 1.69932452e-01 -2.29249583e-03 9.85453046e-01 8.26212984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:67.64, Y:23.75, Z:8.27 [[ 8.02109578e-01 -5.80635238e-01 -1.39581324e-01 6.76356874e+01] [ 5.72538677e-01 8.14160318e-01 -9.66562914e-02 2.37479728e+01] [ 1.69763624e-01 -2.38676969e-03 9.85481920e-01 8.26634204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.66, Y:23.76, Z:8.27 [[ 8.01718632e-01 -5.81188374e-01 -1.39525302e-01 6.76579029e+01] [ 5.73099782e-01 8.13765307e-01 -9.66574642e-02 2.37638354e+01] [ 1.69717045e-01 -2.46983046e-03 9.85489738e-01 8.27089735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:23.78, Z:8.28 [[ 8.01816727e-01 -5.81145300e-01 -1.39140491e-01 6.76797931e+01] [ 5.73091207e-01 8.13796256e-01 -9.64475091e-02 2.37804363e+01] [ 1.69282027e-01 -2.40696558e-03 9.85564712e-01 8.27558881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.70, Y:23.80, Z:8.28 [[ 8.01908271e-01 -5.80949316e-01 -1.39431046e-01 6.77019497e+01] [ 5.72848538e-01 8.13936419e-01 -9.67060426e-02 2.37972757e+01] [ 1.69669316e-01 -2.32349542e-03 9.85498313e-01 8.28051151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.110888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:67.72, Y:23.81, Z:8.28 [[ 8.02413133e-01 -5.80288777e-01 -1.39277063e-01 6.77228331e+01] [ 5.72186452e-01 8.14407993e-01 -9.66555004e-02 2.38140505e+01] [ 1.69516456e-01 -2.13480584e-03 9.85525045e-01 8.28451159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.140888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:67.74, Y:23.83, Z:8.29 [[ 8.03602888e-01 -5.78736445e-01 -1.38875937e-01 6.77439614e+01] [ 5.70653554e-01 8.15512696e-01 -9.64031297e-02 2.38328169e+01] [ 1.69047095e-01 -1.78021392e-03 9.85606367e-01 8.28867043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.77, Y:23.85, Z:8.29 [[ 8.04350334e-01 -5.77830410e-01 -1.38320484e-01 6.77657248e+01] [ 5.69789680e-01 8.16155411e-01 -9.60732331e-02 2.38490734e+01] [ 1.68405047e-01 -1.53704718e-03 9.85716682e-01 8.29328244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.200888479 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:67.81, Y:23.85, Z:8.32 [[ 8.06759511e-01 -5.68839484e-01 -1.59877245e-01 6.78054168e+01] [ 5.63901950e-01 8.22030505e-01 -7.92492202e-02 2.38542016e+01] [ 1.76504058e-01 -2.62200282e-02 9.83950623e-01 8.32199581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:23.89, Z:8.30 [[ 8.06887370e-01 -5.77022711e-01 -1.26402384e-01 6.78052922e+01] [ 5.66401519e-01 8.16516700e-01 -1.11757765e-01 2.38918047e+01] [ 1.67696426e-01 1.85814264e-02 9.85663553e-01 8.29588859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.260888479 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:67.85, Y:23.88, Z:8.34 [[ 8.09172947e-01 -5.62103493e-01 -1.71110502e-01 6.78530866e+01] [ 5.59722158e-01 8.26003694e-01 -6.65507601e-02 2.38839226e+01] [ 1.78746322e-01 -4.19232649e-02 9.83001624e-01 8.34317433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:23.93, Z:8.30 [[ 8.08650057e-01 -5.76375163e-01 -1.17799647e-01 6.78446077e+01] [ 5.63913050e-01 8.16487586e-01 -1.23895498e-01 2.39321686e+01] [ 1.67592238e-01 3.37593435e-02 9.85278209e-01 8.29971925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.320888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:67.87, Y:23.94, Z:8.32 [[ 8.09547053e-01 -5.70739018e-01 -1.37442869e-01 6.78717692e+01] [ 5.62670422e-01 8.21131516e-01 -9.56296499e-02 2.39357291e+01] [ 1.67438244e-01 8.16641430e-05 9.85882563e-01 8.31798250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:67.89, Y:23.96, Z:8.32 [[ 8.11805178e-01 -5.67140551e-01 -1.39010603e-01 6.78920943e+01] [ 5.58828416e-01 8.23620581e-01 -9.67467831e-02 2.39552299e+01] [ 1.69361018e-01 8.56464267e-04 9.85553708e-01 8.32338458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.91, Y:23.97, Z:8.33 [[ 8.12964614e-01 -5.65470330e-01 -1.39038998e-01 6.79137949e+01] [ 5.57120653e-01 8.24767686e-01 -9.68237659e-02 2.39733229e+01] [ 1.69425840e-01 1.25279801e-03 9.85542143e-01 8.32767104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.410888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:67.93, Y:24.00, Z:8.32 [[ 8.15227953e-01 -5.66191664e-01 -1.21780062e-01 6.79302656e+01] [ 5.54763686e-01 8.23819091e-01 -1.16444656e-01 2.40033687e+01] [ 1.66254733e-01 2.73697822e-02 9.85702926e-01 8.31685265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.440888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:67.96, Y:24.00, Z:8.35 [[ 8.15113024e-01 -5.57978738e-01 -1.55725675e-01 6.79603747e+01] [ 5.53123650e-01 8.29527462e-01 -7.70611234e-02 2.40006640e+01] [ 1.72177192e-01 -2.33220281e-02 9.84789875e-01 8.34830065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.470888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:67.95, Y:24.06, Z:8.29 [[ 0.81357214 -0.57565818 -0.08196359 67.9545842 ] [ 0.5605219 0.81392964 -0.15275384 24.0632198 ] [ 0.15464659 0.07833388 0.9848595 8.29107799] [ 0. 0. 0. 1. ]] SLAMing on 80.500888479 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:68.02, Y:24.01, Z:8.39 [[ 8.13076095e-01 -5.48625881e-01 -1.94722638e-01 6.80186732e+01] [ 5.55900266e-01 8.31004990e-01 -2.01395534e-02 2.40119868e+01] [ 1.72864564e-01 -9.18713767e-02 9.80651565e-01 8.38681440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.530888479 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:67.99, Y:24.11, Z:8.29 [[ 0.81091379 -0.58119837 -0.06802409 67.98983292] [ 0.56369602 0.8070652 -0.17576279 24.10791142] [ 0.15705292 0.10418356 0.98207951 8.2923409 ] [ 0. 0. 0. 1. ]] SLAMing on 80.560888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:68.06, Y:24.05, Z:8.40 [[ 8.15056601e-01 -5.46953838e-01 -1.91113148e-01 6.80618293e+01] [ 5.51070656e-01 8.33691391e-01 -3.57742542e-02 2.40480075e+01] [ 1.78896252e-01 -7.61588057e-02 9.80915882e-01 8.39664441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.590888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:68.07, Y:24.09, Z:8.37 [[ 8.15417726e-01 -5.60124195e-01 -1.46132879e-01 6.80682107e+01] [ 5.50895124e-01 8.28406028e-01 -1.01281862e-01 2.40943972e+01] [ 1.77787779e-01 2.08313474e-03 9.84066647e-01 8.37062109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.620888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:68.09, Y:24.11, Z:8.38 [[ 8.15441534e-01 -5.59401382e-01 -1.48745419e-01 6.80947569e+01] [ 5.50359336e-01 8.28896895e-01 -1.00172545e-01 2.41094588e+01] [ 1.79331276e-01 -1.78575820e-04 9.83788728e-01 8.37926088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650888479 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:68.11, Y:24.13, Z:8.38 [[ 8.14157179e-01 -5.62085966e-01 -1.45627794e-01 6.81119757e+01] [ 5.52761848e-01 8.27074927e-01 -1.01987279e-01 2.41267362e+01] [ 1.77770715e-01 2.53618719e-03 9.84068667e-01 8.38104446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.680888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:68.13, Y:24.14, Z:8.39 [[ 8.13369081e-01 -5.63263626e-01 -1.45481362e-01 6.81333140e+01] [ 5.54146734e-01 8.26275910e-01 -1.00943141e-01 2.41421025e+01] [ 1.77065345e-01 1.48600833e-03 9.84197976e-01 8.38565796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:68.16, Y:24.16, Z:8.39 [[ 8.11441336e-01 -5.65860909e-01 -1.46165624e-01 6.81554202e+01] [ 5.56693900e-01 8.24500172e-01 -1.01446383e-01 2.41595285e+01] [ 1.77918125e-01 9.48277342e-04 9.84044837e-01 8.39050481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.740888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:68.18, Y:24.18, Z:8.40 [[ 8.11294936e-01 -5.66078098e-01 -1.46137310e-01 6.81785122e+01] [ 5.56907241e-01 8.24351067e-01 -1.01487156e-01 2.41756838e+01] [ 1.77918104e-01 9.51089887e-04 9.84044838e-01 8.39528140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77088847899999 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:68.21, Y:24.19, Z:8.40 [[ 8.10836563e-01 -5.66892329e-01 -1.45523727e-01 6.82051201e+01] [ 5.57637383e-01 8.23790381e-01 -1.02029194e-01 2.41927930e+01] [ 1.77720614e-01 1.57953093e-03 9.84079717e-01 8.39831423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.800888479 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:68.23, Y:24.21, Z:8.41 [[ 8.08524934e-01 -5.69404810e-01 -1.48544917e-01 6.82277587e+01] [ 5.61657334e-01 8.22023038e-01 -9.39104012e-02 2.42081120e+01] [ 1.75580378e-01 -7.50244123e-03 9.84436511e-01 8.40526577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.830888479 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:68.24, Y:24.23, Z:8.41 [[ 8.07953668e-01 -5.71831221e-01 -1.42196783e-01 6.82434405e+01] [ 5.61960716e-01 8.20351585e-01 -1.05940695e-01 2.42302495e+01] [ 1.77231553e-01 5.68616725e-03 9.84152754e-01 8.40514790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.860888479 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:68.27, Y:24.25, Z:8.41 [[ 8.07593536e-01 -5.71628069e-01 -1.45031140e-01 6.82665109e+01] [ 5.62553855e-01 8.20512787e-01 -1.01449132e-01 2.42452323e+01] [ 1.76991077e-01 3.41836359e-04 9.84212397e-01 8.41201230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.890888479 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:68.29, Y:24.26, Z:8.42 [[ 8.07469477e-01 -5.71911482e-01 -1.44603941e-01 6.82881754e+01] [ 5.62885164e-01 8.20315274e-01 -1.01208414e-01 2.42614910e+01] [ 1.76503076e-01 3.27292179e-04 9.84300034e-01 8.41660235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.920888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:68.32, Y:24.28, Z:8.42 [[ 8.08957296e-01 -5.68915539e-01 -1.48064859e-01 6.83153275e+01] [ 5.60225868e-01 8.22391235e-01 -9.90940641e-02 2.42762553e+01] [ 1.78143395e-01 -2.78689809e-03 9.84000591e-01 8.42435006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.950888479 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:68.33, Y:24.30, Z:8.42 [[ 8.07769270e-01 -5.71683972e-01 -1.43827130e-01 6.83313349e+01] [ 5.62338415e-01 8.20470690e-01 -1.02972592e-01 2.42959612e+01] [ 1.76873725e-01 2.29857500e-03 9.84230868e-01 8.42453265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.980888479 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:68.35, Y:24.31, Z:8.43 [[ 8.07931741e-01 -5.71229280e-01 -1.44718386e-01 6.83524035e+01] [ 5.62157996e-01 8.20790343e-01 -1.01398229e-01 2.43118410e+01] [ 1.76705092e-01 5.68250018e-04 9.84263678e-01 8.42851960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010888479 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:68.37, Y:24.33, Z:8.43 [[ 8.08400370e-01 -5.70814271e-01 -1.43735554e-01 6.83733156e+01] [ 5.61852777e-01 8.21078920e-01 -1.00751500e-01 2.43309495e+01] [ 1.75528627e-01 6.89330072e-04 9.84474086e-01 8.43187295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.040888479 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:68.40, Y:24.35, Z:8.44 [[ 8.10136810e-01 -5.67392897e-01 -1.47457277e-01 6.83998271e+01] [ 5.58503445e-01 8.23446179e-01 -1.00051446e-01 2.43454964e+01] [ 1.78191611e-01 -1.30003774e-03 9.83994949e-01 8.44071681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070888479 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:68.42, Y:24.36, Z:8.45 [[ 8.10249344e-01 -5.67414895e-01 -1.46752641e-01 6.84209749e+01] [ 5.58488533e-01 8.23431725e-01 -1.00253446e-01 2.43627943e+01] [ 1.77726079e-01 -7.29378803e-04 9.84079727e-01 8.44520028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.100888479 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:68.44, Y:24.38, Z:8.44 [[ 8.09991825e-01 -5.69438198e-01 -1.40190523e-01 6.84372494e+01] [ 5.60355451e-01 8.22026500e-01 -1.01361732e-01 2.43832503e+01] [ 1.72959567e-01 3.54565042e-03 9.84922543e-01 8.44411235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13088847899999 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:68.46, Y:24.40, Z:8.45 [[ 8.10470315e-01 -5.68531029e-01 -1.41103998e-01 6.84586415e+01] [ 5.59824274e-01 8.22660718e-01 -9.91268113e-02 2.43981588e+01] [ 1.72437384e-01 1.34589475e-03 9.85019562e-01 8.44997532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.160888479 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:68.48, Y:24.41, Z:8.45 [[ 8.11065297e-01 -5.67918292e-01 -1.40149556e-01 6.84806526e+01] [ 5.59316201e-01 8.23083592e-01 -9.84824231e-02 2.44149054e+01] [ 1.71284769e-01 1.48775861e-03 9.85220439e-01 8.45450068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.190888479 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:68.50, Y:24.43, Z:8.46 [[ 8.11803162e-01 -5.66940262e-01 -1.39836924e-01 6.85020030e+01] [ 5.58351987e-01 8.23757070e-01 -9.83226725e-02 2.44315331e+01] [ 1.70934737e-01 1.74043193e-03 9.85280816e-01 8.45874615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.220888479 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:68.52, Y:24.45, Z:8.46 [[ 8.13171521e-01 -5.64938095e-01 -1.39989379e-01 6.85231044e+01] [ 5.56294191e-01 8.25130361e-01 -9.84716193e-02 2.44501372e+01] [ 1.71139856e-01 2.19903800e-03 9.85244292e-01 8.46205460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.250888479 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:68.54, Y:24.47, Z:8.47 [[ 8.14235703e-01 -5.63334741e-01 -1.40264709e-01 6.85440770e+01] [ 5.54622473e-01 8.26224699e-01 -9.87251697e-02 2.44660033e+01] [ 1.71505485e-01 2.59159790e-03 9.85179756e-01 8.46593590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.280888479 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:68.57, Y:24.48, Z:8.47 [[ 8.16970298e-01 -5.59201454e-01 -1.40901621e-01 6.85655226e+01] [ 5.50343405e-01 8.29024420e-01 -9.92000365e-02 2.44826770e+01] [ 1.72283690e-01 3.49920528e-03 9.85041159e-01 8.46961688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.310888479 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:68.59, Y:24.50, Z:8.47 [[ 8.18233833e-01 -5.57385731e-01 -1.40764132e-01 6.85881569e+01] [ 5.48513720e-01 8.30244502e-01 -9.91300489e-02 2.44994318e+01] [ 1.72122321e-01 3.90050255e-03 9.85067862e-01 8.47371828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.340888479 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:68.61, Y:24.52, Z:8.48 [[ 8.19477072e-01 -5.55595343e-01 -1.40609898e-01 6.86098240e+01] [ 5.46706546e-01 8.31441605e-01 -9.90798209e-02 2.45154797e+01] [ 1.71957206e-01 4.32129007e-03 9.85094943e-01 8.47811934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370888479 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:68.63, Y:24.53, Z:8.48 [[ 8.20256124e-01 -5.54546169e-01 -1.40208547e-01 6.86320403e+01] [ 5.45688606e-01 8.32140517e-01 -9.88236100e-02 2.45320261e+01] [ 1.71475467e-01 4.55046458e-03 9.85177881e-01 8.48254189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.400888479 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:68.65, Y:24.55, Z:8.49 [[ 8.21993047e-01 -5.52238777e-01 -1.39139372e-01 6.86540998e+01] [ 5.43474137e-01 8.33670750e-01 -9.81271769e-02 2.45490148e+01] [ 1.70186057e-01 5.04120692e-03 9.85399052e-01 8.48665863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430888479 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:68.68, Y:24.57, Z:8.49 [[ 8.22633713e-01 -5.51597759e-01 -1.37890122e-01 6.86767920e+01] [ 5.42972209e-01 8.34094199e-01 -9.73038977e-02 2.45657559e+01] [ 1.68685962e-01 5.17496269e-03 9.85656261e-01 8.49062719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.460888479 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:68.70, Y:24.58, Z:8.50 [[ 8.22981737e-01 -5.51150838e-01 -1.37600199e-01 6.86991689e+01] [ 5.42545536e-01 8.34388764e-01 -9.71582786e-02 2.45811720e+01] [ 1.68360926e-01 5.30511524e-03 9.85711141e-01 8.49539014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490888479 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:68.72, Y:24.60, Z:8.50 [[ 8.23462713e-01 -5.50663677e-01 -1.36669952e-01 6.87212600e+01] [ 5.42158732e-01 8.34709637e-01 -9.65594701e-02 2.45953776e+01] [ 1.67251519e-01 5.41631518e-03 9.85899383e-01 8.49944575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52088847899999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:68.74, Y:24.61, Z:8.50 [[ 8.23263563e-01 -5.51080198e-01 -1.36190021e-01 6.87440949e+01] [ 5.42636719e-01 8.34435237e-01 -9.62456534e-02 2.46111548e+01] [ 1.66680826e-01 5.33383329e-03 9.85996477e-01 8.50405937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.550888479 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:68.77, Y:24.63, Z:8.51 [[ 8.22934681e-01 -5.51735656e-01 -1.35522238e-01 6.87672338e+01] [ 5.43374485e-01 8.34002685e-01 -9.58315741e-02 2.46270926e+01] [ 1.65899607e-01 5.22379946e-03 9.86128811e-01 8.50843848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.580888479 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:68.79, Y:24.64, Z:8.51 [[ 8.22745797e-01 -5.52108332e-01 -1.35150816e-01 6.87891203e+01] [ 5.43788523e-01 8.33756274e-01 -9.56269755e-02 2.46417104e+01] [ 1.65479291e-01 5.18322962e-03 9.86199644e-01 8.51255222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.610888479 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:68.81, Y:24.66, Z:8.52 [[ 8.22036078e-01 -5.52966957e-01 -1.35956725e-01 6.88125953e+01] [ 5.44554214e-01 8.33187802e-01 -9.62226319e-02 2.46561066e+01] [ 1.66485421e-01 5.06266749e-03 9.86030919e-01 8.51693565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.640888479 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:68.84, Y:24.67, Z:8.52 [[ 8.21605541e-01 -5.53596442e-01 -1.35997483e-01 6.88357187e+01] [ 5.45177462e-01 8.32770153e-01 -9.63089173e-02 2.46718762e+01] [ 1.66570918e-01 4.98517763e-03 9.86016875e-01 8.52151737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.670888479 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:68.86, Y:24.69, Z:8.53 [[ 8.21461658e-01 -5.53801751e-01 -1.36030746e-01 6.88581687e+01] [ 5.45371367e-01 8.32633575e-01 -9.63919161e-02 2.46868251e+01] [ 1.66645778e-01 4.99498918e-03 9.86004176e-01 8.52630299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.700888479 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:68.88, Y:24.70, Z:8.53 [[ 8.21495778e-01 -5.54166823e-01 -1.34327283e-01 6.88809816e+01] [ 5.45948475e-01 8.32391332e-01 -9.52099423e-02 2.47009260e+01] [ 1.64575058e-01 4.87879012e-03 9.86352497e-01 8.53038038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.730888479 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:68.88, Y:24.74, Z:8.49 [[ 8.18550280e-01 -5.67529778e-01 -8.87997193e-02 6.88831791e+01] [ 5.54577239e-01 8.21048661e-01 -1.35363152e-01 2.47443633e+01] [ 1.49731510e-01 6.15552426e-02 9.86808708e-01 8.49478198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.760888479 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:68.94, Y:24.71, Z:8.56 [[ 8.20587532e-01 -5.46610150e-01 -1.66893517e-01 6.89384591e+01] [ 5.46457804e-01 8.35932009e-01 -5.10053353e-02 2.47108310e+01] [ 1.67391667e-01 -4.93459228e-02 9.84654767e-01 8.56166390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790888479 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:68.95, Y:24.75, Z:8.55 [[ 8.19378884e-01 -5.56902304e-01 -1.35934056e-01 6.89517341e+01] [ 5.48518128e-01 8.30566339e-01 -9.63712567e-02 2.47454607e+01] [ 1.66571626e-01 4.40227890e-03 9.86019530e-01 8.54529062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.820888479 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:68.98, Y:24.76, Z:8.55 [[ 8.18316606e-01 -5.58447638e-01 -1.35993264e-01 6.89753475e+01] [ 5.50067391e-01 8.29529448e-01 -9.64715460e-02 2.47607477e+01] [ 1.66684724e-01 4.13880825e-03 9.86001558e-01 8.54994266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850888479 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:69.00, Y:24.78, Z:8.55 [[ 8.17161423e-01 -5.60146970e-01 -1.35950658e-01 6.89988104e+01] [ 5.51785234e-01 8.28384341e-01 -9.65009802e-02 2.47758937e+01] [ 1.66674128e-01 3.84131281e-03 9.86004553e-01 8.55436148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88088847899999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:69.02, Y:24.79, Z:8.56 [[ 8.14966472e-01 -5.63298872e-01 -1.36103018e-01 6.90215820e+01] [ 5.54951672e-01 8.26246822e-01 -9.66686616e-02 2.47892007e+01] [ 1.66908034e-01 3.25112050e-03 9.85967108e-01 8.55851819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.910888479 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:69.04, Y:24.80, Z:8.56 [[ 8.13860577e-01 -5.65076484e-01 -1.35349651e-01 6.90441980e+01] [ 5.56842259e-01 8.25033458e-01 -9.61586808e-02 2.48047951e+01] [ 1.66005000e-01 2.89135411e-03 9.86120672e-01 8.56232069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.940888479 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:69.07, Y:24.82, Z:8.57 [[ 8.12931777e-01 -5.66469402e-01 -1.35108635e-01 6.90662180e+01] [ 5.58273979e-01 8.24078509e-01 -9.60456939e-02 2.48200319e+01] [ 1.65747069e-01 2.65096127e-03 9.86164733e-01 8.56677915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.970888479 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:69.09, Y:24.83, Z:8.57 [[ 8.12184569e-01 -5.67636399e-01 -1.34703913e-01 6.90882016e+01] [ 5.59502088e-01 8.23275793e-01 -9.57829956e-02 2.48343452e+01] [ 1.65268386e-01 2.42635028e-03 9.86245646e-01 8.57096280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.000888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:69.11, Y:24.85, Z:8.58 [[ 8.10441891e-01 -5.70203863e-01 -1.34355857e-01 6.91118499e+01] [ 5.62142840e-01 8.21500990e-01 -9.55591505e-02 2.48481659e+01] [ 1.64861667e-01 1.91795547e-03 9.86314834e-01 8.57512730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.030888479 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:69.13, Y:24.86, Z:8.58 [[ 8.09964726e-01 -5.70876475e-01 -1.34377059e-01 6.91341806e+01] [ 5.62812382e-01 8.21033923e-01 -9.56322121e-02 2.48631298e+01] [ 1.64922304e-01 1.82964587e-03 9.86304865e-01 8.57885972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.060888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:69.16, Y:24.88, Z:8.58 [[ 8.09143384e-01 -5.71912756e-01 -1.34917688e-01 6.91568664e+01] [ 5.63793312e-01 8.20312800e-01 -9.60417174e-02 2.48790293e+01] [ 1.65602190e-01 1.64583003e-03 9.86191262e-01 8.58267405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.090888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:69.18, Y:24.89, Z:8.59 [[ 8.08019399e-01 -5.73654164e-01 -1.34259267e-01 6.91794284e+01] [ 5.65628671e-01 8.19096534e-01 -9.56298850e-02 2.48940062e+01] [ 1.64829782e-01 1.32991164e-03 9.86321131e-01 8.58560409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.120888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.20, Y:24.91, Z:8.59 [[ 8.07304609e-01 -5.74779309e-01 -1.33746079e-01 6.92026374e+01] [ 5.66826855e-01 8.18307706e-01 -9.52880644e-02 2.49090127e+01] [ 1.64215055e-01 1.11562431e-03 9.86423931e-01 8.59036801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.23, Y:24.92, Z:8.60 [[ 8.06645021e-01 -5.75779051e-01 -1.33425236e-01 6.92252168e+01] [ 5.67868977e-01 8.17604774e-01 -9.51170759e-02 2.49236839e+01] [ 1.63855529e-01 9.57663565e-04 9.86483881e-01 8.59531496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.180888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:69.25, Y:24.94, Z:8.60 [[ 8.05425926e-01 -5.77558777e-01 -1.33097473e-01 6.92483172e+01] [ 5.69707856e-01 8.16348873e-01 -9.49077248e-02 2.49378914e+01] [ 1.63468761e-01 6.14466123e-04 9.86548319e-01 8.59993362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:69.27, Y:24.95, Z:8.60 [[ 8.05115176e-01 -5.77905415e-01 -1.33472409e-01 6.92710786e+01] [ 5.70008362e-01 8.16103546e-01 -9.52127572e-02 2.49529433e+01] [ 1.63951274e-01 5.76846669e-04 9.86468270e-01 8.60461184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.240888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:69.29, Y:24.97, Z:8.61 [[ 8.04869491e-01 -5.78160693e-01 -1.33848108e-01 6.92938144e+01] [ 5.70212740e-01 8.15922719e-01 -9.55382016e-02 2.49683386e+01] [ 1.64446145e-01 5.73887182e-04 9.86385896e-01 8.60918065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27088847899999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.32, Y:24.98, Z:8.61 [[ 8.05790446e-01 -5.76901742e-01 -1.33739064e-01 6.93168845e+01] [ 5.68940035e-01 8.16813081e-01 -9.55176777e-02 2.49837258e+01] [ 1.64344131e-01 8.77724511e-04 9.86402674e-01 8.61397235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.300888479 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:69.35, Y:24.99, Z:8.64 [[ 8.07376506e-01 -5.70492591e-01 -1.50603389e-01 6.93494305e+01] [ 5.65513903e-01 8.21010120e-01 -7.83352302e-02 2.49895323e+01] [ 1.68336575e-01 -2.19222859e-02 9.85485774e-01 8.63597938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.330888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:69.36, Y:25.02, Z:8.62 [[ 8.07351920e-01 -5.77645762e-01 -1.20450199e-01 6.93575573e+01] [ 5.67138728e-01 8.15991131e-01 -1.11857662e-01 2.50244952e+01] [ 1.62900399e-01 2.19965254e-02 9.86397290e-01 8.61586902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.360888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:69.38, Y:25.03, Z:8.63 [[ 8.08442829e-01 -5.73391321e-01 -1.32825393e-01 6.93845998e+01] [ 5.65467534e-01 8.19279865e-01 -9.50103766e-02 2.50316299e+01] [ 1.63299296e-01 1.70200999e-03 9.86575108e-01 8.62983377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.390888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:69.42, Y:25.03, Z:8.67 [[ 8.10113629e-01 -5.63366187e-01 -1.62278919e-01 6.94212944e+01] [ 5.59795594e-01 8.25548227e-01 -7.14074050e-02 2.50304554e+01] [ 1.74197591e-01 -3.29949118e-02 9.84157780e-01 8.66545261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.420888479 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:69.42, Y:25.08, Z:8.63 [[ 8.09540760e-01 -5.75854735e-01 -1.14171281e-01 6.94236197e+01] [ 5.63654233e-01 8.16790428e-01 -1.23074379e-01 2.50771333e+01] [ 1.64126974e-01 3.52806010e-02 9.85808103e-01 8.62614730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.450888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.45, Y:25.08, Z:8.64 [[ 8.10683157e-01 -5.69902400e-01 -1.34179259e-01 6.94521977e+01] [ 5.61742851e-01 8.21708424e-01 -9.61261461e-02 2.50807365e+01] [ 1.65038749e-01 2.55360819e-03 9.86283778e-01 8.64247718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.480888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:69.47, Y:25.10, Z:8.65 [[ 8.11190416e-01 -5.69191554e-01 -1.34130846e-01 6.94735088e+01] [ 5.61018744e-01 8.22200366e-01 -9.61484647e-02 2.50964134e+01] [ 1.65009325e-01 2.74479405e-03 9.86288187e-01 8.64648207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:69.48, Y:25.13, Z:8.62 [[ 8.08973774e-01 -5.79077589e-01 -1.01146330e-01 6.94782414e+01] [ 5.67173228e-01 8.14113257e-01 -1.24636010e-01 2.51321823e+01] [ 1.54518488e-01 4.34597729e-02 9.87033578e-01 8.62007832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.540888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:69.53, Y:25.11, Z:8.67 [[ 8.11856547e-01 -5.62543315e-01 -1.56313679e-01 6.95267506e+01] [ 5.59807014e-01 8.26047435e-01 -6.52820172e-02 2.51141360e+01] [ 1.65846476e-01 -3.45058608e-02 9.85547712e-01 8.67104180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:25.16, Z:8.63 [[ 8.09495412e-01 -5.77861903e-01 -1.03888397e-01 6.95262637e+01] [ 5.66439374e-01 8.15206219e-01 -1.20769430e-01 2.51624067e+01] [ 1.54478520e-01 3.89158208e-02 9.87229429e-01 8.63238944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.600888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.55, Y:25.16, Z:8.65 [[ 8.09544735e-01 -5.73983400e-01 -1.23208683e-01 6.95548503e+01] [ 5.66108495e-01 8.18835483e-01 -9.50243328e-02 2.51648115e+01] [ 1.55430031e-01 7.17696613e-03 9.87820832e-01 8.64774925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.58, Y:25.18, Z:8.65 [[ 8.09576702e-01 -5.73745947e-01 -1.24101381e-01 6.95780286e+01] [ 5.65904900e-01 8.19007692e-01 -9.47525415e-02 2.51808331e+01] [ 1.56003872e-01 6.47987026e-03 9.87735189e-01 8.65316608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.660888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.62, Y:25.17, Z:8.70 [[ 8.11147370e-01 -5.60680618e-01 -1.66364625e-01 6.96227934e+01] [ 5.59172626e-01 8.26855906e-01 -6.02933209e-02 2.51737222e+01] [ 1.71364869e-01 -4.41197755e-02 9.84219247e-01 8.69869774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.690888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:69.63, Y:25.21, Z:8.68 [[ 8.10328657e-01 -5.71172476e-01 -1.30879607e-01 6.96324079e+01] [ 5.60935383e-01 8.20699833e-01 -1.08642902e-01 2.52135894e+01] [ 1.69466706e-01 1.46214545e-02 9.85427445e-01 8.67524632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.720888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:69.66, Y:25.22, Z:8.69 [[ 8.09703096e-01 -5.68258625e-01 -1.46502664e-01 6.96618958e+01] [ 5.61251802e-01 8.22792126e-01 -8.94959858e-02 2.52195013e+01] [ 1.71398104e-01 -9.75970727e-03 9.85153510e-01 8.69442875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.750888479 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:69.68, Y:25.25, Z:8.69 [[ 8.08559749e-01 -5.73720646e-01 -1.30674223e-01 6.96780049e+01] [ 5.63577900e-01 8.18932702e-01 -1.08301342e-01 2.52457896e+01] [ 1.69148110e-01 1.39230024e-02 9.85492297e-01 8.68523972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.780888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:69.71, Y:25.25, Z:8.70 [[ 8.07063283e-01 -5.73263588e-01 -1.41483980e-01 6.97062847e+01] [ 5.66007490e-01 8.19345123e-01 -9.11542201e-02 2.52528656e+01] [ 1.68179604e-01 -6.51376844e-03 9.85734848e-01 8.70053937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.810888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.73, Y:25.27, Z:8.70 [[ 8.05763495e-01 -5.76028614e-01 -1.37608958e-01 6.97282147e+01] [ 5.67772640e-01 8.17429512e-01 -9.71762449e-02 2.52717120e+01] [ 1.68461921e-01 1.70469199e-04 9.85708147e-01 8.70338941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.840888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.75, Y:25.29, Z:8.71 [[ 8.04790896e-01 -5.77682477e-01 -1.36361908e-01 6.97496864e+01] [ 5.69087856e-01 8.16258283e-01 -9.93047173e-02 2.52884706e+01] [ 1.68673132e-01 2.31762624e-03 9.85669317e-01 8.70673838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.77, Y:25.31, Z:8.71 [[ 8.02997725e-01 -5.81224333e-01 -1.31806408e-01 6.97715642e+01] [ 5.71703079e-01 8.13692550e-01 -1.05166645e-01 2.53095209e+01] [ 1.68375305e-01 9.09444729e-03 9.85681007e-01 8.70555770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.900888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.80, Y:25.32, Z:8.72 [[ 8.01512321e-01 -5.80901086e-01 -1.41887025e-01 6.97978991e+01] [ 5.73412924e-01 8.13946979e-01 -9.32090918e-02 2.53184299e+01] [ 1.69633778e-01 -6.65161839e-03 9.85484722e-01 8.71770832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930888479 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:69.82, Y:25.34, Z:8.72 [[ 8.00014889e-01 -5.84763001e-01 -1.34269914e-01 6.98191325e+01] [ 5.75202068e-01 8.11172097e-01 -1.05557609e-01 2.53404122e+01] [ 1.70642192e-01 7.21532685e-03 9.85306643e-01 8.71619783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:25.35, Z:8.72 [[ 7.99033578e-01 -5.84867527e-01 -1.39553991e-01 6.98426386e+01] [ 5.76644656e-01 8.11125390e-01 -9.77575684e-02 2.53524150e+01] [ 1.70371012e-01 -2.36148320e-03 9.85377157e-01 8.72411248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:69.86, Y:25.37, Z:8.73 [[ 7.97485609e-01 -5.87270243e-01 -1.38312562e-01 6.98638111e+01] [ 5.78758636e-01 8.09390698e-01 -9.96249957e-02 2.53681774e+01] [ 1.70455697e-01 -6.00089640e-04 9.85365158e-01 8.72755767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02088847899999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:69.89, Y:25.38, Z:8.74 [[ 7.97537893e-01 -5.86442473e-01 -1.41486872e-01 6.98873452e+01] [ 5.78724278e-01 8.09967953e-01 -9.50269680e-02 2.53815632e+01] [ 1.70327683e-01 -6.09428023e-03 9.85368632e-01 8.73505080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.050888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:69.91, Y:25.40, Z:8.73 [[ 7.96913559e-01 -5.88687736e-01 -1.35556370e-01 6.99072230e+01] [ 5.79335098e-01 8.08345987e-01 -1.04630821e-01 2.54030018e+01] [ 1.71171329e-01 4.84915671e-03 9.85229345e-01 8.73427089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.080888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.93, Y:25.42, Z:8.74 [[ 7.97080435e-01 -5.87889279e-01 -1.38018024e-01 6.99315727e+01] [ 5.78884263e-01 8.08939358e-01 -1.02518901e-01 2.54189466e+01] [ 1.71917975e-01 1.81934794e-03 9.85109588e-01 8.74060892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.110888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.95, Y:25.43, Z:8.75 [[ 7.98464702e-01 -5.85273084e-01 -1.41101161e-01 6.99536964e+01] [ 5.77111460e-01 8.10828225e-01 -9.74677019e-02 2.54318451e+01] [ 1.71454026e-01 -3.60657754e-03 9.85185520e-01 8.74748976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.140888479 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:69.98, Y:25.45, Z:8.75 [[ 7.99770478e-01 -5.83161335e-01 -1.42443112e-01 6.99768000e+01] [ 5.75734355e-01 8.12321137e-01 -9.30823440e-02 2.54456724e+01] [ 1.69991575e-01 -7.56488227e-03 9.85416479e-01 8.75452946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.170888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:70.00, Y:25.47, Z:8.75 [[ 8.00162802e-01 -5.84591299e-01 -1.34136137e-01 6.99959320e+01] [ 5.74849646e-01 8.11286667e-01 -1.06591879e-01 2.54686574e+01] [ 1.71135544e-01 8.18274572e-03 9.85213514e-01 8.75289781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.200888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:70.02, Y:25.48, Z:8.76 [[ 8.01630202e-01 -5.81554522e-01 -1.38503998e-01 7.00185500e+01] [ 5.72883481e-01 8.13506975e-01 -1.00054585e-01 2.54816423e+01] [ 1.70861165e-01 8.60124897e-04 9.85294739e-01 8.76078367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.04, Y:25.50, Z:8.77 [[ 8.02139257e-01 -5.80784166e-01 -1.38788920e-01 7.00410739e+01] [ 5.72059993e-01 8.14056904e-01 -1.00293181e-01 2.54979933e+01] [ 1.71230770e-01 1.05350903e-03 9.85230386e-01 8.76593183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:25.51, Z:8.77 [[ 8.02614360e-01 -5.80023000e-01 -1.39224670e-01 7.00629961e+01] [ 5.71221850e-01 8.14599110e-01 -1.00667215e-01 2.55133296e+01] [ 1.71801592e-01 1.26877882e-03 9.85130754e-01 8.77089154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:25.53, Z:8.78 [[ 8.03706410e-01 -5.78243601e-01 -1.40322289e-01 7.00868313e+01] [ 5.69267792e-01 8.15862402e-01 -1.01502328e-01 2.55281257e+01] [ 1.73176751e-01 1.69711199e-03 9.84889300e-01 8.77679825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:25.54, Z:8.78 [[ 8.04097479e-01 -5.77570378e-01 -1.40853477e-01 7.01093415e+01] [ 5.68505083e-01 8.16338687e-01 -1.01946648e-01 2.55437446e+01] [ 1.73865506e-01 1.89912473e-03 9.84767576e-01 8.78210656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:25.56, Z:8.79 [[ 8.04460188e-01 -5.76988434e-01 -1.41167114e-01 7.01320019e+01] [ 5.67862715e-01 8.16749668e-01 -1.02234616e-01 2.55602212e+01] [ 1.74286384e-01 2.08013773e-03 9.84692810e-01 8.78694010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.15, Y:25.58, Z:8.79 [[ 8.05194063e-01 -5.75901662e-01 -1.41420639e-01 7.01540914e+01] [ 5.66715342e-01 8.17515539e-01 -1.02479586e-01 2.55766586e+01] [ 1.74631734e-01 2.37070884e-03 9.84630965e-01 8.79119141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.410888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.18, Y:25.59, Z:8.80 [[ 8.05300102e-01 -5.75733684e-01 -1.41500779e-01 7.01758614e+01] [ 5.66523446e-01 8.17633583e-01 -1.02598776e-01 2.55926900e+01] [ 1.74765360e-01 2.45929624e-03 9.84607039e-01 8.79544886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:25.61, Z:8.79 [[ 8.06569850e-01 -5.75713452e-01 -1.34160717e-01 7.01979393e+01] [ 5.65550773e-01 8.17570913e-01 -1.08305698e-01 2.56108212e+01] [ 1.72038947e-01 1.14814133e-02 9.85023237e-01 8.79407201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.470888479 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:70.23, Y:25.61, Z:8.82 [[ 8.06457269e-01 -5.68853044e-01 -1.61347101e-01 7.02347563e+01] [ 5.63918900e-01 8.21998874e-01 -7.94564335e-02 2.56084703e+01] [ 1.77826169e-01 -2.69084613e-02 9.83693950e-01 8.82400017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.24, Y:25.64, Z:8.80 [[ 8.03758050e-01 -5.80801435e-01 -1.29006548e-01 7.02407220e+01] [ 5.68982931e-01 8.13749638e-01 -1.18616823e-01 2.56445361e+01] [ 1.73871853e-01 2.19367029e-02 9.84523925e-01 8.80302924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:25.65, Z:8.82 [[ 8.02495389e-01 -5.79825328e-01 -1.40725760e-01 7.02681184e+01] [ 5.70754455e-01 8.14739090e-01 -1.02174198e-01 2.56518651e+01] [ 1.73897966e-01 1.67446861e-03 9.84762252e-01 8.81629823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:25.67, Z:8.82 [[ 8.02642829e-01 -5.80695650e-01 -1.36224266e-01 7.02924856e+01] [ 5.70983569e-01 8.14087927e-01 -1.06012320e-01 2.56686411e+01] [ 1.72459424e-01 7.30821130e-03 9.84989511e-01 8.81841457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.31, Y:25.68, Z:8.83 [[ 8.00048260e-01 -5.83290145e-01 -1.40340260e-01 7.03122343e+01] [ 5.74382611e-01 8.12263629e-01 -1.01550054e-01 2.56812854e+01] [ 1.73226435e-01 6.35939041e-04 9.84881819e-01 8.82675328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.34, Y:25.70, Z:8.83 [[ 7.99125001e-01 -5.83754183e-01 -1.43632471e-01 7.03383843e+01] [ 5.75633830e-01 8.11914825e-01 -9.71597179e-02 2.56953442e+01] [ 1.73334725e-01 -5.03695002e-03 9.84850091e-01 8.83489782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:25.72, Z:8.83 [[ 7.97968937e-01 -5.86793840e-01 -1.37544773e-01 7.03579095e+01] [ 5.77179094e-01 8.09720136e-01 -1.05913151e-01 2.57152320e+01] [ 1.73521957e-01 5.12743701e-03 9.84816653e-01 8.83466016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.680888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.38, Y:25.73, Z:8.84 [[ 7.97500985e-01 -5.86080747e-01 -1.43183575e-01 7.03829727e+01] [ 5.77630755e-01 8.10244772e-01 -9.92276201e-02 2.57265935e+01] [ 1.74169141e-01 -3.57311184e-03 9.84709268e-01 8.84318006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:25.74, Z:8.85 [[ 7.97788240e-01 -5.86377696e-01 -1.40339309e-01 7.04040043e+01] [ 5.76828978e-01 8.10031591e-01 -1.05437906e-01 2.57448713e+01] [ 1.75505710e-01 3.16534108e-03 9.84473324e-01 8.84535274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.740888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:25.76, Z:8.85 [[ 7.97953380e-01 -5.85466981e-01 -1.43174082e-01 7.04280813e+01] [ 5.76603393e-01 8.10694750e-01 -1.01501480e-01 2.57593324e+01] [ 1.75496241e-01 -1.56121262e-03 9.84478863e-01 8.85214946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.45, Y:25.78, Z:8.86 [[ 7.98979491e-01 -5.84357002e-01 -1.41981222e-01 7.04491111e+01] [ 5.75138928e-01 8.11496148e-01 -1.03388659e-01 2.57757284e+01] [ 1.75633102e-01 9.46490410e-04 9.84455239e-01 8.85608599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:25.79, Z:8.86 [[ 7.99631678e-01 -5.83409778e-01 -1.42204819e-01 7.04704121e+01] [ 5.74142687e-01 8.12177099e-01 -1.03578639e-01 2.57915381e+01] [ 1.75924288e-01 1.17890420e-03 9.84402994e-01 8.86023839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:25.81, Z:8.86 [[ 8.01347703e-01 -5.83177364e-01 -1.33214191e-01 7.04959595e+01] [ 5.72200136e-01 8.12210083e-01 -1.13586031e-01 2.58134314e+01] [ 1.74438711e-01 1.47967263e-02 9.84556851e-01 8.85696077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.52, Y:25.82, Z:8.88 [[ 8.01032912e-01 -5.79269671e-01 -1.50973253e-01 7.05190991e+01] [ 5.72126898e-01 8.15032444e-01 -9.16129226e-02 2.58184309e+01] [ 1.76116687e-01 -1.29908926e-02 9.84283572e-01 8.87607059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.54, Y:25.84, Z:8.88 [[ 8.02764108e-01 -5.79249499e-01 -1.41562017e-01 7.05384203e+01] [ 5.69987148e-01 8.15147460e-01 -1.03195293e-01 2.58392928e+01] [ 1.75169741e-01 2.15294627e-03 9.84535894e-01 8.87525873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:25.86, Z:8.88 [[ 8.03197376e-01 -5.78780470e-01 -1.41021780e-01 7.05609264e+01] [ 5.69574675e-01 8.15480205e-01 -1.02843201e-01 2.58562245e+01] [ 1.74524106e-01 2.28095488e-03 9.84650259e-01 8.87995521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.950888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:70.58, Y:25.87, Z:8.88 [[ 8.03668812e-01 -5.78244349e-01 -1.40534384e-01 7.05831387e+01] [ 5.69083795e-01 8.15859991e-01 -1.02548087e-01 2.58729694e+01] [ 1.73954233e-01 2.43885858e-03 9.84750718e-01 8.88458281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.980888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.61, Y:25.89, Z:8.89 [[ 8.04165730e-01 -5.77792147e-01 -1.39548248e-01 7.06056798e+01] [ 5.68743465e-01 8.16179907e-01 -1.01888323e-01 2.58896059e+01] [ 1.72766749e-01 2.56794336e-03 9.84959419e-01 8.88931912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.63, Y:25.91, Z:8.89 [[ 8.04380144e-01 -5.77610060e-01 -1.39065462e-01 7.06284290e+01] [ 5.68611052e-01 8.16308524e-01 -1.01596585e-01 2.59054806e+01] [ 1.72203531e-01 2.64811705e-03 9.85057831e-01 8.89449759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.66, Y:25.92, Z:8.89 [[ 8.05788371e-01 -5.76954592e-01 -1.33523404e-01 7.06582877e+01] [ 5.66541071e-01 8.16674421e-01 -1.09882235e-01 2.59245916e+01] [ 1.72442208e-01 1.28953350e-02 9.84935224e-01 8.89455262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:25.93, Z:8.91 [[ 8.03793393e-01 -5.76534741e-01 -1.46710171e-01 7.06770814e+01] [ 5.69308521e-01 8.17012094e-01 -9.15371318e-02 2.59327745e+01] [ 1.72638321e-01 -9.94640885e-03 9.84935063e-01 8.90898781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:25.95, Z:8.91 [[ 8.03459891e-01 -5.78766450e-01 -1.39576504e-01 7.06970949e+01] [ 5.69677837e-01 8.15489205e-01 -1.02198428e-01 2.59533879e+01] [ 1.72972154e-01 2.59869714e-03 9.84923287e-01 8.90888293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.73, Y:25.97, Z:8.91 [[ 8.05585180e-01 -5.76486364e-01 -1.36733278e-01 7.07307019e+01] [ 5.66505488e-01 8.17058515e-01 -1.07177031e-01 2.59699846e+01] [ 1.73505186e-01 8.88007554e-03 9.84792920e-01 8.91307176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:25.98, Z:8.92 [[ 8.02474807e-01 -5.78822519e-01 -1.44909196e-01 7.07437262e+01] [ 5.71286521e-01 8.15416117e-01 -9.34251978e-02 2.59813329e+01] [ 1.72237902e-01 -7.81330263e-03 9.85024394e-01 8.92273835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.76, Y:26.00, Z:8.92 [[ 8.01928605e-01 -5.81154870e-01 -1.38454073e-01 7.07629142e+01] [ 5.72224769e-01 8.13790067e-01 -1.01511283e-01 2.60012159e+01] [ 1.71666326e-01 2.17795195e-03 9.85152744e-01 8.92261897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.220888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:70.79, Y:26.02, Z:8.93 [[ 8.00125905e-01 -5.83853192e-01 -1.37528129e-01 7.07856003e+01] [ 5.75077980e-01 8.11857658e-01 -1.00858610e-01 2.60178607e+01] [ 1.70539886e-01 1.61018750e-03 9.85349458e-01 8.92753364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.250888479 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:70.81, Y:26.03, Z:8.93 [[ 7.98861655e-01 -5.85498004e-01 -1.37884531e-01 7.08077860e+01] [ 5.76690999e-01 8.10672788e-01 -1.01178665e-01 2.60337546e+01] [ 1.71019143e-01 1.31098762e-03 9.85266834e-01 8.93271553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.280888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:70.83, Y:26.05, Z:8.94 [[ 7.97603059e-01 -5.87133956e-01 -1.38213882e-01 7.08298363e+01] [ 5.78298428e-01 8.09489156e-01 -1.01480222e-01 2.60493718e+01] [ 1.71465123e-01 1.01206481e-03 9.85189671e-01 8.93762085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.310888479 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:70.85, Y:26.06, Z:8.94 [[ 7.94617130e-01 -5.90900405e-01 -1.39356836e-01 7.08520895e+01] [ 5.81969491e-01 8.06744483e-01 -1.02346719e-01 2.60649472e+01] [ 1.72902076e-01 2.25029448e-04 9.84938994e-01 8.94299939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.340888479 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:70.87, Y:26.08, Z:8.95 [[ 7.92983887e-01 -5.93061735e-01 -1.39478791e-01 7.08733018e+01] [ 5.84137779e-01 8.05156966e-01 -1.02495441e-01 2.60805924e+01] [ 1.73088444e-01 -1.97598110e-04 9.84906265e-01 8.94783150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.370888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:70.89, Y:26.10, Z:8.95 [[ 7.91412206e-01 -5.95110922e-01 -1.39677170e-01 7.08945997e+01] [ 5.86187156e-01 8.03643333e-01 -1.02674296e-01 2.60962936e+01] [ 1.73353221e-01 -6.19271850e-04 9.84859522e-01 8.95270451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:26.11, Z:8.96 [[ 7.88705935e-01 -5.98699978e-01 -1.39647001e-01 7.09166525e+01] [ 5.89830007e-01 8.00972179e-01 -1.02684616e-01 2.61128766e+01] [ 1.73330641e-01 -1.38002550e-03 9.84862724e-01 8.95751759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430888479 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:70.96, Y:26.12, Z:8.98 [[ 7.91638202e-01 -5.89721994e-01 -1.59802773e-01 7.09616220e+01] [ 5.83930116e-01 8.07216502e-01 -8.61808466e-02 2.61166364e+01] [ 1.79818176e-01 -2.50896014e-02 9.83379853e-01 8.98432197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.460888479 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:70.96, Y:26.15, Z:8.96 [[ 7.86954906e-01 -6.03417866e-01 -1.28797731e-01 7.09563060e+01] [ 5.92291083e-01 7.97278783e-01 -1.16352117e-01 2.61530228e+01] [ 1.72896644e-01 1.52781212e-02 9.84821471e-01 8.95973798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:26.16, Z:8.97 [[ 7.86520158e-01 -6.01654480e-01 -1.39276442e-01 7.09802095e+01] [ 5.92854777e-01 7.98754158e-01 -1.02542716e-01 2.61626317e+01] [ 1.72942921e-01 -1.91879089e-03 9.84929979e-01 8.97182331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:26.18, Z:8.98 [[ 7.86372499e-01 -6.01851112e-01 -1.39260663e-01 7.10028367e+01] [ 5.93050674e-01 7.98605970e-01 -1.02564141e-01 2.61794240e+01] [ 1.72942739e-01 -1.93501013e-03 9.84929980e-01 8.97664123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.550888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:71.02, Y:26.20, Z:8.98 [[ 7.86772712e-01 -6.01247265e-01 -1.39608120e-01 7.10247301e+01] [ 5.92383601e-01 7.99061085e-01 -1.02873956e-01 2.61962621e+01] [ 1.73408100e-01 -1.76313980e-03 9.84848477e-01 8.98166599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.580888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.05, Y:26.21, Z:8.99 [[ 7.87253131e-01 -6.00501545e-01 -1.40108537e-01 7.10465261e+01] [ 5.91551453e-01 7.99622081e-01 -1.03302496e-01 2.62139104e+01] [ 1.74067188e-01 -1.55619503e-03 9.84732549e-01 8.98686951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.610888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:71.07, Y:26.23, Z:8.99 [[ 7.88094496e-01 -5.99378342e-01 -1.40187976e-01 7.10667754e+01] [ 5.90389824e-01 8.00464874e-01 -1.03420695e-01 2.62307095e+01] [ 1.74203676e-01 -1.26027413e-03 9.84708836e-01 8.99084999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.640888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.09, Y:26.26, Z:8.99 [[ 7.89499209e-01 -5.98863650e-01 -1.34362672e-01 7.10862356e+01] [ 5.87119946e-01 8.00709758e-01 -1.18970804e-01 2.62554470e+01] [ 1.78832792e-01 1.50403507e-02 9.83764515e-01 8.99038508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.670888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.11, Y:26.26, Z:9.01 [[ 7.92450168e-01 -5.91197410e-01 -1.50027841e-01 7.11146745e+01] [ 5.84352865e-01 8.06377376e-01 -9.10343742e-02 2.62601643e+01] [ 1.74798343e-01 -1.55289937e-02 9.84481787e-01 9.00801785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:26.28, Z:9.01 [[ 7.94477318e-01 -5.90838258e-01 -1.40413475e-01 7.11322085e+01] [ 5.81662449e-01 8.06789695e-01 -1.03726481e-01 2.62826841e+01] [ 1.74569718e-01 7.35091078e-04 9.84644542e-01 9.00661884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.730888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:71.15, Y:26.31, Z:9.01 [[ 7.97427793e-01 -5.88204505e-01 -1.34626801e-01 7.11510473e+01] [ 5.76955122e-01 8.08585174e-01 -1.15381127e-01 2.63074857e+01] [ 1.76724934e-01 1.43344946e-02 9.84155892e-01 9.00669096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.760888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:71.18, Y:26.32, Z:9.02 [[ 7.98656179e-01 -5.84943054e-01 -1.41385753e-01 7.11756075e+01] [ 5.74951264e-01 8.11060318e-01 -1.07759941e-01 2.63216129e+01] [ 1.77705803e-01 4.77322523e-03 9.84072083e-01 9.01645680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:71.20, Y:26.33, Z:9.03 [[ 8.01117740e-01 -5.79647503e-01 -1.49060853e-01 7.12000182e+01] [ 5.72762717e-01 8.14759851e-01 -9.00514070e-02 2.63309931e+01] [ 1.73646871e-01 -1.32347194e-02 9.84719049e-01 9.02931909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.820888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:71.22, Y:26.36, Z:9.03 [[ 8.03442661e-01 -5.78917325e-01 -1.39048993e-01 7.12175261e+01] [ 5.69708134e-01 8.15378894e-01 -1.02907247e-01 2.63552672e+01] [ 1.72952402e-01 3.46273023e-03 9.84924097e-01 9.02805223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:71.24, Y:26.37, Z:9.03 [[ 8.03987805e-01 -5.78094835e-01 -1.39319674e-01 7.12395525e+01] [ 5.68826520e-01 8.15961207e-01 -1.03168306e-01 2.63725762e+01] [ 1.73320514e-01 3.69733490e-03 9.84858533e-01 9.03284908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88088847899999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:71.26, Y:26.39, Z:9.04 [[ 8.04329780e-01 -5.77546263e-01 -1.39620628e-01 7.12617392e+01] [ 5.68218658e-01 8.16348764e-01 -1.03451691e-01 2.63895580e+01] [ 1.73727265e-01 3.87422942e-03 9.84786184e-01 9.03731901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.910888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:71.26, Y:26.43, Z:9.00 [[ 8.03277601e-01 -5.88591956e-01 -9.11296069e-02 7.12647171e+01] [ 5.73737085e-01 8.05752920e-01 -1.46928514e-01 2.64325987e+01] [ 1.59908888e-01 6.57399493e-02 9.84940306e-01 8.99831498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.940888479 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:71.32, Y:26.40, Z:9.07 [[ 8.05047969e-01 -5.66231100e-01 -1.76861833e-01 7.13170198e+01] [ 5.66077946e-01 8.22424878e-01 -5.63300874e-02 2.64025644e+01] [ 1.77351419e-01 -5.47691608e-02 9.82622416e-01 9.07159971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.970888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:71.31, Y:26.46, Z:9.01 [[ 8.04497717e-01 -5.85501027e-01 -9.98597583e-02 7.13100280e+01] [ 5.70927606e-01 8.08660015e-01 -1.41812017e-01 2.64645220e+01] [ 1.63783675e-01 5.70747514e-02 9.84843836e-01 9.01247413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.000888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:71.36, Y:26.45, Z:9.06 [[ 8.06806490e-01 -5.70047183e-01 -1.55272331e-01 7.13559778e+01] [ 5.63629831e-01 8.21429829e-01 -8.70313162e-02 2.64506757e+01] [ 1.77157281e-01 -1.72986869e-02 9.84030514e-01 9.05886818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.030888479 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:71.38, Y:26.47, Z:9.07 [[ 8.06179653e-01 -5.69662130e-01 -1.59873150e-01 7.13772985e+01] [ 5.62907603e-01 8.21681766e-01 -8.92978505e-02 2.64665252e+01] [ 1.82234456e-01 -1.80037014e-02 9.83090265e-01 9.07032597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.060888479 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:71.40, Y:26.50, Z:9.06 [[ 8.05211747e-01 -5.75315510e-01 -1.43687530e-01 7.13957000e+01] [ 5.63469160e-01 8.17825721e-01 -1.16891387e-01 2.64958290e+01] [ 1.84760785e-01 1.31588261e-02 9.82695425e-01 9.06376394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.090888479 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:71.42, Y:26.50, Z:9.08 [[ 8.05233607e-01 -5.72828714e-01 -1.53186497e-01 7.14212882e+01] [ 5.63641179e-01 8.19665346e-01 -1.02261146e-01 2.65044950e+01] [ 1.84139783e-01 -3.99810659e-03 9.82891935e-01 9.07600546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.120888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:71.44, Y:26.52, Z:9.08 [[ 8.05311483e-01 -5.74067416e-01 -1.48054107e-01 7.14420777e+01] [ 5.63540945e-01 8.18794115e-01 -1.09534470e-01 2.65224528e+01] [ 1.84106001e-01 4.77481494e-03 9.82894797e-01 9.07801926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:71.46, Y:26.54, Z:9.08 [[ 8.05306686e-01 -5.73911902e-01 -1.48681775e-01 7.14632214e+01] [ 5.63287056e-01 8.18902650e-01 -1.10027915e-01 2.65377081e+01] [ 1.84902229e-01 4.85569629e-03 9.82744925e-01 9.08312558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.180888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:71.49, Y:26.55, Z:9.09 [[ 8.05419473e-01 -5.73634394e-01 -1.49141053e-01 7.14856596e+01] [ 5.62931603e-01 8.19096408e-01 -1.10404186e-01 2.65541300e+01] [ 1.85492539e-01 4.96546964e-03 9.82633127e-01 9.08795593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:71.51, Y:26.57, Z:9.09 [[ 8.06006081e-01 -5.72436521e-01 -1.50567684e-01 7.15071212e+01] [ 5.61492827e-01 8.19931602e-01 -1.11525662e-01 2.65691743e+01] [ 1.87296564e-01 5.34768693e-03 9.82288857e-01 9.09228376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24088847899999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:71.53, Y:26.58, Z:9.10 [[ 8.06073126e-01 -5.72163035e-01 -1.51246742e-01 7.15299971e+01] [ 5.61108614e-01 8.20121709e-01 -1.12060277e-01 2.65845626e+01] [ 1.88157485e-01 5.46292862e-03 9.82123677e-01 9.09768718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27088847899999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.55, Y:26.60, Z:9.10 [[ 8.06147299e-01 -5.71908738e-01 -1.51812143e-01 7.15533460e+01] [ 5.60754131e-01 8.20298164e-01 -1.12542113e-01 2.65998371e+01] [ 1.88895040e-01 5.59623438e-03 9.81981337e-01 9.10358374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.300888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:71.58, Y:26.61, Z:9.11 [[ 8.06147306e-01 -5.71808155e-01 -1.52190523e-01 7.15770275e+01] [ 5.60583418e-01 8.20367658e-01 -1.12885509e-01 2.66136567e+01] [ 1.89401037e-01 5.68686525e-03 9.81883347e-01 9.10991272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.330888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:71.60, Y:26.63, Z:9.12 [[ 8.06111670e-01 -5.71962398e-01 -1.51799177e-01 7.16002499e+01] [ 5.60786638e-01 8.20260122e-01 -1.12657348e-01 2.66292791e+01] [ 1.88950579e-01 5.68745305e-03 9.81970128e-01 9.11522028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.360888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:71.64, Y:26.63, Z:9.15 [[ 8.07331089e-01 -5.63117617e-01 -1.76394619e-01 7.16370553e+01] [ 5.56427875e-01 8.25987917e-01 -9.01774957e-02 2.66300356e+01] [ 1.96480360e-01 -2.53477871e-02 9.80180064e-01 9.14772408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.390888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:71.63, Y:26.69, Z:9.08 [[ 0.80594513 -0.5839611 -0.09716934 71.62624402] [ 0.56564919 0.80805699 -0.1645749 26.69033197] [ 0.1746237 0.07767459 0.98156672 9.084038 ] [ 0. 0. 0. 1. ]] SLAMing on 85.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.68, Y:26.66, Z:9.15 [[ 8.06880176e-01 -5.63529632e-01 -1.77140440e-01 7.16789880e+01] [ 5.59408477e-01 8.25279425e-01 -7.73047670e-02 2.66599161e+01] [ 1.89753887e-01 -3.67181798e-02 9.81144861e-01 9.15418860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.450888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:71.69, Y:26.69, Z:9.14 [[ 8.07883612e-01 -5.69664616e-01 -1.51017535e-01 7.16929026e+01] [ 5.58580404e-01 8.21854436e-01 -1.11996512e-01 2.66909633e+01] [ 1.87914881e-01 6.12471123e-03 9.82166221e-01 9.14158662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.480888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.72, Y:26.71, Z:9.15 [[ 8.09171410e-01 -5.67695175e-01 -1.51538171e-01 7.17153539e+01] [ 5.56490553e-01 8.23212025e-01 -1.12428762e-01 2.67064399e+01] [ 1.88573310e-01 6.64457904e-03 9.82036637e-01 9.14735703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:71.74, Y:26.72, Z:9.15 [[ 8.09734601e-01 -5.66811810e-01 -1.51836255e-01 7.17377799e+01] [ 5.55534604e-01 8.23818241e-01 -1.12715615e-01 2.67233746e+01] [ 1.88974018e-01 6.91943958e-03 9.81957709e-01 9.15203067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.540888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:71.76, Y:26.74, Z:9.16 [[ 8.10481798e-01 -5.65567548e-01 -1.52488043e-01 7.17599592e+01] [ 5.54157781e-01 8.24669692e-01 -1.13265409e-01 2.67401838e+01] [ 1.89811507e-01 7.29711621e-03 9.81793432e-01 9.15660687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:71.78, Y:26.76, Z:9.16 [[ 8.11177030e-01 -5.64467047e-01 -1.52868501e-01 7.17810851e+01] [ 5.52972072e-01 8.25420522e-01 -1.13590709e-01 2.67559779e+01] [ 1.90299010e-01 7.61016200e-03 9.81696680e-01 9.16059032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.600888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:71.80, Y:26.78, Z:9.16 [[ 8.11525996e-01 -5.65074793e-01 -1.48714609e-01 7.18028476e+01] [ 5.51600611e-01 8.24828674e-01 -1.24074274e-01 2.67779554e+01] [ 1.92775318e-01 1.86584298e-02 9.81065512e-01 9.16092750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63088847899999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:71.83, Y:26.79, Z:9.17 [[ 8.12195771e-01 -5.61288870e-01 -1.59037208e-01 7.18280964e+01] [ 5.51086264e-01 8.27619215e-01 -1.06538091e-01 2.67859992e+01] [ 1.91420894e-01 -1.11343354e-03 9.81507413e-01 9.17378379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.85, Y:26.80, Z:9.18 [[ 8.12531117e-01 -5.62175430e-01 -1.54116739e-01 7.18484311e+01] [ 5.51017438e-01 8.26997978e-01 -1.11598060e-01 2.68042636e+01] [ 1.90191919e-01 5.75588596e-03 9.81730056e-01 9.17591278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.690888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:71.87, Y:26.82, Z:9.18 [[ 8.11739844e-01 -5.63276108e-01 -1.54267470e-01 7.18735983e+01] [ 5.52444683e-01 8.26258701e-01 -1.10006500e-01 2.68193695e+01] [ 1.89428873e-01 4.07241571e-03 9.81886000e-01 9.18292005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.720888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:71.89, Y:26.84, Z:9.19 [[ 8.12328553e-01 -5.63432755e-01 -1.50551829e-01 7.18934875e+01] [ 5.51521841e-01 8.26088620e-01 -1.15763773e-01 2.68361800e+01] [ 1.89594254e-01 1.10055967e-02 9.81800843e-01 9.18501091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.750888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:71.92, Y:26.85, Z:9.19 [[ 8.11271417e-01 -5.64391350e-01 -1.52646954e-01 7.19168044e+01] [ 5.52885769e-01 8.25470484e-01 -1.13647730e-01 2.68510718e+01] [ 1.90147351e-01 7.80282687e-03 9.81724555e-01 9.19148975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.780888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:71.93, Y:26.88, Z:9.17 [[ 8.10128806e-01 -5.71767064e-01 -1.29513486e-01 7.19333367e+01] [ 5.57233046e-01 8.19646625e-01 -1.32931344e-01 2.68782144e+01] [ 1.82161056e-01 3.55223166e-02 9.82626844e-01 9.17400813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.810888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.97, Y:26.87, Z:9.21 [[ 8.08930762e-01 -5.63021936e-01 -1.69225652e-01 7.19686471e+01] [ 5.55852693e-01 8.26203401e-01 -9.17372499e-02 2.68719716e+01] [ 1.91464894e-01 -1.98554511e-02 9.81298607e-01 9.21345492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.840888479 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:71.99, Y:26.90, Z:9.21 [[ 8.08708186e-01 -5.68063619e-01 -1.52626324e-01 7.19866584e+01] [ 5.56600413e-01 8.22954456e-01 -1.13762661e-01 2.68984931e+01] [ 1.90228943e-01 7.04891995e-03 9.81714450e-01 9.20636971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:26.91, Z:9.21 [[ 8.07790833e-01 -5.69472882e-01 -1.52232080e-01 7.20101718e+01] [ 5.58081234e-01 8.21982363e-01 -1.13535596e-01 2.69140279e+01] [ 1.89787528e-01 6.75514659e-03 9.81801947e-01 9.21028640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.900888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.03, Y:26.93, Z:9.21 [[ 8.07342282e-01 -5.70163200e-01 -1.52027515e-01 7.20332182e+01] [ 5.58801584e-01 8.21504617e-01 -1.13450228e-01 2.69299612e+01] [ 1.89576450e-01 6.63994972e-03 9.81843511e-01 9.21488963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:72.06, Y:26.95, Z:9.22 [[ 8.07128786e-01 -5.70605970e-01 -1.51499009e-01 7.20553497e+01] [ 5.59319162e-01 8.21197724e-01 -1.13121056e-01 2.69451190e+01] [ 1.88958191e-01 6.56696191e-03 9.81963175e-01 9.21975325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.960888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.08, Y:26.96, Z:9.22 [[ 8.07487782e-01 -5.70402222e-01 -1.50348885e-01 7.20778890e+01] [ 5.59278674e-01 8.21339097e-01 -1.12291819e-01 2.69603295e+01] [ 1.87538921e-01 6.58734690e-03 9.82235084e-01 9.22434949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99088847899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:72.10, Y:26.98, Z:9.23 [[ 8.07478904e-01 -5.70419288e-01 -1.50331821e-01 7.20998183e+01] [ 5.59289921e-01 8.21326978e-01 -1.12324437e-01 2.69769533e+01] [ 1.87543605e-01 6.62054127e-03 9.82233966e-01 9.22868960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02088847899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:72.11, Y:27.01, Z:9.20 [[ 8.06221806e-01 -5.80225129e-01 -1.15521425e-01 7.21074496e+01] [ 5.64646758e-01 8.12942125e-01 -1.42475048e-01 2.70141770e+01] [ 1.76579836e-01 4.96376923e-02 9.83033906e-01 9.19751320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.050888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:72.15, Y:26.99, Z:9.25 [[ 8.07736141e-01 -5.62517750e-01 -1.76454265e-01 7.21522370e+01] [ 5.57823350e-01 8.26093951e-01 -8.00118412e-02 2.69946203e+01] [ 1.90775881e-01 -3.38018532e-02 9.81051476e-01 9.25344076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.080888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:72.17, Y:27.03, Z:9.24 [[ 8.08390446e-01 -5.68523880e-01 -1.52595822e-01 7.21668414e+01] [ 5.56995374e-01 8.22634579e-01 -1.14142470e-01 2.70264022e+01] [ 1.90423320e-01 7.27651485e-03 9.81675105e-01 9.24009169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.110888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:72.19, Y:27.04, Z:9.24 [[ 8.08745776e-01 -5.67839880e-01 -1.53258410e-01 7.21886260e+01] [ 5.56185178e-01 8.23104632e-01 -1.14703149e-01 2.70420152e+01] [ 1.91280730e-01 7.52563107e-03 9.81506519e-01 9.24480688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.140888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:72.21, Y:27.06, Z:9.25 [[ 8.08987441e-01 -5.67422549e-01 -1.53528403e-01 7.22111461e+01] [ 5.55709768e-01 8.23390981e-01 -1.14951928e-01 2.70588085e+01] [ 1.91640218e-01 7.67743295e-03 9.81435216e-01 9.24938509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.170888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:72.23, Y:27.08, Z:9.25 [[ 8.09105631e-01 -5.67073684e-01 -1.54193111e-01 7.22335952e+01] [ 5.55238799e-01 8.23629648e-01 -1.15516572e-01 2.70754992e+01] [ 1.92504426e-01 7.85111074e-03 9.81264697e-01 9.25370990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.200888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:72.24, Y:27.11, Z:9.22 [[ 8.07669494e-01 -5.77297491e-01 -1.19989981e-01 7.22406028e+01] [ 5.61168474e-01 8.15058480e-01 -1.44116681e-01 2.71109263e+01] [ 1.80997049e-01 4.90640521e-02 9.82259022e-01 9.22468338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.28, Y:27.11, Z:9.25 [[ 8.08285078e-01 -5.68775587e-01 -1.52215520e-01 7.22784670e+01] [ 5.58538641e-01 8.22490730e-01 -1.07441076e-01 2.71083027e+01] [ 1.86305715e-01 1.82476851e-03 9.82490127e-01 9.25480038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.260888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:72.30, Y:27.13, Z:9.25 [[ 8.06554371e-01 -5.73449984e-01 -1.43614632e-01 7.22983328e+01] [ 5.61983849e-01 8.19155424e-01 -1.14710699e-01 2.71292981e+01] [ 1.83423554e-01 1.18113122e-02 9.82963017e-01 9.25277008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:72.33, Y:27.13, Z:9.29 [[ 8.05456740e-01 -5.66819966e-01 -1.73073874e-01 7.23314371e+01] [ 5.60530233e-01 8.23430572e-01 -8.81359798e-02 2.71289722e+01] [ 1.92471552e-01 -2.60234199e-02 9.80957432e-01 9.28778478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:27.16, Z:9.28 [[ 8.04468712e-01 -5.74183751e-01 -1.52128602e-01 7.23480087e+01] [ 5.62808371e-01 8.18704497e-01 -1.13884525e-01 2.71573824e+01] [ 1.89939014e-01 5.99728687e-03 9.81777573e-01 9.27905284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.37, Y:27.18, Z:9.26 [[ 8.02156997e-01 -5.82737405e-01 -1.30235432e-01 7.23663570e+01] [ 5.69221731e-01 8.12159067e-01 -1.28001056e-01 2.71841481e+01] [ 1.80362890e-01 2.85441043e-02 9.83185874e-01 9.26476955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38088847899999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:72.40, Y:27.18, Z:9.30 [[ 8.01294166e-01 -5.75912912e-01 -1.62024621e-01 7.23976233e+01] [ 5.68794590e-01 8.17305125e-01 -9.21143204e-02 2.71798782e+01] [ 1.85473379e-01 -1.83480600e-02 9.82477977e-01 9.29970316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.410888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:72.40, Y:27.23, Z:9.26 [[ 7.99003057e-01 -5.92026933e-01 -1.05348119e-01 7.23986410e+01] [ 5.76782891e-01 8.04079442e-01 -1.44144885e-01 2.72280556e+01] [ 1.70045910e-01 5.44092110e-02 9.83932938e-01 9.25521135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.440888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:72.43, Y:27.23, Z:9.28 [[ 7.99267591e-01 -5.85927409e-01 -1.33642767e-01 7.24316726e+01] [ 5.75936483e-01 8.10308131e-01 -1.08156831e-01 2.72267765e+01] [ 1.71663873e-01 9.47650423e-03 9.85109999e-01 9.27973970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.470888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:72.47, Y:27.22, Z:9.33 [[ 7.99139963e-01 -5.74450862e-01 -1.77148322e-01 7.24708734e+01] [ 5.71853534e-01 8.17309120e-01 -7.06352520e-02 2.72195398e+01] [ 1.85361420e-01 -4.48554413e-02 9.81646134e-01 9.32825127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:27.26, Z:9.31 [[ 7.98530593e-01 -5.83424519e-01 -1.48205004e-01 7.24842954e+01] [ 5.72781470e-01 8.12158743e-01 -1.10993535e-01 2.72553042e+01] [ 1.85122340e-01 3.74265309e-03 9.82708355e-01 9.31124379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.530888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:72.51, Y:27.27, Z:9.32 [[ 7.97993347e-01 -5.84132527e-01 -1.48309840e-01 7.25059187e+01] [ 5.73473982e-01 8.11650155e-01 -1.11137828e-01 2.72715678e+01] [ 1.85294925e-01 3.63541280e-03 9.82676231e-01 9.31510978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:27.29, Z:9.32 [[ 7.97178042e-01 -5.85075943e-01 -1.48974193e-01 7.25282423e+01] [ 5.74329989e-01 8.10971114e-01 -1.11673254e-01 2.72876601e+01] [ 1.86151101e-01 3.46311973e-03 9.82515025e-01 9.31833412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:27.30, Z:9.32 [[ 7.96447146e-01 -5.85962910e-01 -1.49396824e-01 7.25497424e+01] [ 5.75158076e-01 8.10331069e-01 -1.12056888e-01 2.73036021e+01] [ 1.86722069e-01 3.32059901e-03 9.82407167e-01 9.32250211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.620888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:72.57, Y:27.32, Z:9.33 [[ 7.95873779e-01 -5.86618491e-01 -1.49878861e-01 7.25716679e+01] [ 5.75745829e-01 8.09857028e-01 -1.12464820e-01 2.73198500e+01] [ 1.87354392e-01 3.21567208e-03 9.82287123e-01 9.32674104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:72.59, Y:27.34, Z:9.33 [[ 7.95502816e-01 -5.86918553e-01 -1.50671434e-01 7.25936148e+01] [ 5.75922068e-01 8.09639588e-01 -1.13126078e-01 2.73362710e+01] [ 1.88385352e-01 3.21711011e-03 9.82089919e-01 9.33067648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.680888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:72.62, Y:27.35, Z:9.33 [[ 7.94863481e-01 -5.87528913e-01 -1.51663516e-01 7.26155807e+01] [ 5.76383765e-01 8.09197047e-01 -1.13938116e-01 2.73539326e+01] [ 1.89667607e-01 3.14885914e-03 9.81843309e-01 9.33404034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:72.64, Y:27.37, Z:9.34 [[ 7.94536125e-01 -5.87985960e-01 -1.51607575e-01 7.26375090e+01] [ 5.76844528e-01 8.08865219e-01 -1.13962486e-01 2.73711849e+01] [ 1.89638436e-01 3.09331227e-03 9.81849120e-01 9.33861261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:27.39, Z:9.34 [[ 7.94628394e-01 -5.88086535e-01 -1.50731362e-01 7.26587638e+01] [ 5.77064075e-01 8.08792057e-01 -1.13368704e-01 2.73875046e+01] [ 1.88580937e-01 3.10433695e-03 9.82052745e-01 9.34342179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77088847899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:72.68, Y:27.40, Z:9.35 [[ 7.94298753e-01 -5.88821454e-01 -1.49595408e-01 7.26804171e+01] [ 5.77971909e-01 8.08257797e-01 -1.12551348e-01 2.74044911e+01] [ 1.87184303e-01 2.93745174e-03 9.82320420e-01 9.34853563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.800888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:72.70, Y:27.42, Z:9.35 [[ 7.94048124e-01 -5.89416556e-01 -1.48578934e-01 7.27020037e+01] [ 5.78713303e-01 8.07824306e-01 -1.11851708e-01 2.74214502e+01] [ 1.85952922e-01 2.83103318e-03 9.82554577e-01 9.35386667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.830888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:72.72, Y:27.44, Z:9.36 [[ 7.93509334e-01 -5.90573211e-01 -1.46854415e-01 7.27231648e+01] [ 5.80126800e-01 8.06979935e-01 -1.10617720e-01 2.74373013e+01] [ 1.83836428e-01 2.58201090e-03 9.82953458e-01 9.35865489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.860888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:72.75, Y:27.45, Z:9.36 [[ 7.93093133e-01 -5.91191563e-01 -1.46614525e-01 7.27452175e+01] [ 5.80781734e-01 8.06527390e-01 -1.10481432e-01 2.74538004e+01] [ 1.83564320e-01 2.47102747e-03 9.83004595e-01 9.36406837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.890888479 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:72.77, Y:27.47, Z:9.37 [[ 7.92813649e-01 -5.91669111e-01 -1.46199116e-01 7.27673012e+01] [ 5.81314868e-01 8.06177322e-01 -1.10232252e-01 2.74710518e+01] [ 1.83083430e-01 2.40591437e-03 9.83094436e-01 9.36875934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.920888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:72.79, Y:27.49, Z:9.37 [[ 7.92888414e-01 -5.91662855e-01 -1.45818482e-01 7.27879132e+01] [ 5.81351035e-01 8.06181772e-01 -1.10008749e-01 2.74877766e+01] [ 1.82644292e-01 2.45293707e-03 9.83175999e-01 9.37353477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.950888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:72.81, Y:27.51, Z:9.38 [[ 7.92961383e-01 -5.91626165e-01 -1.45570347e-01 7.28098555e+01] [ 5.81342613e-01 8.06208597e-01 -1.09856562e-01 2.75053396e+01] [ 1.82354082e-01 2.48576490e-03 9.83229785e-01 9.37815270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.980888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:72.83, Y:27.52, Z:9.38 [[ 7.92894812e-01 -5.91818215e-01 -1.45151705e-01 7.28315041e+01] [ 5.81585600e-01 8.06067625e-01 -1.09604627e-01 2.75227473e+01] [ 1.81868105e-01 2.48679899e-03 9.83319789e-01 9.38271916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:72.85, Y:27.54, Z:9.39 [[ 7.92546750e-01 -5.92417687e-01 -1.44606131e-01 7.28521192e+01] [ 5.82260585e-01 8.05627432e-01 -1.09256816e-01 2.75397595e+01] [ 1.81224336e-01 2.39268388e-03 9.83438872e-01 9.38701302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.040888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:72.87, Y:27.56, Z:9.39 [[ 7.92266448e-01 -5.92932126e-01 -1.44032530e-01 7.28735758e+01] [ 5.82858165e-01 8.05249173e-01 -1.08858301e-01 2.75567772e+01] [ 1.80527659e-01 2.29424361e-03 9.83567232e-01 9.39174068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:27.57, Z:9.40 [[ 7.91801308e-01 -5.93527906e-01 -1.44136440e-01 7.28943916e+01] [ 5.83437260e-01 8.04810369e-01 -1.09001073e-01 2.75734548e+01] [ 1.80697680e-01 2.21262225e-03 9.83536198e-01 9.39718237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.100888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:72.92, Y:27.59, Z:9.40 [[ 7.91519761e-01 -5.93918449e-01 -1.44074092e-01 7.29163978e+01] [ 5.83835041e-01 8.04522355e-01 -1.08997365e-01 2.75909789e+01] [ 1.80646374e-01 2.15806521e-03 9.83545744e-01 9.40214464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.94, Y:27.61, Z:9.41 [[ 7.90863645e-01 -5.94627170e-01 -1.44752284e-01 7.29372247e+01] [ 5.84447547e-01 8.03998936e-01 -1.09575437e-01 2.76075051e+01] [ 1.81537214e-01 2.05911199e-03 9.83381920e-01 9.40678051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.160888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:72.96, Y:27.62, Z:9.41 [[ 7.90861482e-01 -5.94670383e-01 -1.44586486e-01 7.29577308e+01] [ 5.84508459e-01 8.03966932e-01 -1.09485313e-01 2.76236532e+01] [ 1.81350426e-01 2.07569327e-03 9.83416348e-01 9.41184907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.190888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.98, Y:27.64, Z:9.42 [[ 7.90805093e-01 -5.94860773e-01 -1.44110951e-01 7.29782322e+01] [ 5.84761477e-01 8.03826112e-01 -1.09167748e-01 2.76418143e+01] [ 1.80779757e-01 2.05987861e-03 9.83521447e-01 9.41633257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.220888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.00, Y:27.66, Z:9.42 [[ 7.90878443e-01 -5.94873578e-01 -1.43654848e-01 7.30001539e+01] [ 5.84827481e-01 8.03816529e-01 -1.08884369e-01 2.76592928e+01] [ 1.80244576e-01 2.10099700e-03 9.83619580e-01 9.42148084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.250888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:73.02, Y:27.68, Z:9.43 [[ 7.90715223e-01 -5.95178734e-01 -1.43288908e-01 7.30216504e+01] [ 5.85177606e-01 8.03590666e-01 -1.08670195e-01 2.76765504e+01] [ 1.79823818e-01 2.07771691e-03 9.83696639e-01 9.42671087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.280888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:73.04, Y:27.69, Z:9.43 [[ 7.91253932e-01 -5.94721326e-01 -1.42210266e-01 7.30422322e+01] [ 5.84852796e-01 8.03928874e-01 -1.07914655e-01 2.76943083e+01] [ 1.78506085e-01 2.21582378e-03 9.83936313e-01 9.43205707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:27.72, Z:9.42 [[ 7.91008574e-01 -5.99207712e-01 -1.23513380e-01 7.30586577e+01] [ 5.86875125e-01 8.00195566e-01 -1.23550169e-01 2.77221973e+01] [ 1.72867073e-01 2.52423125e-02 9.84621654e-01 9.41873736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.340888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:73.09, Y:27.73, Z:9.44 [[ 7.91513825e-01 -5.94739256e-01 -1.40680784e-01 7.30861828e+01] [ 5.85825640e-01 8.03917748e-01 -1.02589348e-01 2.77287053e+01] [ 1.74109691e-01 -1.21352312e-03 9.84725517e-01 9.43613746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:27.74, Z:9.46 [[ 7.92291241e-01 -5.90650098e-01 -1.52993632e-01 7.31097414e+01] [ 5.83591144e-01 8.06768324e-01 -9.24459241e-02 2.77406243e+01] [ 1.78033610e-01 -1.60416328e-02 9.83893642e-01 9.45538152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.400888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:73.13, Y:27.77, Z:9.45 [[ 7.92614477e-01 -5.93105956e-01 -1.41377563e-01 7.31271630e+01] [ 5.83304934e-01 8.05119990e-01 -1.07411148e-01 2.77656375e+01] [ 1.77532094e-01 2.66940083e-03 9.84111391e-01 9.45196156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:27.78, Z:9.46 [[ 7.92777908e-01 -5.92906006e-01 -1.41299882e-01 7.31478579e+01] [ 5.83101570e-01 8.05266933e-01 -1.07413802e-01 2.77833214e+01] [ 1.77470411e-01 2.76310630e-03 9.84122258e-01 9.45685116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:27.80, Z:9.46 [[ 7.93037377e-01 -5.92525756e-01 -1.41438847e-01 7.31694351e+01] [ 5.82684528e-01 8.05546277e-01 -1.07582235e-01 2.78012948e+01] [ 1.77680782e-01 2.90250566e-03 9.84083896e-01 9.46183580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.19, Y:27.82, Z:9.46 [[ 7.93405381e-01 -5.93239736e-01 -1.36288360e-01 7.31910664e+01] [ 5.81864530e-01 8.04920751e-01 -1.16345404e-01 2.78238854e+01] [ 1.78722045e-01 1.30077069e-02 9.83813616e-01 9.45944018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:27.83, Z:9.48 [[ 7.93495257e-01 -5.89803509e-01 -1.49990328e-01 7.32139565e+01] [ 5.81165648e-01 8.07515015e-01 -1.00826530e-01 2.78342395e+01] [ 1.80587283e-01 -7.16385239e-03 9.83532873e-01 9.47572940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:27.86, Z:9.48 [[ 7.93735784e-01 -5.90952874e-01 -1.44077082e-01 7.32325972e+01] [ 5.80676493e-01 8.06698592e-01 -1.09782482e-01 2.78559119e+01] [ 1.81103052e-01 3.47611002e-03 9.83457981e-01 9.47635586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.580888479 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:73.26, Y:27.88, Z:9.48 [[ 7.92351908e-01 -5.92270910e-01 -1.46265591e-01 7.32571051e+01] [ 5.81592432e-01 8.05730433e-01 -1.12021038e-01 2.78759689e+01] [ 1.84197439e-01 3.69312241e-03 9.82882325e-01 9.48257084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:27.89, Z:9.49 [[ 7.92705812e-01 -5.91790038e-01 -1.46294381e-01 7.32754429e+01] [ 5.81778433e-01 8.06091734e-01 -1.08397283e-01 2.78906938e+01] [ 1.82075124e-01 8.16240364e-04 9.83284284e-01 9.48758401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.30, Y:27.91, Z:9.49 [[ 7.91409569e-01 -5.93897377e-01 -1.44764632e-01 7.32965356e+01] [ 5.83540645e-01 8.04535399e-01 -1.10467676e-01 2.79095115e+01] [ 1.82074734e-01 2.94912905e-03 9.83280272e-01 9.49184931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:27.93, Z:9.50 [[ 7.88065656e-01 -5.98449326e-01 -1.44259924e-01 7.33221101e+01] [ 5.87655135e-01 8.01148222e-01 -1.13238548e-01 2.79286667e+01] [ 1.83341114e-01 4.46432537e-03 9.83039219e-01 9.49654470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:27.94, Z:9.50 [[ 7.86470109e-01 -5.99947105e-01 -1.46725042e-01 7.33415732e+01] [ 5.90412588e-01 8.00034722e-01 -1.06571194e-01 2.79420185e+01] [ 1.81322207e-01 -2.81325278e-03 9.83419719e-01 9.50490770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.730888479 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:73.36, Y:27.96, Z:9.51 [[ 7.83238260e-01 -6.05674795e-01 -1.40341982e-01 7.33619347e+01] [ 5.94247045e-01 7.95666196e-01 -1.17412750e-01 2.79646636e+01] [ 1.82779315e-01 8.56434985e-03 9.83116663e-01 9.50724305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.760888479 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:73.39, Y:27.98, Z:9.52 [[ 7.78611185e-01 -6.09396712e-01 -1.49667201e-01 7.33900390e+01] [ 6.01560310e-01 7.92751125e-01 -9.83404725e-02 2.79776806e+01] [ 1.78577202e-01 -1.34648559e-02 9.83833767e-01 9.52116997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790888479 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:73.41, Y:27.99, Z:9.52 [[ 7.78826644e-01 -6.10373611e-01 -1.44475306e-01 7.34075659e+01] [ 6.01857975e-01 7.92077181e-01 -1.01885805e-01 2.79941733e+01] [ 1.76623999e-01 -7.60223568e-03 9.84249038e-01 9.52271318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.820888479 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:73.42, Y:28.02, Z:9.52 [[ 7.77990404e-01 -6.13126442e-01 -1.37138240e-01 7.34244618e+01] [ 6.02505396e-01 7.89962803e-01 -1.13780566e-01 2.80189497e+01] [ 1.78095982e-01 5.89365904e-03 9.83995471e-01 9.52278145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:28.03, Z:9.53 [[ 7.78949791e-01 -6.10828627e-01 -1.41864763e-01 7.34463250e+01] [ 6.01624395e-01 7.91757047e-01 -1.05682853e-01 2.80323382e+01] [ 1.76876538e-01 -3.02766619e-03 9.84228390e-01 9.53106973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88088847899999 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:73.47, Y:28.06, Z:9.53 [[ 7.77313968e-01 -6.13884955e-01 -1.37580005e-01 7.34666407e+01] [ 6.02523945e-01 7.89347171e-01 -1.17881041e-01 2.80565286e+01] [ 1.80963785e-01 8.73533227e-03 9.83450966e-01 9.53392133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.910888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.49, Y:28.06, Z:9.55 [[ 7.79731756e-01 -6.08660460e-01 -1.46802020e-01 7.34895532e+01] [ 6.00689956e-01 7.93352625e-01 -9.88088553e-02 2.80638713e+01] [ 1.76606811e-01 -1.11380969e-02 9.84218460e-01 9.54588396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:28.09, Z:9.55 [[ 7.80929726e-01 -6.08997825e-01 -1.38817911e-01 7.35110597e+01] [ 5.98904917e-01 7.93165749e-01 -1.10458110e-01 2.80872653e+01] [ 1.77374361e-01 3.12129194e-03 9.84138503e-01 9.54558648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.970888479 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:73.53, Y:28.11, Z:9.55 [[ 7.82314268e-01 -6.07531736e-01 -1.37439357e-01 7.35258178e+01] [ 5.96514880e-01 7.94251477e-01 -1.15475491e-01 2.81097621e+01] [ 1.79316438e-01 8.35350221e-03 9.83755983e-01 9.54962794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.000888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.55, Y:28.12, Z:9.56 [[ 7.84588671e-01 -6.02299196e-01 -1.47160781e-01 7.35486206e+01] [ 5.94563173e-01 7.98188073e-01 -9.69042445e-02 2.81194933e+01] [ 1.75827329e-01 -1.14664086e-02 9.84354241e-01 9.56165116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.030888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:73.57, Y:28.14, Z:9.56 [[ 7.85757009e-01 -6.02619374e-01 -1.39412385e-01 7.35659553e+01] [ 5.93035525e-01 7.98027447e-01 -1.07056342e-01 2.81431722e+01] [ 1.75769135e-01 1.44377387e-03 9.84430356e-01 9.56192855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.060888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:73.58, Y:28.16, Z:9.57 [[ 7.87865043e-01 -5.99807662e-01 -1.39640403e-01 7.35842947e+01] [ 5.90137162e-01 8.00141393e-01 -1.07293432e-01 2.81637746e+01] [ 1.76087489e-01 2.12575344e-03 9.84372225e-01 9.56753919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.090888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:73.60, Y:28.19, Z:9.56 [[ 7.88631762e-01 -6.00997781e-01 -1.29852270e-01 7.36038730e+01] [ 5.89662086e-01 7.99092398e-01 -1.17260236e-01 2.81889148e+01] [ 1.74237103e-01 1.59061859e-02 9.84575251e-01 9.56396847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.120888479 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:73.63, Y:28.20, Z:9.58 [[ 7.88998846e-01 -5.95961029e-01 -1.49369588e-01 7.36286354e+01] [ 5.88105754e-01 8.02934728e-01 -9.70950349e-02 2.81960153e+01] [ 1.77798886e-01 -1.12372434e-02 9.84002683e-01 9.58283865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150888479 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:73.64, Y:28.22, Z:9.58 [[ 7.88808572e-01 -5.98040867e-01 -1.41873741e-01 7.36444522e+01] [ 5.87998684e-01 8.01461090e-01 -1.09168074e-01 2.82219549e+01] [ 1.78993253e-01 2.69113936e-03 9.83846621e-01 9.58128569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.180888479 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:73.66, Y:28.24, Z:9.59 [[ 7.88224369e-01 -5.98654698e-01 -1.42530337e-01 7.36647903e+01] [ 5.88516950e-01 8.01002942e-01 -1.09736444e-01 2.82406506e+01] [ 1.79861457e-01 2.61541984e-03 9.83688475e-01 9.58526360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210888479 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:73.68, Y:28.27, Z:9.58 [[ 7.86902691e-01 -6.03579645e-01 -1.28357966e-01 7.36810021e+01] [ 5.91189267e-01 7.97017686e-01 -1.23523515e-01 2.82684027e+01] [ 1.76859848e-01 2.13171348e-02 9.84005170e-01 9.57548495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24088847899999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:73.70, Y:28.28, Z:9.58 [[ 7.85710835e-01 -6.03505069e-01 -1.35794386e-01 7.37035992e+01] [ 5.92894353e-01 7.97316460e-01 -1.12972331e-01 2.82815414e+01] [ 1.76450474e-01 8.25185977e-03 9.84274930e-01 9.58255961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27088847899999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:73.73, Y:28.30, Z:9.59 [[ 7.83595875e-01 -6.05284200e-01 -1.40030502e-01 7.37266384e+01] [ 5.95177198e-01 7.96003783e-01 -1.10191108e-01 2.82991182e+01] [ 1.78161746e-01 3.00233633e-03 9.83996635e-01 9.59071216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.300888479 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:73.75, Y:28.30, Z:9.61 [[ 7.84695875e-01 -5.99057387e-01 -1.59319272e-01 7.37529280e+01] [ 5.92530903e-01 8.00378395e-01 -9.11128644e-02 2.83042924e+01] [ 1.82097538e-01 -2.29057031e-02 9.83013640e-01 9.61344469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.330888479 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:73.77, Y:28.33, Z:9.61 [[ 7.84580613e-01 -6.03070303e-01 -1.44012053e-01 7.37698636e+01] [ 5.92759104e-01 7.97686081e-01 -1.11056571e-01 2.83311098e+01] [ 1.81851330e-01 1.76837662e-03 9.83324446e-01 9.60951932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.360888479 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:73.78, Y:28.36, Z:9.60 [[ 7.83415930e-01 -6.08627821e-01 -1.25823908e-01 7.37823727e+01] [ 5.95626518e-01 7.93061147e-01 -1.27605124e-01 2.83608977e+01] [ 1.77450081e-01 2.50238308e-02 9.83811606e-01 9.59798166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.390888479 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:73.81, Y:28.37, Z:9.61 [[ 7.83484755e-01 -6.05330620e-01 -1.40450983e-01 7.38105902e+01] [ 5.95147115e-01 7.95968217e-01 -1.10609714e-01 2.83709810e+01] [ 1.78749965e-01 3.07202727e-03 9.83889736e-01 9.61184827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.420888479 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:73.84, Y:28.38, Z:9.63 [[ 7.83745005e-01 -6.02409299e-01 -1.51151592e-01 7.38354722e+01] [ 5.93883770e-01 7.98122013e-01 -1.01505276e-01 2.83822418e+01] [ 1.81785135e-01 -1.02122240e-02 9.83285246e-01 9.62572075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.450888479 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:73.85, Y:28.41, Z:9.63 [[ 7.84134916e-01 -6.03976454e-01 -1.42635470e-01 7.38536474e+01] [ 5.93482912e-01 7.96995391e-01 -1.12144454e-01 2.84062825e+01] [ 1.81412422e-01 3.28466797e-03 9.83401619e-01 9.62713622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.480888479 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:73.88, Y:28.42, Z:9.64 [[ 7.84674596e-01 -6.01855428e-01 -1.48512028e-01 7.38770033e+01] [ 5.92367925e-01 7.98593052e-01 -1.06533466e-01 2.84205121e+01] [ 1.82718419e-01 -4.37965711e-03 9.83155531e-01 9.63783996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510888479 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:73.90, Y:28.44, Z:9.64 [[ 7.85033282e-01 -6.01420742e-01 -1.48377347e-01 7.38955135e+01] [ 5.91945595e-01 7.98920971e-01 -1.06422245e-01 2.84377819e+01] [ 1.82546320e-01 -4.28631323e-03 9.83187911e-01 9.64395158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.540888479 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:73.91, Y:28.46, Z:9.64 [[ 7.86272485e-01 -6.02535422e-01 -1.36845335e-01 7.39128610e+01] [ 5.90483307e-01 7.97967060e-01 -1.20739535e-01 2.84648336e+01] [ 1.81947917e-01 1.41292882e-02 9.83206651e-01 9.63988563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570888479 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:73.94, Y:28.48, Z:9.65 [[ 7.85518600e-01 -6.02297798e-01 -1.42119287e-01 7.39366207e+01] [ 5.91312132e-01 7.98248648e-01 -1.14669342e-01 2.84811769e+01] [ 1.82511621e-01 6.03804240e-03 9.83185156e-01 9.64661507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.600888479 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:73.96, Y:28.49, Z:9.66 [[ 7.86849850e-01 -5.98598516e-01 -1.50157019e-01 7.39601440e+01] [ 5.88665870e-01 8.01043896e-01 -1.08633191e-01 2.84938487e+01] [ 1.85310030e-01 -2.91430225e-03 9.82675786e-01 9.65722779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63088847899999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:73.98, Y:28.52, Z:9.66 [[ 7.86486123e-01 -6.00768806e-01 -1.43235536e-01 7.39798990e+01] [ 5.88637934e-01 7.99353602e-01 -1.20578611e-01 2.85173688e+01] [ 1.86935710e-01 1.05195342e-02 9.82315825e-01 9.65791759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.660888479 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:74.00, Y:28.53, Z:9.67 [[ 7.87571034e-01 -5.97509389e-01 -1.50712963e-01 7.40042200e+01] [ 5.87801981e-01 8.01851694e-01 -1.07343802e-01 2.85295067e+01] [ 1.84988374e-01 -4.04850934e-03 9.82732370e-01 9.66696584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.690888479 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:74.02, Y:28.55, Z:9.67 [[ 7.89076852e-01 -5.96313344e-01 -1.47540220e-01 7.40225704e+01] [ 5.85706134e-01 8.02749388e-01 -1.11989935e-01 2.85466457e+01] [ 1.85218914e-01 1.95345317e-03 9.82695343e-01 9.67008442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.720888479 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:74.04, Y:28.57, Z:9.67 [[ 7.88312418e-01 -5.99076415e-01 -1.40253272e-01 7.40419374e+01] [ 5.86605995e-01 8.00565249e-01 -1.22428297e-01 2.85701529e+01] [ 1.85625801e-01 1.42383367e-02 9.82517344e-01 9.66983469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.750888479 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:74.06, Y:28.58, Z:9.68 [[ 7.89065565e-01 -5.97038019e-01 -1.44641412e-01 7.40642074e+01] [ 5.85049297e-01 8.02155282e-01 -1.19432924e-01 2.85840585e+01] [ 1.87330869e-01 9.61805055e-03 9.82249784e-01 9.67603517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.780888479 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:74.09, Y:28.59, Z:9.69 [[ 7.89994977e-01 -5.92276070e-01 -1.58483416e-01 7.40923948e+01] [ 5.84673682e-01 8.05560590e-01 -9.60667572e-02 2.85897131e+01] [ 1.84566036e-01 -1.67688270e-02 9.82677050e-01 9.69024101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.810888479 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:74.11, Y:28.62, Z:9.68 [[ 7.89805454e-01 -5.98439391e-01 -1.34453116e-01 7.41059859e+01] [ 5.84822597e-01 8.00829304e-01 -1.29054086e-01 2.86219940e+01] [ 1.84905043e-01 2.32964007e-02 9.82480230e-01 9.67998459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.840888479 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:74.14, Y:28.63, Z:9.70 [[ 7.91328279e-01 -5.91140453e-01 -1.56052940e-01 7.41382101e+01] [ 5.81679226e-01 8.06536325e-01 -1.05586147e-01 2.86251391e+01] [ 1.88278607e-01 -7.21944918e-03 9.82089123e-01 9.70093885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.870888479 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:74.16, Y:28.65, Z:9.70 [[ 7.93100058e-01 -5.91466829e-01 -1.45462325e-01 7.41572262e+01] [ 5.79789210e-01 8.06282710e-01 -1.17271752e-01 2.86467277e+01] [ 1.86646109e-01 8.67074692e-03 9.82388950e-01 9.69873822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.900888479 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:74.18, Y:28.66, Z:9.70 [[ 7.93672035e-01 -5.90658738e-01 -1.45626087e-01 7.41775784e+01] [ 5.78986497e-01 8.06874835e-01 -1.17165001e-01 2.86623018e+01] [ 1.86706557e-01 8.67504736e-03 9.82377425e-01 9.70240328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930888479 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:74.20, Y:28.68, Z:9.71 [[ 7.94238650e-01 -5.88579709e-01 -1.50860509e-01 7.42037048e+01] [ 5.77947407e-01 8.08438195e-01 -1.11375396e-01 2.86759136e+01] [ 1.87514695e-01 1.26920382e-03 9.82260978e-01 9.71291294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.960888479 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:74.22, Y:28.70, Z:9.71 [[ 7.94771921e-01 -5.90313657e-01 -1.40951698e-01 7.42235124e+01] [ 5.78187073e-01 8.07057011e-01 -1.19827751e-01 2.86954101e+01] [ 1.84492013e-01 1.37392821e-02 9.82737976e-01 9.71211820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99088847899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:74.25, Y:28.71, Z:9.72 [[ 7.95543925e-01 -5.87818944e-01 -1.46897083e-01 7.42489893e+01] [ 5.76635615e-01 8.08968659e-01 -1.14285060e-01 2.87064408e+01] [ 1.86014060e-01 6.21269525e-03 9.82527441e-01 9.72217115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02088847899999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:74.28, Y:28.71, Z:9.74 [[ 7.93847412e-01 -5.87645883e-01 -1.56456392e-01 7.42755114e+01] [ 5.77382039e-01 8.09110737e-01 -1.09406560e-01 2.87139892e+01] [ 1.90882862e-01 -3.48299626e-03 9.81606643e-01 9.73720236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.050888479 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:74.29, Y:28.74, Z:9.72 [[ 7.92980396e-01 -5.94383043e-01 -1.33756830e-01 7.42927969e+01] [ 5.81185818e-01 8.03862940e-01 -1.26599445e-01 2.87417106e+01] [ 1.82770722e-01 2.26533051e-02 9.82894547e-01 9.72469053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.080888479 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:74.31, Y:28.76, Z:9.73 [[ 7.91212738e-01 -5.96091768e-01 -1.36590652e-01 7.43149714e+01] [ 5.83436558e-01 8.02714031e-01 -1.23498857e-01 2.87551287e+01] [ 1.83259885e-01 1.80218888e-02 9.82899296e-01 9.72886957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.110888479 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:74.35, Y:28.74, Z:9.77 [[ 7.89530906e-01 -5.87201895e-01 -1.78423327e-01 7.43546820e+01] [ 5.83222793e-01 8.08394118e-01 -7.96876618e-02 2.87438319e+01] [ 1.91029114e-01 -4.11446794e-02 9.80721669e-01 9.77011917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.140888479 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:74.36, Y:28.80, Z:9.73 [[ 7.87577892e-01 -6.05253964e-01 -1.15709568e-01 7.43574382e+01] [ 5.89739660e-01 7.94781717e-01 -1.43279991e-01 2.87956892e+01] [ 1.78684632e-01 4.46056320e-02 9.82894776e-01 9.72869050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.170888479 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:74.40, Y:28.78, Z:9.78 [[ 7.86421630e-01 -5.92749476e-01 -1.73750047e-01 7.44005497e+01] [ 5.87704419e-01 8.04610403e-01 -8.48858964e-02 2.87765918e+01] [ 1.90117166e-01 -3.53575656e-02 9.81124511e-01 9.77829846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.200888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:74.42, Y:28.81, Z:9.77 [[ 7.83010902e-01 -6.04064481e-01 -1.48324074e-01 7.44176493e+01] [ 5.92915074e-01 7.96931416e-01 -1.15551000e-01 2.88050164e+01] [ 1.88004368e-01 2.53411329e-03 9.82164923e-01 9.76849994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.230888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:74.43, Y:28.83, Z:9.76 [[ 7.80695258e-01 -6.11305920e-01 -1.29691889e-01 7.44339614e+01] [ 5.97872231e-01 7.91040591e-01 -1.29628618e-01 2.88309582e+01] [ 1.81834290e-01 2.36612682e-02 9.83044473e-01 9.75574575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.260888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:74.47, Y:28.83, Z:9.79 [[ 7.79510401e-01 -6.05232429e-01 -1.61422557e-01 7.44668021e+01] [ 5.97454101e-01 7.95809284e-01 -9.86720829e-02 2.88279467e+01] [ 1.88181114e-01 -1.95266536e-02 9.81940211e-01 9.78673758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:74.49, Y:28.85, Z:9.78 [[ 7.77855863e-01 -6.10535010e-01 -1.48953877e-01 7.44850971e+01] [ 5.99376541e-01 7.91988496e-01 -1.16198036e-01 2.88515235e+01] [ 1.88912726e-01 1.10586430e-03 9.81993258e-01 9.78312971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.320888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.51, Y:28.87, Z:9.79 [[ 7.76339232e-01 -6.12294903e-01 -1.49640730e-01 7.45083105e+01] [ 6.01051541e-01 7.90629123e-01 -1.16801692e-01 2.88667051e+01] [ 1.89827400e-01 7.35944072e-04 9.81817201e-01 9.78754666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.52, Y:28.89, Z:9.77 [[ 7.72655588e-01 -6.22358230e-01 -1.25194153e-01 7.45204019e+01] [ 6.07087389e-01 7.82042085e-01 -1.40908050e-01 2.88943852e+01] [ 1.85602381e-01 3.28696005e-02 9.82075020e-01 9.76755101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:28.89, Z:9.80 [[ 7.73065795e-01 -6.14528462e-01 -1.57238818e-01 7.45545922e+01] [ 6.04677693e-01 7.88831197e-01 -1.10046493e-01 2.88923298e+01] [ 1.91661587e-01 -1.00056260e-02 9.81410069e-01 9.79790048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:28.91, Z:9.80 [[ 7.74083210e-01 -6.12948036e-01 -1.58397886e-01 7.45782509e+01] [ 6.04535817e-01 7.89953060e-01 -1.02521261e-01 2.89066673e+01] [ 1.87967100e-01 -1.63972082e-02 9.82038442e-01 9.80401863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:28.93, Z:9.80 [[ 7.75587544e-01 -6.13475899e-01 -1.48698631e-01 7.45963069e+01] [ 6.02264020e-01 7.89712812e-01 -1.16754977e-01 2.89290551e+01] [ 1.89055578e-01 9.97870442e-04 9.81965882e-01 9.80008919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:28.94, Z:9.81 [[ 7.76647997e-01 -6.12211765e-01 -1.48373325e-01 7.46188595e+01] [ 6.01017735e-01 7.90692710e-01 -1.16544932e-01 2.89449472e+01] [ 1.88667885e-01 1.33938789e-03 9.82040037e-01 9.80503947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:28.96, Z:9.81 [[ 7.77722073e-01 -6.10907569e-01 -1.48122652e-01 7.46416345e+01] [ 5.99715568e-01 7.91700089e-01 -1.16413942e-01 2.89610740e+01] [ 1.88386876e-01 1.70623187e-03 9.82093414e-01 9.81137206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.66, Y:28.97, Z:9.82 [[ 7.80677793e-01 -6.07282593e-01 -1.47478934e-01 7.46638809e+01] [ 5.96111718e-01 7.94481571e-01 -1.15973500e-01 2.89747753e+01] [ 1.87597983e-01 2.62401481e-03 9.82242389e-01 9.81805434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.560888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.70, Y:28.98, Z:9.84 [[ 7.83728519e-01 -5.99978463e-01 -1.60609630e-01 7.46950582e+01] [ 5.90675595e-01 7.99928201e-01 -1.05911352e-01 2.89836028e+01] [ 1.92020702e-01 -1.18624418e-02 9.81319180e-01 9.83818412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.71, Y:29.01, Z:9.82 [[ 7.85911833e-01 -6.02612943e-01 -1.38564898e-01 7.47060197e+01] [ 5.89520891e-01 7.97842799e-01 -1.26142724e-01 2.90124553e+01] [ 1.86568245e-01 1.74501573e-02 9.82287016e-01 9.82377767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.620888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.73, Y:29.02, Z:9.83 [[ 7.87434413e-01 -5.98569975e-01 -1.47176868e-01 7.47307145e+01] [ 5.87269606e-01 8.01056147e-01 -1.15859652e-01 2.90232187e+01] [ 1.87247044e-01 4.79937576e-03 9.82301130e-01 9.83385917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.76, Y:29.03, Z:9.85 [[ 7.90076467e-01 -5.91332288e-01 -1.61571350e-01 7.47623247e+01] [ 5.82333021e-01 8.06334043e-01 -1.03506830e-01 2.90307434e+01] [ 1.91487410e-01 -1.23100215e-02 9.81417870e-01 9.85357791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:29.06, Z:9.84 [[ 7.91406080e-01 -5.95306664e-01 -1.38875457e-01 7.47731874e+01] [ 5.81429017e-01 8.03201271e-01 -1.29645732e-01 2.90605195e+01] [ 1.88723911e-01 2.18561998e-02 9.81786938e-01 9.83679027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.80, Y:29.07, Z:9.85 [[ 7.92372533e-01 -5.91664540e-01 -1.48589506e-01 7.47993063e+01] [ 5.80000712e-01 8.06157288e-01 -1.17088004e-01 2.90702963e+01] [ 1.89063334e-01 6.59529934e-03 9.81942747e-01 9.84773767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74088847899999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:74.83, Y:29.08, Z:9.86 [[ 7.94107834e-01 -5.87169139e-01 -1.56924026e-01 7.48291486e+01] [ 5.77442489e-01 8.09442300e-01 -1.06598942e-01 2.90808692e+01] [ 1.89612554e-01 -5.96354509e-03 9.81840881e-01 9.86275823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:29.11, Z:9.85 [[ 7.93938344e-01 -5.91472078e-01 -1.40793065e-01 7.48422591e+01] [ 5.78283070e-01 8.06118797e-01 -1.25543521e-01 2.91072666e+01] [ 1.87751423e-01 1.82555696e-02 9.82046912e-01 9.85340540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.87, Y:29.12, Z:9.86 [[ 7.94791056e-01 -5.88812369e-01 -1.46993781e-01 7.48683774e+01] [ 5.77320623e-01 8.08236530e-01 -1.15994011e-01 2.91174566e+01] [ 1.87104452e-01 7.32846150e-03 9.82312688e-01 9.86335136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.830888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.89, Y:29.12, Z:9.88 [[ 7.93066008e-01 -5.86745675e-01 -1.63633185e-01 7.48912395e+01] [ 5.77727610e-01 8.09672481e-01 -1.03253488e-01 2.91231769e+01] [ 1.93072825e-01 -1.26485773e-02 9.81102899e-01 9.88365572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.860888479 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:74.92, Y:29.15, Z:9.88 [[ 7.93675114e-01 -5.89146950e-01 -1.51610304e-01 7.49183366e+01] [ 5.77180085e-01 8.08000593e-01 -1.18313956e-01 2.91489399e+01] [ 1.92205522e-01 6.39639440e-03 9.81333849e-01 9.88303349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.890888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:74.94, Y:29.16, Z:9.89 [[ 7.90064705e-01 -5.91891847e-01 -1.59567551e-01 7.49370613e+01] [ 5.80424194e-01 8.06016765e-01 -1.15951410e-01 2.91572126e+01] [ 1.97244816e-01 -1.00775012e-03 9.80353746e-01 9.89039566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.920888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:74.95, Y:29.19, Z:9.87 [[ 7.89436449e-01 -6.00085537e-01 -1.29179879e-01 7.49541301e+01] [ 5.84025744e-01 7.99063890e-01 -1.42866474e-01 2.91918149e+01] [ 1.88955082e-01 3.73396272e-02 9.81275562e-01 9.86697528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.950888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:74.98, Y:29.19, Z:9.88 [[ 7.85859250e-01 -6.00568256e-01 -1.47455107e-01 7.49761291e+01] [ 5.88544444e-01 7.99539604e-01 -1.19799246e-01 2.91941746e+01] [ 1.89843822e-01 7.36146189e-03 9.81786704e-01 9.88280837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.01, Y:29.20, Z:9.90 [[ 7.84382485e-01 -5.99289938e-01 -1.59986525e-01 7.50115243e+01] [ 5.89387841e-01 8.00482481e-01 -1.08856653e-01 2.92020408e+01] [ 1.93303107e-01 -8.90886018e-03 9.81098640e-01 9.90166802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:29.22, Z:9.91 [[ 7.81590878e-01 -6.01814732e-01 -1.64118031e-01 7.50323154e+01] [ 5.91905171e-01 7.98550775e-01 -1.09384319e-01 2.92164472e+01] [ 1.96885676e-01 -1.16485249e-02 9.80357253e-01 9.91205008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:29.23, Z:9.92 [[ 7.80848970e-01 -6.04154443e-01 -1.58972624e-01 7.50564993e+01] [ 5.93499031e-01 7.96844544e-01 -1.13126803e-01 2.92349125e+01] [ 1.95022529e-01 -6.01515139e-03 9.80780318e-01 9.91630181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:29.26, Z:9.90 [[ 7.77248790e-01 -6.14389693e-01 -1.35682065e-01 7.50711752e+01] [ 5.99948149e-01 7.88665151e-01 -1.34422830e-01 2.92631584e+01] [ 1.89595718e-01 2.30777784e-02 9.81590994e-01 9.90232481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.100888479 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:75.10, Y:29.27, Z:9.92 [[ 7.76136007e-01 -6.12605795e-01 -1.49422349e-01 7.50966975e+01] [ 6.01211366e-01 7.90387272e-01 -1.17613154e-01 2.92690644e+01] [ 1.90152022e-01 1.44938933e-03 9.81753588e-01 9.91716297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13088847899999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:75.11, Y:29.29, Z:9.91 [[ 7.73848288e-01 -6.17945537e-01 -1.38932145e-01 7.51141133e+01] [ 6.03746841e-01 7.85988687e-01 -1.33084695e-01 2.92942406e+01] [ 1.91438187e-01 1.91075197e-02 9.81318665e-01 9.91206728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:29.30, Z:9.94 [[ 7.72381463e-01 -6.15008369e-01 -1.58718561e-01 7.51399761e+01] [ 6.06159091e-01 7.88376437e-01 -1.05041660e-01 2.92982351e+01] [ 1.89731473e-01 -1.50764671e-02 9.81720260e-01 9.93586822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:29.32, Z:9.94 [[ 7.72250282e-01 -6.15424390e-01 -1.57741317e-01 7.51614680e+01] [ 6.05268419e-01 7.88142256e-01 -1.11722535e-01 2.93180851e+01] [ 1.93079370e-01 -9.19807795e-03 9.81140027e-01 9.94333320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:29.34, Z:9.93 [[ 7.71730617e-01 -6.20021388e-01 -1.41440212e-01 7.51773114e+01] [ 6.07772996e-01 7.84534140e-01 -1.22955964e-01 2.93442236e+01] [ 1.87200002e-01 8.92534068e-03 9.82281272e-01 9.93471141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:29.36, Z:9.94 [[ 7.71589090e-01 -6.19098504e-01 -1.46175642e-01 7.52008325e+01] [ 6.08021947e-01 7.85312595e-01 -1.16590912e-01 2.93586405e+01] [ 1.86974832e-01 1.08227664e-03 9.82364108e-01 9.94320718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:29.38, Z:9.94 [[ 7.70462346e-01 -6.22781026e-01 -1.36130699e-01 7.52182150e+01] [ 6.09264320e-01 7.82203023e-01 -1.30212977e-01 2.93837685e+01] [ 1.87576016e-01 1.73846178e-02 9.82096234e-01 9.93898155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.310888479 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:75.24, Y:29.39, Z:9.96 [[ 7.70820110e-01 -6.18433516e-01 -1.52893246e-01 7.52448633e+01] [ 6.09569087e-01 7.85742011e-01 -1.05047700e-01 2.93890537e+01] [ 1.85099665e-01 -1.22261164e-02 9.82643697e-01 9.96032804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.340888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:75.26, Y:29.42, Z:9.95 [[ 7.69713801e-01 -6.22512467e-01 -1.41488137e-01 7.52636093e+01] [ 6.09824717e-01 7.82542243e-01 -1.25464944e-01 2.94164131e+01] [ 1.88823936e-01 1.02891355e-02 9.81957054e-01 9.95445569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:29.43, Z:9.96 [[ 7.68974932e-01 -6.22458409e-01 -1.45681447e-01 7.52858599e+01] [ 6.10783407e-01 7.82645810e-01 -1.20038186e-01 2.94317854e+01] [ 1.88735752e-01 3.32654521e-03 9.82022276e-01 9.96057797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:29.45, Z:9.97 [[ 7.68906179e-01 -6.21820860e-01 -1.48735016e-01 7.53057935e+01] [ 6.10424796e-01 7.83159442e-01 -1.18502561e-01 2.94487738e+01] [ 1.90170597e-01 3.25809541e-04 9.81751006e-01 9.96612139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:29.47, Z:9.97 [[ 7.69038062e-01 -6.21636342e-01 -1.48824456e-01 7.53254415e+01] [ 6.10215732e-01 7.83305877e-01 -1.18611396e-01 2.94665546e+01] [ 1.90308225e-01 4.01654088e-04 9.81724309e-01 9.97078235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:29.48, Z:9.98 [[ 7.69274765e-01 -6.21407194e-01 -1.48557854e-01 7.53461923e+01] [ 6.10016213e-01 7.83487627e-01 -1.18437147e-01 2.94845323e+01] [ 1.89990936e-01 4.88009159e-04 9.81785723e-01 9.97513689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49088847899999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:75.37, Y:29.50, Z:9.98 [[ 7.69798928e-01 -6.21075761e-01 -1.47222655e-01 7.53660358e+01] [ 6.09871952e-01 7.83750291e-01 -1.17437998e-01 2.95024401e+01] [ 1.88323693e-01 6.16677052e-04 9.82106820e-01 9.97966142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:29.52, Z:9.99 [[ 7.70082558e-01 -6.20917935e-01 -1.46402772e-01 7.53875047e+01] [ 6.09829795e-01 7.83875280e-01 -1.16821086e-01 2.95199274e+01] [ 1.87297822e-01 6.81107840e-04 9.82302938e-01 9.98511829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.550888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:75.41, Y:29.54, Z:9.99 [[ 7.71223075e-01 -6.20229384e-01 -1.43284616e-01 7.54072628e+01] [ 6.09020267e-01 7.84413548e-01 -1.17429554e-01 2.95373714e+01] [ 1.85227654e-01 3.30114687e-03 9.82690093e-01 9.98925145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:29.55, Z:10.00 [[ 7.71137452e-01 -6.19916063e-01 -1.45089988e-01 7.54298578e+01] [ 6.09397562e-01 7.84667793e-01 -1.13714843e-01 2.95536558e+01] [ 1.84341098e-01 -7.27709980e-04 9.82862060e-01 9.99651462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:29.58, Z:9.98 [[ 7.70463464e-01 -6.24960773e-01 -1.25738152e-01 7.54431591e+01] [ 6.12292816e-01 7.80379285e-01 -1.26908155e-01 2.95820513e+01] [ 1.77436068e-01 2.07895292e-02 9.83912718e-01 9.98226475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:29.58, Z:10.01 [[ 7.71581674e-01 -6.16982110e-01 -1.54902537e-01 7.54759048e+01] [ 6.09204485e-01 7.86776329e-01 -9.92617946e-02 2.95820131e+01] [ 1.83116401e-01 -1.77787383e-02 9.82930466e-01 1.00133458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.670888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:75.49, Y:29.61, Z:10.01 [[ 7.72372898e-01 -6.19064047e-01 -1.42126041e-01 7.54933413e+01] [ 6.08547922e-01 7.85339471e-01 -1.13628085e-01 2.96064786e+01] [ 1.81960252e-01 1.27274625e-03 9.83305063e-01 1.00103198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.700888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:75.51, Y:29.62, Z:10.02 [[ 7.72381713e-01 -6.19168930e-01 -1.41620358e-01 7.55146346e+01] [ 6.08717984e-01 7.85256748e-01 -1.13288375e-01 2.96236329e+01] [ 1.81352983e-01 1.29501029e-03 9.83417215e-01 1.00157187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.730888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:75.54, Y:29.64, Z:10.02 [[ 7.72052515e-01 -6.19673457e-01 -1.41208077e-01 7.55350591e+01] [ 6.09280306e-01 7.84858782e-01 -1.13023012e-01 2.96408861e+01] [ 1.80865760e-01 1.22440054e-03 9.83507030e-01 1.00199881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:29.66, Z:10.02 [[ 7.71757557e-01 -6.19987806e-01 -1.41440428e-01 7.55568242e+01] [ 6.09557284e-01 7.84610547e-01 -1.13252846e-01 2.96585702e+01] [ 1.81191035e-01 1.18769664e-03 9.83447202e-01 1.00249654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:75.58, Y:29.68, Z:10.03 [[ 7.71756402e-01 -6.19809919e-01 -1.42224187e-01 7.55770680e+01] [ 6.09247557e-01 7.84750919e-01 -1.13944760e-01 2.96752635e+01] [ 1.82234654e-01 1.28785896e-03 9.83254226e-01 1.00295372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:29.69, Z:10.03 [[ 7.71534386e-01 -6.19948758e-01 -1.42822367e-01 7.55983539e+01] [ 6.09292329e-01 7.84641240e-01 -1.14459520e-01 2.96930301e+01] [ 1.83023357e-01 1.28888299e-03 9.83107720e-01 1.00335166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:29.71, Z:10.04 [[ 7.71090586e-01 -6.20337871e-01 -1.43527816e-01 7.56190841e+01] [ 6.09569440e-01 7.84333699e-01 -1.15090170e-01 2.97107867e+01] [ 1.83968493e-01 1.25477655e-03 9.82931340e-01 1.00374454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:29.73, Z:10.04 [[ 7.69816354e-01 -6.21737420e-01 -1.44309951e-01 7.56398057e+01] [ 6.10867697e-01 7.83225171e-01 -1.15753997e-01 2.97289629e+01] [ 1.84995778e-01 9.55032603e-04 9.82738851e-01 1.00399834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:29.75, Z:10.04 [[ 7.68826357e-01 -6.22839319e-01 -1.44835131e-01 7.56615379e+01] [ 6.11900671e-01 7.82349444e-01 -1.16219259e-01 2.97467511e+01] [ 1.85697609e-01 7.27715668e-04 9.82606670e-01 1.00446408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:29.76, Z:10.05 [[ 7.68183133e-01 -6.23612306e-01 -1.44921933e-01 7.56821207e+01] [ 6.12661802e-01 7.81733549e-01 -1.16353665e-01 2.97633591e+01] [ 1.85849915e-01 5.92790490e-04 9.82577965e-01 1.00490493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.70, Y:29.78, Z:10.05 [[ 7.66714919e-01 -6.25457050e-01 -1.44747061e-01 7.57032464e+01] [ 6.14558840e-01 7.80258578e-01 -1.16249660e-01 2.97812132e+01] [ 1.85649306e-01 1.74762783e-04 9.82616052e-01 1.00541630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:29.80, Z:10.06 [[ 7.65982529e-01 -6.26317776e-01 -1.44902757e-01 7.57243222e+01] [ 6.15398770e-01 7.79567857e-01 -1.16440160e-01 2.97979119e+01] [ 1.85890074e-01 1.81504353e-05 9.82570547e-01 1.00597722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:29.82, Z:10.07 [[ 7.65164456e-01 -6.27304887e-01 -1.44954936e-01 7.57456087e+01] [ 6.16388490e-01 7.78773742e-01 -1.16519047e-01 2.98151071e+01] [ 1.85980065e-01 -1.92320945e-04 9.82553499e-01 1.00650854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:29.83, Z:10.07 [[ 7.63084555e-01 -6.29703947e-01 -1.45515984e-01 7.57669122e+01] [ 6.18732784e-01 7.76834867e-01 -1.17035601e-01 2.98326561e+01] [ 1.86739670e-01 -7.27450395e-04 9.82409165e-01 1.00702209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:29.85, Z:10.08 [[ 7.62108068e-01 -6.30788281e-01 -1.45936413e-01 7.57884405e+01] [ 6.19760003e-01 7.75954415e-01 -1.17440555e-01 2.98495911e+01] [ 1.87320130e-01 -9.43157037e-04 9.82298468e-01 1.00750025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:29.87, Z:10.08 [[ 7.61080846e-01 -6.31947911e-01 -1.46279816e-01 7.58097401e+01] [ 6.20875576e-01 7.75009967e-01 -1.17783994e-01 2.98668009e+01] [ 1.87801664e-01 -1.17842298e-03 9.82206265e-01 1.00801348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:29.88, Z:10.08 [[ 7.59687546e-01 -6.33607943e-01 -1.46341407e-01 7.58310565e+01] [ 6.22543816e-01 7.73652774e-01 -1.17900732e-01 2.98845124e+01] [ 1.87920276e-01 -1.53622065e-03 9.82183084e-01 1.00846021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.180888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:75.85, Y:29.90, Z:10.09 [[ 7.59175765e-01 -6.34244043e-01 -1.46241756e-01 7.58520524e+01] [ 6.23193839e-01 7.73131171e-01 -1.17888216e-01 2.99022419e+01] [ 1.87833959e-01 -1.63908495e-03 9.82199428e-01 1.00892501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:29.92, Z:10.09 [[ 7.58970479e-01 -6.34506040e-01 -1.46170777e-01 7.58724212e+01] [ 6.23458674e-01 7.72916141e-01 -1.17897926e-01 2.99195532e+01] [ 1.87784699e-01 -1.65039373e-03 9.82208829e-01 1.00942948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.89, Y:29.94, Z:10.10 [[ 7.60044273e-01 -6.33263034e-01 -1.45981616e-01 7.58931480e+01] [ 6.22212931e-01 7.73935544e-01 -1.17791520e-01 2.99370542e+01] [ 1.87573377e-01 -1.30487925e-03 9.82249727e-01 1.01000478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27088847899999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.91, Y:29.95, Z:10.11 [[ 7.60918833e-01 -6.32241579e-01 -1.45853059e-01 7.59138049e+01] [ 6.21180011e-01 7.74770666e-01 -1.17753169e-01 2.99543186e+01] [ 1.87451122e-01 -1.00040093e-03 9.82273422e-01 1.01054891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:29.97, Z:10.11 [[ 7.61837638e-01 -6.31086231e-01 -1.46060199e-01 7.59348960e+01] [ 6.19964701e-01 7.75712380e-01 -1.17957932e-01 2.99720821e+01] [ 1.87742332e-01 -6.87375645e-04 9.82218074e-01 1.01115925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.330888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:75.95, Y:29.99, Z:10.12 [[ 7.64332922e-01 -6.27978511e-01 -1.46417804e-01 7.59547647e+01] [ 6.16732688e-01 7.78230668e-01 -1.18312377e-01 2.99902227e+01] [ 1.88244456e-01 1.29398618e-04 9.82122196e-01 1.01160867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.98, Y:30.01, Z:10.12 [[ 7.65222535e-01 -6.26772853e-01 -1.46936255e-01 7.59756767e+01] [ 6.15417140e-01 7.79201888e-01 -1.18769366e-01 3.00090351e+01] [ 1.88934422e-01 4.57905753e-04 9.81989600e-01 1.01202431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:30.03, Z:10.12 [[ 7.66003006e-01 -6.25697610e-01 -1.47451333e-01 7.59964623e+01] [ 6.14228599e-01 7.80065313e-01 -1.19253238e-01 3.00274387e+01] [ 1.89638137e-01 7.79513113e-04 9.81853741e-01 1.01244167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.420888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.02, Y:30.04, Z:10.13 [[ 7.67768061e-01 -6.23766274e-01 -1.46450814e-01 7.60167182e+01] [ 6.12406096e-01 7.81609840e-01 -1.18510891e-01 3.00449464e+01] [ 1.88390494e-01 1.30150583e-03 9.82093340e-01 1.01286945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.450888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:76.04, Y:30.06, Z:10.13 [[ 7.68538811e-01 -6.23047264e-01 -1.45465470e-01 7.60385461e+01] [ 6.11820813e-01 7.82182756e-01 -1.17751559e-01 3.00621552e+01] [ 1.87145369e-01 1.49784154e-03 9.82331088e-01 1.01348294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:30.08, Z:10.14 [[ 7.69201569e-01 -6.22471980e-01 -1.44421536e-01 7.60600878e+01] [ 6.11384771e-01 7.82640284e-01 -1.16973706e-01 3.00792625e+01] [ 1.85842966e-01 1.67923041e-03 9.82578023e-01 1.01409213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.510888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:76.08, Y:30.10, Z:10.15 [[ 7.69849994e-01 -6.21969932e-01 -1.43123693e-01 7.60805643e+01] [ 6.11061742e-01 7.83038971e-01 -1.15989300e-01 3.00960560e+01] [ 1.84213286e-01 1.83694838e-03 9.82884577e-01 1.01463168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:30.11, Z:10.15 [[ 7.70663470e-01 -6.21274565e-01 -1.41759414e-01 7.61011779e+01] [ 6.10556650e-01 7.83590367e-01 -1.14920465e-01 3.01137617e+01] [ 1.82478473e-01 2.01285187e-03 9.83207788e-01 1.01520204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:30.13, Z:10.16 [[ 7.70753179e-01 -6.21280140e-01 -1.41246329e-01 7.61222566e+01] [ 6.10628375e-01 7.83585835e-01 -1.14569749e-01 3.01309866e+01] [ 1.81858532e-01 2.05598207e-03 9.83322555e-01 1.01567754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:30.15, Z:10.16 [[ 7.70611853e-01 -6.21515144e-01 -1.40983326e-01 7.61434409e+01] [ 6.10895214e-01 7.83399470e-01 -1.14421622e-01 3.01479738e+01] [ 1.81561034e-01 2.04861904e-03 9.83377544e-01 1.01617440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:30.16, Z:10.17 [[ 7.70396274e-01 -6.21795805e-01 -1.40923943e-01 7.61646564e+01] [ 6.11177478e-01 7.83176762e-01 -1.14438845e-01 3.01638521e+01] [ 1.81525951e-01 2.03371951e-03 9.83384052e-01 1.01662222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.19, Y:30.18, Z:10.17 [[ 7.69733891e-01 -6.22538963e-01 -1.41262083e-01 7.61866077e+01] [ 6.11874872e-01 7.82586519e-01 -1.14749642e-01 3.01811403e+01] [ 1.81985925e-01 1.89196907e-03 9.83299315e-01 1.01713165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.690888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:76.21, Y:30.20, Z:10.18 [[ 7.68874331e-01 -6.23466447e-01 -1.41851516e-01 7.62072958e+01] [ 6.12715712e-01 7.81848188e-01 -1.15294702e-01 3.01977780e+01] [ 1.82788729e-01 1.73248408e-03 9.83150690e-01 1.01760918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:30.22, Z:10.18 [[ 7.66973879e-01 -6.25530394e-01 -1.43048226e-01 7.62292996e+01] [ 6.14624372e-01 7.80198746e-01 -1.16304768e-01 3.02152311e+01] [ 1.84358214e-01 1.28179336e-03 9.82858284e-01 1.01809949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:30.23, Z:10.19 [[ 7.65920945e-01 -6.26623967e-01 -1.43901039e-01 7.62502205e+01] [ 6.15592864e-01 7.79321013e-01 -1.17064871e-01 3.02323995e+01] [ 1.85500758e-01 1.07798404e-03 9.82643530e-01 1.01854597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:30.25, Z:10.19 [[ 7.64669539e-01 -6.28063641e-01 -1.44279450e-01 7.62707961e+01] [ 6.16992271e-01 7.78161606e-01 -1.17409762e-01 3.02493930e+01] [ 1.86013531e-01 7.60363543e-04 9.82546889e-01 1.01897001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.810888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.29, Y:30.27, Z:10.19 [[ 7.61841238e-01 -6.31249843e-01 -1.45332599e-01 7.62926203e+01] [ 6.20064839e-01 7.75579548e-01 -1.18304519e-01 3.02661587e+01] [ 1.87396701e-01 1.36259990e-05 9.82284315e-01 1.01945098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:30.28, Z:10.20 [[ 7.60319526e-01 -6.33080504e-01 -1.45338549e-01 7.63133580e+01] [ 6.21915162e-01 7.74085866e-01 -1.18374844e-01 3.02825923e+01] [ 1.87445322e-01 -3.85542284e-04 9.82274963e-01 1.01998019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:30.30, Z:10.21 [[ 7.58812026e-01 -6.34953486e-01 -1.45046128e-01 7.63350322e+01] [ 6.23860191e-01 7.72549936e-01 -1.18173847e-01 3.03001808e+01] [ 1.87090273e-01 -8.16769544e-04 9.82342386e-01 1.02055451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.900888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:76.36, Y:30.32, Z:10.21 [[ 7.56988096e-01 -6.37304533e-01 -1.44263489e-01 7.63555343e+01] [ 6.26361297e-01 7.70610890e-01 -1.17602646e-01 3.03179504e+01] [ 1.86119715e-01 -1.33726363e-03 9.82526164e-01 1.02110291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:76.38, Y:30.34, Z:10.22 [[ 7.56468680e-01 -6.37973139e-01 -1.44032671e-01 7.63761008e+01] [ 6.27064705e-01 7.70057257e-01 -1.17480540e-01 3.03353709e+01] [ 1.85862832e-01 -1.44745519e-03 9.82574635e-01 1.02161000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:30.35, Z:10.22 [[ 7.56130363e-01 -6.38487321e-01 -1.43529840e-01 7.63969201e+01] [ 6.27657786e-01 7.69630802e-01 -1.17107354e-01 3.03532704e+01] [ 1.85236546e-01 -1.53919549e-03 9.82692756e-01 1.02213797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:30.37, Z:10.23 [[ 7.56185413e-01 -6.38544426e-01 -1.42984745e-01 7.64181248e+01] [ 6.27786634e-01 7.69583508e-01 -1.16726885e-01 3.03717466e+01] [ 1.84574003e-01 -1.49674353e-03 9.82817479e-01 1.02265995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:30.39, Z:10.23 [[ 7.57327141e-01 -6.37079793e-01 -1.43474522e-01 7.64383408e+01] [ 6.26208982e-01 7.70797084e-01 -1.17192857e-01 3.03907651e+01] [ 1.85250945e-01 -1.09170305e-03 9.82690641e-01 1.02325287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:30.41, Z:10.24 [[ 7.58391123e-01 -6.35778647e-01 -1.43625960e-01 7.64590759e+01] [ 6.24849072e-01 7.71871097e-01 -1.17382481e-01 3.04089985e+01] [ 1.85490002e-01 -7.22715807e-04 9.82645886e-01 1.02373591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:30.43, Z:10.24 [[ 7.61055606e-01 -6.32741639e-01 -1.42941891e-01 7.64774640e+01] [ 6.21851386e-01 7.74362973e-01 -1.16888151e-01 3.04282879e+01] [ 1.84648908e-01 6.97697416e-05 9.82804546e-01 1.02414708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.50, Y:30.45, Z:10.25 [[ 7.62191106e-01 -6.31396163e-01 -1.42841182e-01 7.64976061e+01] [ 6.20491103e-01 7.75460318e-01 -1.16842141e-01 3.04469967e+01] [ 1.84541348e-01 4.24357926e-04 9.82824659e-01 1.02465457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:30.46, Z:10.25 [[ 7.62033516e-01 -6.31593501e-01 -1.42809560e-01 7.65192913e+01] [ 6.20684635e-01 7.75299598e-01 -1.16880778e-01 3.04648870e+01] [ 1.84541334e-01 4.27370506e-04 9.82824660e-01 1.02517431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:30.48, Z:10.26 [[ 7.63014252e-01 -6.30516862e-01 -1.42329678e-01 7.65398057e+01] [ 6.19651965e-01 7.76175205e-01 -1.16548244e-01 3.04832407e+01] [ 1.83958400e-01 7.33106030e-04 9.82933756e-01 1.02572845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:30.50, Z:10.26 [[ 7.63891497e-01 -6.29597430e-01 -1.41692826e-01 7.65602733e+01] [ 6.18802585e-01 7.76920892e-01 -1.16091720e-01 3.05010226e+01] [ 1.83175165e-01 1.00159050e-03 9.83079781e-01 1.02630797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:30.52, Z:10.27 [[ 7.65484667e-01 -6.27690014e-01 -1.41557304e-01 7.65805564e+01] [ 6.16871333e-01 7.78461925e-01 -1.16046496e-01 3.05197706e+01] [ 1.83038198e-01 1.50917114e-03 9.83104644e-01 1.02693473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.60, Y:30.54, Z:10.27 [[ 7.66284354e-01 -6.26790532e-01 -1.41215855e-01 7.66002314e+01] [ 6.15997131e-01 7.79185787e-01 -1.15831968e-01 3.05378575e+01] [ 1.82635768e-01 1.77166393e-03 9.83179047e-01 1.02740785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.62, Y:30.56, Z:10.28 [[ 7.66912049e-01 -6.26048937e-01 -1.41097971e-01 7.66205461e+01] [ 6.15252994e-01 7.79781251e-01 -1.15779765e-01 3.05566892e+01] [ 1.82509351e-01 1.98194742e-03 9.83202120e-01 1.02786909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:30.58, Z:10.28 [[ 7.67678131e-01 -6.25106005e-01 -1.41112611e-01 7.66400790e+01] [ 6.14279753e-01 7.80536598e-01 -1.15857695e-01 3.05754869e+01] [ 1.82566898e-01 2.25879888e-03 9.83190839e-01 1.02831394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:30.59, Z:10.29 [[ 7.67680646e-01 -6.25181620e-01 -1.40763514e-01 7.66611190e+01] [ 6.14403895e-01 7.80476019e-01 -1.15607254e-01 3.05940917e+01] [ 1.82138078e-01 2.26380043e-03 9.83270357e-01 1.02878754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:30.61, Z:10.29 [[ 7.67476709e-01 -6.25468859e-01 -1.40599459e-01 7.66820188e+01] [ 6.14708942e-01 7.80245899e-01 -1.15538969e-01 3.06126600e+01] [ 1.81968178e-01 2.24572299e-03 9.83301855e-01 1.02932933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:30.63, Z:10.30 [[ 7.67183156e-01 -6.26138520e-01 -1.39214078e-01 7.67025468e+01] [ 6.15590321e-01 7.79708965e-01 -1.14466098e-01 3.06312005e+01] [ 1.80218097e-01 2.11762332e-03 9.83624396e-01 1.02987006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:30.66, Z:10.29 [[ 7.65991540e-01 -6.31278725e-01 -1.21425420e-01 7.67163221e+01] [ 6.18520348e-01 7.75207550e-01 -1.28397170e-01 3.06580645e+01] [ 1.75184304e-01 2.32470530e-02 9.84261162e-01 1.02874574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:30.66, Z:10.32 [[ 7.66391256e-01 -6.24099575e-01 -1.52132060e-01 7.67481835e+01] [ 6.16537150e-01 7.81131553e-01 -9.85669270e-02 3.06590860e+01] [ 1.80350730e-01 -1.82542358e-02 9.83432965e-01 1.03182086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:30.69, Z:10.31 [[ 7.65676798e-01 -6.27858846e-01 -1.39758043e-01 7.67635814e+01] [ 6.17232452e-01 7.78325097e-01 -1.15039745e-01 3.06863121e+01] [ 1.81005914e-01 1.82006436e-03 9.83480323e-01 1.03141948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.530888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.78, Y:30.70, Z:10.32 [[ 7.65181621e-01 -6.28378158e-01 -1.40135571e-01 7.67834024e+01] [ 6.17690244e-01 7.77906045e-01 -1.15416415e-01 3.07041981e+01] [ 1.81537462e-01 1.75414475e-03 9.83382465e-01 1.03185826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.80, Y:30.72, Z:10.32 [[ 7.64426416e-01 -6.29200974e-01 -1.40564537e-01 7.68043854e+01] [ 6.18454001e-01 7.77241017e-01 -1.15806092e-01 3.07225867e+01] [ 1.82117830e-01 1.59253562e-03 9.83275424e-01 1.03234835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:30.74, Z:10.33 [[ 7.62004967e-01 -6.31915350e-01 -1.41532401e-01 7.68249173e+01] [ 6.21052470e-01 7.75036762e-01 -1.16669822e-01 3.07415080e+01] [ 1.83418265e-01 1.00393688e-03 9.83034451e-01 1.03282917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:30.76, Z:10.33 [[ 7.60411154e-01 -6.33801536e-01 -1.41670353e-01 7.68457602e+01] [ 6.22937301e-01 7.73495475e-01 -1.16849774e-01 3.07597217e+01] [ 1.83640943e-01 6.02123958e-04 9.82993205e-01 1.03331657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:30.78, Z:10.34 [[ 7.58833278e-01 -6.35556604e-01 -1.42266860e-01 7.68661897e+01] [ 6.24618028e-01 7.72054240e-01 -1.17407707e-01 3.07768588e+01] [ 1.84456976e-01 2.30429680e-04 9.82840562e-01 1.03383278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.680888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.89, Y:30.79, Z:10.34 [[ 7.57366837e-01 -6.37096565e-01 -1.43190225e-01 7.68868513e+01] [ 6.26034459e-01 7.70783986e-01 -1.18207033e-01 3.07945073e+01] [ 1.85678027e-01 -1.15928068e-04 9.82610633e-01 1.03431888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.91, Y:30.81, Z:10.35 [[ 7.55354626e-01 -6.39102517e-01 -1.44870159e-01 7.69060488e+01] [ 6.27800194e-01 7.69121355e-01 -1.19663105e-01 3.08135914e+01] [ 1.87899725e-01 -5.61433935e-04 9.82188056e-01 1.03469179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:30.83, Z:10.35 [[ 7.54367481e-01 -6.40100497e-01 -1.45605830e-01 7.69268487e+01] [ 6.28692844e-01 7.68290792e-01 -1.20310298e-01 3.08326340e+01] [ 1.88878300e-01 -7.83166845e-04 9.82000191e-01 1.03516636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.95, Y:30.85, Z:10.36 [[ 7.53606042e-01 -6.40872601e-01 -1.46151437e-01 7.69470230e+01] [ 6.29379519e-01 7.67646697e-01 -1.20830335e-01 3.08510064e+01] [ 1.89629519e-01 -9.26250948e-04 9.81855278e-01 1.03561793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.800888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.97, Y:30.87, Z:10.36 [[ 7.52647061e-01 -6.41891424e-01 -1.46621289e-01 7.69674698e+01] [ 6.30329414e-01 7.66794703e-01 -1.21287729e-01 3.08698151e+01] [ 1.90281981e-01 -1.13285853e-03 9.81728824e-01 1.03608082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.830888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:76.99, Y:30.89, Z:10.36 [[ 7.51096655e-01 -6.43752244e-01 -1.46413331e-01 7.69859929e+01] [ 6.32245225e-01 7.65232415e-01 -1.21183029e-01 3.08888281e+01] [ 1.90052074e-01 -1.54896137e-03 9.81772789e-01 1.03649429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.860888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:77.01, Y:30.91, Z:10.37 [[ 7.50401896e-01 -6.44547486e-01 -1.46477069e-01 7.70066426e+01] [ 6.33037780e-01 7.64562344e-01 -1.21274861e-01 3.09070044e+01] [ 1.90158258e-01 -1.72063286e-03 9.81751942e-01 1.03702718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.890888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:77.03, Y:30.93, Z:10.38 [[ 7.49588088e-01 -6.45584531e-01 -1.46076390e-01 7.70262433e+01] [ 6.34144778e-01 7.63686392e-01 -1.21010312e-01 3.09253887e+01] [ 1.89678937e-01 -1.92569170e-03 9.81844281e-01 1.03755161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.920888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:77.05, Y:30.95, Z:10.38 [[ 7.49378962e-01 -6.46144198e-01 -1.44668057e-01 7.70451974e+01] [ 6.34928982e-01 7.63212688e-01 -1.19881532e-01 3.09458944e+01] [ 1.87873252e-01 -2.01724420e-03 9.82191209e-01 1.03814223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.950888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:77.06, Y:30.96, Z:10.39 [[ 7.49758413e-01 -6.45822125e-01 -1.44139185e-01 7.70641028e+01] [ 6.34670974e-01 7.63485597e-01 -1.19509404e-01 3.09642066e+01] [ 1.87230009e-01 -1.87777577e-03 9.82314307e-01 1.03863874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.980888479 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:77.08, Y:30.98, Z:10.39 [[ 7.50207032e-01 -6.45171974e-01 -1.44715355e-01 7.70840526e+01] [ 6.33911423e-01 7.64035509e-01 -1.20025205e-01 3.09827636e+01] [ 1.88004568e-01 -1.69296384e-03 9.82166695e-01 1.03920558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.010888479 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:77.10, Y:31.00, Z:10.40 [[ 7.52030685e-01 -6.42834461e-01 -1.45649250e-01 7.71030507e+01] [ 6.31370077e-01 7.66004391e-01 -1.20868102e-01 3.10029908e+01] [ 1.89266147e-01 -1.06205652e-03 9.81925251e-01 1.03974645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.040888479 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:77.12, Y:31.02, Z:10.40 [[ 7.53274900e-01 -6.41385727e-01 -1.45606575e-01 7.71223265e+01] [ 6.29887911e-01 7.67218310e-01 -1.20901961e-01 3.10219827e+01] [ 1.89256822e-01 -6.43408509e-04 9.81927411e-01 1.04015247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070888479 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:77.14, Y:31.04, Z:10.41 [[ 7.54393426e-01 -6.40035329e-01 -1.45757803e-01 7.71418738e+01] [ 6.28479028e-01 7.68345434e-01 -1.21076030e-01 3.10411614e+01] [ 1.89485279e-01 -2.66760869e-04 9.81883526e-01 1.04062597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.100888479 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:77.16, Y:31.06, Z:10.41 [[ 7.55767627e-01 -6.38518788e-01 -1.45289544e-01 7.71622079e+01] [ 6.26996200e-01 7.69606217e-01 -1.20756098e-01 3.10605523e+01] [ 1.88920774e-01 1.67558255e-04 9.81992318e-01 1.04112059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13088847899999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:77.18, Y:31.08, Z:10.42 [[ 7.58722974e-01 -6.35156378e-01 -1.44623039e-01 7.71808020e+01] [ 6.23666229e-01 7.72382845e-01 -1.20271257e-01 3.10799023e+01] [ 1.88095410e-01 1.05606008e-03 9.82150193e-01 1.04163368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.160888479 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:77.20, Y:31.10, Z:10.42 [[ 7.60020750e-01 -6.33622989e-01 -1.44535006e-01 7.72015545e+01] [ 6.22111823e-01 7.73640587e-01 -1.20237775e-01 3.10985787e+01] [ 1.88003565e-01 1.46626829e-03 9.82167251e-01 1.04213209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.190888479 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:77.22, Y:31.12, Z:10.43 [[ 7.61295704e-01 -6.32054875e-01 -1.44691004e-01 7.72211215e+01] [ 6.20477592e-01 7.74921281e-01 -1.20434908e-01 3.11164524e+01] [ 1.88245609e-01 1.90905247e-03 9.82120128e-01 1.04265557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.220888479 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:77.24, Y:31.14, Z:10.43 [[ 7.63258894e-01 -6.29700764e-01 -1.44612612e-01 7.72409631e+01] [ 6.18086808e-01 7.76833702e-01 -1.20408045e-01 3.11362863e+01] [ 1.88160989e-01 2.51936324e-03 9.82134968e-01 1.04317420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.250888479 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:77.26, Y:31.15, Z:10.44 [[ 7.64142668e-01 -6.28656589e-01 -1.44488325e-01 7.72607217e+01] [ 6.17031553e-01 7.77677891e-01 -1.20370925e-01 3.11534117e+01] [ 1.88037351e-01 2.82670448e-03 9.82157810e-01 1.04367376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.280888479 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:77.28, Y:31.17, Z:10.44 [[ 7.64432576e-01 -6.28415417e-01 -1.44003125e-01 7.72814644e+01] [ 6.16856060e-01 7.77872472e-01 -1.20012582e-01 3.11711203e+01] [ 1.87433823e-01 2.91232714e-03 9.82272915e-01 1.04422801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.310888479 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:77.30, Y:31.19, Z:10.45 [[ 7.64789594e-01 -6.28414768e-01 -1.42097701e-01 7.73012167e+01] [ 6.17149488e-01 7.77872947e-01 -1.18491302e-01 3.11890055e+01] [ 1.84995642e-01 2.92539130e-03 9.82734987e-01 1.04476552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.340888479 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:77.32, Y:31.21, Z:10.45 [[ 7.64535195e-01 -6.28783854e-01 -1.41833711e-01 7.73220704e+01] [ 6.17559940e-01 7.77574872e-01 -1.18309080e-01 3.12076683e+01] [ 1.84677169e-01 2.86063737e-03 9.82795075e-01 1.04525553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.370888479 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:77.34, Y:31.23, Z:10.46 [[ 7.64175564e-01 -6.29209169e-01 -1.41885621e-01 7.73430120e+01] [ 6.17971401e-01 7.77230925e-01 -1.18420597e-01 3.12251248e+01] [ 1.84789218e-01 2.81287101e-03 9.82774151e-01 1.04575019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.400888479 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:77.36, Y:31.24, Z:10.46 [[ 7.62360930e-01 -6.31100063e-01 -1.43242878e-01 7.73645555e+01] [ 6.19663910e-01 7.75697612e-01 -1.19623799e-01 3.12400147e+01] [ 1.86607746e-01 2.43406927e-03 9.82431486e-01 1.04629530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430888479 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:77.39, Y:31.26, Z:10.47 [[ 7.60940362e-01 -6.32566702e-01 -1.44323015e-01 7.73864499e+01] [ 6.20974184e-01 7.74502977e-01 -1.20566174e-01 3.12568690e+01] [ 1.88044752e-01 2.12280127e-03 9.82158167e-01 1.04680491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.460888479 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:77.41, Y:31.27, Z:10.47 [[ 7.59823579e-01 -6.33866245e-01 -1.44505063e-01 7.74086094e+01] [ 6.22254149e-01 7.73440450e-01 -1.20787595e-01 3.12743370e+01] [ 1.88329240e-01 1.85838723e-03 9.82104192e-01 1.04724554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49088847899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:77.43, Y:31.29, Z:10.48 [[ 7.58135493e-01 -6.35765991e-01 -1.45024754e-01 7.74305085e+01] [ 6.24090506e-01 7.71880504e-01 -1.21291085e-01 3.12903320e+01] [ 1.89054527e-01 1.44650444e-03 9.81965526e-01 1.04765140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52088847899999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:77.45, Y:31.31, Z:10.48 [[ 7.57624447e-01 -6.36394651e-01 -1.44938072e-01 7.74524216e+01] [ 6.24737054e-01 7.71362499e-01 -1.21258024e-01 3.13065930e+01] [ 1.88967751e-01 1.31985926e-03 9.81982407e-01 1.04817836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.550888479 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:77.47, Y:31.32, Z:10.49 [[ 7.57273171e-01 -6.36753274e-01 -1.45198526e-01 7.74734631e+01] [ 6.25046392e-01 7.71066540e-01 -1.21545869e-01 3.13223161e+01] [ 1.89352455e-01 1.28761079e-03 9.81908341e-01 1.04873578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.580888479 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:77.50, Y:31.34, Z:10.49 [[ 7.56993517e-01 -6.37057066e-01 -1.45324155e-01 7.74952159e+01] [ 6.25327453e-01 7.70815637e-01 -1.21691541e-01 3.13390107e+01] [ 1.89542587e-01 1.24452389e-03 9.81871712e-01 1.04926792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.610888479 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:77.52, Y:31.35, Z:10.50 [[ 7.57092487e-01 -6.36685321e-01 -1.46433495e-01 7.75170115e+01] [ 6.24753590e-01 7.71122450e-01 -1.22691154e-01 3.13542522e+01] [ 1.91033812e-01 1.40369895e-03 9.81582453e-01 1.04968153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.640888479 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:77.54, Y:31.37, Z:10.50 [[ 7.57561546e-01 -6.35994181e-01 -1.47009881e-01 7.75394839e+01] [ 6.23944803e-01 7.71692144e-01 -1.23223851e-01 3.13708888e+01] [ 1.91816023e-01 1.62359964e-03 9.81429558e-01 1.05018403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.670888479 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:77.56, Y:31.39, Z:10.51 [[ 7.57879921e-01 -6.35559114e-01 -1.47250260e-01 7.75615113e+01] [ 6.23448004e-01 7.72050129e-01 -1.23495686e-01 3.13868404e+01] [ 1.92173391e-01 1.79202064e-03 9.81359351e-01 1.05070411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.700888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:77.58, Y:31.40, Z:10.51 [[ 7.58528887e-01 -6.34827063e-01 -1.47066405e-01 7.75832195e+01] [ 6.22719291e-01 7.72651591e-01 -1.23410713e-01 3.14021835e+01] [ 1.91975552e-01 2.02950294e-03 9.81397610e-01 1.05125157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.730888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:77.61, Y:31.42, Z:10.52 [[ 7.59636314e-01 -6.33564644e-01 -1.46794114e-01 7.76061313e+01] [ 6.21469207e-01 7.73686089e-01 -1.23230921e-01 3.14168789e+01] [ 1.91647319e-01 2.38266037e-03 9.81460966e-01 1.05187431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.760888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:77.63, Y:31.43, Z:10.52 [[ 7.59806894e-01 -6.33349138e-01 -1.46841253e-01 7.76272271e+01] [ 6.21228460e-01 7.73862171e-01 -1.23339129e-01 3.14335710e+01] [ 1.91751622e-01 2.49195479e-03 9.81440322e-01 1.05230301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.64, Y:31.47, Z:10.50 [[ 7.59434379e-01 -6.39758371e-01 -1.18189044e-01 7.76410983e+01] [ 6.23778870e-01 7.67637399e-01 -1.47080744e-01 3.14660435e+01] [ 1.84822468e-01 3.79743452e-02 9.82037985e-01 1.05000128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.820888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:77.68, Y:31.45, Z:10.55 [[ 7.59191066e-01 -6.28009093e-01 -1.70978081e-01 7.76806852e+01] [ 6.21231700e-01 7.77539316e-01 -9.74873730e-02 3.14514489e+01] [ 1.94165137e-01 -3.22054615e-02 9.80440058e-01 1.05462960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.70, Y:31.48, Z:10.54 [[ 7.59090543e-01 -6.33813831e-01 -1.48531396e-01 7.76953520e+01] [ 6.21393927e-01 7.73481591e-01 -1.24883207e-01 3.14809729e+01] [ 1.94039005e-01 2.50115404e-03 9.80990626e-01 1.05381840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88088847899999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:77.71, Y:31.51, Z:10.52 [[ 7.58982246e-01 -6.38758146e-01 -1.26229878e-01 7.77147536e+01] [ 6.23497783e-01 7.68864895e-01 -1.41764905e-01 3.15110325e+01] [ 1.87607210e-01 2.88929973e-02 9.81819092e-01 1.05234799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.910888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.75, Y:31.50, Z:10.56 [[ 7.56665439e-01 -6.32381907e-01 -1.65983543e-01 7.77480646e+01] [ 6.24399810e-01 7.74238741e-01 -1.03340458e-01 3.15028073e+01] [ 1.93861525e-01 -2.54459399e-02 9.80698839e-01 1.05591894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:31.53, Z:10.55 [[ 7.55644558e-01 -6.38083438e-01 -1.47820260e-01 7.77641315e+01] [ 6.25835091e-01 7.69965734e-01 -1.24431534e-01 3.15288683e+01] [ 1.93214236e-01 1.51490586e-03 9.81155423e-01 1.05541797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:31.55, Z:10.55 [[ 7.55807356e-01 -6.39812268e-01 -1.39267741e-01 7.77908898e+01] [ 6.26315267e-01 7.68437672e-01 -1.31273496e-01 3.15492233e+01] [ 1.91008972e-01 1.19919617e-02 9.81515036e-01 1.05537247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.000888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.81, Y:31.55, Z:10.57 [[ 7.51956946e-01 -6.40810689e-01 -1.54668718e-01 7.78128713e+01] [ 6.30873738e-01 7.67596779e-01 -1.13108404e-01 3.15528908e+01] [ 1.91204284e-01 -1.25237825e-02 9.81470365e-01 1.05733528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.030888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:77.83, Y:31.57, Z:10.57 [[ 7.50799829e-01 -6.44267226e-01 -1.45668659e-01 7.78308586e+01] [ 6.32460899e-01 7.64800457e-01 -1.22774069e-01 3.15740194e+01] [ 1.90506766e-01 4.90185253e-05 9.81685881e-01 1.05732677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.060888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:77.85, Y:31.59, Z:10.58 [[ 7.50637595e-01 -6.44461532e-01 -1.45645234e-01 7.78522812e+01] [ 6.32653438e-01 7.64636732e-01 -1.22801852e-01 3.15922135e+01] [ 1.90506765e-01 3.67291311e-05 9.81685882e-01 1.05784935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.090888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:77.87, Y:31.61, Z:10.58 [[ 7.49516792e-01 -6.45796795e-01 -1.45502844e-01 7.78737885e+01] [ 6.34024704e-01 7.63509289e-01 -1.22744612e-01 3.16084601e+01] [ 1.90360850e-01 -2.53249972e-04 9.81714155e-01 1.05838923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.120888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:77.90, Y:31.62, Z:10.59 [[ 7.47194056e-01 -6.48290148e-01 -1.46358894e-01 7.78972710e+01] [ 6.36417373e-01 7.61392895e-01 -1.23506220e-01 3.16239799e+01] [ 1.91504488e-01 -8.62229610e-04 9.81491359e-01 1.05895604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:31.64, Z:10.59 [[ 7.46000116e-01 -6.49525928e-01 -1.46969034e-01 7.79191844e+01] [ 6.37563093e-01 7.60338603e-01 -1.24090734e-01 3.16405600e+01] [ 1.92346379e-01 -1.13032995e-03 9.81326446e-01 1.05943882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:31.66, Z:10.60 [[ 7.44923594e-01 -6.50723627e-01 -1.47131232e-01 7.79408371e+01] [ 6.38743519e-01 7.59313399e-01 -1.24297546e-01 3.16571964e+01] [ 1.92602066e-01 -1.38694589e-03 9.81275966e-01 1.05989823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:77.96, Y:31.67, Z:10.60 [[ 7.44088295e-01 -6.51691311e-01 -1.47074961e-01 7.79640417e+01] [ 6.39725512e-01 7.58482650e-01 -1.24319508e-01 3.16724592e+01] [ 1.92571749e-01 -1.58291443e-03 9.81281619e-01 1.06040749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:77.99, Y:31.69, Z:10.61 [[ 7.44048418e-01 -6.51715902e-01 -1.47167708e-01 7.79862901e+01] [ 6.39721630e-01 7.58461616e-01 -1.24467723e-01 3.16893004e+01] [ 1.92738651e-01 -1.53635338e-03 9.81248925e-01 1.06092896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:31.71, Z:10.61 [[ 7.44591574e-01 -6.51155089e-01 -1.46902819e-01 7.80076916e+01] [ 6.39180264e-01 7.58943519e-01 -1.24311405e-01 3.17059948e+01] [ 1.92436947e-01 -1.33615748e-03 9.81308431e-01 1.06139623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:31.72, Z:10.62 [[ 7.47022976e-01 -6.48340036e-01 -1.47009766e-01 7.80282684e+01] [ 6.36285902e-01 7.61350682e-01 -1.24440307e-01 3.17224952e+01] [ 1.92605619e-01 -5.80473209e-04 9.81276077e-01 1.06176804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:31.74, Z:10.62 [[ 7.48492562e-01 -6.46588971e-01 -1.47246690e-01 7.80497518e+01] [ 6.34453269e-01 7.62838577e-01 -1.24685026e-01 3.17405194e+01] [ 1.92945418e-01 -9.53290595e-05 9.81209487e-01 1.06225310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.360888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:78.07, Y:31.76, Z:10.63 [[ 7.50342223e-01 -6.44429926e-01 -1.47297721e-01 7.80702875e+01] [ 6.32230605e-01 7.64663197e-01 -1.24798465e-01 3.17575419e+01] [ 1.93057012e-01 5.15430873e-04 9.81187405e-01 1.06268601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:31.77, Z:10.63 [[ 7.51941842e-01 -6.42546889e-01 -1.47366756e-01 7.80911236e+01] [ 6.30292023e-01 7.66245672e-01 -1.24898100e-01 3.17748432e+01] [ 1.93172025e-01 1.03201645e-03 9.81164361e-01 1.06323248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.420888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:78.11, Y:31.79, Z:10.64 [[ 7.54601766e-01 -6.39516210e-01 -1.46953024e-01 7.81126465e+01] [ 6.27260914e-01 7.68775375e-01 -1.24612071e-01 3.17913342e+01] [ 1.92665306e-01 1.85460105e-03 9.81262779e-01 1.06378929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.450888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:78.13, Y:31.81, Z:10.64 [[ 7.55435705e-01 -6.38621719e-01 -1.46557821e-01 7.81329849e+01] [ 6.26402620e-01 7.69517873e-01 -1.24346294e-01 3.18077935e+01] [ 1.92189107e-01 2.13142725e-03 9.81355595e-01 1.06433359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:31.82, Z:10.65 [[ 7.56030100e-01 -6.37837373e-01 -1.46908046e-01 7.81540703e+01] [ 6.25536757e-01 7.70167436e-01 -1.24683143e-01 3.18248238e+01] [ 1.92671361e-01 2.36782647e-03 9.81260485e-01 1.06490518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.510888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:78.18, Y:31.84, Z:10.65 [[ 7.55986325e-01 -6.37834091e-01 -1.47147372e-01 7.81753331e+01] [ 6.25483976e-01 7.70170029e-01 -1.24931673e-01 3.18425020e+01] [ 1.93014176e-01 2.40831338e-03 9.81193013e-01 1.06543223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.20, Y:31.86, Z:10.66 [[ 7.56354356e-01 -6.37373808e-01 -1.47250524e-01 7.81959290e+01] [ 6.24983577e-01 7.70550423e-01 -1.25090263e-01 3.18594274e+01] [ 1.93193211e-01 2.58340640e-03 9.81157332e-01 1.06592489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:78.22, Y:31.88, Z:10.66 [[ 7.56295733e-01 -6.37354557e-01 -1.47634454e-01 7.82169587e+01] [ 6.24888726e-01 7.70566173e-01 -1.25466543e-01 3.18775155e+01] [ 1.93728789e-01 2.63470538e-03 9.81051586e-01 1.06636668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.600888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:78.24, Y:31.90, Z:10.67 [[ 7.56097906e-01 -6.37401258e-01 -1.48443903e-01 7.82382401e+01] [ 6.24783632e-01 7.70527338e-01 -1.26226126e-01 3.18950084e+01] [ 1.94836777e-01 2.69398934e-03 9.80831980e-01 1.06685756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63088847899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:78.26, Y:31.91, Z:10.67 [[ 7.55587886e-01 -6.37931899e-01 -1.48761013e-01 7.82602608e+01] [ 6.25255704e-01 7.70088328e-01 -1.26567262e-01 3.19121439e+01] [ 1.95300413e-01 2.61901834e-03 9.80739970e-01 1.06743024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.660888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:78.28, Y:31.93, Z:10.68 [[ 7.55285405e-01 -6.38394715e-01 -1.48310971e-01 7.82800670e+01] [ 6.25790611e-01 7.69704943e-01 -1.26255344e-01 3.19292846e+01] [ 1.94756432e-01 2.54720494e-03 9.80848329e-01 1.06789292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.30, Y:31.95, Z:10.68 [[ 7.54478103e-01 -6.39445215e-01 -1.47893908e-01 7.83004039e+01] [ 6.26924290e-01 7.68833217e-01 -1.25942122e-01 3.19475212e+01] [ 1.94238836e-01 2.30228986e-03 9.80951566e-01 1.06842967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.32, Y:31.97, Z:10.69 [[ 7.52767529e-01 -6.41618052e-01 -1.47198240e-01 7.83209168e+01] [ 6.29242884e-01 7.67022212e-01 -1.25420568e-01 3.19651141e+01] [ 1.93376420e-01 1.78908631e-03 9.81123009e-01 1.06904527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:31.98, Z:10.70 [[ 7.51941347e-01 -6.42594541e-01 -1.47161363e-01 7.83412386e+01] [ 6.30230331e-01 7.66204751e-01 -1.25459197e-01 3.19820717e+01] [ 1.93375131e-01 1.59240332e-03 9.81123602e-01 1.06961971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.780888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:78.36, Y:32.00, Z:10.70 [[ 7.50857407e-01 -6.43826210e-01 -1.47312476e-01 7.83623110e+01] [ 6.31451652e-01 7.65170633e-01 -1.25629274e-01 3.20002965e+01] [ 1.93602600e-01 1.30896449e-03 9.81079161e-01 1.07020275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.810888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:78.38, Y:32.02, Z:10.71 [[ 7.49245369e-01 -6.45583990e-01 -1.47826550e-01 7.83835166e+01] [ 6.33141909e-01 7.63688731e-01 -1.26138200e-01 3.20178509e+01] [ 1.94326273e-01 9.13278077e-04 9.80936525e-01 1.07084678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.840888479 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:78.40, Y:32.03, Z:10.71 [[ 7.48051683e-01 -6.46869362e-01 -1.48252178e-01 7.84042618e+01] [ 6.34366036e-01 7.62600567e-01 -1.26570559e-01 3.20348138e+01] [ 1.94931811e-01 6.35173296e-04 9.80816591e-01 1.07139486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.870888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:78.43, Y:32.05, Z:10.72 [[ 7.46378480e-01 -6.48627340e-01 -1.49002475e-01 7.84251828e+01] [ 6.36022186e-01 7.61106122e-01 -1.27252698e-01 3.20522896e+01] [ 1.95946275e-01 2.09795238e-04 9.80614610e-01 1.07190045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.900888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:78.45, Y:32.07, Z:10.72 [[ 7.42674015e-01 -6.52555650e-01 -1.50354352e-01 7.84463418e+01] [ 6.39783187e-01 7.57740405e-01 -1.28479383e-01 3.20696623e+01] [ 1.97769515e-01 -7.75886987e-04 9.80248243e-01 1.07239520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:78.47, Y:32.09, Z:10.73 [[ 7.40993932e-01 -6.54369551e-01 -1.50759690e-01 7.84670923e+01] [ 6.41550438e-01 7.56173941e-01 -1.28895331e-01 3.20868029e+01] [ 1.98345729e-01 -1.20928771e-03 9.80131374e-01 1.07291788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:32.10, Z:10.73 [[ 7.39115904e-01 -6.56409918e-01 -1.51108240e-01 7.84877837e+01] [ 6.43564415e-01 7.54402435e-01 -1.29235485e-01 3.21043742e+01] [ 1.98827878e-01 -1.72788330e-03 9.80032902e-01 1.07347866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:32.12, Z:10.74 [[ 7.35916856e-01 -6.60042697e-01 -1.50897378e-01 7.85087549e+01] [ 6.47293950e-01 7.51223420e-01 -1.29127519e-01 3.21231658e+01] [ 1.98587320e-01 -2.64784194e-03 9.80079622e-01 1.07397771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:32.14, Z:10.74 [[ 7.34628612e-01 -6.61518424e-01 -1.50712236e-01 7.85298485e+01] [ 6.48817127e-01 7.49922966e-01 -1.29042166e-01 3.21415775e+01] [ 1.98386337e-01 -2.98661258e-03 9.80119351e-01 1.07449037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:32.16, Z:10.75 [[ 7.33744656e-01 -6.62546529e-01 -1.50502085e-01 7.85508700e+01] [ 6.49887688e-01 7.49013905e-01 -1.28934725e-01 3.21595846e+01] [ 1.98153409e-01 -3.20428599e-03 9.80165781e-01 1.07508406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:32.18, Z:10.76 [[ 7.33194794e-01 -6.63297837e-01 -1.49871192e-01 7.85715364e+01] [ 6.50746963e-01 7.48348075e-01 -1.28466139e-01 3.21774122e+01] [ 1.97367130e-01 -3.33751911e-03 9.80323965e-01 1.07569320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.110888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:78.59, Y:32.20, Z:10.76 [[ 7.33776950e-01 -6.63199360e-01 -1.47438110e-01 7.85910388e+01] [ 6.51041043e-01 7.48435934e-01 -1.26448462e-01 3.21951635e+01] [ 1.94208519e-01 -3.20329409e-03 9.80955040e-01 1.07643544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.61, Y:32.21, Z:10.77 [[ 7.34236744e-01 -6.62781861e-01 -1.47025878e-01 7.86103341e+01] [ 6.50676021e-01 7.48806303e-01 -1.26134200e-01 3.22135146e+01] [ 1.93693364e-01 -3.05384868e-03 9.81057366e-01 1.07705389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:32.26, Z:10.73 [[ 7.34371106e-01 -6.72062008e-01 -9.50354513e-02 7.86213820e+01] [ 6.53602627e-01 7.37956738e-01 -1.67998392e-01 3.22647195e+01] [ 1.83037389e-01 6.12577446e-02 9.81195599e-01 1.07276666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.66, Y:32.23, Z:10.81 [[ 7.37728934e-01 -6.47655854e-01 -1.90520117e-01 7.86642129e+01] [ 6.46625926e-01 7.58986575e-01 -7.62514927e-02 3.22283846e+01] [ 1.93986937e-01 -6.69423148e-02 9.78717423e-01 1.08106355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:32.27, Z:10.79 [[ 7.40157665e-01 -6.56042739e-01 -1.47562037e-01 7.86703824e+01] [ 6.43684637e-01 7.54722827e-01 -1.26742033e-01 3.22712474e+01] [ 1.94516628e-01 -1.17432918e-03 9.80898518e-01 1.07871978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:32.29, Z:10.79 [[ 7.42446736e-01 -6.53524452e-01 -1.47236665e-01 7.86902926e+01] [ 6.41158216e-01 7.56905266e-01 -1.26532842e-01 3.22898619e+01] [ 1.94136513e-01 -4.58101928e-04 9.80974416e-01 1.07925018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.71, Y:32.31, Z:10.80 [[ 7.47281217e-01 -6.48001879e-01 -1.47188136e-01 7.87088459e+01] [ 6.35523029e-01 7.61638032e-01 -1.26562193e-01 3.23109070e+01] [ 1.94116621e-01 1.03609958e-03 9.80977912e-01 1.07963104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.320888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:78.73, Y:32.33, Z:10.80 [[ 7.49639135e-01 -6.45303062e-01 -1.47054838e-01 7.87285925e+01] [ 6.32781336e-01 7.63924574e-01 -1.26518877e-01 3.23303862e+01] [ 1.93981823e-01 1.78994431e-03 9.81003491e-01 1.08006446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:78.75, Y:32.35, Z:10.81 [[ 7.51698197e-01 -6.43082060e-01 -1.46271268e-01 7.87477431e+01] [ 6.30639382e-01 7.65793497e-01 -1.25913816e-01 3.23490849e+01] [ 1.92986502e-01 2.40476673e-03 9.81198465e-01 1.08058655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38088847899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:78.77, Y:32.37, Z:10.81 [[ 7.55059598e-01 -6.39718758e-01 -1.43683377e-01 7.87674940e+01] [ 6.27648541e-01 7.68602258e-01 -1.23725006e-01 3.23673456e+01] [ 1.89584575e-01 3.23709134e-03 9.81859058e-01 1.08133322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.410888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:78.79, Y:32.38, Z:10.82 [[ 7.56205386e-01 -6.38632063e-01 -1.42486848e-01 7.87875978e+01] [ 6.26731183e-01 7.69504120e-01 -1.22765770e-01 3.23849188e+01] [ 1.88046374e-01 3.53518529e-03 9.82153788e-01 1.08195211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:32.40, Z:10.82 [[ 7.57135538e-01 -6.37745054e-01 -1.41516867e-01 7.88077756e+01] [ 6.25984157e-01 7.70238342e-01 -1.21970208e-01 3.24032535e+01] [ 1.86787614e-01 3.76066221e-03 9.82393121e-01 1.08249302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.470888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:78.83, Y:32.42, Z:10.83 [[ 7.58636507e-01 -6.36046586e-01 -1.41121899e-01 7.88267826e+01] [ 6.24309641e-01 7.71639113e-01 -1.21698606e-01 3.24217428e+01] [ 1.86301160e-01 4.22124287e-03 9.82483618e-01 1.08294993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:32.44, Z:10.83 [[ 7.59333203e-01 -6.35329891e-01 -1.40602339e-01 7.88472135e+01] [ 6.23660554e-01 7.72228254e-01 -1.21289064e-01 3.24400587e+01] [ 1.85635666e-01 4.41068127e-03 9.82608745e-01 1.08339957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.530888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.87, Y:32.46, Z:10.84 [[ 7.59450716e-01 -6.35319357e-01 -1.40014014e-01 7.88680293e+01] [ 6.23735263e-01 7.72236705e-01 -1.20850292e-01 3.24587947e+01] [ 1.84902491e-01 4.44816245e-03 9.82746805e-01 1.08383270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.560888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:78.89, Y:32.48, Z:10.84 [[ 7.58882309e-01 -6.35949170e-01 -1.40236565e-01 7.88884696e+01] [ 6.24325324e-01 7.71718647e-01 -1.21112424e-01 3.24768588e+01] [ 1.85244518e-01 4.35683738e-03 9.82682801e-01 1.08426730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.590888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.91, Y:32.50, Z:10.85 [[ 7.55941109e-01 -6.39370357e-01 -1.40565238e-01 7.89098381e+01] [ 6.27736608e-01 7.68890568e-01 -1.21466232e-01 3.24952943e+01] [ 1.85741194e-01 3.58337200e-03 9.82592168e-01 1.08451436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.93, Y:32.51, Z:10.85 [[ 7.54091110e-01 -6.41564936e-01 -1.40502782e-01 7.89299732e+01] [ 6.29966285e-01 7.67062481e-01 -1.21480985e-01 3.25118743e+01] [ 1.85712353e-01 3.09571490e-03 9.82599277e-01 1.08501723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.95, Y:32.53, Z:10.86 [[ 7.50703822e-01 -6.45991876e-01 -1.38341127e-01 7.89510729e+01] [ 6.34817808e-01 7.63341665e-01 -1.19648872e-01 3.25298525e+01] [ 1.82893745e-01 1.99945441e-03 9.83130653e-01 1.08557510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.680888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:78.97, Y:32.55, Z:10.86 [[ 7.48914403e-01 -6.48159759e-01 -1.37899033e-01 7.89709458e+01] [ 6.37081234e-01 7.61502869e-01 -1.19335165e-01 3.25482115e+01] [ 1.82358761e-01 1.51893768e-03 9.83230886e-01 1.08604542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.99, Y:32.57, Z:10.87 [[ 7.47378318e-01 -6.49913850e-01 -1.37976944e-01 7.89903421e+01] [ 6.38845185e-01 7.60007059e-01 -1.19440780e-01 3.25659387e+01] [ 1.82489668e-01 1.12154330e-03 9.83207131e-01 1.08653472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:32.58, Z:10.87 [[ 7.45827668e-01 -6.51521955e-01 -1.38781238e-01 7.90105618e+01] [ 6.40343162e-01 7.58629396e-01 -1.20175177e-01 3.25840932e+01] [ 1.83580293e-01 7.62355308e-04 9.83004423e-01 1.08702944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:32.60, Z:10.87 [[ 7.42478738e-01 -6.55016387e-01 -1.40281345e-01 7.90318189e+01] [ 6.43640968e-01 7.55614671e-01 -1.21543302e-01 3.26024772e+01] [ 1.85611497e-01 -4.75027222e-05 9.82623209e-01 1.08743053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:32.62, Z:10.88 [[ 7.40472947e-01 -6.57191433e-01 -1.40709755e-01 7.90520223e+01] [ 6.45771528e-01 7.53723509e-01 -1.21983628e-01 3.26205886e+01] [ 1.86222845e-01 -5.40777148e-04 9.82507384e-01 1.08782127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:32.64, Z:10.88 [[ 7.38379652e-01 -6.59561477e-01 -1.40620578e-01 7.90723103e+01] [ 6.48191318e-01 7.51649807e-01 -1.21945004e-01 3.26390782e+01] [ 1.86127657e-01 -1.10732793e-03 9.82524946e-01 1.08819183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.09, Y:32.66, Z:10.89 [[ 7.36619203e-01 -6.61534157e-01 -1.40587018e-01 7.90917523e+01] [ 6.50192014e-01 7.49913428e-01 -1.21984409e-01 3.26570997e+01] [ 1.86124945e-01 -1.55249803e-03 9.82524857e-01 1.08856405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:32.68, Z:10.89 [[ 7.34043032e-01 -6.64601254e-01 -1.39592264e-01 7.91113566e+01] [ 6.53466486e-01 7.47194747e-01 -1.21167495e-01 3.26757843e+01] [ 1.84830676e-01 -2.27671086e-03 9.82767744e-01 1.08906005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.920888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.13, Y:32.69, Z:10.90 [[ 7.33222563e-01 -6.65616333e-01 -1.39066782e-01 7.91320608e+01] [ 6.54575475e-01 7.46289962e-01 -1.20756948e-01 3.26944141e+01] [ 1.84161940e-01 -2.48798546e-03 9.82892766e-01 1.08965473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.950888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.15, Y:32.71, Z:10.90 [[ 7.33112722e-01 -6.65744091e-01 -1.39034319e-01 7.91531824e+01] [ 6.54698426e-01 7.46176055e-01 -1.20794313e-01 3.27129155e+01] [ 1.84162180e-01 -2.46970169e-03 9.82892767e-01 1.09017568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:32.73, Z:10.91 [[ 7.32247400e-01 -6.66859462e-01 -1.38246891e-01 7.91736318e+01] [ 6.55951725e-01 7.45178603e-01 -1.20150675e-01 3.27313967e+01] [ 1.83142239e-01 -2.70326719e-03 9.83082709e-01 1.09076946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.19, Y:32.75, Z:10.91 [[ 7.32492132e-01 -6.66527773e-01 -1.38549646e-01 7.91936345e+01] [ 6.55553379e-01 7.45475752e-01 -1.20480997e-01 3.27493981e+01] [ 1.83589332e-01 -2.57530660e-03 9.82999657e-01 1.09133327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.040888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.21, Y:32.77, Z:10.92 [[ 7.33286832e-01 -6.65725478e-01 -1.38202782e-01 7.92136935e+01] [ 6.54785433e-01 7.46193079e-01 -1.20216162e-01 3.27682908e+01] [ 1.83156922e-01 -2.34024026e-03 9.83080905e-01 1.09176797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:79.23, Y:32.79, Z:10.92 [[ 7.34879168e-01 -6.64090990e-01 -1.37607289e-01 7.92327825e+01] [ 6.53204749e-01 7.47649418e-01 -1.19766037e-01 3.27874437e+01] [ 1.82417556e-01 -1.87216910e-03 9.83219370e-01 1.09222148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.100888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.25, Y:32.81, Z:10.93 [[ 7.39108589e-01 -6.59569444e-01 -1.36699095e-01 7.92507252e+01] [ 6.48743738e-01 7.51643287e-01 -1.19012319e-01 3.28085584e+01] [ 1.81245846e-01 -7.19654891e-04 9.83437555e-01 1.09264319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13088847899999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:79.27, Y:32.83, Z:10.93 [[ 7.40813763e-01 -6.57667497e-01 -1.36632470e-01 7.92704748e+01] [ 6.46808221e-01 7.53308318e-01 -1.19019760e-01 3.28280050e+01] [ 1.81201803e-01 -2.03528560e-04 9.83445914e-01 1.09313409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.160888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.29, Y:32.85, Z:10.94 [[ 7.42711936e-01 -6.55625225e-01 -1.36141635e-01 7.92893833e+01] [ 6.44798254e-01 7.55086382e-01 -1.18658190e-01 3.28466121e+01] [ 1.80593997e-01 3.44965537e-04 9.83557669e-01 1.09356264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.190888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.31, Y:32.87, Z:10.94 [[ 7.44227328e-01 -6.54036825e-01 -1.35504672e-01 7.93096108e+01] [ 6.43279119e-01 7.56462334e-01 -1.18138533e-01 3.28659850e+01] [ 1.79771132e-01 7.54598804e-04 9.83708174e-01 1.09405893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.220888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:79.33, Y:32.88, Z:10.95 [[ 7.46767231e-01 -6.51390891e-01 -1.34270659e-01 7.93282086e+01] [ 6.40775241e-01 7.58740970e-01 -1.17129120e-01 3.28844167e+01] [ 1.78173492e-01 1.43087455e-03 9.83998048e-01 1.09463015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.250888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:79.35, Y:32.90, Z:10.95 [[ 7.47580553e-01 -6.50594711e-01 -1.33603288e-01 7.93473713e+01] [ 6.40066023e-01 7.59423354e-01 -1.16583259e-01 3.29026710e+01] [ 1.77309908e-01 1.64045195e-03 9.84153700e-01 1.09513668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.280888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.37, Y:32.92, Z:10.96 [[ 7.48254025e-01 -6.49921577e-01 -1.33108442e-01 7.93668998e+01] [ 6.39454762e-01 7.59999102e-01 -1.16185081e-01 3.29220465e+01] [ 1.76673488e-01 1.81912760e-03 9.84267834e-01 1.09561047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.310888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.38, Y:32.94, Z:10.96 [[ 7.49007073e-01 -6.49327109e-01 -1.31767635e-01 7.93848834e+01] [ 6.39051580e-01 7.60506644e-01 -1.15077027e-01 3.29427351e+01] [ 1.74932796e-01 1.98719169e-03 9.84578371e-01 1.09599663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.340888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:79.40, Y:32.96, Z:10.96 [[ 7.48742124e-01 -6.49809364e-01 -1.30893173e-01 7.94045427e+01] [ 6.39672506e-01 7.60094883e-01 -1.14345326e-01 3.29619937e+01] [ 1.73793895e-01 1.88639855e-03 9.84780241e-01 1.09645039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.370888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:79.42, Y:32.98, Z:10.97 [[ 7.48302255e-01 -6.50378192e-01 -1.30583087e-01 7.94247444e+01] [ 6.40287642e-01 7.59608438e-01 -1.14134819e-01 3.29812120e+01] [ 1.73422812e-01 1.79660586e-03 9.84845826e-01 1.09692347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.400888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.44, Y:33.00, Z:10.97 [[ 7.46566747e-01 -6.52348057e-01 -1.30690876e-01 7.94438371e+01] [ 6.42260011e-01 7.57918261e-01 -1.14289059e-01 3.30021257e+01] [ 1.73609246e-01 1.38688757e-03 9.84813640e-01 1.09723858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430888479 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:79.46, Y:33.02, Z:10.98 [[ 7.45140060e-01 -6.53948033e-01 -1.30836773e-01 7.94631809e+01] [ 6.43850151e-01 7.56538720e-01 -1.14482090e-01 3.30218020e+01] [ 1.73848423e-01 1.06591551e-03 9.84771847e-01 1.09759192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.460888479 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:79.48, Y:33.04, Z:10.98 [[ 7.44016985e-01 -6.55175657e-01 -1.31086176e-01 7.94824196e+01] [ 6.45045970e-01 7.55476119e-01 -1.14767290e-01 3.30412111e+01] [ 1.74225210e-01 8.32203370e-04 9.84705481e-01 1.09796096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49088847899999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:79.50, Y:33.06, Z:10.98 [[ 7.42884713e-01 -6.56398549e-01 -1.31389680e-01 7.95025083e+01] [ 6.46234224e-01 7.54414087e-01 -1.15068292e-01 3.30608492e+01] [ 1.74652886e-01 5.73967268e-04 9.84629900e-01 1.09835220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52088847899999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:79.52, Y:33.08, Z:10.99 [[ 7.41417717e-01 -6.57990952e-01 -1.31710579e-01 7.95216047e+01] [ 6.47790624e-01 7.53025794e-01 -1.15409969e-01 3.30806973e+01] [ 1.75120178e-01 2.46117454e-04 9.84547034e-01 1.09873154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.550888479 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:79.54, Y:33.10, Z:10.99 [[ 7.40646609e-01 -6.58683231e-01 -1.32585830e-01 7.95408576e+01] [ 6.48344819e-01 7.52420350e-01 -1.16243760e-01 3.30990598e+01] [ 1.76328092e-01 1.34210608e-04 9.84331441e-01 1.09920649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.580888479 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:79.56, Y:33.12, Z:11.00 [[ 7.39868919e-01 -6.59455691e-01 -1.33087092e-01 7.95611176e+01] [ 6.49044345e-01 7.51743434e-01 -1.16718665e-01 3.31185614e+01] [ 1.77018135e-01 -2.29120540e-05 9.84207590e-01 1.09964683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.610888479 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:79.58, Y:33.14, Z:11.00 [[ 7.38764114e-01 -6.60342546e-01 -1.34815823e-01 7.95791214e+01] [ 6.49659140e-01 7.50964504e-01 -1.18301797e-01 3.31396432e+01] [ 1.79361608e-01 -1.87209072e-04 9.83783197e-01 1.10004771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.640888479 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:79.60, Y:33.16, Z:11.01 [[ 7.38596291e-01 -6.60368436e-01 -1.35606222e-01 7.95985145e+01] [ 6.49546242e-01 7.50941748e-01 -1.19063724e-01 3.31587024e+01] [ 1.80458299e-01 -1.42487050e-04 9.83582626e-01 1.10050381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.670888479 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:79.64, Y:33.17, Z:11.03 [[ 7.40873854e-01 -6.53419815e-01 -1.55397804e-01 7.96358795e+01] [ 6.45029024e-01 7.56695753e-01 -1.06532138e-01 3.31672513e+01] [ 1.87199068e-01 -2.13092180e-02 9.82090844e-01 1.10280503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.700888479 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:79.63, Y:33.20, Z:11.01 [[ 7.37515464e-01 -6.63521472e-01 -1.25738604e-01 7.96327624e+01] [ 6.50217872e-01 7.47975265e-01 -1.33228079e-01 3.32021546e+01] [ 1.82449056e-01 1.65002808e-02 9.83076845e-01 1.10096467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.730888479 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:79.66, Y:33.21, Z:11.02 [[ 7.37454098e-01 -6.61399999e-01 -1.36789968e-01 7.96566649e+01] [ 6.50376946e-01 7.50033305e-01 -1.20249195e-01 3.32145916e+01] [ 1.82129849e-01 -2.86780302e-04 9.83274446e-01 1.10215429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.760888479 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:79.68, Y:33.23, Z:11.03 [[ 7.37705940e-01 -6.61257381e-01 -1.36119884e-01 7.96755629e+01] [ 6.50328070e-01 7.50159074e-01 -1.19727879e-01 3.32337045e+01] [ 1.81282510e-01 -1.98613550e-04 9.83431041e-01 1.10268538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790888479 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:79.69, Y:33.26, Z:11.03 [[ 7.38125067e-01 -6.60956288e-01 -1.35307688e-01 7.96934169e+01] [ 6.50146391e-01 7.50424397e-01 -1.19049965e-01 3.32551373e+01] [ 1.80225013e-01 -9.60414248e-05 9.83625404e-01 1.10318654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.820888479 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:79.71, Y:33.28, Z:11.04 [[ 7.38021880e-01 -6.61019771e-01 -1.35560201e-01 7.97126017e+01] [ 6.50158147e-01 7.50368482e-01 -1.19337859e-01 3.32753689e+01] [ 1.80604786e-01 -6.16178354e-05 9.83555747e-01 1.10364632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850888479 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:79.73, Y:33.29, Z:11.04 [[ 7.37799526e-01 -6.61178687e-01 -1.35994867e-01 7.97318779e+01] [ 6.50237297e-01 7.50228460e-01 -1.19786127e-01 3.32949532e+01] [ 1.81227254e-01 -5.07863474e-05 9.83441244e-01 1.10412655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88088847899999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:79.75, Y:33.31, Z:11.05 [[ 7.37083421e-01 -6.61806020e-01 -1.36824055e-01 7.97506421e+01] [ 6.50727678e-01 7.49675109e-01 -1.20584911e-01 3.33145776e+01] [ 1.82377408e-01 -1.54061461e-04 9.83228588e-01 1.10474410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.910888479 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:79.77, Y:33.33, Z:11.05 [[ 7.36476554e-01 -6.62464596e-01 -1.36904877e-01 7.97698985e+01] [ 6.51371574e-01 7.49093178e-01 -1.20724828e-01 3.33333043e+01] [ 1.82530434e-01 -2.64939514e-04 9.83200168e-01 1.10532246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.940888479 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:79.79, Y:33.35, Z:11.06 [[ 7.35835712e-01 -6.63079764e-01 -1.37371870e-01 7.97895177e+01] [ 6.51913802e-01 7.48548645e-01 -1.21174754e-01 3.33532340e+01] [ 1.83178054e-01 -3.89906499e-04 9.83079676e-01 1.10585286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.970888479 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:79.81, Y:33.37, Z:11.06 [[ 7.35274690e-01 -6.63613891e-01 -1.37795985e-01 7.98080107e+01] [ 6.52374738e-01 7.48075117e-01 -1.21617517e-01 3.33728779e+01] [ 1.83788821e-01 -4.72337559e-04 9.82965638e-01 1.10631882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.000888479 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:79.83, Y:33.39, Z:11.07 [[ 7.34695188e-01 -6.64125651e-01 -1.38420014e-01 7.98254402e+01] [ 6.52785339e-01 7.47620753e-01 -1.22206833e-01 3.33945607e+01] [ 1.84646368e-01 -5.73783307e-04 9.82804858e-01 1.10676189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.030888479 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:79.83, Y:33.44, Z:11.04 [[ 7.32067418e-01 -6.74782567e-01 -9.35188884e-02 7.98250596e+01] [ 6.59130728e-01 7.36294768e-01 -1.53025155e-01 3.34378025e+01] [ 1.72116175e-01 5.03835569e-02 9.83787335e-01 1.10382453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.060888479 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:79.88, Y:33.42, Z:11.10 [[ 7.34710146e-01 -6.56758143e-01 -1.69910984e-01 7.98766362e+01] [ 6.53081264e-01 7.52528191e-01 -8.47713672e-02 3.34160102e+01] [ 1.83537091e-01 -4.86832969e-02 9.81806535e-01 1.10975498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.090888479 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:79.88, Y:33.45, Z:11.09 [[ 7.34333805e-01 -6.64781604e-01 -1.37183391e-01 7.98845985e+01] [ 6.53637487e-01 7.47037475e-01 -1.21214876e-01 3.34532238e+01] [ 1.83062554e-01 -6.56025874e-04 9.83101048e-01 1.10866777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.120888479 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:79.90, Y:33.47, Z:11.09 [[ 7.33787678e-01 -6.64943282e-01 -1.39305694e-01 7.99030544e+01] [ 6.53438005e-01 7.46893570e-01 -1.23161552e-01 3.34723972e+01] [ 1.85941973e-01 -6.53205423e-04 9.82560510e-01 1.10928102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150888479 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:79.92, Y:33.49, Z:11.10 [[ 7.33662512e-01 -6.64918825e-01 -1.40079527e-01 7.99224786e+01] [ 6.53276172e-01 7.46915371e-01 -1.23885722e-01 3.34920308e+01] [ 1.87001501e-01 -6.20307042e-04 9.82359432e-01 1.10978915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.180888479 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:79.94, Y:33.51, Z:11.10 [[ 7.33905718e-01 -6.64504155e-01 -1.40771533e-01 7.99416807e+01] [ 6.52724230e-01 7.47284425e-01 -1.24567521e-01 3.35115645e+01] [ 1.87972010e-01 -4.64174249e-04 9.82174276e-01 1.11032890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210888479 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:79.96, Y:33.53, Z:11.11 [[ 7.35519335e-01 -6.62696695e-01 -1.40870147e-01 7.99592400e+01] [ 6.50853846e-01 7.48887901e-01 -1.24724432e-01 3.35315218e+01] [ 1.88150417e-01 5.13543004e-05 9.82140223e-01 1.11100540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24088847899999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:79.98, Y:33.55, Z:11.12 [[ 7.36235470e-01 -6.61925917e-01 -1.40753024e-01 7.99786146e+01] [ 6.50081380e-01 7.49569212e-01 -1.24660320e-01 3.35503097e+01] [ 1.88020030e-01 2.78429720e-04 9.82165155e-01 1.11164769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27088847899999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:80.00, Y:33.57, Z:11.12 [[ 7.37288534e-01 -6.60710070e-01 -1.40953259e-01 7.99981130e+01] [ 6.48796003e-01 7.50640920e-01 -1.24907790e-01 3.35686915e+01] [ 1.88333119e-01 6.43169837e-04 9.82104996e-01 1.11219463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.300888479 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:80.02, Y:33.59, Z:11.13 [[ 7.38077218e-01 -6.59637532e-01 -1.41846210e-01 8.00187730e+01] [ 6.47543153e-01 7.51583273e-01 -1.25739606e-01 3.35876560e+01] [ 1.89551802e-01 9.53996110e-04 9.81870258e-01 1.11274251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.330888479 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:80.04, Y:33.61, Z:11.13 [[ 7.40265314e-01 -6.56987786e-01 -1.42738621e-01 8.00388583e+01] [ 6.44676200e-01 7.53899303e-01 -1.26603469e-01 3.36073167e+01] [ 1.90787479e-01 1.69996493e-03 9.81629894e-01 1.11322226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.360888479 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:80.06, Y:33.63, Z:11.14 [[ 7.41314750e-01 -6.55718138e-01 -1.43129890e-01 8.00583534e+01] [ 6.43300426e-01 7.55002886e-01 -1.27024425e-01 3.36269814e+01] [ 1.91355699e-01 2.08956078e-03 9.81518533e-01 1.11366603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.390888479 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:80.08, Y:33.65, Z:11.14 [[ 7.42352110e-01 -6.54516196e-01 -1.43254652e-01 8.00772650e+01] [ 6.42040313e-01 7.56043987e-01 -1.27207412e-01 3.36463241e+01] [ 1.91566130e-01 2.45742927e-03 9.81476632e-01 1.11409476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.420888479 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:80.08, Y:33.69, Z:11.12 [[ 7.43020951e-01 -6.60544669e-01 -1.07706111e-01 8.00801675e+01] [ 6.43322788e-01 7.49281684e-01 -1.57202891e-01 3.36858432e+01] [ 1.84541748e-01 4.75152464e-02 9.81675427e-01 1.11161255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.450888479 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:80.13, Y:33.67, Z:11.17 [[ 7.45716928e-01 -6.43474564e-01 -1.72762115e-01 8.01285462e+01] [ 6.37521747e-01 7.64480328e-01 -9.55816426e-02 3.36670324e+01] [ 1.93577594e-01 -3.88627568e-02 9.80314950e-01 1.11660620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.480888479 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:80.13, Y:33.72, Z:11.13 [[ 7.46474560e-01 -6.55896311e-01 -1.12141694e-01 8.01258515e+01] [ 6.39701094e-01 7.53761118e-01 -1.50421697e-01 3.37176929e+01] [ 1.83189085e-01 4.05488055e-02 9.82241087e-01 1.11325311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.510888479 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:80.17, Y:33.71, Z:11.18 [[ 7.49227128e-01 -6.40541785e-01 -1.68418922e-01 8.01694657e+01] [ 6.33055987e-01 7.67334284e-01 -1.02167575e-01 3.37053926e+01] [ 1.94676214e-01 -3.00718881e-02 9.80406473e-01 1.11763200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.540888479 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:80.18, Y:33.74, Z:11.17 [[ 7.53072393e-01 -6.41663714e-01 -1.45429192e-01 8.01802937e+01] [ 6.28527739e-01 7.66962843e-01 -1.29309238e-01 3.37375315e+01] [ 1.94511832e-01 5.97293583e-03 9.80881986e-01 1.11697291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570888479 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:80.20, Y:33.76, Z:11.17 [[ 7.54526533e-01 -6.39862287e-01 -1.45828546e-01 8.02000050e+01] [ 6.26605576e-01 7.68461994e-01 -1.29736713e-01 3.37557707e+01] [ 1.95077325e-01 6.51281203e-03 9.80766242e-01 1.11745876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.600888479 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:80.22, Y:33.77, Z:11.18 [[ 7.55842685e-01 -6.38254742e-01 -1.46057251e-01 8.02206222e+01] [ 6.24918073e-01 7.69793662e-01 -1.29981230e-01 3.37726953e+01] [ 1.95395082e-01 6.97154569e-03 9.80699831e-01 1.11797294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63088847899999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:80.23, Y:33.80, Z:11.17 [[ 7.55772882e-01 -6.42980672e-01 -1.24029054e-01 8.02331156e+01] [ 6.26805662e-01 7.65149917e-01 -1.47174276e-01 3.38021445e+01] [ 1.89531036e-01 3.34882132e-02 9.81303483e-01 1.11660616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.660888479 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:80.26, Y:33.81, Z:11.17 [[ 7.55385056e-01 -6.41399912e-01 -1.34162474e-01 8.02610488e+01] [ 6.26914673e-01 7.66963607e-01 -1.36911717e-01 3.38115491e+01] [ 1.90712899e-01 1.93126410e-02 9.81455864e-01 1.11739358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.690888479 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:80.29, Y:33.82, Z:11.19 [[ 7.54699625e-01 -6.38839974e-01 -1.49371899e-01 8.02884696e+01] [ 6.27053889e-01 7.69338234e-01 -1.22156060e-01 3.38200195e+01] [ 1.92955687e-01 -1.47309727e-03 9.81206366e-01 1.11882834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.720888479 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:80.31, Y:33.84, Z:11.19 [[ 7.54032722e-01 -6.42338116e-01 -1.37245758e-01 8.03070714e+01] [ 6.27835243e-01 7.66233494e-01 -1.36781362e-01 3.38437165e+01] [ 1.93022179e-01 1.69698989e-02 9.81047634e-01 1.11850988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.750888479 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:80.34, Y:33.84, Z:11.22 [[ 7.54569035e-01 -6.32838123e-01 -1.73613025e-01 8.03428807e+01] [ 6.23883600e-01 7.73850341e-01 -1.09201204e-01 3.38413063e+01] [ 2.03457183e-01 -2.59144722e-02 9.78740831e-01 1.12186213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.780888479 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:80.36, Y:33.87, Z:11.21 [[ 7.55350500e-01 -6.37725517e-01 -1.50836955e-01 8.03563010e+01] [ 6.23493252e-01 7.70229062e-01 -1.34176586e-01 3.38709852e+01] [ 2.01746839e-01 7.30452729e-03 9.79410464e-01 1.12121648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.810888479 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:80.37, Y:33.90, Z:11.20 [[ 7.55506782e-01 -6.42625248e-01 -1.27445255e-01 8.03692846e+01] [ 6.25896964e-01 7.65465668e-01 -1.49383073e-01 3.39013263e+01] [ 1.93552302e-01 3.30923264e-02 9.80531695e-01 1.11981455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.840888479 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:80.41, Y:33.90, Z:11.23 [[ 7.57044087e-01 -6.31751263e-01 -1.66657108e-01 8.04066520e+01] [ 6.21567693e-01 7.74982779e-01 -1.14259773e-01 3.38950549e+01] [ 2.01340144e-01 -1.70889891e-02 9.79372305e-01 1.12325641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.870888479 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:80.42, Y:33.92, Z:11.23 [[ 7.57263205e-01 -6.35716745e-01 -1.49721935e-01 8.04214717e+01] [ 6.21620809e-01 7.71881769e-01 -1.33364557e-01 3.39231336e+01] [ 2.00349714e-01 7.92180134e-03 9.79692420e-01 1.12291218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.900888479 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:80.44, Y:33.94, Z:11.23 [[ 7.57326453e-01 -6.35416587e-01 -1.50673171e-01 8.04444887e+01] [ 6.21119002e-01 7.72126947e-01 -1.34280171e-01 3.39392919e+01] [ 2.01662663e-01 8.10795614e-03 9.79421478e-01 1.12348971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930888479 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:80.47, Y:33.96, Z:11.24 [[ 7.57110220e-01 -6.35418068e-01 -1.51749774e-01 8.04673973e+01] [ 6.20898007e-01 7.72124488e-01 -1.35312380e-01 3.39552116e+01] [ 2.03149648e-01 8.22525350e-03 9.79113153e-01 1.12409082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.960888479 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:80.49, Y:33.97, Z:11.25 [[ 7.56737264e-01 -6.35665086e-01 -1.52573299e-01 8.04889516e+01] [ 6.20975306e-01 7.71920756e-01 -1.36117655e-01 3.39704937e+01] [ 2.04299737e-01 8.26105076e-03 9.78873522e-01 1.12461420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99088847899999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:80.51, Y:33.98, Z:11.25 [[ 7.56002494e-01 -6.36178816e-01 -1.54067329e-01 8.05120190e+01] [ 6.21198338e-01 7.71497669e-01 -1.37491713e-01 3.39842515e+01] [ 2.06331901e-01 8.23770917e-03 9.78447386e-01 1.12509683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02088847899999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:80.53, Y:34.00, Z:11.26 [[ 7.55338238e-01 -6.36996363e-01 -1.53947329e-01 8.05344199e+01] [ 6.22047024e-01 7.70824852e-01 -1.37428332e-01 3.40007905e+01] [ 2.06207775e-01 8.04239622e-03 9.78475178e-01 1.12559102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.050888479 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:80.56, Y:34.02, Z:11.26 [[ 7.54592178e-01 -6.37978902e-01 -1.53536855e-01 8.05560287e+01] [ 6.23114394e-01 7.70014222e-01 -1.37136977e-01 3.40160198e+01] [ 2.05716060e-01 7.81146571e-03 9.78580545e-01 1.12612401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.080888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:80.58, Y:34.03, Z:11.27 [[ 7.52932832e-01 -6.40137250e-01 -1.52697255e-01 8.05807203e+01] [ 6.25470860e-01 7.68226667e-01 -1.36433104e-01 3.40288559e+01] [ 2.04642016e-01 7.21728020e-03 9.78810276e-01 1.12681436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.110888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.60, Y:34.04, Z:11.27 [[ 7.51916287e-01 -6.41379804e-01 -1.52492112e-01 8.06028435e+01] [ 6.26762639e-01 7.67192242e-01 -1.36325560e-01 3.40441249e+01] [ 2.04427226e-01 6.92905036e-03 9.78857241e-01 1.12740706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.140888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.63, Y:34.06, Z:11.28 [[ 7.50949684e-01 -6.42595403e-01 -1.52137173e-01 8.06254455e+01] [ 6.28062027e-01 7.66177099e-01 -1.36054193e-01 3.40596102e+01] [ 2.03991817e-01 6.61827134e-03 9.78950222e-01 1.12798431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.170888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:80.65, Y:34.07, Z:11.29 [[ 7.49429759e-01 -6.44641488e-01 -1.50971484e-01 8.06494963e+01] [ 6.30358335e-01 7.64460924e-01 -1.35084660e-01 3.40724858e+01] [ 2.02492976e-01 6.07033084e-03 9.79264901e-01 1.12865152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.200888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.67, Y:34.09, Z:11.29 [[ 7.48525830e-01 -6.45801232e-01 -1.50498675e-01 8.06714707e+01] [ 6.31622525e-01 7.63483760e-01 -1.34705361e-01 3.40889419e+01] [ 2.01896183e-01 5.77208884e-03 9.79389920e-01 1.12923942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.230888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:80.69, Y:34.10, Z:11.30 [[ 7.47691016e-01 -6.46934424e-01 -1.49779825e-01 8.06948722e+01] [ 6.32899843e-01 7.62525834e-01 -1.34134784e-01 3.41046013e+01] [ 2.00987396e-01 5.49574546e-03 9.79578411e-01 1.12973382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.260888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.72, Y:34.12, Z:11.30 [[ 7.47560302e-01 -6.46991804e-01 -1.50183892e-01 8.07160256e+01] [ 6.32866319e-01 7.62476727e-01 -1.34571401e-01 3.41209728e+01] [ 2.01578316e-01 5.55391018e-03 9.79456654e-01 1.13021274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.74, Y:34.14, Z:11.31 [[ 7.48007014e-01 -6.46270827e-01 -1.51061327e-01 8.07382263e+01] [ 6.31953971e-01 7.63085946e-01 -1.35403168e-01 3.41376292e+01] [ 2.02779893e-01 5.81871410e-03 9.79207056e-01 1.13076141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.320888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.76, Y:34.15, Z:11.31 [[ 7.48105680e-01 -6.46013392e-01 -1.51672639e-01 8.07600983e+01] [ 6.31558230e-01 7.63302714e-01 -1.36026356e-01 3.41546167e+01] [ 2.03646985e-01 5.97198607e-03 9.79026170e-01 1.13130643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:34.17, Z:11.32 [[ 7.49144467e-01 -6.44643838e-01 -1.52370894e-01 8.07835310e+01] [ 6.30009460e-01 7.64455953e-01 -1.36730306e-01 3.41697322e+01] [ 2.04623186e-01 6.43564761e-03 9.78819664e-01 1.13190324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.80, Y:34.19, Z:11.32 [[ 7.49372215e-01 -6.44321814e-01 -1.52612855e-01 8.08045982e+01] [ 6.29617961e-01 7.64726047e-01 -1.37022978e-01 3.41857861e+01] [ 2.04993919e-01 6.59341794e-03 9.78741038e-01 1.13249722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:34.20, Z:11.33 [[ 7.49528691e-01 -6.44173507e-01 -1.52470434e-01 8.08261641e+01] [ 6.29484681e-01 7.64850369e-01 -1.36941409e-01 3.42023577e+01] [ 2.04831096e-01 6.66371234e-03 9.78774651e-01 1.13305432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:34.22, Z:11.34 [[ 7.49791637e-01 -6.43842365e-01 -1.52576243e-01 8.08473141e+01] [ 6.29110391e-01 7.65127784e-01 -1.37111598e-01 3.42186964e+01] [ 2.05018578e-01 6.81782986e-03 9.78734336e-01 1.13362126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.87, Y:34.24, Z:11.34 [[ 7.50228998e-01 -6.43404923e-01 -1.52271322e-01 8.08692489e+01] [ 6.28713972e-01 7.65494403e-01 -1.36883383e-01 3.42351836e+01] [ 2.04634287e-01 6.95877588e-03 9.78813764e-01 1.13408644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.89, Y:34.25, Z:11.35 [[ 7.50400168e-01 -6.43459339e-01 -1.51194137e-01 8.08900490e+01] [ 6.28964093e-01 7.65448753e-01 -1.35986674e-01 3.42519183e+01] [ 2.03233259e-01 6.94873955e-03 9.79105693e-01 1.13451479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:34.27, Z:11.35 [[ 7.48674942e-01 -6.45692089e-01 -1.50225023e-01 8.09128517e+01] [ 6.31419555e-01 7.63571608e-01 -1.35158225e-01 3.42670826e+01] [ 2.01978159e-01 6.33455909e-03 9.79369540e-01 1.13512421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.93, Y:34.28, Z:11.36 [[ 7.47050331e-01 -6.47663866e-01 -1.49824294e-01 8.09348519e+01] [ 6.33492374e-01 7.61903788e-01 -1.34870418e-01 3.42836698e+01] [ 2.01502394e-01 5.84244244e-03 9.79470597e-01 1.13570845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:34.30, Z:11.36 [[ 7.45254640e-01 -6.49923480e-01 -1.48979835e-01 8.09567581e+01] [ 6.35942109e-01 7.59981448e-01 -1.34185812e-01 3.43002057e+01] [ 2.00432421e-01 5.26004862e-03 9.79693409e-01 1.13632415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.98, Y:34.32, Z:11.37 [[ 7.43374337e-01 -6.52373753e-01 -1.47658666e-01 8.09786156e+01] [ 6.38674381e-01 7.57883356e-01 -1.33070861e-01 3.43166392e+01] [ 1.98719982e-01 4.61565629e-03 9.80045440e-01 1.13692276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:34.33, Z:11.38 [[ 7.41751004e-01 -6.54451587e-01 -1.46623899e-01 8.10001919e+01] [ 6.40970524e-01 7.56092858e-01 -1.32213378e-01 3.43327759e+01] [ 1.97388538e-01 4.08780843e-03 9.80316814e-01 1.13760991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:34.35, Z:11.38 [[ 7.39049065e-01 -6.57904431e-01 -1.44804140e-01 8.10215111e+01] [ 6.44810388e-01 7.53094708e-01 -1.30644268e-01 3.43478573e+01] [ 1.95002675e-01 3.18131056e-03 9.80797551e-01 1.13824565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:81.04, Y:34.37, Z:11.39 [[ 7.38090463e-01 -6.58900480e-01 -1.45164132e-01 8.10428670e+01] [ 6.45751199e-01 7.52224305e-01 -1.31011390e-01 3.43657799e+01] [ 1.95519456e-01 2.95834477e-03 9.80695361e-01 1.13884311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:34.38, Z:11.39 [[ 7.37319709e-01 -6.59660471e-01 -1.45628669e-01 8.10641360e+01] [ 6.46425888e-01 7.51558444e-01 -1.31504666e-01 3.43838441e+01] [ 1.96196886e-01 2.82284049e-03 9.80560459e-01 1.13932693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.09, Y:34.40, Z:11.40 [[ 7.36015719e-01 -6.60541336e-01 -1.48209326e-01 8.10859193e+01] [ 6.46830606e-01 7.50784844e-01 -1.33911485e-01 3.44015396e+01] [ 1.99727387e-01 2.69463032e-03 9.79847799e-01 1.13967435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:34.42, Z:11.40 [[ 7.35189883e-01 -6.61225233e-01 -1.49254905e-01 8.11058145e+01] [ 6.47316883e-01 7.50182985e-01 -1.34930877e-01 3.44188659e+01] [ 2.01188191e-01 2.58459598e-03 9.79549198e-01 1.14006637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:34.44, Z:11.41 [[ 7.34410052e-01 -6.62019561e-01 -1.49572647e-01 8.11271579e+01] [ 6.48056611e-01 7.49482673e-01 -1.35271400e-01 3.44370615e+01] [ 2.01654420e-01 2.41313272e-03 9.79453762e-01 1.14052818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:34.45, Z:11.41 [[ 7.32933096e-01 -6.63660325e-01 -1.49546147e-01 8.11486241e+01] [ 6.49720310e-01 7.48031344e-01 -1.35324156e-01 3.44541715e+01] [ 2.01674478e-01 2.02038317e-03 9.79450521e-01 1.14102434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.890888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:81.17, Y:34.47, Z:11.42 [[ 7.32184786e-01 -6.64555977e-01 -1.49234021e-01 8.11686070e+01] [ 6.50677803e-01 7.47236252e-01 -1.35116174e-01 3.44712100e+01] [ 2.01305332e-01 1.82674191e-03 9.79526838e-01 1.14154480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:34.49, Z:11.42 [[ 7.31370608e-01 -6.65574304e-01 -1.48687184e-01 8.11892142e+01] [ 6.51808662e-01 7.46329917e-01 -1.34674136e-01 3.44889676e+01] [ 2.00605338e-01 1.58111004e-03 9.79670862e-01 1.14212371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.950888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:81.21, Y:34.51, Z:11.43 [[ 7.30371508e-01 -6.66810160e-01 -1.48059686e-01 8.12101653e+01] [ 6.53171544e-01 7.45226501e-01 -1.34180462e-01 3.45066625e+01] [ 1.99810897e-01 1.29321265e-03 9.79833625e-01 1.14266753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:34.52, Z:11.43 [[ 7.28557999e-01 -6.68562311e-01 -1.49089497e-01 8.12320583e+01] [ 6.54752045e-01 7.43655611e-01 -1.35189094e-01 3.45227476e+01] [ 2.01253574e-01 8.76442469e-04 9.79538785e-01 1.14328664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.010888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:81.25, Y:34.54, Z:11.44 [[ 7.27456555e-01 -6.69566162e-01 -1.49960380e-01 8.12526310e+01] [ 6.55597984e-01 7.42752126e-01 -1.36053529e-01 3.45400905e+01] [ 2.02480230e-01 6.59308398e-04 9.79286129e-01 1.14382225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.040888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:81.27, Y:34.56, Z:11.44 [[ 7.26671861e-01 -6.70460214e-01 -1.49770186e-01 8.12734822e+01] [ 6.56532629e-01 7.41945341e-01 -1.35948586e-01 3.45584718e+01] [ 2.02269410e-01 4.60997808e-04 9.79329808e-01 1.14433490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:81.29, Y:34.58, Z:11.45 [[ 7.25978771e-01 -6.71224868e-01 -1.49706385e-01 8.12937601e+01] [ 6.57310133e-01 7.41253725e-01 -1.35964349e-01 3.45765880e+01] [ 2.02233067e-01 3.03707290e-04 9.79337375e-01 1.14481846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.100888479 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:81.31, Y:34.59, Z:11.45 [[ 7.23789091e-01 -6.73807811e-01 -1.48702342e-01 8.13141956e+01] [ 6.60120098e-01 7.38906560e-01 -1.35124208e-01 3.45942635e+01] [ 2.00924883e-01 -3.59976793e-04 9.79606585e-01 1.14534214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13088847899999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:81.34, Y:34.61, Z:11.46 [[ 7.22575127e-01 -6.75207781e-01 -1.48255315e-01 8.13356134e+01] [ 6.61618824e-01 7.37627255e-01 -1.34783402e-01 3.46120747e+01] [ 2.00363963e-01 -6.97373402e-04 9.79721285e-01 1.14596666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.160888479 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:81.36, Y:34.63, Z:11.47 [[ 7.21357102e-01 -6.76426831e-01 -1.48629318e-01 8.13565272e+01] [ 6.62779206e-01 7.36509181e-01 -1.35195967e-01 3.46298703e+01] [ 2.00917037e-01 -9.83850696e-04 9.79607767e-01 1.14662147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.190888479 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:81.38, Y:34.65, Z:11.47 [[ 7.20515729e-01 -6.77287251e-01 -1.48792016e-01 8.13761259e+01] [ 6.63612442e-01 7.35717753e-01 -1.35417557e-01 3.46476236e+01] [ 2.01185512e-01 -1.16975352e-03 9.79552460e-01 1.14709096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.220888479 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:81.40, Y:34.67, Z:11.48 [[ 7.20034892e-01 -6.77673414e-01 -1.49360295e-01 8.13964901e+01] [ 6.63887179e-01 7.35361969e-01 -1.36002160e-01 3.46668948e+01] [ 2.01998929e-01 -1.23208430e-03 9.79384968e-01 1.14763855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.250888479 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:81.42, Y:34.68, Z:11.48 [[ 7.20149806e-01 -6.77641440e-01 -1.48950785e-01 8.14156811e+01] [ 6.63915828e-01 7.35391543e-01 -1.35702070e-01 3.46847378e+01] [ 2.01494494e-01 -1.16496379e-03 9.79488954e-01 1.14814280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.280888479 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:81.43, Y:34.70, Z:11.49 [[ 7.20264469e-01 -6.77401696e-01 -1.49485908e-01 8.14345013e+01] [ 6.63557388e-01 7.35612558e-01 -1.36256218e-01 3.47038577e+01] [ 2.02263904e-01 -1.05196579e-03 9.79330489e-01 1.14863869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.310888479 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:81.45, Y:34.72, Z:11.49 [[ 7.20803623e-01 -6.76827069e-01 -1.49489988e-01 8.14545370e+01] [ 6.62956010e-01 7.36141571e-01 -1.36326509e-01 3.47235470e+01] [ 2.02315266e-01 -8.40644278e-04 9.79320084e-01 1.14912341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.340888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:81.47, Y:34.74, Z:11.50 [[ 7.21051016e-01 -6.76629982e-01 -1.49188806e-01 8.14732097e+01] [ 6.62795688e-01 7.36322849e-01 -1.36126916e-01 3.47424639e+01] [ 2.01958680e-01 -7.27246514e-04 9.79393773e-01 1.14963087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.370888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:81.49, Y:34.76, Z:11.50 [[ 7.21697092e-01 -6.76242636e-01 -1.47814766e-01 8.14937654e+01] [ 6.62642743e-01 7.36678751e-01 -1.34940777e-01 3.47611872e+01] [ 2.00144704e-01 -5.62015398e-04 9.79766187e-01 1.15015722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.400888479 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:81.51, Y:34.78, Z:11.51 [[ 7.24363378e-01 -6.73539625e-01 -1.47112441e-01 8.15117423e+01] [ 6.59999206e-01 7.39151077e-01 -1.34375346e-01 3.47804169e+01] [ 1.99245440e-01 2.42485753e-04 9.79949588e-01 1.15105178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430888479 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:81.53, Y:34.81, Z:11.51 [[ 7.25257113e-01 -6.74843318e-01 -1.36340075e-01 8.15253214e+01] [ 6.57498862e-01 7.37641116e-01 -1.53560511e-01 3.48063684e+01] [ 2.04199330e-01 2.17274091e-02 9.78688180e-01 1.15082635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:34.81, Z:11.53 [[ 7.26329012e-01 -6.68433410e-01 -1.60134139e-01 8.15561455e+01] [ 6.57732354e-01 7.43558121e-01 -1.20455266e-01 3.48112936e+01] [ 1.99585364e-01 -1.78352502e-02 9.79718116e-01 1.15311114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.57, Y:34.84, Z:11.53 [[ 7.27719340e-01 -6.69716203e-01 -1.48002602e-01 8.15692727e+01] [ 6.55899829e-01 7.42615785e-01 -1.35341092e-01 3.48381054e+01] [ 2.00549191e-01 1.41544920e-03 9.79682611e-01 1.15278499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52088847899999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:81.59, Y:34.86, Z:11.53 [[ 7.30117090e-01 -6.66986471e-01 -1.48519634e-01 8.15886166e+01] [ 6.53000732e-01 7.45066484e-01 -1.35889579e-01 3.48584477e+01] [ 2.01293512e-01 2.23187398e-03 9.79528428e-01 1.15328667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.61, Y:34.88, Z:11.54 [[ 7.30802815e-01 -6.66262232e-01 -1.48397720e-01 8.16089461e+01] [ 6.52269460e-01 7.45713386e-01 -1.35853217e-01 3.48769801e+01] [ 2.01176034e-01 2.48661299e-03 9.79551949e-01 1.15388190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:34.90, Z:11.54 [[ 7.30985565e-01 -6.66010015e-01 -1.48629619e-01 8.16291238e+01] [ 6.51952147e-01 7.45938204e-01 -1.36141814e-01 3.48955731e+01] [ 2.01540323e-01 2.61830159e-03 9.79476719e-01 1.15449365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:34.91, Z:11.55 [[ 7.31716994e-01 -6.65156796e-01 -1.48851194e-01 8.16476347e+01] [ 6.51023386e-01 7.46698021e-01 -1.36420730e-01 3.49142243e+01] [ 2.01888067e-01 2.91575791e-03 9.79404261e-01 1.15500415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:34.93, Z:11.56 [[ 7.32536968e-01 -6.62392557e-01 -1.56925751e-01 8.16714393e+01] [ 6.49228298e-01 7.49136455e-01 -1.31518779e-01 3.49283908e+01] [ 2.04675861e-01 -5.53827066e-03 9.78814139e-01 1.15635589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.69, Y:34.96, Z:11.56 [[ 7.32876646e-01 -6.65176719e-01 -1.42939686e-01 8.16854570e+01] [ 6.49770195e-01 7.46592845e-01 -1.42820929e-01 3.49557987e+01] [ 2.01718904e-01 1.17921756e-02 9.79372467e-01 1.15565300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:34.97, Z:11.57 [[ 7.32752844e-01 -6.63963624e-01 -1.49082446e-01 8.17075315e+01] [ 6.49729041e-01 7.47757283e-01 -1.36788958e-01 3.49715544e+01] [ 2.02300377e-01 3.36930344e-03 9.79317724e-01 1.15652145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:34.99, Z:11.57 [[ 7.32715424e-01 -6.63813033e-01 -1.49934533e-01 8.17265469e+01] [ 6.49394565e-01 7.47890421e-01 -1.37646707e-01 3.49897948e+01] [ 2.03506279e-01 3.48919424e-03 9.79067424e-01 1.15703396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:35.01, Z:11.58 [[ 7.32545558e-01 -6.64005577e-01 -1.49911975e-01 8.17471698e+01] [ 6.49586073e-01 7.47719570e-01 -1.37671271e-01 3.50088625e+01] [ 2.03506609e-01 3.46974697e-03 9.79067424e-01 1.15757132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.77, Y:35.03, Z:11.58 [[ 7.32317017e-01 -6.64278145e-01 -1.49820999e-01 8.17670574e+01] [ 6.49866905e-01 7.47477533e-01 -1.37660247e-01 3.50290085e+01] [ 2.03432524e-01 3.44723283e-03 9.79082900e-01 1.15795107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.820888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:81.79, Y:35.04, Z:11.59 [[ 7.32177878e-01 -6.63333245e-01 -1.54610998e-01 8.17896807e+01] [ 6.49651713e-01 7.48320609e-01 -1.34048198e-01 3.50445277e+01] [ 2.04617222e-01 -2.29617505e-03 9.78839374e-01 1.15904641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:35.07, Z:11.59 [[ 7.31078741e-01 -6.66677686e-01 -1.45136963e-01 8.18066518e+01] [ 6.51593026e-01 7.45295115e-01 -1.41285951e-01 3.50676072e+01] [ 2.02362061e-01 8.72092236e-03 9.79271945e-01 1.15898327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.83, Y:35.08, Z:11.60 [[ 7.30040110e-01 -6.67082513e-01 -1.48466693e-01 8.18285031e+01] [ 6.52952617e-01 7.44978645e-01 -1.36600506e-01 3.50826560e+01] [ 2.01728324e-01 2.78213332e-03 9.79437565e-01 1.15997229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.85, Y:35.10, Z:11.61 [[ 7.27997911e-01 -6.69438386e-01 -1.47889449e-01 8.18483196e+01] [ 6.55451834e-01 7.42864389e-01 -1.36144752e-01 3.50999017e+01] [ 2.01002328e-01 2.17868480e-03 9.79588341e-01 1.16060522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.87, Y:35.12, Z:11.61 [[ 7.27053790e-01 -6.70365960e-01 -1.48331608e-01 8.18675081e+01] [ 6.56299647e-01 7.42028003e-01 -1.36620703e-01 3.51184194e+01] [ 2.01652076e-01 1.98061807e-03 9.79455215e-01 1.16106065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.89, Y:35.14, Z:11.61 [[ 7.26491490e-01 -6.70966478e-01 -1.48371496e-01 8.18872772e+01] [ 6.56890817e-01 7.41485336e-01 -1.36725828e-01 3.51372959e+01] [ 2.01753736e-01 1.86627745e-03 9.79434504e-01 1.16148053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.000888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:81.91, Y:35.16, Z:11.62 [[ 7.25870461e-01 -6.71617637e-01 -1.48464892e-01 8.19077302e+01] [ 6.57521795e-01 7.40895882e-01 -1.36888208e-01 3.51561485e+01] [ 2.01933562e-01 1.74420452e-03 9.79397669e-01 1.16195346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:35.17, Z:11.62 [[ 7.24633144e-01 -6.72888994e-01 -1.48752170e-01 8.19283006e+01] [ 6.58748719e-01 7.39742048e-01 -1.37229107e-01 3.51732582e+01] [ 2.02378191e-01 1.45045753e-03 9.79306369e-01 1.16249880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:35.19, Z:11.63 [[ 7.23926386e-01 -6.73618666e-01 -1.48890837e-01 8.19491760e+01] [ 6.59452693e-01 7.39077941e-01 -1.37426133e-01 3.51913645e+01] [ 2.02614742e-01 1.29993965e-03 9.79257666e-01 1.16304984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.97, Y:35.21, Z:11.64 [[ 7.22517417e-01 -6.75115131e-01 -1.48956847e-01 8.19700599e+01] [ 6.60952187e-01 7.37711787e-01 -1.37562811e-01 3.52092888e+01] [ 2.02757957e-01 9.38173151e-04 9.79228436e-01 1.16366144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.99, Y:35.23, Z:11.64 [[ 7.22155960e-01 -6.75683021e-01 -1.48132457e-01 8.19905948e+01] [ 6.61674523e-01 7.37191811e-01 -1.36876076e-01 3.52282489e+01] [ 2.01686875e-01 8.30400862e-04 9.79449700e-01 1.16422442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.01, Y:35.25, Z:11.65 [[ 7.21872107e-01 -6.76108318e-01 -1.47574399e-01 8.20104921e+01] [ 6.62199735e-01 7.36801844e-01 -1.36435162e-01 3.52467049e+01] [ 2.00978037e-01 7.65010004e-04 9.79595449e-01 1.16479037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:35.27, Z:11.65 [[ 7.21606247e-01 -6.76482523e-01 -1.47159167e-01 8.20302287e+01] [ 6.62645323e-01 7.36458339e-01 -1.36126009e-01 3.52652200e+01] [ 2.00463462e-01 7.15044592e-04 9.79700918e-01 1.16534320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:35.28, Z:11.66 [[ 7.21531775e-01 -6.76487321e-01 -1.47501871e-01 8.20498527e+01] [ 6.62569158e-01 7.36453872e-01 -1.36520346e-01 3.52836098e+01] [ 2.00982607e-01 7.73577028e-04 9.79594505e-01 1.16583599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:35.29, Z:11.68 [[ 7.22011248e-01 -6.71480852e-01 -1.66772971e-01 8.20792016e+01] [ 6.60393474e-01 7.40721835e-01 -1.23335406e-01 3.52928316e+01] [ 2.06349744e-01 -2.10862316e-02 9.78251069e-01 1.16825249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.09, Y:35.33, Z:11.66 [[ 7.21101074e-01 -6.79918761e-01 -1.33130463e-01 8.20866444e+01] [ 6.63079164e-01 7.32979679e-01 -1.51877621e-01 3.53291794e+01] [ 2.00846368e-01 2.12430793e-02 9.79392397e-01 1.16609673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:35.34, Z:11.68 [[ 7.20324880e-01 -6.77869847e-01 -1.47052839e-01 8.21108507e+01] [ 6.64023679e-01 7.35181731e-01 -1.36309852e-01 3.53392181e+01] [ 2.00510900e-01 5.40810951e-04 9.79691322e-01 1.16751093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:35.36, Z:11.68 [[ 7.19012063e-01 -6.79268122e-01 -1.47025412e-01 8.21310902e+01] [ 6.65446938e-01 7.33890172e-01 -1.36328973e-01 3.53577022e+01] [ 2.00504431e-01 1.84565738e-04 9.79692778e-01 1.16796724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:35.38, Z:11.68 [[ 7.18740624e-01 -6.79603217e-01 -1.46803894e-01 8.21512269e+01] [ 6.65815424e-01 7.33579884e-01 -1.36199764e-01 3.53762254e+01] [ 2.00254181e-01 1.48006211e-04 9.79743967e-01 1.16846562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:35.39, Z:11.69 [[ 7.18721476e-01 -6.79722220e-01 -1.46345973e-01 8.21714833e+01] [ 6.66008191e-01 7.33469614e-01 -1.35850708e-01 3.53949348e+01] [ 1.99681069e-01 1.71204843e-04 9.79860930e-01 1.16904741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.19, Y:35.41, Z:11.70 [[ 7.19730494e-01 -6.78852402e-01 -1.45421569e-01 8.21913189e+01] [ 6.65280016e-01 7.34274607e-01 -1.35067765e-01 3.54133815e+01] [ 1.98470442e-01 4.66325682e-04 9.80106763e-01 1.16972199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:35.43, Z:11.70 [[ 7.20400806e-01 -6.78144186e-01 -1.45406811e-01 8.22115219e+01] [ 6.64544980e-01 7.34928532e-01 -1.35129652e-01 3.54325753e+01] [ 1.98501002e-01 7.18143855e-04 9.80100422e-01 1.17025986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:35.45, Z:11.71 [[ 7.21014230e-01 -6.77463922e-01 -1.45537332e-01 8.22307699e+01] [ 6.63811091e-01 7.35555374e-01 -1.35326001e-01 3.54518409e+01] [ 1.98729250e-01 9.62677770e-04 9.80053957e-01 1.17065603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:35.47, Z:11.71 [[ 7.21601191e-01 -6.76633859e-01 -1.46486666e-01 8.22506581e+01] [ 6.62769449e-01 7.36318583e-01 -1.36277662e-01 3.54715252e+01] [ 2.00070935e-01 1.25123644e-03 9.79780616e-01 1.17109814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.27, Y:35.49, Z:11.71 [[ 7.22429850e-01 -6.75587221e-01 -1.47231174e-01 8.22704477e+01] [ 6.61542817e-01 7.37278323e-01 -1.37046619e-01 3.54907034e+01] [ 2.01137297e-01 1.60684234e-03 9.79561742e-01 1.17145368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:35.51, Z:11.72 [[ 7.22757862e-01 -6.75196773e-01 -1.47412319e-01 8.22906248e+01] [ 6.61093911e-01 7.37635526e-01 -1.37290462e-01 3.55086382e+01] [ 2.01434641e-01 1.77437455e-03 9.79500351e-01 1.17196381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.31, Y:35.53, Z:11.73 [[ 7.22837589e-01 -6.75044259e-01 -1.47719562e-01 8.23111813e+01] [ 6.60864603e-01 7.37774859e-01 -1.37645322e-01 3.55271789e+01] [ 2.01900463e-01 1.87258285e-03 9.79404256e-01 1.17251846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:35.55, Z:11.73 [[ 7.22960046e-01 -6.74792747e-01 -1.48268407e-01 8.23310855e+01] [ 6.60485261e-01 7.38004550e-01 -1.38233511e-01 3.55456064e+01] [ 2.02701729e-01 2.00820782e-03 9.79238467e-01 1.17307428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.35, Y:35.56, Z:11.74 [[ 7.23641681e-01 -6.74033939e-01 -1.48394632e-01 8.23507787e+01] [ 6.59670088e-01 7.38696857e-01 -1.38428060e-01 3.55647161e+01] [ 2.02923858e-01 2.28081402e-03 9.79191864e-01 1.17362523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.37, Y:35.58, Z:11.74 [[ 7.24162189e-01 -6.73549863e-01 -1.48053052e-01 8.23703838e+01] [ 6.59226803e-01 7.39137664e-01 -1.38186598e-01 3.55833996e+01] [ 2.02507151e-01 2.46896935e-03 9.79277672e-01 1.17416349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:35.60, Z:11.75 [[ 7.24864989e-01 -6.72970198e-01 -1.47247614e-01 8.23896216e+01] [ 6.58776822e-01 7.39664766e-01 -1.37510482e-01 3.56021491e+01] [ 2.01454329e-01 2.67321887e-03 9.79494261e-01 1.17463257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.41, Y:35.62, Z:11.75 [[ 7.25379577e-01 -6.72511942e-01 -1.46806532e-01 8.24104790e+01] [ 6.58384005e-01 7.40080850e-01 -1.37152605e-01 3.56204956e+01] [ 2.00885467e-01 2.83262604e-03 9.79610640e-01 1.17526560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:35.64, Z:11.76 [[ 7.24800680e-01 -6.73074557e-01 -1.47087100e-01 8.24313945e+01] [ 6.58887791e-01 7.39569561e-01 -1.37490885e-01 3.56382148e+01] [ 2.01322758e-01 2.73959300e-03 9.79521129e-01 1.17587839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:35.66, Z:11.76 [[ 7.22219310e-01 -6.75658842e-01 -1.47933761e-01 8.24523783e+01] [ 6.61343904e-01 7.37211473e-01 -1.38359981e-01 3.56567076e+01] [ 2.02542610e-01 2.09115851e-03 9.79271218e-01 1.17638038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:35.68, Z:11.77 [[ 7.20784291e-01 -6.77234125e-01 -1.47729303e-01 8.24716565e+01] [ 6.62975935e-01 7.35765612e-01 -1.38245704e-01 3.56750627e+01] [ 2.02318849e-01 1.70435910e-03 9.79318221e-01 1.17685526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.49, Y:35.69, Z:11.77 [[ 7.19247817e-01 -6.79095017e-01 -1.46671525e-01 8.24916953e+01] [ 6.65066448e-01 7.34049357e-01 -1.37325019e-01 3.56939797e+01] [ 2.00920874e-01 1.22440966e-03 9.79606708e-01 1.17735187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.51, Y:35.71, Z:11.78 [[ 7.17529049e-01 -6.80984746e-01 -1.46327852e-01 8.25123942e+01] [ 6.67045841e-01 7.32297216e-01 -1.37078933e-01 3.57123078e+01] [ 2.00504141e-01 7.50731138e-04 9.79692567e-01 1.17804469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.53, Y:35.73, Z:11.79 [[ 7.14638255e-01 -6.84192259e-01 -1.45509852e-01 8.25321619e+01] [ 6.70460579e-01 7.29301683e-01 -1.36387932e-01 3.57297511e+01] [ 1.99436147e-01 -9.05864510e-05 9.79910820e-01 1.17870218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:35.75, Z:11.79 [[ 7.13190175e-01 -6.85670573e-01 -1.45655892e-01 8.25513191e+01] [ 6.71927529e-01 7.27911849e-01 -1.36593326e-01 3.57484330e+01] [ 1.99682674e-01 -4.53185171e-04 9.79860513e-01 1.17922084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:35.77, Z:11.80 [[ 7.09018618e-01 -6.89793210e-01 -1.46553495e-01 8.25701903e+01] [ 6.75950987e-01 7.24004739e-01 -1.37504187e-01 3.57683428e+01] [ 2.00954879e-01 -1.56995069e-03 9.79599240e-01 1.17961586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:35.79, Z:11.80 [[ 7.06453692e-01 -6.92260686e-01 -1.47303509e-01 8.25896842e+01] [ 6.78311942e-01 7.21644087e-01 -1.38284927e-01 3.57875111e+01] [ 2.02029925e-01 -2.22583189e-03 9.79376820e-01 1.18006613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.61, Y:35.81, Z:11.81 [[ 7.03628653e-01 -6.95097875e-01 -1.47464107e-01 8.26093064e+01] [ 6.81163874e-01 7.18908916e-01 -1.38512626e-01 3.58067276e+01] [ 2.02293093e-01 -2.98576972e-03 9.79320473e-01 1.18050587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:35.83, Z:11.81 [[ 7.01026885e-01 -6.97793803e-01 -1.47122790e-01 8.26290488e+01] [ 6.83967676e-01 7.16289144e-01 -1.38268147e-01 3.58257666e+01] [ 2.01865113e-01 -3.69754378e-03 9.79406353e-01 1.18103394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:35.84, Z:11.82 [[ 6.96937996e-01 -7.01921943e-01 -1.46911594e-01 8.26472312e+01] [ 6.88210478e-01 7.12237517e-01 -1.38145059e-01 3.58446640e+01] [ 2.01602997e-01 -4.82755812e-03 9.79455423e-01 1.18174811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.67, Y:35.86, Z:11.82 [[ 6.95160737e-01 -7.03736067e-01 -1.46652987e-01 8.26653635e+01] [ 6.90099137e-01 7.10441780e-01 -1.37969775e-01 3.58645552e+01] [ 2.01282717e-01 -5.29392926e-03 9.79518883e-01 1.18229311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:35.89, Z:11.83 [[ 6.94054426e-01 -7.04806089e-01 -1.46754325e-01 8.26839380e+01] [ 6.91159742e-01 7.09378233e-01 -1.38133029e-01 3.58855185e+01] [ 2.01461324e-01 -5.55884137e-03 9.79480696e-01 1.18288399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:35.91, Z:11.83 [[ 6.93427292e-01 -7.05389491e-01 -1.46915812e-01 8.27021018e+01] [ 6.91710557e-01 7.08797140e-01 -1.38358662e-01 3.59065580e+01] [ 2.01730253e-01 -5.68154611e-03 9.79424640e-01 1.18339562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.72, Y:35.93, Z:11.84 [[ 6.93109742e-01 -7.05718268e-01 -1.46835323e-01 8.27190468e+01] [ 6.92046500e-01 7.08469480e-01 -1.38356920e-01 3.59289877e+01] [ 2.01669350e-01 -5.72034242e-03 9.79436956e-01 1.18404043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.260888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:82.74, Y:35.95, Z:11.85 [[ 6.93402655e-01 -7.05551611e-01 -1.46252121e-01 8.27368739e+01] [ 6.91969937e-01 7.08636467e-01 -1.37883880e-01 3.59484910e+01] [ 2.00923780e-01 -5.59302254e-03 9.79590911e-01 1.18462784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:35.97, Z:11.85 [[ 6.93668109e-01 -7.05386465e-01 -1.45789194e-01 8.27547340e+01] [ 6.91876730e-01 7.08801680e-01 -1.37501883e-01 3.59689090e+01] [ 2.00327593e-01 -5.48747979e-03 9.79713602e-01 1.18521675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:35.99, Z:11.86 [[ 6.95262499e-01 -7.03740735e-01 -1.46147306e-01 8.27683745e+01] [ 6.90112121e-01 7.10439497e-01 -1.37916575e-01 3.59929017e+01] [ 2.00886330e-01 -4.96980487e-03 9.79601951e-01 1.18561882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.79, Y:36.02, Z:11.86 [[ 6.96513561e-01 -7.02593852e-01 -1.45707715e-01 8.27851834e+01] [ 6.89008842e-01 7.11576392e-01 -1.37571272e-01 3.60153257e+01] [ 2.00338900e-01 -4.57364791e-03 9.79715983e-01 1.18600833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.80, Y:36.04, Z:11.86 [[ 6.97855751e-01 -7.01430367e-01 -1.44888893e-01 8.28020248e+01] [ 6.87958644e-01 7.12725857e-01 -1.36874970e-01 3.60374588e+01] [ 1.99274321e-01 -4.15858081e-03 9.79934922e-01 1.18647283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.410888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.82, Y:36.06, Z:11.87 [[ 7.01740528e-01 -6.97829580e-01 -1.43506473e-01 8.28167138e+01] [ 6.84526278e-01 7.16257349e-01 -1.35643594e-01 3.60607016e+01] [ 1.97443678e-01 -3.04734431e-03 9.80309496e-01 1.18706246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.440888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.83, Y:36.08, Z:11.88 [[ 7.03455384e-01 -6.96144307e-01 -1.43295594e-01 8.28337440e+01] [ 6.82837271e-01 7.17897387e-01 -1.35486542e-01 3.60812441e+01] [ 1.97189717e-01 -2.53883527e-03 9.80362061e-01 1.18766635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.470888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.85, Y:36.10, Z:11.88 [[ 7.05441418e-01 -6.94187119e-01 -1.43026745e-01 8.28510359e+01] [ 6.80882105e-01 7.19791926e-01 -1.35274323e-01 3.61019200e+01] [ 1.96855189e-01 -1.95624135e-03 9.80430624e-01 1.18823444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.500888479 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:82.87, Y:36.13, Z:11.89 [[ 7.09347870e-01 -6.90219433e-01 -1.42908130e-01 8.28654770e+01] [ 6.76847920e-01 7.23599656e-01 -1.35205142e-01 3.61272848e+01] [ 1.96729490e-01 -8.19591395e-04 9.80457463e-01 1.18870592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.530888479 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:82.88, Y:36.15, Z:11.89 [[ 7.11283481e-01 -6.88275125e-01 -1.42664508e-01 8.28822652e+01] [ 6.74895910e-01 7.25449724e-01 -1.35048913e-01 3.61498209e+01] [ 1.96446735e-01 -2.25631497e-04 9.80514472e-01 1.18917026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.560888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:82.90, Y:36.17, Z:11.90 [[ 7.13204804e-01 -6.86314397e-01 -1.42518266e-01 8.28996404e+01] [ 6.72908977e-01 7.27304896e-01 -1.34985541e-01 3.61722602e+01] [ 1.96296753e-01 3.70516131e-04 9.80544465e-01 1.18963774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.590888479 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:82.92, Y:36.19, Z:11.90 [[ 7.14821219e-01 -6.84500322e-01 -1.43143059e-01 8.29167109e+01] [ 6.70924587e-01 7.29011965e-01 -1.35653059e-01 3.61928956e+01] [ 1.97207565e-01 9.29487286e-04 9.80361317e-01 1.19013626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.620888479 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:82.93, Y:36.22, Z:11.91 [[ 7.17392077e-01 -6.81473546e-01 -1.44714944e-01 8.29332901e+01] [ 6.67524462e-01 7.31840492e-01 -1.37188148e-01 3.62151834e+01] [ 1.99398349e-01 1.81692550e-03 9.79916832e-01 1.19063743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.650888479 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:82.95, Y:36.24, Z:11.91 [[ 7.18077304e-01 -6.80787801e-01 -1.44543960e-01 8.29511378e+01] [ 6.66842581e-01 7.32477792e-01 -1.37103085e-01 3.62361073e+01] [ 1.99213348e-01 2.06254656e-03 9.79953972e-01 1.19107585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.680888479 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:82.97, Y:36.26, Z:11.92 [[ 7.18803950e-01 -6.80070271e-01 -1.44309761e-01 8.29688808e+01] [ 6.66140782e-01 7.33143278e-01 -1.36957630e-01 3.62573401e+01] [ 1.98940544e-01 2.31506849e-03 9.80008827e-01 1.19153485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710888479 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:82.99, Y:36.28, Z:11.92 [[ 7.18628862e-01 -6.80263395e-01 -1.44271520e-01 8.29891678e+01] [ 6.66329675e-01 7.32964078e-01 -1.36997902e-01 3.62767435e+01] [ 1.98940500e-01 2.31825125e-03 9.80008828e-01 1.19207039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74088847899999 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:83.01, Y:36.30, Z:11.93 [[ 7.19676225e-01 -6.79179949e-01 -1.44155225e-01 8.30055319e+01] [ 6.65232687e-01 7.33966940e-01 -1.36959861e-01 3.62998674e+01] [ 1.98825560e-01 2.66998799e-03 9.80031259e-01 1.19250591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77088847899999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:83.02, Y:36.32, Z:11.93 [[ 7.19969717e-01 -6.78812633e-01 -1.44419581e-01 8.30243365e+01] [ 6.64790279e-01 7.34306045e-01 -1.37289906e-01 3.63207323e+01] [ 1.99242294e-01 2.83584120e-03 9.79946155e-01 1.19300964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.800888479 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:83.04, Y:36.34, Z:11.94 [[ 7.20733647e-01 -6.77923842e-01 -1.44783544e-01 8.30423292e+01] [ 6.63796598e-01 7.35125404e-01 -1.37712440e-01 3.63398642e+01] [ 1.99792608e-01 3.14716510e-03 9.79833154e-01 1.19351300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.830888479 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:83.06, Y:36.36, Z:11.94 [[ 7.22069448e-01 -6.76497078e-01 -1.44801296e-01 8.30592919e+01] [ 6.62328640e-01 7.36436630e-01 -1.37774681e-01 3.63620195e+01] [ 1.99841148e-01 3.57684234e-03 9.79821781e-01 1.19408737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.860888479 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:83.08, Y:36.38, Z:11.95 [[ 7.22738279e-01 -6.75776376e-01 -1.44829798e-01 8.30769889e+01] [ 6.61572332e-01 7.37096727e-01 -1.37878441e-01 3.63821264e+01] [ 1.99928563e-01 3.83463973e-03 9.79802973e-01 1.19457454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.890888479 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:83.10, Y:36.40, Z:11.95 [[ 7.23061198e-01 -6.75357378e-01 -1.45172024e-01 8.30950345e+01] [ 6.61068115e-01 7.37479808e-01 -1.38247892e-01 3.64019250e+01] [ 2.00428170e-01 3.99308961e-03 9.79700262e-01 1.19500403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.920888479 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:83.11, Y:36.42, Z:11.95 [[ 7.22997405e-01 -6.75106754e-01 -1.46647959e-01 8.31126606e+01] [ 6.60507605e-01 7.37708431e-01 -1.39699588e-01 3.64231085e+01] [ 2.02495571e-01 4.14034704e-03 9.79274426e-01 1.19548138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.950888479 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:83.13, Y:36.44, Z:11.96 [[ 7.22976917e-01 -6.75206818e-01 -1.46287834e-01 8.31311205e+01] [ 6.60666484e-01 7.37616741e-01 -1.39432207e-01 3.64427133e+01] [ 2.02049932e-01 4.15879803e-03 9.79366392e-01 1.19594022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.980888479 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:83.15, Y:36.46, Z:11.96 [[ 7.22559435e-01 -6.75739788e-01 -1.45889007e-01 8.31496970e+01] [ 6.61281053e-01 7.37129217e-01 -1.39096680e-01 3.64615385e+01] [ 2.01532210e-01 4.03198229e-03 9.79473589e-01 1.19647761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.010888479 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:83.17, Y:36.48, Z:11.97 [[ 7.21933770e-01 -6.76594759e-01 -1.45021253e-01 8.31695609e+01] [ 6.62312941e-01 7.36345669e-01 -1.38335189e-01 3.64808289e+01] [ 2.00382635e-01 3.81939193e-03 9.79710269e-01 1.19705307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.040888479 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:83.19, Y:36.50, Z:11.98 [[ 7.20878398e-01 -6.77915959e-01 -1.44098188e-01 8.31892018e+01] [ 6.63828796e-01 7.35131158e-01 -1.37526399e-01 3.65001069e+01] [ 1.99162408e-01 3.48328326e-03 9.79960306e-01 1.19777239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070888479 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:83.21, Y:36.52, Z:11.98 [[ 7.20493697e-01 -6.78488582e-01 -1.43325075e-01 8.32089724e+01] [ 6.64549690e-01 7.34603250e-01 -1.36864075e-01 3.65197686e+01] [ 1.98147778e-01 3.36306921e-03 9.80166388e-01 1.19834685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10088847899999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:83.23, Y:36.54, Z:11.99 [[ 7.20184229e-01 -6.79003810e-01 -1.42437713e-01 8.32284222e+01] [ 6.65233475e-01 7.34127519e-01 -1.36092651e-01 3.65396367e+01] [ 1.96974873e-01 3.25744566e-03 9.80403125e-01 1.19892063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13088847899999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:83.25, Y:36.56, Z:12.00 [[ 7.19838658e-01 -6.79545404e-01 -1.41599259e-01 8.32466380e+01] [ 6.65933667e-01 7.33626705e-01 -1.35366941e-01 3.65603354e+01] [ 1.95868980e-01 3.14664361e-03 9.80625026e-01 1.19951058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.160888479 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:83.26, Y:36.58, Z:12.00 [[ 7.19384433e-01 -6.79957590e-01 -1.41928549e-01 8.32648185e+01] [ 6.66274867e-01 7.33244899e-01 -1.35756105e-01 3.65793037e+01] [ 1.96376778e-01 3.09740409e-03 9.80523619e-01 1.19999706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.190888479 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:83.28, Y:36.60, Z:12.00 [[ 7.18793761e-01 -6.80418063e-01 -1.42712261e-01 8.32845038e+01] [ 6.66582369e-01 7.32817938e-01 -1.36549683e-01 3.65984554e+01] [ 1.97492975e-01 3.02158336e-03 9.80299645e-01 1.20047410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.220888479 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:83.30, Y:36.62, Z:12.01 [[ 7.18224774e-01 -6.80782751e-01 -1.43833306e-01 8.33034482e+01] [ 6.66717980e-01 7.32479232e-01 -1.37700071e-01 3.66164952e+01] [ 1.99098743e-01 3.00335138e-03 9.79974832e-01 1.20095026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.250888479 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:83.32, Y:36.64, Z:12.01 [[ 7.17124326e-01 -6.81658121e-01 -1.45171989e-01 8.33231677e+01] [ 6.67335654e-01 7.31665389e-01 -1.39028355e-01 3.66364134e+01] [ 2.00987127e-01 2.82217116e-03 9.79589817e-01 1.20138906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.280888479 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:83.34, Y:36.66, Z:12.02 [[ 7.16550132e-01 -6.82365531e-01 -1.44683066e-01 8.33425026e+01] [ 6.68138855e-01 7.31006252e-01 -1.38637403e-01 3.66564019e+01] [ 2.00365611e-01 2.67227153e-03 9.79717552e-01 1.20179415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.310888479 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:83.36, Y:36.68, Z:12.02 [[ 7.16001600e-01 -6.83014121e-01 -1.44337867e-01 8.33622518e+01] [ 6.68853217e-01 7.30400744e-01 -1.38383983e-01 3.66763554e+01] [ 1.99942700e-01 2.54230693e-03 9.79804293e-01 1.20224704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.340888479 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:83.38, Y:36.70, Z:12.03 [[ 7.15288401e-01 -6.83871088e-01 -1.43815294e-01 8.33820735e+01] [ 6.69814596e-01 7.29599066e-01 -1.37962347e-01 3.66955891e+01] [ 1.99275965e-01 2.35328381e-03 9.79940586e-01 1.20277121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.370888479 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:83.40, Y:36.71, Z:12.03 [[ 7.13643245e-01 -6.85865102e-01 -1.42486423e-01 8.34022164e+01] [ 6.72093142e-01 7.27726378e-01 -1.36766691e-01 3.67132960e+01] [ 1.97494629e-01 1.83847750e-03 9.80302245e-01 1.20344967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.400888479 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:83.42, Y:36.73, Z:12.04 [[ 7.12726681e-01 -6.87005174e-01 -1.41578842e-01 8.34217044e+01] [ 6.73416630e-01 7.26650828e-01 -1.35972853e-01 3.67315051e+01] [ 1.96292436e-01 1.56993364e-03 9.80544142e-01 1.20403369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430888479 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:83.44, Y:36.75, Z:12.05 [[ 7.11869950e-01 -6.87995756e-01 -1.41078041e-01 8.34420490e+01] [ 6.74514424e-01 7.25713500e-01 -1.35536743e-01 3.67504804e+01] [ 1.95630943e-01 1.32536099e-03 9.80676694e-01 1.20459988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.460888479 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:83.46, Y:36.77, Z:12.05 [[ 7.10597995e-01 -6.89162809e-01 -1.41792495e-01 8.34613366e+01] [ 6.75550623e-01 7.24605744e-01 -1.36300669e-01 3.67684673e+01] [ 1.96677008e-01 1.06697345e-03 9.80467754e-01 1.20513327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49088847899999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:83.48, Y:36.79, Z:12.06 [[ 7.10074996e-01 -6.89635036e-01 -1.42116209e-01 8.34815665e+01] [ 6.75960261e-01 7.24156456e-01 -1.36657064e-01 3.67877054e+01] [ 1.97157870e-01 9.71854660e-04 9.80371271e-01 1.20566422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52088847899999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:83.50, Y:36.81, Z:12.06 [[ 7.09646042e-01 -6.89899786e-01 -1.42971253e-01 8.35007545e+01] [ 6.76047754e-01 7.23904248e-01 -1.37557533e-01 3.68055885e+01] [ 1.98398410e-01 9.61764268e-04 9.80120985e-01 1.20617023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.550888479 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:83.52, Y:36.82, Z:12.06 [[ 7.13104769e-01 -6.87132295e-01 -1.39035238e-01 8.35210723e+01] [ 6.73105109e-01 7.26515244e-01 -1.38221242e-01 3.68238095e+01] [ 1.95987499e-01 4.98089736e-03 9.80593744e-01 1.20639711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.580888479 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:83.54, Y:36.84, Z:12.07 [[ 7.09579904e-01 -6.89568888e-01 -1.44883083e-01 8.35417808e+01] [ 6.75949592e-01 7.24219163e-01 -1.36377247e-01 3.68441723e+01] [ 1.98968612e-01 -1.16310675e-03 9.80005173e-01 1.20728095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.610888479 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:83.56, Y:36.86, Z:12.08 [[ 7.10125511e-01 -6.89439310e-01 -1.42811750e-01 8.35613282e+01] [ 6.75577711e-01 7.24342451e-01 -1.37560055e-01 3.68644751e+01] [ 1.98283923e-01 1.20446957e-03 9.80143885e-01 1.20764661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.640888479 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:83.58, Y:36.88, Z:12.08 [[ 7.10041042e-01 -6.89635253e-01 -1.42284705e-01 8.35815135e+01] [ 6.75865165e-01 7.24155904e-01 -1.37129524e-01 3.68835822e+01] [ 1.97605663e-01 1.20231421e-03 9.80280856e-01 1.20818263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.670888479 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:83.60, Y:36.90, Z:12.09 [[ 7.10078160e-01 -6.89709956e-01 -1.41736314e-01 8.36011624e+01] [ 6.76033046e-01 7.24084702e-01 -1.36677229e-01 3.69016478e+01] [ 1.96896742e-01 1.23308279e-03 9.80423456e-01 1.20876280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.700888479 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:83.62, Y:36.92, Z:12.09 [[ 7.10076383e-01 -6.89750219e-01 -1.41549163e-01 8.36222033e+01] [ 6.76101608e-01 7.24046314e-01 -1.36541392e-01 3.69198815e+01] [ 1.96667604e-01 1.25320124e-03 9.80469420e-01 1.20938581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.730888479 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:83.64, Y:36.94, Z:12.10 [[ 7.10425769e-01 -6.89286404e-01 -1.42054501e-01 8.36413529e+01] [ 6.75514373e-01 7.24487521e-01 -1.37106394e-01 3.69376433e+01] [ 1.97422286e-01 1.44405838e-03 9.80317477e-01 1.20989110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.760888479 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:83.66, Y:36.96, Z:12.10 [[ 7.10808499e-01 -6.88817943e-01 -1.42411791e-01 8.36603076e+01] [ 6.74957714e-01 7.24932581e-01 -1.37494861e-01 3.69564114e+01] [ 1.97947875e-01 1.61057912e-03 9.80211225e-01 1.21032098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790888479 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:83.68, Y:36.98, Z:12.11 [[ 7.11816257e-01 -6.87761990e-01 -1.42481789e-01 8.36795337e+01] [ 6.73857987e-01 7.25933665e-01 -1.37607145e-01 3.69760493e+01] [ 1.98073292e-01 1.93851161e-03 9.80185295e-01 1.21072193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.820888479 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:83.70, Y:37.00, Z:12.11 [[ 7.14234465e-01 -6.85183887e-01 -1.42801157e-01 8.36989169e+01] [ 6.71149689e-01 7.28365050e-01 -1.37994382e-01 3.69963581e+01] [ 1.98562898e-01 2.71939146e-03 9.80084374e-01 1.21120674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85088847899999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:83.72, Y:37.01, Z:12.12 [[ 7.15227518e-01 -6.84179617e-01 -1.42645889e-01 8.37184518e+01] [ 6.70140728e-01 7.29307159e-01 -1.37921979e-01 3.70142088e+01] [ 1.98396075e-01 3.05277520e-03 9.80117176e-01 1.21171870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88088847899999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:83.74, Y:37.03, Z:12.12 [[ 7.15994477e-01 -6.83276217e-01 -1.43127635e-01 8.37383550e+01] [ 6.69112498e-01 7.30152282e-01 -1.38441720e-01 3.70312366e+01] [ 1.99098904e-01 3.35501754e-03 9.79973658e-01 1.21229454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.910888479 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:83.76, Y:37.05, Z:12.13 [[ 7.16314617e-01 -6.82806023e-01 -1.43768235e-01 8.37595573e+01] [ 6.68493481e-01 7.30591122e-01 -1.39115340e-01 3.70488850e+01] [ 2.00024588e-01 3.54222413e-03 9.79784475e-01 1.21292737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.940888479 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:83.78, Y:37.07, Z:12.14 [[ 7.16438450e-01 -6.82630565e-01 -1.43984230e-01 8.37815809e+01] [ 6.68255276e-01 7.30754513e-01 -1.39401319e-01 3.70660493e+01] [ 2.00376727e-01 3.65424341e-03 9.79712108e-01 1.21353325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.970888479 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:83.80, Y:37.09, Z:12.13 [[ 7.16383379e-01 -6.86415061e-01 -1.25016870e-01 8.37964988e+01] [ 6.69957553e-01 7.26789251e-01 -1.51440622e-01 3.70945298e+01] [ 1.94812041e-01 2.47335477e-02 9.80528694e-01 1.21262687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.000888479 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:83.83, Y:37.10, Z:12.15 [[ 7.16782857e-01 -6.79389296e-01 -1.57011211e-01 8.38281984e+01] [ 6.68460654e-01 7.33578699e-01 -1.22566906e-01 3.70966644e+01] [ 1.98450724e-01 -1.71019602e-02 9.79961649e-01 1.21532929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.030888479 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:83.84, Y:37.13, Z:12.14 [[ 7.16779821e-01 -6.86688268e-01 -1.21185438e-01 8.38371697e+01] [ 6.70417027e-01 7.26449906e-01 -1.51034906e-01 3.71318617e+01] [ 1.91749048e-01 2.70139915e-02 9.81072142e-01 1.21351527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.060888479 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:83.87, Y:37.13, Z:12.16 [[ 7.16949913e-01 -6.79032959e-01 -1.57788030e-01 8.38706753e+01] [ 6.68501785e-01 7.33861999e-01 -1.20631380e-01 3.71322898e+01] [ 1.97707323e-01 -1.89949223e-02 9.80077042e-01 1.21649933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.090888479 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:83.89, Y:37.16, Z:12.16 [[ 7.17622234e-01 -6.81907030e-01 -1.41496049e-01 8.38879264e+01] [ 6.67972508e-01 7.31428210e-01 -1.37206059e-01 3.71567549e+01] [ 1.97055978e-01 3.94664784e-03 9.80384295e-01 1.21625428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.120888479 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:83.91, Y:37.17, Z:12.17 [[ 7.18180703e-01 -6.81381127e-01 -1.41195740e-01 8.39082849e+01] [ 6.67481165e-01 7.31917097e-01 -1.36989992e-01 3.71743572e+01] [ 1.96685971e-01 4.13807128e-03 9.80457804e-01 1.21671857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.150888479 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:83.93, Y:37.19, Z:12.17 [[ 7.19177239e-01 -6.80295365e-01 -1.41358815e-01 8.39290210e+01] [ 6.66333354e-01 7.32924420e-01 -1.37192039e-01 3.71921878e+01] [ 1.96936436e-01 4.47329827e-03 9.80406054e-01 1.21713352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.180888479 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:83.95, Y:37.21, Z:12.18 [[ 7.19690925e-01 -6.79694067e-01 -1.41636673e-01 8.39493341e+01] [ 6.65650072e-01 7.33480646e-01 -1.37535900e-01 3.72098501e+01] [ 1.97370093e-01 4.70287725e-03 9.80317769e-01 1.21758735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210888479 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:83.97, Y:37.23, Z:12.18 [[ 7.20020910e-01 -6.79289071e-01 -1.41902246e-01 8.39711825e+01] [ 6.65175258e-01 7.33854739e-01 -1.37837213e-01 3.72276231e+01] [ 1.97766949e-01 4.85581265e-03 9.80237040e-01 1.21810742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24088847899999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:83.99, Y:37.24, Z:12.19 [[ 7.20147199e-01 -6.79055862e-01 -1.42376779e-01 8.39931045e+01] [ 6.64826597e-01 7.34069613e-01 -1.38374125e-01 3.72446830e+01] [ 1.98478228e-01 4.99386868e-03 9.80092574e-01 1.21871782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27088847899999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:84.02, Y:37.26, Z:12.19 [[ 7.20237900e-01 -6.78893194e-01 -1.42693370e-01 8.40163216e+01] [ 6.64581004e-01 7.34219269e-01 -1.38759342e-01 3.72600889e+01] [ 1.98970994e-01 5.10843410e-03 9.79992065e-01 1.21923346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.300888479 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:84.04, Y:37.28, Z:12.20 [[ 7.20149714e-01 -6.79018793e-01 -1.42540764e-01 8.40366450e+01] [ 6.64724239e-01 7.34102991e-01 -1.38688443e-01 3.72772004e+01] [ 1.98811661e-01 5.12614164e-03 9.80024309e-01 1.21972675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.330888479 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:84.06, Y:37.29, Z:12.20 [[ 7.20157324e-01 -6.79038387e-01 -1.42408910e-01 8.40571065e+01] [ 6.64760192e-01 7.34084661e-01 -1.38613120e-01 3.72942197e+01] [ 1.98663826e-01 5.15547885e-03 9.80054134e-01 1.22020136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.360888479 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:84.08, Y:37.31, Z:12.21 [[ 7.19876246e-01 -6.79405764e-01 -1.42077434e-01 8.40782306e+01] [ 6.65192655e-01 7.33745219e-01 -1.38335407e-01 3.73118805e+01] [ 1.98234510e-01 5.07550772e-03 9.80141479e-01 1.22072596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.390888479 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.10, Y:37.33, Z:12.21 [[ 7.19609046e-01 -6.79715535e-01 -1.41949332e-01 8.40989485e+01] [ 6.65518422e-01 7.33458484e-01 -1.38289123e-01 3.73288077e+01] [ 1.98111207e-01 5.04420808e-03 9.80166570e-01 1.22123368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.12, Y:37.34, Z:12.22 [[ 7.18328611e-01 -6.81076807e-01 -1.41909791e-01 8.41229172e+01] [ 6.66902715e-01 7.32196836e-01 -1.38306047e-01 3.73432856e+01] [ 1.98102941e-01 4.70916592e-03 9.80169908e-01 1.22185834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.450888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:84.14, Y:37.36, Z:12.22 [[ 7.17312961e-01 -6.82242601e-01 -1.41446628e-01 8.41441726e+01] [ 6.68168394e-01 7.31112438e-01 -1.37933316e-01 3.73593369e+01] [ 1.97517374e-01 4.43118934e-03 9.80289371e-01 1.22240699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.480888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:84.17, Y:37.37, Z:12.23 [[ 7.14685063e-01 -6.85281762e-01 -1.40050591e-01 8.41683190e+01] [ 6.71535380e-01 7.28269198e-01 -1.36617015e-01 3.73732776e+01] [ 1.95615681e-01 3.58921330e-03 9.80674066e-01 1.22308579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:37.39, Z:12.24 [[ 7.12958563e-01 -6.87218160e-01 -1.39360283e-01 8.41895029e+01] [ 6.73629731e-01 7.26444489e-01 -1.36019812e-01 3.73895377e+01] [ 1.94712795e-01 3.09925954e-03 9.80855403e-01 1.22363611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:37.41, Z:12.24 [[ 7.11258109e-01 -6.89001229e-01 -1.39245136e-01 8.42116992e+01] [ 6.75460498e-01 7.24755356e-01 -1.35951427e-01 3.74069171e+01] [ 1.94589358e-01 2.64196620e-03 9.80881237e-01 1.22415022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.23, Y:37.42, Z:12.25 [[ 7.09661556e-01 -6.90659990e-01 -1.39173467e-01 8.42326449e+01] [ 6.77149725e-01 7.23176153e-01 -1.35957720e-01 3.74242277e+01] [ 1.94547490e-01 2.24269239e-03 9.80890536e-01 1.22461730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:37.44, Z:12.25 [[ 7.09482667e-01 -6.90848162e-01 -1.39151579e-01 8.42526661e+01] [ 6.77337089e-01 7.22996456e-01 -1.35980118e-01 3.74439170e+01] [ 1.94547713e-01 2.22301107e-03 9.80890537e-01 1.22515468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:37.46, Z:12.26 [[ 7.07350668e-01 -6.93236751e-01 -1.38122553e-01 8.42742001e+01] [ 6.79957886e-01 7.20708142e-01 -1.35044613e-01 3.74602806e+01] [ 1.93163937e-01 1.60637809e-03 9.81165181e-01 1.22555653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:37.48, Z:12.26 [[ 7.06328397e-01 -6.94402751e-01 -1.37495506e-01 8.42950083e+01] [ 6.81258909e-01 7.19585364e-01 -1.34473801e-01 3.74780185e+01] [ 1.92318732e-01 1.31262598e-03 9.81331637e-01 1.22603667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:37.49, Z:12.27 [[ 7.04994413e-01 -6.95789795e-01 -1.37329676e-01 8.43175298e+01] [ 6.82689349e-01 7.18244795e-01 -1.34386265e-01 3.74930079e+01] [ 1.92140916e-01 9.88058770e-04 9.81366849e-01 1.22662188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:37.51, Z:12.27 [[ 7.03926343e-01 -6.96755593e-01 -1.37910650e-01 8.43387829e+01] [ 6.83547964e-01 7.17308190e-01 -1.35022745e-01 3.75106096e+01] [ 1.93002291e-01 7.77522720e-04 9.81197998e-01 1.22717152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:37.53, Z:12.28 [[ 7.02925986e-01 -6.97741408e-01 -1.38028927e-01 8.43598850e+01] [ 6.84514933e-01 7.16349503e-01 -1.35213521e-01 3.75290951e+01] [ 1.93221026e-01 5.62235776e-04 9.81155094e-01 1.22764714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:37.55, Z:12.28 [[ 7.01004535e-01 -6.99640350e-01 -1.38188362e-01 8.43803621e+01] [ 6.86404760e-01 7.14495187e-01 -1.35444208e-01 3.75462906e+01] [ 1.93497153e-01 9.38547813e-05 9.81100832e-01 1.22809884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:37.57, Z:12.29 [[ 6.99596616e-01 -7.01085049e-01 -1.38001194e-01 8.44008848e+01] [ 6.87903278e-01 7.13077613e-01 -1.35312222e-01 3.75653534e+01] [ 1.93270937e-01 -2.67501287e-04 9.81145388e-01 1.22864419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.42, Y:37.58, Z:12.29 [[ 6.98081197e-01 -7.02702385e-01 -1.37448171e-01 8.44218771e+01] [ 6.89643447e-01 7.11483608e-01 -1.34844321e-01 3.75840337e+01] [ 1.92547547e-01 -6.57945950e-04 9.81287424e-01 1.22916293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:37.60, Z:12.30 [[ 6.96280659e-01 -7.04469408e-01 -1.37535803e-01 8.44431902e+01] [ 6.91413150e-01 7.09733512e-01 -1.35004433e-01 3.76020425e+01] [ 1.92720261e-01 -1.09308690e-03 9.81253130e-01 1.22974526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:37.62, Z:12.30 [[ 6.92902888e-01 -7.07703313e-01 -1.37991335e-01 8.44658587e+01] [ 6.94608004e-01 7.06507074e-01 -1.35526659e-01 3.76182551e+01] [ 1.93404520e-01 -1.94307197e-03 9.81117178e-01 1.23032108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:37.64, Z:12.31 [[ 6.91543840e-01 -7.09107920e-01 -1.37597509e-01 8.44852538e+01] [ 6.96100621e-01 7.05096294e-01 -1.35215166e-01 3.76360393e+01] [ 1.92901638e-01 -2.27449640e-03 9.81215463e-01 1.23084728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:37.66, Z:12.31 [[ 6.90927891e-01 -7.09845320e-01 -1.36887806e-01 8.45053320e+01] [ 6.96974252e-01 7.04353442e-01 -1.34584994e-01 3.76555091e+01] [ 1.91951926e-01 -2.41874993e-03 9.81401349e-01 1.23137872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:37.68, Z:12.32 [[ 6.91479770e-01 -7.09588406e-01 -1.35425336e-01 8.45247542e+01] [ 6.96974427e-01 7.04612762e-01 -1.33219757e-01 3.76754806e+01] [ 1.89953615e-01 -2.26922843e-03 9.81790443e-01 1.23189629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:37.69, Z:12.32 [[ 6.92301008e-01 -7.08824336e-01 -1.35230823e-01 8.45436297e+01] [ 6.96218189e-01 7.05382200e-01 -1.33102164e-01 3.76935594e+01] [ 1.89735469e-01 -2.00339650e-03 9.81833203e-01 1.23244193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:37.71, Z:12.33 [[ 6.93262601e-01 -7.07842973e-01 -1.35444795e-01 8.45632761e+01] [ 6.95165066e-01 7.06367802e-01 -1.33379384e-01 3.77126283e+01] [ 1.90085502e-01 -1.68955143e-03 9.81766086e-01 1.23296690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.58, Y:37.73, Z:12.33 [[ 6.95586773e-01 -7.05404392e-01 -1.36248615e-01 8.45826311e+01] [ 6.92513338e-01 7.08804411e-01 -1.34244495e-01 3.77330444e+01] [ 1.91270276e-01 -9.75287637e-04 9.81536923e-01 1.23339525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:37.75, Z:12.34 [[ 6.96704676e-01 -7.04159229e-01 -1.36975816e-01 8.46011525e+01] [ 6.91090053e-01 7.10041859e-01 -1.35037393e-01 3.77524320e+01] [ 1.92346390e-01 -5.81440997e-04 9.81326922e-01 1.23381542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.62, Y:37.77, Z:12.34 [[ 6.98252262e-01 -7.02590469e-01 -1.37151056e-01 8.46207654e+01] [ 6.89443987e-01 7.11594423e-01 -1.35278846e-01 3.77728309e+01] [ 1.92641555e-01 -9.92109302e-05 9.81269189e-01 1.23423971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:37.79, Z:12.35 [[ 7.01211299e-01 -6.99708893e-01 -1.36785158e-01 8.46394154e+01] [ 6.86563992e-01 7.14427679e-01 -1.34992506e-01 3.77928943e+01] [ 1.92178560e-01 7.46506284e-04 9.81359691e-01 1.23476052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.200888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:84.66, Y:37.81, Z:12.35 [[ 7.02183614e-01 -6.98900303e-01 -1.35928430e-01 8.46574329e+01] [ 6.85891248e-01 7.15218380e-01 -1.34223188e-01 3.78117008e+01] [ 1.91027138e-01 1.01720217e-03 9.81584229e-01 1.23529892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:37.83, Z:12.36 [[ 7.03129454e-01 -6.98018092e-01 -1.35571805e-01 8.46762867e+01] [ 6.85053328e-01 7.16078971e-01 -1.33913575e-01 3.78312728e+01] [ 1.90554217e-01 1.28466250e-03 9.81675833e-01 1.23588857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:37.85, Z:12.36 [[ 7.03643401e-01 -6.97571876e-01 -1.35201483e-01 8.46943713e+01] [ 6.84655796e-01 7.16513333e-01 -1.33622919e-01 3.78507069e+01] [ 1.90085255e-01 1.45640610e-03 9.81766507e-01 1.23639735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:37.87, Z:12.37 [[ 7.04496402e-01 -6.96675595e-01 -1.35380704e-01 8.47122964e+01] [ 6.83695331e-01 7.17384173e-01 -1.33868007e-01 3.78720178e+01] [ 1.90382547e-01 1.75037407e-03 9.81708420e-01 1.23678530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:37.89, Z:12.37 [[ 7.04661732e-01 -6.96540811e-01 -1.35213693e-01 8.47307520e+01] [ 6.83575990e-01 7.17514820e-01 -1.33777236e-01 3.78908557e+01] [ 1.90199133e-01 1.83886430e-03 9.81743810e-01 1.23726272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:37.91, Z:12.38 [[ 7.04611475e-01 -6.96640097e-01 -1.34963859e-01 8.47510201e+01] [ 6.83712466e-01 7.17418375e-01 -1.33596928e-01 3.79100130e+01] [ 1.89894529e-01 1.85745524e-03 9.81802739e-01 1.23783538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:37.93, Z:12.38 [[ 7.03801863e-01 -6.97514589e-01 -1.34671214e-01 8.47711197e+01] [ 6.84644882e-01 7.16568630e-01 -1.33382102e-01 3.79281195e+01] [ 1.89537129e-01 1.67261441e-03 9.81872130e-01 1.23849575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:37.95, Z:12.39 [[ 7.02997804e-01 -6.98361966e-01 -1.34479189e-01 8.47903479e+01] [ 6.85530272e-01 7.15743198e-01 -1.33266352e-01 3.79479023e+01] [ 1.89320716e-01 1.49639782e-03 9.81914165e-01 1.23902652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:37.97, Z:12.39 [[ 7.02416827e-01 -6.99011645e-01 -1.34139184e-01 8.48091268e+01] [ 6.86242822e-01 7.15108969e-01 -1.33003574e-01 3.79673225e+01] [ 1.88895181e-01 1.37189676e-03 9.81996298e-01 1.23947900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:37.99, Z:12.40 [[ 7.02073613e-01 -6.99332389e-01 -1.34264111e-01 8.48281789e+01] [ 6.86532471e-01 7.14795374e-01 -1.33194372e-01 3.79860236e+01] [ 1.89118504e-01 1.33558200e-03 9.81953363e-01 1.23993630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.500888479 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:84.84, Y:38.01, Z:12.40 [[ 7.01930322e-01 -7.00734575e-01 -1.27533832e-01 8.48446026e+01] [ 6.85695973e-01 7.13276543e-01 -1.45112391e-01 3.80097453e+01] [ 1.92652160e-01 1.44093522e-02 9.81161310e-01 1.24001604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.530888479 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:84.87, Y:38.03, Z:12.41 [[ 7.02141543e-01 -6.99538795e-01 -1.32825933e-01 8.48656455e+01] [ 6.85045831e-01 7.14542182e-01 -1.41921383e-01 3.80267900e+01] [ 1.94189245e-01 8.65704717e-03 9.80925885e-01 1.24087640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.89, Y:38.04, Z:12.42 [[ 7.03129237e-01 -6.95248263e-01 -1.49127897e-01 8.48903659e+01] [ 6.85167566e-01 7.18538028e-01 -1.19367119e-01 3.80357811e+01] [ 1.90143847e-01 -1.82470867e-02 9.81586655e-01 1.24237759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:38.06, Z:12.42 [[ 7.03145460e-01 -6.98142341e-01 -1.34847077e-01 8.49049943e+01] [ 6.85162256e-01 7.15956632e-01 -1.34010389e-01 3.80624395e+01] [ 1.90102986e-01 1.83666894e-03 9.81762436e-01 1.24201630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.92, Y:38.08, Z:12.42 [[ 7.03270058e-01 -6.97994310e-01 -1.34963581e-01 8.49237157e+01] [ 6.84974387e-01 7.16100696e-01 -1.34200905e-01 3.80818969e+01] [ 1.90318982e-01 1.93288171e-03 9.81720403e-01 1.24249589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:38.10, Z:12.43 [[ 7.03702125e-01 -6.97484806e-01 -1.35344988e-01 8.49428010e+01] [ 6.84367968e-01 7.16596417e-01 -1.34647907e-01 3.81022980e+01] [ 1.90902603e-01 2.12624381e-03 9.81606681e-01 1.24288934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.96, Y:38.12, Z:12.43 [[ 7.03819795e-01 -6.97402919e-01 -1.35154966e-01 8.49614080e+01] [ 6.84307280e-01 7.16675889e-01 -1.34533331e-01 3.81209679e+01] [ 1.90686243e-01 2.19969427e-03 9.81648572e-01 1.24333883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:38.14, Z:12.44 [[ 7.03949971e-01 -6.97354761e-01 -1.34724814e-01 8.49811327e+01] [ 6.84332371e-01 7.16722616e-01 -1.34156244e-01 3.81400295e+01] [ 1.90114817e-01 2.24273248e-03 9.81759302e-01 1.24394293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:38.16, Z:12.45 [[ 7.04227211e-01 -6.97346529e-01 -1.33311120e-01 8.50008119e+01] [ 6.84584226e-01 7.16730525e-01 -1.32822406e-01 3.81576917e+01] [ 1.88171392e-01 2.27446243e-03 9.82133572e-01 1.24472782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:38.18, Z:12.45 [[ 7.04061964e-01 -6.97566406e-01 -1.33033303e-01 8.50196483e+01] [ 6.84848853e-01 7.16516576e-01 -1.32612386e-01 3.81758069e+01] [ 1.87826513e-01 2.25963200e-03 9.82199621e-01 1.24533031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:38.20, Z:12.46 [[ 7.03510508e-01 -6.98173302e-01 -1.32766730e-01 8.50392612e+01] [ 6.85508368e-01 7.15925628e-01 -1.32396270e-01 3.81958272e+01] [ 1.87486646e-01 2.12946278e-03 9.82264844e-01 1.24588571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:38.22, Z:12.46 [[ 7.03256535e-01 -6.98357612e-01 -1.33142374e-01 8.50571068e+01] [ 6.85609168e-01 7.15745808e-01 -1.32845801e-01 3.82155843e+01] [ 1.88069973e-01 2.14104505e-03 9.82153298e-01 1.24629317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:38.25, Z:12.44 [[ 7.01279275e-01 -7.04808177e-01 -1.07017812e-01 8.50633184e+01] [ 6.89689358e-01 7.08755011e-01 -1.48306856e-01 3.82466413e+01] [ 1.80377296e-01 3.01954785e-02 9.83133899e-01 1.24425867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:38.25, Z:12.48 [[ 7.02078031e-01 -6.97468493e-01 -1.43611070e-01 8.50973349e+01] [ 6.87366056e-01 7.16458321e-01 -1.19228262e-01 3.82485693e+01] [ 1.86049303e-01 -1.50058313e-02 9.82425815e-01 1.24753067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:38.29, Z:12.45 [[ 6.99787068e-01 -7.06798200e-01 -1.03606779e-01 8.51011813e+01] [ 6.91379775e-01 7.06607164e-01 -1.50666264e-01 3.82853727e+01] [ 1.79699936e-01 3.38026713e-02 9.83140535e-01 1.24503918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:38.28, Z:12.50 [[ 7.01710670e-01 -6.94189541e-01 -1.60321605e-01 8.51456099e+01] [ 6.86349997e-01 7.19018219e-01 -1.09254210e-01 3.82788186e+01] [ 1.91117285e-01 -3.33718876e-02 9.80999745e-01 1.25027239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:38.31, Z:12.49 [[ 7.00742847e-01 -7.00472588e-01 -1.35268678e-01 8.51568568e+01] [ 6.87344505e-01 7.13677477e-01 -1.34988855e-01 3.83110972e+01] [ 1.91094202e-01 1.61629227e-03 9.81570371e-01 1.24924754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.17, Y:38.33, Z:12.50 [[ 6.99846858e-01 -7.01486642e-01 -1.34650906e-01 8.51737977e+01] [ 6.88483197e-01 7.12681249e-01 -1.34448223e-01 3.83316029e+01] [ 1.90276809e-01 1.38828051e-03 9.81729499e-01 1.24959537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.040888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:85.19, Y:38.35, Z:12.50 [[ 6.99512423e-01 -7.01964031e-01 -1.33898728e-01 8.51930390e+01] [ 6.89102413e-01 7.12211211e-01 -1.33764927e-01 3.83517762e+01] [ 1.89262342e-01 1.30029200e-03 9.81925697e-01 1.25012614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:38.37, Z:12.51 [[ 6.99245642e-01 -7.02300856e-01 -1.33525425e-01 8.52118317e+01] [ 6.89503172e-01 7.11879147e-01 -1.33467063e-01 3.83700552e+01] [ 1.88787998e-01 1.26005826e-03 9.82017059e-01 1.25072165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.23, Y:38.39, Z:12.51 [[ 6.98752360e-01 -7.02829125e-01 -1.33328015e-01 8.52314761e+01] [ 6.90066174e-01 7.11357761e-01 -1.33337209e-01 3.83892412e+01] [ 1.88557192e-01 1.16453691e-03 9.82061520e-01 1.25133949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:38.41, Z:12.52 [[ 6.97410724e-01 -7.04040027e-01 -1.33962389e-01 8.52514949e+01] [ 6.91161719e-01 7.10159726e-01 -1.34047161e-01 3.84086149e+01] [ 1.89509261e-01 8.96252106e-04 9.81878525e-01 1.25199954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.27, Y:38.43, Z:12.52 [[ 6.96723231e-01 -7.04681943e-01 -1.34164445e-01 8.52706489e+01] [ 6.91761594e-01 7.09522907e-01 -1.34324761e-01 3.84282271e+01] [ 1.89848981e-01 7.77371667e-04 9.81812997e-01 1.25249057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:38.45, Z:12.53 [[ 6.96070825e-01 -7.05137993e-01 -1.35151090e-01 8.52877851e+01] [ 6.92018828e-01 7.09069744e-01 -1.35388474e-01 3.84491078e+01] [ 1.91299106e-01 7.12867696e-04 9.81531530e-01 1.25284416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:38.47, Z:12.53 [[ 6.96007212e-01 -7.05035392e-01 -1.36011234e-01 8.53062423e+01] [ 6.91734849e-01 7.09171686e-01 -1.36302668e-01 3.84693017e+01] [ 1.92553521e-01 7.83929341e-04 9.81286160e-01 1.25326345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:38.49, Z:12.54 [[ 6.96101419e-01 -7.04748508e-01 -1.37012246e-01 8.53245461e+01] [ 6.91228797e-01 7.09456612e-01 -1.37382918e-01 3.84883244e+01] [ 1.94024650e-01 9.25634167e-04 9.80996217e-01 1.25371051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.34, Y:38.51, Z:12.54 [[ 6.96511165e-01 -7.04173376e-01 -1.37884202e-01 8.53442050e+01] [ 6.90454196e-01 7.10027146e-01 -1.38327351e-01 3.85069130e+01] [ 1.95307964e-01 1.14381916e-03 9.80741297e-01 1.25435449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.36, Y:38.53, Z:12.55 [[ 6.96349090e-01 -7.04290414e-01 -1.38104878e-01 8.53635409e+01] [ 6.90513694e-01 7.09911013e-01 -1.38626085e-01 3.85263918e+01] [ 1.95675197e-01 1.16883871e-03 9.80668064e-01 1.25494625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:38.55, Z:12.55 [[ 6.96155227e-01 -7.04513159e-01 -1.37946037e-01 8.53830038e+01] [ 6.90757410e-01 7.09689976e-01 -1.38543636e-01 3.85467568e+01] [ 1.95504734e-01 1.16062947e-03 9.80702071e-01 1.25543758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:38.57, Z:12.56 [[ 6.96230379e-01 -7.04370936e-01 -1.38292601e-01 8.54008561e+01] [ 6.90526668e-01 7.09830962e-01 -1.38970956e-01 3.85666949e+01] [ 1.96051473e-01 1.26107240e-03 9.80592795e-01 1.25582131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.400888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.42, Y:38.59, Z:12.56 [[ 6.96616522e-01 -7.03923523e-01 -1.38625736e-01 8.54204339e+01] [ 6.89993785e-01 7.10274345e-01 -1.39351823e-01 3.85862641e+01] [ 1.96555330e-01 1.42388612e-03 9.80491701e-01 1.25636218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:38.60, Z:12.57 [[ 6.97144490e-01 -7.03517093e-01 -1.38033546e-01 8.54393056e+01] [ 6.89684094e-01 7.10676565e-01 -1.38833249e-01 3.86049608e+01] [ 1.95768770e-01 1.58729335e-03 9.80648800e-01 1.25692238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.46, Y:38.62, Z:12.58 [[ 6.97835615e-01 -7.02916976e-01 -1.37597891e-01 8.54575003e+01] [ 6.89146727e-01 7.11269629e-01 -1.38464085e-01 3.86235491e+01] [ 1.95197957e-01 1.80003396e-03 9.80762212e-01 1.25750038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:38.64, Z:12.58 [[ 6.97658611e-01 -7.03099375e-01 -1.37563552e-01 8.54772150e+01] [ 6.89325914e-01 7.11089329e-01 -1.38498193e-01 3.86435475e+01] [ 1.95197967e-01 1.79833612e-03 9.80762214e-01 1.25803761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:38.66, Z:12.59 [[ 6.99388731e-01 -7.01485211e-01 -1.37017891e-01 8.54957438e+01] [ 6.87777093e-01 7.12680326e-01 -1.38019648e-01 3.86633990e+01] [ 1.94468697e-01 2.29161954e-03 9.80906048e-01 1.25854024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.51, Y:38.68, Z:12.59 [[ 7.00157140e-01 -7.00629714e-01 -1.37469936e-01 8.55148150e+01] [ 6.86798164e-01 7.13520336e-01 -1.38553280e-01 3.86838554e+01] [ 1.95162140e-01 2.59496895e-03 9.80767559e-01 1.25902883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:38.70, Z:12.59 [[ 7.00816523e-01 -6.99950897e-01 -1.37567959e-01 8.55339202e+01] [ 6.86070871e-01 7.14185311e-01 -1.38730321e-01 3.87044898e+01] [ 1.95353428e-01 2.84313146e-03 9.80728788e-01 1.25949456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:38.72, Z:12.60 [[ 7.02413170e-01 -6.98432513e-01 -1.37141401e-01 8.55530358e+01] [ 6.84595025e-01 7.15668256e-01 -1.38378463e-01 3.87243694e+01] [ 1.94795765e-01 3.31253343e-03 9.80838232e-01 1.26007656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:38.74, Z:12.61 [[ 7.02809869e-01 -6.97924188e-01 -1.37695739e-01 8.55729639e+01] [ 6.83948107e-01 7.16162970e-01 -1.39016504e-01 3.87435678e+01] [ 1.95635570e-01 3.52543104e-03 9.80670330e-01 1.26075274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:38.76, Z:12.61 [[ 7.02760749e-01 -6.97872787e-01 -1.38206017e-01 8.55929975e+01] [ 6.83774946e-01 7.16212629e-01 -1.39611221e-01 3.87631073e+01] [ 1.96415767e-01 3.61147445e-03 9.80514051e-01 1.26132820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:38.78, Z:12.62 [[ 7.02548133e-01 -6.97558749e-01 -1.40847124e-01 8.56114213e+01] [ 6.82888385e-01 7.16517347e-01 -1.42359915e-01 3.87823804e+01] [ 2.00223812e-01 3.83182677e-03 9.79742692e-01 1.26164894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:38.80, Z:12.62 [[ 7.02269299e-01 -6.97646597e-01 -1.41799360e-01 8.56304439e+01] [ 6.82766975e-01 7.16431616e-01 -1.43370140e-01 3.88029202e+01] [ 2.01611235e-01 3.86852793e-03 9.79457985e-01 1.26203447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.65, Y:38.82, Z:12.62 [[ 7.02207236e-01 -6.97610041e-01 -1.42285724e-01 8.56487154e+01] [ 6.82609845e-01 7.16466760e-01 -1.43941591e-01 3.88220801e+01] [ 2.02358091e-01 3.95119021e-03 9.79303626e-01 1.26244891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.67, Y:38.84, Z:12.63 [[ 7.01431564e-01 -6.98332753e-01 -1.42566219e-01 8.56691947e+01] [ 6.83275599e-01 7.15763218e-01 -1.44282612e-01 3.88411072e+01] [ 2.02800929e-01 3.79235952e-03 9.79212643e-01 1.26296027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.69, Y:38.86, Z:12.64 [[ 7.00181355e-01 -6.99591130e-01 -1.42542345e-01 8.56885596e+01] [ 6.84548089e-01 7.14534880e-01 -1.44339251e-01 3.88589082e+01] [ 2.02829937e-01 3.48656241e-03 9.79207772e-01 1.26352611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.71, Y:38.88, Z:12.64 [[ 6.98896117e-01 -7.00905729e-01 -1.42391630e-01 8.57091920e+01] [ 6.85906567e-01 7.13246943e-01 -1.44260114e-01 3.88776187e+01] [ 2.02673135e-01 3.15547923e-03 9.79241361e-01 1.26412254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:38.90, Z:12.65 [[ 6.96467533e-01 -7.03605078e-01 -1.40971167e-01 8.57297509e+01] [ 6.88945118e-01 7.10587162e-01 -1.42900348e-01 3.88959986e+01] [ 2.00717712e-01 2.40405523e-03 9.79646171e-01 1.26474822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:38.91, Z:12.65 [[ 6.95625116e-01 -7.04646770e-01 -1.39923647e-01 8.57488278e+01] [ 6.90210905e-01 7.09555023e-01 -1.41917498e-01 3.89146132e+01] [ 1.99285233e-01 2.14454948e-03 9.79939180e-01 1.26526138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:38.93, Z:12.66 [[ 6.94894066e-01 -7.05508843e-01 -1.39210306e-01 8.57677297e+01] [ 6.91229131e-01 7.08698514e-01 -1.41239885e-01 3.89327444e+01] [ 1.98304124e-01 1.92053921e-03 9.80138656e-01 1.26583400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:38.95, Z:12.66 [[ 6.94583330e-01 -7.05984879e-01 -1.38345032e-01 8.57872171e+01] [ 6.91879080e-01 7.08224557e-01 -1.40432601e-01 3.89510706e+01] [ 1.97122642e-01 1.82411040e-03 9.80377140e-01 1.26637458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.81, Y:38.97, Z:12.67 [[ 6.94071400e-01 -7.06399722e-01 -1.38795980e-01 8.58080026e+01] [ 6.92194786e-01 7.07810937e-01 -1.40961186e-01 3.89690601e+01] [ 1.97816255e-01 1.76327413e-03 9.80237533e-01 1.26698540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:38.99, Z:12.68 [[ 6.93947561e-01 -7.06463675e-01 -1.39089387e-01 8.58275081e+01] [ 6.92183359e-01 7.07746999e-01 -1.41337830e-01 3.89875927e+01] [ 1.98290139e-01 1.80568369e-03 9.80141704e-01 1.26750098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.060888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:85.85, Y:39.01, Z:12.68 [[ 6.93764382e-01 -7.06536372e-01 -1.39632865e-01 8.58474043e+01] [ 6.92129926e-01 7.07674327e-01 -1.41962011e-01 3.90066536e+01] [ 1.99115918e-01 1.84410245e-03 9.79974209e-01 1.26803083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:39.02, Z:12.68 [[ 6.93470032e-01 -7.06639037e-01 -1.40572353e-01 8.58673119e+01] [ 6.92021619e-01 7.07571704e-01 -1.42997772e-01 3.90239842e+01] [ 2.00512827e-01 1.88556190e-03 9.79689262e-01 1.26849346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:39.04, Z:12.69 [[ 6.93156207e-01 -7.06820308e-01 -1.41207383e-01 8.58876951e+01] [ 6.92061011e-01 7.07390632e-01 -1.43701254e-01 3.90431914e+01] [ 2.01459745e-01 1.88329196e-03 9.79494984e-01 1.26899219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:39.06, Z:12.69 [[ 6.93406132e-01 -7.06479305e-01 -1.41686017e-01 8.59079503e+01] [ 6.91595223e-01 7.07730741e-01 -1.44267966e-01 3.90627082e+01] [ 2.02197882e-01 2.04691991e-03 9.79342548e-01 1.26933055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:39.08, Z:12.70 [[ 6.93646386e-01 -7.06255712e-01 -1.41624719e-01 8.59274243e+01] [ 6.91363395e-01 7.07953504e-01 -1.44286146e-01 3.90828537e+01] [ 2.02166631e-01 2.16941713e-03 9.79348736e-01 1.26983688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:39.10, Z:12.70 [[ 6.94012663e-01 -7.06032719e-01 -1.40940492e-01 8.59471459e+01] [ 6.91264227e-01 7.08175538e-01 -1.43670375e-01 3.91026942e+01] [ 2.01246595e-01 2.28193912e-03 9.79537953e-01 1.27036053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:39.12, Z:12.71 [[ 6.93736694e-01 -7.06470773e-01 -1.40101556e-01 8.59674038e+01] [ 6.91871789e-01 7.07738799e-01 -1.42895836e-01 3.91196583e+01] [ 2.00107038e-01 2.19977084e-03 9.79771572e-01 1.27110456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:39.14, Z:12.72 [[ 6.92812287e-01 -7.07453300e-01 -1.39717442e-01 8.59876050e+01] [ 6.92939923e-01 7.06757365e-01 -1.42577312e-01 3.91384697e+01] [ 1.99613121e-01 1.96352037e-03 9.79872822e-01 1.27173276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:39.16, Z:12.72 [[ 6.91879021e-01 -7.08383307e-01 -1.39629906e-01 8.60070406e+01] [ 6.93891089e-01 7.05825776e-01 -1.42566231e-01 3.91565873e+01] [ 1.99545925e-01 1.75063631e-03 9.79886911e-01 1.27231204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:39.18, Z:12.73 [[ 6.90003791e-01 -7.10184435e-01 -1.39759924e-01 8.60267870e+01] [ 6.95690341e-01 7.04014527e-01 -1.42753269e-01 3.91750454e+01] [ 1.99774166e-01 1.27066763e-03 9.79841144e-01 1.27279035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:39.19, Z:12.73 [[ 6.88984423e-01 -7.11139879e-01 -1.39930474e-01 8.60461765e+01] [ 6.96618303e-01 7.03049786e-01 -1.42982297e-01 3.91945916e+01] [ 2.00058503e-01 1.03444645e-03 9.79783407e-01 1.27326332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:39.21, Z:12.74 [[ 6.87653152e-01 -7.12508184e-01 -1.39517847e-01 8.60657390e+01] [ 6.98084935e-01 7.01663460e-01 -1.42638748e-01 3.92143773e+01] [ 1.99525850e-01 6.90677774e-04 9.79892320e-01 1.27366874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.09, Y:39.23, Z:12.74 [[ 6.86801886e-01 -7.13425384e-01 -1.39022984e-01 8.60853850e+01] [ 6.99108160e-01 7.00731041e-01 -1.42210365e-01 3.92338855e+01] [ 1.98874205e-01 4.78244843e-04 9.80024909e-01 1.27414325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:39.25, Z:12.75 [[ 6.85792081e-01 -7.14385524e-01 -1.39077479e-01 8.61050491e+01] [ 7.00060055e-01 6.99752282e-01 -1.42346980e-01 3.92536343e+01] [ 1.99010405e-01 2.57843852e-04 9.79997343e-01 1.27465721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:39.27, Z:12.75 [[ 6.84663553e-01 -7.15546217e-01 -1.38670218e-01 8.61246243e+01] [ 7.01312982e-01 6.98565394e-01 -1.42008769e-01 3.92717774e+01] [ 1.98484053e-01 -2.29956487e-05 9.80104117e-01 1.27522440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:39.29, Z:12.76 [[ 6.84322211e-01 -7.15949642e-01 -1.38272275e-01 8.61439379e+01] [ 7.01795825e-01 6.98151918e-01 -1.41656346e-01 3.92905670e+01] [ 1.97953864e-01 -1.00321251e-04 9.80211333e-01 1.27584208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:39.31, Z:12.76 [[ 6.84115593e-01 -7.16143336e-01 -1.38291641e-01 8.61636663e+01] [ 7.01973497e-01 6.97953231e-01 -1.41755059e-01 3.93096952e+01] [ 1.98038038e-01 -1.00220546e-04 9.80194330e-01 1.27649470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:39.33, Z:12.77 [[ 6.84828473e-01 -7.15325356e-01 -1.38994954e-01 8.61829771e+01] [ 7.00976704e-01 6.98791527e-01 -1.42555471e-01 3.93291221e+01] [ 1.99102039e-01 1.93820129e-04 9.79978745e-01 1.27700168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:39.35, Z:12.77 [[ 6.85329319e-01 -7.14747286e-01 -1.39499254e-01 8.62010350e+01] [ 7.00265194e-01 6.99382686e-01 -1.43152077e-01 3.93488549e+01] [ 1.99880921e-01 4.19843544e-04 9.79820106e-01 1.27742418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:39.37, Z:12.78 [[ 6.85918227e-01 -7.14172837e-01 -1.39546924e-01 8.62186493e+01] [ 6.99654376e-01 6.99969107e-01 -1.43272481e-01 3.93688498e+01] [ 1.99999850e-01 6.38590081e-04 9.79795720e-01 1.27788993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.24, Y:39.39, Z:12.78 [[ 6.86507112e-01 -7.13650893e-01 -1.39321168e-01 8.62374824e+01] [ 6.99154721e-01 7.00501033e-01 -1.43111771e-01 3.93896895e+01] [ 1.99726465e-01 8.40196036e-04 9.79851332e-01 1.27837763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:39.41, Z:12.79 [[ 6.86996423e-01 -7.13095811e-01 -1.39750775e-01 8.62569585e+01] [ 6.98481390e-01 7.01065786e-01 -1.43633254e-01 3.94099016e+01] [ 2.00398759e-01 1.06221626e-03 9.79713840e-01 1.27890205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:39.43, Z:12.79 [[ 6.86485915e-01 -7.13568973e-01 -1.39844235e-01 8.62767332e+01] [ 6.98928204e-01 7.00584297e-01 -1.43808930e-01 3.94292248e+01] [ 2.00590266e-01 9.81724837e-04 9.79674733e-01 1.27944692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:39.45, Z:12.80 [[ 6.85696899e-01 -7.14643342e-01 -1.38219591e-01 8.62950994e+01] [ 7.00349945e-01 6.99488657e-01 -1.42216641e-01 3.94475692e+01] [ 1.98317212e-01 7.15426287e-04 9.80137629e-01 1.28005727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:39.47, Z:12.81 [[ 6.85469385e-01 -7.15123918e-01 -1.36855780e-01 8.63138758e+01] [ 7.01109386e-01 6.98997423e-01 -1.40883753e-01 3.94677268e+01] [ 1.96411179e-01 6.20628282e-04 9.80521424e-01 1.28064105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:39.49, Z:12.81 [[ 6.85245301e-01 -7.15467473e-01 -1.36180661e-01 8.63327357e+01] [ 7.01583524e-01 6.98645808e-01 -1.40266153e-01 3.94878202e+01] [ 1.95497918e-01 5.74613869e-04 9.80703948e-01 1.28124074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.35, Y:39.51, Z:12.82 [[ 6.85314762e-01 -7.15324364e-01 -1.36582321e-01 8.63500710e+01] [ 7.01339280e-01 6.98792245e-01 -1.40757280e-01 3.95083181e+01] [ 1.96129779e-01 6.72494926e-04 9.80577716e-01 1.28177668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:39.53, Z:12.82 [[ 6.85284687e-01 -7.15251233e-01 -1.37115178e-01 8.63677897e+01] [ 7.01140186e-01 6.98867024e-01 -1.41376525e-01 3.95283796e+01] [ 1.96945011e-01 7.46206360e-04 9.80414252e-01 1.28219138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:39.55, Z:12.83 [[ 6.85317071e-01 -7.15136500e-01 -1.37551081e-01 8.63864353e+01] [ 7.00918307e-01 6.98984331e-01 -1.41895845e-01 3.95487234e+01] [ 1.97620948e-01 8.31574419e-04 9.80278159e-01 1.28265549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:39.57, Z:12.83 [[ 6.85179751e-01 -7.15072552e-01 -1.38563899e-01 8.64056955e+01] [ 7.00624513e-01 6.99049648e-01 -1.43020559e-01 3.95687462e+01] [ 1.99133121e-01 9.13526809e-04 9.79972023e-01 1.28315294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:39.59, Z:12.84 [[ 6.84392918e-01 -7.15549654e-01 -1.39982238e-01 8.64243104e+01] [ 7.00794458e-01 6.98561369e-01 -1.44565355e-01 3.95882110e+01] [ 2.01229874e-01 8.40728616e-04 9.79543685e-01 1.28358459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:39.61, Z:12.84 [[ 6.83639493e-01 -7.16262395e-01 -1.40018663e-01 8.64431105e+01] [ 7.01499250e-01 6.97830721e-01 -1.44675801e-01 3.96088327e+01] [ 2.01335160e-01 6.83104289e-04 9.79522173e-01 1.28401521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.46, Y:39.63, Z:12.85 [[ 6.81938413e-01 -7.17984369e-01 -1.39493536e-01 8.64616636e+01] [ 7.03352236e-01 6.96059187e-01 -1.44212485e-01 3.96296553e+01] [ 2.00638067e-01 2.30943240e-04 9.79665408e-01 1.28455586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:39.65, Z:12.85 [[ 6.80965854e-01 -7.19170699e-01 -1.38126794e-01 8.64806362e+01] [ 7.04835122e-01 6.94833435e-01 -1.42877389e-01 3.96493806e+01] [ 1.98728347e-01 -6.19928369e-05 9.80054611e-01 1.28514917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.50, Y:39.67, Z:12.86 [[ 6.80139076e-01 -7.20261223e-01 -1.36508636e-01 8.64989642e+01] [ 7.06268832e-01 6.93702867e-01 -1.41282233e-01 3.96680183e+01] [ 1.96456546e-01 -3.20227322e-04 9.80512480e-01 1.28577618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:39.69, Z:12.86 [[ 6.79330303e-01 -7.21234924e-01 -1.35390262e-01 8.65173364e+01] [ 7.07478189e-01 6.92690324e-01 -1.40195319e-01 3.96871213e+01] [ 1.94897285e-01 -5.46728406e-04 9.80823506e-01 1.28639814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:39.71, Z:12.87 [[ 6.78276696e-01 -7.22046748e-01 -1.36342281e-01 8.65360886e+01] [ 7.08095982e-01 6.91843879e-01 -1.41251997e-01 3.97076453e+01] [ 1.96318118e-01 -7.35483294e-04 9.80539982e-01 1.28700997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:39.73, Z:12.87 [[ 6.77985821e-01 -7.22240020e-01 -1.36764688e-01 8.65544579e+01] [ 7.08190042e-01 6.91642109e-01 -1.41767616e-01 3.97282668e+01] [ 1.96982463e-01 -7.38956709e-04 9.80406734e-01 1.28745367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.57, Y:39.75, Z:12.88 [[ 6.77981960e-01 -7.22131750e-01 -1.37354277e-01 8.65719197e+01] [ 7.07940757e-01 6.91755237e-01 -1.42459037e-01 3.97488894e+01] [ 1.97889734e-01 -6.54033891e-04 9.80224069e-01 1.28790868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:39.77, Z:12.88 [[ 6.78119200e-01 -7.21824312e-01 -1.38289602e-01 8.65888447e+01] [ 7.07419481e-01 6.92076141e-01 -1.43486214e-01 3.97707991e+01] [ 1.99278772e-01 -5.28001466e-04 9.79942699e-01 1.28823710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.260888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:86.61, Y:39.79, Z:12.89 [[ 6.78232233e-01 -7.21654367e-01 -1.38621832e-01 8.66078252e+01] [ 7.07159741e-01 6.92253418e-01 -1.43910754e-01 3.97908498e+01] [ 1.99815261e-01 -4.22866645e-04 9.79833497e-01 1.28876318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:39.81, Z:12.89 [[ 6.78329027e-01 -7.21408783e-01 -1.39424170e-01 8.66258057e+01] [ 7.06722167e-01 6.92509409e-01 -1.44825747e-01 3.98099761e+01] [ 2.01031115e-01 -2.94643619e-04 9.79584812e-01 1.28938850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:39.83, Z:12.90 [[ 6.78642790e-01 -7.21102056e-01 -1.39484004e-01 8.66440381e+01] [ 7.06381025e-01 6.92828840e-01 -1.44962223e-01 3.98302695e+01] [ 2.01171098e-01 -1.51285963e-04 9.79556107e-01 1.28995678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:39.85, Z:12.90 [[ 6.78873124e-01 -7.20968879e-01 -1.39050916e-01 8.66620363e+01] [ 7.06320724e-01 6.92967440e-01 -1.44593092e-01 3.98511008e+01] [ 2.00604876e-01 -5.41795150e-05 9.79672231e-01 1.29049329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:39.87, Z:12.91 [[ 6.78686186e-01 -7.21152727e-01 -1.39010091e-01 8.66814310e+01] [ 7.06500352e-01 6.92776112e-01 -1.44632331e-01 3.98714186e+01] [ 2.00604870e-01 -5.07132355e-05 9.79672233e-01 1.29103030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:39.89, Z:12.92 [[ 6.78991164e-01 -7.20984904e-01 -1.38389910e-01 8.66996023e+01] [ 7.06445305e-01 6.92950767e-01 -1.44063411e-01 3.98922006e+01] [ 1.99764938e-01 5.28809825e-05 9.79843848e-01 1.29156374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:39.91, Z:12.92 [[ 6.79174753e-01 -7.20954484e-01 -1.37645517e-01 8.67164461e+01] [ 7.06555376e-01 6.92982409e-01 -1.43369739e-01 3.99125120e+01] [ 1.98748978e-01 1.18927289e-04 9.80050422e-01 1.29213138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:39.93, Z:12.93 [[ 6.79180112e-01 -7.21021854e-01 -1.37265663e-01 8.67352208e+01] [ 7.06689368e-01 6.92912306e-01 -1.43047801e-01 3.99328154e+01] [ 1.98253658e-01 1.51036535e-04 9.80150736e-01 1.29272838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.75, Y:39.95, Z:12.93 [[ 6.78976468e-01 -7.21168568e-01 -1.37502191e-01 8.67535157e+01] [ 7.06772577e-01 6.92759604e-01 -1.43375922e-01 3.99526304e+01] [ 1.98654172e-01 1.66098926e-04 9.80069636e-01 1.29330091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.530888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:39.97, Z:12.94 [[ 6.78947881e-01 -7.21076709e-01 -1.38123691e-01 8.67720797e+01] [ 7.06531855e-01 6.92855193e-01 -1.44098644e-01 3.99722705e+01] [ 1.99605893e-01 2.46681580e-04 9.79876230e-01 1.29389014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:39.99, Z:12.94 [[ 6.78840111e-01 -7.21159817e-01 -1.38219469e-01 8.67904850e+01] [ 7.06579821e-01 6.92768677e-01 -1.44279299e-01 3.99912176e+01] [ 1.99802551e-01 2.79487486e-04 9.79836141e-01 1.29442041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:40.01, Z:12.95 [[ 6.78579834e-01 -7.21409805e-01 -1.38192991e-01 8.68092750e+01] [ 7.06825663e-01 6.92508359e-01 -1.44324823e-01 4.00108182e+01] [ 1.99817143e-01 2.57561819e-04 9.79833171e-01 1.29495702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:40.03, Z:12.95 [[ 6.78523539e-01 -7.21550638e-01 -1.37733380e-01 8.68277961e+01] [ 7.07050965e-01 6.92361613e-01 -1.43924736e-01 4.00312177e+01] [ 1.99210291e-01 2.71802092e-04 9.79956727e-01 1.29549172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:40.05, Z:12.96 [[ 6.78752113e-01 -7.21401014e-01 -1.37390487e-01 8.68459320e+01] [ 7.06955188e-01 6.92517465e-01 -1.43645126e-01 4.00507824e+01] [ 1.98771051e-01 3.70515023e-04 9.80045883e-01 1.29598145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:40.07, Z:12.97 [[ 6.79156311e-01 -7.21018773e-01 -1.37399543e-01 8.68654334e+01] [ 7.06551902e-01 6.92915332e-01 -1.43710658e-01 4.00708217e+01] [ 1.98824332e-01 5.22091369e-04 9.80035006e-01 1.29654692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:40.09, Z:12.97 [[ 6.80685114e-01 -7.19456392e-01 -1.38022740e-01 8.68851618e+01] [ 7.04808535e-01 6.94536838e-01 -1.44442065e-01 4.00902436e+01] [ 1.99781644e-01 1.03995815e-03 9.79839892e-01 1.29713505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:40.11, Z:12.98 [[ 6.81574837e-01 -7.18557016e-01 -1.38316867e-01 8.69042506e+01] [ 7.03810474e-01 6.95466712e-01 -1.44833937e-01 4.01101517e+01] [ 2.00266218e-01 1.36630711e-03 9.79740565e-01 1.29764153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:40.13, Z:12.98 [[ 6.82447040e-01 -7.17682961e-01 -1.38553980e-01 8.69220411e+01] [ 7.02850617e-01 6.96367956e-01 -1.45164318e-01 4.01299149e+01] [ 2.00666510e-01 1.68420831e-03 9.79658163e-01 1.29813105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:40.15, Z:12.98 [[ 6.83871558e-01 -7.16182170e-01 -1.39293903e-01 8.69391280e+01] [ 7.01148300e-01 6.97910010e-01 -1.45988627e-01 4.01503860e+01] [ 2.01769061e-01 2.17178709e-03 9.79430717e-01 1.29848509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:40.17, Z:12.99 [[ 6.84287329e-01 -7.15687047e-01 -1.39795934e-01 8.69586986e+01] [ 7.00517587e-01 6.98417057e-01 -1.46590331e-01 4.01704667e+01] [ 2.02548666e-01 2.38039554e-03 9.79269305e-01 1.29902636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.98, Y:40.19, Z:13.00 [[ 6.84946780e-01 -7.14957543e-01 -1.40298326e-01 8.69775411e+01] [ 6.99645609e-01 6.99162795e-01 -1.47198531e-01 4.01884094e+01] [ 2.03332070e-01 2.66405225e-03 9.79106211e-01 1.29961994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:40.21, Z:13.00 [[ 6.85915230e-01 -7.14003794e-01 -1.40423932e-01 8.69975836e+01] [ 6.98632142e-01 7.00135439e-01 -1.47388931e-01 4.02063353e+01] [ 2.03552027e-01 2.99164024e-03 9.79059560e-01 1.30039048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:40.23, Z:13.01 [[ 6.86107837e-01 -7.13930158e-01 -1.39856234e-01 8.70156112e+01] [ 6.98664989e-01 7.00210227e-01 -1.46877066e-01 4.02257471e+01] [ 2.02788732e-01 3.06085178e-03 9.79217729e-01 1.30086056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:40.25, Z:13.01 [[ 6.86224268e-01 -7.13997659e-01 -1.38937385e-01 8.70324319e+01] [ 6.98920725e-01 7.00141343e-01 -1.45986029e-01 4.02465441e+01] [ 2.01509490e-01 3.07293800e-03 9.79481742e-01 1.30119135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:40.27, Z:13.02 [[ 6.86080161e-01 -7.14310873e-01 -1.38036184e-01 8.70511401e+01] [ 6.99425699e-01 6.99822098e-01 -1.45095562e-01 4.02668330e+01] [ 2.00244110e-01 3.00113224e-03 9.79741440e-01 1.30162616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.07, Y:40.29, Z:13.02 [[ 6.85688103e-01 -7.14886587e-01 -1.36999978e-01 8.70700536e+01] [ 7.00221399e-01 6.99234539e-01 -1.44086961e-01 4.02864388e+01] [ 1.98800952e-01 2.86839881e-03 9.80035690e-01 1.30211493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:40.30, Z:13.03 [[ 6.84384737e-01 -7.16319991e-01 -1.36026479e-01 8.70910192e+01] [ 7.01876404e-01 6.97767486e-01 -1.43143459e-01 4.03034403e+01] [ 1.97451375e-01 2.49142295e-03 9.80309516e-01 1.30282269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:40.32, Z:13.03 [[ 6.83533181e-01 -7.17136944e-01 -1.36003653e-01 8.71113408e+01] [ 7.02698049e-01 6.96928444e-01 -1.43199846e-01 4.03222792e+01] [ 1.97478714e-01 2.31234471e-03 9.80304448e-01 1.30344043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:40.34, Z:13.04 [[ 6.82449755e-01 -7.18066280e-01 -1.36539918e-01 8.71298711e+01] [ 7.03514136e-01 6.95971528e-01 -1.43845375e-01 4.03412988e+01] [ 1.98318409e-01 2.10947878e-03 9.80135378e-01 1.30391302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:40.36, Z:13.04 [[ 6.81664679e-01 -7.18699647e-01 -1.37127977e-01 8.71486089e+01] [ 7.04021581e-01 6.95317854e-01 -1.44522302e-01 4.03612925e+01] [ 1.99215658e-01 1.97469378e-03 9.79953684e-01 1.30433540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:40.38, Z:13.05 [[ 6.80757561e-01 -7.19250394e-01 -1.38737216e-01 8.71678383e+01] [ 7.04216341e-01 6.94748358e-01 -1.46301278e-01 4.03815590e+01] [ 2.01614705e-01 1.89468697e-03 9.79463078e-01 1.30468902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:40.40, Z:13.05 [[ 6.80279293e-01 -7.19631091e-01 -1.39108505e-01 8.71871258e+01] [ 7.04506540e-01 6.94354152e-01 -1.46774817e-01 4.04008927e+01] [ 2.02214289e-01 1.84501723e-03 9.79339562e-01 1.30522055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:40.42, Z:13.06 [[ 6.80145647e-01 -7.19757837e-01 -1.39106274e-01 8.72071749e+01] [ 7.04619510e-01 6.94222714e-01 -1.46854243e-01 4.04203120e+01] [ 2.02270228e-01 1.86527949e-03 9.79327971e-01 1.30577877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.250888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:87.23, Y:40.44, Z:13.06 [[ 6.80031221e-01 -7.19867192e-01 -1.39099835e-01 8.72276135e+01] [ 7.04715654e-01 6.94109250e-01 -1.46929222e-01 4.04388398e+01] [ 2.02320009e-01 1.89062655e-03 9.79317640e-01 1.30635548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:40.46, Z:13.07 [[ 6.80118163e-01 -7.19849332e-01 -1.38766797e-01 8.72465752e+01] [ 7.04753856e-01 6.94127611e-01 -1.46658997e-01 4.04586389e+01] [ 2.01894246e-01 1.94901211e-03 9.79405388e-01 1.30681744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:40.48, Z:13.07 [[ 6.80385840e-01 -7.19694343e-01 -1.38257591e-01 8.72654552e+01] [ 7.04690789e-01 6.94288031e-01 -1.46201990e-01 4.04792915e+01] [ 2.01211336e-01 2.04491282e-03 9.79545720e-01 1.30731385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:40.50, Z:13.08 [[ 6.80857555e-01 -7.19425652e-01 -1.37330699e-01 8.72840174e+01] [ 7.04602730e-01 6.94566077e-01 -1.45302986e-01 4.04999370e+01] [ 1.99919940e-01 2.16705047e-03 9.79809839e-01 1.30776818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:40.52, Z:13.08 [[ 6.81877417e-01 -7.18665793e-01 -1.36244878e-01 8.73039610e+01] [ 7.04047474e-01 6.95351412e-01 -1.44234422e-01 4.05189590e+01] [ 1.98394413e-01 2.42733283e-03 9.80119260e-01 1.30838441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:40.54, Z:13.09 [[ 6.82032318e-01 -7.18486635e-01 -1.36414340e-01 8.73230059e+01] [ 7.03811768e-01 6.95536128e-01 -1.44493908e-01 4.05368528e+01] [ 1.98698044e-01 2.53949707e-03 9.80057467e-01 1.30902241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:40.56, Z:13.10 [[ 6.82820006e-01 -7.17729131e-01 -1.36461475e-01 8.73427282e+01] [ 7.03017522e-01 6.96316772e-01 -1.44600540e-01 4.05558270e+01] [ 1.98804434e-01 2.80133338e-03 9.80035178e-01 1.30962229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.460888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:40.58, Z:13.10 [[ 6.83177280e-01 -7.17480251e-01 -1.35981230e-01 8.73617142e+01] [ 7.02852068e-01 6.96572727e-01 -1.44171450e-01 4.05767107e+01] [ 1.98160984e-01 2.91997064e-03 9.80165138e-01 1.31006123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49088847899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:87.38, Y:40.60, Z:13.11 [[ 6.83345864e-01 -7.17402102e-01 -1.35545762e-01 8.73803811e+01] [ 7.02850513e-01 6.96652912e-01 -1.43791085e-01 4.05973606e+01] [ 1.97584376e-01 2.99063456e-03 9.80281322e-01 1.31051647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.40, Y:40.62, Z:13.11 [[ 6.84160675e-01 -7.16523164e-01 -1.36083526e-01 8.73989963e+01] [ 7.01820924e-01 6.97555417e-01 -1.44443176e-01 4.06160772e+01] [ 1.98422682e-01 3.31607505e-03 9.80110934e-01 1.31092267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:40.64, Z:13.11 [[ 6.84380640e-01 -7.16191108e-01 -1.36723943e-01 8.74180939e+01] [ 7.01327015e-01 6.97895532e-01 -1.45197265e-01 4.06353684e+01] [ 1.99408018e-01 3.48200232e-03 9.79910362e-01 1.31143521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.580888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:40.66, Z:13.12 [[ 6.84358927e-01 -7.16120141e-01 -1.37203512e-01 8.74375000e+01] [ 7.01132622e-01 6.97967893e-01 -1.45787062e-01 4.06556676e+01] [ 2.00164698e-01 3.57281939e-03 9.79755750e-01 1.31191852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:40.68, Z:13.12 [[ 6.84351512e-01 -7.16082910e-01 -1.37434619e-01 8.74562301e+01] [ 7.01026740e-01 6.98005698e-01 -1.46114872e-01 4.06753669e+01] [ 2.00560510e-01 3.64859065e-03 9.79674522e-01 1.31240955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.640888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:40.69, Z:13.13 [[ 6.83472563e-01 -7.16925965e-01 -1.37413305e-01 8.74750175e+01] [ 7.01874870e-01 6.97140733e-01 -1.46172724e-01 4.06948360e+01] [ 2.00591434e-01 3.45810097e-03 9.79668882e-01 1.31286276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.670888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:40.71, Z:13.13 [[ 6.82506826e-01 -7.17810298e-01 -1.37596541e-01 8.74943378e+01] [ 7.02724549e-01 6.96231178e-01 -1.46425253e-01 4.07147735e+01] [ 2.00904556e-01 3.24376760e-03 9.79605450e-01 1.31337938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.51, Y:40.73, Z:13.14 [[ 6.79724646e-01 -7.20566826e-01 -1.36959321e-01 8.75144680e+01] [ 7.05660459e-01 6.93381076e-01 -1.45828671e-01 4.07332046e+01] [ 2.00044303e-01 2.47656423e-03 9.79783723e-01 1.31402326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:40.75, Z:13.15 [[ 6.77926652e-01 -7.22379934e-01 -1.36318323e-01 8.75332989e+01] [ 7.07634107e-01 6.91493510e-01 -1.45226366e-01 4.07512119e+01] [ 1.99171848e-01 1.98932889e-03 9.79962559e-01 1.31462335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.55, Y:40.77, Z:13.15 [[ 6.75664290e-01 -7.24661460e-01 -1.35438309e-01 8.75525504e+01] [ 7.10138005e-01 6.89103707e-01 -1.44360987e-01 4.07701454e+01] [ 1.97943884e-01 1.35967372e-03 9.80212411e-01 1.31523262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.57, Y:40.79, Z:13.16 [[ 6.73274279e-01 -7.26989380e-01 -1.34863585e-01 8.75708764e+01] [ 7.12620306e-01 6.86648316e-01 -1.43827641e-01 4.07890635e+01] [ 1.97165021e-01 7.28922048e-04 9.80370044e-01 1.31571267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:40.81, Z:13.16 [[ 6.68763509e-01 -7.31354819e-01 -1.33699283e-01 8.75900376e+01] [ 7.17306875e-01 6.81996979e-01 -1.42656819e-01 4.08093465e+01] [ 1.95515259e-01 -4.99740005e-04 9.80700532e-01 1.31612256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:40.83, Z:13.17 [[ 6.66832914e-01 -7.33196257e-01 -1.33255817e-01 8.76090665e+01] [ 7.19262864e-01 6.80016387e-01 -1.42262594e-01 4.08293712e+01] [ 1.94922540e-01 -9.80580370e-04 9.80818149e-01 1.31660248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:40.85, Z:13.17 [[ 6.65095887e-01 -7.34827677e-01 -1.32950162e-01 8.76282936e+01] [ 7.20975016e-01 6.78252407e-01 -1.42016546e-01 4.08493169e+01] [ 1.94531456e-01 -1.39912455e-03 9.80895282e-01 1.31712803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:40.87, Z:13.18 [[ 6.62022511e-01 -7.37475308e-01 -1.33627712e-01 8.76472656e+01] [ 7.23516776e-01 6.75370734e-01 -1.42821032e-01 4.08674716e+01] [ 1.95575230e-01 -2.13115272e-03 9.80686386e-01 1.31766718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:40.89, Z:13.18 [[ 6.60600273e-01 -7.38682773e-01 -1.33996420e-01 8.76658500e+01] [ 7.24656331e-01 6.74048798e-01 -1.43287891e-01 4.08871095e+01] [ 1.96164423e-01 -2.44533394e-03 9.80567968e-01 1.31818057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:40.91, Z:13.19 [[ 6.59001318e-01 -7.39989916e-01 -1.34655808e-01 8.76838865e+01] [ 7.25836006e-01 6.72612142e-01 -1.44065955e-01 4.09077306e+01] [ 1.97178486e-01 -2.79837942e-03 9.80363613e-01 1.31859918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:40.93, Z:13.19 [[ 6.58791155e-01 -7.40178698e-01 -1.34646605e-01 8.77019094e+01] [ 7.26014734e-01 6.72404381e-01 -1.44135195e-01 4.09286215e+01] [ 1.97222768e-01 -2.80042714e-03 9.80354700e-01 1.31904241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:40.95, Z:13.19 [[ 6.58643310e-01 -7.40917007e-01 -1.31266826e-01 8.77201892e+01] [ 7.26004072e-01 6.71593229e-01 -1.47920998e-01 4.09531624e+01] [ 1.97755094e-01 2.12692560e-03 9.80249151e-01 1.31925339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.74, Y:40.97, Z:13.20 [[ 6.59409682e-01 -7.38815218e-01 -1.39035771e-01 8.77391165e+01] [ 7.25328536e-01 6.73860173e-01 -1.40751488e-01 4.09693794e+01] [ 1.97680010e-01 -8.03371829e-03 9.80233683e-01 1.32018475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:40.99, Z:13.20 [[ 6.61315349e-01 -7.37835233e-01 -1.35133924e-01 8.77555008e+01] [ 7.23478233e-01 6.74977992e-01 -1.44858402e-01 4.09932302e+01] [ 1.98094058e-01 -1.96936776e-03 9.80181037e-01 1.32040705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:41.01, Z:13.21 [[ 6.62344028e-01 -7.36996936e-01 -1.34669618e-01 8.77738059e+01] [ 7.22706237e-01 6.75894052e-01 -1.44440042e-01 4.10140832e+01] [ 1.97474262e-01 -1.65757346e-03 9.80306671e-01 1.32104153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:41.04, Z:13.22 [[ 6.64765231e-01 -7.35127755e-01 -1.32944992e-01 8.77912150e+01] [ 7.21151714e-01 6.77927811e-01 -1.42667759e-01 4.10356255e+01] [ 1.95006137e-01 -1.03294344e-03 9.80801478e-01 1.32177388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:41.06, Z:13.22 [[ 6.65952861e-01 -7.34119556e-01 -1.32571732e-01 8.78087523e+01] [ 7.20187085e-01 6.79019893e-01 -1.42346579e-01 4.10569615e+01] [ 1.94518250e-01 -6.80337694e-04 9.80898663e-01 1.32235121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:41.08, Z:13.23 [[ 6.67270789e-01 -7.32905094e-01 -1.32664306e-01 8.78265364e+01] [ 7.18913268e-01 6.80330839e-01 -1.42526006e-01 4.10787586e+01] [ 1.94713654e-01 -2.70689041e-04 9.80860092e-01 1.32286644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.84, Y:41.10, Z:13.23 [[ 6.70018351e-01 -7.30335417e-01 -1.32987170e-01 8.78432486e+01] [ 7.16208465e-01 6.83088495e-01 -1.42952937e-01 4.11014030e+01] [ 1.95245599e-01 5.34554375e-04 9.80754235e-01 1.32330302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:41.12, Z:13.24 [[ 6.70963781e-01 -7.29443529e-01 -1.33115522e-01 8.78610281e+01] [ 7.15255744e-01 6.84040506e-01 -1.43170551e-01 4.11223630e+01] [ 1.95491241e-01 8.50612406e-04 9.80705079e-01 1.32382210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:41.14, Z:13.24 [[ 6.70778789e-01 -7.29620836e-01 -1.33076109e-01 8.78800715e+01] [ 7.15429241e-01 6.83851377e-01 -1.43207177e-01 4.11430086e+01] [ 1.95491220e-01 8.53796964e-04 9.80705080e-01 1.32435909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:41.16, Z:13.25 [[ 6.72020240e-01 -7.28485701e-01 -1.33031500e-01 8.78974163e+01] [ 7.14266803e-01 6.85059892e-01 -1.43233648e-01 4.11645152e+01] [ 1.95478209e-01 1.23592603e-03 9.80707266e-01 1.32481068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:41.19, Z:13.25 [[ 6.72110255e-01 -7.28443240e-01 -1.32809079e-01 8.79155010e+01] [ 7.14255587e-01 6.85104920e-01 -1.43074125e-01 4.11856464e+01] [ 1.95209532e-01 1.30196019e-03 9.80760696e-01 1.32530145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.390888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.93, Y:41.21, Z:13.26 [[ 6.71922520e-01 -7.28742523e-01 -1.32115339e-01 8.79330068e+01] [ 7.14694239e-01 6.84786638e-01 -1.42405780e-01 4.12065180e+01] [ 1.94247966e-01 1.26357915e-03 9.80951646e-01 1.32581756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.95, Y:41.23, Z:13.27 [[ 6.72050813e-01 -7.28881273e-01 -1.30689691e-01 8.79504028e+01] [ 7.15124546e-01 6.84638949e-01 -1.40948196e-01 4.12274574e+01] [ 1.92209753e-01 1.26494394e-03 9.81353051e-01 1.32654262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:41.25, Z:13.27 [[ 6.72177212e-01 -7.28835681e-01 -1.30293304e-01 8.79688581e+01] [ 7.15146760e-01 6.84687361e-01 -1.40599890e-01 4.12478347e+01] [ 1.91684395e-01 1.32920839e-03 9.81455718e-01 1.32719988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:41.27, Z:13.28 [[ 6.72304668e-01 -7.28731562e-01 -1.30218062e-01 8.79873729e+01] [ 7.15041148e-01 6.84798009e-01 -1.40598167e-01 4.12686596e+01] [ 1.91631391e-01 1.41353120e-03 9.81465950e-01 1.32785440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:41.29, Z:13.28 [[ 6.72603457e-01 -7.28308646e-01 -1.31038569e-01 8.80043500e+01] [ 7.14419755e-01 6.85247369e-01 -1.41564322e-01 4.12909676e+01] [ 1.92896354e-01 1.60010980e-03 9.81217833e-01 1.32841833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:41.31, Z:13.29 [[ 6.72379706e-01 -7.28376348e-01 -1.31808297e-01 8.80205225e+01] [ 7.14307582e-01 6.85175295e-01 -1.42476287e-01 4.13122018e+01] [ 1.94088146e-01 1.64649840e-03 9.80982712e-01 1.32882176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:41.33, Z:13.29 [[ 6.71936227e-01 -7.28667708e-01 -1.32457836e-01 8.80373575e+01] [ 7.14449643e-01 6.84865492e-01 -1.43251405e-01 4.13340679e+01] [ 1.95098474e-01 1.62135492e-03 9.80782319e-01 1.32917102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:41.36, Z:13.30 [[ 6.70282898e-01 -7.29968164e-01 -1.33668684e-01 8.80542761e+01] [ 7.15495633e-01 6.83479890e-01 -1.44641761e-01 4.13555034e+01] [ 1.96943738e-01 1.31153928e-03 9.80413915e-01 1.32955037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:41.38, Z:13.30 [[ 6.68661560e-01 -7.31468555e-01 -1.33586947e-01 8.80734613e+01] [ 7.17032165e-01 6.81874569e-01 -1.44609634e-01 4.13757908e+01] [ 1.96866942e-01 9.08765885e-04 9.80429794e-01 1.33014765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:41.39, Z:13.31 [[ 6.66915654e-01 -7.33094169e-01 -1.33403337e-01 8.80920664e+01] [ 7.18713646e-01 6.80126977e-01 -1.44492182e-01 4.13947348e+01] [ 1.96657585e-01 4.85299264e-04 9.80472110e-01 1.33082578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:41.41, Z:13.31 [[ 6.64819904e-01 -7.35096125e-01 -1.32846458e-01 8.81106108e+01] [ 7.20861456e-01 6.77962892e-01 -1.43962073e-01 4.14144928e+01] [ 1.95890932e-01 -5.50395669e-05 9.80625688e-01 1.33146810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:41.44, Z:13.32 [[ 6.61026047e-01 -7.38608819e-01 -1.32293527e-01 8.81281117e+01] [ 7.24546986e-01 6.74133476e-01 -1.43442400e-01 4.14354992e+01] [ 1.95131316e-01 -1.03371333e-03 9.80776580e-01 1.33210788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:41.46, Z:13.33 [[ 6.59498553e-01 -7.40004061e-01 -1.32119827e-01 8.81457912e+01] [ 7.25991170e-01 6.72600967e-01 -1.43334436e-01 4.14568961e+01] [ 1.94931988e-01 -1.38897445e-03 9.80815778e-01 1.33263717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:41.48, Z:13.33 [[ 6.57152588e-01 -7.42032285e-01 -1.32433245e-01 8.81629357e+01] [ 7.27976651e-01 6.70361342e-01 -1.43755582e-01 4.14776161e+01] [ 1.95449411e-01 -1.93895738e-03 9.80711868e-01 1.33316194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:41.50, Z:13.34 [[ 6.56329651e-01 -7.42658902e-01 -1.33000545e-01 8.81810339e+01] [ 7.28479355e-01 6.69666642e-01 -1.44445209e-01 4.14978644e+01] [ 1.96339549e-01 -2.08447772e-03 9.80533751e-01 1.33377997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:41.52, Z:13.34 [[ 6.55673079e-01 -7.43206192e-01 -1.33181714e-01 8.81990687e+01] [ 7.28982599e-01 6.69058840e-01 -1.44722627e-01 4.15183750e+01] [ 1.96665156e-01 -2.19642148e-03 9.80468251e-01 1.33429279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:41.54, Z:13.35 [[ 6.55576473e-01 -7.43251013e-01 -1.33406968e-01 8.82152789e+01] [ 7.28963263e-01 6.69009174e-01 -1.45049257e-01 4.15392413e+01] [ 1.97058493e-01 -2.15789860e-03 9.80389358e-01 1.33481924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:41.56, Z:13.35 [[ 6.55776609e-01 -7.43126638e-01 -1.33115887e-01 8.82327387e+01] [ 7.28887793e-01 6.69147583e-01 -1.44789840e-01 4.15604847e+01] [ 1.96671361e-01 -2.07675526e-03 9.80467268e-01 1.33533648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:88.25, Y:41.58, Z:13.36 [[ 6.56005704e-01 -7.43017046e-01 -1.32597834e-01 8.82505620e+01] [ 7.28871701e-01 6.69269561e-01 -1.44306266e-01 4.15819247e+01] [ 1.95965710e-01 -1.98107529e-03 9.80608748e-01 1.33588243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.960888479 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:88.27, Y:41.60, Z:13.37 [[ 6.56748581e-01 -7.42481455e-01 -1.31918876e-01 8.82683029e+01] [ 7.28455253e-01 6.69864317e-01 -1.43647972e-01 4.16031664e+01] [ 1.95023704e-01 -1.75639659e-03 9.80796957e-01 1.33658621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:41.62, Z:13.37 [[ 6.57028134e-01 -7.42293005e-01 -1.31586954e-01 8.82863135e+01] [ 7.28318345e-01 6.70073429e-01 -1.43366622e-01 4.16243305e+01] [ 1.94592962e-01 -1.64128808e-03 9.80882707e-01 1.33716038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:41.65, Z:13.37 [[ 6.57858603e-01 -7.41488743e-01 -1.31971599e-01 8.83032297e+01] [ 7.27399502e-01 6.70963944e-01 -1.43865739e-01 4.16452980e+01] [ 1.95223010e-01 -1.35276132e-03 9.80757945e-01 1.33741429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:41.67, Z:13.38 [[ 6.60006429e-01 -7.39748470e-01 -1.31010359e-01 8.83196204e+01] [ 7.25817568e-01 6.72883043e-01 -1.42889009e-01 4.16668644e+01] [ 1.93856575e-01 -7.81955719e-04 9.81029570e-01 1.33812160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:41.69, Z:13.39 [[ 6.61233877e-01 -7.38708057e-01 -1.30691111e-01 8.83362400e+01] [ 7.24809376e-01 6.74025393e-01 -1.42622359e-01 4.16885447e+01] [ 1.93445414e-01 -4.19407280e-04 9.81110950e-01 1.33863802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.110888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.35, Y:41.71, Z:13.39 [[ 6.63664037e-01 -7.36435066e-01 -1.31199997e-01 8.83514621e+01] [ 7.22366477e-01 6.76508169e-01 -1.43259799e-01 4.17121221e+01] [ 1.94259410e-01 3.01897132e-04 9.80950147e-01 1.33907047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.140888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.37, Y:41.73, Z:13.40 [[ 6.64645806e-01 -7.35444201e-01 -1.31786873e-01 8.83691752e+01] [ 7.21212350e-01 6.77584978e-01 -1.43983832e-01 4.17336468e+01] [ 1.95188879e-01 6.51929339e-04 9.80765454e-01 1.33957841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.170888479 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.39, Y:41.75, Z:13.40 [[ 6.65750279e-01 -7.34437380e-01 -1.31826786e-01 8.83869482e+01] [ 7.20160585e-01 6.78675713e-01 -1.44111097e-01 4.17545868e+01] [ 1.95308214e-01 1.00554742e-03 9.80741398e-01 1.34010853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.40, Y:41.78, Z:13.41 [[ 6.68176718e-01 -7.32308504e-01 -1.31393029e-01 8.84034546e+01] [ 7.18069055e-01 6.80970946e-01 -1.43719879e-01 4.17763167e+01] [ 1.94722125e-01 1.68100868e-03 9.80857007e-01 1.34069240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.230888479 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.42, Y:41.80, Z:13.41 [[ 6.69284495e-01 -7.31309554e-01 -1.31318700e-01 8.84197935e+01] [ 7.17050834e-01 6.82042683e-01 -1.43721534e-01 4.17968787e+01] [ 1.94669890e-01 2.02841042e-03 9.80866719e-01 1.34116364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.260888479 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:88.44, Y:41.82, Z:13.42 [[ 6.70418348e-01 -7.30322810e-01 -1.31026070e-01 8.84372881e+01] [ 7.16100082e-01 6.83098165e-01 -1.43448841e-01 4.18181692e+01] [ 1.94267629e-01 2.34295610e-03 9.80945768e-01 1.34163248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.290888479 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.45, Y:41.84, Z:13.42 [[ 6.71490027e-01 -7.29453202e-01 -1.30380864e-01 8.84539971e+01] [ 7.15339190e-01 6.84025632e-01 -1.42824292e-01 4.18386710e+01] [ 1.93367490e-01 2.63854613e-03 9.81122853e-01 1.34213492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.320888479 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.47, Y:41.86, Z:13.43 [[ 6.73530434e-01 -7.27656032e-01 -1.29897857e-01 8.84699884e+01] [ 7.13603285e-01 6.85934817e-01 -1.42350898e-01 4.18599020e+01] [ 1.92683952e-01 3.18212431e-03 9.81255710e-01 1.34267731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35088847899999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:88.49, Y:41.88, Z:13.43 [[ 6.74459609e-01 -7.26695412e-01 -1.30453108e-01 8.84874814e+01] [ 7.12494204e-01 6.86950870e-01 -1.43005284e-01 4.18807983e+01] [ 1.93536160e-01 3.50420507e-03 9.81086885e-01 1.34311076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38088847899999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:88.51, Y:41.90, Z:13.44 [[ 6.75221210e-01 -7.25914373e-01 -1.30861152e-01 8.85053016e+01] [ 7.11597722e-01 6.87774701e-01 -1.43508335e-01 4.19022672e+01] [ 1.94177753e-01 3.77937377e-03 9.80959080e-01 1.34351865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.410888479 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:88.52, Y:41.92, Z:13.44 [[ 6.76880933e-01 -7.24313724e-01 -1.31155756e-01 8.85225711e+01] [ 7.09885902e-01 6.89457095e-01 -1.43912889e-01 4.19227042e+01] [ 1.94664347e-01 4.30626879e-03 9.80860463e-01 1.34409919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.440888479 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:88.54, Y:41.94, Z:13.45 [[ 6.77046056e-01 -7.24209702e-01 -1.30877598e-01 8.85406670e+01] [ 7.09827221e-01 6.89565907e-01 -1.43680815e-01 4.19426986e+01] [ 1.94303770e-01 4.37804714e-03 9.80931638e-01 1.34469840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.470888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:88.56, Y:41.96, Z:13.45 [[ 6.76807651e-01 -7.24316539e-01 -1.31517885e-01 8.85587547e+01] [ 7.09777435e-01 6.89453377e-01 -1.44464648e-01 4.19635674e+01] [ 1.95313584e-01 4.42635214e-03 9.80730856e-01 1.34524934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.500888479 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.58, Y:41.99, Z:13.46 [[ 6.76396908e-01 -7.24635650e-01 -1.31872660e-01 8.85765361e+01] [ 7.10006408e-01 6.89118108e-01 -1.44938376e-01 4.19852026e+01] [ 1.95903352e-01 4.40543590e-03 9.80613313e-01 1.34571653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.530888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:88.59, Y:42.01, Z:13.46 [[ 6.76564386e-01 -7.24439468e-01 -1.32091213e-01 8.85936336e+01] [ 7.09740590e-01 6.89323540e-01 -1.45263046e-01 4.20060844e+01] [ 1.96287866e-01 4.52930822e-03 9.80535853e-01 1.34609525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.560888479 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:88.61, Y:42.03, Z:13.46 [[ 6.76715286e-01 -7.25350707e-01 -1.26185476e-01 8.86081945e+01] [ 7.09058343e-01 6.88228074e-01 -1.53552544e-01 4.20293567e+01] [ 1.98223833e-01 1.44384887e-02 9.80050428e-01 1.34620523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.590888479 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:88.63, Y:42.04, Z:13.47 [[ 6.76194493e-01 -7.23495402e-01 -1.38979892e-01 8.86320105e+01] [ 7.09955809e-01 6.90315055e-01 -1.39383908e-01 4.20446301e+01] [ 1.96783528e-01 -4.41895024e-03 9.80437003e-01 1.34737556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.620888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:88.65, Y:42.07, Z:13.48 [[ 6.75931319e-01 -7.25098190e-01 -1.31717373e-01 8.86485186e+01] [ 7.10465913e-01 6.88631245e-01 -1.45000672e-01 4.20679106e+01] [ 1.95844424e-01 4.42979142e-03 9.80624974e-01 1.34750980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.650888479 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:88.67, Y:42.09, Z:13.48 [[ 6.75656933e-01 -7.25585815e-01 -1.30433639e-01 8.86658310e+01] [ 7.11232838e-01 6.88118238e-01 -1.43670251e-01 4.20879804e+01] [ 1.93998862e-01 4.30311377e-03 9.80992316e-01 1.34796104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.680888479 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.68, Y:42.11, Z:13.48 [[ 6.75145474e-01 -7.26163709e-01 -1.29864762e-01 8.86837300e+01] [ 7.11936136e-01 6.87509253e-01 -1.43101245e-01 4.21084505e+01] [ 1.93198156e-01 4.15874103e-03 9.81150945e-01 1.34849883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710888479 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:88.70, Y:42.13, Z:13.49 [[ 6.74930305e-01 -7.26487472e-01 -1.29170570e-01 8.87020578e+01] [ 7.12402769e-01 6.87167470e-01 -1.42418970e-01 4.21288126e+01] [ 1.92227411e-01 4.10140716e-03 9.81341837e-01 1.34899678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74088847899999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:88.72, Y:42.15, Z:13.49 [[ 6.74222401e-01 -7.27213835e-01 -1.28779630e-01 8.87203500e+01] [ 7.13212139e-01 6.86399678e-01 -1.42070152e-01 4.21492415e+01] [ 1.91709677e-01 3.93968363e-03 9.81443773e-01 1.34948474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77088847899999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:88.74, Y:42.17, Z:13.50 [[ 6.72746731e-01 -7.28621614e-01 -1.28539405e-01 8.87391460e+01] [ 7.14681856e-01 6.84907042e-01 -1.41887943e-01 4.21684154e+01] [ 1.91420166e-01 3.58986940e-03 9.81501621e-01 1.34996167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.800888479 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.76, Y:42.19, Z:13.50 [[ 6.71731010e-01 -7.29553197e-01 -1.28567427e-01 8.87583827e+01] [ 7.15613083e-01 6.83915791e-01 -1.41975723e-01 4.21889179e+01] [ 1.91508136e-01 3.36496304e-03 9.81485258e-01 1.35045606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.830888479 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:88.76, Y:42.22, Z:13.48 [[ 6.68713836e-01 -7.37064501e-01 -9.77636221e-02 8.87630437e+01] [ 7.20881182e-01 6.74923124e-01 -1.57509043e-01 4.22229703e+01] [ 1.82077253e-01 3.48525207e-02 9.82666360e-01 1.34830424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.860888479 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:88.80, Y:42.22, Z:13.52 [[ 6.70496145e-01 -7.26554979e-01 -1.50175837e-01 8.88028384e+01] [ 7.17006296e-01 6.86580987e-01 -1.20451313e-01 4.22210103e+01] [ 1.90622376e-01 -2.69148799e-02 9.81294400e-01 1.35247726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.890888479 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:88.81, Y:42.25, Z:13.52 [[ 6.69855460e-01 -7.32247279e-01 -1.22912921e-01 8.88129038e+01] [ 7.17647663e-01 6.80973205e-01 -1.45798919e-01 4.22548675e+01] [ 1.90461268e-01 9.45603151e-03 9.81649168e-01 1.35155347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.920888479 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.83, Y:42.27, Z:13.52 [[ 6.70039950e-01 -7.31203923e-01 -1.28012841e-01 8.88325535e+01] [ 7.17569252e-01 6.82154973e-01 -1.40566575e-01 4.22718029e+01] [ 1.90107428e-01 2.32714240e-03 9.81760536e-01 1.35234273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.950888479 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:88.85, Y:42.29, Z:13.53 [[ 6.69977506e-01 -7.31718858e-01 -1.25370069e-01 8.88513737e+01] [ 7.17471799e-01 6.81576377e-01 -1.43832749e-01 4.22935868e+01] [ 1.90694412e-01 6.41521756e-03 9.81628487e-01 1.35272288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.980888479 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.87, Y:42.31, Z:13.54 [[ 6.70326610e-01 -7.29859220e-01 -1.34043857e-01 8.88736570e+01] [ 7.17717568e-01 6.83559499e-01 -1.32770119e-01 4.23074241e+01] [ 1.88530447e-01 -7.20628705e-03 9.82040905e-01 1.35376563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.010888479 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:88.89, Y:42.34, Z:13.53 [[ 6.69498720e-01 -7.32918461e-01 -1.20838707e-01 8.88886427e+01] [ 7.18220405e-01 6.80222992e-01 -1.46479114e-01 4.23354571e+01] [ 1.89554513e-01 1.12787544e-02 9.81805417e-01 1.35348093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.040888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:88.91, Y:42.35, Z:13.55 [[ 6.69833595e-01 -7.30639409e-01 -1.32246015e-01 8.89100152e+01] [ 7.18467279e-01 6.82737496e-01 -1.32944650e-01 4.23500450e+01] [ 1.87423913e-01 -5.96364173e-03 9.82261020e-01 1.35453687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070888479 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:88.93, Y:42.37, Z:13.54 [[ 6.69921451e-01 -7.31709498e-01 -1.25723748e-01 8.89257207e+01] [ 7.18320928e-01 6.81609770e-01 -1.39367019e-01 4.23748184e+01] [ 1.87670707e-01 3.05495565e-03 9.82227251e-01 1.35436596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10088847899999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.94, Y:42.39, Z:13.55 [[ 6.70023286e-01 -7.31595510e-01 -1.25844372e-01 8.89445725e+01] [ 7.18163824e-01 6.81731706e-01 -1.39580097e-01 4.23943814e+01] [ 1.87908270e-01 3.14504008e-03 9.82181547e-01 1.35485598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13088847899999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.96, Y:42.41, Z:13.55 [[ 6.70248722e-01 -7.31471971e-01 -1.25361105e-01 8.89642293e+01] [ 7.18127100e-01 6.81863900e-01 -1.39122573e-01 4.24138295e+01] [ 1.87243474e-01 3.22152043e-03 9.82308253e-01 1.35541262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.160888479 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.98, Y:42.43, Z:13.56 [[ 6.70946534e-01 -7.30811663e-01 -1.25479328e-01 8.89843846e+01] [ 7.17414705e-01 6.82570370e-01 -1.39333525e-01 4.24327230e+01] [ 1.87475036e-01 3.46463061e-03 9.82263258e-01 1.35608023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.190888479 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:89.00, Y:42.45, Z:13.57 [[ 6.70752673e-01 -7.30996499e-01 -1.25439111e-01 8.90030979e+01] [ 7.17595979e-01 6.82372399e-01 -1.39369722e-01 4.24536533e+01] [ 1.87474966e-01 3.46801145e-03 9.82263259e-01 1.35661876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.220888479 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:89.02, Y:42.47, Z:13.57 [[ 6.71095374e-01 -7.30678053e-01 -1.25461480e-01 8.90206920e+01] [ 7.17252673e-01 6.82712639e-01 -1.39470627e-01 4.24739376e+01] [ 1.87562264e-01 3.61051140e-03 9.82246080e-01 1.35702261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.250888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:89.04, Y:42.50, Z:13.57 [[ 6.71106323e-01 -7.30587384e-01 -1.25930051e-01 8.90387376e+01] [ 7.17050371e-01 6.82809287e-01 -1.40036580e-01 4.24957259e+01] [ 1.88295166e-01 3.68124460e-03 9.82105584e-01 1.35740315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.280888479 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:89.05, Y:42.52, Z:13.57 [[ 6.69690227e-01 -7.33156334e-01 -1.18308032e-01 8.90519925e+01] [ 7.18836576e-01 6.79956935e-01 -1.44680831e-01 4.25208244e+01] [ 1.86518035e-01 1.18471983e-02 9.82380103e-01 1.35709911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.310888479 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:89.08, Y:42.53, Z:13.58 [[ 6.70199832e-01 -7.30564722e-01 -1.30795152e-01 8.90779732e+01] [ 7.18066156e-01 6.82833407e-01 -1.34608819e-01 4.25344834e+01] [ 1.87651754e-01 -3.70476412e-03 9.82228636e-01 1.35845698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.340888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:89.10, Y:42.56, Z:13.59 [[ 6.69126188e-01 -7.32563753e-01 -1.24981968e-01 8.90955991e+01] [ 7.19232088e-01 6.80690792e-01 -1.39159082e-01 4.25556683e+01] [ 1.87016974e-01 3.22394392e-03 9.82351392e-01 1.35876004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:42.57, Z:13.59 [[ 6.67411787e-01 -7.34287223e-01 -1.24031372e-01 8.91155500e+01] [ 7.21173644e-01 6.78833243e-01 -1.38181055e-01 4.25731510e+01] [ 1.85661201e-01 2.77550812e-03 9.82609900e-01 1.35934916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.400888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.13, Y:42.59, Z:13.60 [[ 6.66644534e-01 -7.35059935e-01 -1.23579764e-01 8.91338443e+01] [ 7.22047545e-01 6.77997222e-01 -1.37721133e-01 4.25937951e+01] [ 1.85020023e-01 2.58057515e-03 9.82731363e-01 1.35991282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.15, Y:42.62, Z:13.60 [[ 6.65912721e-01 -7.35873800e-01 -1.22678434e-01 8.91514728e+01] [ 7.23051304e-01 6.77114492e-01 -1.36794647e-01 4.26153889e+01] [ 1.83730942e-01 2.39049350e-03 9.82973665e-01 1.36035519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.460888479 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:89.17, Y:42.64, Z:13.61 [[ 6.64985461e-01 -7.36829253e-01 -1.21971259e-01 8.91683009e+01] [ 7.24156741e-01 6.76075403e-01 -1.36084766e-01 4.26373212e+01] [ 1.82733004e-01 2.16808189e-03 9.83160185e-01 1.36070853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49088847899999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:89.19, Y:42.66, Z:13.61 [[ 6.64343766e-01 -7.37367326e-01 -1.22216153e-01 8.91864662e+01] [ 7.24637178e-01 6.75488784e-01 -1.36439959e-01 4.26562669e+01] [ 1.83162008e-01 2.08066809e-03 9.83080541e-01 1.36120960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52088847899999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:89.20, Y:42.68, Z:13.61 [[ 6.62684460e-01 -7.39756857e-01 -1.16658039e-01 8.92037228e+01] [ 7.25122020e-01 6.72752362e-01 -1.46977262e-01 4.26798651e+01] [ 1.87209408e-01 1.28082346e-02 9.82236523e-01 1.36137853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:42.69, Z:13.63 [[ 6.61170334e-01 -7.38426035e-01 -1.32592533e-01 8.92301523e+01] [ 7.26676501e-01 6.74269201e-01 -1.31538236e-01 4.26911210e+01] [ 1.86534319e-01 -9.38269833e-03 9.82403640e-01 1.36280884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.580888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.25, Y:42.71, Z:13.63 [[ 6.59766246e-01 -7.41042352e-01 -1.24758698e-01 8.92452464e+01] [ 7.27808136e-01 6.71457233e-01 -1.39429198e-01 4.27149700e+01] [ 1.87093071e-01 1.19028356e-03 9.82341471e-01 1.36283399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:42.74, Z:13.63 [[ 6.57881887e-01 -7.42828053e-01 -1.24088300e-01 8.92626221e+01] [ 7.29754807e-01 6.69481855e-01 -1.38751462e-01 4.27368577e+01] [ 1.86143344e-01 7.28040001e-04 9.82522328e-01 1.36311209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.640888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:89.28, Y:42.76, Z:13.64 [[ 6.57023149e-01 -7.43680399e-01 -1.23531557e-01 8.92807102e+01] [ 7.30725298e-01 6.68535096e-01 -1.38207688e-01 4.27576288e+01] [ 1.85367529e-01 5.38016557e-04 9.82669115e-01 1.36363769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.670888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:89.30, Y:42.78, Z:13.64 [[ 6.56583368e-01 -7.44178874e-01 -1.22866120e-01 8.92985990e+01] [ 7.31357644e-01 6.67980239e-01 -1.37544164e-01 4.27769964e+01] [ 1.84429601e-01 4.50134709e-04 9.82845623e-01 1.36420635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.700888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:89.32, Y:42.80, Z:13.65 [[ 6.55699648e-01 -7.45071818e-01 -1.22171835e-01 8.93180820e+01] [ 7.32403696e-01 6.66984209e-01 -1.36809693e-01 4.27962336e+01] [ 1.83419732e-01 2.26963809e-04 9.83034664e-01 1.36482184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.730888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:89.34, Y:42.82, Z:13.65 [[ 6.55377090e-01 -7.45304651e-01 -1.22482023e-01 8.93375091e+01] [ 7.32560974e-01 6.66724029e-01 -1.37235159e-01 4.28161004e+01] [ 1.83943710e-01 2.15228908e-04 9.82936756e-01 1.36542198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.760888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.36, Y:42.84, Z:13.66 [[ 6.55172126e-01 -7.45437279e-01 -1.22771121e-01 8.93565851e+01] [ 7.32620248e-01 6.66575734e-01 -1.37638522e-01 4.28359290e+01] [ 1.84437136e-01 2.32313881e-04 9.82844285e-01 1.36602292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.790888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:89.37, Y:42.86, Z:13.67 [[ 6.56018304e-01 -7.44746064e-01 -1.22447071e-01 8.93737460e+01] [ 7.31970281e-01 6.67347788e-01 -1.37355152e-01 4.28560773e+01] [ 1.84009491e-01 4.79876888e-04 9.82924350e-01 1.36652422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.820888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:89.39, Y:42.88, Z:13.67 [[ 6.57087979e-01 -7.43912799e-01 -1.21774940e-01 8.93913912e+01] [ 7.31250697e-01 6.68276271e-01 -1.36672030e-01 4.28777976e+01] [ 1.83051375e-01 7.57538244e-04 9.83103057e-01 1.36697756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.41, Y:42.90, Z:13.67 [[ 6.59820339e-01 -7.41545526e-01 -1.21438685e-01 8.94080570e+01] [ 7.28899581e-01 6.70900953e-01 -1.36371961e-01 4.28994135e+01] [ 1.82599347e-01 1.46438683e-03 9.83186317e-01 1.36737114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:42.92, Z:13.68 [[ 6.61113353e-01 -7.40333269e-01 -1.21802238e-01 8.94262921e+01] [ 7.27577452e-01 6.72237472e-01 -1.36849673e-01 4.29200336e+01] [ 1.83194394e-01 1.85258403e-03 9.83074962e-01 1.36790259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:42.94, Z:13.68 [[ 6.62285212e-01 -7.39174902e-01 -1.22469430e-01 8.94455348e+01] [ 7.26243012e-01 6.73509795e-01 -1.37679495e-01 4.29404468e+01] [ 1.84253588e-01 2.24052550e-03 9.82876185e-01 1.36844782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.940888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:89.46, Y:42.96, Z:13.69 [[ 6.63234454e-01 -7.38224984e-01 -1.23060681e-01 8.94644715e+01] [ 7.25135441e-01 6.74549669e-01 -1.38424478e-01 4.29610555e+01] [ 1.85198950e-01 2.57222193e-03 9.82697681e-01 1.36899012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.48, Y:42.98, Z:13.69 [[ 6.64720103e-01 -7.36692299e-01 -1.24224159e-01 8.94825173e+01] [ 7.23309729e-01 6.76221073e-01 -1.39814509e-01 4.29807515e+01] [ 1.87003266e-01 3.08497187e-03 9.82354448e-01 1.36942908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.000888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.50, Y:43.00, Z:13.70 [[ 6.65168660e-01 -7.36260897e-01 -1.24380645e-01 8.95005023e+01] [ 7.22822998e-01 6.76689930e-01 -1.40063031e-01 4.30012547e+01] [ 1.87290062e-01 3.26034808e-03 9.82299243e-01 1.36991182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.030888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:43.02, Z:13.70 [[ 6.65911619e-01 -7.35692929e-01 -1.23764414e-01 8.95185813e+01] [ 7.22364188e-01 6.77306399e-01 -1.39448996e-01 4.30218072e+01] [ 1.86418070e-01 3.45772606e-03 9.82464426e-01 1.37037460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.060888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:43.04, Z:13.71 [[ 6.67649943e-01 -7.34099590e-01 -1.23860186e-01 8.95365147e+01] [ 7.20707521e-01 6.79030261e-01 -1.39637295e-01 4.30418657e+01] [ 1.86612496e-01 3.96186430e-03 9.82425610e-01 1.37096503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.090888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.55, Y:43.06, Z:13.71 [[ 6.68178825e-01 -7.34397799e-01 -1.19150878e-01 8.95522108e+01] [ 7.19802408e-01 6.78614887e-01 -1.46172252e-01 4.30637688e+01] [ 1.88206140e-01 1.19041149e-02 9.82057402e-01 1.37119538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.120888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:43.08, Z:13.72 [[ 6.68200780e-01 -7.32636574e-01 -1.29427074e-01 8.95747148e+01] [ 7.20161069e-01 6.80612409e-01 -1.34665450e-01 4.30785089e+01] [ 1.86750507e-01 -3.22478063e-03 9.82402081e-01 1.37236892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:43.10, Z:13.73 [[ 6.67103568e-01 -7.34573741e-01 -1.23992939e-01 8.95922992e+01] [ 7.21125473e-01 6.78517298e-01 -1.39972598e-01 4.31008429e+01] [ 1.86951549e-01 3.96175327e-03 9.82361147e-01 1.37267642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.180888479 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:89.60, Y:43.13, Z:13.72 [[ 6.64901864e-01 -7.38583295e-01 -1.11356304e-01 8.96047869e+01] [ 7.21787259e-01 6.73695346e-01 -1.58611896e-01 4.31279710e+01] [ 1.92168320e-01 2.50857840e-02 9.81041304e-01 1.37245151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:43.13, Z:13.74 [[ 6.64511139e-01 -7.33910537e-01 -1.40713432e-01 8.96357661e+01] [ 7.23102527e-01 6.79019381e-01 -1.26709969e-01 4.31342915e+01] [ 1.88540929e-01 -1.75500524e-02 9.81908506e-01 1.37445262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:43.16, Z:13.74 [[ 6.62155234e-01 -7.38836314e-01 -1.25185252e-01 8.96497073e+01] [ 7.25157365e-01 6.73878498e-01 -1.41543517e-01 4.31596246e+01] [ 1.88937140e-01 2.94477277e-03 9.81984768e-01 1.37403857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:43.18, Z:13.75 [[ 6.60785424e-01 -7.40050002e-01 -1.25254210e-01 8.96689167e+01] [ 7.26363165e-01 6.72546631e-01 -1.41695382e-01 4.31791968e+01] [ 1.89100965e-01 2.65019929e-03 9.81954073e-01 1.37460603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:43.20, Z:13.75 [[ 6.58849137e-01 -7.41854407e-01 -1.24779221e-01 8.96892192e+01] [ 7.28288615e-01 6.70557446e-01 -1.41238824e-01 4.31984212e+01] [ 1.88450280e-01 2.17979126e-03 9.82080313e-01 1.37520602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:43.22, Z:13.76 [[ 6.57833546e-01 -7.42722174e-01 -1.24975191e-01 8.97075938e+01] [ 7.29113187e-01 6.69596753e-01 -1.41542041e-01 4.32184857e+01] [ 1.88809394e-01 1.99004260e-03 9.82011737e-01 1.37569239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:43.24, Z:13.76 [[ 6.56596592e-01 -7.43766844e-01 -1.25266906e-01 8.97273277e+01] [ 7.30096731e-01 6.68436849e-01 -1.41954016e-01 4.32382796e+01] [ 1.89313706e-01 1.74956441e-03 9.81915098e-01 1.37628316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.390888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.75, Y:43.26, Z:13.77 [[ 6.55991744e-01 -7.44585193e-01 -1.23562623e-01 8.97460602e+01] [ 7.30342365e-01 6.67509538e-01 -1.45020848e-01 4.32596966e+01] [ 1.90459605e-01 4.88946042e-03 9.81682857e-01 1.37670286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.420888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:43.28, Z:13.77 [[ 6.55558575e-01 -7.44109451e-01 -1.28623791e-01 8.97665383e+01] [ 7.30659741e-01 6.68055697e-01 -1.40847183e-01 4.32774081e+01] [ 1.90733577e-01 -1.64664722e-03 9.81640459e-01 1.37749461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:43.30, Z:13.78 [[ 6.54488117e-01 -7.45220230e-01 -1.27640563e-01 8.97846012e+01] [ 7.31009841e-01 6.66816752e-01 -1.44844853e-01 4.32973413e+01] [ 1.93054181e-01 1.49272725e-03 9.81186962e-01 1.37781211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:43.32, Z:13.78 [[ 6.53716613e-01 -7.45855113e-01 -1.27885656e-01 8.98029999e+01] [ 7.31586529e-01 6.66106825e-01 -1.45199341e-01 4.33181575e+01] [ 1.93483179e-01 1.35979813e-03 9.81102650e-01 1.37830442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:43.34, Z:13.79 [[ 6.53008649e-01 -7.46505791e-01 -1.27705944e-01 8.98205444e+01] [ 7.32273721e-01 6.65377797e-01 -1.45077857e-01 4.33384163e+01] [ 1.93274160e-01 1.22138886e-03 9.81144030e-01 1.37880221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.540888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:89.84, Y:43.36, Z:13.79 [[ 6.52435825e-01 -7.47104746e-01 -1.27129826e-01 8.98385637e+01] [ 7.32998788e-01 6.64705433e-01 -1.44497283e-01 4.33587808e+01] [ 1.92458492e-01 1.08919596e-03 9.81304511e-01 1.37934194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.85, Y:43.39, Z:13.78 [[ 6.49525349e-01 -7.53668168e-01 -1.00504301e-01 8.98461565e+01] [ 7.37489428e-01 6.56639411e-01 -1.57905119e-01 4.33884190e+01] [ 1.85003147e-01 2.84425186e-02 9.82326249e-01 1.37790903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:43.39, Z:13.82 [[ 6.50426974e-01 -7.45356961e-01 -1.46245520e-01 8.98841971e+01] [ 7.34981583e-01 6.66188139e-01 -1.26473069e-01 4.33894954e+01] [ 1.91694614e-01 -2.52262683e-02 9.81130374e-01 1.38177244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:43.42, Z:13.81 [[ 6.49711567e-01 -7.49458233e-01 -1.27229072e-01 8.98975605e+01] [ 7.35355299e-01 6.62051468e-01 -1.44708113e-01 4.34165172e+01] [ 1.92684880e-01 4.59962226e-04 9.81260580e-01 1.38140835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:43.45, Z:13.79 [[ 6.47607300e-01 -7.56531956e-01 -9.09075605e-02 8.98996143e+01] [ 7.39254082e-01 6.52726413e-01 -1.65685343e-01 4.34517398e+01] [ 1.84684022e-01 4.00952523e-02 9.81979726e-01 1.37883073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:43.44, Z:13.84 [[ 6.50255090e-01 -7.43343252e-01 -1.56872968e-01 8.99446734e+01] [ 7.34266930e-01 6.67925861e-01 -1.21355347e-01 4.34447389e+01] [ 1.94988190e-01 -3.62747004e-02 9.80134558e-01 1.38402298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:43.48, Z:13.83 [[ 6.51586972e-01 -7.47604491e-01 -1.28537711e-01 8.99522677e+01] [ 7.33151637e-01 6.64143317e-01 -1.46295356e-01 4.34781315e+01] [ 1.94738527e-01 1.08651491e-03 9.80854589e-01 1.38279375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:43.50, Z:13.83 [[ 6.52060697e-01 -7.47249182e-01 -1.28201043e-01 8.99700379e+01] [ 7.32851470e-01 6.64542795e-01 -1.45984921e-01 4.34979680e+01] [ 1.94282193e-01 1.23870655e-03 9.80944899e-01 1.38331936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:43.52, Z:13.84 [[ 6.52238167e-01 -7.47092586e-01 -1.28210928e-01 8.99886686e+01] [ 7.32675267e-01 6.64718653e-01 -1.46068701e-01 4.35178836e+01] [ 1.94351039e-01 1.33460604e-03 9.80931135e-01 1.38387581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.01, Y:43.54, Z:13.85 [[ 6.52769952e-01 -7.46496665e-01 -1.28973328e-01 9.00091703e+01] [ 7.31878071e-01 6.65387290e-01 -1.47017837e-01 4.35365876e+01] [ 1.95565538e-01 1.57607581e-03 9.80689368e-01 1.38462211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.840888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:43.56, Z:13.85 [[ 6.53042545e-01 -7.46195398e-01 -1.29336238e-01 9.00280927e+01] [ 7.31471103e-01 6.65724751e-01 -1.47514685e-01 4.35558105e+01] [ 1.96177114e-01 1.72764501e-03 9.80566956e-01 1.38519999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:43.58, Z:13.86 [[ 6.53241543e-01 -7.45987473e-01 -1.29530600e-01 9.00467202e+01] [ 7.31199352e-01 6.65957423e-01 -1.47811428e-01 4.35756272e+01] [ 1.96527339e-01 1.84387461e-03 9.80496612e-01 1.38576819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:43.59, Z:13.86 [[ 6.54170488e-01 -7.45299259e-01 -1.28802121e-01 9.00651704e+01] [ 7.30649216e-01 6.66726802e-01 -1.47061534e-01 4.35943786e+01] [ 1.95480679e-01 2.09414683e-03 9.80705317e-01 1.38637923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:43.63, Z:13.85 [[ 6.53288236e-01 -7.50142339e-01 -1.02474154e-01 9.00764517e+01] [ 7.33585772e-01 6.60642356e-01 -1.59385044e-01 4.36268703e+01] [ 1.87260236e-01 2.89507925e-02 9.81883626e-01 1.38490048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.960888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:43.63, Z:13.89 [[ 6.54089656e-01 -7.41861769e-01 -1.47674770e-01 9.01099782e+01] [ 7.31200296e-01 6.70106486e-01 -1.27684861e-01 4.36266421e+01] [ 1.93682338e-01 -2.44624884e-02 9.80759266e-01 1.38863835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.12, Y:43.66, Z:13.88 [[ 6.53876156e-01 -7.45775416e-01 -1.27534317e-01 9.01213698e+01] [ 7.31385994e-01 6.66194246e-01 -1.45807254e-01 4.36555425e+01] [ 1.93702094e-01 2.06307362e-03 9.81058226e-01 1.38800220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:43.68, Z:13.86 [[ 6.52281637e-01 -7.50812834e-01 -1.03965159e-01 9.01295955e+01] [ 7.34411228e-01 6.59964547e-01 -1.58388587e-01 4.36848012e+01] [ 1.87533503e-01 2.69607865e-02 9.81888131e-01 1.38646117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:43.69, Z:13.89 [[ 6.52858870e-01 -7.44364116e-01 -1.40347277e-01 9.01627219e+01] [ 7.32780195e-01 6.67563941e-01 -1.31877107e-01 4.36895625e+01] [ 1.91855367e-01 -1.67465659e-02 9.81280322e-01 1.38945344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:43.72, Z:13.88 [[ 6.52942436e-01 -7.49415272e-01 -1.09740264e-01 9.01703303e+01] [ 7.33182686e-01 6.61740227e-01 -1.56662125e-01 4.37235191e+01] [ 1.90024536e-01 2.18316878e-02 9.81536578e-01 1.38779475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:43.74, Z:13.89 [[ 6.52948843e-01 -7.47241347e-01 -1.23645366e-01 9.01942617e+01] [ 7.33034017e-01 6.64540160e-01 -1.45077584e-01 4.37390281e+01] [ 1.90575281e-01 4.09198132e-03 9.81664056e-01 1.38913662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:43.75, Z:13.92 [[ 6.53427392e-01 -7.42578700e-01 -1.47001764e-01 9.02212502e+01] [ 7.30677599e-01 6.69462668e-01 -1.33902882e-01 4.37495561e+01] [ 1.97845621e-01 -1.99150852e-02 9.80030867e-01 1.39173478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:43.78, Z:13.90 [[ 6.52571016e-01 -7.48619698e-01 -1.17130769e-01 9.02313513e+01] [ 7.32320868e-01 6.62802820e-01 -1.56200407e-01 4.37840053e+01] [ 1.94569305e-01 1.61545513e-02 9.80755737e-01 1.39016115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:43.79, Z:13.92 [[ 6.49179572e-01 -7.47236660e-01 -1.42138163e-01 9.02562230e+01] [ 7.34039875e-01 6.64427543e-01 -1.40433266e-01 4.37927180e+01] [ 1.99377395e-01 -1.31686715e-02 9.79834292e-01 1.39233215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:43.82, Z:13.92 [[ 6.47727009e-01 -7.50482034e-01 -1.31249530e-01 9.02715075e+01] [ 7.35257678e-01 6.60890216e-01 -1.50400364e-01 4.38180555e+01] [ 1.99614301e-01 9.16153312e-04 9.79874120e-01 1.39217632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:43.84, Z:13.93 [[ 6.44365132e-01 -7.53573387e-01 -1.30079696e-01 9.02902125e+01] [ 7.38668643e-01 6.57363789e-01 -1.49135792e-01 4.38374854e+01] [ 1.97894445e-01 1.21117017e-05 9.80223336e-01 1.39273258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:43.87, Z:13.91 [[ 6.42019483e-01 -7.59972049e-01 -1.01259407e-01 9.02972391e+01] [ 7.43203403e-01 6.49340317e-01 -1.61263306e-01 4.38692922e+01] [ 1.88307421e-01 2.82778488e-02 9.81702948e-01 1.39078263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.320888479 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:90.33, Y:43.87, Z:13.94 [[ 6.40394602e-01 -7.54208737e-01 -1.45134197e-01 9.03305287e+01] [ 7.43999793e-01 6.56082492e-01 -1.26570420e-01 4.38699947e+01] [ 1.90680523e-01 -2.69247987e-02 9.81282831e-01 1.39445074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:43.91, Z:13.92 [[ 6.36390545e-01 -7.64313145e-01 -1.04079254e-01 9.03361516e+01] [ 7.48452258e-01 6.44482229e-01 -1.56402923e-01 4.39088304e+01] [ 1.86618039e-01 2.16349888e-02 9.82194296e-01 1.39228457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:43.91, Z:13.96 [[ 6.36012419e-01 -7.58219179e-01 -1.43498710e-01 9.03689337e+01] [ 7.47067035e-01 6.51577614e-01 -1.31671785e-01 4.39138003e+01] [ 1.93336620e-01 -2.34582652e-02 9.80852008e-01 1.39596354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:43.94, Z:13.96 [[ 6.34416656e-01 -7.62523337e-01 -1.26781968e-01 9.03813041e+01] [ 7.48478167e-01 6.46956036e-01 -1.45699419e-01 4.39419483e+01] [ 1.93121567e-01 -2.45939670e-03 9.81171755e-01 1.39553533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:43.96, Z:13.96 [[ 6.34084102e-01 -7.63106586e-01 -1.24922737e-01 9.04024619e+01] [ 7.48960338e-01 6.46272125e-01 -1.46255779e-01 4.39641689e+01] [ 1.92342831e-01 -8.23710759e-04 9.81327446e-01 1.39597862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:43.98, Z:13.96 [[ 6.32466948e-01 -7.64689030e-01 -1.23435193e-01 9.04141388e+01] [ 7.50514197e-01 6.44399476e-01 -1.46552912e-01 4.39839640e+01] [ 1.91608978e-01 5.00076387e-05 9.81471343e-01 1.39611923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.500888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.43, Y:44.00, Z:13.97 [[ 6.33403520e-01 -7.62590529e-01 -1.31360821e-01 9.04333252e+01] [ 7.49190514e-01 6.46830600e-01 -1.42561387e-01 4.40040557e+01] [ 1.93684162e-01 -8.11539667e-03 9.81030369e-01 1.39728173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.530888479 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:90.45, Y:44.03, Z:13.97 [[ 6.32980903e-01 -7.64055979e-01 -1.24714222e-01 9.04481017e+01] [ 7.49220696e-01 6.45148418e-01 -1.49839475e-01 4.40305997e+01] [ 1.94944929e-01 1.40704993e-03 9.80813180e-01 1.39738288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:44.05, Z:13.98 [[ 6.33160687e-01 -7.62848737e-01 -1.31031861e-01 9.04667692e+01] [ 7.49068622e-01 6.46542655e-01 -1.44494966e-01 4.40489088e+01] [ 1.94945490e-01 -6.66332307e-03 9.80791444e-01 1.39814450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:44.07, Z:13.98 [[ 6.32913560e-01 -7.63410686e-01 -1.28936224e-01 9.04822697e+01] [ 7.48819836e-01 6.45908479e-01 -1.48563423e-01 4.40726784e+01] [ 1.96695905e-01 -2.52219732e-03 9.80461299e-01 1.39848676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:44.09, Z:13.99 [[ 6.32717397e-01 -7.63656305e-01 -1.28443539e-01 9.04986963e+01] [ 7.49165905e-01 6.45618025e-01 -1.48080427e-01 4.40937648e+01] [ 1.96008016e-01 -2.53245789e-03 9.80599023e-01 1.39893477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.650888479 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:90.52, Y:44.11, Z:14.00 [[ 6.32798530e-01 -7.63397223e-01 -1.29578934e-01 9.05151960e+01] [ 7.49217320e-01 6.45914560e-01 -1.46518899e-01 4.41141013e+01] [ 1.95549040e-01 -4.36583811e-03 9.80684206e-01 1.39955559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:44.14, Z:14.00 [[ 6.34084612e-01 -7.62540873e-01 -1.28328180e-01 9.05323395e+01] [ 7.48938436e-01 6.46919684e-01 -1.43478717e-01 4.41356572e+01] [ 1.92426412e-01 -5.13225991e-03 9.81297985e-01 1.39998364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:44.16, Z:14.00 [[ 6.34705293e-01 -7.63108753e-01 -1.21713689e-01 9.05458860e+01] [ 7.48215219e-01 6.46256483e-01 -1.50088455e-01 4.41631456e+01] [ 1.93192075e-01 4.19390233e-03 9.81151993e-01 1.40020037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:44.18, Z:14.01 [[ 6.35393005e-01 -7.61820549e-01 -1.26115744e-01 9.05640965e+01] [ 7.47779978e-01 6.47785636e-01 -1.45598331e-01 4.41829798e+01] [ 1.92615767e-01 -1.79466728e-03 9.81272615e-01 1.40101667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:44.21, Z:14.02 [[ 6.36070156e-01 -7.61307406e-01 -1.25800598e-01 9.05804748e+01] [ 7.47311467e-01 6.48389186e-01 -1.45317016e-01 4.42050395e+01] [ 1.92198668e-01 -1.58041219e-03 9.81354765e-01 1.40159479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.800888479 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:90.59, Y:44.23, Z:14.02 [[ 6.38266684e-01 -7.59601801e-01 -1.24982978e-01 9.05947465e+01] [ 7.45486218e-01 6.50388410e-01 -1.45757381e-01 4.42267991e+01] [ 1.92005050e-01 -1.41007137e-04 9.81393928e-01 1.40212165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:44.25, Z:14.03 [[ 6.38931493e-01 -7.58861662e-01 -1.26077461e-01 9.06128089e+01] [ 7.44802036e-01 6.51251087e-01 -1.45402716e-01 4.42490771e+01] [ 1.92448630e-01 -1.00037510e-03 9.81306539e-01 1.40273504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.860888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.63, Y:44.27, Z:14.03 [[ 6.41057581e-01 -7.57014252e-01 -1.26390666e-01 9.06276792e+01] [ 7.42763733e-01 6.53398345e-01 -1.46193844e-01 4.42710065e+01] [ 1.93254275e-01 -1.59730597e-04 9.81148694e-01 1.40316982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:44.29, Z:14.04 [[ 6.41714390e-01 -7.56470611e-01 -1.26312536e-01 9.06446150e+01] [ 7.42212352e-01 6.54027684e-01 -1.46180068e-01 4.42934767e+01] [ 1.93192821e-01 5.51288233e-05 9.81160808e-01 1.40368081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:44.31, Z:14.06 [[ 6.44567963e-01 -7.50115039e-01 -1.47849822e-01 9.06739937e+01] [ 7.37881300e-01 6.60971458e-01 -1.36557384e-01 4.43073169e+01] [ 2.00158260e-01 -2.10751041e-02 9.79536886e-01 1.40624485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:44.35, Z:14.04 [[ 6.44557454e-01 -7.56342228e-01 -1.11768162e-01 9.06714412e+01] [ 7.39774624e-01 6.53883156e-01 -1.58651578e-01 4.43456746e+01] [ 1.93078207e-01 1.95768070e-02 9.80988050e-01 1.40403884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:44.36, Z:14.05 [[ 6.45230908e-01 -7.53450173e-01 -1.26451228e-01 9.06923364e+01] [ 7.39062569e-01 6.57504091e-01 -1.46543129e-01 4.43606365e+01] [ 1.93555146e-01 1.09878679e-03 9.81088782e-01 1.40528542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.010888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.71, Y:44.38, Z:14.06 [[ 6.46115893e-01 -7.52684106e-01 -1.26494625e-01 9.07093138e+01] [ 7.38256932e-01 6.58380386e-01 -1.46669592e-01 4.43825022e+01] [ 1.93677451e-01 1.38002041e-03 9.81064290e-01 1.40578530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:44.40, Z:14.06 [[ 6.47046113e-01 -7.51902621e-01 -1.26387409e-01 9.07249393e+01] [ 7.37468619e-01 6.59272069e-01 -1.46630058e-01 4.44040130e+01] [ 1.93575214e-01 1.66966125e-03 9.81084017e-01 1.40632935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.74, Y:44.43, Z:14.07 [[ 6.46801728e-01 -7.52178872e-01 -1.25993924e-01 9.07411405e+01] [ 7.37829348e-01 6.58956993e-01 -1.46231102e-01 4.44252028e+01] [ 1.93016522e-01 1.62051477e-03 9.81194168e-01 1.40683012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:44.45, Z:14.07 [[ 6.44652377e-01 -7.54112085e-01 -1.25452287e-01 9.07567971e+01] [ 7.39908355e-01 6.56744836e-01 -1.45677203e-01 4.44477257e+01] [ 1.92247081e-01 1.08795991e-03 9.81345951e-01 1.40738422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13088847899999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:90.77, Y:44.47, Z:14.08 [[ 6.43092137e-01 -7.55407325e-01 -1.25667329e-01 9.07734400e+01] [ 7.41161729e-01 6.55255061e-01 -1.46014029e-01 4.44687291e+01] [ 1.92644221e-01 7.60658797e-04 9.81268376e-01 1.40794146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.160888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:90.79, Y:44.49, Z:14.08 [[ 6.41125938e-01 -7.57087601e-01 -1.25602135e-01 9.07908684e+01] [ 7.42879222e-01 6.53313310e-01 -1.45986917e-01 4.44907238e+01] [ 1.92582432e-01 2.88782986e-04 9.81280757e-01 1.40847110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:44.51, Z:14.09 [[ 6.39382322e-01 -7.58578127e-01 -1.25496902e-01 9.08081381e+01] [ 7.44405350e-01 6.51582086e-01 -1.45950196e-01 4.45121483e+01] [ 1.92486160e-01 -1.02590152e-04 9.81299683e-01 1.40895896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.220888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:90.83, Y:44.53, Z:14.10 [[ 6.36253673e-01 -7.61166154e-01 -1.25727281e-01 9.08253771e+01] [ 7.46973785e-01 6.48556396e-01 -1.46303674e-01 4.45319762e+01] [ 1.92902637e-01 -8.28732694e-04 9.81217553e-01 1.40957192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.250888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.84, Y:44.55, Z:14.10 [[ 6.34379465e-01 -7.62707043e-01 -1.25859686e-01 9.08425712e+01] [ 7.48502879e-01 6.46742901e-01 -1.46516415e-01 4.45533045e+01] [ 1.93147961e-01 -1.25933205e-03 9.81168833e-01 1.41013946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.280888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:90.86, Y:44.58, Z:14.11 [[ 6.31325412e-01 -7.65167872e-01 -1.26278866e-01 9.08574795e+01] [ 7.50899735e-01 6.43827834e-01 -1.47089457e-01 4.45757365e+01] [ 1.93849975e-01 -1.96145492e-03 9.81029225e-01 1.41054136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.310888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:90.87, Y:44.60, Z:14.11 [[ 6.29930908e-01 -7.66234535e-01 -1.26774165e-01 9.08737807e+01] [ 7.51859256e-01 6.42557066e-01 -1.47743278e-01 4.45977046e+01] [ 1.94665638e-01 -2.24827206e-03 9.80867083e-01 1.41103768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.340888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:90.89, Y:44.62, Z:14.12 [[ 6.29048267e-01 -7.66963972e-01 -1.26745980e-01 9.08898029e+01] [ 7.52593104e-01 6.41685607e-01 -1.47794460e-01 4.46184461e+01] [ 1.94684097e-01 -2.41830168e-03 9.80863015e-01 1.41150494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.370888479 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:90.91, Y:44.64, Z:14.12 [[ 6.28358438e-01 -7.67676738e-01 -1.25849511e-01 9.09059072e+01] [ 7.53509740e-01 6.40832128e-01 -1.46823892e-01 4.46408743e+01] [ 1.93361697e-01 -2.57080113e-03 9.81124174e-01 1.41218130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.400888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:90.93, Y:44.66, Z:14.14 [[ 6.29071941e-01 -7.64583392e-01 -1.40288024e-01 9.09280198e+01] [ 7.51967431e-01 6.44279983e-01 -1.39457112e-01 4.46567922e+01] [ 1.97011357e-01 -1.77634684e-02 9.80240269e-01 1.41410685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.430888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:90.93, Y:44.69, Z:14.13 [[ 6.29765301e-01 -7.68308924e-01 -1.14442400e-01 9.09316644e+01] [ 7.52390621e-01 6.39963376e-01 -1.56061627e-01 4.46931096e+01] [ 1.93142485e-01 1.21768093e-02 9.81095156e-01 1.41266710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.460888479 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:90.95, Y:44.71, Z:14.14 [[ 6.30468169e-01 -7.65976807e-01 -1.25655952e-01 9.09516473e+01] [ 7.51779247e-01 6.42865372e-01 -1.46806255e-01 4.47106289e+01] [ 1.93230047e-01 -1.90886638e-03 9.81151622e-01 1.41372575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49088847899999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:90.97, Y:44.73, Z:14.14 [[ 6.31642657e-01 -7.64997341e-01 -1.25724391e-01 9.09685352e+01] [ 7.50748079e-01 6.44031563e-01 -1.46971654e-01 4.47329599e+01] [ 1.93403400e-01 -1.55377865e-03 9.81118092e-01 1.41432775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52088847899999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:90.98, Y:44.75, Z:14.15 [[ 6.32335545e-01 -7.64442561e-01 -1.25615796e-01 9.09842850e+01] [ 7.50190321e-01 6.44690477e-01 -1.46930837e-01 4.47541298e+01] [ 1.93303493e-01 -1.32616373e-03 9.81138115e-01 1.41485697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.550888479 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:91.00, Y:44.78, Z:14.15 [[ 6.34206319e-01 -7.62953136e-01 -1.25239201e-01 9.09987191e+01] [ 7.48746681e-01 6.46453264e-01 -1.46548914e-01 4.47765581e+01] [ 1.92771244e-01 -8.30188673e-04 9.81243374e-01 1.41543906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.580888479 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:91.01, Y:44.80, Z:14.16 [[ 6.34990978e-01 -7.62391524e-01 -1.24682086e-01 9.10148142e+01] [ 7.48286778e-01 6.47115752e-01 -1.45972945e-01 4.47989114e+01] [ 1.91972278e-01 -6.06453571e-04 9.81400161e-01 1.41598776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.610888479 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:91.03, Y:44.82, Z:14.16 [[ 6.37523218e-01 -7.60532199e-01 -1.23105326e-01 9.10285633e+01] [ 7.46734740e-01 6.49300219e-01 -1.44209752e-01 4.48232739e+01] [ 1.89608475e-01 1.00419010e-05 9.81859779e-01 1.41644748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.640888479 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:91.04, Y:44.85, Z:14.17 [[ 6.38908706e-01 -7.59401693e-01 -1.22901319e-01 9.10443490e+01] [ 7.45613423e-01 6.50621939e-01 -1.44054554e-01 4.48457784e+01] [ 1.89357567e-01 4.00835453e-04 9.81908117e-01 1.41692670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.670888479 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:91.06, Y:44.87, Z:14.17 [[ 6.40275395e-01 -7.58246965e-01 -1.22918508e-01 9.10604283e+01] [ 7.44417563e-01 6.51966950e-01 -1.44158208e-01 4.48674012e+01] [ 1.89446328e-01 7.98257332e-04 9.81890753e-01 1.41739518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.700888479 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:91.07, Y:44.89, Z:14.17 [[ 6.40969818e-01 -7.59150506e-01 -1.13349910e-01 9.10735696e+01] [ 7.42989821e-01 6.50713836e-01 -1.56644914e-01 4.48943397e+01] [ 1.92675421e-01 1.61868323e-02 9.81129028e-01 1.41741657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.730888479 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:91.10, Y:44.91, Z:14.19 [[ 6.43514463e-01 -7.53437499e-01 -1.34985449e-01 9.10992025e+01] [ 7.41104242e-01 6.57404251e-01 -1.36323706e-01 4.49066983e+01] [ 1.91451400e-01 -1.23120126e-02 9.81424870e-01 1.41903416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.760888479 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:91.11, Y:44.93, Z:14.19 [[ 6.44044036e-01 -7.54888502e-01 -1.23897657e-01 9.11119278e+01] [ 7.40738691e-01 6.55850323e-01 -1.45487270e-01 4.49319436e+01] [ 1.91084985e-01 1.92442016e-03 9.81571610e-01 1.41902868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.790888479 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:91.13, Y:44.95, Z:14.20 [[ 6.44153791e-01 -7.54754011e-01 -1.24146190e-01 9.11293263e+01] [ 7.40535063e-01 6.56004864e-01 -1.45826744e-01 4.49539090e+01] [ 1.91503824e-01 2.00024296e-03 9.81489829e-01 1.41956101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.820888479 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:91.15, Y:44.98, Z:14.20 [[ 6.45017239e-01 -7.53972996e-01 -1.24408532e-01 9.11458497e+01] [ 7.39662276e-01 6.56901407e-01 -1.46219901e-01 4.49764032e+01] [ 1.91969996e-01 2.29405920e-03 9.81398114e-01 1.41994166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85088847899999 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:91.17, Y:44.99, Z:14.21 [[ 6.47079684e-01 -7.50892596e-01 -1.32091605e-01 9.11656407e+01] [ 7.37633717e-01 6.60392994e-01 -1.40632834e-01 4.49921213e+01] [ 1.92832524e-01 -6.43457117e-03 9.81210586e-01 1.42104480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88088847899999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:91.18, Y:45.02, Z:14.21 [[ 6.46748452e-01 -7.53922224e-01 -1.15402425e-01 9.11786363e+01] [ 7.38673637e-01 6.56841498e-01 -1.51395190e-01 4.50200160e+01] [ 1.89941300e-01 1.26698756e-02 9.81713694e-01 1.42058731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.910888479 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:91.20, Y:45.04, Z:14.21 [[ 6.46771394e-01 -7.52700090e-01 -1.23001378e-01 9.12002536e+01] [ 7.38643968e-01 6.58357579e-01 -1.44811553e-01 4.50375873e+01] [ 1.89978559e-01 2.80574386e-03 9.81784230e-01 1.42143999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.940888479 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:91.22, Y:45.06, Z:14.22 [[ 6.46778705e-01 -7.52690136e-01 -1.23023848e-01 9.12187781e+01] [ 7.38612489e-01 6.58368704e-01 -1.44921497e-01 4.50579178e+01] [ 1.90076032e-01 2.86518774e-03 9.81765192e-01 1.42193564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.970888479 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:91.24, Y:45.08, Z:14.23 [[ 6.48840724e-01 -7.50230034e-01 -1.27124395e-01 9.12400281e+01] [ 7.36274600e-01 6.61176887e-01 -1.44030687e-01 4.50752825e+01] [ 1.92107859e-01 -1.45487634e-04 9.81373807e-01 1.42278620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.000888479 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:91.26, Y:45.10, Z:14.23 [[ 6.48635958e-01 -7.50911106e-01 -1.24112469e-01 9.12563579e+01] [ 7.36489332e-01 6.60393363e-01 -1.46506210e-01 4.50972684e+01] [ 1.91976191e-01 3.62168605e-03 9.81392901e-01 1.42317374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.030888479 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:91.27, Y:45.12, Z:14.23 [[ 6.47114513e-01 -7.52797476e-01 -1.20576811e-01 9.12727072e+01] [ 7.38087261e-01 6.58215600e-01 -1.48254573e-01 4.51208243e+01] [ 1.90971206e-01 6.94147746e-03 9.81571095e-01 1.42335786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.060888479 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:91.29, Y:45.14, Z:14.24 [[ 6.48291619e-01 -7.51248719e-01 -1.23868231e-01 9.12931207e+01] [ 7.36890246e-01 6.60009855e-01 -1.46218182e-01 4.51382967e+01] [ 1.91600475e-01 3.51473074e-03 9.81466711e-01 1.42392144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.090888479 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:91.31, Y:45.16, Z:14.24 [[ 6.48958869e-01 -7.50572835e-01 -1.24470095e-01 9.13122098e+01] [ 7.36051346e-01 6.60776997e-01 -1.46976786e-01 4.51579099e+01] [ 1.92563759e-01 3.76550812e-03 9.81277239e-01 1.42440144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.120888479 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:91.33, Y:45.18, Z:14.24 [[ 6.49900338e-01 -7.51293292e-01 -1.14838755e-01 9.13292632e+01] [ 7.35573714e-01 6.59789062e-01 -1.53654499e-01 4.51825897e+01] [ 1.91208949e-01 1.53877417e-02 9.81428732e-01 1.42432407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.150888479 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:91.34, Y:45.20, Z:14.24 [[ 6.50562050e-01 -7.51859953e-01 -1.07124366e-01 9.13443987e+01] [ 7.35924607e-01 6.58942618e-01 -1.55594340e-01 4.52048590e+01] [ 1.87573963e-01 2.23883159e-02 9.81995301e-01 1.42394063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.180888479 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:91.38, Y:45.21, Z:14.27 [[ 6.51353370e-01 -7.44112527e-01 -1.48443034e-01 9.13777583e+01] [ 7.33308190e-01 6.67587524e-01 -1.28786629e-01 4.52077634e+01] [ 1.94930461e-01 -2.49688879e-02 9.80499194e-01 1.42699572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21088847899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:91.39, Y:45.24, Z:14.26 [[ 6.51452796e-01 -7.48299443e-01 -1.25128727e-01 9.13885564e+01] [ 7.33529579e-01 6.63344882e-01 -1.48013256e-01 4.52374786e+01] [ 1.93761738e-01 4.63802732e-03 9.81037654e-01 1.42640018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24088847899999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:91.40, Y:45.26, Z:14.25 [[ 6.50663717e-01 -7.52480614e-01 -1.02027707e-01 9.14033177e+01] [ 7.35681702e-01 6.57948637e-01 -1.60860261e-01 4.52649659e+01] [ 1.88173218e-01 2.96060181e-02 9.81689525e-01 1.42549518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27088847899999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:91.44, Y:45.27, Z:14.29 [[ 6.49030857e-01 -7.46969958e-01 -1.44204123e-01 9.14367071e+01] [ 7.35672596e-01 6.64526350e-01 -1.31112785e-01 4.52661008e+01] [ 1.93764751e-01 -2.09907785e-02 9.80823434e-01 1.42852508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.300888479 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:91.45, Y:45.29, Z:14.28 [[ 6.47121942e-01 -7.52137846e-01 -1.24586726e-01 9.14496576e+01] [ 7.37526334e-01 6.58995896e-01 -1.47578170e-01 4.52927742e+01] [ 1.93101268e-01 3.61508043e-03 9.81172172e-01 1.42806909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.330888479 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:91.47, Y:45.31, Z:14.29 [[ 6.44695329e-01 -7.54232536e-01 -1.24503871e-01 9.14698413e+01] [ 7.39663932e-01 6.56600371e-01 -1.47557515e-01 4.53114557e+01] [ 1.93041967e-01 3.03861782e-03 9.81185796e-01 1.42863225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.360888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.49, Y:45.33, Z:14.29 [[ 6.40023935e-01 -7.58323188e-01 -1.23755018e-01 9.14918320e+01] [ 7.43989474e-01 6.51876140e-01 -1.46755442e-01 4.53282433e+01] [ 1.91960998e-01 1.85456459e-03 9.81400803e-01 1.42918006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.390888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:91.51, Y:45.35, Z:14.30 [[ 6.36425813e-01 -7.61428073e-01 -1.23245585e-01 9.15136425e+01] [ 7.47255676e-01 6.48248682e-01 -1.46227907e-01 4.53465010e+01] [ 1.91235822e-01 9.67251206e-04 9.81543644e-01 1.42966960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.53, Y:45.37, Z:14.30 [[ 6.35372150e-01 -7.62345926e-01 -1.23007809e-01 9.15334477e+01] [ 7.48229495e-01 6.47169325e-01 -1.46029065e-01 4.53660621e+01] [ 1.90931543e-01 7.44730266e-04 9.81603072e-01 1.43021388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.450888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.55, Y:45.39, Z:14.31 [[ 6.33532606e-01 -7.64497360e-01 -1.19080748e-01 9.15510704e+01] [ 7.49474065e-01 6.44595255e-01 -1.50948943e-01 4.53876975e+01] [ 1.92158953e-01 6.38314481e-03 9.81343055e-01 1.43052630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.480888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.57, Y:45.40, Z:14.32 [[ 6.32303236e-01 -7.64247999e-01 -1.26955167e-01 9.15739426e+01] [ 7.51253709e-01 6.44889240e-01 -1.40483925e-01 4.54001202e+01] [ 1.89236580e-01 -6.54709969e-03 9.81909697e-01 1.43164165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:45.42, Z:14.32 [[ 6.31416003e-01 -7.65789550e-01 -1.21984409e-01 9.15923377e+01] [ 7.52019081e-01 6.43091100e-01 -1.44572261e-01 4.54238534e+01] [ 1.89159014e-01 -4.49363988e-04 9.81946366e-01 1.43196991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.540888479 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:91.61, Y:45.45, Z:14.32 [[ 6.30121879e-01 -7.67229207e-01 -1.19606695e-01 9.16102253e+01] [ 7.52713624e-01 6.41362948e-01 -1.48579167e-01 4.54458760e+01] [ 1.90705580e-01 3.59339504e-03 9.81640703e-01 1.43242484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:45.46, Z:14.33 [[ 6.30236191e-01 -7.66603929e-01 -1.22966500e-01 9.16298792e+01] [ 7.52382308e-01 6.42120241e-01 -1.46977751e-01 4.54642953e+01] [ 1.91633000e-01 1.12879597e-04 9.81466648e-01 1.43310903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60088847899999 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:91.65, Y:45.48, Z:14.34 [[ 6.29379508e-01 -7.67434683e-01 -1.22169732e-01 9.16500010e+01] [ 7.53178922e-01 6.41126809e-01 -1.47234261e-01 4.54849345e+01] [ 1.91318969e-01 6.50559695e-04 9.81527702e-01 1.43354855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63088847899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:91.67, Y:45.50, Z:14.34 [[ 6.29594222e-01 -7.66285518e-01 -1.28131266e-01 9.16701775e+01] [ 7.53032559e-01 6.42461649e-01 -1.42073904e-01 4.55022470e+01] [ 1.91188600e-01 -7.03810552e-03 9.81528086e-01 1.43427918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.660888479 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:91.69, Y:45.53, Z:14.34 [[ 6.28823838e-01 -7.67823467e-01 -1.22587542e-01 9.16859756e+01] [ 7.53365822e-01 6.40660838e-01 -1.48302495e-01 4.55254165e+01] [ 1.92407173e-01 9.02879806e-04 9.81314763e-01 1.43443319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.690888479 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:91.71, Y:45.54, Z:14.35 [[ 6.28979151e-01 -7.66953206e-01 -1.27153483e-01 9.17068065e+01] [ 7.53398705e-01 6.41679969e-01 -1.43656564e-01 4.55422736e+01] [ 1.91769705e-01 -5.44028557e-03 9.81424874e-01 1.43505948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.720888479 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:91.72, Y:45.57, Z:14.35 [[ 6.28329273e-01 -7.68697217e-01 -1.19611512e-01 9.17214532e+01] [ 7.53598353e-01 6.39591898e-01 -1.51696165e-01 4.55658268e+01] [ 1.93110974e-01 5.17610219e-03 9.81163269e-01 1.43517933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:45.59, Z:14.36 [[ 6.27541885e-01 -7.68784578e-01 -1.23131862e-01 9.17420141e+01] [ 7.54497159e-01 6.39507754e-01 -1.47525825e-01 4.55856561e+01] [ 1.92159360e-01 -3.24005812e-04 9.81363682e-01 1.43598012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:45.60, Z:14.37 [[ 6.29188661e-01 -7.65992023e-01 -1.31825075e-01 9.17621491e+01] [ 7.53897422e-01 6.42705247e-01 -1.36266811e-01 4.55993215e+01] [ 1.89103957e-01 -1.36450514e-02 9.81862264e-01 1.43712188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.810888479 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:91.77, Y:45.63, Z:14.37 [[ 6.26073725e-01 -7.71935892e-01 -1.10211936e-01 9.17714089e+01] [ 7.54952084e-01 6.35438038e-01 -1.62067430e-01 4.56336908e+01] [ 1.95138522e-01 1.82614289e-02 9.80605669e-01 1.43660762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.840888479 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:91.79, Y:45.65, Z:14.38 [[ 6.27115866e-01 -7.68794515e-01 -1.25222537e-01 9.17939632e+01] [ 7.53945101e-01 6.39495881e-01 -1.50372219e-01 4.56470779e+01] [ 1.95684634e-01 -1.10114178e-04 9.80666871e-01 1.43791965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.870888479 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:91.81, Y:45.67, Z:14.39 [[ 6.27073674e-01 -7.68429719e-01 -1.27649422e-01 9.18109318e+01] [ 7.53809111e-01 6.39928667e-01 -1.49208329e-01 4.56671492e+01] [ 1.96342639e-01 -2.65868275e-03 9.80531743e-01 1.43854744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.900888479 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:91.83, Y:45.69, Z:14.39 [[ 6.26857575e-01 -7.68030766e-01 -1.31066102e-01 9.18299515e+01] [ 7.54788757e-01 6.40339433e-01 -1.42335320e-01 4.56878261e+01] [ 1.93244698e-01 -9.70324688e-03 9.81102611e-01 1.43924898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:45.71, Z:14.39 [[ 6.29175758e-01 -7.67325932e-01 -1.23890193e-01 9.18420821e+01] [ 7.52764188e-01 6.41257197e-01 -1.48779315e-01 4.57098456e+01] [ 1.93607704e-01 3.48237391e-04 9.81078965e-01 1.43935490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:45.73, Z:14.40 [[ 6.30441005e-01 -7.65403100e-01 -1.29237121e-01 9.18618943e+01] [ 7.52336561e-01 6.43497707e-01 -1.41068778e-01 4.57279062e+01] [ 1.91138271e-01 -8.29426872e-03 9.81528077e-01 1.44020964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:45.75, Z:14.40 [[ 6.30268108e-01 -7.66941453e-01 -1.20676922e-01 9.18759215e+01] [ 7.52428554e-01 6.41710938e-01 -1.48520514e-01 4.57522437e+01] [ 1.91346239e-01 2.80698125e-03 9.81518588e-01 1.44023982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:45.77, Z:14.41 [[ 6.29290609e-01 -7.67203872e-01 -1.24062678e-01 9.18949056e+01] [ 7.53137782e-01 6.41401777e-01 -1.46243772e-01 4.57721841e+01] [ 1.91772811e-01 -1.40645749e-03 9.81438338e-01 1.44077344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:45.79, Z:14.41 [[ 6.29125308e-01 -7.67552809e-01 -1.22735623e-01 9.19111769e+01] [ 7.53398004e-01 6.40985694e-01 -1.46726913e-01 4.57929751e+01] [ 1.91292432e-01 -1.59159294e-04 9.81533076e-01 1.44119925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:45.82, Z:14.42 [[ 6.28349170e-01 -7.68389887e-01 -1.21467289e-01 9.19286247e+01] [ 7.53972585e-01 6.39980231e-01 -1.48157501e-01 4.58152143e+01] [ 1.91579389e-01 1.51163667e-03 9.81475956e-01 1.44172313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.110888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:45.84, Z:14.42 [[ 6.27783361e-01 -7.68711190e-01 -1.22356685e-01 9.19454356e+01] [ 7.54405086e-01 6.39595946e-01 -1.47614332e-01 4.58350504e+01] [ 1.91731629e-01 3.63316277e-04 9.81447324e-01 1.44240679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.140888479 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:91.96, Y:45.86, Z:14.43 [[ 6.27476245e-01 -7.68958672e-01 -1.22376965e-01 9.19618549e+01] [ 7.54633735e-01 6.39298395e-01 -1.47734522e-01 4.58564191e+01] [ 1.91837139e-01 3.50117160e-04 9.81426711e-01 1.44290288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.170888479 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:91.98, Y:45.88, Z:14.43 [[ 6.28019590e-01 -7.68509100e-01 -1.22413880e-01 9.19792828e+01] [ 7.54522855e-01 6.39838470e-01 -1.45952025e-01 4.58768921e+01] [ 1.90490569e-01 -7.03339368e-04 9.81688774e-01 1.44325272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:45.90, Z:14.44 [[ 6.27659211e-01 -7.69035884e-01 -1.20945126e-01 9.19951731e+01] [ 7.54611037e-01 6.39203097e-01 -1.48261874e-01 4.59001805e+01] [ 1.91327201e-01 1.79140372e-03 9.81524678e-01 1.44366368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.230888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:92.01, Y:45.92, Z:14.44 [[ 6.25473977e-01 -7.70785430e-01 -1.21128548e-01 9.20123215e+01] [ 7.56746546e-01 6.37094825e-01 -1.46440596e-01 4.59214991e+01] [ 1.90044649e-01 -6.88284790e-05 9.81775446e-01 1.44403333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.260888479 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:92.03, Y:45.94, Z:14.45 [[ 6.26101075e-01 -7.69710376e-01 -1.24673099e-01 9.20318956e+01] [ 7.55977077e-01 6.38383132e-01 -1.44795149e-01 4.59410212e+01] [ 1.91039532e-01 -3.59360622e-03 9.81575765e-01 1.44487623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.290888479 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:92.05, Y:45.96, Z:14.45 [[ 6.24545597e-01 -7.71671665e-01 -1.20273185e-01 9.20477923e+01] [ 7.57098938e-01 6.36017398e-01 -1.49275141e-01 4.59643301e+01] [ 1.91687234e-01 2.17043151e-03 9.81453663e-01 1.44514237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.320888479 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:92.06, Y:45.98, Z:14.46 [[ 6.22772210e-01 -7.72631229e-01 -1.23271079e-01 9.20645165e+01] [ 7.58368292e-01 6.34853428e-01 -1.47779086e-01 4.59844319e+01] [ 1.92437804e-01 -1.45216996e-03 9.81308098e-01 1.44563615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:46.01, Z:14.46 [[ 6.21140629e-01 -7.74991852e-01 -1.16498707e-01 9.20767796e+01] [ 7.59906957e-01 6.31942152e-01 -1.52284385e-01 4.60064663e+01] [ 1.91639601e-01 6.06184125e-03 9.81446645e-01 1.44565542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38088847899999 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:92.10, Y:46.02, Z:14.47 [[ 6.21394117e-01 -7.72519377e-01 -1.30702574e-01 9.21020398e+01] [ 7.60225164e-01 6.34844622e-01 -1.37949289e-01 4.60212580e+01] [ 1.89544325e-01 -1.36425092e-02 9.81777384e-01 1.44726924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.410888479 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:92.12, Y:46.05, Z:14.47 [[ 6.20786666e-01 -7.74551857e-01 -1.21216073e-01 9.21171520e+01] [ 7.60850589e-01 6.32506664e-01 -1.45057579e-01 4.60471589e+01] [ 1.89024591e-01 -2.17751000e-03 9.81969940e-01 1.44744390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.440888479 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:92.13, Y:46.07, Z:14.48 [[ 6.21394624e-01 -7.73838705e-01 -1.22647381e-01 9.21330819e+01] [ 7.60078212e-01 6.33375959e-01 -1.45313473e-01 4.60653171e+01] [ 1.90131092e-01 -2.92459090e-03 9.81754356e-01 1.44802239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:46.09, Z:14.48 [[ 6.21328179e-01 -7.73654145e-01 -1.24139273e-01 9.21485511e+01] [ 7.59872472e-01 6.33595698e-01 -1.45431489e-01 4.60858892e+01] [ 1.91167784e-01 -3.96933389e-03 9.81549348e-01 1.44849759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.500888479 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:92.17, Y:46.11, Z:14.49 [[ 6.22051586e-01 -7.73703938e-01 -1.20141752e-01 9.21651052e+01] [ 7.59510038e-01 6.33547117e-01 -1.47521364e-01 4.61114330e+01] [ 1.90253321e-01 5.17031928e-04 9.81734896e-01 1.44869302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.530888479 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:92.18, Y:46.13, Z:14.49 [[ 6.23160015e-01 -7.72435541e-01 -1.22535426e-01 9.21830909e+01] [ 7.58745613e-01 6.35087282e-01 -1.44807593e-01 4.61319150e+01] [ 1.89675222e-01 -2.73491520e-03 9.81843078e-01 1.44928668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.560888479 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:92.20, Y:46.15, Z:14.50 [[ 6.23270212e-01 -7.72093173e-01 -1.24122420e-01 9.22013429e+01] [ 7.58966196e-01 6.35483139e-01 -1.41885495e-01 4.61525934e+01] [ 1.88426527e-01 -5.77171792e-03 9.82070329e-01 1.44994091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:46.18, Z:14.50 [[ 6.23632306e-01 -7.73642601e-01 -1.12070841e-01 9.22123227e+01] [ 7.57711043e-01 6.33492554e-01 -1.56720003e-01 4.61782868e+01] [ 1.92241314e-01 1.28183430e-02 9.81263964e-01 1.44981681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:46.20, Z:14.51 [[ 6.23206685e-01 -7.72488509e-01 -1.21962826e-01 9.22332718e+01] [ 7.58023924e-01 6.35028682e-01 -1.48789462e-01 4.61957189e+01] [ 1.92388042e-01 2.75847002e-04 9.81318891e-01 1.45091906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:46.21, Z:14.53 [[ 6.23023179e-01 -7.69987173e-01 -1.37702111e-01 9.22578736e+01] [ 7.58370763e-01 6.37731772e-01 -1.34803460e-01 4.62092613e+01] [ 1.91613946e-01 -2.04435747e-02 9.81257436e-01 1.45277419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.680888479 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:92.27, Y:46.24, Z:14.52 [[ 6.21022733e-01 -7.74554058e-01 -1.19986571e-01 9.22705155e+01] [ 7.59807995e-01 6.32503689e-01 -1.50435682e-01 4.62412068e+01] [ 1.92412516e-01 2.25722224e-03 9.81311535e-01 1.45228993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71088847899999 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:92.29, Y:46.26, Z:14.53 [[ 6.20701887e-01 -7.73877202e-01 -1.25869949e-01 9.22903375e+01] [ 7.60536779e-01 6.33298927e-01 -1.43235042e-01 4.62590427e+01] [ 1.90559637e-01 -6.82246494e-03 9.81651913e-01 1.45303044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74088847899999 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:92.30, Y:46.28, Z:14.53 [[ 6.20386561e-01 -7.75094967e-01 -1.19784419e-01 9.23047444e+01] [ 7.60846823e-01 6.31844430e-01 -1.47934878e-01 4.62829326e+01] [ 1.90348698e-01 6.39215584e-04 9.81716336e-01 1.45321812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77088847899999 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:92.32, Y:46.31, Z:14.54 [[ 6.19022147e-01 -7.75525188e-01 -1.23984937e-01 9.23233905e+01] [ 7.61595277e-01 6.31305099e-01 -1.46377956e-01 4.63051934e+01] [ 1.91792115e-01 -3.81514581e-03 9.81428158e-01 1.45393700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.800888479 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:92.34, Y:46.32, Z:14.54 [[ 6.20687656e-01 -7.74467643e-01 -1.22256710e-01 9.23387894e+01] [ 7.60918528e-01 6.32603964e-01 -1.44274804e-01 4.63231614e+01] [ 1.89076247e-01 -3.47780610e-03 9.81956250e-01 1.45441339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.830888479 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:92.36, Y:46.34, Z:14.55 [[ 6.21825266e-01 -7.73646364e-01 -1.21674327e-01 9.23551611e+01] [ 7.60210171e-01 6.33609515e-01 -1.43594845e-01 4.63432030e+01] [ 1.88185641e-01 -3.20715865e-03 9.82128239e-01 1.45489197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.860888479 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:92.37, Y:46.37, Z:14.55 [[ 6.19516903e-01 -7.76856196e-01 -1.12664363e-01 9.23681115e+01] [ 7.60869676e-01 6.29569720e-01 -1.57223740e-01 4.63720013e+01] [ 1.93070308e-01 1.16798673e-02 9.81115404e-01 1.45495234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:46.39, Z:14.56 [[ 6.20295294e-01 -7.74392381e-01 -1.24700396e-01 9.23891234e+01] [ 7.59161916e-01 6.32705637e-01 -1.52829194e-01 4.63872113e+01] [ 1.97248407e-01 1.31438340e-04 9.80353533e-01 1.45635461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:46.41, Z:14.57 [[ 6.20084887e-01 -7.74494591e-01 -1.25111395e-01 9.24068734e+01] [ 7.59357486e-01 6.32580319e-01 -1.52375686e-01 4.64088465e+01] [ 1.97157150e-01 -5.18414538e-04 9.80371761e-01 1.45692964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.950888479 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:92.42, Y:46.43, Z:14.57 [[ 6.20193560e-01 -7.74160567e-01 -1.26630824e-01 9.24244958e+01] [ 7.60445542e-01 6.32958540e-01 -1.45210414e-01 4.64290661e+01] [ 1.92568237e-01 -6.23728200e-03 9.81263762e-01 1.45727948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.980888479 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:92.44, Y:46.45, Z:14.57 [[ 6.19404113e-01 -7.76137988e-01 -1.18103211e-01 9.24377275e+01] [ 7.61468071e-01 6.30555404e-01 -1.50220702e-01 4.64546379e+01] [ 1.91062611e-01 3.11549679e-03 9.81572907e-01 1.45737900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.010888479 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:92.46, Y:46.47, Z:14.58 [[ 6.18700957e-01 -7.76190381e-01 -1.21398591e-01 9.24553294e+01] [ 7.62138620e-01 6.30496693e-01 -1.47032801e-01 4.64747784e+01] [ 1.90666856e-01 -1.55321985e-03 9.81653573e-01 1.45801685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.040888479 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:92.47, Y:46.50, Z:14.58 [[ 6.19079869e-01 -7.75983045e-01 -1.20790856e-01 9.24707002e+01] [ 7.61799948e-01 6.30753491e-01 -1.47685043e-01 4.64950814e+01] [ 1.90790343e-01 -5.89630582e-04 9.81630632e-01 1.45845225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070888479 meters Centerline goodness : 0.996874 Centerline is valid? [True, True] Translation: X:92.49, Y:46.52, Z:14.59 [[ 6.17720787e-01 -7.77126069e-01 -1.20399758e-01 9.24872590e+01] [ 7.62962399e-01 6.29344643e-01 -1.47694608e-01 4.65175530e+01] [ 1.90550273e-01 -6.26458183e-04 9.81677239e-01 1.45895370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:46.54, Z:14.59 [[ 6.17661841e-01 -7.77952113e-01 -1.15257799e-01 9.25008895e+01] [ 7.62308775e-01 6.28270757e-01 -1.55438694e-01 4.65406662e+01] [ 1.93336965e-01 8.14651868e-03 9.81098595e-01 1.45930879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:46.56, Z:14.60 [[ 6.17425566e-01 -7.77125162e-01 -1.21910435e-01 9.25203146e+01] [ 7.62385744e-01 6.29346073e-01 -1.50636974e-01 4.65599272e+01] [ 1.93787636e-01 6.43413358e-05 9.81043500e-01 1.46027221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:46.59, Z:14.59 [[ 6.15789898e-01 -7.81614485e-01 -9.94062303e-02 9.25247445e+01] [ 7.65775830e-01 6.23402913e-01 -1.57975273e-01 4.65885746e+01] [ 1.85445895e-01 2.11566886e-02 9.82426697e-01 1.45905773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:46.60, Z:14.62 [[ 6.17739888e-01 -7.74287219e-01 -1.37392623e-01 9.25569829e+01] [ 7.61831538e-01 6.32564919e-01 -1.39550461e-01 4.65993203e+01] [ 1.94961891e-01 -1.84641471e-02 9.80637005e-01 1.46190018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:46.63, Z:14.62 [[ 6.16821676e-01 -7.76825207e-01 -1.26781773e-01 9.25710376e+01] [ 7.62783619e-01 6.29688265e-01 -1.47152438e-01 4.66278159e+01] [ 1.94144718e-01 -5.94024594e-03 9.80954913e-01 1.46191789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.58, Y:46.65, Z:14.62 [[ 6.17990207e-01 -7.77038348e-01 -1.19580561e-01 9.25826424e+01] [ 7.61387014e-01 6.29434222e-01 -1.55249398e-01 4.66522544e+01] [ 1.95902833e-01 4.89552192e-03 9.80611092e-01 1.46204004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:46.67, Z:14.63 [[ 6.17905963e-01 -7.76554243e-01 -1.23108608e-01 9.25998624e+01] [ 7.61448965e-01 6.30050247e-01 -1.52420994e-01 4.66714266e+01] [ 1.95927779e-01 4.40918458e-04 9.80618229e-01 1.46279299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:46.69, Z:14.63 [[ 6.17909417e-01 -7.76515535e-01 -1.23335221e-01 9.26168335e+01] [ 7.61337364e-01 6.30097904e-01 -1.52781051e-01 4.66930365e+01] [ 1.96350123e-01 5.05138350e-04 9.80533719e-01 1.46340988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.340888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.63, Y:46.72, Z:14.64 [[ 6.17717599e-01 -7.76595017e-01 -1.23794781e-01 9.26333540e+01] [ 7.61286177e-01 6.29999912e-01 -1.53438806e-01 4.67150341e+01] [ 1.97150514e-01 5.38595396e-04 9.80373085e-01 1.46402129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.370888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.65, Y:46.74, Z:14.65 [[ 6.18083819e-01 -7.76246197e-01 -1.24154074e-01 9.26479140e+01] [ 7.60822284e-01 6.30429486e-01 -1.53974398e-01 4.67369947e+01] [ 1.97792430e-01 7.09897722e-04 9.80243669e-01 1.46457279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.400888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.66, Y:46.76, Z:14.65 [[ 6.18129230e-01 -7.76212901e-01 -1.24136165e-01 9.26645148e+01] [ 7.60776477e-01 6.30470409e-01 -1.54033164e-01 4.67595086e+01] [ 1.97826708e-01 7.72526612e-04 9.80236705e-01 1.46505360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.430888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.68, Y:46.78, Z:14.66 [[ 6.18680324e-01 -7.75715631e-01 -1.24498658e-01 9.26802977e+01] [ 7.60159669e-01 6.31081828e-01 -1.54573620e-01 4.67813214e+01] [ 1.98474013e-01 9.92798947e-04 9.80105648e-01 1.46552258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:46.80, Z:14.66 [[ 6.18900811e-01 -7.75488286e-01 -1.24818690e-01 9.26971414e+01] [ 7.59834165e-01 6.31360982e-01 -1.55033390e-01 4.68025481e+01] [ 1.99032228e-01 1.10878569e-03 9.79992318e-01 1.46605164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.70, Y:46.84, Z:14.64 [[ 6.16051339e-01 -7.82367036e-01 -9.15563714e-02 9.26962376e+01] [ 7.64354070e-01 6.21828029e-01 -1.70565996e-01 4.68377417e+01] [ 1.90377531e-01 3.50959251e-02 9.81083417e-01 1.46397511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.74, Y:46.84, Z:14.68 [[ 6.19217129e-01 -7.70912405e-01 -1.49211970e-01 9.27396978e+01] [ 7.59633235e-01 6.36238683e-01 -1.34750462e-01 4.68360629e+01] [ 1.98815230e-01 -2.99065772e-02 9.79580574e-01 1.46849481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.550888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:92.75, Y:46.87, Z:14.68 [[ 6.19246178e-01 -7.75293777e-01 -1.24313036e-01 9.27461313e+01] [ 7.59735287e-01 6.31599541e-01 -1.54545504e-01 4.68685231e+01] [ 1.98334223e-01 1.25671253e-03 9.80133642e-01 1.46774865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.580888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.76, Y:46.89, Z:14.68 [[ 6.18909843e-01 -7.75525087e-01 -1.24544957e-01 9.27622305e+01] [ 7.59896026e-01 6.31315538e-01 -1.54915206e-01 4.68910337e+01] [ 1.98767795e-01 1.23732744e-03 9.80045832e-01 1.46832951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.610888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:46.91, Z:14.69 [[ 6.18463566e-01 -7.75812856e-01 -1.24968917e-01 9.27797661e+01] [ 7.60063684e-01 6.30961930e-01 -1.55532117e-01 4.69123848e+01] [ 1.99514445e-01 1.20661252e-03 9.79894142e-01 1.46888993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.640888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.80, Y:46.93, Z:14.69 [[ 6.17821119e-01 -7.76264320e-01 -1.25342613e-01 9.27961309e+01] [ 7.60410660e-01 6.30406573e-01 -1.56087098e-01 4.69328305e+01] [ 2.00181652e-01 1.12204636e-03 9.79758158e-01 1.46946300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.670888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:92.81, Y:46.95, Z:14.70 [[ 6.14631804e-01 -7.78775800e-01 -1.25443210e-01 9.28063122e+01] [ 7.63134674e-01 6.27302300e-01 -1.55297437e-01 4.69517602e+01] [ 1.99632700e-01 -2.79319060e-04 9.79870760e-01 1.46975340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.700888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:46.98, Z:14.70 [[ 6.15768257e-01 -7.78425142e-01 -1.21998988e-01 9.28285809e+01] [ 7.61963428e-01 6.27716339e-01 -1.59323357e-01 4.69780342e+01] [ 2.00602065e-01 5.14749878e-03 9.79659285e-01 1.47029897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.730888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.85, Y:47.00, Z:14.71 [[ 6.14059958e-01 -7.79114737e-01 -1.26137202e-01 9.28464383e+01] [ 7.63093201e-01 6.26881291e-01 -1.57189735e-01 4.69971757e+01] [ 2.01541891e-01 2.69480799e-04 9.79479859e-01 1.47099605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.760888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:92.86, Y:47.02, Z:14.72 [[ 6.10834807e-01 -7.81634543e-01 -1.26207289e-01 9.28641419e+01] [ 7.65631499e-01 6.23736469e-01 -1.57357002e-01 4.70182040e+01] [ 2.01715757e-01 -5.09141816e-04 9.79443972e-01 1.47159257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.790888479 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:92.88, Y:47.04, Z:14.72 [[ 6.10119351e-01 -7.81410975e-01 -1.30962846e-01 9.28835042e+01] [ 7.66911150e-01 6.23953833e-01 -1.50096309e-01 4.70356313e+01] [ 1.99001672e-01 -8.86020453e-03 9.79959097e-01 1.47241704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.820888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.90, Y:47.06, Z:14.72 [[ 6.08750468e-01 -7.84312943e-01 -1.19482529e-01 9.28957034e+01] [ 7.67432229e-01 6.20326787e-01 -1.61995221e-01 4.70617837e+01] [ 2.01173162e-01 6.91992309e-03 9.79531252e-01 1.47243032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85088847899999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:92.91, Y:47.08, Z:14.73 [[ 6.07987966e-01 -7.83865131e-01 -1.26119345e-01 9.29146842e+01] [ 7.67903087e-01 6.20930040e-01 -1.57387211e-01 4.70798351e+01] [ 2.01681637e-01 -1.15790436e-03 9.79450446e-01 1.47330921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88088847899999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.93, Y:47.10, Z:14.74 [[ 6.08359226e-01 -7.83615992e-01 -1.25877037e-01 9.29314934e+01] [ 7.67693433e-01 6.21244666e-01 -1.57168248e-01 4.71011992e+01] [ 2.01359990e-01 -1.02022137e-03 9.79516775e-01 1.47387752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.910888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:92.95, Y:47.12, Z:14.75 [[ 6.09168789e-01 -7.83100220e-01 -1.25169615e-01 9.29476882e+01] [ 7.67328833e-01 6.21895028e-01 -1.56374665e-01 4.71227148e+01] [ 2.00299396e-01 -7.87689622e-04 9.79734419e-01 1.47456172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.940888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.96, Y:47.14, Z:14.75 [[ 6.09266033e-01 -7.83075207e-01 -1.24852395e-01 9.29639062e+01] [ 7.67365131e-01 6.21926606e-01 -1.56070666e-01 4.71433422e+01] [ 1.99864095e-01 -7.18819363e-04 9.79823365e-01 1.47512423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.970888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.98, Y:47.16, Z:14.76 [[ 6.09349608e-01 -7.82991428e-01 -1.24969912e-01 9.29811796e+01] [ 7.67232636e-01 6.22032166e-01 -1.56301208e-01 4.71647781e+01] [ 2.00117811e-01 -6.38915283e-04 9.79771633e-01 1.47572688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.000888479 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.00, Y:47.19, Z:14.76 [[ 6.09747376e-01 -7.82677634e-01 -1.24995438e-01 9.29975095e+01] [ 7.66886963e-01 6.22427099e-01 -1.56425356e-01 4.71851877e+01] [ 2.00231175e-01 -4.77421491e-04 9.79748564e-01 1.47622139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.030888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.01, Y:47.21, Z:14.77 [[ 6.11216744e-01 -7.81624181e-01 -1.24409530e-01 9.30140278e+01] [ 7.65944301e-01 6.23749656e-01 -1.55774498e-01 4.72072696e+01] [ 1.99357516e-01 -7.87885977e-05 9.79926821e-01 1.47673467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.060888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.03, Y:47.23, Z:14.77 [[ 6.11859505e-01 -7.81121080e-01 -1.24409825e-01 9.30305032e+01] [ 7.65412428e-01 6.24379562e-01 -1.55865253e-01 4.72288251e+01] [ 1.99428586e-01 1.42810206e-04 9.79912352e-01 1.47731268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.090888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.05, Y:47.25, Z:14.78 [[ 6.13737980e-01 -7.79629649e-01 -1.24512262e-01 9.30480114e+01] [ 7.63845919e-01 6.26240481e-01 -1.56084183e-01 4.72504218e+01] [ 1.99662475e-01 6.86608022e-04 9.79864493e-01 1.47795000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.120888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.06, Y:47.27, Z:14.79 [[ 6.14337527e-01 -7.79158251e-01 -1.24506318e-01 9.30649989e+01] [ 7.63348017e-01 6.26826622e-01 -1.56167190e-01 4.72713829e+01] [ 1.99722829e-01 8.97714203e-04 9.79852022e-01 1.47853462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.150888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.08, Y:47.29, Z:14.79 [[ 6.15315384e-01 -7.78383881e-01 -1.24521135e-01 9.30820919e+01] [ 7.62535462e-01 6.27787444e-01 -1.56277302e-01 4.72928020e+01] [ 1.99816537e-01 1.20804706e-03 9.79832584e-01 1.47912626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:47.31, Z:14.80 [[ 6.17675096e-01 -7.76576139e-01 -1.24124839e-01 9.30985127e+01] [ 7.60774827e-01 6.30020708e-01 -1.55870367e-01 4.73148395e+01] [ 1.99246427e-01 1.84619092e-03 9.79947679e-01 1.47967749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21088847899999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:93.12, Y:47.34, Z:14.80 [[ 6.18938513e-01 -7.75559531e-01 -1.24187487e-01 9.31154851e+01] [ 7.59703405e-01 6.31270487e-01 -1.56039446e-01 4.73367156e+01] [ 1.99413775e-01 2.23316569e-03 9.79912833e-01 1.48021421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24088847899999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.13, Y:47.36, Z:14.81 [[ 6.19874871e-01 -7.74800538e-01 -1.24254864e-01 9.31322940e+01] [ 7.58893309e-01 6.32200669e-01 -1.56215426e-01 4.73587748e+01] [ 1.99589805e-01 2.53783222e-03 9.79876252e-01 1.48070209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27088847899999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:93.15, Y:47.38, Z:14.81 [[ 6.20472742e-01 -7.74216665e-01 -1.24908496e-01 9.31492409e+01] [ 7.58108893e-01 6.32914456e-01 -1.57131147e-01 4.73800598e+01] [ 2.00709945e-01 2.80135223e-03 9.79646707e-01 1.48122725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.300888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.17, Y:47.40, Z:14.82 [[ 6.19855082e-01 -7.74586516e-01 -1.25679777e-01 9.31666086e+01] [ 7.58265042e-01 6.32461944e-01 -1.58196131e-01 4.74004419e+01] [ 2.02024266e-01 2.76009427e-03 9.79376627e-01 1.48175389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.330888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:93.18, Y:47.42, Z:14.82 [[ 6.18541249e-01 -7.75622371e-01 -1.25764304e-01 9.31844813e+01] [ 7.59282272e-01 6.31192358e-01 -1.58387621e-01 4.74220615e+01] [ 2.02230450e-01 2.47867118e-03 9.79334826e-01 1.48228532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.360888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.20, Y:47.44, Z:14.83 [[ 6.16546294e-01 -7.77243468e-01 -1.25551816e-01 9.32014482e+01] [ 7.60973225e-01 6.29196770e-01 -1.58212438e-01 4.74427469e+01] [ 2.01966381e-01 2.00372200e-03 9.79390405e-01 1.48278681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.390888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.22, Y:47.46, Z:14.83 [[ 6.12158949e-01 -7.80819313e-01 -1.24830369e-01 9.32199340e+01] [ 7.64793544e-01 6.24756299e-01 -1.57386153e-01 4.74629935e+01] [ 2.00878708e-01 8.75881788e-04 9.79615730e-01 1.48340431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.420888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.24, Y:47.48, Z:14.84 [[ 6.09661276e-01 -7.82813026e-01 -1.24566828e-01 9.32373186e+01] [ 7.66877903e-01 6.22256932e-01 -1.57145133e-01 4.74829130e+01] [ 2.00527829e-01 2.77754520e-04 9.79687967e-01 1.48399997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.450888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.25, Y:47.50, Z:14.85 [[ 6.07169245e-01 -7.84759494e-01 -1.24491144e-01 9.32549850e+01] [ 7.68871321e-01 6.19800317e-01 -1.57112886e-01 4.75037018e+01] [ 2.00455479e-01 -3.23557518e-04 9.79702759e-01 1.48458494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.480888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.27, Y:47.53, Z:14.85 [[ 6.02766132e-01 -7.88095832e-01 -1.24811661e-01 9.32730691e+01] [ 7.72176239e-01 6.15551029e-01 -1.57609600e-01 4.75250531e+01] [ 2.01039415e-01 -1.37487021e-03 9.79582188e-01 1.48509531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.510888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.29, Y:47.55, Z:14.85 [[ 6.00744291e-01 -7.90059098e-01 -1.22118461e-01 9.32903794e+01] [ 7.73812225e-01 6.13029382e-01 -1.59403944e-01 4.75482810e+01] [ 2.00800741e-01 1.26425155e-03 9.79631290e-01 1.48532367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.540888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.29, Y:47.59, Z:14.82 [[ 5.94231657e-01 -8.00620116e-01 -7.67865006e-02 9.32870354e+01] [ 7.81350331e-01 5.97284149e-01 -1.80951112e-01 4.75885626e+01] [ 1.90736460e-01 4.75297216e-02 9.80489943e-01 1.48244115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.34, Y:47.57, Z:14.89 [[ 5.95819505e-01 -7.85380563e-01 -1.67858537e-01 9.33417922e+01] [ 7.77199549e-01 6.16526206e-01 -1.25921791e-01 4.75718832e+01] [ 2.02385714e-01 -5.54329196e-02 9.77735759e-01 1.48897413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.34, Y:47.61, Z:14.87 [[ 5.93987283e-01 -7.94350909e-01 -1.27223197e-01 9.33448359e+01] [ 7.77920506e-01 6.07449208e-01 -1.60764255e-01 4.76094644e+01] [ 2.04984862e-01 -3.47761090e-03 9.78758966e-01 1.48745818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.36, Y:47.63, Z:14.88 [[ 5.93382359e-01 -7.94829928e-01 -1.27054167e-01 9.33620573e+01] [ 7.78434670e-01 6.06821698e-01 -1.60645234e-01 4.76308263e+01] [ 2.04784865e-01 -3.57932045e-03 9.78800464e-01 1.48800447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.660888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.38, Y:47.65, Z:14.89 [[ 5.93589542e-01 -7.94686878e-01 -1.26981183e-01 9.33780901e+01] [ 7.78287615e-01 6.07009663e-01 -1.60647619e-01 4.76516147e+01] [ 2.04743360e-01 -3.46913547e-03 9.78809543e-01 1.48856434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.690888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.39, Y:47.67, Z:14.89 [[ 5.95808265e-01 -7.93127104e-01 -1.26340446e-01 9.33941680e+01] [ 7.76842214e-01 6.09049419e-01 -1.59921792e-01 4.76742029e+01] [ 2.03785883e-01 -2.86386616e-03 9.79011293e-01 1.48903212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:47.70, Z:14.89 [[ 5.99480788e-01 -7.90270382e-01 -1.26868074e-01 9.34109771e+01] [ 7.73764347e-01 6.12755531e-01 -1.60684145e-01 4.76965882e+01] [ 2.04723035e-01 -1.83893504e-03 9.78818215e-01 1.48945756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:47.72, Z:14.90 [[ 5.99273484e-01 -7.90434956e-01 -1.26822205e-01 9.34282687e+01] [ 7.73924906e-01 6.12543232e-01 -1.60720340e-01 4.77186523e+01] [ 2.04723059e-01 -1.83542487e-03 9.78818216e-01 1.49001925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.780888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.45, Y:47.74, Z:14.91 [[ 6.01329440e-01 -7.88849208e-01 -1.26963898e-01 9.34457071e+01] [ 7.72248132e-01 6.14585542e-01 -1.60988924e-01 4.77404384e+01] [ 2.05026161e-01 -1.24025399e-03 9.78755707e-01 1.49055832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.810888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.46, Y:47.76, Z:14.91 [[ 6.01122821e-01 -7.89014040e-01 -1.26918078e-01 9.34629856e+01] [ 7.72408973e-01 6.14373921e-01 -1.61025040e-01 4.77625128e+01] [ 2.05026174e-01 -1.23683580e-03 9.78755709e-01 1.49112001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.840888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.48, Y:47.78, Z:14.92 [[ 6.06217494e-01 -7.85347719e-01 -1.25416545e-01 9.34809155e+01] [ 7.69041124e-01 6.19054889e-01 -1.59206766e-01 4.77835162e+01] [ 2.02672396e-01 6.34456388e-05 9.79246596e-01 1.49170073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.50, Y:47.80, Z:14.92 [[ 6.08433022e-01 -7.83778561e-01 -1.24500707e-01 9.34981134e+01] [ 7.67660206e-01 6.21040061e-01 -1.58136178e-01 4.78046576e+01] [ 2.01263672e-01 6.41034509e-04 9.79536892e-01 1.49230625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:47.83, Z:14.93 [[ 6.10774733e-01 -7.81940705e-01 -1.24591174e-01 9.35153528e+01] [ 7.65741276e-01 6.23351443e-01 -1.58345435e-01 4.78254646e+01] [ 2.01480829e-01 1.30878551e-03 9.79491584e-01 1.49289394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.930888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.53, Y:47.85, Z:14.93 [[ 6.15195911e-01 -7.78459677e-01 -1.24637564e-01 9.35318193e+01] [ 7.62157413e-01 6.27689581e-01 -1.58498796e-01 4.78460290e+01] [ 2.01618622e-01 2.51436827e-03 9.79460877e-01 1.49333172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.55, Y:47.87, Z:14.94 [[ 6.17194073e-01 -7.76911223e-01 -1.24420367e-01 9.35490882e+01] [ 7.60617678e-01 6.29602673e-01 -1.58307362e-01 4.78675950e+01] [ 2.01326162e-01 3.07003445e-03 9.79519449e-01 1.49382732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99088847899999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:93.57, Y:47.89, Z:14.94 [[ 6.18926819e-01 -7.75621627e-01 -1.23857516e-01 9.35667972e+01] [ 7.59433611e-01 6.31188275e-01 -1.57676733e-01 4.78882473e+01] [ 2.00474896e-01 3.52879798e-03 9.79692484e-01 1.49439969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.58, Y:47.91, Z:14.95 [[ 6.20337356e-01 -7.74568551e-01 -1.23390132e-01 9.35847900e+01] [ 7.58465780e-01 6.32477888e-01 -1.57166734e-01 4.79085743e+01] [ 1.99777940e-01 3.90920411e-03 9.79833401e-01 1.49500007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.050888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:47.93, Z:14.96 [[ 6.22522598e-01 -7.72986194e-01 -1.22302738e-01 9.36042630e+01] [ 7.57120109e-01 6.34407329e-01 -1.55873285e-01 4.79286060e+01] [ 1.98077650e-01 4.43678009e-03 9.80176290e-01 1.49562268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.080888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:47.95, Z:14.96 [[ 6.23209853e-01 -7.72477614e-01 -1.22015631e-01 9.36217055e+01] [ 7.56658277e-01 6.35024988e-01 -1.55600502e-01 4.79490995e+01] [ 1.97680879e-01 4.64762886e-03 9.80255410e-01 1.49618796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.110888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:93.64, Y:47.97, Z:14.97 [[ 6.23135185e-01 -7.72457646e-01 -1.22522347e-01 9.36414054e+01] [ 7.56487688e-01 6.35048676e-01 -1.56331561e-01 4.79692397e+01] [ 1.98567164e-01 4.72904884e-03 9.80075873e-01 1.49673509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.140888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:47.99, Z:14.97 [[ 6.22289259e-01 -7.73052403e-01 -1.23069335e-01 9.36597845e+01] [ 7.56930458e-01 6.34325333e-01 -1.57123053e-01 4.79896048e+01] [ 1.99530350e-01 4.62106023e-03 9.79880750e-01 1.49722924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.170888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:48.01, Z:14.98 [[ 6.21120430e-01 -7.73992129e-01 -1.23067439e-01 9.36780616e+01] [ 7.57869722e-01 6.33180067e-01 -1.57214783e-01 4.80099018e+01] [ 1.99606854e-01 4.38022816e-03 9.79866275e-01 1.49768351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.200888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.70, Y:48.03, Z:14.98 [[ 6.19724633e-01 -7.75026662e-01 -1.23592281e-01 9.36968832e+01] [ 7.58765750e-01 6.31915059e-01 -1.57980678e-01 4.80303452e+01] [ 2.00539061e-01 4.12692796e-03 9.79677015e-01 1.49821843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:48.05, Z:14.99 [[ 6.17049334e-01 -7.77092919e-01 -1.24002881e-01 9.37175442e+01] [ 7.60744103e-01 6.29375987e-01 -1.58600997e-01 4.80491843e+01] [ 2.01292147e-01 3.53017931e-03 9.79524890e-01 1.49876724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:48.07, Z:14.99 [[ 6.15333336e-01 -7.78413579e-01 -1.24246473e-01 9.37352172e+01] [ 7.62006635e-01 6.27743796e-01 -1.59008224e-01 4.80690698e+01] [ 2.01769113e-01 3.16642395e-03 9.79427996e-01 1.49929054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:48.09, Z:15.00 [[ 6.13311823e-01 -7.79979326e-01 -1.24422098e-01 9.37535012e+01] [ 7.63539446e-01 6.25799409e-01 -1.59319221e-01 4.80896315e+01] [ 2.02128974e-01 2.71118195e-03 9.79355159e-01 1.49979562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:48.11, Z:15.00 [[ 6.09950576e-01 -7.82435426e-01 -1.25519317e-01 9.37735191e+01] [ 7.65732075e-01 6.22728583e-01 -1.60821333e-01 4.81082116e+01] [ 2.03996775e-01 1.97889785e-03 9.78969560e-01 1.50029057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:48.13, Z:15.01 [[ 6.08529862e-01 -7.83475580e-01 -1.25926262e-01 9.37921794e+01] [ 7.66666263e-01 6.21420272e-01 -1.61430130e-01 4.81286908e+01] [ 2.04729697e-01 1.69163746e-03 9.78817087e-01 1.50090829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:48.15, Z:15.01 [[ 6.07070286e-01 -7.84575299e-01 -1.26124017e-01 9.38105043e+01] [ 7.67716447e-01 6.20032006e-01 -1.61776908e-01 4.81492033e+01] [ 2.05127093e-01 1.38247146e-03 9.78734369e-01 1.50149150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:48.17, Z:15.02 [[ 6.05604823e-01 -7.85629519e-01 -1.26605915e-01 9.38288844e+01] [ 7.68642605e-01 6.18696265e-01 -1.62491467e-01 4.81697006e+01] [ 2.05988699e-01 1.09091592e-03 9.78553762e-01 1.50213822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.85, Y:48.19, Z:15.03 [[ 6.05100032e-01 -7.85988660e-01 -1.26790288e-01 9.38457750e+01] [ 7.68939135e-01 6.18240053e-01 -1.62824581e-01 4.81919637e+01] [ 2.06365109e-01 1.03114482e-03 9.78474516e-01 1.50266028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.470888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:93.86, Y:48.21, Z:15.03 [[ 6.05058067e-01 -7.85970926e-01 -1.27100116e-01 9.38610590e+01] [ 7.68816348e-01 6.18262478e-01 -1.63318495e-01 4.82131488e+01] [ 2.06944821e-01 1.10052573e-03 9.78351997e-01 1.50316036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.88, Y:48.24, Z:15.04 [[ 6.05639123e-01 -7.85596892e-01 -1.26644291e-01 9.38759800e+01] [ 7.68544217e-01 6.18737360e-01 -1.62800080e-01 4.82365490e+01] [ 2.06254791e-01 1.26636072e-03 9.78497500e-01 1.50356786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.530888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:93.89, Y:48.26, Z:15.04 [[ 6.05419087e-01 -7.85764486e-01 -1.26656627e-01 9.38921625e+01] [ 7.68691558e-01 6.18524500e-01 -1.62913265e-01 4.82584745e+01] [ 2.06351685e-01 1.27092063e-03 9.78477065e-01 1.50414622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.560888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:48.28, Z:15.05 [[ 6.05106286e-01 -7.85974116e-01 -1.26850588e-01 9.39090845e+01] [ 7.68832500e-01 6.18258115e-01 -1.63258970e-01 4.82803441e+01] [ 2.06743730e-01 1.26217452e-03 9.78394316e-01 1.50479510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.590888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:48.30, Z:15.05 [[ 6.04005266e-01 -7.86781496e-01 -1.27092551e-01 9.39252411e+01] [ 7.69571144e-01 6.17230734e-01 -1.63665743e-01 4.83015479e+01] [ 2.07214607e-01 1.04821043e-03 9.78294949e-01 1.50541797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.620888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:48.32, Z:15.06 [[ 6.02986167e-01 -7.87596957e-01 -1.26880715e-01 9.39417965e+01] [ 7.70444193e-01 6.16190198e-01 -1.63479009e-01 4.83242344e+01] [ 2.06938223e-01 8.21070868e-04 9.78353667e-01 1.50596257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:48.35, Z:15.06 [[ 6.01637196e-01 -7.88651575e-01 -1.26733490e-01 9.39572297e+01] [ 7.71542362e-01 6.14840163e-01 -1.63382855e-01 4.83466753e+01] [ 2.06772986e-01 5.16947121e-04 9.78388811e-01 1.50645356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.680888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:48.37, Z:15.07 [[ 6.00671237e-01 -7.89455605e-01 -1.26308799e-01 9.39721576e+01] [ 7.72460078e-01 6.13807592e-01 -1.62928417e-01 4.83690813e+01] [ 2.06154052e-01 2.97909539e-04 9.78519503e-01 1.50689718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:48.39, Z:15.07 [[ 5.98561991e-01 -7.91092120e-01 -1.26082517e-01 9.39857188e+01] [ 7.74176299e-01 6.11696995e-01 -1.62720141e-01 4.83925578e+01] [ 2.05850918e-01 -2.12004669e-04 9.78583341e-01 1.50719357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:48.41, Z:15.08 [[ 5.97234553e-01 -7.92145383e-01 -1.25763990e-01 9.40012669e+01] [ 7.75321496e-01 6.10332221e-01 -1.62391988e-01 4.84138136e+01] [ 2.05395878e-01 -5.21418474e-04 9.78678835e-01 1.50771623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:48.43, Z:15.09 [[ 5.94563627e-01 -7.93302902e-01 -1.31013740e-01 9.40154877e+01] [ 7.77270961e-01 6.08782357e-01 -1.58851802e-01 4.84326675e+01] [ 2.05776449e-01 -7.38567185e-03 9.78571155e-01 1.50871239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:48.46, Z:15.09 [[ 5.93186461e-01 -7.96388464e-01 -1.17878058e-01 9.40325234e+01] [ 7.78930604e-01 6.04749068e-01 -1.65968912e-01 4.84597205e+01] [ 2.03462373e-01 6.63168514e-03 9.79060306e-01 1.50860881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:48.48, Z:15.10 [[ 5.91342632e-01 -7.96777903e-01 -1.24333686e-01 9.40511104e+01] [ 7.80395864e-01 6.04269057e-01 -1.60751990e-01 4.84789379e+01] [ 2.03214632e-01 -1.96999012e-03 9.79132234e-01 1.50953798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:48.50, Z:15.10 [[ 5.89790370e-01 -7.97997204e-01 -1.23886164e-01 9.40664398e+01] [ 7.81740878e-01 6.02656678e-01 -1.60268924e-01 4.85009189e+01] [ 2.02554977e-01 -2.32181104e-03 9.79268140e-01 1.51001274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:48.52, Z:15.10 [[ 5.87254326e-01 -7.99984519e-01 -1.23114279e-01 9.40815203e+01] [ 7.83957656e-01 6.00013467e-01 -1.59355680e-01 4.85247989e+01] [ 2.01352302e-01 -2.93406942e-03 9.79514493e-01 1.51034074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:48.55, Z:15.11 [[ 5.86008010e-01 -8.00909598e-01 -1.23038317e-01 9.40975111e+01] [ 7.84903190e-01 5.98776780e-01 -1.59352910e-01 4.85459432e+01] [ 2.01299763e-01 -3.19108555e-03 9.79524488e-01 1.51089399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.11, Y:48.57, Z:15.12 [[ 5.83793662e-01 -8.02533839e-01 -1.22981285e-01 9.41148080e+01] [ 7.86560171e-01 5.96595155e-01 -1.59365361e-01 4.85674997e+01] [ 2.01266134e-01 -3.69569243e-03 9.79529624e-01 1.51151076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:48.59, Z:15.12 [[ 5.83586923e-01 -8.02691030e-01 -1.22936627e-01 9.41318519e+01] [ 7.86713559e-01 5.96383667e-01 -1.59399805e-01 4.85897616e+01] [ 2.01266189e-01 -3.69226954e-03 9.79529626e-01 1.51207231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:48.61, Z:15.13 [[ 5.81493438e-01 -8.04210622e-01 -1.22925410e-01 9.41469027e+01] [ 7.88251732e-01 5.94329819e-01 -1.59471860e-01 4.86120387e+01] [ 2.01307200e-01 -4.16432756e-03 9.79519305e-01 1.51251267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:48.63, Z:15.13 [[ 5.80264771e-01 -8.05087877e-01 -1.22989050e-01 9.41629746e+01] [ 7.89114558e-01 5.93139084e-01 -1.59637846e-01 4.86347313e+01] [ 2.01472107e-01 -4.42023169e-03 9.79484278e-01 1.51302101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:48.66, Z:15.14 [[ 5.78947707e-01 -8.06044287e-01 -1.22931523e-01 9.41785933e+01] [ 7.90088370e-01 5.91836605e-01 -1.59655257e-01 4.86580771e+01] [ 2.01444583e-01 -4.69472126e-03 9.79488662e-01 1.51350722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.19, Y:48.68, Z:15.14 [[ 5.78530625e-01 -8.06336833e-01 -1.22976537e-01 9.41938353e+01] [ 7.90356400e-01 5.91437593e-01 -1.59807179e-01 4.86798313e+01] [ 2.01591362e-01 -4.74194592e-03 9.79458236e-01 1.51405869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:48.70, Z:15.14 [[ 5.77253062e-01 -8.08402807e-01 -1.15168591e-01 9.42007061e+01] [ 7.92403710e-01 5.88628609e-01 -1.60039749e-01 4.87037960e+01] [ 1.97168110e-01 1.12341692e-03 9.80369050e-01 1.51391935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.160888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:94.23, Y:48.72, Z:15.15 [[ 5.77101233e-01 -8.07230967e-01 -1.23823798e-01 9.42263616e+01] [ 7.91930083e-01 5.90185741e-01 -1.56612693e-01 4.87237170e+01] [ 1.99501655e-01 -7.67841213e-03 9.79867405e-01 1.51526981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:48.75, Z:15.15 [[ 5.74574176e-01 -8.10163772e-01 -1.16185963e-01 9.42370146e+01] [ 7.94130773e-01 5.86203590e-01 -1.60379758e-01 4.87485297e+01] [ 1.98042499e-01 -1.16781308e-04 9.80193427e-01 1.51521181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.220888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.26, Y:48.77, Z:15.16 [[ 5.72562911e-01 -8.10183754e-01 -1.25594577e-01 9.42574484e+01] [ 7.94944042e-01 5.86088899e-01 -1.56728341e-01 4.87691575e+01] [ 2.00588343e-01 -1.01038257e-02 9.79623514e-01 1.51626699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.250888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:94.27, Y:48.79, Z:15.17 [[ 5.70516483e-01 -8.12087714e-01 -1.22574411e-01 9.42714612e+01] [ 7.96279773e-01 5.83498548e-01 -1.59586867e-01 4.87934035e+01] [ 2.01120526e-01 -6.55658614e-03 9.79544560e-01 1.51651446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:48.82, Z:15.17 [[ 5.68832540e-01 -8.13293909e-01 -1.22403266e-01 9.42872399e+01] [ 7.97538530e-01 5.81811986e-01 -1.59458789e-01 4.88158886e+01] [ 2.00902549e-01 -6.91597297e-03 9.79586819e-01 1.51689837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.310888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.30, Y:48.84, Z:15.17 [[ 5.65067811e-01 -8.15933486e-01 -1.22273933e-01 9.43024257e+01] [ 8.00252578e-01 5.78093351e-01 -1.59385979e-01 4.88374295e+01] [ 2.00734105e-01 -7.78614401e-03 9.79614820e-01 1.51741760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:48.86, Z:15.18 [[ 5.63087469e-01 -8.17379993e-01 -1.21747478e-01 9.43184592e+01] [ 8.01850814e-01 5.76040353e-01 -1.58785338e-01 4.88595719e+01] [ 1.99919419e-01 -8.21327986e-03 9.79777918e-01 1.51798258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.370888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.33, Y:48.88, Z:15.19 [[ 5.61254823e-01 -8.18661372e-01 -1.21600085e-01 9.43342428e+01] [ 8.03180596e-01 5.74212104e-01 -1.58686449e-01 4.88824609e+01] [ 1.99734707e-01 -8.60329451e-03 9.79812242e-01 1.51854556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.400888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.35, Y:48.91, Z:15.19 [[ 5.58103089e-01 -8.20785629e-01 -1.21786257e-01 9.43482850e+01] [ 8.05287274e-01 5.71160273e-01 -1.59023107e-01 4.89059424e+01] [ 2.00083353e-01 -9.32163554e-03 9.79734535e-01 1.51908863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.430888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.36, Y:48.93, Z:15.20 [[ 5.56533445e-01 -8.21878874e-01 -1.21596217e-01 9.43632908e+01] [ 8.06435823e-01 5.69580643e-01 -1.58868354e-01 4.89296098e+01] [ 1.99829396e-01 -9.64399269e-03 9.79783244e-01 1.51961217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46088847899999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:94.38, Y:48.95, Z:15.20 [[ 5.55473258e-01 -8.22682616e-01 -1.21007329e-01 9.43771822e+01] [ 8.07389399e-01 5.68415995e-01 -1.58194865e-01 4.89529114e+01] [ 1.98926667e-01 -9.82701757e-03 9.79965107e-01 1.52006987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49088847899999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.39, Y:48.98, Z:15.21 [[ 5.54545541e-01 -8.23475884e-01 -1.19861217e-01 9.43900119e+01] [ 8.08474706e-01 5.67263802e-01 -1.56781467e-01 4.89783314e+01] [ 1.97098687e-01 -9.96229861e-03 9.80333035e-01 1.52058001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52088847899999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:94.41, Y:49.00, Z:15.21 [[ 5.54444426e-01 -8.23589470e-01 -1.19548161e-01 9.44052007e+01] [ 8.08651186e-01 5.67099591e-01 -1.56465053e-01 4.90010980e+01] [ 1.96658683e-01 -9.92158624e-03 9.80421809e-01 1.52114230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.550888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:94.42, Y:49.02, Z:15.22 [[ 5.55465450e-01 -8.22727885e-01 -1.20735085e-01 9.44189528e+01] [ 8.08053957e-01 5.68321081e-01 -1.55112705e-01 4.90217232e+01] [ 1.96231842e-01 -1.14007148e-02 9.80491248e-01 1.52177350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.580888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:94.43, Y:49.04, Z:15.22 [[ 5.55826284e-01 -8.22211809e-01 -1.22576035e-01 9.44341344e+01] [ 8.08264751e-01 5.68987881e-01 -1.51528492e-01 4.90434452e+01] [ 1.94332794e-01 -1.48503695e-02 9.80823242e-01 1.52243904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.610888479 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:94.44, Y:49.08, Z:15.22 [[ 5.54443952e-01 -8.24698958e-01 -1.11640194e-01 9.44417832e+01] [ 8.08822536e-01 5.65571053e-01 -1.61044994e-01 4.90766747e+01] [ 1.95954101e-01 -1.00668161e-03 9.80612552e-01 1.52239824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.640888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:94.46, Y:49.10, Z:15.23 [[ 5.54449088e-01 -8.23739600e-01 -1.18487464e-01 9.44590044e+01] [ 8.09004803e-01 5.66885498e-01 -1.55409333e-01 4.90976728e+01] [ 1.95185647e-01 -9.69036419e-03 9.80718441e-01 1.52326867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.670888479 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:94.47, Y:49.12, Z:15.24 [[ 5.54542345e-01 -8.23698073e-01 -1.18339651e-01 9.44729717e+01] [ 8.08981096e-01 5.66947206e-01 -1.55307601e-01 4.91206341e+01] [ 1.95018906e-01 -9.60989952e-03 9.80752403e-01 1.52378256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.700888479 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:94.48, Y:49.15, Z:15.24 [[ 5.55605138e-01 -8.23028341e-01 -1.18013900e-01 9.44845591e+01] [ 8.08361804e-01 5.67924166e-01 -1.54962364e-01 4.91458733e+01] [ 1.94561363e-01 -9.30004325e-03 9.80846260e-01 1.52417002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.730888479 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:94.50, Y:49.17, Z:15.25 [[ 5.55399155e-01 -8.23172978e-01 -1.17974691e-01 9.45014483e+01] [ 8.08503348e-01 5.67714498e-01 -1.54992209e-01 4.91682298e+01] [ 1.94561341e-01 -9.30039022e-03 9.80846261e-01 1.52473186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.760888479 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:94.52, Y:49.19, Z:15.25 [[ 5.56097232e-01 -8.22678594e-01 -1.18134665e-01 9.45160569e+01] [ 8.07941496e-01 5.68434038e-01 -1.55284526e-01 4.91922362e+01] [ 1.94901021e-01 -9.09260262e-03 9.80780769e-01 1.52524101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.790888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:94.53, Y:49.22, Z:15.26 [[ 5.60651572e-01 -8.19095810e-01 -1.21457275e-01 9.45325606e+01] [ 8.04051856e-01 5.73571766e-01 -1.56575993e-01 4.92167929e+01] [ 1.97915204e-01 -9.87337067e-03 9.80169418e-01 1.52600956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.820888479 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:94.54, Y:49.24, Z:15.26 [[ 5.61139822e-01 -8.19219927e-01 -1.18325025e-01 9.45421766e+01] [ 8.04145021e-01 5.73433351e-01 -1.56604523e-01 4.92416053e+01] [ 1.96145061e-01 -7.27344597e-03 9.80547914e-01 1.52615234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85088847899999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:94.56, Y:49.27, Z:15.27 [[ 5.63091218e-01 -8.17786533e-01 -1.18968342e-01 9.45562835e+01] [ 8.02687980e-01 5.75475111e-01 -1.56589924e-01 4.92658505e+01] [ 1.96520450e-01 -7.32004680e-03 9.80472401e-01 1.52663860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88088847899999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:94.57, Y:49.29, Z:15.27 [[ 5.65361850e-01 -8.16197896e-01 -1.19109085e-01 9.45692605e+01] [ 8.01010095e-01 5.77733345e-01 -1.56866216e-01 4.92889392e+01] [ 1.96847165e-01 -6.72140578e-03 9.80411147e-01 1.52706417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.910888479 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:94.58, Y:49.31, Z:15.28 [[ 5.70613142e-01 -8.12487370e-01 -1.19435822e-01 9.45800795e+01] [ 7.97121873e-01 5.82953654e-01 -1.57358689e-01 4.93149495e+01] [ 1.97477496e-01 -5.41397000e-03 9.80292470e-01 1.52751951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.940888479 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:94.59, Y:49.34, Z:15.28 [[ 5.73655632e-01 -8.10322415e-01 -1.19569222e-01 9.45941247e+01] [ 7.94857044e-01 5.85966094e-01 -1.57626191e-01 4.93388200e+01] [ 1.97791546e-01 -4.61728575e-03 9.80233230e-01 1.52801488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.970888479 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:94.61, Y:49.36, Z:15.28 [[ 5.79946001e-01 -8.05814553e-01 -1.19689355e-01 9.46054144e+01] [ 7.90203047e-01 5.92160278e-01 -1.57877642e-01 4.93636687e+01] [ 1.98095384e-01 -3.01838572e-03 9.80178100e-01 1.52846488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.000888479 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:94.62, Y:49.39, Z:15.29 [[ 5.82744154e-01 -8.03855715e-01 -1.19269610e-01 9.46201099e+01] [ 7.88301127e-01 5.94819872e-01 -1.57386954e-01 4.93873091e+01] [ 1.97460337e-01 -2.30404031e-03 9.80308169e-01 1.52899225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.030888479 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:94.63, Y:49.41, Z:15.30 [[ 5.84997264e-01 -8.02318782e-01 -1.18586564e-01 9.46348418e+01] [ 7.86894143e-01 5.96893306e-01 -1.56575824e-01 4.94111132e+01] [ 1.96407250e-01 -1.71864450e-03 9.80520902e-01 1.52956744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.060888479 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:94.65, Y:49.44, Z:15.30 [[ 5.88641292e-01 -7.99871380e-01 -1.17077777e-01 9.46488322e+01] [ 7.84774695e-01 6.00170877e-01 -1.54672545e-01 4.94353950e+01] [ 1.93984814e-01 -8.33029983e-04 9.81004178e-01 1.53013967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.090888479 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:94.66, Y:49.46, Z:15.31 [[ 5.89558959e-01 -7.99253826e-01 -1.16677141e-01 9.46634183e+01] [ 7.84231557e-01 6.00993339e-01 -1.54233175e-01 4.94576963e+01] [ 1.93393640e-01 -5.72346035e-04 9.81121079e-01 1.53068518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.120888479 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:94.68, Y:49.48, Z:15.31 [[ 5.90563917e-01 -7.98562587e-01 -1.16327363e-01 9.46789890e+01] [ 7.83602033e-01 6.01911711e-01 -1.53851051e-01 4.94808836e+01] [ 1.92878495e-01 -2.95478898e-04 9.81222604e-01 1.53125064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.150888479 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:94.69, Y:49.50, Z:15.32 [[ 5.91496711e-01 -7.97933620e-01 -1.15903318e-01 9.46942872e+01] [ 7.83054052e-01 6.02745334e-01 -1.53376706e-01 4.95037575e+01] [ 1.92244614e-01 -3.67457908e-05 9.81347037e-01 1.53178243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.180888479 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:94.71, Y:49.53, Z:15.32 [[ 5.93630822e-01 -7.96393959e-01 -1.15581612e-01 9.47084062e+01] [ 7.81550695e-01 6.04777970e-01 -1.53042865e-01 4.95262253e+01] [ 1.91783626e-01 5.18072770e-04 9.81437095e-01 1.53229217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21088847899999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:94.72, Y:49.55, Z:15.33 [[ 5.94380418e-01 -7.95856031e-01 -1.15434384e-01 9.47239018e+01] [ 7.81024798e-01 6.05485448e-01 -1.52930169e-01 4.95484349e+01] [ 1.91604237e-01 7.41581003e-04 9.81471990e-01 1.53286314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24088847899999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:94.74, Y:49.57, Z:15.33 [[ 5.94744676e-01 -7.95607420e-01 -1.15271868e-01 9.47396440e+01] [ 7.80797175e-01 6.05811911e-01 -1.52799539e-01 4.95707566e+01] [ 1.91401518e-01 8.72763603e-04 9.81511435e-01 1.53342598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27088847899999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:94.76, Y:49.59, Z:15.34 [[ 5.94531210e-01 -7.95809474e-01 -1.14977917e-01 9.47550794e+01] [ 7.81061459e-01 6.05546479e-01 -1.52500686e-01 4.95922201e+01] [ 1.90985964e-01 8.61597674e-04 9.81592390e-01 1.53397136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.300888479 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:94.77, Y:49.61, Z:15.35 [[ 5.93820423e-01 -7.96310519e-01 -1.15181864e-01 9.47712357e+01] [ 7.81503003e-01 6.04887586e-01 -1.52853085e-01 4.96134421e+01] [ 1.91390600e-01 7.52310875e-04 9.81513664e-01 1.53450497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.330888479 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:94.79, Y:49.64, Z:15.35 [[ 5.92967630e-01 -7.96895232e-01 -1.15530859e-01 9.47881017e+01] [ 7.81992287e-01 6.04117217e-01 -1.53396388e-01 4.96351781e+01] [ 1.92035031e-01 6.14851854e-04 9.81387879e-01 1.53500201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.360888479 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:94.80, Y:49.66, Z:15.35 [[ 5.91718735e-01 -7.97716207e-01 -1.16266039e-01 9.48048030e+01] [ 7.82618367e-01 6.03032906e-01 -1.54466199e-01 4.96567026e+01] [ 1.93332438e-01 4.08606336e-04 9.81133223e-01 1.53546728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.390888479 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:94.82, Y:49.68, Z:15.36 [[ 5.88721875e-01 -7.99782098e-01 -1.17282352e-01 9.48221545e+01] [ 7.84438146e-01 6.00290389e-01 -1.55911013e-01 4.96776124e+01] [ 1.95098306e-01 -2.12527245e-04 9.80783669e-01 1.53590813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.420888479 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:94.84, Y:49.70, Z:15.36 [[ 5.87039432e-01 -8.00953286e-01 -1.17722297e-01 9.48385743e+01] [ 7.85499184e-01 5.98726590e-01 -1.56580657e-01 4.96982708e+01] [ 1.95897261e-01 -5.51748576e-04 9.80624270e-01 1.53643576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.450888479 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:94.86, Y:49.72, Z:15.37 [[ 5.83736126e-01 -8.03339571e-01 -1.17888373e-01 9.48559024e+01] [ 7.87872588e-01 5.95519806e-01 -1.56885133e-01 4.97194372e+01] [ 1.96236897e-01 -1.30149747e-03 9.80555652e-01 1.53702576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.480888479 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:94.87, Y:49.74, Z:15.38 [[ 5.82233836e-01 -8.04412316e-01 -1.18002479e-01 9.48725165e+01] [ 7.88917781e-01 5.94069225e-01 -1.57132079e-01 4.97395554e+01] [ 1.96500621e-01 -1.60664133e-03 9.80502384e-01 1.53756591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.510888479 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:94.89, Y:49.76, Z:15.38 [[ 5.80482834e-01 -8.05615723e-01 -1.18418688e-01 9.48894734e+01] [ 7.90018052e-01 5.92435169e-01 -1.57772140e-01 4.97599100e+01] [ 1.97259112e-01 -1.96888245e-03 9.80349410e-01 1.53816185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.540888479 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:94.91, Y:49.78, Z:15.39 [[ 5.77785888e-01 -8.07421638e-01 -1.19305348e-01 9.49082135e+01] [ 7.91611871e-01 5.89969254e-01 -1.59018635e-01 4.97802209e+01] [ 1.98781573e-01 -2.56480670e-03 9.80040462e-01 1.53882048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.570888479 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:94.92, Y:49.80, Z:15.39 [[ 5.76491923e-01 -8.08320518e-01 -1.19478044e-01 9.49244511e+01] [ 7.92464327e-01 5.88735915e-01 -1.59343378e-01 4.98005802e+01] [ 1.99141538e-01 -2.82191719e-03 9.79966675e-01 1.53936648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60088847899999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:94.94, Y:49.82, Z:15.40 [[ 5.75733179e-01 -8.08865495e-01 -1.19448389e-01 9.49413595e+01] [ 7.93011593e-01 5.87986273e-01 -1.59388695e-01 4.98221202e+01] [ 1.99158029e-01 -2.95859728e-03 9.79962921e-01 1.53992515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63088847899999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:94.96, Y:49.84, Z:15.40 [[ 5.75078856e-01 -8.09272121e-01 -1.19845500e-01 9.49577198e+01] [ 7.93300924e-01 5.87426006e-01 -1.60013534e-01 4.98430334e+01] [ 1.99894856e-01 -3.05314532e-03 9.79812597e-01 1.54047283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.660888479 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:94.97, Y:49.86, Z:15.41 [[ 5.75143346e-01 -8.09249105e-01 -1.19691341e-01 9.49737971e+01] [ 7.93301568e-01 5.87458037e-01 -1.59892705e-01 4.98648849e+01] [ 1.99706669e-01 -2.99010323e-03 9.79851165e-01 1.54101114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.690888479 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:94.99, Y:49.89, Z:15.42 [[ 5.75773374e-01 -8.08846723e-01 -1.19381745e-01 9.49898703e+01] [ 7.92954755e-01 5.88012938e-01 -1.59572999e-01 4.98860822e+01] [ 1.99268108e-01 -2.78643851e-03 9.79941048e-01 1.54155450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.720888479 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:95.01, Y:49.91, Z:15.42 [[ 5.76669161e-01 -8.08324664e-01 -1.18591382e-01 9.50065999e+01] [ 7.92616657e-01 5.88731516e-01 -1.58600243e-01 4.99072365e+01] [ 1.98018972e-01 -2.53763551e-03 9.80194903e-01 1.54220743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.750888479 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:95.02, Y:49.93, Z:15.43 [[ 5.77118602e-01 -8.07973138e-01 -1.18800369e-01 9.50228143e+01] [ 7.92182142e-01 5.89214583e-01 -1.58976822e-01 4.99278827e+01] [ 1.98447912e-01 -2.36304906e-03 9.80108587e-01 1.54282055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.780888479 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:95.04, Y:49.95, Z:15.44 [[ 5.76866198e-01 -8.07904831e-01 -1.20478934e-01 9.50420555e+01] [ 7.92226588e-01 5.89299078e-01 -1.58441252e-01 4.99511439e+01] [ 1.99003578e-01 -4.04721240e-03 9.79990406e-01 1.54351763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.810888479 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:95.06, Y:49.97, Z:15.44 [[ 5.79901506e-01 -8.05954832e-01 -1.18958193e-01 9.50565207e+01] [ 7.90002454e-01 5.91975272e-01 -1.59566291e-01 4.99718645e+01] [ 1.99023531e-01 -1.44453169e-03 9.79993647e-01 1.54402446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.840888479 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:95.07, Y:49.99, Z:15.45 [[ 5.80920516e-01 -8.05244736e-01 -1.18795073e-01 9.50732723e+01] [ 7.89341310e-01 5.92941256e-01 -1.59251257e-01 4.99940433e+01] [ 1.98674737e-01 -1.25753643e-03 9.80064675e-01 1.54466841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.870888479 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:95.09, Y:50.01, Z:15.45 [[ 5.82165698e-01 -8.04010342e-01 -1.21039128e-01 9.50910074e+01] [ 7.88683716e-01 5.94598530e-01 -1.56302861e-01 5.00148603e+01] [ 1.97638804e-01 -4.46742514e-03 9.80264732e-01 1.54539437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.900888479 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:95.11, Y:50.04, Z:15.46 [[ 5.83276901e-01 -8.03900206e-01 -1.16329340e-01 9.51056876e+01] [ 7.87456978e-01 5.94757793e-01 -1.61785892e-01 5.00392893e+01] [ 1.99247493e-01 2.76162278e-03 9.79945310e-01 1.54571813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.930888479 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:95.12, Y:50.06, Z:15.46 [[ 5.86045437e-01 -8.01412149e-01 -1.19537915e-01 9.51241757e+01] [ 7.85184342e-01 5.98112477e-01 -1.60458762e-01 5.00592668e+01] [ 2.00090720e-01 1.76826334e-04 9.79777359e-01 1.54639901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96088847899999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:95.14, Y:50.08, Z:15.47 [[ 5.87400226e-01 -8.00385717e-01 -1.19765096e-01 9.51411993e+01] [ 7.84053264e-01 5.99485075e-01 -1.60866790e-01 5.00797762e+01] [ 2.00552869e-01 5.90973955e-04 9.79682703e-01 1.54695231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99088847899999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:95.16, Y:50.10, Z:15.48 [[ 5.89718143e-01 -7.98601217e-01 -1.20285526e-01 9.51585098e+01] [ 7.82070183e-01 6.01859214e-01 -1.61653074e-01 5.01003043e+01] [ 2.01491294e-01 1.25802684e-03 9.79489498e-01 1.54756620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02088847899999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:95.18, Y:50.12, Z:15.48 [[ 5.90761805e-01 -7.97839976e-01 -1.20215896e-01 9.51756852e+01] [ 7.81294875e-01 6.02867238e-01 -1.61645946e-01 5.01222524e+01] [ 2.01441823e-01 1.57018740e-03 9.79499222e-01 1.54817922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.050888479 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:95.19, Y:50.14, Z:15.49 [[ 5.91920386e-01 -7.97015725e-01 -1.19984130e-01 9.51922524e+01] [ 7.80498384e-01 6.03955544e-01 -1.61431018e-01 5.01435963e+01] [ 2.01128141e-01 1.90689083e-03 9.79563084e-01 1.54873930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.080888479 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:95.21, Y:50.16, Z:15.49 [[ 5.94584807e-01 -7.94947390e-01 -1.20530305e-01 9.52096139e+01] [ 7.78215426e-01 6.06672450e-01 -1.62263026e-01 5.01638469e+01] [ 2.02112985e-01 2.68058739e-03 9.79358543e-01 1.54931551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.110888479 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:95.23, Y:50.18, Z:15.50 [[ 5.95723883e-01 -7.94089243e-01 -1.20562553e-01 9.52261069e+01] [ 7.77312818e-01 6.07793643e-01 -1.62393570e-01 5.01846181e+01] [ 2.02232140e-01 3.02691016e-03 9.79332936e-01 1.54987162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.140888479 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:95.24, Y:50.21, Z:15.50 [[ 5.97242771e-01 -7.93003679e-01 -1.20192503e-01 9.52431967e+01] [ 7.76292098e-01 6.09207154e-01 -1.61979080e-01 5.02057219e+01] [ 2.01672139e-01 3.43634399e-03 9.79447058e-01 1.55048124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.170888479 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:95.26, Y:50.23, Z:15.51 [[ 5.98609732e-01 -7.91995209e-01 -1.20041563e-01 9.52608371e+01] [ 7.75286813e-01 6.10515294e-01 -1.61868569e-01 5.02265592e+01] [ 2.01486341e-01 3.82946011e-03 9.79483838e-01 1.55109505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.200888479 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:95.28, Y:50.25, Z:15.52 [[ 6.00899846e-01 -7.90172700e-01 -1.20608783e-01 9.52790219e+01] [ 7.73248054e-01 6.12867557e-01 -1.62729240e-01 5.02460276e+01] [ 2.02501413e-01 4.52346903e-03 9.79271523e-01 1.55165806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.230888479 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:95.30, Y:50.27, Z:15.52 [[ 6.01377713e-01 -7.89685158e-01 -1.21417449e-01 9.52958221e+01] [ 7.72502246e-01 6.13493723e-01 -1.63907691e-01 5.02676814e+01] [ 2.03924314e-01 4.77518054e-03 9.78975011e-01 1.55214473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.260888479 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:95.31, Y:50.29, Z:15.53 [[ 6.01816215e-01 -7.89237163e-01 -1.22155407e-01 9.53122506e+01] [ 7.71813140e-01 6.14068005e-01 -1.64999884e-01 5.02888254e+01] [ 2.05235768e-01 5.01845761e-03 9.78699696e-01 1.55259981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.290888479 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:95.33, Y:50.31, Z:15.53 [[ 6.02621332e-01 -7.88430409e-01 -1.23389711e-01 9.53302163e+01] [ 7.70613108e-01 6.15100224e-01 -1.66754767e-01 5.03082840e+01] [ 2.07371568e-01 5.40425068e-03 9.78247324e-01 1.55303404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.320888479 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:95.35, Y:50.33, Z:15.54 [[ 6.02885168e-01 -7.88136166e-01 -1.23979262e-01 9.53486740e+01] [ 7.70121685e-01 6.15475561e-01 -1.67637775e-01 5.03289285e+01] [ 2.08427599e-01 5.58721027e-03 9.78021840e-01 1.55361498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35088847899999 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:95.35, Y:50.36, Z:15.52 [[ 6.01650834e-01 -7.92636242e-01 -9.87120166e-02 9.53546238e+01] [ 7.72569479e-01 6.08849198e-01 -1.80108449e-01 5.03585130e+01] [ 2.02861216e-01 3.21005075e-02 9.78681196e-01 1.55224551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38088847899999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:95.40, Y:50.36, Z:15.56 [[ 6.01941508e-01 -7.85027023e-01 -1.46283948e-01 9.53965063e+01] [ 7.69849747e-01 6.19157297e-01 -1.54840587e-01 5.03572080e+01] [ 2.12126819e-01 -1.94116839e-02 9.77049333e-01 1.55585933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.410888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:95.41, Y:50.39, Z:15.56 [[ 6.01918220e-01 -7.88558292e-01 -1.25977283e-01 9.54069795e+01] [ 7.69923147e-01 6.14934138e-01 -1.70512033e-01 5.03858662e+01] [ 2.11926410e-01 5.64147318e-03 9.77269344e-01 1.55554243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.440888479 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:95.43, Y:50.40, Z:15.56 [[ 6.01897379e-01 -7.88574700e-01 -1.25974153e-01 9.54264941e+01] [ 7.69919688e-01 6.14912585e-01 -1.70605353e-01 5.04045247e+01] [ 2.11998157e-01 5.69693426e-03 9.77253461e-01 1.55603695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.470888479 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:95.44, Y:50.43, Z:15.57 [[ 6.01947409e-01 -7.88547833e-01 -1.25903263e-01 9.54445715e+01] [ 7.69894256e-01 6.14946462e-01 -1.70598017e-01 5.04255883e+01] [ 2.11948463e-01 5.75883510e-03 9.77263877e-01 1.55657227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.500888479 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:95.46, Y:50.45, Z:15.57 [[ 6.01006036e-01 -7.89399646e-01 -1.25059760e-01 9.54638097e+01] [ 7.70539867e-01 6.13841923e-01 -1.71657818e-01 5.04477313e+01] [ 2.12273545e-01 6.80385431e-03 9.77186599e-01 1.55713592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.530888479 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.48, Y:50.47, Z:15.57 [[ 6.01666727e-01 -7.91001248e-01 -1.10969250e-01 9.54767878e+01] [ 7.71290898e-01 6.11463413e-01 -1.76699872e-01 5.04731830e+01] [ 2.07623456e-01 2.07248615e-02 9.77989254e-01 1.55654976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.560888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.51, Y:50.48, Z:15.59 [[ 6.01985547e-01 -7.86225713e-01 -1.39508168e-01 9.55102766e+01] [ 7.70015157e-01 6.17831354e-01 -1.59251612e-01 5.04779615e+01] [ 2.11400233e-01 -1.15562353e-02 9.77331262e-01 1.55929579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.590888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.52, Y:50.50, Z:15.59 [[ 6.02132589e-01 -7.88601900e-01 -1.24673125e-01 9.55232256e+01] [ 7.70239158e-01 6.14875714e-01 -1.69291158e-01 5.05037148e+01] [ 2.10161805e-01 5.90760050e-03 9.77648769e-01 1.55925708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.620888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.54, Y:50.53, Z:15.60 [[ 6.01922106e-01 -7.88770335e-01 -1.24623981e-01 9.55397607e+01] [ 7.70403686e-01 6.14659595e-01 -1.69327328e-01 5.05263411e+01] [ 2.10161699e-01 5.91108774e-03 9.77648771e-01 1.55982285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.650888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:50.55, Z:15.60 [[ 6.01564449e-01 -7.89127501e-01 -1.24088683e-01 9.55574093e+01] [ 7.70907097e-01 6.14201845e-01 -1.68696004e-01 5.05461664e+01] [ 2.09338154e-01 5.82067216e-03 9.77825985e-01 1.56038026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.680888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:95.58, Y:50.56, Z:15.61 [[ 6.00955187e-01 -7.89782130e-01 -1.22870055e-01 9.55773931e+01] [ 7.71916229e-01 6.13361977e-01 -1.67129951e-01 5.05647183e+01] [ 2.07360069e-01 5.59222169e-03 9.78248705e-01 1.56099725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.60, Y:50.59, Z:15.62 [[ 6.01014217e-01 -7.89834137e-01 -1.22245441e-01 9.55959160e+01] [ 7.72134232e-01 6.13294942e-01 -1.66367192e-01 5.05854462e+01] [ 2.06374998e-01 5.59915805e-03 9.78456953e-01 1.56163105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:50.60, Z:15.63 [[ 6.01938206e-01 -7.88208145e-01 -1.28055908e-01 9.56193021e+01] [ 7.71046177e-01 6.15408683e-01 -1.63584676e-01 5.06046032e+01] [ 2.07745492e-01 -2.69152383e-04 9.78182876e-01 1.56272756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:50.63, Z:15.63 [[ 6.00943590e-01 -7.90547357e-01 -1.17905383e-01 9.56299463e+01] [ 7.72391922e-01 6.12313419e-01 -1.68769062e-01 5.06293780e+01] [ 2.05614984e-01 1.03515209e-02 9.78578216e-01 1.56260006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.800888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:50.65, Z:15.63 [[ 6.01042379e-01 -7.89689350e-01 -1.23039786e-01 9.56497276e+01] [ 7.71698629e-01 6.13479042e-01 -1.67704180e-01 5.06489361e+01] [ 2.07916535e-01 5.84768523e-03 9.78129091e-01 1.56322253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.830888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:50.67, Z:15.64 [[ 6.00081010e-01 -7.89952382e-01 -1.26007997e-01 9.56692733e+01] [ 7.72198020e-01 6.13162485e-01 -1.66559252e-01 5.06704287e+01] [ 2.08837255e-01 2.64591835e-03 9.77946829e-01 1.56387199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.860888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:50.69, Z:15.64 [[ 6.00520184e-01 -7.90085143e-01 -1.23048670e-01 9.56845956e+01] [ 7.71509214e-01 6.12951922e-01 -1.70480127e-01 5.06913355e+01] [ 2.10116735e-01 7.44357448e-03 9.77647969e-01 1.56420104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.890888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:50.71, Z:15.65 [[ 5.99506192e-01 -7.90578018e-01 -1.24814754e-01 9.57027529e+01] [ 7.72012160e-01 6.12333745e-01 -1.70424789e-01 5.07109347e+01] [ 2.11162378e-01 5.81220841e-03 9.77433716e-01 1.56488051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.920888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:50.73, Z:15.66 [[ 5.95652257e-01 -7.93135072e-01 -1.27024196e-01 9.57241154e+01] [ 7.74660273e-01 6.09038441e-01 -1.70216445e-01 5.07303613e+01] [ 2.12367251e-01 2.98921149e-03 9.77185354e-01 1.56560652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.950888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:50.75, Z:15.66 [[ 5.94518234e-01 -7.94486976e-01 -1.23848759e-01 9.57389804e+01] [ 7.75716098e-01 6.07250964e-01 -1.71787086e-01 5.07537998e+01] [ 2.11689881e-01 6.05907888e-03 9.77318107e-01 1.56589313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:50.77, Z:15.67 [[ 5.89674514e-01 -7.97902545e-01 -1.25041980e-01 9.57573083e+01] [ 7.79381661e-01 6.02777165e-01 -1.70950039e-01 5.07738121e+01] [ 2.11773921e-01 3.34945519e-03 9.77312942e-01 1.56657543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:50.79, Z:15.67 [[ 5.86722953e-01 -8.00042846e-01 -1.25250236e-01 9.57749202e+01] [ 7.81485257e-01 5.99937033e-01 -1.71336948e-01 5.07949113e+01] [ 2.12219154e-01 2.64610761e-03 9.77218516e-01 1.56719569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:50.82, Z:15.68 [[ 5.83546835e-01 -8.02565947e-01 -1.23939471e-01 9.57926911e+01] [ 7.83544240e-01 5.96548064e-01 -1.73749336e-01 5.08178811e+01] [ 2.13381152e-01 4.27881664e-03 9.76959659e-01 1.56771259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:50.84, Z:15.68 [[ 5.77006279e-01 -8.06740754e-01 -1.27409223e-01 9.58126153e+01] [ 7.88612982e-01 5.90900899e-01 -1.70075550e-01 5.08358712e+01] [ 2.12493102e-01 -2.34190708e-03 9.77159760e-01 1.56846475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:50.86, Z:15.69 [[ 5.73592367e-01 -8.09603594e-01 -1.24634732e-01 9.58286862e+01] [ 7.91400494e-01 5.86976583e-01 -1.70715406e-01 5.08576962e+01] [ 2.11369475e-01 -7.14934917e-04 9.77405972e-01 1.56895023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:50.88, Z:15.70 [[ 5.68595322e-01 -8.13472808e-01 -1.22316599e-01 9.58441331e+01] [ 7.96014413e-01 5.81599349e-01 -1.67640246e-01 5.08805253e+01] [ 2.07510036e-01 -2.04631598e-03 9.78230749e-01 1.56954353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:50.90, Z:15.70 [[ 5.66053162e-01 -8.15334982e-01 -1.21707373e-01 9.58590800e+01] [ 7.98074246e-01 5.78983425e-01 -1.66900243e-01 5.09022288e+01] [ 2.06546158e-01 -2.65710999e-03 9.78433250e-01 1.57004321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.190888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:95.87, Y:50.92, Z:15.71 [[ 5.63298659e-01 -8.17278900e-01 -1.21448837e-01 9.58744226e+01] [ 8.00115620e-01 5.76232849e-01 -1.66645428e-01 5.09246561e+01] [ 2.06178602e-01 -3.30196601e-03 9.78508805e-01 1.57058919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:50.95, Z:15.71 [[ 5.60594427e-01 -8.19121335e-01 -1.21548864e-01 9.58896622e+01] [ 8.01952244e-01 5.73606853e-01 -1.66876532e-01 5.09468572e+01] [ 2.06413389e-01 -3.92633090e-03 9.78456998e-01 1.57120437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:50.97, Z:15.72 [[ 5.56515611e-01 -8.21851123e-01 -1.21865118e-01 9.59052051e+01] [ 8.04635227e-01 5.69681315e-01 -1.67407737e-01 5.09699168e+01] [ 2.07008518e-01 -4.89194792e-03 9.78326910e-01 1.57177602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.280888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:50.99, Z:15.72 [[ 5.55043052e-01 -8.22771096e-01 -1.22372111e-01 9.59210724e+01] [ 8.05410749e-01 5.68349095e-01 -1.68204730e-01 5.09930959e+01] [ 2.07944069e-01 -5.19894692e-03 9.78126901e-01 1.57229827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.310888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:51.02, Z:15.73 [[ 5.53582876e-01 -8.23654890e-01 -1.23039105e-01 9.59354845e+01] [ 8.06103013e-01 5.67064654e-01 -1.69220599e-01 5.10158768e+01] [ 2.09150501e-01 -5.50456703e-03 9.77867970e-01 1.57273077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.340888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:51.04, Z:15.73 [[ 5.52834879e-01 -8.23974493e-01 -1.24256313e-01 9.59500299e+01] [ 8.06330581e-01 5.66591157e-01 -1.69721697e-01 5.10396892e+01] [ 2.10248878e-01 -6.36359114e-03 9.77627186e-01 1.57322422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.370888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:51.07, Z:15.73 [[ 5.52253694e-01 -8.24725749e-01 -1.21833069e-01 9.59612059e+01] [ 8.06422901e-01 5.65525874e-01 -1.72807958e-01 5.10670720e+01] [ 2.11418925e-01 -2.81514391e-03 9.77391484e-01 1.57341218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.400888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:51.09, Z:15.74 [[ 5.52730617e-01 -8.23659699e-01 -1.26781567e-01 9.59779435e+01] [ 8.06533212e-01 5.67000729e-01 -1.67374880e-01 5.10878351e+01] [ 2.09745184e-01 -9.74032427e-03 9.77707566e-01 1.57425841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.430888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:95.99, Y:51.11, Z:15.75 [[ 5.51837496e-01 -8.25169079e-01 -1.20711928e-01 9.59912572e+01] [ 8.07069485e-01 5.64880010e-01 -1.71899449e-01 5.11142209e+01] [ 2.10033865e-01 -2.56235262e-03 9.77690754e-01 1.57455203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:51.14, Z:15.75 [[ 5.51962230e-01 -8.24714628e-01 -1.23221261e-01 9.60059438e+01] [ 8.07072712e-01 5.65519932e-01 -1.69767028e-01 5.11374954e+01] [ 2.09693430e-01 -5.74352990e-03 9.77750314e-01 1.57522718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:96.02, Y:51.16, Z:15.76 [[ 5.51918491e-01 -8.24772718e-01 -1.23028223e-01 9.60198801e+01] [ 8.07166603e-01 5.65435668e-01 -1.69601240e-01 5.11602733e+01] [ 2.09447021e-01 -5.69821205e-03 9.77803393e-01 1.57570777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:96.03, Y:51.19, Z:15.76 [[ 5.52797573e-01 -8.24214332e-01 -1.22823361e-01 9.60325810e+01] [ 8.06634422e-01 5.66251985e-01 -1.69409559e-01 5.11850612e+01] [ 2.09178759e-01 -5.42435728e-03 9.77862374e-01 1.57615819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.550888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:51.21, Z:15.77 [[ 5.53286559e-01 -8.23929907e-01 -1.22529553e-01 9.60463657e+01] [ 8.06406749e-01 5.66667443e-01 -1.69104006e-01 5.12076370e+01] [ 2.08763356e-01 -5.24568539e-03 9.77952117e-01 1.57662773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.580888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.06, Y:51.23, Z:15.77 [[ 5.53840736e-01 -8.23564874e-01 -1.22479948e-01 9.60606992e+01] [ 8.06027864e-01 5.67199580e-01 -1.69126338e-01 5.12307343e+01] [ 2.08757086e-01 -5.05319523e-03 9.77954469e-01 1.57717942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.610888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:96.09, Y:51.25, Z:15.80 [[ 5.56863781e-01 -8.17577439e-01 -1.46525975e-01 9.60919193e+01] [ 8.02427397e-01 5.75094573e-01 -1.59300042e-01 5.12459979e+01] [ 2.14506414e-01 -2.88680333e-02 9.76295875e-01 1.57986852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.640888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:96.09, Y:51.28, Z:15.78 [[ 5.57901152e-01 -8.22497808e-01 -1.10651077e-01 9.60895416e+01] [ 8.03616916e-01 5.68697655e-01 -1.75450360e-01 5.12829442e+01] [ 2.07234545e-01 8.96288083e-03 9.78250229e-01 1.57818669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.670888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:96.10, Y:51.30, Z:15.79 [[ 5.56890885e-01 -8.22551126e-01 -1.15248371e-01 9.61015848e+01] [ 8.05222888e-01 5.68690701e-01 -1.67949357e-01 5.13034743e+01] [ 2.03687610e-01 7.28839594e-04 9.79035661e-01 1.57862799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.700888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.12, Y:51.33, Z:15.79 [[ 5.58311408e-01 -8.21048739e-01 -1.19026635e-01 9.61178496e+01] [ 8.04283700e-01 5.70847070e-01 -1.65110123e-01 5.13251577e+01] [ 2.03509464e-01 -3.54831702e-03 9.79066549e-01 1.57935756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.730888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:96.13, Y:51.35, Z:15.80 [[ 5.59900960e-01 -8.19951508e-01 -1.19123626e-01 9.61326879e+01] [ 8.03113762e-01 5.72424624e-01 -1.65343081e-01 5.13486012e+01] [ 2.03762606e-01 -3.09407403e-03 9.79015438e-01 1.57987870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.760888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:96.14, Y:51.37, Z:15.80 [[ 5.64653725e-01 -8.17145497e-01 -1.15928460e-01 9.61441583e+01] [ 7.99232641e-01 5.76421164e-01 -1.70193502e-01 5.13731601e+01] [ 2.05896471e-01 3.44658584e-03 9.78567711e-01 1.58022826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.790888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:96.16, Y:51.39, Z:15.81 [[ 5.66795688e-01 -8.14625893e-01 -1.22993100e-01 9.61631963e+01] [ 7.98120803e-01 5.79959402e-01 -1.63249120e-01 5.13940123e+01] [ 2.04317965e-01 -5.63445462e-03 9.78888360e-01 1.58113571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.820888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:96.17, Y:51.42, Z:15.81 [[ 5.68785580e-01 -8.14690847e-01 -1.12968087e-01 9.61737045e+01] [ 7.95906275e-01 5.79823205e-01 -1.74178797e-01 5.14224767e+01] [ 2.07403390e-01 9.15837898e-03 9.78212634e-01 1.58111590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85088847899999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:96.19, Y:51.44, Z:15.82 [[ 5.71663073e-01 -8.11001440e-01 -1.24410591e-01 9.61927444e+01] [ 7.94080054e-01 5.85026509e-01 -1.64866165e-01 5.14405013e+01] [ 2.06490191e-01 -4.54407050e-03 9.78438119e-01 1.58212778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88088847899999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:96.21, Y:51.46, Z:15.83 [[ 5.74560629e-01 -8.09209180e-01 -1.22721581e-01 9.62072139e+01] [ 7.92281632e-01 5.87514811e-01 -1.64669862e-01 5.14645874e+01] [ 2.05353110e-01 -2.61723504e-03 9.78684449e-01 1.58252180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:51.49, Z:15.83 [[ 5.75088020e-01 -8.09339791e-01 -1.19343504e-01 9.62219048e+01] [ 7.91943669e-01 5.87338856e-01 -1.66908040e-01 5.14877320e+01] [ 2.05180395e-01 1.47348165e-03 9.78723063e-01 1.58298220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.940888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:96.24, Y:51.51, Z:15.83 [[ 5.73402273e-01 -8.11139361e-01 -1.15164105e-01 9.62376740e+01] [ 7.93150363e-01 5.84820781e-01 -1.69991633e-01 5.15109433e+01] [ 2.05237267e-01 6.13113718e-03 9.78693044e-01 1.58342649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.970888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:96.28, Y:51.52, Z:15.87 [[ 5.76478703e-01 -8.03289326e-01 -1.49661494e-01 9.62756443e+01] [ 7.88892589e-01 5.94873703e-01 -1.54187421e-01 5.15194421e+01] [ 2.12886797e-01 -2.91810791e-02 9.76641017e-01 1.58683563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.000888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:96.28, Y:51.55, Z:15.86 [[ 5.75180805e-01 -8.08032425e-01 -1.27478008e-01 9.62836590e+01] [ 7.90143422e-01 5.89127907e-01 -1.69120318e-01 5.15491264e+01] [ 2.11755552e-01 -3.45114851e-03 9.77316569e-01 1.58629707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.030888479 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:96.28, Y:51.58, Z:15.84 [[ 5.66891330e-01 -8.18029235e-01 -9.72748175e-02 9.62812320e+01] [ 7.98740355e-01 5.74705379e-01 -1.78122354e-01 5.15825458e+01] [ 2.01613654e-01 2.32786958e-02 9.79188458e-01 1.58431631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.060888479 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:96.30, Y:51.60, Z:15.86 [[ 5.64885489e-01 -8.17087164e-01 -1.15208291e-01 9.63048770e+01] [ 8.00229839e-01 5.76513137e-01 -1.65120585e-01 5.15964308e+01] [ 2.01337004e-01 1.08111042e-03 9.79521435e-01 1.58563826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.090888479 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:96.34, Y:51.61, Z:15.89 [[ 5.65910297e-01 -8.10726311e-01 -1.49894575e-01 9.63446170e+01] [ 7.97659716e-01 5.84369270e-01 -1.49169479e-01 5.16065862e+01] [ 2.08529405e-01 -3.51483203e-02 9.77384307e-01 1.58910489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.120888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.33, Y:51.65, Z:15.86 [[ 5.59653744e-01 -8.23303988e-01 -9.46479277e-02 9.63311004e+01] [ 8.04048196e-01 5.67098786e-01 -1.78621014e-01 5.16490577e+01] [ 2.00734118e-01 2.38644237e-02 9.79355045e-01 1.58588610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.150888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.36, Y:51.66, Z:15.87 [[ 5.54995616e-01 -8.24159407e-01 -1.12876647e-01 9.63554122e+01] [ 8.06990220e-01 5.66355063e-01 -1.67358080e-01 5.16641168e+01] [ 2.01857996e-01 1.79265088e-03 9.79413159e-01 1.58726420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.180888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:96.37, Y:51.68, Z:15.88 [[ 5.53398417e-01 -8.24598485e-01 -1.17420316e-01 9.63730060e+01] [ 8.08365253e-01 5.65698242e-01 -1.62883754e-01 5.16828269e+01] [ 2.00738163e-01 -4.77889132e-03 9.79633274e-01 1.58797734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21088847899999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:96.39, Y:51.71, Z:15.88 [[ 5.50277919e-01 -8.27518824e-01 -1.11385852e-01 9.63885802e+01] [ 8.10042228e-01 5.61430598e-01 -1.69195961e-01 5.17103860e+01] [ 2.02548268e-01 2.87755747e-03 9.79268053e-01 1.58829990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24088847899999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:96.41, Y:51.73, Z:15.89 [[ 5.48298397e-01 -8.27959496e-01 -1.17694269e-01 9.64078385e+01] [ 8.11922267e-01 5.60749439e-01 -1.62303108e-01 5.17306703e+01] [ 2.00377395e-01 -6.56806362e-03 9.79696769e-01 1.58925618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27088847899999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:96.42, Y:51.75, Z:15.90 [[ 5.47892743e-01 -8.28390772e-01 -1.16543005e-01 9.64223327e+01] [ 8.12528244e-01 5.60115941e-01 -1.61455834e-01 5.17525171e+01] [ 1.99026118e-01 -6.23400311e-03 9.79974358e-01 1.58975262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.300888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:96.44, Y:51.78, Z:15.90 [[ 5.47028346e-01 -8.28855316e-01 -1.17298142e-01 9.64386275e+01] [ 8.13293119e-01 5.59408021e-01 -1.60053018e-01 5.17750552e+01] [ 1.98278316e-01 -7.84423458e-03 9.80114370e-01 1.59038385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.330888479 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:96.47, Y:51.79, Z:15.93 [[ 5.49454097e-01 -8.24218366e-01 -1.36982774e-01 9.64679797e+01] [ 8.10373897e-01 5.65626717e-01 -1.52841631e-01 5.17895388e+01] [ 2.03455996e-01 -2.70278042e-02 9.78710966e-01 1.59259462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.360888479 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:96.46, Y:51.83, Z:15.91 [[ 5.46846146e-01 -8.31260898e-01 -9.98229027e-02 9.64602798e+01] [ 8.12539392e-01 5.55675172e-01 -1.76081910e-01 5.18262486e+01] [ 2.01839116e-01 1.51796735e-02 9.79301051e-01 1.59065053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.390888479 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:96.51, Y:51.83, Z:15.94 [[ 5.52179698e-01 -8.20114762e-01 -1.50031188e-01 9.65061288e+01] [ 8.07914481e-01 5.70779836e-01 -1.46576156e-01 5.18329305e+01] [ 2.05844047e-01 -4.02759918e-02 9.77755631e-01 1.59446003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.420888479 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:96.49, Y:51.87, Z:15.91 [[ 5.50135686e-01 -8.29545310e-01 -9.59442839e-02 9.64889096e+01] [ 8.10858372e-01 5.58112913e-01 -1.76121201e-01 5.18722711e+01] [ 1.99648260e-01 1.90933319e-02 9.79681590e-01 1.59149630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.450888479 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:96.54, Y:51.88, Z:15.96 [[ 5.55308728e-01 -8.17731320e-01 -1.51485000e-01 9.65358787e+01] [ 8.04594619e-01 5.74337706e-01 -1.50876432e-01 5.18759003e+01] [ 2.10379931e-01 -3.81010161e-02 9.76876961e-01 1.59632889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.480888479 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:96.53, Y:51.92, Z:15.94 [[ 5.57497437e-01 -8.22816737e-01 -1.10314212e-01 9.65334396e+01] [ 8.04931816e-01 5.68270839e-01 -1.70742573e-01 5.19179978e+01] [ 2.03178196e-01 6.39312766e-03 9.79120906e-01 1.59448493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.510888479 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:96.54, Y:51.94, Z:15.94 [[ 5.57887662e-01 -8.22851520e-01 -1.08058930e-01 9.65419536e+01] [ 8.05804221e-01 5.68225354e-01 -1.66731831e-01 5.19397190e+01] [ 1.98597365e-01 5.94328961e-03 9.80063143e-01 1.59449693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.540888479 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:96.56, Y:51.96, Z:15.95 [[ 5.57496197e-01 -8.21972551e-01 -1.16443617e-01 9.65602490e+01] [ 8.06109988e-01 5.69511297e-01 -1.60759357e-01 5.19580113e+01] [ 1.98455734e-01 -4.24363255e-03 9.80100665e-01 1.59541808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.570888479 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:96.58, Y:51.98, Z:15.96 [[ 5.60827178e-01 -8.19456704e-01 -1.18167619e-01 9.65751418e+01] [ 8.04338772e-01 5.73097274e-01 -1.56839579e-01 5.19785990e+01] [ 1.96244785e-01 -7.08689891e-03 9.80529327e-01 1.59594981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60088847899999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:96.61, Y:51.99, Z:15.99 [[ 5.70391191e-01 -8.07992524e-01 -1.47654904e-01 9.66086077e+01] [ 7.95412620e-01 5.88203321e-01 -1.46067165e-01 5.19935926e+01] [ 2.04872282e-01 -3.41311494e-02 9.78193443e-01 1.59921353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63088847899999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:96.61, Y:52.03, Z:15.98 [[ 5.73825307e-01 -8.09853318e-01 -1.21910296e-01 9.66125488e+01] [ 7.93314560e-01 5.86623383e-01 -1.62865021e-01 5.20269338e+01] [ 2.03412208e-01 -3.25714200e-03 9.79087772e-01 1.59839266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.660888479 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:96.60, Y:52.06, Z:15.96 [[ 5.70816870e-01 -8.16396658e-01 -8.75476919e-02 9.66044907e+01] [ 7.97043717e-01 5.76558688e-01 -1.79725884e-01 5.20647859e+01] [ 1.97203993e-01 3.28112287e-02 9.79813252e-01 1.59624157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.690888479 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:96.65, Y:52.07, Z:16.00 [[ 5.78605956e-01 -8.02669287e-01 -1.44696797e-01 9.66475877e+01] [ 7.89744703e-01 5.95693073e-01 -1.46468652e-01 5.20670944e+01] [ 2.03760768e-01 -2.95258943e-02 9.78575378e-01 1.60040903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.720888479 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:96.65, Y:52.10, Z:16.00 [[ 5.79327438e-01 -8.06146262e-01 -1.20448847e-01 9.66539360e+01] [ 7.89551748e-01 5.91715743e-01 -1.62728356e-01 5.21013334e+01] [ 2.02454335e-01 -8.27595903e-04 9.79291355e-01 1.59978762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.750888479 meters Centerline goodness : 0.995652 Centerline is valid? [True, True] Translation: X:96.66, Y:52.13, Z:15.99 [[ 5.77216412e-01 -8.10526207e-01 -9.93402267e-02 9.66563350e+01] [ 7.92810545e-01 5.85389247e-01 -1.69619778e-01 5.21328012e+01] [ 1.95633976e-01 1.91493404e-02 9.80490005e-01 1.59868972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.780888479 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:96.68, Y:52.15, Z:16.01 [[ 5.81341777e-01 -8.03315070e-01 -1.29331499e-01 9.66831284e+01] [ 7.88598678e-01 5.95418751e-01 -1.53585924e-01 5.21454862e+01] [ 2.00384287e-01 -1.27047352e-02 9.79634997e-01 1.60113197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.810888479 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:96.68, Y:52.18, Z:16.00 [[ 5.80103037e-01 -8.08180253e-01 -1.01612719e-01 9.66814612e+01] [ 7.91139909e-01 5.88722833e-01 -1.65840496e-01 5.21779409e+01] [ 1.93850741e-01 1.58146985e-02 9.80903556e-01 1.59956678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.840888479 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:96.71, Y:52.19, Z:16.02 [[ 5.84502967e-01 -8.00957889e-01 -1.29702510e-01 9.67108983e+01] [ 7.85854339e-01 5.98615863e-01 -1.55216003e-01 5.21927160e+01] [ 2.01963462e-01 -1.12030661e-02 9.79328980e-01 1.60199349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.870888479 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:96.71, Y:52.22, Z:16.01 [[ 5.84071015e-01 -8.04793942e-01 -1.05677622e-01 9.67149196e+01] [ 7.87483152e-01 5.93386834e-01 -1.66620379e-01 5.22232542e+01] [ 1.96802782e-01 1.40987870e-02 9.80341721e-01 1.60097944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.900888479 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:96.74, Y:52.24, Z:16.02 [[ 5.84821268e-01 -8.02525845e-01 -1.18052330e-01 9.67355424e+01] [ 7.86224456e-01 5.96615931e-01 -1.60936431e-01 5.22421715e+01] [ 1.99587546e-01 1.30341892e-03 9.79879132e-01 1.60210025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.930888479 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:96.75, Y:52.26, Z:16.03 [[ 5.84868426e-01 -8.01005037e-01 -1.27749188e-01 9.67545121e+01] [ 7.85678956e-01 5.98589762e-01 -1.56201392e-01 5.22593933e+01] [ 2.01587458e-01 -9.01258663e-03 9.79429053e-01 1.60315405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96088847899999 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:96.77, Y:52.28, Z:16.03 [[ 5.84327558e-01 -8.02305683e-01 -1.21929880e-01 9.67677147e+01] [ 7.86295203e-01 5.96907412e-01 -1.59503589e-01 5.22849275e+01] [ 2.00751485e-01 -2.67053724e-03 9.79638561e-01 1.60337486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99088847899999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:96.78, Y:52.31, Z:16.03 [[ 5.84549110e-01 -8.03535057e-01 -1.12399956e-01 9.67788051e+01] [ 7.85863752e-01 5.95176732e-01 -1.67877401e-01 5.23125909e+01] [ 2.01793215e-01 9.80153456e-03 9.79379103e-01 1.60337491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02088847899999 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:96.80, Y:52.33, Z:16.04 [[ 5.83502510e-01 -8.03025573e-01 -1.21139383e-01 9.67967330e+01] [ 7.86758584e-01 5.95942760e-01 -1.60820263e-01 5.23311459e+01] [ 2.01334922e-01 -1.46842260e-03 9.79521359e-01 1.60405776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.050888479 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:96.81, Y:52.35, Z:16.04 [[ 5.84132968e-01 -8.03500963e-01 -1.14781877e-01 9.68104241e+01] [ 7.86085421e-01 5.95261720e-01 -1.66532868e-01 5.23541453e+01] [ 2.02134577e-01 7.04897864e-03 9.79332387e-01 1.60435015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.080888479 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:96.83, Y:52.38, Z:16.05 [[ 5.80241393e-01 -8.06029483e-01 -1.16774992e-01 9.68273987e+01] [ 7.89034102e-01 5.91865527e-01 -1.64682676e-01 5.23760678e+01] [ 2.01854184e-01 3.41625419e-03 9.79409627e-01 1.60488053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.110888479 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:96.85, Y:52.40, Z:16.06 [[ 5.78990062e-01 -8.06675885e-01 -1.18509593e-01 9.68471887e+01] [ 7.89818527e-01 5.90992466e-01 -1.64056699e-01 5.23985560e+01] [ 2.02378859e-01 1.38612602e-03 9.79306324e-01 1.60570223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.140888479 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:96.86, Y:52.42, Z:16.06 [[ 5.76696474e-01 -8.08809986e-01 -1.15098149e-01 9.68622908e+01] [ 7.91356705e-01 5.88045811e-01 -1.67202543e-01 5.24231472e+01] [ 2.02918071e-01 5.34142491e-03 9.79181151e-01 1.60601947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.170888479 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:96.88, Y:52.44, Z:16.07 [[ 5.75882203e-01 -8.08048286e-01 -1.24167854e-01 9.68812615e+01] [ 7.92439494e-01 5.89071308e-01 -1.58223393e-01 5.24394611e+01] [ 2.00995862e-01 -7.27747527e-03 9.79565058e-01 1.60705184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.200888479 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:96.89, Y:52.47, Z:16.06 [[ 5.72271133e-01 -8.13610192e-01 -1.02684986e-01 9.68888792e+01] [ 7.95569202e-01 5.81183434e-01 -1.71159170e-01 5.24700624e+01] [ 1.98935658e-01 1.62564401e-02 9.79877713e-01 1.60611293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.230888479 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:96.92, Y:52.48, Z:16.08 [[ 5.71283496e-01 -8.11125029e-01 -1.25344940e-01 9.69156835e+01] [ 7.95762499e-01 5.84790495e-01 -1.57423387e-01 5.24847201e+01] [ 2.00990579e-01 -9.81141968e-03 9.79544039e-01 1.60797111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.260888479 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:96.93, Y:52.51, Z:16.08 [[ 5.69728570e-01 -8.14310652e-01 -1.10939253e-01 9.69260354e+01] [ 7.97770608e-01 5.80411349e-01 -1.63354592e-01 5.25103638e+01] [ 1.97411786e-01 4.56370279e-03 9.80310032e-01 1.60760710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.290888479 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:96.95, Y:52.52, Z:16.09 [[ 5.67648295e-01 -8.13656335e-01 -1.25454304e-01 9.69509051e+01] [ 7.98814968e-01 5.81219577e-01 -1.55172323e-01 5.25239784e+01] [ 1.99173441e-01 -1.21314713e-02 9.79889161e-01 1.60882646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.320888479 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:96.97, Y:52.55, Z:16.10 [[ 5.67650641e-01 -8.14652966e-01 -1.18799387e-01 9.69665967e+01] [ 7.98439799e-01 5.79940788e-01 -1.61748477e-01 5.25500027e+01] [ 2.00665486e-01 -3.03753188e-03 9.79655111e-01 1.60993040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35088847899999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:96.98, Y:52.57, Z:16.10 [[ 5.66211363e-01 -8.16143790e-01 -1.15386333e-01 9.69806363e+01] [ 7.99789150e-01 5.77848819e-01 -1.62567091e-01 5.25724260e+01] [ 1.99353978e-01 -2.37402722e-04 9.79927515e-01 1.61022066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38088847899999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:97.00, Y:52.60, Z:16.11 [[ 5.64558075e-01 -8.17290272e-01 -1.15372406e-01 9.69979466e+01] [ 8.01068316e-01 5.76225405e-01 -1.62030352e-01 5.25953079e+01] [ 1.98906342e-01 -9.45635347e-04 9.80018047e-01 1.61072976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.410888479 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:97.01, Y:52.62, Z:16.11 [[ 5.61664444e-01 -8.20627172e-01 -1.05375977e-01 9.70100615e+01] [ 8.03127400e-01 5.71372509e-01 -1.68878168e-01 5.26219170e+01] [ 1.98794950e-01 1.02225277e-02 9.79987790e-01 1.61058418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.440888479 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:97.03, Y:52.64, Z:16.12 [[ 5.60920309e-01 -8.19487675e-01 -1.17508967e-01 9.70306078e+01] [ 8.03671094e-01 5.73078920e-01 -1.60291374e-01 5.26385481e+01] [ 1.98698717e-01 -4.52787293e-03 9.80050161e-01 1.61169568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.470888479 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:97.05, Y:52.66, Z:16.13 [[ 5.61863691e-01 -8.16823712e-01 -1.30798382e-01 9.70547793e+01] [ 8.02361144e-01 5.76595419e-01 -1.54124358e-01 5.26552416e+01] [ 2.01310178e-01 -1.83506583e-02 9.79355638e-01 1.61327553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.500888479 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:97.04, Y:52.70, Z:16.09 [[ 5.56704099e-01 -8.28483014e-01 -6.07983680e-02 9.70355466e+01] [ 8.08804398e-01 5.57266669e-01 -1.87854477e-01 5.26998334e+01] [ 1.89515147e-01 5.54053700e-02 9.80313345e-01 1.60908182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.530888479 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:97.08, Y:52.70, Z:16.13 [[ 5.60846194e-01 -8.19275072e-01 -1.19331067e-01 9.70831802e+01] [ 8.03271912e-01 5.73374987e-01 -1.61230767e-01 5.27023348e+01] [ 2.00513798e-01 -5.42963217e-03 9.79675832e-01 1.61319613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.560888479 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:97.10, Y:52.72, Z:16.14 [[ 5.60472352e-01 -8.19734813e-01 -1.17921918e-01 9.70975399e+01] [ 8.04197409e-01 5.72714430e-01 -1.58948763e-01 5.27228023e+01] [ 1.97831419e-01 -5.74611421e-03 9.80219216e-01 1.61366046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.590888479 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:97.12, Y:52.74, Z:16.15 [[ 5.59431952e-01 -8.18513447e-01 -1.30658438e-01 9.71177297e+01] [ 8.03555527e-01 5.74226385e-01 -1.56724515e-01 5.27419529e+01] [ 2.03308645e-01 -1.73146093e-02 9.78961592e-01 1.61531536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.620888479 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:97.14, Y:52.76, Z:16.17 [[ 5.62997995e-01 -8.14248225e-01 -1.41538284e-01 9.71445505e+01] [ 8.00609109e-01 5.79828528e-01 -1.51075920e-01 5.27566800e+01] [ 2.05081234e-01 -2.82613991e-02 9.78336844e-01 1.61678130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.650888479 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:97.14, Y:52.80, Z:16.15 [[ 5.58903846e-01 -8.23056298e-01 -1.01018915e-01 9.71418562e+01] [ 8.03544115e-01 5.67643256e-01 -1.79159116e-01 5.27979327e+01] [ 2.04800745e-01 1.89595649e-02 9.78620044e-01 1.61530070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.680888479 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:97.16, Y:52.82, Z:16.16 [[ 5.57304891e-01 -8.22589901e-01 -1.12947396e-01 9.71612077e+01] [ 8.04367992e-01 5.68611769e-01 -1.72257917e-01 5.28161532e+01] [ 2.05920841e-01 5.14890947e-03 9.78555106e-01 1.61631869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71088847899999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:97.19, Y:52.83, Z:16.18 [[ 5.60121844e-01 -8.17887892e-01 -1.31616550e-01 9.71895144e+01] [ 8.01770067e-01 5.75190950e-01 -1.62234801e-01 5.28300432e+01] [ 2.08394528e-01 -1.46549539e-02 9.77935046e-01 1.61818107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74088847899999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:97.19, Y:52.86, Z:16.17 [[ 5.55633845e-01 -8.23935237e-01 -1.11363165e-01 9.71944574e+01] [ 8.06057192e-01 5.66660764e-01 -1.70784607e-01 5.28601545e+01] [ 2.03820592e-01 5.12862785e-03 9.78994823e-01 1.61732572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77088847899999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:97.21, Y:52.88, Z:16.18 [[ 5.56763236e-01 -8.22802371e-01 -1.14065580e-01 9.72108664e+01] [ 8.05097484e-01 5.68321185e-01 -1.69791259e-01 5.28792687e+01] [ 2.04530536e-01 2.69961947e-03 9.78856461e-01 1.61800908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.800888479 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:97.22, Y:52.91, Z:16.17 [[ 5.57185228e-01 -8.25857424e-01 -8.66264164e-02 9.72176505e+01] [ 8.05374720e-01 5.62864556e-01 -1.85889893e-01 5.29134684e+01] [ 2.02277487e-01 3.38083765e-02 9.78744508e-01 1.61682105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.830888479 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:97.26, Y:52.91, Z:16.21 [[ 5.58277381e-01 -8.17328080e-01 -1.42482193e-01 9.72563828e+01] [ 8.03763508e-01 5.75388243e-01 -1.51302988e-01 5.29141634e+01] [ 2.05646759e-01 -3.00529512e-02 9.78164726e-01 1.62085399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.860888479 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:97.26, Y:52.95, Z:16.19 [[ 5.60890465e-01 -8.20724201e-01 -1.08690720e-01 9.72635088e+01] [ 8.02409825e-01 5.71243220e-01 -1.72683690e-01 5.29488691e+01] [ 2.03814520e-01 9.64213314e-03 9.78962037e-01 1.61948612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.890888479 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:97.29, Y:52.96, Z:16.21 [[ 5.62161512e-01 -8.17675535e-01 -1.24020776e-01 9.72859741e+01] [ 8.01059604e-01 5.75635980e-01 -1.64154588e-01 5.29647935e+01] [ 2.05616012e-01 -7.06664250e-03 9.78607234e-01 1.62095404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.920888479 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:97.30, Y:52.99, Z:16.22 [[ 5.61063553e-01 -8.18385929e-01 -1.24306723e-01 9.72986447e+01] [ 8.00903728e-01 5.74646255e-01 -1.68329738e-01 5.29875511e+01] [ 2.09191082e-01 -5.11403671e-03 9.77861410e-01 1.62174628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.950888479 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:97.31, Y:53.01, Z:16.22 [[ 5.62887073e-01 -8.17780153e-01 -1.19974016e-01 9.73126740e+01] [ 7.99763977e-01 5.75530713e-01 -1.70710219e-01 5.30112594e+01] [ 2.08652160e-01 1.39679731e-04 9.77989906e-01 1.62211008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.980888479 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:97.33, Y:53.03, Z:16.23 [[ 5.67179847e-01 -8.14845939e-01 -1.19721001e-01 9.73339532e+01] [ 7.97428595e-01 5.79677425e-01 -1.67576008e-01 5.30323114e+01] [ 2.05948191e-01 -4.23215412e-04 9.78562805e-01 1.62275838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.010888479 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:97.35, Y:53.06, Z:16.23 [[ 5.65909000e-01 -8.16793515e-01 -1.12229039e-01 9.73497034e+01] [ 7.97612314e-01 5.76839275e-01 -1.76269813e-01 5.30611786e+01] [ 2.08714158e-01 1.02374102e-02 9.77923103e-01 1.62304262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.040888479 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:97.36, Y:53.08, Z:16.24 [[ 5.64943592e-01 -8.16046704e-01 -1.22092239e-01 9.73637192e+01] [ 7.98500642e-01 5.77981007e-01 -1.68329082e-01 5.30768529e+01] [ 2.07931388e-01 -2.39429551e-03 9.78140483e-01 1.62388430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.070888479 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:97.38, Y:53.10, Z:16.24 [[ 5.65602565e-01 -8.16004435e-01 -1.19291659e-01 9.73787896e+01] [ 7.97951821e-01 5.78044043e-01 -1.70698490e-01 5.31007549e+01] [ 2.08246558e-01 1.35850766e-03 9.78075419e-01 1.62428739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10088847899999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:97.41, Y:53.12, Z:16.26 [[ 5.67743332e-01 -8.11361753e-01 -1.39138833e-01 9.74091514e+01] [ 7.94522585e-01 5.84305569e-01 -1.65290243e-01 5.31182446e+01] [ 2.15409776e-01 -1.67065119e-02 9.76380828e-01 1.62646417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13088847899999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:97.40, Y:53.15, Z:16.24 [[ 5.66196479e-01 -8.17748409e-01 -1.03484722e-01 9.74028316e+01] [ 7.97539642e-01 5.75213687e-01 -1.81823362e-01 5.31509985e+01] [ 2.08211594e-01 2.04145791e-02 9.77870736e-01 1.62446939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.160888479 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:97.43, Y:53.17, Z:16.26 [[ 5.67751844e-01 -8.15309827e-01 -1.13700171e-01 9.74279948e+01] [ 7.96712069e-01 5.78972154e-01 -1.73323754e-01 5.31697367e+01] [ 2.07141793e-01 7.81858293e-03 9.78279688e-01 1.62550747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.190888479 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:97.45, Y:53.19, Z:16.27 [[ 5.68769246e-01 -8.12664927e-01 -1.26796142e-01 9.74509756e+01] [ 7.95001686e-01 5.82710508e-01 -1.68584648e-01 5.31878200e+01] [ 2.10888275e-01 -4.91738367e-03 9.77497803e-01 1.62704435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.220888479 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:97.46, Y:53.21, Z:16.27 [[ 5.65641917e-01 -8.15960369e-01 -1.19406443e-01 9.74590090e+01] [ 7.98009417e-01 5.78106988e-01 -1.70215395e-01 5.32115904e+01] [ 2.07918716e-01 9.93496922e-04 9.78145603e-01 1.62694138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.250888479 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:97.47, Y:53.24, Z:16.27 [[ 5.64724092e-01 -8.17523241e-01 -1.12882459e-01 9.74726048e+01] [ 7.98222956e-01 5.75812687e-01 -1.76861137e-01 5.32361991e+01] [ 2.09587242e-01 9.77237499e-03 9.77741115e-01 1.62710254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.280888479 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:97.49, Y:53.26, Z:16.28 [[ 5.61942839e-01 -8.18957577e-01 -1.16313081e-01 9.74922420e+01] [ 7.99427817e-01 5.73811404e-01 -1.77920312e-01 5.32583504e+01] [ 2.12450960e-01 6.99713223e-03 9.77146678e-01 1.62787389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.310888479 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:97.51, Y:53.28, Z:16.29 [[ 5.61145247e-01 -8.18871262e-01 -1.20689136e-01 9.75097371e+01] [ 7.99834301e-01 5.73973811e-01 -1.75553853e-01 5.32775437e+01] [ 2.13028409e-01 1.97989978e-03 9.77044000e-01 1.62863465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.340888479 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:97.53, Y:53.30, Z:16.29 [[ 5.60591623e-01 -8.19259069e-01 -1.20630059e-01 9.75263273e+01] [ 8.00225643e-01 5.73420422e-01 -1.75578871e-01 5.32991590e+01] [ 2.13016322e-01 1.89677814e-03 9.77046800e-01 1.62924799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.370888479 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:97.55, Y:53.32, Z:16.30 [[ 5.60609711e-01 -8.18495053e-01 -1.25628817e-01 9.75451058e+01] [ 8.00858823e-01 5.74484149e-01 -1.69094965e-01 5.33166434e+01] [ 2.10575157e-01 -5.81466722e-03 9.77560378e-01 1.63018499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.400888479 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:97.56, Y:53.35, Z:16.30 [[ 5.59550645e-01 -8.20950566e-01 -1.13768375e-01 9.75566441e+01] [ 8.00955110e-01 5.70915297e-01 -1.80351419e-01 5.33450782e+01] [ 2.13011706e-01 9.79239127e-03 9.77000574e-01 1.63010844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.430888479 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:97.58, Y:53.36, Z:16.32 [[ 5.60558730e-01 -8.17748980e-01 -1.30615912e-01 9.75786825e+01] [ 8.01073234e-01 5.75444107e-01 -1.64759685e-01 5.33579349e+01] [ 2.09894221e-01 -1.22754315e-02 9.77647037e-01 1.63154737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46088847899999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:97.59, Y:53.39, Z:16.31 [[ 5.60543685e-01 -8.19770002e-01 -1.17336785e-01 9.75892885e+01] [ 8.01182878e-01 5.72683342e-01 -1.73608138e-01 5.33861716e+01] [ 2.09515566e-01 3.30672253e-03 9.77799720e-01 1.63144423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49088847899999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:97.60, Y:53.41, Z:16.30 [[ 5.61248876e-01 -8.22530118e-01 -9.18907189e-02 9.75971744e+01] [ 8.01524788e-01 5.67848144e-01 -1.87367285e-01 5.34148612e+01] [ 2.06295209e-01 3.15069891e-02 9.77982411e-01 1.63016218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52088847899999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:97.63, Y:53.42, Z:16.34 [[ 5.58636237e-01 -8.17913107e-01 -1.37636125e-01 9.76298875e+01] [ 8.02234729e-01 5.74971466e-01 -1.60708596e-01 5.34218049e+01] [ 2.10582512e-01 -2.06388343e-02 9.77358197e-01 1.63360180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.550888479 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:97.64, Y:53.45, Z:16.33 [[ 5.58937378e-01 -8.21244068e-01 -1.14661186e-01 9.76380640e+01] [ 8.02353572e-01 5.70546094e-01 -1.75230993e-01 5.34516076e+01] [ 2.09326905e-01 5.94433950e-03 9.77827649e-01 1.63295537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.580888479 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:97.65, Y:53.48, Z:16.32 [[ 5.56326816e-01 -8.25478313e-01 -9.53206608e-02 9.76498874e+01] [ 8.04970375e-01 5.63833595e-01 -1.84700765e-01 5.34815534e+01] [ 2.06211466e-01 2.60236801e-02 9.78161336e-01 1.63210633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.610888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:97.68, Y:53.49, Z:16.35 [[ 5.54838745e-01 -8.21521937e-01 -1.31360856e-01 9.76782954e+01] [ 8.04479253e-01 5.70027962e-01 -1.66976805e-01 5.34899421e+01] [ 2.12054470e-01 -1.30318824e-02 9.77170953e-01 1.63513216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.640888479 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:97.69, Y:53.52, Z:16.35 [[ 5.54035709e-01 -8.23832633e-01 -1.19767381e-01 9.76892920e+01] [ 8.05079482e-01 5.66832977e-01 -1.74778156e-01 5.35173778e+01] [ 2.11876049e-01 4.11078710e-04 9.77296460e-01 1.63512506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.670888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:97.70, Y:53.54, Z:16.36 [[ 5.53535552e-01 -8.24140618e-01 -1.19960967e-01 9.77042018e+01] [ 8.05310225e-01 5.66385129e-01 -1.75166567e-01 5.35401174e+01] [ 2.12305990e-01 3.55129021e-04 9.77203173e-01 1.63572202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.700888479 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:97.72, Y:53.56, Z:16.37 [[ 5.54115985e-01 -8.22575568e-01 -1.27768967e-01 9.77217413e+01] [ 8.05744038e-01 5.68549181e-01 -1.65916767e-01 5.35571777e+01] [ 2.09122020e-01 -1.10119510e-02 9.77827550e-01 1.63672751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.730888479 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:97.73, Y:53.59, Z:16.37 [[ 5.53715712e-01 -8.24432617e-01 -1.17088731e-01 9.77332694e+01] [ 8.05835716e-01 5.65956352e-01 -1.74132724e-01 5.35854361e+01] [ 2.09827809e-01 2.06574377e-03 9.77736173e-01 1.63681598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.760888479 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:97.75, Y:53.60, Z:16.38 [[ 5.53234737e-01 -8.23184456e-01 -1.27666273e-01 9.77521605e+01] [ 8.06709180e-01 5.67645393e-01 -1.64313746e-01 5.36030976e+01] [ 2.07729693e-01 -1.20854818e-02 9.78111607e-01 1.63796693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.790888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:97.76, Y:53.64, Z:16.37 [[ 5.53808815e-01 -8.26902869e-01 -9.76086122e-02 9.77556650e+01] [ 8.06795390e-01 5.61898966e-01 -1.82621878e-01 5.36371691e+01] [ 2.05856733e-01 2.23874277e-02 9.78326024e-01 1.63662004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.820888479 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:97.78, Y:53.65, Z:16.39 [[ 5.54235192e-01 -8.22839048e-01 -1.25535860e-01 9.77780349e+01] [ 8.05298755e-01 5.68227030e-01 -1.69150697e-01 5.36475884e+01] [ 2.10516667e-01 -7.34460216e-03 9.77562678e-01 1.63899349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85088847899999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:97.79, Y:53.67, Z:16.39 [[ 5.53997814e-01 -8.22880989e-01 -1.26306375e-01 9.77942161e+01] [ 8.06514917e-01 5.68103602e-01 -1.63682575e-01 5.36710705e+01] [ 2.06446386e-01 -1.11881864e-02 9.78393946e-01 1.63944156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88088847899999 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:97.80, Y:53.70, Z:16.39 [[ 5.54540230e-01 -8.24330042e-01 -1.13864460e-01 9.78015361e+01] [ 8.05890483e-01 5.66092298e-01 -1.73435979e-01 5.37001148e+01] [ 2.07426282e-01 4.41494327e-03 9.78240689e-01 1.63915564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.910888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:97.81, Y:53.73, Z:16.39 [[ 5.54946731e-01 -8.25049911e-01 -1.06427303e-01 9.78118326e+01] [ 8.04564258e-01 5.64828623e-01 -1.83425682e-01 5.37265787e+01] [ 2.11448529e-01 1.61638784e-02 9.77255467e-01 1.63930407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.940888479 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:97.81, Y:53.76, Z:16.37 [[ 5.52748604e-01 -8.29272298e-01 -8.23191212e-02 9.78146043e+01] [ 8.08696948e-01 5.57622793e-01 -1.87259361e-01 5.37586272e+01] [ 2.01192019e-01 3.69361281e-02 9.78855196e-01 1.63749447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.970888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:97.86, Y:53.76, Z:16.43 [[ 5.55495210e-01 -8.18445110e-01 -1.46876391e-01 9.78585647e+01] [ 8.04167951e-01 5.73707125e-01 -1.55480036e-01 5.37573992e+01] [ 2.11515908e-01 -3.17448711e-02 9.76858886e-01 1.64253204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.000888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:97.86, Y:53.79, Z:16.42 [[ 5.56319253e-01 -8.22506518e-01 -1.18287433e-01 9.78625760e+01] [ 8.03917244e-01 5.68753310e-01 -1.73887139e-01 5.37901548e+01] [ 2.10299675e-01 1.64345601e-03 9.77635590e-01 1.64169286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.030888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:97.86, Y:53.83, Z:16.40 [[ 5.55823805e-01 -8.26943924e-01 -8.49920327e-02 9.78637771e+01] [ 8.06782104e-01 5.61251341e-01 -1.84660687e-01 5.38267144e+01] [ 2.00405926e-01 3.40687549e-02 9.79120414e-01 1.63963394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.060888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:97.90, Y:53.83, Z:16.44 [[ 5.57057441e-01 -8.17963698e-01 -1.43604997e-01 9.79018838e+01] [ 8.03705267e-01 5.74530034e-01 -1.54832440e-01 5.38266266e+01] [ 2.09152699e-01 -2.91655300e-02 9.77447963e-01 1.64421505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.090888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:97.91, Y:53.86, Z:16.43 [[ 5.57368839e-01 -8.21965031e-01 -1.17104504e-01 9.79060752e+01] [ 8.03705116e-01 5.69534728e-01 -1.72302873e-01 5.38591293e+01] [ 2.08322018e-01 1.91876316e-03 9.78058411e-01 1.64339449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.120888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:97.92, Y:53.88, Z:16.44 [[ 5.57112165e-01 -8.22179230e-01 -1.16821872e-01 9.79210093e+01] [ 8.03993133e-01 5.69225568e-01 -1.71980506e-01 5.38827878e+01] [ 2.07896797e-01 1.88844944e-03 9.78148943e-01 1.64391579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.150888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:53.91, Z:16.44 [[ 5.57134306e-01 -8.22200615e-01 -1.16565487e-01 9.79350836e+01] [ 8.04074487e-01 5.69194525e-01 -1.71702684e-01 5.39054377e+01] [ 2.07522490e-01 1.93412144e-03 9.78228335e-01 1.64436531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.180888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:53.93, Z:16.45 [[ 5.56615948e-01 -8.22584452e-01 -1.16333596e-01 9.79499322e+01] [ 8.04517259e-01 5.68639959e-01 -1.71465963e-01 5.39280867e+01] [ 2.07197166e-01 1.84830397e-03 9.78297459e-01 1.64490551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21088847899999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:97.97, Y:53.95, Z:16.46 [[ 5.55265796e-01 -8.23478927e-01 -1.16457513e-01 9.79652978e+01] [ 8.05370605e-01 5.67344670e-01 -1.71750444e-01 5.39498929e+01] [ 2.07504420e-01 1.57568931e-03 9.78232811e-01 1.64550574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24088847899999 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:97.98, Y:53.97, Z:16.46 [[ 5.55398462e-01 -8.22910946e-01 -1.19791996e-01 9.79803058e+01] [ 8.05646633e-01 5.68160420e-01 -1.67711773e-01 5.39672376e+01] [ 2.06072924e-01 -3.36315788e-03 9.78530857e-01 1.64619113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:97.99, Y:53.99, Z:16.46 [[ 5.53053160e-01 -8.25668387e-01 -1.11372871e-01 9.79923033e+01] [ 8.06904654e-01 5.64112231e-01 -1.75163551e-01 5.39942836e+01] [ 2.07453806e-01 7.00746709e-03 9.78219717e-01 1.64630392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.300888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:54.01, Z:16.47 [[ 5.53862559e-01 -8.23552819e-01 -1.22462323e-01 9.80103263e+01] [ 8.06959742e-01 5.67188375e-01 -1.64661237e-01 5.40084097e+01] [ 2.05066432e-01 -7.62247014e-03 9.78718374e-01 1.64742510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.330888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:54.04, Z:16.47 [[ 5.50912513e-01 -8.27604757e-01 -1.07544270e-01 9.80211724e+01] [ 8.08444692e-01 5.61207842e-01 -1.77377956e-01 5.40397087e+01] [ 2.07153528e-01 1.07761407e-02 9.78249094e-01 1.64727739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.360888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.04, Y:54.06, Z:16.48 [[ 5.50502746e-01 -8.26758302e-01 -1.15833661e-01 9.80393037e+01] [ 8.08841020e-01 5.62557027e-01 -1.71189357e-01 5.40583811e+01] [ 2.06695262e-01 5.49194418e-04 9.78405216e-01 1.64825738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.390888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.05, Y:54.08, Z:16.49 [[ 5.50212662e-01 -8.26990973e-01 -1.15550671e-01 9.80541713e+01] [ 8.09144340e-01 5.62214957e-01 -1.70879429e-01 5.40813917e+01] [ 2.06280061e-01 5.22854732e-04 9.78492853e-01 1.64881661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.420888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.07, Y:54.10, Z:16.49 [[ 5.49767722e-01 -8.27174189e-01 -1.16354254e-01 9.80685542e+01] [ 8.09058258e-01 5.61945366e-01 -1.72168933e-01 5.41034517e+01] [ 2.07798431e-01 5.15551607e-04 9.78171532e-01 1.64933049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.450888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:54.13, Z:16.50 [[ 5.49466495e-01 -8.27310857e-01 -1.16804609e-01 9.80835405e+01] [ 8.09033194e-01 5.61744131e-01 -1.72941676e-01 5.41264427e+01] [ 2.08690829e-01 5.26850778e-04 9.77981523e-01 1.64985979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.480888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.10, Y:54.15, Z:16.50 [[ 5.49368615e-01 -8.27318146e-01 -1.17212669e-01 9.80987279e+01] [ 8.08889902e-01 5.61733339e-01 -1.73645564e-01 5.41492117e+01] [ 2.09502390e-01 5.83278604e-04 9.77807961e-01 1.65041197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.510888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.11, Y:54.17, Z:16.51 [[ 5.48713577e-01 -8.27730491e-01 -1.17369693e-01 9.81138715e+01] [ 8.09239637e-01 5.61125653e-01 -1.73980490e-01 5.41704280e+01] [ 2.09868102e-01 4.85249012e-04 9.77729587e-01 1.65099439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:54.19, Z:16.52 [[ 5.48452783e-01 -8.27402754e-01 -1.20847948e-01 9.81305907e+01] [ 8.09723078e-01 5.61590880e-01 -1.70188780e-01 5.41900516e+01] [ 2.08681771e-01 -4.51286243e-03 9.77973186e-01 1.65180272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:54.22, Z:16.52 [[ 5.46488539e-01 -8.29894982e-01 -1.12359222e-01 9.81439429e+01] [ 8.10809195e-01 5.57890995e-01 -1.77048263e-01 5.42174462e+01] [ 2.09615663e-01 5.65295589e-03 9.77767517e-01 1.65199902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:54.24, Z:16.53 [[ 5.43517976e-01 -8.31307028e-01 -1.16261925e-01 9.81608152e+01] [ 8.13204583e-01 5.55812953e-01 -1.72540624e-01 5.42372019e+01] [ 2.08054117e-01 -7.65799442e-04 9.78117017e-01 1.65287482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:54.26, Z:16.53 [[ 5.42064569e-01 -8.32286133e-01 -1.16042220e-01 9.81756615e+01] [ 8.14251918e-01 5.54345229e-01 -1.72322897e-01 5.42598266e+01] [ 2.07749409e-01 -1.07746374e-03 9.78181487e-01 1.65343075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.660888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:98.19, Y:54.28, Z:16.54 [[ 5.41629017e-01 -8.31793210e-01 -1.21482775e-01 9.81934980e+01] [ 8.15166491e-01 5.55008389e-01 -1.65738593e-01 5.42800367e+01] [ 2.05284195e-01 -9.25985605e-03 9.78658599e-01 1.65434103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:54.31, Z:16.55 [[ 5.39516470e-01 -8.34028225e-01 -1.15407534e-01 9.82072382e+01] [ 8.16699045e-01 5.51713680e-01 -1.69158757e-01 5.43058858e+01] [ 2.04755093e-01 -2.98928686e-03 9.78808672e-01 1.65466302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:54.33, Z:16.55 [[ 5.39256711e-01 -8.35112397e-01 -1.08579390e-01 9.82187303e+01] [ 8.16271709e-01 5.50040291e-01 -1.76511119e-01 5.43304702e+01] [ 2.07129663e-01 6.55452155e-03 9.78291542e-01 1.65479003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:54.35, Z:16.55 [[ 5.39836586e-01 -8.34525818e-01 -1.10195823e-01 9.82381832e+01] [ 8.15714377e-01 5.50943645e-01 -1.76270123e-01 5.43532986e+01] [ 2.07813657e-01 5.26874395e-03 9.78154244e-01 1.65549919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.780888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:54.37, Z:16.57 [[ 5.37704952e-01 -8.34119137e-01 -1.22957920e-01 9.82531113e+01] [ 8.16890897e-01 5.51500597e-01 -1.68927070e-01 5.43718261e+01] [ 2.08716668e-01 -9.61028331e-03 9.77928931e-01 1.65664954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.810888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:54.40, Z:16.57 [[ 5.37535667e-01 -8.35164141e-01 -1.16431370e-01 9.82651268e+01] [ 8.16948354e-01 5.49997626e-01 -1.73487746e-01 5.43980923e+01] [ 2.08927721e-01 -1.86256522e-03 9.77929311e-01 1.65691135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.840888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.28, Y:54.42, Z:16.57 [[ 5.37219635e-01 -8.35383390e-01 -1.16317051e-01 9.82788162e+01] [ 8.17186391e-01 5.49664473e-01 -1.73422518e-01 5.44209104e+01] [ 2.08809641e-01 -1.88672895e-03 9.77954485e-01 1.65747112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.870888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:54.44, Z:16.58 [[ 5.36820923e-01 -8.35632402e-01 -1.16369181e-01 9.82930142e+01] [ 8.17401063e-01 5.49285712e-01 -1.73610797e-01 5.44449114e+01] [ 2.08994736e-01 -1.92238467e-03 9.77914876e-01 1.65809282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.900888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:54.47, Z:16.59 [[ 5.39341920e-01 -8.33697543e-01 -1.18569391e-01 9.83050282e+01] [ 8.16094730e-01 5.52200341e-01 -1.70482185e-01 5.44652405e+01] [ 2.07604637e-01 -4.81566586e-03 9.78200963e-01 1.65872847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.930888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:54.50, Z:16.57 [[ 5.38209822e-01 -8.38597026e-01 -8.41737170e-02 9.83070454e+01] [ 8.17457212e-01 5.43721555e-01 -1.90080451e-01 5.45036338e+01] [ 2.05167965e-01 3.34947535e-02 9.78153468e-01 1.65722574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:54.51, Z:16.61 [[ 5.39309275e-01 -8.29846836e-01 -1.43177282e-01 9.83439400e+01] [ 8.15358289e-01 5.57088050e-01 -1.57619051e-01 5.45062909e+01] [ 2.10562023e-01 -3.17353672e-02 9.77065249e-01 1.66140890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.35, Y:54.54, Z:16.61 [[ 5.39985355e-01 -8.33453501e-01 -1.17350232e-01 9.83485741e+01] [ 8.14944593e-01 5.52588040e-01 -1.74676181e-01 5.45398065e+01] [ 2.10430810e-01 -1.31135766e-03 9.77607874e-01 1.66080005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.36, Y:54.56, Z:16.62 [[ 5.42279917e-01 -8.31294456e-01 -1.21991883e-01 9.83627085e+01] [ 8.13930725e-01 5.55781055e-01 -1.69186861e-01 5.45606599e+01] [ 2.08444877e-01 -7.54630437e-03 9.78005003e-01 1.66173336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.37, Y:54.59, Z:16.62 [[ 5.41823877e-01 -8.33164706e-01 -1.10740502e-01 9.83727172e+01] [ 8.13761687e-01 5.52982990e-01 -1.78890272e-01 5.45910814e+01] [ 2.10282675e-01 6.81064301e-03 9.77616904e-01 1.66181132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:98.39, Y:54.61, Z:16.63 [[ 5.42513453e-01 -8.31860695e-01 -1.16991183e-01 9.83887463e+01] [ 8.13380907e-01 5.54984205e-01 -1.74367522e-01 5.46128539e+01] [ 2.09977746e-01 -5.61667756e-04 9.77706004e-01 1.66269806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11088847899998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:98.40, Y:54.64, Z:16.63 [[ 5.45358346e-01 -8.30009258e-01 -1.16914097e-01 9.83999794e+01] [ 8.11488494e-01 5.57749572e-01 -1.74361229e-01 5.46370171e+01] [ 2.09930222e-01 2.14907009e-04 9.77716347e-01 1.66331120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.41, Y:54.66, Z:16.64 [[ 5.46695781e-01 -8.29137639e-01 -1.16852465e-01 9.84129792e+01] [ 8.10595808e-01 5.59044192e-01 -1.74367505e-01 5.46608045e+01] [ 2.09900354e-01 6.05861308e-04 9.77722596e-01 1.66388425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:98.43, Y:54.68, Z:16.64 [[ 5.47899773e-01 -8.28323664e-01 -1.16986095e-01 9.84252768e+01] [ 8.09697335e-01 5.60249003e-01 -1.74674788e-01 5.46841783e+01] [ 2.10228603e-01 9.80947493e-04 9.77651764e-01 1.66438544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20088847899999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:98.44, Y:54.71, Z:16.65 [[ 5.50765483e-01 -8.26352219e-01 -1.17470814e-01 9.84356747e+01] [ 8.07503690e-01 5.63150755e-01 -1.75496489e-01 5.47085986e+01] [ 2.11175691e-01 1.79929267e-03 9.77446464e-01 1.66492307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230888479 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:98.45, Y:54.73, Z:16.65 [[ 5.51527236e-01 -8.25833683e-01 -1.17543338e-01 9.84486709e+01] [ 8.06929001e-01 5.63910014e-01 -1.75701688e-01 5.47326722e+01] [ 2.11384237e-01 2.05513839e-03 9.77400880e-01 1.66549082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.260888479 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:98.46, Y:54.76, Z:16.66 [[ 5.51941498e-01 -8.25553314e-01 -1.17568317e-01 9.84617408e+01] [ 8.06611024e-01 5.64319746e-01 -1.75846185e-01 5.47559582e+01] [ 2.11516524e-01 2.22490596e-03 9.77371889e-01 1.66606668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290888479 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:98.48, Y:54.78, Z:16.67 [[ 5.52006315e-01 -8.25527641e-01 -1.17444209e-01 9.84751625e+01] [ 8.06608976e-01 5.64357099e-01 -1.75735667e-01 5.47794202e+01] [ 2.11355124e-01 2.27564476e-03 9.77406688e-01 1.66665803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.320888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:98.49, Y:54.80, Z:16.67 [[ 5.51813806e-01 -8.25642145e-01 -1.17543917e-01 9.84893143e+01] [ 8.06670516e-01 5.64189490e-01 -1.75991188e-01 5.48033649e+01] [ 2.11622784e-01 2.29515541e-03 9.77348725e-01 1.66728889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.350888479 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:98.50, Y:54.83, Z:16.68 [[ 5.51595613e-01 -8.25795155e-01 -1.17493154e-01 9.85047782e+01] [ 8.06819743e-01 5.63965492e-01 -1.76025072e-01 5.48267034e+01] [ 2.11622736e-01 2.29886154e-03 9.77348726e-01 1.66786559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.380888479 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:98.52, Y:54.85, Z:16.68 [[ 5.51499701e-01 -8.25820380e-01 -1.17765782e-01 9.85175593e+01] [ 8.06733765e-01 5.63928324e-01 -1.76537467e-01 5.48516696e+01] [ 2.12199698e-01 2.35472683e-03 9.77223487e-01 1.66848987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.410888479 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:98.53, Y:54.87, Z:16.69 [[ 5.51624472e-01 -8.25726684e-01 -1.17838383e-01 9.85308620e+01] [ 8.06590393e-01 5.64065080e-01 -1.76755550e-01 5.48749634e+01] [ 2.12420291e-01 2.45537920e-03 9.77175312e-01 1.66910306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.440888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:98.54, Y:54.90, Z:16.70 [[ 5.51531442e-01 -8.25799879e-01 -1.17760891e-01 9.85444128e+01] [ 8.06669200e-01 5.63957796e-01 -1.76738242e-01 5.48989506e+01] [ 2.12362592e-01 2.48261353e-03 9.77187785e-01 1.66969373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.470888479 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:98.54, Y:54.93, Z:16.69 [[ 5.50080773e-01 -8.29958342e-01 -9.26298768e-02 9.85443116e+01] [ 8.08757914e-01 5.57079643e-01 -1.88607815e-01 5.49316069e+01] [ 2.08138848e-01 2.88343865e-02 9.77674178e-01 1.66858087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.500888479 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:98.58, Y:54.94, Z:16.72 [[ 5.49176381e-01 -8.24439652e-01 -1.36764622e-01 9.85781300e+01] [ 8.08523763e-01 5.65549861e-01 -1.62612054e-01 5.49412126e+01] [ 2.11411039e-01 -2.12747474e-02 9.77165676e-01 1.67151518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53088847899997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:98.58, Y:54.97, Z:16.71 [[ 5.49030236e-01 -8.27572357e-01 -1.17003393e-01 9.85837942e+01] [ 8.08494882e-01 5.61353890e-01 -1.76685698e-01 5.49721343e+01] [ 2.11900510e-01 2.40914583e-03 9.77288274e-01 1.67116733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56088847899997 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:98.60, Y:55.00, Z:16.72 [[ 5.48147698e-01 -8.28162182e-01 -1.16967948e-01 9.85960402e+01] [ 8.09167715e-01 5.60484872e-01 -1.76364163e-01 5.49952686e+01] [ 2.11616896e-01 2.02692275e-03 9.77350593e-01 1.67174221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59088847899997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:98.61, Y:55.02, Z:16.72 [[ 5.47866088e-01 -8.28353480e-01 -1.16932724e-01 9.86099315e+01] [ 8.09358459e-01 5.60202221e-01 -1.76386954e-01 5.50171660e+01] [ 2.11616719e-01 1.99594136e-03 9.77350695e-01 1.67232834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62088847899997 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:98.61, Y:55.05, Z:16.71 [[ 5.46545802e-01 -8.32823271e-01 -8.77102322e-02 9.86120523e+01] [ 8.11888835e-01 5.52632221e-01 -1.88239604e-01 5.50508846e+01] [ 2.05241823e-01 3.16706071e-02 9.78198736e-01 1.67130704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65088847899997 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:98.65, Y:55.05, Z:16.75 [[ 5.47498451e-01 -8.23388590e-01 -1.49253730e-01 9.86523566e+01] [ 8.10527106e-01 5.66149197e-01 -1.50069641e-01 5.50501045e+01] [ 2.08065510e-01 -3.88112974e-02 9.77344579e-01 1.67505974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68088847899998 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:98.65, Y:55.09, Z:16.73 [[ 5.47074995e-01 -8.30472742e-01 -1.04995116e-01 9.86469529e+01] [ 8.12036701e-01 5.56967700e-01 -1.74308282e-01 5.50871328e+01] [ 2.03237165e-01 1.00998151e-02 9.79077448e-01 1.67318716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71088847899998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:98.64, Y:55.13, Z:16.71 [[ 5.45550462e-01 -8.36780114e-01 -4.66233244e-02 9.86361320e+01] [ 8.13389556e-01 5.42062901e-01 -2.11104811e-01 5.51313646e+01] [ 2.01921082e-01 7.72454022e-02 9.76350872e-01 1.67121343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74088847899998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:98.71, Y:55.11, Z:16.79 [[ 5.48899541e-01 -8.15512582e-01 -1.83435336e-01 9.87102510e+01] [ 8.06426710e-01 5.74393431e-01 -1.40528100e-01 5.51080926e+01] [ 2.19966486e-01 -7.07913450e-02 9.72935420e-01 1.67934318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77088847899998 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:98.70, Y:55.15, Z:16.77 [[ 5.48635970e-01 -8.27000768e-01 -1.22753009e-01 9.87012442e+01] [ 8.06531050e-01 5.62199236e-01 -1.82865211e-01 5.51531063e+01] [ 2.20241318e-01 1.32231959e-03 9.75444521e-01 1.67718155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.80088847899998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:98.72, Y:55.18, Z:16.78 [[ 5.47331545e-01 -8.27799139e-01 -1.23194020e-01 9.87154138e+01] [ 8.07176808e-01 5.61023576e-01 -1.83625020e-01 5.51771405e+01] [ 2.21119383e-01 1.06441005e-03 9.75246167e-01 1.67772456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83088847899998 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:98.75, Y:55.19, Z:16.81 [[ 5.47596462e-01 -8.21006244e-01 -1.61514279e-01 9.87501770e+01] [ 8.04194358e-01 5.69711248e-01 -1.69412304e-01 5.51894841e+01] [ 2.31105061e-01 -3.71192941e-02 9.72220453e-01 1.68113063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.86088847899998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:98.70, Y:55.26, Z:16.74 [[ 5.36895730e-01 -8.42949873e-01 -3.43290883e-02 9.87008909e+01] [ 8.16636350e-01 5.29489117e-01 -2.29665730e-01 5.52574939e+01] [ 2.11773577e-01 9.52721685e-02 9.72663953e-01 1.67414095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89088847899998 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:98.78, Y:55.23, Z:16.82 [[ 5.37168287e-01 -8.22910373e-01 -1.85118207e-01 9.87768758e+01] [ 8.14098568e-01 5.63236364e-01 -1.41450771e-01 5.52262007e+01] [ 2.20666612e-01 -7.47215990e-02 9.72482868e-01 1.68176915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92088847899998 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:98.76, Y:55.28, Z:16.79 [[ 5.32370114e-01 -8.40159156e-01 -1.03511614e-01 9.87574682e+01] [ 8.17294547e-01 5.41987096e-01 -1.95651760e-01 5.52794657e+01] [ 2.20480576e-01 1.95596722e-02 9.75195229e-01 1.67859256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95088847899999 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:98.78, Y:55.30, Z:16.80 [[ 5.28892587e-01 -8.39556671e-01 -1.24166129e-01 9.87791800e+01] [ 8.19803171e-01 5.43239153e-01 -1.81146302e-01 5.52957234e+01] [ 2.19534489e-01 -5.98485022e-03 9.75586382e-01 1.68008682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.980888479 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:98.79, Y:55.32, Z:16.81 [[ 5.24566490e-01 -8.42338500e-01 -1.23676391e-01 9.87918756e+01] [ 8.22786581e-01 5.38902888e-01 -1.80571093e-01 5.53209434e+01] [ 2.18751548e-01 -7.03772986e-03 9.75755210e-01 1.68098144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010888479 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:98.77, Y:55.37, Z:16.77 [[ 5.20504340e-01 -8.52517630e-01 -4.78426814e-02 9.87676163e+01] [ 8.27781983e-01 5.17556949e-01 -2.16591302e-01 5.53699019e+01] [ 2.09409216e-01 7.31334033e-02 9.75089373e-01 1.67699590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.040888479 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:98.85, Y:55.34, Z:16.86 [[ 0.52222787 -0.82762013 -0.20572551 98.84670641] [ 0.82349025 0.55208984 -0.1306163 55.33989426] [ 0.22167964 -0.10120148 0.9698538 16.86199564] [ 0. 0. 0. 1. ]] SLAMing on 129.070888479 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:98.82, Y:55.40, Z:16.81 [[ 5.21584649e-01 -8.47743896e-01 -9.63314096e-02 9.88163992e+01] [ 8.24424324e-01 5.29846093e-01 -1.98966458e-01 5.54013848e+01] [ 2.19713422e-01 2.43598932e-02 9.75260277e-01 1.68134182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.100888479 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:98.85, Y:55.41, Z:16.84 [[ 5.20983481e-01 -8.42262848e-01 -1.38453988e-01 9.88466683e+01] [ 8.24842080e-01 5.38509812e-01 -1.72170628e-01 5.54112157e+01] [ 2.19571755e-01 -2.45046222e-02 9.75288556e-01 1.68401956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.130888479 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:98.82, Y:55.47, Z:16.80 [[ 5.19198818e-01 -8.53389159e-01 -4.64707509e-02 9.88184956e+01] [ 8.27424573e-01 5.15529378e-01 -2.22706164e-01 5.54721380e+01] [ 2.14012063e-01 7.71777357e-02 9.73777405e-01 1.68024895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.160888479 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:98.88, Y:55.46, Z:16.86 [[ 5.23103237e-01 -8.38396166e-01 -1.53149835e-01 9.88782499e+01] [ 8.23251678e-01 5.43558762e-01 -1.63708726e-01 5.54563788e+01] [ 2.20498703e-01 -4.04442935e-02 9.74548399e-01 1.68581899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.190888479 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:98.88, Y:55.49, Z:16.85 [[ 5.23885379e-01 -8.43826045e-01 -1.16196880e-01 9.88769279e+01] [ 8.22614321e-01 5.36608854e-01 -1.88033553e-01 5.54946600e+01] [ 2.21019884e-01 2.92281113e-03 9.75264922e-01 1.68491095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.220888479 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:98.90, Y:55.51, Z:16.87 [[ 5.25967736e-01 -8.38871391e-01 -1.40188192e-01 9.88968932e+01] [ 8.19444440e-01 5.43966031e-01 -1.80587282e-01 5.55118535e+01] [ 2.27747119e-01 -1.98933505e-02 9.73517080e-01 1.68695396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.250888479 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:98.91, Y:55.54, Z:16.87 [[ 5.28922823e-01 -8.38898081e-01 -1.28415953e-01 9.89061959e+01] [ 8.18718348e-01 5.44225246e-01 -1.83082352e-01 5.55383303e+01] [ 2.23474637e-01 -8.30006317e-03 9.74674405e-01 1.68696564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28088847899997 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:98.92, Y:55.56, Z:16.87 [[ 5.30746033e-01 -8.38667910e-01 -1.22248866e-01 9.89159125e+01] [ 8.16247641e-01 5.44637587e-01 -1.92638751e-01 5.55648614e+01] [ 2.28141266e-01 2.45690447e-03 9.73624941e-01 1.68735789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31088847899997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:98.94, Y:55.58, Z:16.90 [[ 5.37537500e-01 -8.30566076e-01 -1.45648308e-01 9.89394058e+01] [ 8.10334997e-01 5.56577785e-01 -1.83243996e-01 5.55824064e+01] [ 2.33260860e-01 -1.95234011e-02 9.72218190e-01 1.68959085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34088847899997 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:98.94, Y:55.61, Z:16.89 [[ 5.38360473e-01 -8.32719269e-01 -1.29408736e-01 9.89444643e+01] [ 8.10852072e-01 5.53688046e-01 -1.89600805e-01 5.56122186e+01] [ 2.29536314e-01 -2.85776264e-03 9.73295903e-01 1.68949680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37088847899997 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:98.95, Y:55.64, Z:16.90 [[ 5.40393481e-01 -8.32558872e-01 -1.21739926e-01 9.89541356e+01] [ 8.08574497e-01 5.53865320e-01 -1.98596298e-01 5.56390806e+01] [ 2.32770634e-01 8.88434525e-03 9.72491080e-01 1.68971617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40088847899997 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:98.97, Y:55.66, Z:16.90 [[ 5.43103835e-01 -8.30940882e-01 -1.20728929e-01 9.89665542e+01] [ 8.06873144e-01 5.56260341e-01 -1.98821937e-01 5.56634641e+01] [ 2.32365991e-01 1.05680258e-02 9.72571007e-01 1.69018900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43088847899998 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:98.98, Y:55.68, Z:16.91 [[ 5.43960331e-01 -8.29345906e-01 -1.27642178e-01 9.89837122e+01] [ 8.06457814e-01 5.58730677e-01 -1.93509236e-01 5.56837687e+01] [ 2.31803693e-01 2.32331641e-03 9.72759811e-01 1.69106904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46088847899998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:99.00, Y:55.71, Z:16.92 [[ 5.44781568e-01 -8.28809798e-01 -1.27621948e-01 9.89981361e+01] [ 8.05886381e-01 5.59524315e-01 -1.93596701e-01 5.57068226e+01] [ 2.31862426e-01 2.61912501e-03 9.72745062e-01 1.69174280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49088847899998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:99.02, Y:55.73, Z:16.93 [[ 5.47959559e-01 -8.25689737e-01 -1.34077517e-01 9.90175155e+01] [ 8.05339025e-01 5.64067087e-01 -1.82366052e-01 5.57273960e+01] [ 2.26206491e-01 -8.04863537e-03 9.74046119e-01 1.69279755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52088847899998 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:99.03, Y:55.76, Z:16.92 [[ 5.49601054e-01 -8.27572906e-01 -1.14288088e-01 9.90252315e+01] [ 8.03710407e-01 5.61101339e-01 -1.98027447e-01 5.57575547e+01] [ 2.28009349e-01 1.69815676e-02 9.73510844e-01 1.69248797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55088847899998 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:99.04, Y:55.78, Z:16.94 [[ 5.47420532e-01 -8.26682273e-01 -1.30104499e-01 9.90436720e+01] [ 8.04094736e-01 5.62668836e-01 -1.91925602e-01 5.57750977e+01] [ 2.31867240e-01 4.47672317e-04 9.72747337e-01 1.69376919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58088847899998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:99.06, Y:55.80, Z:16.94 [[ 5.49106334e-01 -8.25914343e-01 -1.27858250e-01 9.90579792e+01] [ 8.02736792e-01 5.63780911e-01 -1.94331488e-01 5.57986357e+01] [ 2.32585203e-01 4.07212960e-03 9.72567499e-01 1.69423752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61088847899998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:99.07, Y:55.83, Z:16.94 [[ 5.51486898e-01 -8.26231547e-01 -1.14907056e-01 9.90702508e+01] [ 8.02423009e-01 5.63080499e-01 -1.97630123e-01 5.58258625e+01] [ 2.27990165e-01 1.67863574e-02 9.73518722e-01 1.69392427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64088847899998 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:99.09, Y:55.84, Z:16.95 [[ 5.53750691e-01 -8.22557643e-01 -1.29456926e-01 9.90927454e+01] [ 8.00327377e-01 5.68679561e-01 -1.89946430e-01 5.58433185e+01] [ 2.29861396e-01 1.57504527e-03 9.73222101e-01 1.69521209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67088847899998 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:99.11, Y:55.86, Z:16.96 [[ 5.52321058e-01 -8.22476174e-01 -1.35920539e-01 9.91076102e+01] [ 8.00119591e-01 5.68788557e-01 -1.90494663e-01 5.58633352e+01] [ 2.33987369e-01 -3.53847256e-03 9.72233197e-01 1.69627017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70088847899999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:99.12, Y:55.89, Z:16.97 [[ 5.53775693e-01 -8.22683124e-01 -1.28549441e-01 9.91198455e+01] [ 7.99056127e-01 5.68471342e-01 -1.95830638e-01 5.58881384e+01] [ 2.34183234e-01 5.72802879e-03 9.72175603e-01 1.69653335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730888479 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:99.14, Y:55.91, Z:16.97 [[ 5.56047642e-01 -8.21149553e-01 -1.28547392e-01 9.91351353e+01] [ 7.97455879e-01 5.70676729e-01 -1.95939255e-01 5.59094913e+01] [ 2.34254437e-01 6.44068712e-03 9.72153988e-01 1.69698001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.760888479 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:99.15, Y:55.94, Z:16.97 [[ 5.58045800e-01 -8.21863514e-01 -1.14565485e-01 9.91503906e+01] [ 7.97345123e-01 5.69318181e-01 -2.00293692e-01 5.59384421e+01] [ 2.29838291e-01 2.04248229e-02 9.73014484e-01 1.69673431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790888479 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:99.17, Y:55.95, Z:16.99 [[ 5.56735297e-01 -8.18612940e-01 -1.41133494e-01 9.91726286e+01] [ 7.97008552e-01 5.74284641e-01 -1.87014755e-01 5.59490975e+01] [ 2.34143497e-01 -8.36688682e-03 9.72166045e-01 1.69873918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.820888479 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:99.18, Y:55.97, Z:16.99 [[ 5.57478324e-01 -8.20289999e-01 -1.27836757e-01 9.91847908e+01] [ 7.96772035e-01 5.71905876e-01 -1.95135833e-01 5.59734060e+01] [ 2.33178564e-01 6.92724386e-03 9.72409261e-01 1.69891305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.850888479 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:99.20, Y:56.00, Z:17.00 [[ 5.57307796e-01 -8.20399436e-01 -1.27878013e-01 9.92009681e+01] [ 7.96842498e-01 5.71748619e-01 -1.95308859e-01 5.59960504e+01] [ 2.33345355e-01 6.94851402e-03 9.72369098e-01 1.69955206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.880888479 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:99.22, Y:56.02, Z:17.00 [[ 5.56244790e-01 -8.21194365e-01 -1.27403094e-01 9.92175289e+01] [ 7.97806677e-01 5.70609735e-01 -1.94702430e-01 5.60166829e+01] [ 2.32585985e-01 6.65917294e-03 9.72553040e-01 1.70006240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.910888479 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:99.23, Y:56.04, Z:17.01 [[ 5.55368058e-01 -8.21805184e-01 -1.27289278e-01 9.92336157e+01] [ 7.98449598e-01 5.69731947e-01 -1.94637481e-01 5.60384642e+01] [ 2.32474859e-01 6.46136691e-03 9.72580943e-01 1.70067195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.940888479 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:99.25, Y:56.06, Z:17.01 [[ 5.54372138e-01 -8.22574936e-01 -1.26657047e-01 9.92496224e+01] [ 7.99446224e-01 5.68623206e-01 -1.93786958e-01 5.60597994e+01] [ 2.31424430e-01 6.17459207e-03 9.72833289e-01 1.70125717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.970888479 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:99.27, Y:56.08, Z:17.02 [[ 5.51720786e-01 -8.24422849e-01 -1.26218623e-01 9.92680566e+01] [ 8.01478331e-01 5.65948171e-01 -1.93223063e-01 5.60802311e+01] [ 2.30730707e-01 5.44368905e-03 9.73002419e-01 1.70188144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.000888479 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:99.28, Y:56.10, Z:17.02 [[ 5.49906843e-01 -8.25678212e-01 -1.25928371e-01 9.92839834e+01] [ 8.02843450e-01 5.64119411e-01 -1.92903305e-01 5.61015251e+01] [ 2.30314694e-01 4.97807900e-03 9.73103468e-01 1.70243989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03088847899997 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:99.30, Y:56.12, Z:17.03 [[ 5.48012059e-01 -8.26963575e-01 -1.25753842e-01 9.93003369e+01] [ 8.04199447e-01 5.62237509e-01 -1.92749143e-01 5.61240725e+01] [ 2.30100048e-01 4.49768460e-03 9.73156585e-01 1.70301872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06088847899997 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:99.32, Y:56.15, Z:17.04 [[ 5.45750150e-01 -8.28522123e-01 -1.25331019e-01 9.93159375e+01] [ 8.05926819e-01 5.59942797e-01 -1.92213493e-01 5.61456859e+01] [ 2.29431333e-01 3.89291298e-03 9.73317065e-01 1.70355433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09088847899997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:99.34, Y:56.17, Z:17.04 [[ 5.41532876e-01 -8.31339176e-01 -1.24969273e-01 9.93350126e+01] [ 8.08928912e-01 5.55758615e-01 -1.91745603e-01 5.61661631e+01] [ 2.28858382e-01 2.74528999e-03 9.73455857e-01 1.70417041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12088847899997 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:99.35, Y:56.19, Z:17.05 [[ 5.39539580e-01 -8.32623401e-01 -1.25041248e-01 9.93514232e+01] [ 8.10192040e-01 5.53834910e-01 -1.91978515e-01 5.61869216e+01] [ 2.29098013e-01 2.27258347e-03 9.73400707e-01 1.70476020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15088847899997 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:99.37, Y:56.21, Z:17.05 [[ 5.37524640e-01 -8.33952579e-01 -1.24861353e-01 9.93673035e+01] [ 8.11601923e-01 5.51833330e-01 -1.91787109e-01 5.62083417e+01] [ 2.28844011e-01 1.75258226e-03 9.73461528e-01 1.70529975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18088847899998 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:99.38, Y:56.23, Z:17.06 [[ 5.34194211e-01 -8.36107302e-01 -1.24744239e-01 9.93843613e+01] [ 8.13836534e-01 5.48565225e-01 -1.91693220e-01 5.62298945e+01] [ 2.28706452e-01 8.79989736e-04 9.73495036e-01 1.70578547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21088847899998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:99.40, Y:56.25, Z:17.06 [[ 5.32527472e-01 -8.37183756e-01 -1.24650914e-01 9.94005168e+01] [ 8.14947569e-01 5.46921496e-01 -1.91669866e-01 5.62524342e+01] [ 2.28637163e-01 4.85510555e-04 9.73511588e-01 1.70635116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24088847899998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:99.42, Y:56.28, Z:17.07 [[ 5.32380676e-01 -8.37285165e-01 -1.24596824e-01 9.94156402e+01] [ 8.15043489e-01 5.46766216e-01 -1.91705022e-01 5.62758936e+01] [ 2.28637105e-01 5.08219029e-04 9.73511590e-01 1.70695191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27088847899998 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:99.43, Y:56.30, Z:17.07 [[ 5.30717644e-01 -8.38391545e-01 -1.24251358e-01 9.94310935e+01] [ 8.16286752e-01 5.45068447e-01 -1.91249383e-01 5.62969956e+01] [ 2.28067360e-01 7.46843440e-05 9.73645353e-01 1.70745649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30088847899998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:99.45, Y:56.32, Z:17.08 [[ 5.27566468e-01 -8.40463658e-01 -1.23670777e-01 9.94496000e+01] [ 8.18603876e-01 5.41867373e-01 -1.90440135e-01 5.63181987e+01] [ 2.27071171e-01 -7.67547602e-04 9.73877864e-01 1.70798005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33088847899998 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:99.47, Y:56.34, Z:17.09 [[ 5.25881549e-01 -8.41522844e-01 -1.23644245e-01 9.94665837e+01] [ 8.19673322e-01 5.40220292e-01 -1.90519503e-01 5.63401299e+01] [ 2.27121644e-01 -1.15719722e-03 9.73865709e-01 1.70856691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36088847899998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:99.48, Y:56.36, Z:17.09 [[ 5.24446591e-01 -8.42458597e-01 -1.23366471e-01 9.94832198e+01] [ 8.20706210e-01 5.38759024e-01 -1.90210490e-01 5.63620408e+01] [ 2.26709262e-01 -1.49238590e-03 9.73961336e-01 1.70914567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39088847899998 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:99.50, Y:56.38, Z:17.10 [[ 5.23268113e-01 -8.43296514e-01 -1.22643679e-01 9.94994383e+01] [ 8.21796783e-01 5.37445651e-01 -1.89214744e-01 5.63847100e+01] [ 2.25478447e-01 -1.77813890e-03 9.74246534e-01 1.70968788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42088847899998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:99.52, Y:56.41, Z:17.10 [[ 5.23331321e-01 -8.43405020e-01 -1.21623606e-01 9.95158047e+01] [ 8.22241332e-01 5.37275475e-01 -1.87761168e-01 5.64059456e+01] [ 2.23704092e-01 -1.74265590e-03 9.74655551e-01 1.71027216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45088847899999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:99.53, Y:56.43, Z:17.11 [[ 5.23835341e-01 -8.43153096e-01 -1.21199805e-01 9.95312193e+01] [ 8.22107052e-01 5.37671270e-01 -1.87215385e-01 5.64275525e+01] [ 2.23016885e-01 -1.56917956e-03 9.74813319e-01 1.71085400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.480888479 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:99.55, Y:56.45, Z:17.11 [[ 5.24589945e-01 -8.42721073e-01 -1.20940409e-01 9.95473366e+01] [ 8.21730909e-01 5.38348808e-01 -1.86919433e-01 5.64503309e+01] [ 2.22629070e-01 -1.32441692e-03 9.74902325e-01 1.71145973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:99.56, Y:56.47, Z:17.12 [[ 5.27673936e-01 -8.40801562e-01 -1.20884038e-01 9.95632002e+01] [ 8.19754880e-01 5.41343267e-01 -1.86947598e-01 5.64726625e+01] [ 2.22625592e-01 -4.47904972e-04 9.74903916e-01 1.71199422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.540888479 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:99.58, Y:56.50, Z:17.13 [[ 5.29591852e-01 -8.39591764e-01 -1.20905499e-01 9.95783312e+01] [ 8.18479319e-01 5.43217869e-01 -1.87098771e-01 5.64957205e+01] [ 2.22764615e-01 1.27334348e-04 9.74872253e-01 1.71251606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.570888479 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:99.59, Y:56.52, Z:17.13 [[ 5.31310109e-01 -8.38526575e-01 -1.20759063e-01 9.95927667e+01] [ 8.17411876e-01 5.44860325e-01 -1.86989440e-01 5.65176971e+01] [ 2.22592437e-01 6.39487674e-04 9.74911380e-01 1.71300039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.600888479 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:99.61, Y:56.54, Z:17.14 [[ 5.33382431e-01 -8.37240647e-01 -1.20545763e-01 9.96080542e+01] [ 8.16144664e-01 5.46833224e-01 -1.86765394e-01 5.65401273e+01] [ 2.22286008e-01 1.23459808e-03 9.74980721e-01 1.71353033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.630888479 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:99.62, Y:56.56, Z:17.14 [[ 5.37318342e-01 -8.34868700e-01 -1.19512562e-01 9.96238245e+01] [ 8.14052902e-01 5.50444478e-01 -1.85280190e-01 5.65633759e+01] [ 2.20469662e-01 2.26489649e-03 9.75391203e-01 1.71402139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.660888479 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:99.64, Y:56.59, Z:17.15 [[ 5.39087804e-01 -8.33757302e-01 -1.19302558e-01 9.96383253e+01] [ 8.12962248e-01 5.52124104e-01 -1.85071223e-01 5.65854689e+01] [ 2.20174302e-01 2.78116362e-03 9.75456581e-01 1.71456091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.690888479 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:99.65, Y:56.61, Z:17.15 [[ 5.40166985e-01 -8.33135652e-01 -1.18762841e-01 9.96537608e+01] [ 8.12492294e-01 5.53060123e-01 -1.84338744e-01 5.66085108e+01] [ 2.19262171e-01 3.07981005e-03 9.75661117e-01 1.71511802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.720888479 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:99.67, Y:56.63, Z:17.16 [[ 5.42212882e-01 -8.31882369e-01 -1.18224003e-01 9.96702723e+01] [ 8.11373054e-01 5.54940091e-01 -1.83617161e-01 5.66292661e+01] [ 2.18355118e-01 3.63582001e-03 9.75862605e-01 1.71570264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.750888479 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:99.69, Y:56.65, Z:17.16 [[ 5.42875161e-01 -8.31527659e-01 -1.17678855e-01 9.96862150e+01] [ 8.11178181e-01 5.55470222e-01 -1.82873701e-01 5.66515078e+01] [ 2.17431640e-01 3.81907064e-03 9.76068080e-01 1.71627207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78088847899997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:99.70, Y:56.67, Z:17.17 [[ 5.44271745e-01 -8.30677825e-01 -1.17228917e-01 9.97032304e+01] [ 8.10441223e-01 5.56737514e-01 -1.82286493e-01 5.66716559e+01] [ 2.16687084e-01 4.20624094e-03 9.76232050e-01 1.71684639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81088847899997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:99.72, Y:56.69, Z:17.17 [[ 5.44315258e-01 -8.30651418e-01 -1.17213999e-01 9.97196790e+01] [ 8.10402126e-01 5.56776498e-01 -1.82341235e-01 5.66938900e+01] [ 2.16724006e-01 4.26064240e-03 9.76223618e-01 1.71744002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84088847899997 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:99.74, Y:56.72, Z:17.18 [[ 5.44735294e-01 -8.30405501e-01 -1.17004971e-01 9.97362069e+01] [ 8.10199570e-01 5.57142024e-01 -1.82124743e-01 5.67161744e+01] [ 2.16425775e-01 4.41239809e-03 9.76289104e-01 1.71800090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87088847899997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:99.75, Y:56.74, Z:17.19 [[ 5.44649857e-01 -8.30407136e-01 -1.17390463e-01 9.97521897e+01] [ 8.10039992e-01 5.57138932e-01 -1.82842616e-01 5.67384958e+01] [ 2.17236611e-01 4.49423512e-03 9.76108630e-01 1.71857189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90088847899997 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:99.77, Y:56.76, Z:17.19 [[ 5.44729376e-01 -8.30242048e-01 -1.18186495e-01 9.97690497e+01] [ 8.09563583e-01 5.57383547e-01 -1.84202027e-01 5.67598467e+01] [ 2.18807476e-01 4.66077293e-03 9.75756919e-01 1.71904297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93088847899998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:99.79, Y:56.78, Z:17.20 [[ 5.44564418e-01 -8.30328175e-01 -1.18341527e-01 9.97857170e+01] [ 8.09572542e-01 5.57254958e-01 -1.84551379e-01 5.67820800e+01] [ 2.19184612e-01 4.69406347e-03 9.75672113e-01 1.71959537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.80, Y:56.80, Z:17.20 [[ 5.43519841e-01 -8.31007889e-01 -1.18372593e-01 9.98049907e+01] [ 8.10230690e-01 5.56242522e-01 -1.84717315e-01 5.68019414e+01] [ 2.19345416e-01 4.48841789e-03 9.75636942e-01 1.72022859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:56.82, Z:17.21 [[ 5.42522163e-01 -8.31692203e-01 -1.18143058e-01 9.98217639e+01] [ 8.10986514e-01 5.55220544e-01 -1.84474991e-01 5.68229900e+01] [ 2.19021864e-01 4.26934452e-03 9.75710611e-01 1.72088445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:99.84, Y:56.84, Z:17.21 [[ 5.41107342e-01 -8.32669967e-01 -1.17743668e-01 9.98378526e+01] [ 8.12105348e-01 5.53755692e-01 -1.83955258e-01 5.68437166e+01] [ 2.18375245e-01 3.91927806e-03 9.75857004e-01 1.72146340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:56.87, Z:17.22 [[ 5.39363524e-01 -8.33852086e-01 -1.17378394e-01 9.98541559e+01] [ 8.13420961e-01 5.51976926e-01 -1.83487911e-01 5.68654490e+01] [ 2.17791943e-01 3.48864060e-03 9.75988985e-01 1.72204231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08088847899998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:99.87, Y:56.89, Z:17.23 [[ 5.37446954e-01 -8.35103978e-01 -1.17269421e-01 9.98706835e+01] [ 8.14715059e-01 5.50083704e-01 -1.83431981e-01 5.68874547e+01] [ 2.17692775e-01 3.04379633e-03 9.76012598e-01 1.72267070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:56.91, Z:17.23 [[ 5.34263702e-01 -8.37214093e-01 -1.16768398e-01 9.98888904e+01] [ 8.17025306e-01 5.46870681e-01 -1.82762435e-01 5.69075908e+01] [ 2.16868500e-01 2.24059932e-03 9.76198255e-01 1.72329042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:56.93, Z:17.24 [[ 5.32390595e-01 -8.38422346e-01 -1.16654290e-01 9.99055665e+01] [ 8.18284426e-01 5.45018127e-01 -1.82663184e-01 5.69289351e+01] [ 2.16727598e-01 1.79177209e-03 9.76230474e-01 1.72390844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:56.95, Z:17.25 [[ 5.29338773e-01 -8.40319547e-01 -1.16891070e-01 9.99245451e+01] [ 8.20118704e-01 5.42090293e-01 -1.83148644e-01 5.69491839e+01] [ 2.17268900e-01 1.08312586e-03 9.76111188e-01 1.72458274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:56.97, Z:17.25 [[ 5.27968242e-01 -8.41164366e-01 -1.17013012e-01 9.99407658e+01] [ 8.20915815e-01 5.40778947e-01 -1.83453961e-01 5.69708275e+01] [ 2.17593108e-01 8.00033253e-04 9.76039241e-01 1.72518751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:56.99, Z:17.26 [[ 5.26792032e-01 -8.41923914e-01 -1.16851518e-01 9.99563716e+01] [ 8.21724801e-01 5.39595979e-01 -1.83315385e-01 5.69925655e+01] [ 2.17390216e-01 5.49293286e-04 9.76084624e-01 1.72576871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:57.01, Z:17.26 [[ 5.25824112e-01 -8.42574866e-01 -1.16518660e-01 9.99737206e+01] [ 8.22484945e-01 5.38579132e-01 -1.82896237e-01 5.70140785e+01] [ 2.16858291e-01 3.36407443e-04 9.76203036e-01 1.72639878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:57.04, Z:17.27 [[ 5.25482058e-01 -8.42799858e-01 -1.16434561e-01 9.99897380e+01] [ 8.22719158e-01 5.38227002e-01 -1.82879416e-01 5.70360455e+01] [ 2.16798970e-01 3.06907779e-04 9.76216222e-01 1.72699168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:57.06, Z:17.28 [[ 5.25285648e-01 -8.42919280e-01 -1.16456323e-01 1.00004946e+02] [ 8.22808246e-01 5.38039946e-01 -1.83028975e-01 5.70571617e+01] [ 2.16936806e-01 3.21270911e-04 9.76185597e-01 1.72757601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:57.08, Z:17.28 [[ 5.24692059e-01 -8.43319785e-01 -1.16232452e-01 1.00022195e+02] [ 8.22866174e-01 5.37410692e-01 -1.84610422e-01 5.70801784e+01] [ 2.18150184e-01 1.21986883e-03 9.75914448e-01 1.72812131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:57.10, Z:17.29 [[ 5.25860686e-01 -8.42222925e-01 -1.18874233e-01 1.00038180e+02] [ 8.22035558e-01 5.39127794e-01 -1.83299654e-01 5.71005382e+01] [ 2.18467574e-01 -1.32876463e-03 9.75843304e-01 1.72884884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:57.12, Z:17.29 [[ 5.26401891e-01 -8.42118609e-01 -1.17206220e-01 1.00052826e+02] [ 8.21645752e-01 5.39291687e-01 -1.84560923e-01 5.71225677e+01] [ 2.18630527e-01 8.51226095e-04 9.75807342e-01 1.72935655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:57.14, Z:17.30 [[ 5.27232931e-01 -8.41607526e-01 -1.17141829e-01 1.00069676e+02] [ 8.21117488e-01 5.40088412e-01 -1.84582170e-01 5.71443203e+01] [ 2.18612687e-01 1.13059439e-03 9.75811055e-01 1.73003316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:57.17, Z:17.31 [[ 5.27725216e-01 -8.41334842e-01 -1.16883620e-01 1.00084729e+02] [ 8.20903998e-01 5.40512705e-01 -1.84289560e-01 5.71662840e+01] [ 2.18226309e-01 1.30401663e-03 9.75897319e-01 1.73064948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.500888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:57.19, Z:17.31 [[ 5.28364274e-01 -8.40991119e-01 -1.16469445e-01 1.00100033e+02] [ 8.20671623e-01 5.41046824e-01 -1.83756419e-01 5.71887751e+01] [ 2.17552940e-01 1.50715894e-03 9.76047359e-01 1.73130008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:57.21, Z:17.32 [[ 5.28954566e-01 -8.40679419e-01 -1.16039572e-01 1.00114539e+02] [ 8.20478498e-01 5.41530469e-01 -1.83193299e-01 5.72105076e+01] [ 2.16845800e-01 1.69295805e-03 9.76204401e-01 1.73191672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:57.23, Z:17.33 [[ 5.30251998e-01 -8.39934830e-01 -1.15508873e-01 1.00130165e+02] [ 8.19876315e-01 5.42683385e-01 -1.82476223e-01 5.72330796e+01] [ 2.15952881e-01 2.05539278e-03 9.76401623e-01 1.73254756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:57.26, Z:17.33 [[ 5.30565695e-01 -8.39732217e-01 -1.15541538e-01 1.00145103e+02] [ 8.19631636e-01 5.42996269e-01 -1.82644553e-01 5.72552680e+01] [ 2.16111139e-01 2.20343421e-03 9.76366284e-01 1.73314677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:57.28, Z:17.34 [[ 5.30356094e-01 -8.39830999e-01 -1.15785610e-01 1.00160422e+02] [ 8.19628681e-01 5.42843436e-01 -1.83111523e-01 5.72774748e+01] [ 2.16636192e-01 2.21310476e-03 9.76249898e-01 1.73377475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:57.30, Z:17.34 [[ 5.29130680e-01 -8.40554779e-01 -1.16139512e-01 1.00176622e+02] [ 8.20218495e-01 5.41722910e-01 -1.83787674e-01 5.72985872e+01] [ 2.17399042e-01 1.98792164e-03 9.76080788e-01 1.73439130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:57.32, Z:17.35 [[ 5.27881756e-01 -8.41293719e-01 -1.16472015e-01 1.00191755e+02] [ 8.20829603e-01 5.40575426e-01 -1.84436905e-01 5.73211245e+01] [ 2.18127519e-01 1.75719997e-03 9.75918694e-01 1.73498831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:57.35, Z:17.35 [[ 5.26793990e-01 -8.42339468e-01 -1.13808228e-01 1.00206210e+02] [ 8.21142372e-01 5.38919152e-01 -1.87859928e-01 5.73457070e+01] [ 2.19575266e-01 5.51072348e-03 9.75579999e-01 1.73538379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:57.36, Z:17.36 [[ 5.25343969e-01 -8.42371285e-01 -1.20101338e-01 1.00223074e+02] [ 8.22446310e-01 5.38888781e-01 -1.82156385e-01 5.73639576e+01] [ 2.18164572e-01 -3.08214425e-03 9.75907127e-01 1.73625771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:57.39, Z:17.37 [[ 5.25589018e-01 -8.42732442e-01 -1.16439751e-01 1.00236828e+02] [ 8.22250220e-01 5.38331023e-01 -1.84673456e-01 5.73883244e+01] [ 2.18313443e-01 1.31972953e-03 9.75877809e-01 1.73669737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:57.41, Z:17.37 [[ 5.25541870e-01 -8.42776164e-01 -1.16336068e-01 1.00252086e+02] [ 8.22306537e-01 5.38262464e-01 -1.84622531e-01 5.74116607e+01] [ 2.18214807e-01 1.36296137e-03 9.75899811e-01 1.73726086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:57.43, Z:17.38 [[ 5.24422426e-01 -8.43413376e-01 -1.16768989e-01 1.00267278e+02] [ 8.22778250e-01 5.37263915e-01 -1.85427711e-01 5.74340686e+01] [ 2.19127976e-01 1.16746607e-03 9.75695427e-01 1.73778072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:57.46, Z:17.38 [[ 5.23821558e-01 -8.43738811e-01 -1.17114448e-01 1.00282499e+02] [ 8.22959893e-01 5.36752832e-01 -1.86100544e-01 5.74565703e+01] [ 2.19881763e-01 1.10298348e-03 9.75525906e-01 1.73833569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:57.48, Z:17.39 [[ 5.23352670e-01 -8.44031992e-01 -1.17098161e-01 1.00297962e+02] [ 8.23239515e-01 5.36291810e-01 -1.86192899e-01 5.74786395e+01] [ 2.19951548e-01 1.04471772e-03 9.75510238e-01 1.73897677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:57.50, Z:17.40 [[ 5.22119282e-01 -8.44850924e-01 -1.16697776e-01 1.00314933e+02] [ 8.24195975e-01 5.35001248e-01 -1.85673531e-01 5.75004786e+01] [ 2.19299910e-01 7.61892901e-04 9.75657199e-01 1.73972051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:57.52, Z:17.40 [[ 5.21352677e-01 -8.45343470e-01 -1.16558158e-01 1.00330239e+02] [ 8.24724071e-01 5.34222833e-01 -1.85569859e-01 5.75225051e+01] [ 2.19138298e-01 6.19024713e-04 9.75693611e-01 1.74036849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:57.55, Z:17.41 [[ 5.20687971e-01 -8.45774280e-01 -1.16404053e-01 1.00345464e+02] [ 8.25192810e-01 5.33540638e-01 -1.85448686e-01 5.75456278e+01] [ 2.18954021e-01 5.05112252e-04 9.75735047e-01 1.74101132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:57.57, Z:17.42 [[ 5.21566786e-01 -8.45303997e-01 -1.15884600e-01 1.00360087e+02] [ 8.24870366e-01 5.34285102e-01 -1.84738488e-01 5.75671841e+01] [ 2.18075597e-01 7.63687200e-04 9.75931581e-01 1.74159750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:57.59, Z:17.42 [[ 5.22253767e-01 -8.44891045e-01 -1.15802092e-01 1.00374646e+02] [ 8.24449072e-01 5.34937486e-01 -1.84731190e-01 5.75902137e+01] [ 2.18024608e-01 1.00363253e-03 9.75942756e-01 1.74223544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:57.61, Z:17.43 [[ 5.22938790e-01 -8.44451955e-01 -1.15913411e-01 1.00389085e+02] [ 8.23933357e-01 5.35629843e-01 -1.85025659e-01 5.76128560e+01] [ 2.18331961e-01 1.25216845e-03 9.75873756e-01 1.74283847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:57.64, Z:17.43 [[ 5.23674439e-01 -8.43969752e-01 -1.16104006e-01 1.00403833e+02] [ 8.23343466e-01 5.36388607e-01 -1.85452959e-01 5.76362708e+01] [ 2.18793554e-01 1.52349936e-03 9.75769983e-01 1.74341390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:57.66, Z:17.44 [[ 5.24383029e-01 -8.43435358e-01 -1.16787137e-01 1.00417518e+02] [ 8.22522985e-01 5.37227584e-01 -1.86661358e-01 5.76588581e+01] [ 2.20178061e-01 1.82194409e-03 9.75457996e-01 1.74388561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:57.68, Z:17.44 [[ 5.24240696e-01 -8.43531340e-01 -1.16732900e-01 1.00432227e+02] [ 8.22613767e-01 5.37076778e-01 -1.86695271e-01 5.76825998e+01] [ 2.20177842e-01 1.84716791e-03 9.75457998e-01 1.74448603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:57.71, Z:17.45 [[ 5.23994810e-01 -8.43619415e-01 -1.17199496e-01 1.00446994e+02] [ 8.22517406e-01 5.36938383e-01 -1.87516103e-01 5.77057818e+01] [ 2.21121133e-01 1.85883904e-03 9.75244579e-01 1.74506779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:57.73, Z:17.45 [[ 5.23104723e-01 -8.44639631e-01 -1.13777602e-01 1.00460768e+02] [ 8.22736180e-01 5.35296866e-01 -1.91213085e-01 5.77300584e+01] [ 2.22410943e-01 6.41551827e-03 9.74931902e-01 1.74548764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.250888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:57.75, Z:17.47 [[ 5.23348667e-01 -8.43367299e-01 -1.21810395e-01 1.00479217e+02] [ 8.22809763e-01 5.37327052e-01 -1.85104655e-01 5.77481201e+01] [ 2.21563233e-01 -3.35250815e-03 9.75140244e-01 1.74663414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:57.77, Z:17.47 [[ 5.23449464e-01 -8.43942539e-01 -1.17310060e-01 1.00492002e+02] [ 8.22707446e-01 5.36429975e-01 -1.88136494e-01 5.77721670e+01] [ 2.21705022e-01 1.96808716e-03 9.75111793e-01 1.74709281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:57.80, Z:17.48 [[ 5.23482856e-01 -8.43943772e-01 -1.17152078e-01 1.00506397e+02] [ 8.22738173e-01 5.36427790e-01 -1.88008310e-01 5.77955057e+01] [ 2.21512073e-01 2.03364015e-03 9.75155509e-01 1.74772822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34088847899997 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:100.52, Y:57.82, Z:17.48 [[ 5.23714054e-01 -8.43556879e-01 -1.18892312e-01 1.00520451e+02] [ 8.22764691e-01 5.37039736e-01 -1.86135934e-01 5.78181925e+01] [ 2.20866143e-01 -3.38391680e-04 9.75304072e-01 1.74844786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:57.84, Z:17.49 [[ 5.23728475e-01 -8.44076247e-01 -1.15081596e-01 1.00532031e+02] [ 8.22634620e-01 5.36205420e-01 -1.89092648e-01 5.78434731e+01] [ 2.21315988e-01 4.36309920e-03 9.75192390e-01 1.74880254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40088847899997 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:100.55, Y:57.87, Z:17.49 [[ 5.23449162e-01 -8.43991203e-01 -1.16960784e-01 1.00546553e+02] [ 8.22769047e-01 5.36352411e-01 -1.88088243e-01 5.78668039e+01] [ 2.21477021e-01 2.22292052e-03 9.75163057e-01 1.74942160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43088847899998 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:100.56, Y:57.89, Z:17.50 [[ 5.21847069e-01 -8.45168238e-01 -1.15612654e-01 1.00560126e+02] [ 8.23698148e-01 5.34488464e-01 -1.89323645e-01 5.78902569e+01] [ 2.21803961e-01 3.56805993e-03 9.75084751e-01 1.74996644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:57.91, Z:17.51 [[ 5.21357741e-01 -8.45065608e-01 -1.18533641e-01 1.00575278e+02] [ 8.24300223e-01 5.34662241e-01 -1.86186550e-01 5.79097821e+01] [ 2.20715312e-01 -6.37508057e-04 9.75338067e-01 1.75077195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49088847899998 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:100.59, Y:57.93, Z:17.51 [[ 5.20145217e-01 -8.46746043e-01 -1.11669569e-01 1.00587070e+02] [ 8.24918223e-01 5.31947048e-01 -1.91160310e-01 5.79339556e+01] [ 2.21266533e-01 7.31285900e-03 9.75185953e-01 1.75106001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:100.60, Y:57.97, Z:17.50 [[ 5.14786522e-01 -8.52480736e-01 -9.09474117e-02 1.00595519e+02] [ 8.29602613e-01 5.22089088e-01 -1.97945671e-01 5.79669705e+01] [ 2.16227522e-01 2.64495529e-02 9.75984672e-01 1.75029535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:57.97, Z:17.54 [[ 5.15237303e-01 -8.45178468e-01 -1.42140347e-01 1.00627303e+02] [ 8.27326602e-01 5.33778805e-01 -1.74959654e-01 5.79689308e+01] [ 2.23743637e-01 -2.74507504e-02 9.74261382e-01 1.75439255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:58.00, Z:17.54 [[ 5.13901305e-01 -8.49090133e-01 -1.22275893e-01 1.00634434e+02] [ 8.28453290e-01 5.28217905e-01 -1.86147766e-01 5.79992501e+01] [ 2.22644548e-01 -5.63828568e-03 9.74883385e-01 1.75403140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:58.03, Z:17.54 [[ 5.12064720e-01 -8.50873721e-01 -1.17488867e-01 1.00646535e+02] [ 8.29529302e-01 5.25370040e-01 -1.89387057e-01 5.80253880e+01] [ 2.22869600e-01 -4.82027438e-04 9.74848147e-01 1.75427018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:58.05, Z:17.55 [[ 5.11013098e-01 -8.51521668e-01 -1.17373179e-01 1.00661109e+02] [ 8.30209813e-01 5.24318947e-01 -1.89318009e-01 5.80489083e+01] [ 2.22749368e-01 -7.00382290e-04 9.74875494e-01 1.75482883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:58.08, Z:17.53 [[ 5.08301973e-01 -8.56833923e-01 -8.63986851e-02 1.00665040e+02] [ 8.33931992e-01 5.14773081e-01 -1.98912310e-01 5.80843861e+01] [ 2.14910532e-01 2.90568917e-02 9.76201393e-01 1.75289316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:58.09, Z:17.57 [[ 5.08295756e-01 -8.49269758e-01 -1.42745583e-01 1.00699381e+02] [ 8.32109680e-01 5.27047487e-01 -1.72668548e-01 5.80851168e+01] [ 2.21875877e-01 -3.10132908e-02 9.74581588e-01 1.75745725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:58.13, Z:17.54 [[ 5.03324048e-01 -8.60153373e-01 -8.24686473e-02 1.00692644e+02] [ 8.37467486e-01 5.09096810e-01 -1.98667177e-01 5.81312949e+01] [ 2.12868768e-01 3.09291571e-02 9.76591150e-01 1.75387480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:58.13, Z:17.59 [[ 5.03799454e-01 -8.51705091e-01 -1.44168468e-01 1.00728956e+02] [ 8.35301947e-01 5.22864420e-01 -1.69951332e-01 5.81306445e+01] [ 2.20128977e-01 -3.48028143e-02 9.74849731e-01 1.75888330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:58.16, Z:17.58 [[ 5.02592520e-01 -8.56785070e-01 -1.15412746e-01 1.00733708e+02] [ 8.36224528e-01 5.15666447e-01 -1.86592213e-01 5.81643131e+01] [ 2.19383903e-01 -2.73111860e-03 9.75634790e-01 1.75798411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:58.19, Z:17.59 [[ 5.00654953e-01 -8.58015835e-01 -1.14688472e-01 1.00747850e+02] [ 8.37720793e-01 5.13613358e-01 -1.85540270e-01 5.81878777e+01] [ 2.18102021e-01 -3.18526301e-03 9.75920777e-01 1.75863758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:58.21, Z:17.59 [[ 5.00104977e-01 -8.58364267e-01 -1.14480559e-01 1.00761502e+02] [ 8.38126238e-01 5.13030313e-01 -1.85322169e-01 5.82100813e+01] [ 2.17805925e-01 -3.26862130e-03 9.75986627e-01 1.75920291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:58.23, Z:17.60 [[ 4.99507107e-01 -8.58712656e-01 -1.14478053e-01 1.00775823e+02] [ 8.38465011e-01 5.12446278e-01 -1.85405601e-01 5.82333495e+01] [ 2.17873988e-01 -3.37442678e-03 9.75971075e-01 1.75978122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:58.26, Z:17.60 [[ 4.99083260e-01 -8.58959328e-01 -1.14476074e-01 1.00789901e+02] [ 8.38692549e-01 5.12032395e-01 -1.85519905e-01 5.82568599e+01] [ 2.17969511e-01 -3.42035088e-03 9.75949586e-01 1.76037448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:58.28, Z:17.61 [[ 4.99362503e-01 -8.58801603e-01 -1.14441680e-01 1.00802681e+02] [ 8.38516495e-01 5.12297761e-01 -1.85583112e-01 5.82815141e+01] [ 2.18007290e-01 -3.28798930e-03 9.75941602e-01 1.76091718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:58.30, Z:17.61 [[ 4.99806220e-01 -8.58583634e-01 -1.14139763e-01 1.00815352e+02] [ 8.38374269e-01 5.12664026e-01 -1.85213879e-01 5.83047905e+01] [ 2.17536955e-01 -3.12079142e-03 9.76047096e-01 1.76140689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:58.33, Z:17.62 [[ 5.00564977e-01 -8.58155990e-01 -1.14030701e-01 1.00828865e+02] [ 8.37950652e-01 5.13380981e-01 -1.85145008e-01 5.83287342e+01] [ 2.17424491e-01 -2.87499310e-03 9.76072910e-01 1.76196741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:58.35, Z:17.62 [[ 5.03070762e-01 -8.56847618e-01 -1.12836020e-01 1.00840724e+02] [ 8.36536055e-01 5.15568589e-01 -1.85462823e-01 5.83519037e+01] [ 2.17088086e-01 -1.09047571e-03 9.76151409e-01 1.76239956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:58.37, Z:17.63 [[ 5.03375297e-01 -8.56512477e-01 -1.14016165e-01 1.00854746e+02] [ 8.36378318e-01 5.16120649e-01 -1.84636900e-01 5.83748430e+01] [ 2.16989905e-01 -2.41899387e-03 9.76170851e-01 1.76312949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09088847899997 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:100.87, Y:58.40, Z:17.64 [[ 5.04087503e-01 -8.56157555e-01 -1.13534266e-01 1.00868305e+02] [ 8.35991749e-01 5.16711749e-01 -1.84734310e-01 5.83987577e+01] [ 2.16826164e-01 -1.79145228e-03 9.76208587e-01 1.76369241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:58.42, Z:17.64 [[ 5.05993508e-01 -8.55070298e-01 -1.13249088e-01 1.00880848e+02] [ 8.34953453e-01 5.18510563e-01 -1.84389608e-01 5.84218866e+01] [ 2.16386925e-01 -1.25777234e-03 9.76306876e-01 1.76423717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:58.45, Z:17.65 [[ 5.06792248e-01 -8.54618696e-01 -1.13086262e-01 1.00894353e+02] [ 8.34521392e-01 5.19255132e-01 -1.84250250e-01 5.84457353e+01] [ 2.16184330e-01 -9.96305724e-04 9.76352059e-01 1.76480363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:58.47, Z:17.65 [[ 5.08991994e-01 -8.53153734e-01 -1.14262226e-01 1.00907329e+02] [ 8.33507293e-01 5.21653216e-01 -1.82053607e-01 5.84666792e+01] [ 2.14924972e-01 -2.57457010e-03 9.76627169e-01 1.76539412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:58.49, Z:17.66 [[ 5.10307911e-01 -8.52761482e-01 -1.11282031e-01 1.00920606e+02] [ 8.33092021e-01 5.22300495e-01 -1.82098538e-01 5.84926672e+01] [ 2.13409279e-01 2.18151846e-04 9.76962861e-01 1.76586273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:58.52, Z:17.66 [[ 5.10956021e-01 -8.52630803e-01 -1.09291621e-01 1.00934813e+02] [ 8.32685418e-01 5.22506946e-01 -1.83361627e-01 5.85171539e+01] [ 2.13445403e-01 2.68418810e-03 9.76951306e-01 1.76642823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:58.54, Z:17.67 [[ 5.10978823e-01 -8.52451328e-01 -1.10577467e-01 1.00949786e+02] [ 8.32698259e-01 5.22805326e-01 -1.82450543e-01 5.85402541e+01] [ 2.13340696e-01 1.15069949e-03 9.76977187e-01 1.76710862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:58.56, Z:17.68 [[ 5.11666654e-01 -8.51948245e-01 -1.11271842e-01 1.00964861e+02] [ 8.32323670e-01 5.23625839e-01 -1.81805634e-01 5.85632809e+01] [ 2.13153802e-01 4.09692331e-04 9.77018571e-01 1.76774468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:58.59, Z:17.68 [[ 5.12134668e-01 -8.51682647e-01 -1.11151929e-01 1.00979266e+02] [ 8.32069043e-01 5.24057564e-01 -1.81727205e-01 5.85873031e+01] [ 2.13023916e-01 5.82722325e-04 9.77046811e-01 1.76829755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:58.61, Z:17.69 [[ 5.12699903e-01 -8.51413861e-01 -1.10604006e-01 1.00993350e+02] [ 8.31963768e-01 5.24493917e-01 -1.80948670e-01 5.86111011e+01] [ 2.12073334e-01 7.53839601e-04 9.77253464e-01 1.76883707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:58.63, Z:17.69 [[ 5.13668292e-01 -8.51267843e-01 -1.07181833e-01 1.01006279e+02] [ 8.31538146e-01 5.24712127e-01 -1.82267650e-01 5.86349786e+01] [ 2.11398197e-01 4.49932975e-03 9.77389666e-01 1.76930780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:58.66, Z:17.70 [[ 5.13513156e-01 -8.51148214e-01 -1.08862103e-01 1.01022067e+02] [ 8.31890285e-01 5.24922027e-01 -1.80042823e-01 5.86575972e+01] [ 2.10387243e-01 1.89303192e-03 9.77616297e-01 1.77005427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:58.68, Z:17.71 [[ 5.13799791e-01 -8.50744359e-01 -1.10651747e-01 1.01036932e+02] [ 8.31997258e-01 5.25579099e-01 -1.77615239e-01 5.86787788e+01] [ 2.09261409e-01 -8.03277490e-04 9.77859406e-01 1.77081701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:58.70, Z:17.71 [[ 5.13002304e-01 -8.51663232e-01 -1.07230479e-01 1.01051657e+02] [ 8.32534548e-01 5.24081869e-01 -1.79511617e-01 5.87026482e+01] [ 2.09080994e-01 2.81679473e-03 9.77894270e-01 1.77133035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:58.73, Z:17.72 [[ 5.11721343e-01 -8.52627368e-01 -1.05677998e-01 1.01065809e+02] [ 8.32920654e-01 5.22492757e-01 -1.82330751e-01 5.87264375e+01] [ 2.10676177e-01 5.28115005e-03 9.77541640e-01 1.77180874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:58.74, Z:17.73 [[ 5.10556410e-01 -8.52004306e-01 -1.15848241e-01 1.01085487e+02] [ 8.34250041e-01 5.23470443e-01 -1.73221142e-01 5.87448665e+01] [ 2.08228289e-01 -8.20723517e-03 9.78045817e-01 1.77298268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:58.77, Z:17.73 [[ 5.09634785e-01 -8.53546623e-01 -1.08307652e-01 1.01097933e+02] [ 8.34828069e-01 5.21016438e-01 -1.77775043e-01 5.87707841e+01] [ 2.08169355e-01 1.82078112e-04 9.78092780e-01 1.77320089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:58.79, Z:17.74 [[ 5.08581805e-01 -8.54187783e-01 -1.08202488e-01 1.01112134e+02] [ 8.35495749e-01 5.19964643e-01 -1.77717817e-01 5.87933179e+01] [ 2.08065856e-01 -1.86708905e-05 9.78114819e-01 1.77372474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:58.82, Z:17.74 [[ 5.05606094e-01 -8.55944777e-01 -1.08263643e-01 1.01127591e+02] [ 8.37244907e-01 5.17066807e-01 -1.77940675e-01 5.88163429e+01] [ 2.08286927e-01 -6.75293745e-04 9.78067533e-01 1.77420141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:58.84, Z:17.75 [[ 5.04136471e-01 -8.57183094e-01 -1.05278498e-01 1.01141474e+02] [ 8.37978859e-01 5.15004449e-01 -1.80449023e-01 5.88402108e+01] [ 2.08896746e-01 2.74977786e-03 9.77933836e-01 1.77462851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:58.86, Z:17.75 [[ 5.02158914e-01 -8.57921218e-01 -1.08662823e-01 1.01157912e+02] [ 8.39307274e-01 5.13777592e-01 -1.77752319e-01 5.88616347e+01] [ 2.08326009e-01 -1.94158630e-03 9.78057516e-01 1.77548318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:58.88, Z:17.76 [[ 5.01152151e-01 -8.58607855e-01 -1.07884537e-01 1.01172534e+02] [ 8.40018632e-01 5.12630560e-01 -1.77703702e-01 5.88843347e+01] [ 2.07882705e-01 -1.56842904e-03 9.78152504e-01 1.77611174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:58.91, Z:17.77 [[ 4.99522587e-01 -8.59290339e-01 -1.09987720e-01 1.01188302e+02] [ 8.41235614e-01 5.11464053e-01 -1.75291655e-01 5.89064085e+01] [ 2.06881190e-01 -4.96344614e-03 9.78353483e-01 1.77690265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:58.93, Z:17.77 [[ 4.96791978e-01 -8.61125868e-01 -1.07981347e-01 1.01202070e+02] [ 8.42558172e-01 5.08385105e-01 -1.77877241e-01 5.89308555e+01] [ 2.08070801e-01 -2.61258011e-03 9.78110278e-01 1.77725660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.22, Y:58.95, Z:17.78 [[ 4.95366978e-01 -8.61905162e-01 -1.08309967e-01 1.01215589e+02] [ 8.43216574e-01 5.07061286e-01 -1.78534765e-01 5.89534935e+01] [ 2.08799827e-01 -2.88853197e-03 9.77954134e-01 1.77775124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:58.98, Z:17.78 [[ 4.93148712e-01 -8.63146036e-01 -1.08550767e-01 1.01228970e+02] [ 8.44376457e-01 5.04943217e-01 -1.79055147e-01 5.89773239e+01] [ 2.09362714e-01 -3.35689664e-03 9.77832289e-01 1.77819408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:59.00, Z:17.79 [[ 4.91931407e-01 -8.63845428e-01 -1.08510674e-01 1.01242761e+02] [ 8.45081824e-01 5.03744147e-01 -1.79104842e-01 5.90013563e+01] [ 2.09380516e-01 -3.59310182e-03 9.77827638e-01 1.77874384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:59.03, Z:17.79 [[ 4.91170176e-01 -8.64271352e-01 -1.08567440e-01 1.01256439e+02] [ 8.45473393e-01 5.03012140e-01 -1.79314052e-01 5.90253879e+01] [ 2.09586738e-01 -3.71716784e-03 9.77782993e-01 1.77931464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:59.05, Z:17.80 [[ 4.90403927e-01 -8.64721783e-01 -1.08444578e-01 1.01269744e+02] [ 8.45952778e-01 5.02236451e-01 -1.79227357e-01 5.90495545e+01] [ 2.09446620e-01 -3.84519208e-03 9.77812522e-01 1.77986232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:59.07, Z:17.80 [[ 4.90185009e-01 -8.64836867e-01 -1.08516592e-01 1.01281365e+02] [ 8.46020303e-01 5.02038318e-01 -1.79463573e-01 5.90741107e+01] [ 2.09686201e-01 -3.83688676e-03 9.77761206e-01 1.78038347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:59.10, Z:17.81 [[ 4.90225613e-01 -8.64800140e-01 -1.08625807e-01 1.01293620e+02] [ 8.45917735e-01 5.02102149e-01 -1.79768231e-01 5.90981889e+01] [ 2.10004843e-01 -3.76150504e-03 9.77693110e-01 1.78094050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:59.12, Z:17.81 [[ 4.90918991e-01 -8.64356548e-01 -1.09024320e-01 1.01304430e+02] [ 8.45297176e-01 5.02867121e-01 -1.80547343e-01 5.91236381e+01] [ 2.10882024e-01 -3.52383085e-03 9.77505169e-01 1.78145222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:59.15, Z:17.82 [[ 4.90692806e-01 -8.64491479e-01 -1.08972716e-01 1.01318781e+02] [ 8.45428483e-01 5.02635148e-01 -1.80578484e-01 5.91476048e+01] [ 2.10882078e-01 -3.52007526e-03 9.77505170e-01 1.78206577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:59.17, Z:17.83 [[ 4.91058711e-01 -8.64278877e-01 -1.09010851e-01 1.01331071e+02] [ 8.45173628e-01 5.03001631e-01 -1.80750926e-01 5.91722026e+01] [ 2.11051844e-01 -3.37377976e-03 9.77469047e-01 1.78261328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:59.20, Z:17.83 [[ 4.91927585e-01 -8.63762669e-01 -1.09184721e-01 1.01342903e+02] [ 8.44558011e-01 5.03889331e-01 -1.81155483e-01 5.91961410e+01] [ 2.11492360e-01 -3.09745147e-03 9.77374743e-01 1.78320532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:59.23, Z:17.83 [[ 4.94599599e-01 -8.62857000e-01 -1.04158695e-01 1.01350363e+02] [ 8.42337518e-01 5.05425215e-01 -1.87117228e-01 5.92253885e+01] [ 2.14099841e-01 4.81132934e-03 9.76799933e-01 1.78341584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:59.25, Z:17.85 [[ 4.96417305e-01 -8.60359560e-01 -1.15547766e-01 1.01366097e+02] [ 8.41722504e-01 5.09612674e-01 -1.78320357e-01 5.92467074e+01] [ 2.12304230e-01 -8.73784416e-03 9.77164553e-01 1.78456254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:59.27, Z:17.85 [[ 4.97868885e-01 -8.60244263e-01 -1.10029000e-01 1.01374771e+02] [ 8.40572990e-01 5.09880179e-01 -1.82918702e-01 5.92736617e+01] [ 2.13456370e-01 -1.41787571e-03 9.76951569e-01 1.78480345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:59.30, Z:17.85 [[ 4.99613255e-01 -8.59160141e-01 -1.10591358e-01 1.01386079e+02] [ 8.39230363e-01 5.11706027e-01 -1.83981903e-01 5.92988805e+01] [ 2.14660182e-01 -8.91827681e-04 9.76688390e-01 1.78535023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:59.33, Z:17.86 [[ 5.03050185e-01 -8.57039653e-01 -1.11460955e-01 1.01394686e+02] [ 8.36712964e-01 5.15250450e-01 -1.85548885e-01 5.93261443e+01] [ 2.16453060e-01 7.95751482e-05 9.76293023e-01 1.78578277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:59.35, Z:17.86 [[ 5.04461782e-01 -8.56146304e-01 -1.11945595e-01 1.01405524e+02] [ 8.35591169e-01 5.16733224e-01 -1.86478346e-01 5.93512705e+01] [ 2.17498755e-01 5.30448411e-04 9.76060454e-01 1.78630513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:59.38, Z:17.87 [[ 5.05834070e-01 -8.55279875e-01 -1.12375394e-01 1.01416275e+02] [ 8.34515955e-01 5.18165408e-01 -1.87317193e-01 5.93762790e+01] [ 2.18437668e-01 9.72358410e-04 9.75850419e-01 1.78683702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.350888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.42, Y:59.40, Z:17.87 [[ 5.08101072e-01 -8.53869294e-01 -1.12873955e-01 1.01424318e+02] [ 8.32858798e-01 5.20484886e-01 -1.88259676e-01 5.94044681e+01] [ 2.19498344e-01 1.64687678e-03 9.75611482e-01 1.78724585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.380888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:101.44, Y:59.43, Z:17.88 [[ 5.09040523e-01 -8.53295748e-01 -1.12978372e-01 1.01436189e+02] [ 8.32205275e-01 5.21423558e-01 -1.88551991e-01 5.94299273e+01] [ 2.19800197e-01 1.95940659e-03 9.75542943e-01 1.78778994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.410888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:101.45, Y:59.45, Z:17.88 [[ 5.09470316e-01 -8.53016245e-01 -1.13151588e-01 1.01447616e+02] [ 8.31825682e-01 5.21879935e-01 -1.88963933e-01 5.94548782e+01] [ 2.20240848e-01 2.14911769e-03 9.75443156e-01 1.78837454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.440888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:101.46, Y:59.48, Z:17.89 [[ 5.10953209e-01 -8.52102078e-01 -1.13352845e-01 1.01455760e+02] [ 8.30784295e-01 5.23369091e-01 -1.89426106e-01 5.94806161e+01] [ 2.20735754e-01 2.61611277e-03 9.75330141e-01 1.78888991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.470888479 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:101.47, Y:59.51, Z:17.89 [[ 5.11345226e-01 -8.51876703e-01 -1.13279052e-01 1.01466904e+02] [ 8.30555867e-01 5.23735044e-01 -1.89416354e-01 5.95060022e+01] [ 2.20687588e-01 2.77256715e-03 9.75340608e-01 1.78940390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.500888479 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:101.48, Y:59.53, Z:17.90 [[ 5.11353723e-01 -8.51785027e-01 -1.13928214e-01 1.01476078e+02] [ 8.30185403e-01 5.23883462e-01 -1.90626111e-01 5.95329043e+01] [ 2.22057574e-01 2.89583140e-03 9.75029255e-01 1.78999722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53088847899997 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:101.49, Y:59.56, Z:17.91 [[ 5.10250252e-01 -8.52392554e-01 -1.14331161e-01 1.01487716e+02] [ 8.30624259e-01 5.22895398e-01 -1.91425558e-01 5.95575348e+01] [ 2.22952959e-01 2.70870301e-03 9.74825441e-01 1.79059839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56088847899997 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:101.50, Y:59.58, Z:17.91 [[ 5.08948600e-01 -8.53087015e-01 -1.14951588e-01 1.01499434e+02] [ 8.31066625e-01 5.21762741e-01 -1.92592593e-01 5.95810209e+01] [ 2.24275696e-01 2.48730271e-03 9.74522563e-01 1.79118628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59088847899997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:101.51, Y:59.61, Z:17.92 [[ 5.06764858e-01 -8.54318708e-01 -1.15450958e-01 1.01511671e+02] [ 8.32108521e-01 5.19745599e-01 -1.93545659e-01 5.96061663e+01] [ 2.25354805e-01 2.01441271e-03 9.74274681e-01 1.79175567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62088847899997 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:101.52, Y:59.63, Z:17.92 [[ 5.02875253e-01 -8.56539366e-01 -1.16003422e-01 1.01522250e+02] [ 8.34141637e-01 5.16080531e-01 -1.94598599e-01 5.96311386e+01] [ 2.26548468e-01 1.09553533e-03 9.73999277e-01 1.79225845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65088847899997 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:101.53, Y:59.66, Z:17.93 [[ 5.00274564e-01 -8.58058988e-01 -1.16017817e-01 1.01534899e+02] [ 8.35674997e-01 5.13550937e-01 -1.94711927e-01 5.96561379e+01] [ 2.26655378e-01 4.56235175e-04 9.73974913e-01 1.79283238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68088847899998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:101.55, Y:59.68, Z:17.93 [[ 4.97942827e-01 -8.59416832e-01 -1.15998494e-01 1.01547455e+02] [ 8.37047013e-01 5.11275563e-01 -1.94806562e-01 5.96803226e+01] [ 2.26727233e-01 -9.36629670e-05 9.73958291e-01 1.79341064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71088847899998 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:101.56, Y:59.70, Z:17.94 [[ 4.95339008e-01 -8.60931628e-01 -1.15913756e-01 1.01559590e+02] [ 8.38606305e-01 5.08720173e-01 -1.94790274e-01 5.97033917e+01] [ 2.26668774e-01 -7.18785047e-04 9.73971637e-01 1.79400972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74088847899998 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:101.57, Y:59.73, Z:17.95 [[ 4.91063932e-01 -8.63348328e-01 -1.16128722e-01 1.01573137e+02] [ 8.40978277e-01 5.04605312e-01 -1.95266529e-01 5.97269858e+01] [ 2.27182201e-01 -1.77338314e-03 9.73850657e-01 1.79477352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77088847899998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:101.59, Y:59.75, Z:17.95 [[ 4.89273897e-01 -8.64307460e-01 -1.16548994e-01 1.01587156e+02] [ 8.41769890e-01 5.02959190e-01 -1.96100754e-01 5.97507828e+01] [ 2.28110733e-01 -2.16045369e-03 9.73632798e-01 1.79545459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80088847899998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:101.60, Y:59.77, Z:17.96 [[ 4.87740548e-01 -8.65127142e-01 -1.16893906e-01 1.01601220e+02] [ 8.42447258e-01 5.01546460e-01 -1.96808960e-01 5.97748063e+01] [ 2.28892498e-01 -2.48524060e-03 9.73448534e-01 1.79610365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83088847899998 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:101.61, Y:59.80, Z:17.96 [[ 4.87503480e-01 -8.65610902e-01 -1.14272146e-01 1.01611536e+02] [ 8.41875463e-01 5.00713479e-01 -2.01324903e-01 5.97986628e+01] [ 2.31486634e-01 1.94367466e-03 9.72836143e-01 1.79641468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86088847899998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:101.63, Y:59.82, Z:17.97 [[ 4.86684651e-01 -8.65238778e-01 -1.20415560e-01 1.01628134e+02] [ 8.42747441e-01 5.01323554e-01 -1.96090397e-01 5.98212132e+01] [ 2.30032172e-01 -6.04571845e-03 9.73164246e-01 1.79733236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89088847899998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:101.64, Y:59.85, Z:17.98 [[ 4.89078225e-01 -8.64361255e-01 -1.16970557e-01 1.01641361e+02] [ 8.41559017e-01 5.02867506e-01 -1.97237653e-01 5.98450923e+01] [ 2.29305277e-01 -1.97298570e-03 9.73352555e-01 1.79790331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92088847899998 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:101.66, Y:59.87, Z:17.99 [[ 4.90140541e-01 -8.63811768e-01 -1.16582505e-01 1.01655889e+02] [ 8.41118053e-01 5.03811992e-01 -1.96707647e-01 5.98677617e+01] [ 2.28654044e-01 -1.64525690e-03 9.73506354e-01 1.79859236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95088847899999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:101.67, Y:59.89, Z:17.99 [[ 4.91420648e-01 -8.63109262e-01 -1.16396511e-01 1.01670062e+02] [ 8.40438932e-01 5.05015686e-01 -1.96523685e-01 5.98901931e+01] [ 2.28403477e-01 -1.24836317e-03 9.73565762e-01 1.79927849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.980888479 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:101.68, Y:59.91, Z:18.00 [[ 4.94308030e-01 -8.61552640e-01 -1.15700559e-01 1.01684102e+02] [ 8.39087142e-01 5.07668034e-01 -1.95463386e-01 5.99122360e+01] [ 2.27139472e-01 -4.63729765e-04 9.73862128e-01 1.79987930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010888479 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:101.70, Y:59.93, Z:18.01 [[ 4.95655292e-01 -8.60810809e-01 -1.15458142e-01 1.01698411e+02] [ 8.38400529e-01 5.08925087e-01 -1.95140483e-01 5.99347921e+01] [ 2.26738582e-01 -7.77544474e-05 9.73955651e-01 1.80052691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.040888479 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:101.71, Y:59.96, Z:18.01 [[ 4.96913092e-01 -8.60125947e-01 -1.15155264e-01 1.01712945e+02] [ 8.37794941e-01 5.10081636e-01 -1.94721241e-01 5.99573863e+01] [ 2.26223378e-01 2.83036316e-04 9.74075409e-01 1.80117916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.070888479 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:101.73, Y:59.98, Z:18.02 [[ 4.99722992e-01 -8.58561691e-01 -1.14668015e-01 1.01727764e+02] [ 8.36351108e-01 5.12709183e-01 -1.94026074e-01 5.99790916e+01] [ 2.25374699e-01 1.05656887e-03 9.74271589e-01 1.80179758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.100888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:101.74, Y:60.00, Z:18.02 [[ 5.00650630e-01 -8.58098859e-01 -1.14084597e-01 1.01742560e+02] [ 8.36078056e-01 5.13482821e-01 -1.93155060e-01 6.00023519e+01] [ 2.24326617e-01 1.31957480e-03 9.74513123e-01 1.80238464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.130888479 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:101.76, Y:60.02, Z:18.03 [[ 5.01878798e-01 -8.57420219e-01 -1.13790332e-01 1.01757620e+02] [ 8.35467804e-01 5.14614151e-01 -1.92784397e-01 6.00245011e+01] [ 2.23855355e-01 1.68624295e-03 9.74620920e-01 1.80302798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.160888479 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:101.77, Y:60.05, Z:18.04 [[ 5.02939023e-01 -8.56875563e-01 -1.13210460e-01 1.01773121e+02] [ 8.35109373e-01 5.15519497e-01 -1.91916603e-01 6.00475828e+01] [ 2.22810847e-01 1.97923281e-03 9.74859687e-01 1.80370510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.190888479 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:101.79, Y:60.07, Z:18.04 [[ 5.05896781e-01 -8.55187724e-01 -1.12793632e-01 1.01788823e+02] [ 8.33513617e-01 5.18310936e-01 -1.91334325e-01 6.00692765e+01] [ 2.22088939e-01 2.78039049e-03 9.75022447e-01 1.80432105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.220888479 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:101.80, Y:60.09, Z:18.05 [[ 5.06845271e-01 -8.54619807e-01 -1.12839959e-01 1.01803931e+02] [ 8.32893962e-01 5.19245142e-01 -1.91499691e-01 6.00927331e+01] [ 2.22251029e-01 3.07699230e-03 9.74984621e-01 1.80491736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.250888479 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:101.82, Y:60.11, Z:18.06 [[ 5.07859145e-01 -8.53986085e-01 -1.13078980e-01 1.01818693e+02] [ 8.32122605e-01 5.20284545e-01 -1.92031151e-01 6.01148450e+01] [ 2.22825176e-01 3.42920110e-03 9.74852390e-01 1.80550122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28088847899997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:101.84, Y:60.14, Z:18.06 [[ 5.09133813e-01 -8.53141730e-01 -1.13718723e-01 1.01835945e+02] [ 8.30985649e-01 5.21664852e-01 -1.93206196e-01 6.01368409e+01] [ 2.24155329e-01 3.86918060e-03 9.74545750e-01 1.80616807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31088847899997 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:101.85, Y:60.16, Z:18.07 [[ 5.09710178e-01 -8.52787159e-01 -1.13796287e-01 1.01851208e+02] [ 8.30562555e-01 5.22242553e-01 -1.93464620e-01 6.01599122e+01] [ 2.24413407e-01 4.09595066e-03 9.74485426e-01 1.80676053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34088847899997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:101.87, Y:60.18, Z:18.07 [[ 5.09910664e-01 -8.52665759e-01 -1.13807818e-01 1.01866630e+02] [ 8.30403839e-01 5.22439761e-01 -1.93613430e-01 6.01812787e+01] [ 2.24545272e-01 4.21910340e-03 9.74454524e-01 1.80732064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37088847899997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:101.88, Y:60.20, Z:18.08 [[ 5.09338682e-01 -8.53027943e-01 -1.13654896e-01 1.01881793e+02] [ 8.30808642e-01 5.21849006e-01 -1.93469935e-01 6.02040434e+01] [ 2.24345955e-01 4.11625202e-03 9.74500872e-01 1.80796545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.90, Y:60.23, Z:18.09 [[ 5.08725070e-01 -8.53422796e-01 -1.13438685e-01 1.01897516e+02] [ 8.31269594e-01 5.21203909e-01 -1.93228743e-01 6.02264646e+01] [ 2.24030500e-01 4.00217565e-03 9.74573916e-01 1.80864332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43088847899998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:101.91, Y:60.25, Z:18.09 [[ 5.07756502e-01 -8.54044957e-01 -1.13095294e-01 1.01913233e+02] [ 8.32013795e-01 5.20185446e-01 -1.92769673e-01 6.02486978e+01] [ 2.23464493e-01 3.78321063e-03 9.74704728e-01 1.80932552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46088847899998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:101.93, Y:60.27, Z:18.10 [[ 5.05713841e-01 -8.55326723e-01 -1.12559800e-01 1.01931927e+02] [ 8.33509026e-01 5.18078676e-01 -1.91982264e-01 6.02694027e+01] [ 2.22522393e-01 3.26847918e-03 9.74922100e-01 1.81008631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:101.95, Y:60.29, Z:18.11 [[ 5.04619823e-01 -8.56011799e-01 -1.12261460e-01 1.01948009e+02] [ 8.34299445e-01 5.16947438e-01 -1.91597974e-01 6.02921219e+01] [ 2.22043400e-01 3.02446137e-03 9.75032092e-01 1.81072637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.96, Y:60.31, Z:18.11 [[ 5.03101292e-01 -8.56929862e-01 -1.12072755e-01 1.01964311e+02] [ 8.35284996e-01 5.15426055e-01 -1.91402608e-01 6.03129823e+01] [ 2.21783828e-01 2.68220899e-03 9.75092170e-01 1.81122555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.98, Y:60.33, Z:18.12 [[ 5.01979173e-01 -8.57576539e-01 -1.12157879e-01 1.01979311e+02] [ 8.35888047e-01 5.14350495e-01 -1.91663095e-01 6.03348063e+01] [ 2.22054234e-01 2.45945159e-03 9.75031214e-01 1.81176097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.00, Y:60.36, Z:18.12 [[ 5.00873592e-01 -8.58235599e-01 -1.12059369e-01 1.01995173e+02] [ 8.36571617e-01 5.13251068e-01 -1.91627948e-01 6.03567378e+01] [ 2.21976517e-01 2.23569118e-03 9.75049449e-01 1.81237266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:60.38, Z:18.13 [[ 5.00160142e-01 -8.59090580e-01 -1.08642568e-01 1.02010090e+02] [ 8.36581795e-01 5.11777253e-01 -1.95486427e-01 6.03804785e+01] [ 2.23541343e-01 6.88612439e-03 9.74670123e-01 1.81277755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:60.40, Z:18.14 [[ 4.98690929e-01 -8.59363774e-01 -1.13142659e-01 1.02031194e+02] [ 8.37413260e-01 5.11362552e-01 -1.92995783e-01 6.04003376e+01] [ 2.23710503e-01 1.49808399e-03 9.74654486e-01 1.81369812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:60.42, Z:18.15 [[ 4.98364720e-01 -8.59279173e-01 -1.15203772e-01 1.02048925e+02] [ 8.38030031e-01 5.11503387e-01 -1.89920909e-01 6.04224938e+01] [ 2.22122201e-01 -1.89433949e-03 9.75016994e-01 1.81451406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.06, Y:60.45, Z:18.15 [[ 4.97688305e-01 -8.60095013e-01 -1.11995181e-01 1.02063071e+02] [ 8.38427550e-01 5.10131427e-01 -1.91846738e-01 6.04453885e+01] [ 2.22138684e-01 1.58003249e-03 9.75013799e-01 1.81501195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:60.47, Z:18.16 [[ 4.96181140e-01 -8.60952421e-01 -1.12094628e-01 1.02079590e+02] [ 8.39241067e-01 5.08683935e-01 -1.92132991e-01 6.04664425e+01] [ 2.22438100e-01 1.25835095e-03 9.74946003e-01 1.81556057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:60.49, Z:18.16 [[ 4.95624522e-01 -8.61225597e-01 -1.12458009e-01 1.02095033e+02] [ 8.39347589e-01 5.08221415e-01 -1.92890168e-01 6.04884265e+01] [ 2.23275519e-01 1.20973913e-03 9.74754625e-01 1.81616628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:60.51, Z:18.17 [[ 4.95270121e-01 -8.61408365e-01 -1.12619433e-01 1.02110720e+02] [ 8.39441599e-01 5.07911604e-01 -1.93296675e-01 6.05107161e+01] [ 2.23708090e-01 1.19663132e-03 9.74655456e-01 1.81680011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.820888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.13, Y:60.53, Z:18.17 [[ 4.94968081e-01 -8.61658137e-01 -1.12035052e-01 1.02127606e+02] [ 8.39898895e-01 5.07487877e-01 -1.92421154e-01 6.05320006e+01] [ 2.22657683e-01 1.14421326e-03 9.74896018e-01 1.81740275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:60.55, Z:18.18 [[ 4.94657715e-01 -8.61896181e-01 -1.11573827e-01 1.02142478e+02] [ 8.40293694e-01 5.07083583e-01 -1.91762218e-01 6.05547553e+01] [ 2.21856379e-01 1.10187794e-03 9.75078732e-01 1.81797182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:60.58, Z:18.19 [[ 4.93822663e-01 -8.62460526e-01 -1.10909956e-01 1.02157378e+02] [ 8.41103864e-01 5.06123521e-01 -1.90743996e-01 6.05775169e+01] [ 2.20643305e-01 9.06915406e-04 9.75354146e-01 1.81856071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:60.60, Z:18.19 [[ 4.91773820e-01 -8.63673904e-01 -1.10570783e-01 1.02174509e+02] [ 8.42451567e-01 5.04050797e-01 -1.90284395e-01 6.05994485e+01] [ 2.20076958e-01 4.26355046e-04 9.75482420e-01 1.81920875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:60.62, Z:18.20 [[ 4.90711911e-01 -8.64315679e-01 -1.10273418e-01 1.02189830e+02] [ 8.43196636e-01 5.02949665e-01 -1.89897520e-01 6.06216969e+01] [ 2.19593383e-01 2.02799691e-04 9.75591464e-01 1.81984635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:60.65, Z:18.20 [[ 4.90559165e-01 -8.64409362e-01 -1.10218692e-01 1.02203743e+02] [ 8.43285518e-01 5.02788627e-01 -1.89929279e-01 6.06458834e+01] [ 2.19593352e-01 2.25722107e-04 9.75591466e-01 1.82046042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.000888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:60.67, Z:18.21 [[ 4.89873182e-01 -8.64789799e-01 -1.10285398e-01 1.02218791e+02] [ 8.43631617e-01 5.02134040e-01 -1.90123906e-01 6.06680092e+01] [ 2.19795267e-01 9.63538449e-05 9.75546017e-01 1.82108259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:60.69, Z:18.22 [[ 4.89465940e-01 -8.65006351e-01 -1.10395230e-01 1.02235275e+02] [ 8.43789747e-01 5.01760910e-01 -1.90407072e-01 6.06895787e+01] [ 2.20095337e-01 4.74133961e-05 9.75478365e-01 1.82176672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:60.71, Z:18.22 [[ 4.89487356e-01 -8.64974715e-01 -1.10548044e-01 1.02249385e+02] [ 8.43669505e-01 5.01815430e-01 -1.90795808e-01 6.07133783e+01] [ 2.20508264e-01 1.26122068e-04 9.75385098e-01 1.82232978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:60.74, Z:18.23 [[ 4.89632551e-01 -8.64833961e-01 -1.11005342e-01 1.02262814e+02] [ 8.43317771e-01 5.02057921e-01 -1.91710672e-01 6.07375235e+01] [ 2.21529011e-01 2.55007731e-04 9.75153748e-01 1.82281221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:60.76, Z:18.23 [[ 4.90160491e-01 -8.64490161e-01 -1.11352842e-01 1.02275543e+02] [ 8.42799945e-01 5.02649515e-01 -1.92436268e-01 6.07623268e+01] [ 2.22330712e-01 4.76486211e-04 9.74971193e-01 1.82329063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:60.79, Z:18.24 [[ 4.91279832e-01 -8.63816997e-01 -1.11643725e-01 1.02287318e+02] [ 8.41965845e-01 5.03804997e-01 -1.93064864e-01 6.07858208e+01] [ 2.23019378e-01 8.48670977e-04 9.74813642e-01 1.82377032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:60.81, Z:18.24 [[ 4.91152894e-01 -8.63891718e-01 -1.11624071e-01 1.02300825e+02] [ 8.42028871e-01 5.03676835e-01 -1.93124382e-01 6.08098696e+01] [ 2.23061013e-01 8.62908575e-04 9.74804103e-01 1.82438092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:60.83, Z:18.25 [[ 4.89763126e-01 -8.64724547e-01 -1.11281350e-01 1.02314478e+02] [ 8.42989826e-01 5.02246114e-01 -1.92657715e-01 6.08327470e+01] [ 2.22486481e-01 5.47598628e-04 9.74935622e-01 1.82516125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:60.86, Z:18.26 [[ 4.88132529e-01 -8.65688866e-01 -1.10947829e-01 1.02328411e+02] [ 8.44081634e-01 5.00582417e-01 -1.92206762e-01 6.08560879e+01] [ 2.21929786e-01 1.73348238e-04 9.75062634e-01 1.82583949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:60.88, Z:18.26 [[ 4.86501260e-01 -8.66977750e-01 -1.08009748e-01 1.02340800e+02] [ 8.44902115e-01 4.98335713e-01 -1.94427192e-01 6.08794763e+01] [ 2.22389164e-01 3.33140922e-03 9.74952287e-01 1.82630916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:60.90, Z:18.27 [[ 4.82735840e-01 -8.68492878e-01 -1.12633167e-01 1.02356340e+02] [ 8.47634016e-01 4.95684551e-01 -1.89244291e-01 6.09022336e+01] [ 2.20187839e-01 -4.11670204e-03 9.75448803e-01 1.82716510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:60.93, Z:18.28 [[ 4.81101357e-01 -8.69743398e-01 -1.09945015e-01 1.02367762e+02] [ 8.48552336e-01 4.93501986e-01 -1.90826421e-01 6.09264002e+01] [ 2.20228103e-01 -1.48724940e-03 9.75447267e-01 1.82755231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:60.95, Z:18.28 [[ 4.80681600e-01 -8.69996260e-01 -1.09780269e-01 1.02380473e+02] [ 8.48854669e-01 4.93055876e-01 -1.90634874e-01 6.09500763e+01] [ 2.19979434e-01 -1.55281750e-03 9.75503274e-01 1.82806903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.39, Y:60.97, Z:18.29 [[ 4.78016238e-01 -8.71440895e-01 -1.09960189e-01 1.02392820e+02] [ 8.50237751e-01 4.90495791e-01 -1.91074976e-01 6.09747897e+01] [ 2.20445558e-01 -2.15536300e-03 9.75396899e-01 1.82857904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:61.00, Z:18.29 [[ 4.77431930e-01 -8.71741149e-01 -1.10118675e-01 1.02405559e+02] [ 8.50453580e-01 4.89961628e-01 -1.91484495e-01 6.09976381e+01] [ 2.20878839e-01 -2.23000948e-03 9.75298706e-01 1.82920272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:61.02, Z:18.30 [[ 4.76793333e-01 -8.72092609e-01 -1.10102672e-01 1.02418724e+02] [ 8.50789711e-01 4.89335345e-01 -1.91592765e-01 6.10218475e+01] [ 2.20963764e-01 -2.32406762e-03 9.75279249e-01 1.82982240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:61.05, Z:18.30 [[ 4.76472652e-01 -8.72313797e-01 -1.09738106e-01 1.02430575e+02] [ 8.51130531e-01 4.88940791e-01 -1.91085641e-01 6.10450790e+01] [ 2.20342078e-01 -2.35437037e-03 9.75419820e-01 1.83049730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:61.07, Z:18.31 [[ 4.76701199e-01 -8.72203964e-01 -1.09618484e-01 1.02443219e+02] [ 8.51034230e-01 4.89137257e-01 -1.91011736e-01 6.10689230e+01] [ 2.20219678e-01 -2.23355805e-03 9.75447746e-01 1.83111181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:61.09, Z:18.31 [[ 4.77647740e-01 -8.72132252e-01 -1.06009299e-01 1.02452882e+02] [ 8.50258427e-01 4.89263378e-01 -1.94118401e-01 6.10925764e+01] [ 2.21163386e-01 2.58491613e-03 9.75233344e-01 1.83146478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:61.12, Z:18.32 [[ 4.78028120e-01 -8.71406211e-01 -1.10183173e-01 1.02467203e+02] [ 8.50153082e-01 4.90557080e-01 -1.91294246e-01 6.11159180e+01] [ 2.20746129e-01 -2.22853549e-03 9.75328755e-01 1.83227232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:61.14, Z:18.33 [[ 4.80171218e-01 -8.70053203e-01 -1.11548309e-01 1.02478610e+02] [ 8.49199579e-01 4.92943268e-01 -1.89385872e-01 6.11397886e+01] [ 2.19762772e-01 -3.78913274e-03 9.75545984e-01 1.83290431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:61.17, Z:18.33 [[ 4.81410437e-01 -8.69655555e-01 -1.09284978e-01 1.02490020e+02] [ 8.48451484e-01 4.93658300e-01 -1.90870540e-01 6.11653293e+01] [ 2.19941062e-01 -8.35932223e-04 9.75512804e-01 1.83337434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:61.19, Z:18.34 [[ 4.82514986e-01 -8.69047546e-01 -1.09250404e-01 1.02502216e+02] [ 8.47814117e-01 4.94728325e-01 -1.90932206e-01 6.11899187e+01] [ 2.19978435e-01 -4.96384439e-04 9.75504609e-01 1.83394022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.51, Y:61.22, Z:18.34 [[ 4.84302870e-01 -8.68084972e-01 -1.08991793e-01 1.02513432e+02] [ 8.46901780e-01 4.96415634e-01 -1.90601400e-01 6.12150074e+01] [ 2.19563441e-01 3.46139179e-06 9.75598224e-01 1.83446907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:61.24, Z:18.35 [[ 4.84486897e-01 -8.68006932e-01 -1.08795279e-01 1.02525947e+02] [ 8.46871692e-01 4.96552067e-01 -1.90379571e-01 6.12393844e+01] [ 2.19273308e-01 1.00765897e-04 9.75663470e-01 1.83503425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.750888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:61.27, Z:18.35 [[ 4.83438370e-01 -8.69444143e-01 -1.01755711e-01 1.02536146e+02] [ 8.46680673e-01 4.93939777e-01 -1.97877070e-01 6.12674908e+01] [ 2.22304253e-01 9.50677482e-03 9.74930993e-01 1.83523707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:61.29, Z:18.37 [[ 4.83472781e-01 -8.67458438e-01 -1.17345339e-01 1.02555735e+02] [ 8.47278034e-01 4.97421345e-01 -1.86257718e-01 6.12860862e+01] [ 2.19940906e-01 -9.37359096e-03 9.75468161e-01 1.83665607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.57, Y:61.31, Z:18.37 [[ 4.82555391e-01 -8.69031581e-01 -1.09198931e-01 1.02565344e+02] [ 8.47673304e-01 4.94756591e-01 -1.91483383e-01 6.13125224e+01] [ 2.20431998e-01 -1.63679777e-04 9.75402331e-01 1.83679185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:61.34, Z:18.37 [[ 4.81032235e-01 -8.69954987e-01 -1.08564770e-01 1.02578037e+02] [ 8.48840504e-01 4.93130869e-01 -1.90503921e-01 6.13364650e+01] [ 2.19266476e-01 -5.15647210e-04 9.75664874e-01 1.83735119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:61.36, Z:18.38 [[ 4.80006579e-01 -8.70536710e-01 -1.08441323e-01 1.02591684e+02] [ 8.49457411e-01 4.92102959e-01 -1.90412147e-01 6.13601434e+01] [ 2.19125060e-01 -7.17201624e-04 9.75696517e-01 1.83801202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:61.38, Z:18.39 [[ 4.78592861e-01 -8.71340574e-01 -1.08233438e-01 1.02605233e+02] [ 8.50334816e-01 4.90677660e-01 -1.90173959e-01 6.13838391e+01] [ 2.18814017e-01 -1.01876159e-03 9.75766052e-01 1.83862731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:61.41, Z:18.39 [[ 4.77383070e-01 -8.72005304e-01 -1.08222702e-01 1.02618537e+02] [ 8.50991766e-01 4.89494806e-01 -1.90283602e-01 6.14068724e+01] [ 2.18902761e-01 -1.25845788e-03 9.75745867e-01 1.83921638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:61.43, Z:18.40 [[ 4.75447636e-01 -8.73212459e-01 -1.07002556e-01 1.02631772e+02] [ 8.51726195e-01 4.87339559e-01 -1.92516605e-01 6.14313836e+01] [ 2.20254477e-01 3.94684513e-04 9.75442366e-01 1.83977807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:61.45, Z:18.41 [[ 4.74943861e-01 -8.73100345e-01 -1.10109570e-01 1.02646115e+02] [ 8.52231583e-01 4.87526506e-01 -1.89787343e-01 6.14533337e+01] [ 2.19384728e-01 -3.70051962e-03 9.75631410e-01 1.84058225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.66, Y:61.48, Z:18.41 [[ 4.74462082e-01 -8.73599849e-01 -1.08208296e-01 1.02658781e+02] [ 8.52556456e-01 4.86641534e-01 -1.90597761e-01 6.14781268e+01] [ 2.19164827e-01 -1.82227117e-03 9.75686147e-01 1.84108810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:61.50, Z:18.42 [[ 4.73422544e-01 -8.74138930e-01 -1.08407686e-01 1.02671652e+02] [ 8.53002385e-01 4.85671783e-01 -1.91075508e-01 6.15023676e+01] [ 2.19677094e-01 -2.01256151e-03 9.75570563e-01 1.84164501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:61.53, Z:18.42 [[ 4.72715042e-01 -8.74501732e-01 -1.08568919e-01 1.02684677e+02] [ 8.53282108e-01 4.85017755e-01 -1.91487391e-01 6.15257746e+01] [ 2.20113908e-01 -2.12094630e-03 9.75471870e-01 1.84222145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:61.55, Z:18.43 [[ 4.71935356e-01 -8.74915622e-01 -1.08626309e-01 1.02697171e+02] [ 8.53653705e-01 4.84270173e-01 -1.91723112e-01 6.15502099e+01] [ 2.20346027e-01 -2.24833665e-03 9.75419178e-01 1.84280368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.71, Y:61.57, Z:18.43 [[ 4.71831681e-01 -8.75008206e-01 -1.08330534e-01 1.02709649e+02] [ 8.53836948e-01 4.84102990e-01 -1.91328934e-01 6.15740536e+01] [ 2.19857523e-01 -2.22155997e-03 9.75529464e-01 1.84337741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:61.60, Z:18.44 [[ 4.71485008e-01 -8.75249672e-01 -1.07888366e-01 1.02722122e+02] [ 8.54229121e-01 4.83666120e-01 -1.90682180e-01 6.15977576e+01] [ 2.19076463e-01 -2.25759507e-03 9.75705082e-01 1.84395884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:61.62, Z:18.45 [[ 4.72319721e-01 -8.74894471e-01 -1.07115576e-01 1.02734360e+02] [ 8.54139496e-01 4.84309422e-01 -1.89446838e-01 6.16216654e+01] [ 2.17623073e-01 -2.01216666e-03 9.76030814e-01 1.84466546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:61.65, Z:18.45 [[ 4.72828142e-01 -8.74646067e-01 -1.06900919e-01 1.02746979e+02] [ 8.53940962e-01 4.84758604e-01 -1.89192835e-01 6.16461104e+01] [ 2.17297909e-01 -1.83137697e-03 9.76103614e-01 1.84533329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:61.67, Z:18.46 [[ 4.73715713e-01 -8.74205604e-01 -1.06573848e-01 1.02759323e+02] [ 8.53589790e-01 4.85553418e-01 -1.88738834e-01 6.16709273e+01] [ 2.16743843e-01 -1.56179716e-03 9.76227262e-01 1.84592267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.77, Y:61.70, Z:18.46 [[ 4.73504509e-01 -8.74986052e-01 -1.00959833e-01 1.02768760e+02] [ 8.53210607e-01 4.84113912e-01 -1.94075706e-01 6.16978180e+01] [ 2.18689595e-01 5.75572109e-03 9.75777502e-01 1.84616624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:61.72, Z:18.47 [[ 4.76132609e-01 -8.72001371e-01 -1.13628108e-01 1.02783537e+02] [ 8.52189671e-01 4.89425493e-01 -1.85028245e-01 6.17176181e+01] [ 2.16957376e-01 -8.73471918e-03 9.76141999e-01 1.84731486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.350888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:102.79, Y:61.74, Z:18.48 [[ 4.76783368e-01 -8.72565476e-01 -1.06334893e-01 1.02792539e+02] [ 8.51908214e-01 4.88496807e-01 -1.88741263e-01 6.17441102e+01] [ 2.16633366e-01 -5.98874260e-04 9.76252850e-01 1.84750483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:61.77, Z:18.48 [[ 4.77486500e-01 -8.72227392e-01 -1.05952906e-01 1.02804791e+02] [ 8.51683055e-01 4.89100432e-01 -1.88193360e-01 6.17692661e+01] [ 2.15969016e-01 -3.78505597e-04 9.76400144e-01 1.84811789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.410888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.82, Y:61.79, Z:18.49 [[ 4.78098897e-01 -8.71936800e-01 -1.05582487e-01 1.02816699e+02] [ 8.51503564e-01 4.89618405e-01 -1.87657928e-01 6.17934093e+01] [ 2.15320982e-01 -1.84816135e-04 9.76543312e-01 1.84874975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.83, Y:61.82, Z:18.49 [[ 4.79589040e-01 -8.71162937e-01 -1.05211642e-01 1.02827566e+02] [ 8.50828663e-01 4.90993978e-01 -1.87124291e-01 6.18186113e+01] [ 2.14674029e-01 2.25677826e-04 9.76685727e-01 1.84930909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:61.84, Z:18.50 [[ 4.79994794e-01 -8.70930851e-01 -1.05282721e-01 1.02839265e+02] [ 8.50535406e-01 4.91405432e-01 -1.87377225e-01 6.18435861e+01] [ 2.14929107e-01 3.93410987e-04 9.76629574e-01 1.84988702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.500888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.85, Y:61.87, Z:18.50 [[ 4.80732266e-01 -8.71405705e-01 -9.77168688e-02 1.02846504e+02] [ 8.49416957e-01 4.90447410e-01 -1.94813169e-01 6.18729990e+01] [ 2.17686292e-01 1.06506107e-02 9.75960677e-01 1.85001794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.87, Y:61.89, Z:18.51 [[ 4.81787765e-01 -8.68982458e-01 -1.12916065e-01 1.02866330e+02] [ 8.49248693e-01 4.94791786e-01 -1.84276278e-01 6.18931389e+01] [ 2.16002795e-01 -7.11176459e-03 9.76366845e-01 1.85133860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:102.88, Y:61.92, Z:18.52 [[ 4.81443910e-01 -8.69905235e-01 -1.07129096e-01 1.02875472e+02] [ 8.49302036e-01 4.93218757e-01 -1.88205497e-01 6.19191114e+01] [ 2.16559027e-01 -3.74568962e-04 9.76269454e-01 1.85169794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59088847899997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.89, Y:61.95, Z:18.52 [[ 4.82063613e-01 -8.69426094e-01 -1.08226341e-01 1.02888378e+02] [ 8.47771374e-01 4.94061540e-01 -1.92839031e-01 6.19455562e+01] [ 2.21129758e-01 1.20948588e-03 9.75243645e-01 1.85243934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:102.90, Y:61.97, Z:18.53 [[ 4.81169757e-01 -8.69832787e-01 -1.08933863e-01 1.02900522e+02] [ 8.48943637e-01 4.93344934e-01 -1.89487406e-01 6.19708442e+01] [ 2.18564328e-01 -1.30310077e-03 9.75821673e-01 1.85289065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:102.91, Y:62.00, Z:18.53 [[ 4.79938276e-01 -8.70967258e-01 -1.05239186e-01 1.02910007e+02] [ 8.49748161e-01 4.91335736e-01 -1.91094894e-01 6.19966283e+01] [ 2.18145168e-01 2.28694950e-03 9.75913652e-01 1.85318311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:102.92, Y:62.02, Z:18.54 [[ 4.79427858e-01 -8.71068780e-01 -1.06715089e-01 1.02921805e+02] [ 8.49881988e-01 4.91160316e-01 -1.90950650e-01 6.20211403e+01] [ 2.18745366e-01 8.51829299e-04 9.75781604e-01 1.85377316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71088847899998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:102.93, Y:62.05, Z:18.54 [[ 4.79104990e-01 -8.71240855e-01 -1.06760392e-01 1.02934048e+02] [ 8.50011219e-01 4.90855040e-01 -1.91160295e-01 6.20462373e+01] [ 2.18950535e-01 8.38319762e-04 9.75735600e-01 1.85435527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74088847899998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:102.95, Y:62.07, Z:18.55 [[ 4.78785607e-01 -8.71427672e-01 -1.06668440e-01 1.02945973e+02] [ 8.50210560e-01 4.90523338e-01 -1.91125243e-01 6.20709351e+01] [ 2.18875184e-01 8.17381452e-04 9.75752523e-01 1.85498804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77088847899998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:102.94, Y:62.10, Z:18.54 [[ 4.76468605e-01 -8.75654968e-01 -7.87784654e-02 1.02944570e+02] [ 8.53234474e-01 4.82153495e-01 -1.98793713e-01 6.21038463e+01] [ 2.12058014e-01 2.75024604e-02 9.76870008e-01 1.85359218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80088847899998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:102.98, Y:62.11, Z:18.57 [[ 4.78455700e-01 -8.68717635e-01 -1.28100795e-01 1.02977146e+02] [ 8.50737849e-01 4.94722465e-01 -1.77467728e-01 6.21126081e+01] [ 2.17543686e-01 -2.40697492e-02 9.75753756e-01 1.85731824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83088847899998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:102.98, Y:62.14, Z:18.57 [[ 4.78073353e-01 -8.71912634e-01 -1.05897249e-01 1.02980763e+02] [ 8.50950849e-01 4.89660915e-01 -1.90039048e-01 6.21441654e+01] [ 2.17551191e-01 7.39250817e-04 9.76048632e-01 1.85695028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86088847899998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:102.99, Y:62.17, Z:18.58 [[ 4.77844902e-01 -8.72044464e-01 -1.05842819e-01 1.02994253e+02] [ 8.51079161e-01 4.89426093e-01 -1.90069359e-01 6.21685946e+01] [ 2.17551170e-01 7.43056500e-04 9.76048634e-01 1.85757022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89088847899998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:103.00, Y:62.19, Z:18.58 [[ 4.77033865e-01 -8.72457853e-01 -1.06094240e-01 1.03004570e+02] [ 8.51374688e-01 4.88688976e-01 -1.90641613e-01 6.21930994e+01] [ 2.18173858e-01 6.16554900e-04 9.75909723e-01 1.85810887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92088847899998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:103.02, Y:62.22, Z:18.59 [[ 4.76784813e-01 -8.72588465e-01 -1.06139588e-01 1.03016543e+02] [ 8.51459860e-01 4.88455709e-01 -1.90858921e-01 6.22179466e+01] [ 2.18385781e-01 6.25035965e-04 9.75862316e-01 1.85863035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95088847899999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:103.03, Y:62.24, Z:18.59 [[ 4.76470031e-01 -8.72757593e-01 -1.06162578e-01 1.03027523e+02] [ 8.51594467e-01 4.88153467e-01 -1.91031557e-01 6.22421027e+01] [ 2.18547873e-01 6.13347991e-04 9.75826035e-01 1.85918905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.980888479 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:103.04, Y:62.27, Z:18.60 [[ 4.75726972e-01 -8.73197541e-01 -1.05876829e-01 1.03036547e+02] [ 8.52134113e-01 4.87366223e-01 -1.90634776e-01 6.22676066e+01] [ 2.18062608e-01 4.68846838e-04 9.75934670e-01 1.85961235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010888479 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:103.05, Y:62.29, Z:18.60 [[ 4.74414111e-01 -8.73933264e-01 -1.05697218e-01 1.03049500e+02] [ 8.52806264e-01 4.86045704e-01 -1.91000131e-01 6.22942515e+01] [ 2.18295047e-01 4.73907568e-04 9.75882702e-01 1.86016312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.040888479 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:103.06, Y:62.32, Z:18.61 [[ 4.74374063e-01 -8.73762599e-01 -1.07276134e-01 1.03061035e+02] [ 8.52725882e-01 4.86351492e-01 -1.90580157e-01 6.23160921e+01] [ 2.18695721e-01 -1.07085278e-03 9.75792516e-01 1.86080661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.070888479 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:103.07, Y:62.34, Z:18.61 [[ 4.72954278e-01 -8.74631576e-01 -1.06460594e-01 1.03071871e+02] [ 8.53298554e-01 4.84788207e-01 -1.91994722e-01 6.23399870e+01] [ 2.19535487e-01 -3.79457237e-05 9.75604514e-01 1.86138701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.100888479 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:103.08, Y:62.36, Z:18.62 [[ 4.72493845e-01 -8.74857019e-01 -1.06652536e-01 1.03084556e+02] [ 8.53431467e-01 4.84381242e-01 -1.92430620e-01 6.23647989e+01] [ 2.20009766e-01 -9.83465869e-05 9.75497664e-01 1.86201876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.130888479 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:103.10, Y:62.39, Z:18.63 [[ 4.72120614e-01 -8.75037829e-01 -1.06821922e-01 1.03096178e+02] [ 8.53518245e-01 4.84054525e-01 -1.92867368e-01 6.23884371e+01] [ 2.20473878e-01 -1.17799472e-04 9.75392872e-01 1.86257439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.160888479 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:103.11, Y:62.41, Z:18.63 [[ 4.72192743e-01 -8.74938927e-01 -1.07312108e-01 1.03107160e+02] [ 8.53195697e-01 4.84233285e-01 -1.93843310e-01 6.24135406e+01] [ 2.21565152e-01 -2.68246736e-05 9.75145570e-01 1.86316430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.190888479 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:103.12, Y:62.44, Z:18.64 [[ 4.72657271e-01 -8.74717049e-01 -1.07075617e-01 1.03118619e+02] [ 8.53035049e-01 4.84633948e-01 -1.93548809e-01 6.24370172e+01] [ 2.21192922e-01 1.42997595e-04 9.75230060e-01 1.86371539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.220888479 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:103.13, Y:62.46, Z:18.64 [[ 4.72817340e-01 -8.74650432e-01 -1.06912975e-01 1.03130418e+02] [ 8.53006326e-01 4.84754130e-01 -1.93374352e-01 6.24615121e+01] [ 2.20961467e-01 2.33302840e-04 9.75282511e-01 1.86424160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.250888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:103.14, Y:62.49, Z:18.65 [[ 4.73162045e-01 -8.74489436e-01 -1.06704761e-01 1.03142061e+02] [ 8.52896881e-01 4.85044418e-01 -1.93129030e-01 6.24850648e+01] [ 2.20645845e-01 3.73168743e-04 9.75353921e-01 1.86479278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28088847899997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:103.15, Y:62.51, Z:18.65 [[ 4.73487649e-01 -8.75418647e-01 -9.72195354e-02 1.03150851e+02] [ 8.51702742e-01 4.83184399e-01 -2.02818333e-01 6.25140159e+01] [ 2.24525913e-01 1.32298308e-02 9.74378307e-01 1.86497603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31088847899997 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:103.17, Y:62.53, Z:18.67 [[ 4.74642527e-01 -8.72170181e-01 -1.18463693e-01 1.03172001e+02] [ 8.51922602e-01 4.89054016e-01 -1.87227267e-01 6.25298137e+01] [ 2.21229184e-01 -1.20558747e-02 9.75147324e-01 1.86653755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34088847899997 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:103.18, Y:62.56, Z:18.67 [[ 4.75540464e-01 -8.73174124e-01 -1.06902838e-01 1.03179853e+02] [ 8.51367505e-01 4.87406907e-01 -1.93927508e-01 6.25570015e+01] [ 2.21437663e-01 1.20677516e-03 9.75173782e-01 1.86672232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37088847899997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:103.19, Y:62.58, Z:18.67 [[ 4.77973802e-01 -8.71869733e-01 -1.06696830e-01 1.03191620e+02] [ 8.50089068e-01 4.89734293e-01 -1.93672145e-01 6.25816921e+01] [ 2.21109978e-01 1.86840233e-03 9.75247090e-01 1.86729760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40088847899997 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:103.20, Y:62.61, Z:18.68 [[ 4.78897280e-01 -8.71361525e-01 -1.06707493e-01 1.03203671e+02] [ 8.49534373e-01 4.90636717e-01 -1.93821983e-01 6.26063977e+01] [ 2.21243633e-01 2.16913780e-03 9.75216155e-01 1.86788643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43088847899998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:103.22, Y:62.63, Z:18.69 [[ 4.80823584e-01 -8.70369001e-01 -1.06143696e-01 1.03215596e+02] [ 8.48721760e-01 4.92392765e-01 -1.92926773e-01 6.26310885e+01] [ 2.20181870e-01 2.67727789e-03 9.75455164e-01 1.86850881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46088847899998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:103.23, Y:62.65, Z:18.69 [[ 4.81134332e-01 -8.70245758e-01 -1.05745331e-01 1.03228812e+02] [ 8.48730342e-01 4.92609929e-01 -1.92333735e-01 6.26546780e+01] [ 2.19468817e-01 2.78909214e-03 9.75615528e-01 1.86912840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49088847899998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:103.24, Y:62.68, Z:18.70 [[ 4.80793144e-01 -8.70884053e-01 -1.01975094e-01 1.03240033e+02] [ 8.48584355e-01 4.91428442e-01 -1.95966014e-01 6.26801773e+01] [ 2.20777138e-01 7.68464709e-03 9.75294008e-01 1.86952406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52088847899998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:103.26, Y:62.70, Z:18.70 [[ 4.80048551e-01 -8.70304812e-01 -1.10104144e-01 1.03256177e+02] [ 8.49157656e-01 4.92509619e-01 -1.90697537e-01 6.27015531e+01] [ 2.20192334e-01 -1.95170039e-03 9.75454523e-01 1.87039632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55088847899998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:103.27, Y:62.73, Z:18.71 [[ 4.79251182e-01 -8.71217837e-01 -1.06291044e-01 1.03267745e+02] [ 8.49430619e-01 4.90890178e-01 -1.93634854e-01 6.27268580e+01] [ 2.20875368e-01 2.51286524e-03 9.75298804e-01 1.87082633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58088847899998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:103.28, Y:62.75, Z:18.71 [[ 4.78227943e-01 -8.71780100e-01 -1.06289662e-01 1.03281577e+02] [ 8.49977336e-01 4.89891904e-01 -1.93763903e-01 6.27506700e+01] [ 2.20989959e-01 2.31950894e-03 9.75273325e-01 1.87139010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61088847899998 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:103.30, Y:62.77, Z:18.72 [[ 4.76956273e-01 -8.72457222e-01 -1.06447683e-01 1.03295216e+02] [ 8.50575250e-01 4.88686082e-01 -1.94184595e-01 6.27734531e+01] [ 2.21437254e-01 2.07579580e-03 9.75172412e-01 1.87200150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64088847899998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:103.31, Y:62.80, Z:18.73 [[ 4.75104858e-01 -8.73486894e-01 -1.06282735e-01 1.03310249e+02] [ 8.51667323e-01 4.86844819e-01 -1.94022921e-01 6.27969904e+01] [ 2.21219677e-01 1.66369928e-03 9.75222583e-01 1.87260580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67088847899998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:103.32, Y:62.82, Z:18.73 [[ 4.74088596e-01 -8.74022510e-01 -1.06417365e-01 1.03324268e+02] [ 8.52130194e-01 4.85883172e-01 -1.94400811e-01 6.28209432e+01] [ 2.21617092e-01 1.48175709e-03 9.75132642e-01 1.87319994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70088847899999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:103.34, Y:62.84, Z:18.74 [[ 4.73090438e-01 -8.74543706e-01 -1.06577406e-01 1.03338304e+02] [ 8.52567039e-01 4.84944944e-01 -1.94827732e-01 6.28447476e+01] [ 2.22069541e-01 1.30675326e-03 9.75029954e-01 1.87380850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730888479 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:103.35, Y:62.87, Z:18.74 [[ 4.72022640e-01 -8.75162847e-01 -1.06229085e-01 1.03352747e+02] [ 8.53316310e-01 4.83827269e-01 -1.94325625e-01 6.28670579e+01] [ 2.21463095e-01 1.07908368e-03 9.75168156e-01 1.87437520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.760888479 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:103.37, Y:62.89, Z:18.75 [[ 4.71477372e-01 -8.75478825e-01 -1.06046758e-01 1.03367082e+02] [ 8.53688559e-01 4.83255469e-01 -1.94113359e-01 6.28909328e+01] [ 2.21189811e-01 9.89152567e-04 9.75230275e-01 1.87497854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790888479 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:103.38, Y:62.91, Z:18.76 [[ 4.70777068e-01 -8.75882845e-01 -1.05821514e-01 1.03381546e+02] [ 8.54166503e-01 4.82523053e-01 -1.93832632e-01 6.29142519e+01] [ 2.20835997e-01 8.62765584e-04 9.75310575e-01 1.87553763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.820888479 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:103.40, Y:62.94, Z:18.76 [[ 4.69370158e-01 -8.76668733e-01 -1.05563189e-01 1.03397022e+02] [ 8.55048863e-01 4.81094191e-01 -1.93493725e-01 6.29356835e+01] [ 2.20415736e-01 5.58495994e-04 9.75405860e-01 1.87617770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.850888479 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:103.41, Y:62.96, Z:18.77 [[ 4.68822351e-01 -8.76970026e-01 -1.05494915e-01 1.03410397e+02] [ 8.55358599e-01 4.80544844e-01 -1.93489846e-01 6.29581000e+01] [ 2.20379833e-01 4.76381771e-04 9.75414016e-01 1.87680660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.880888479 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:103.43, Y:62.98, Z:18.77 [[ 4.68148646e-01 -8.77393784e-01 -1.04961861e-01 1.03425717e+02] [ 8.55982755e-01 4.79770809e-01 -1.92648627e-01 6.29814983e+01] [ 2.19386345e-01 3.42651046e-04 9.75638004e-01 1.87743022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.910888479 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:103.44, Y:63.00, Z:18.78 [[ 4.68000785e-01 -8.77484782e-01 -1.04860489e-01 1.03439923e+02] [ 8.56088248e-01 4.79604341e-01 -1.92594362e-01 6.30043425e+01] [ 2.19290168e-01 3.64480040e-04 9.75659618e-01 1.87803341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.940888479 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:103.45, Y:63.03, Z:18.79 [[ 4.68394669e-01 -8.77295171e-01 -1.04688188e-01 1.03453872e+02] [ 8.55943445e-01 4.79950969e-01 -1.92374340e-01 6.30263133e+01] [ 2.19014277e-01 4.99947110e-04 9.75721526e-01 1.87862496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.970888479 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:103.47, Y:63.05, Z:18.79 [[ 4.68951619e-01 -8.77004729e-01 -1.04628319e-01 1.03468048e+02] [ 8.55639679e-01 4.80481229e-01 -1.92401995e-01 6.30495219e+01] [ 2.19009403e-01 7.03085634e-04 9.75722495e-01 1.87927948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00088847899997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:103.48, Y:63.07, Z:18.80 [[ 4.70980582e-01 -8.75953059e-01 -1.04324155e-01 1.03482319e+02] [ 8.54658396e-01 4.82394717e-01 -1.91974902e-01 6.30719901e+01] [ 2.18486424e-01 1.25493597e-03 9.75839181e-01 1.87991141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03088847899997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:103.50, Y:63.10, Z:18.81 [[ 4.71811788e-01 -8.75508008e-01 -1.04304196e-01 1.03496223e+02] [ 8.54179483e-01 4.83201187e-01 -1.92078171e-01 6.30962388e+01] [ 2.18565888e-01 1.53024075e-03 9.75820993e-01 1.88051056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06088847899997 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:103.51, Y:63.12, Z:18.81 [[ 4.72513504e-01 -8.75106900e-01 -1.04493549e-01 1.03509624e+02] [ 8.53660430e-01 4.83926366e-01 -1.92559452e-01 6.31198791e+01] [ 2.19077289e-01 1.78493336e-03 9.75705876e-01 1.88108704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09088847899997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:103.52, Y:63.14, Z:18.82 [[ 4.74534312e-01 -8.73982575e-01 -1.04745624e-01 1.03524194e+02] [ 8.52374188e-01 4.85951448e-01 -1.93156502e-01 6.31431512e+01] [ 2.19716705e-01 2.37692156e-03 9.75560823e-01 1.88157236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12088847899997 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:103.54, Y:63.17, Z:18.82 [[ 4.75462244e-01 -8.73481912e-01 -1.04713918e-01 1.03538406e+02] [ 8.51844953e-01 4.86849259e-01 -1.93230368e-01 6.31664989e+01] [ 2.19763125e-01 2.67372202e-03 9.75549599e-01 1.88222438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15088847899997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:103.55, Y:63.19, Z:18.83 [[ 4.76426197e-01 -8.72983457e-01 -1.04489058e-01 1.03553449e+02] [ 8.51398602e-01 4.87740811e-01 -1.92949014e-01 6.31878445e+01] [ 2.19404875e-01 2.96412705e-03 9.75629394e-01 1.88291137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18088847899998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:103.57, Y:63.21, Z:18.83 [[ 4.76525496e-01 -8.72901913e-01 -1.04717251e-01 1.03567421e+02] [ 8.51192227e-01 4.87886085e-01 -1.93491502e-01 6.32112240e+01] [ 2.19989192e-01 3.06912383e-03 9.75497481e-01 1.88349488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21088847899998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:103.58, Y:63.24, Z:18.84 [[ 4.76420652e-01 -8.72930076e-01 -1.04959254e-01 1.03581059e+02] [ 8.51089750e-01 4.87835312e-01 -1.94069436e-01 6.32353450e+01] [ 2.20611878e-01 3.12894175e-03 9.75356657e-01 1.88402051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:63.26, Z:18.85 [[ 4.75986949e-01 -8.73166170e-01 -1.04963155e-01 1.03596167e+02] [ 8.51300074e-01 4.87412884e-01 -1.94208301e-01 6.32590092e+01] [ 2.20736512e-01 3.08547508e-03 9.75328597e-01 1.88454075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27088847899998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:103.61, Y:63.28, Z:18.85 [[ 4.75408868e-01 -8.73503160e-01 -1.04778990e-01 1.03610425e+02] [ 8.51692131e-01 4.86809285e-01 -1.94003180e-01 6.32820487e+01] [ 2.20469776e-01 2.99139097e-03 9.75389219e-01 1.88516183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:103.62, Y:63.30, Z:18.86 [[ 4.74469071e-01 -8.74044049e-01 -1.04527991e-01 1.03624547e+02] [ 8.52321288e-01 4.85838613e-01 -1.93673087e-01 6.33049004e+01] [ 2.20062544e-01 2.80045751e-03 9.75481745e-01 1.88577669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.64, Y:63.33, Z:18.86 [[ 4.72078141e-01 -8.75332162e-01 -1.04574544e-01 1.03639331e+02] [ 8.53588678e-01 4.83516741e-01 -1.93901856e-01 6.33277284e+01] [ 2.20292073e-01 2.27318133e-03 9.75431307e-01 1.88637827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.65, Y:63.35, Z:18.87 [[ 4.70581526e-01 -8.76122224e-01 -1.04703758e-01 1.03653157e+02] [ 8.54313309e-01 4.82085012e-01 -1.94275092e-01 6.33507165e+01] [ 2.20684838e-01 1.97245529e-03 9.75343176e-01 1.88697971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:63.37, Z:18.88 [[ 4.68857077e-01 -8.77037017e-01 -1.04781259e-01 1.03666786e+02] [ 8.55185943e-01 4.80420096e-01 -1.94559850e-01 6.33737962e+01] [ 2.20975213e-01 1.61330284e-03 9.75278090e-01 1.88761363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:103.68, Y:63.40, Z:18.88 [[ 4.67085699e-01 -8.78013081e-01 -1.04517842e-01 1.03680355e+02] [ 8.56265732e-01 4.78635088e-01 -1.94209809e-01 6.33971587e+01] [ 2.20544659e-01 1.21757781e-03 9.75376118e-01 1.88819992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:63.42, Z:18.89 [[ 4.63275471e-01 -8.80026410e-01 -1.04543560e-01 1.03694592e+02] [ 8.58288828e-01 4.74924638e-01 -1.94388469e-01 6.34201723e+01] [ 2.20717299e-01 3.26840132e-04 9.75337771e-01 1.88883480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:63.44, Z:18.89 [[ 4.60917746e-01 -8.81266899e-01 -1.04515471e-01 1.03708115e+02] [ 8.59542112e-01 4.72618887e-01 -1.94470423e-01 6.34435854e+01] [ 2.20776332e-01 -2.00579702e-04 9.75324444e-01 1.88945679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:63.47, Z:18.90 [[ 4.56428507e-01 -8.83580312e-01 -1.04684525e-01 1.03722898e+02] [ 8.61813020e-01 4.68277980e-01 -1.94920631e-01 6.34657339e+01] [ 2.21249490e-01 -1.25115354e-03 9.75216436e-01 1.89007231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:63.49, Z:18.91 [[ 4.53936891e-01 -8.84836470e-01 -1.04908151e-01 1.03736076e+02] [ 8.62975246e-01 4.65898262e-01 -1.95480267e-01 6.34883407e+01] [ 2.21844594e-01 -1.79743290e-03 9.75080379e-01 1.89065462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.570888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.75, Y:63.51, Z:18.91 [[ 4.51691626e-01 -8.85939404e-01 -1.05290303e-01 1.03749731e+02] [ 8.63914632e-01 4.63795394e-01 -1.96329676e-01 6.35121628e+01] [ 2.22769353e-01 -2.28136276e-03 9.74868509e-01 1.89125340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:63.54, Z:18.92 [[ 4.48217396e-01 -8.87659084e-01 -1.05652809e-01 1.03763224e+02] [ 8.65496036e-01 4.60490895e-01 -1.97141438e-01 6.35353930e+01] [ 2.23646544e-01 -3.07986520e-03 9.74665449e-01 1.89184498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:63.56, Z:18.92 [[ 4.47045670e-01 -8.88247854e-01 -1.05668914e-01 1.03776531e+02] [ 8.66061412e-01 4.59352601e-01 -1.97314011e-01 6.35594034e+01] [ 2.23803037e-01 -3.30739442e-03 9.74628782e-01 1.89240990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:63.58, Z:18.93 [[ 4.46152013e-01 -8.88676837e-01 -1.05838845e-01 1.03790017e+02] [ 8.66398444e-01 4.58520971e-01 -1.97768185e-01 6.35834227e+01] [ 2.24281335e-01 -3.46393728e-03 9.74518283e-01 1.89304095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:63.61, Z:18.94 [[ 4.46010152e-01 -8.88768221e-01 -1.05669267e-01 1.03803651e+02] [ 8.66533295e-01 4.58343994e-01 -1.97587528e-01 6.36072726e+01] [ 2.24042390e-01 -3.43989466e-03 9.74573330e-01 1.89369480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:63.63, Z:18.94 [[ 4.46533006e-01 -8.88499392e-01 -1.05721832e-01 1.03816276e+02] [ 8.66203160e-01 4.58866341e-01 -1.97822563e-01 6.36302452e+01] [ 2.24277417e-01 -3.24228092e-03 9.74519947e-01 1.89433396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:63.65, Z:18.95 [[ 4.47568664e-01 -8.87987452e-01 -1.05643631e-01 1.03829011e+02] [ 8.65677443e-01 4.59858443e-01 -1.97820064e-01 6.36543898e+01] [ 2.24242850e-01 -2.91524686e-03 9.74528935e-01 1.89497435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:63.68, Z:18.96 [[ 4.47416325e-01 -8.88070786e-01 -1.05588405e-01 1.03842038e+02] [ 8.65756114e-01 4.59697631e-01 -1.97849538e-01 6.36790403e+01] [ 2.24243134e-01 -2.89269410e-03 9.74528937e-01 1.89559446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:63.70, Z:18.96 [[ 4.48644959e-01 -8.87466178e-01 -1.05458444e-01 1.03854653e+02] [ 8.65171019e-01 4.60865814e-01 -1.97691195e-01 6.37034458e+01] [ 2.24046441e-01 -2.54643163e-03 9.74575142e-01 1.89621442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.87, Y:63.73, Z:18.97 [[ 4.52116591e-01 -8.85750352e-01 -1.05056660e-01 1.03866834e+02] [ 8.63549838e-01 4.64159116e-01 -1.97073570e-01 6.37269305e+01] [ 2.23320990e-01 -1.62143092e-03 9.74743611e-01 1.89684799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:63.75, Z:18.98 [[ 4.53573599e-01 -8.85032095e-01 -1.04829300e-01 1.03879862e+02] [ 8.62886862e-01 4.65528422e-01 -1.96747432e-01 6.37509334e+01] [ 2.22928811e-01 -1.21638492e-03 9.74833968e-01 1.89752748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:63.77, Z:18.98 [[ 4.54925779e-01 -8.84377328e-01 -1.04495343e-01 1.03892880e+02] [ 8.62326605e-01 4.66771955e-01 -1.96256895e-01 6.37746846e+01] [ 2.22340644e-01 -8.26793185e-04 9.74968694e-01 1.89815551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:63.80, Z:18.99 [[ 4.57251752e-01 -8.83157499e-01 -1.04659773e-01 1.03905521e+02] [ 8.60973182e-01 4.69076545e-01 -1.96703775e-01 6.37980221e+01] [ 2.22813859e-01 -1.66111832e-04 9.74860994e-01 1.89879060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:103.92, Y:63.82, Z:18.99 [[ 4.57997042e-01 -8.82775340e-01 -1.04625085e-01 1.03918283e+02] [ 8.60562939e-01 4.69795371e-01 -1.96783477e-01 6.38226684e+01] [ 2.22867982e-01 8.97793053e-05 9.74848632e-01 1.89936356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:63.85, Z:19.00 [[ 4.59892286e-01 -8.81764186e-01 -1.04837996e-01 1.03930802e+02] [ 8.59403998e-01 4.71690050e-01 -1.97315140e-01 6.38466809e+01] [ 2.23436463e-01 6.45517873e-04 9.74718282e-01 1.89990232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:63.87, Z:19.00 [[ 4.60862782e-01 -8.81275827e-01 -1.04682439e-01 1.03944103e+02] [ 8.58938929e-01 4.72601332e-01 -1.97159574e-01 6.38708148e+01] [ 2.23225027e-01 9.47687734e-04 9.74766479e-01 1.90049280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:63.89, Z:19.01 [[ 4.61256464e-01 -8.81029011e-01 -1.05025501e-01 1.03956609e+02] [ 8.58505218e-01 4.73060869e-01 -1.97944954e-01 6.38947696e+01] [ 2.24078702e-01 1.13844840e-03 9.74570387e-01 1.90114701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:63.93, Z:18.99 [[ 4.61613212e-01 -8.84123010e-01 -7.23860932e-02 1.03958517e+02] [ 8.60249471e-01 4.66075578e-01 -2.06747198e-01 6.39316133e+01] [ 2.16527345e-01 3.31671396e-02 9.75712996e-01 1.89935326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.99, Y:63.93, Z:19.04 [[ 4.63097670e-01 -8.76186413e-01 -1.33558665e-01 1.03992411e+02] [ 8.57372159e-01 4.81053455e-01 -1.83031567e-01 6.39343019e+01] [ 2.24618630e-01 -2.97479888e-02 9.73992571e-01 1.90367022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:63.97, Z:19.03 [[ 4.63559297e-01 -8.79813188e-01 -1.05078693e-01 1.03993724e+02] [ 8.57169804e-01 4.75315965e-01 -1.98329676e-01 6.39665845e+01] [ 2.24438645e-01 1.86728229e-03 9.74486433e-01 1.90295156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:63.99, Z:19.04 [[ 4.63853867e-01 -8.79680094e-01 -1.04892905e-01 1.04006053e+02] [ 8.57080549e-01 4.75561701e-01 -1.98126224e-01 6.39913694e+01] [ 2.24170744e-01 1.99994642e-03 9.74547832e-01 1.90352829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:64.02, Z:19.04 [[ 4.63590273e-01 -8.79838351e-01 -1.04730773e-01 1.04018577e+02] [ 8.57281885e-01 4.75268899e-01 -1.97957679e-01 6.40161907e+01] [ 2.23946037e-01 1.98745968e-03 9.74599519e-01 1.90405887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:64.04, Z:19.05 [[ 4.63029732e-01 -8.80137631e-01 -1.04695837e-01 1.04030734e+02] [ 8.57572076e-01 4.74714761e-01 -1.98030380e-01 6.40392954e+01] [ 2.23994648e-01 1.90972742e-03 9.74588503e-01 1.90461626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:64.06, Z:19.05 [[ 4.62683102e-01 -8.79768806e-01 -1.09230011e-01 1.04045438e+02] [ 8.58073883e-01 4.75386024e-01 -1.94209524e-01 6.40609617e+01] [ 2.22785902e-01 -3.86995440e-03 9.74859716e-01 1.90543054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:64.09, Z:19.06 [[ 4.60348455e-01 -8.82102194e-01 -9.98750195e-02 1.04055534e+02] [ 8.58524767e-01 4.70997120e-01 -2.02723796e-01 6.40864476e+01] [ 2.25863952e-01 7.57840843e-03 9.74129377e-01 1.90561233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:64.11, Z:19.06 [[ 4.59028539e-01 -8.82138595e-01 -1.05471798e-01 1.04071030e+02] [ 8.59194291e-01 4.70988551e-01 -1.99887354e-01 6.41088202e+01] [ 2.26004359e-01 1.13323366e-03 9.74125631e-01 1.90644475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:64.13, Z:19.07 [[ 4.57044101e-01 -8.83152327e-01 -1.05606136e-01 1.04084777e+02] [ 8.60143103e-01 4.69085787e-01 -2.00280718e-01 6.41312306e+01] [ 2.26416720e-01 7.00730946e-04 9.74030276e-01 1.90700510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:64.15, Z:19.08 [[ 4.55573973e-01 -8.83904590e-01 -1.05664708e-01 1.04098259e+02] [ 8.60855452e-01 4.67667101e-01 -2.00537712e-01 6.41546102e+01] [ 2.26672111e-01 3.97721921e-04 9.73971045e-01 1.90759398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:64.18, Z:19.08 [[ 4.54053833e-01 -8.84676063e-01 -1.05751502e-01 1.04112131e+02] [ 8.61577465e-01 4.66206239e-01 -2.00838278e-01 6.41781333e+01] [ 2.26978828e-01 7.82789281e-05 9.73899690e-01 1.90827606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.440888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.13, Y:64.20, Z:19.09 [[ 4.51806017e-01 -8.85849103e-01 -1.05558943e-01 1.04126563e+02] [ 8.62834231e-01 4.63973245e-01 -2.00613854e-01 6.42006568e+01] [ 2.26690128e-01 -4.41323040e-04 9.73966833e-01 1.90890082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:64.22, Z:19.10 [[ 4.50972071e-01 -8.86266483e-01 -1.05621553e-01 1.04139952e+02] [ 8.63200517e-01 4.63175328e-01 -2.00881766e-01 6.42245319e+01] [ 2.26956073e-01 -5.80512842e-04 9.73904823e-01 1.90952300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:64.25, Z:19.10 [[ 4.50335749e-01 -8.86590847e-01 -1.05614308e-01 1.04152617e+02] [ 8.63503706e-01 4.62554010e-01 -2.01010291e-01 6.42474145e+01] [ 2.27066206e-01 -6.76226436e-04 9.73879089e-01 1.91006739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.17, Y:64.27, Z:19.11 [[ 4.49620963e-01 -8.86965372e-01 -1.05515013e-01 1.04165283e+02] [ 8.63897541e-01 4.61835250e-01 -2.00970745e-01 6.42711016e+01] [ 2.26984644e-01 -7.93499764e-04 9.73898014e-01 1.91063932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:104.18, Y:64.29, Z:19.11 [[ 4.48825629e-01 -8.87372583e-01 -1.05477260e-01 1.04179247e+02] [ 8.64298036e-01 4.61052096e-01 -2.01046934e-01 6.42946740e+01] [ 2.27034049e-01 -9.28772304e-04 9.73886378e-01 1.91126605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:64.32, Z:19.12 [[ 4.47889145e-01 -8.87830048e-01 -1.05608330e-01 1.04192511e+02] [ 8.64677244e-01 4.60170191e-01 -2.01436489e-01 6.43185578e+01] [ 2.27439173e-01 -1.09590307e-03 9.73791673e-01 1.91195183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.21, Y:64.34, Z:19.13 [[ 4.46575589e-01 -8.88504025e-01 -1.05502803e-01 1.04205733e+02] [ 8.65384067e-01 4.58866775e-01 -2.01374526e-01 6.43422481e+01] [ 2.27333808e-01 -1.37149740e-03 9.73815927e-01 1.91258541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:64.36, Z:19.13 [[ 4.44180936e-01 -8.89760780e-01 -1.05019286e-01 1.04219030e+02] [ 8.66856606e-01 4.56423052e-01 -2.00593176e-01 6.43645548e+01] [ 2.26413164e-01 -1.93699745e-03 9.74029428e-01 1.91323316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:64.39, Z:19.14 [[ 4.42663526e-01 -8.90563580e-01 -1.04620806e-01 1.04232289e+02] [ 8.67822796e-01 4.54853125e-01 -1.99980571e-01 6.43888417e+01] [ 2.25682514e-01 -2.26821598e-03 9.74198264e-01 1.91390751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:64.41, Z:19.15 [[ 4.41738495e-01 -8.91080224e-01 -1.04130381e-01 1.04245386e+02] [ 8.68536580e-01 4.53839192e-01 -1.99183828e-01 6.44124996e+01] [ 2.24747218e-01 -2.45388050e-03 9.74414012e-01 1.91454709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.26, Y:64.44, Z:19.15 [[ 4.41028975e-01 -8.91477223e-01 -1.03739115e-01 1.04258724e+02] [ 8.69083509e-01 4.53058166e-01 -1.98575309e-01 6.44366473e+01] [ 2.24025218e-01 -2.58048901e-03 9.74579931e-01 1.91524938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:64.46, Z:19.16 [[ 4.41230747e-01 -8.91374639e-01 -1.03762618e-01 1.04271446e+02] [ 8.68935407e-01 4.53260614e-01 -1.98761348e-01 6.44610275e+01] [ 2.24202333e-01 -2.46339513e-03 9.74539504e-01 1.91586425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:64.49, Z:19.16 [[ 4.41962941e-01 -8.90985917e-01 -1.03984880e-01 1.04284205e+02] [ 8.68406145e-01 4.54025585e-01 -1.99327708e-01 6.44852366e+01] [ 2.24809976e-01 -2.20564835e-03 9.74400128e-01 1.91644966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:64.51, Z:19.17 [[ 4.44448247e-01 -8.89673032e-01 -1.04631029e-01 1.04296875e+02] [ 8.66739055e-01 4.56595768e-01 -2.00708035e-01 6.45094621e+01] [ 2.26338611e-01 -1.48346530e-03 9.74047552e-01 1.91708218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:64.53, Z:19.18 [[ 4.45775897e-01 -8.88972661e-01 -1.04935497e-01 1.04309664e+02] [ 8.65851153e-01 4.57959033e-01 -2.01433129e-01 6.45342870e+01] [ 2.27124703e-01 -1.06448748e-03 9.73865102e-01 1.91769936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:64.56, Z:19.18 [[ 4.48651173e-01 -8.87472444e-01 -1.05379251e-01 1.04320906e+02] [ 8.64078067e-01 4.60860722e-01 -2.02426503e-01 6.45589592e+01] [ 2.28213101e-01 -2.37011542e-04 9.73611177e-01 1.91821300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:64.58, Z:19.19 [[ 4.49919882e-01 -8.86805827e-01 -1.05581841e-01 1.04332925e+02] [ 8.63267115e-01 4.62142181e-01 -2.02964263e-01 6.45840177e+01] [ 2.28783714e-01 1.72325753e-04 9.73477264e-01 1.91879589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.35, Y:64.61, Z:19.19 [[ 4.51073368e-01 -8.86227039e-01 -1.05519916e-01 1.04345073e+02] [ 8.62668418e-01 4.63250854e-01 -2.02982381e-01 6.46088702e+01] [ 2.28770666e-01 5.31246854e-04 9.73480200e-01 1.91938001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:64.63, Z:19.20 [[ 4.52257781e-01 -8.86209130e-01 -1.00480236e-01 1.04354441e+02] [ 8.61649364e-01 4.63229776e-01 -2.07312683e-01 6.46349774e+01] [ 2.30267830e-01 7.18004213e-03 9.73100803e-01 1.91973638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:64.66, Z:19.21 [[ 4.52666264e-01 -8.84806734e-01 -1.10500216e-01 1.04370885e+02] [ 8.61864907e-01 4.65935515e-01 -2.00232311e-01 6.46557505e+01] [ 2.28652872e-01 -4.59784594e-03 9.73497162e-01 1.92094693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:64.68, Z:19.21 [[ 4.52803659e-01 -8.85362488e-01 -1.05366557e-01 1.04381286e+02] [ 8.61771124e-01 4.64899981e-01 -2.03023488e-01 6.46818577e+01] [ 2.28734291e-01 1.12792210e-03 9.73488239e-01 1.92134098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:64.71, Z:19.22 [[ 4.52547853e-01 -8.85542025e-01 -1.04956004e-01 1.04393369e+02] [ 8.62109654e-01 4.64557980e-01 -2.02368049e-01 6.47063276e+01] [ 2.27963561e-01 1.09764223e-03 9.73669045e-01 1.92191822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:64.73, Z:19.23 [[ 4.52298200e-01 -8.85708642e-01 -1.04625714e-01 1.04405729e+02] [ 8.62398469e-01 4.64240290e-01 -2.01865879e-01 6.47307255e+01] [ 2.27365826e-01 1.07451779e-03 9.73808824e-01 1.92253852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:64.75, Z:19.23 [[ 4.51710838e-01 -8.86104679e-01 -1.03806630e-01 1.04418346e+02] [ 8.63142747e-01 4.63484230e-01 -2.00416984e-01 6.47541359e+01] [ 2.25703163e-01 9.30583523e-04 9.74195676e-01 1.92318566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:64.78, Z:19.24 [[ 4.51138939e-01 -8.86432308e-01 -1.03495998e-01 1.04431101e+02] [ 8.63595167e-01 4.62857544e-01 -1.99915686e-01 6.47782377e+01] [ 2.25115627e-01 8.11106666e-04 9.74331718e-01 1.92379143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:64.80, Z:19.24 [[ 4.50376318e-01 -8.86818478e-01 -1.03509225e-01 1.04443452e+02] [ 8.63953349e-01 4.62117430e-01 -2.00080213e-01 6.48023521e+01] [ 2.25268247e-01 6.84247956e-04 9.74296540e-01 1.92445351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:64.83, Z:19.25 [[ 4.50547682e-01 -8.86716466e-01 -1.03637330e-01 1.04455599e+02] [ 8.63759252e-01 4.62312953e-01 -2.00466178e-01 6.48258493e+01] [ 2.25669541e-01 8.01869242e-04 9.74203580e-01 1.92502423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:64.85, Z:19.26 [[ 4.50926443e-01 -8.86488218e-01 -1.03942202e-01 1.04467942e+02] [ 8.63363851e-01 4.62750150e-01 -2.01159536e-01 6.48502124e+01] [ 2.26424828e-01 9.68214061e-04 9.74028162e-01 1.92564108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:64.88, Z:19.26 [[ 4.52790079e-01 -8.85507326e-01 -1.04201344e-01 1.04480177e+02] [ 8.62207926e-01 4.64622897e-01 -2.01799543e-01 6.48751676e+01] [ 2.27109304e-01 1.52960639e-03 9.73868073e-01 1.92622744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:64.90, Z:19.27 [[ 4.53601065e-01 -8.85087582e-01 -1.04240332e-01 1.04492528e+02] [ 8.61728206e-01 4.65421009e-01 -2.02009366e-01 6.49001961e+01] [ 2.27311622e-01 1.80482975e-03 9.73820399e-01 1.92684083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:64.92, Z:19.27 [[ 4.54099726e-01 -8.84832038e-01 -1.04238685e-01 1.04504207e+02] [ 8.61433040e-01 4.65905845e-01 -2.02150589e-01 6.49239530e+01] [ 2.27434730e-01 2.00188005e-03 9.73791269e-01 1.92737456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:64.95, Z:19.28 [[ 4.54308152e-01 -8.84702966e-01 -1.04425887e-01 1.04515839e+02] [ 8.61179905e-01 4.66150266e-01 -2.02664994e-01 6.49489587e+01] [ 2.27976476e-01 2.14288363e-03 9.73664282e-01 1.92785325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:64.97, Z:19.28 [[ 4.53921331e-01 -8.84864910e-01 -1.04735458e-01 1.04528449e+02] [ 8.61170646e-01 4.65842811e-01 -2.03409915e-01 6.49736051e+01] [ 2.28780556e-01 2.13699778e-03 9.73475675e-01 1.92846541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:65.00, Z:19.29 [[ 4.53705048e-01 -8.84955814e-01 -1.04904417e-01 1.04540954e+02] [ 8.61152372e-01 4.65669974e-01 -2.03882484e-01 6.49976397e+01] [ 2.29277826e-01 2.16382471e-03 9.73358616e-01 1.92901232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:65.02, Z:19.30 [[ 4.53530774e-01 -8.85039622e-01 -1.04950957e-01 1.04553334e+02] [ 8.61183446e-01 4.65510546e-01 -2.04115175e-01 6.50212526e+01] [ 2.29505794e-01 2.19048634e-03 9.73304830e-01 1.92958140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.57, Y:65.04, Z:19.30 [[ 4.52751135e-01 -8.85236321e-01 -1.06644576e-01 1.04568020e+02] [ 8.61502265e-01 4.65141440e-01 -2.03610629e-01 6.50448999e+01] [ 2.29848336e-01 3.10399321e-04 9.73226411e-01 1.93041280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:65.07, Z:19.31 [[ 4.52767381e-01 -8.85539794e-01 -1.04023903e-01 1.04578978e+02] [ 8.61443205e-01 4.64551828e-01 -2.05200399e-01 6.50686109e+01] [ 2.30037613e-01 3.29736280e-03 9.73176153e-01 1.93090842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.59, Y:65.09, Z:19.32 [[ 4.51763623e-01 -8.85952762e-01 -1.04868165e-01 1.04590999e+02] [ 8.62087020e-01 4.63771713e-01 -2.04259072e-01 6.50927502e+01] [ 2.29598778e-01 1.87133431e-03 9.73283566e-01 1.93152496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:65.12, Z:19.32 [[ 4.50572186e-01 -8.86582915e-01 -1.04668240e-01 1.04602197e+02] [ 8.62792364e-01 4.62566887e-01 -2.04012773e-01 6.51173193e+01] [ 2.29290301e-01 1.61552299e-03 9.73356742e-01 1.93207700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:65.14, Z:19.33 [[ 4.48548899e-01 -8.87694838e-01 -1.03931517e-01 1.04614198e+02] [ 8.64237039e-01 4.60430929e-01 -2.02725678e-01 6.51416399e+01] [ 2.27811823e-01 1.11091351e-03 9.73704544e-01 1.93256323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:65.17, Z:19.33 [[ 4.47330244e-01 -8.88313339e-01 -1.03899301e-01 1.04627071e+02] [ 8.64852012e-01 4.59237044e-01 -2.02811082e-01 6.51654743e+01] [ 2.27874197e-01 8.66010683e-04 9.73690197e-01 1.93319939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:65.19, Z:19.34 [[ 4.47105468e-01 -8.88433063e-01 -1.03843120e-01 1.04639692e+02] [ 8.64968243e-01 4.59005377e-01 -2.02839844e-01 6.51903688e+01] [ 2.27874175e-01 8.69802246e-04 9.73690199e-01 1.93382071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:65.21, Z:19.34 [[ 4.44820112e-01 -8.89611462e-01 -1.03568889e-01 1.04653110e+02] [ 8.66273097e-01 4.56718009e-01 -2.02434141e-01 6.52137117e+01] [ 2.27389509e-01 3.27835280e-04 9.73803832e-01 1.93449004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:65.24, Z:19.35 [[ 4.44059379e-01 -8.89989763e-01 -1.03583248e-01 1.04666204e+02] [ 8.66621567e-01 4.55980461e-01 -2.02605228e-01 6.52378971e+01] [ 2.27548516e-01 2.01275254e-04 9.73766724e-01 1.93517465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:65.26, Z:19.36 [[ 4.43557212e-01 -8.90238547e-01 -1.03596958e-01 1.04678673e+02] [ 8.66836833e-01 4.55494577e-01 -2.02777206e-01 6.52616348e+01] [ 2.27707938e-01 1.41632751e-04 9.73729467e-01 1.93582200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:65.29, Z:19.36 [[ 4.43564548e-01 -8.90234612e-01 -1.03599357e-01 1.04690642e+02] [ 8.66796087e-01 4.55502238e-01 -2.02934113e-01 6.52859987e+01] [ 2.27848710e-01 2.14860619e-04 9.73696523e-01 1.93641189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:65.31, Z:19.37 [[ 4.44947346e-01 -8.89524044e-01 -1.03772993e-01 1.04700713e+02] [ 8.65954005e-01 4.56887905e-01 -2.03413628e-01 6.53121637e+01] [ 2.28353939e-01 6.45715000e-04 9.73577969e-01 1.93695572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:65.34, Z:19.38 [[ 4.45639615e-01 -8.89175243e-01 -1.03791718e-01 1.04712542e+02] [ 8.65553195e-01 4.57565941e-01 -2.03595375e-01 6.53374492e+01] [ 2.28523522e-01 8.92911802e-04 9.73537982e-01 1.93751683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:65.36, Z:19.38 [[ 4.46275310e-01 -8.88836411e-01 -1.03962411e-01 1.04724570e+02] [ 8.65092517e-01 4.58223247e-01 -2.04074478e-01 6.53609649e+01] [ 2.29026820e-01 1.13629701e-03 9.73419449e-01 1.93809282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:65.38, Z:19.39 [[ 4.47084532e-01 -8.88416411e-01 -1.04075461e-01 1.04737513e+02] [ 8.64583190e-01 4.59036281e-01 -2.04405481e-01 6.53846142e+01] [ 2.29371596e-01 1.40463526e-03 9.73337916e-01 1.93880185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:65.41, Z:19.39 [[ 4.46972267e-01 -8.88519953e-01 -1.03672975e-01 1.04749703e+02] [ 8.64740986e-01 4.58835133e-01 -2.04189487e-01 6.54091034e+01] [ 2.28995237e-01 1.61676776e-03 9.73426200e-01 1.93940191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:65.43, Z:19.40 [[ 4.47503535e-01 -8.88175684e-01 -1.04328999e-01 1.04761259e+02] [ 8.64580138e-01 4.59503322e-01 -2.03366374e-01 6.54326573e+01] [ 2.28564590e-01 8.06391443e-04 9.73528417e-01 1.94004611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:65.46, Z:19.41 [[ 4.48190772e-01 -8.87968822e-01 -1.03132942e-01 1.04772242e+02] [ 8.64476013e-01 4.59900182e-01 -2.02911422e-01 6.54564318e+01] [ 2.27609875e-01 1.78707276e-03 9.73750764e-01 1.94061319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:65.48, Z:19.41 [[ 4.48290353e-01 -8.87932820e-01 -1.03010030e-01 1.04784485e+02] [ 8.64460455e-01 4.59969339e-01 -2.02820928e-01 6.54814231e+01] [ 2.27472814e-01 1.87456760e-03 9.73782627e-01 1.94127096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:65.51, Z:19.42 [[ 4.48148303e-01 -8.88030055e-01 -1.02789689e-01 1.04796398e+02] [ 8.64629191e-01 4.59781535e-01 -2.02527287e-01 6.55060929e+01] [ 2.27111119e-01 1.88729423e-03 9.73867023e-01 1.94185776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:65.53, Z:19.43 [[ 4.48580868e-01 -8.87845163e-01 -1.02499620e-01 1.04808745e+02] [ 8.64539838e-01 4.60137799e-01 -2.02099172e-01 6.55307198e+01] [ 2.26596722e-01 2.04281651e-03 9.73986526e-01 1.94252529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:65.55, Z:19.43 [[ 4.48858035e-01 -8.87722635e-01 -1.02347383e-01 1.04820301e+02] [ 8.64450049e-01 4.60373554e-01 -2.01946288e-01 6.55544150e+01] [ 2.26390320e-01 2.17101415e-03 9.74034245e-01 1.94314825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:65.58, Z:19.44 [[ 4.49270092e-01 -8.87547287e-01 -1.02059775e-01 1.04832251e+02] [ 8.64366795e-01 4.60710760e-01 -2.01533224e-01 6.55796340e+01] [ 2.25890302e-01 2.32576936e-03 9.74149969e-01 1.94375183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:65.60, Z:19.44 [[ 4.50123020e-01 -8.87121990e-01 -1.01999229e-01 1.04842309e+02] [ 8.63924775e-01 4.61527659e-01 -2.01559430e-01 6.56040894e+01] [ 2.25883268e-01 2.60687807e-03 9.74150888e-01 1.94432533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:65.63, Z:19.45 [[ 4.50379209e-01 -8.86867531e-01 -1.03075460e-01 1.04854902e+02] [ 8.63937823e-01 4.62022256e-01 -2.00366844e-01 6.56288929e+01] [ 2.25322005e-01 1.19027217e-03 9.74283623e-01 1.94498512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:65.65, Z:19.45 [[ 4.50507132e-01 -8.87072026e-01 -1.00730054e-01 1.04865416e+02] [ 8.63763992e-01 4.61613552e-01 -2.02051216e-01 6.56545668e+01] [ 2.25732340e-01 4.01852049e-03 9.74181073e-01 1.94544980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:65.68, Z:19.46 [[ 4.50434200e-01 -8.86963313e-01 -1.02005456e-01 1.04877625e+02] [ 8.63684898e-01 4.61831165e-01 -2.01891984e-01 6.56793065e+01] [ 2.26180082e-01 2.83848231e-03 9.74081369e-01 1.94608904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:65.70, Z:19.47 [[ 4.50188216e-01 -8.87064001e-01 -1.02215597e-01 1.04888526e+02] [ 8.63657039e-01 4.61637588e-01 -2.02453099e-01 6.57039582e+01] [ 2.26775418e-01 2.86277948e-03 9.73942870e-01 1.94668228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:65.73, Z:19.47 [[ 4.49980481e-01 -8.87184141e-01 -1.02087548e-01 1.04900388e+02] [ 8.63804335e-01 4.61406611e-01 -2.02351206e-01 6.57288852e+01] [ 2.26626651e-01 2.87042640e-03 9.73977475e-01 1.94727010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:65.75, Z:19.48 [[ 4.49699820e-01 -8.87348555e-01 -1.01895115e-01 1.04911905e+02] [ 8.64029360e-01 4.61090475e-01 -2.02110955e-01 6.57522301e+01] [ 2.26325731e-01 2.84888883e-03 9.74047508e-01 1.94782491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:65.78, Z:19.48 [[ 4.49187041e-01 -8.87631582e-01 -1.01691583e-01 1.04924023e+02] [ 8.64389498e-01 4.60545993e-01 -2.01812251e-01 6.57766679e+01] [ 2.25968578e-01 2.75031129e-03 9.74130709e-01 1.94842613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:65.80, Z:19.49 [[ 4.48302004e-01 -8.88067308e-01 -1.01792774e-01 1.04935194e+02] [ 8.64755859e-01 4.59706088e-01 -2.02157407e-01 6.58001099e+01] [ 2.26324142e-01 2.60167249e-03 9.74048569e-01 1.94902439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:65.83, Z:19.50 [[ 4.47669720e-01 -8.88398905e-01 -1.01681898e-01 1.04947110e+02] [ 8.65122340e-01 4.59065601e-01 -2.02044825e-01 6.58251064e+01] [ 2.26175063e-01 2.48206865e-03 9.74083508e-01 1.94957757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:65.85, Z:19.50 [[ 4.46918233e-01 -8.88765995e-01 -1.01779659e-01 1.04958265e+02] [ 8.65420372e-01 4.58355113e-01 -2.02381252e-01 6.58487132e+01] [ 2.26520802e-01 2.36568077e-03 9.74003455e-01 1.95013420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:65.87, Z:19.51 [[ 4.45688387e-01 -8.89373437e-01 -1.01866342e-01 1.04970062e+02] [ 8.65978294e-01 4.57176598e-01 -2.02660189e-01 6.58741585e+01] [ 2.26811497e-01 2.10925151e-03 9.73936392e-01 1.95069946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:65.90, Z:19.51 [[ 4.44505841e-01 -8.89981454e-01 -1.01722999e-01 1.04982244e+02] [ 8.66634619e-01 4.55992908e-01 -2.02521371e-01 6.58989699e+01] [ 2.26625231e-01 1.86525941e-03 9.73980249e-01 1.95133309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.570888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.99, Y:65.92, Z:19.52 [[ 4.43291753e-01 -8.90627464e-01 -1.01366372e-01 1.04994268e+02] [ 8.67429077e-01 4.54730873e-01 -2.01956997e-01 6.59232213e+01] [ 2.25962867e-01 1.59773304e-03 9.74134606e-01 1.95194448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:65.95, Z:19.53 [[ 4.39989677e-01 -8.92308658e-01 -1.00967038e-01 1.05005610e+02] [ 8.69304911e-01 4.51425094e-01 -2.01306623e-01 6.59469130e+01] [ 2.25206697e-01 8.01693864e-04 9.74310680e-01 1.95265386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:65.97, Z:19.53 [[ 4.38206995e-01 -8.93213665e-01 -1.00717313e-01 1.05017074e+02] [ 8.70313264e-01 4.49632274e-01 -2.00961790e-01 6.59711043e+01] [ 2.24787572e-01 4.07249020e-04 9.74407708e-01 1.95327587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:66.00, Z:19.54 [[ 4.36347312e-01 -8.94162418e-01 -1.00372277e-01 1.05028843e+02] [ 8.71410686e-01 4.47742751e-01 -2.00424163e-01 6.59960131e+01] [ 2.24152713e-01 -1.09296934e-05 9.74554032e-01 1.95392011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:66.02, Z:19.55 [[ 4.34143532e-01 -8.95257055e-01 -1.00170854e-01 1.05040213e+02] [ 8.72593535e-01 4.45549714e-01 -2.00164870e-01 6.60207518e+01] [ 2.23830108e-01 -5.08155797e-04 9.74628044e-01 1.95457425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:66.05, Z:19.55 [[ 4.30450451e-01 -8.97114961e-01 -9.94844489e-02 1.05050830e+02] [ 8.74781193e-01 4.41794974e-01 -1.98934826e-01 6.60453255e+01] [ 2.22419139e-01 -1.39553909e-03 9.74950142e-01 1.95522986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:66.07, Z:19.56 [[ 4.28649087e-01 -8.98009481e-01 -9.91913943e-02 1.05061602e+02] [ 8.75808568e-01 4.39972398e-01 -1.98453123e-01 6.60701048e+01] [ 2.21854261e-01 -1.80592308e-03 9.75078164e-01 1.95583076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:66.09, Z:19.56 [[ 4.28331310e-01 -8.98269026e-01 -9.82091936e-02 1.05071019e+02] [ 8.75980236e-01 4.39445144e-01 -1.98863249e-01 6.60942343e+01] [ 2.21790250e-01 -8.49956626e-04 9.75094028e-01 1.95631851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:66.12, Z:19.57 [[ 4.25507712e-01 -8.99534074e-01 -9.89021595e-02 1.05083321e+02] [ 8.77250130e-01 4.36845609e-01 -1.98992774e-01 6.61217233e+01] [ 2.22205755e-01 -2.08897223e-03 9.74997558e-01 1.95700799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:105.09, Y:66.15, Z:19.58 [[ 4.22573806e-01 -9.00873234e-01 -9.92914605e-02 1.05094022e+02] [ 8.78616120e-01 4.34070977e-01 -1.99037938e-01 6.61467821e+01] [ 2.22407492e-01 -3.13085890e-03 9.74948771e-01 1.95761968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.10, Y:66.18, Z:19.57 [[ 4.19837015e-01 -9.03368612e-01 -8.75330328e-02 1.05099629e+02] [ 8.80334948e-01 4.28788296e-01 -2.02857035e-01 6.61753142e+01] [ 2.20787818e-01 8.10850397e-03 9.75288158e-01 1.95736813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:66.19, Z:19.59 [[ 4.19010871e-01 -9.01337722e-01 -1.09636681e-01 1.05119830e+02] [ 8.80244105e-01 4.32855918e-01 -1.94437832e-01 6.61926674e+01] [ 2.22711039e-01 -1.50354763e-02 9.74768551e-01 1.95932973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:66.22, Z:19.59 [[ 4.15354689e-01 -9.04151721e-01 -9.99507289e-02 1.05125423e+02] [ 8.81602788e-01 4.27185138e-01 -2.00722154e-01 6.62217841e+01] [ 2.24180747e-01 -4.74595335e-03 9.74536027e-01 1.95945187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:105.14, Y:66.25, Z:19.60 [[ 4.13294144e-01 -9.05053009e-01 -1.00334447e-01 1.05135672e+02] [ 8.82320257e-01 4.25267105e-01 -2.01640404e-01 6.62460386e+01] [ 2.25164194e-01 -5.19031678e-03 9.74307008e-01 1.96007352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:105.15, Y:66.26, Z:19.61 [[ 4.16345581e-01 -9.00283884e-01 -1.27064102e-01 1.05154847e+02] [ 8.83605990e-01 4.33581582e-01 -1.76769527e-01 6.62560394e+01] [ 2.14235411e-01 -3.86773905e-02 9.76016008e-01 1.96148192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02088847899998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:105.14, Y:66.30, Z:19.60 [[ 4.11432896e-01 -9.08509932e-01 -7.30251695e-02 1.05143564e+02] [ 8.83282932e-01 4.17201686e-01 -2.13901884e-01 6.63012933e+01] [ 2.24798210e-01 2.35043857e-02 9.74121814e-01 1.96005606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:105.16, Y:66.32, Z:19.61 [[ 4.08380362e-01 -9.08352753e-01 -9.01152349e-02 1.05161953e+02] [ 8.84288125e-01 4.18173005e-01 -2.07763930e-01 6.63239985e+01] [ 2.26406696e-01 5.15887690e-03 9.74019196e-01 1.96142992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08088847899998 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:105.18, Y:66.35, Z:19.63 [[ 4.07199788e-01 -9.07485103e-01 -1.03243018e-01 1.05178254e+02] [ 8.84598191e-01 4.19992415e-01 -2.02712633e-01 6.63463031e+01] [ 2.27319979e-01 -8.78404621e-03 9.73780503e-01 1.96269889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11088847899998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:105.18, Y:66.37, Z:19.63 [[ 4.06905748e-01 -9.08511225e-01 -9.50529630e-02 1.05184128e+02] [ 8.84730052e-01 4.17860442e-01 -2.06507592e-01 6.63723499e+01] [ 2.27333339e-01 -6.70866286e-05 9.73817000e-01 1.96295846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14088847899998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:105.20, Y:66.40, Z:19.64 [[ 4.06583265e-01 -9.07558335e-01 -1.05013895e-01 1.05196184e+02] [ 8.85703920e-01 4.19743954e-01 -1.98352161e-01 6.63956209e+01] [ 2.24095104e-01 -1.23645490e-02 9.74488842e-01 1.96406632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17088847899998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:105.20, Y:66.42, Z:19.64 [[ 4.07511978e-01 -9.08136519e-01 -9.60315105e-02 1.05201970e+02] [ 8.84897004e-01 4.18670350e-01 -2.04138261e-01 6.64237508e+01] [ 2.25590956e-01 -1.78920936e-03 9.74220468e-01 1.96426865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20088847899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:105.22, Y:66.45, Z:19.65 [[ 4.08357095e-01 -9.06970579e-01 -1.03193272e-01 1.05215590e+02] [ 8.84813981e-01 4.21078947e-01 -1.99491200e-01 6.64478026e+01] [ 2.24385164e-01 -9.84320310e-03 9.74450825e-01 1.96526526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230888479 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:105.22, Y:66.47, Z:19.66 [[ 4.11624231e-01 -9.05888531e-01 -9.96567192e-02 1.05221510e+02] [ 8.83276255e-01 4.23484238e-01 -2.01206756e-01 6.64749081e+01] [ 2.24473942e-01 -5.20283749e-03 9.74466202e-01 1.96575328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.260888479 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:105.23, Y:66.50, Z:19.66 [[ 4.13677433e-01 -9.04960144e-01 -9.95897562e-02 1.05230661e+02] [ 8.82321282e-01 4.25471086e-01 -2.01205147e-01 6.65008977e+01] [ 2.24455200e-01 -4.63613253e-03 9.74473381e-01 1.96638372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290888479 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:105.24, Y:66.53, Z:19.67 [[ 4.16096444e-01 -9.03855474e-01 -9.95441168e-02 1.05239957e+02] [ 8.81172990e-01 4.27819468e-01 -2.01257708e-01 6.65268736e+01] [ 2.24494792e-01 -3.97297044e-03 9.74467190e-01 1.96695631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.320888479 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:105.25, Y:66.56, Z:19.67 [[ 4.21573764e-01 -9.01657684e-01 -9.63793640e-02 1.05248239e+02] [ 8.78383932e-01 4.32448954e-01 -2.03542553e-01 6.65571562e+01] [ 2.25204862e-01 1.15011570e-03 9.74310755e-01 1.96731939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.350888479 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:105.26, Y:66.58, Z:19.68 [[ 4.22976343e-01 -9.00022629e-01 -1.05120313e-01 1.05257864e+02] [ 8.77599829e-01 4.35774370e-01 -1.99797995e-01 6.65778920e+01] [ 2.25631455e-01 -7.74374383e-03 9.74181955e-01 1.96827684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.380888479 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:105.28, Y:66.60, Z:19.70 [[ 4.27496279e-01 -8.96876626e-01 -1.13398627e-01 1.05276174e+02] [ 8.74269824e-01 4.42077553e-01 -2.00548530e-01 6.66028250e+01] [ 2.29998277e-01 -1.34072476e-02 9.73098679e-01 1.96971921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.410888479 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:105.27, Y:66.63, Z:19.69 [[ 4.28047032e-01 -8.99086907e-01 -9.17522292e-02 1.05273146e+02] [ 8.74902349e-01 4.37688403e-01 -2.07303502e-01 6.66318935e+01] [ 2.26542751e-01 8.46140809e-03 9.73964469e-01 1.96899020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.440888479 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:105.28, Y:66.65, Z:19.70 [[ 4.32043621e-01 -8.96216508e-01 -1.00669161e-01 1.05284614e+02] [ 8.72662101e-01 4.43616790e-01 -2.04120065e-01 6.66546103e+01] [ 2.27594302e-01 3.38610758e-04 9.73755985e-01 1.96993983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.470888479 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:105.29, Y:66.68, Z:19.71 [[ 4.33763804e-01 -8.95352182e-01 -1.00962527e-01 1.05294267e+02] [ 8.71598010e-01 4.45357964e-01 -2.04873604e-01 6.66793935e+01] [ 2.28398494e-01 8.68015884e-04 9.73567345e-01 1.97053184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50088847899997 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:105.30, Y:66.71, Z:19.71 [[ 4.35128466e-01 -8.94676247e-01 -1.01082297e-01 1.05304537e+02] [ 8.70810019e-01 4.46713254e-01 -2.05273427e-01 6.67051927e+01] [ 2.28808061e-01 1.29683422e-03 9.73470693e-01 1.97112783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53088847899997 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:105.33, Y:66.73, Z:19.73 [[ 4.38973937e-01 -8.90624345e-01 -1.18701978e-01 1.05325182e+02] [ 8.67734595e-01 4.54502170e-01 -2.01157776e-01 6.67267581e+01] [ 2.33106319e-01 -1.46987919e-02 9.72340162e-01 1.97306004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56088847899997 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:105.33, Y:66.75, Z:19.74 [[ 4.40398343e-01 -8.90927601e-01 -1.10893235e-01 1.05334430e+02] [ 8.66512403e-01 4.54119571e-01 -2.07199590e-01 6.67526801e+01] [ 2.34958622e-01 -4.84000761e-03 9.71993323e-01 1.97369066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59088847899997 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:105.34, Y:66.78, Z:19.74 [[ 4.40120687e-01 -8.91599104e-01 -1.06512062e-01 1.05344522e+02] [ 8.66757210e-01 4.52825492e-01 -2.09000031e-01 6.67780901e+01] [ 2.34575617e-01 -3.34860246e-04 9.72097818e-01 1.97410891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62088847899997 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:105.34, Y:66.81, Z:19.73 [[ 4.38610120e-01 -8.94817665e-01 -8.32016220e-02 1.05342667e+02] [ 8.69062859e-01 4.45906078e-01 -2.14237059e-01 6.68072144e+01] [ 2.28803213e-01 2.16591024e-02 9.73231716e-01 1.97306632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65088847899997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:105.36, Y:66.83, Z:19.75 [[ 4.38950925e-01 -8.92838114e-01 -1.00807675e-01 1.05361517e+02] [ 8.68968031e-01 4.50371209e-01 -2.05086166e-01 6.68268006e+01] [ 2.28509620e-01 2.42411558e-03 9.73538637e-01 1.97450934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68088847899998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:105.39, Y:66.85, Z:19.77 [[ 4.41393230e-01 -8.89202188e-01 -1.20380584e-01 1.05385995e+02] [ 8.66574850e-01 4.57232652e-01 -1.99965826e-01 6.68472950e+01] [ 2.32851984e-01 -1.60552250e-02 9.72379650e-01 1.97664380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71088847899998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:105.38, Y:66.88, Z:19.75 [[ 4.39097954e-01 -8.94266715e-01 -8.64871649e-02 1.05378620e+02] [ 8.68857824e-01 4.47166863e-01 -2.12433235e-01 6.68801807e+01] [ 2.28646165e-01 1.81339491e-02 9.73340686e-01 1.97517340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74088847899998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:105.40, Y:66.90, Z:19.76 [[ 4.38555244e-01 -8.92997601e-01 -1.01116679e-01 1.05395809e+02] [ 8.68888375e-01 4.50054287e-01 -2.06116786e-01 6.69004563e+01] [ 2.29569790e-01 2.53449004e-03 9.73288903e-01 1.97634989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77088847899998 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:105.40, Y:66.93, Z:19.76 [[ 4.38422632e-01 -8.94440356e-01 -8.81024725e-02 1.05404933e+02] [ 8.69706700e-01 4.46928877e-01 -2.09439335e-01 6.69296540e+01] [ 2.26706533e-01 1.51996341e-02 9.73844505e-01 1.97624980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80088847899998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:105.43, Y:66.95, Z:19.78 [[ 4.38282084e-01 -8.91577305e-01 -1.14011948e-01 1.05425078e+02] [ 8.68346625e-01 4.52752121e-01 -2.02459023e-01 6.69459713e+01] [ 2.32127022e-01 -1.02677280e-02 9.72631287e-01 1.97810181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83088847899998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:105.43, Y:66.98, Z:19.77 [[ 4.38326594e-01 -8.95079680e-01 -8.18667458e-02 1.05426485e+02] [ 8.69796535e-01 4.45369132e-01 -2.12368369e-01 6.69804540e+01] [ 2.26547533e-01 2.18792919e-02 9.73754339e-01 1.97704846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86088847899998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:105.45, Y:67.00, Z:19.78 [[ 4.38957346e-01 -8.93246067e-01 -9.70974341e-02 1.05445957e+02] [ 8.68840983e-01 4.49517952e-01 -2.07482424e-01 6.70018287e+01] [ 2.28979899e-01 6.71370422e-03 9.73407999e-01 1.97823609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89088847899998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:105.47, Y:67.02, Z:19.80 [[ 4.39308839e-01 -8.89692457e-01 -1.24318448e-01 1.05466697e+02] [ 8.66584649e-01 4.56171216e-01 -2.02333555e-01 6.70178255e+01] [ 2.36725135e-01 -1.88455392e-02 9.71393873e-01 1.98048674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92088847899998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:105.47, Y:67.05, Z:19.80 [[ 4.39855533e-01 -8.92018892e-01 -1.04064436e-01 1.05471513e+02] [ 8.66253831e-01 4.51984670e-01 -2.12871227e-01 6.70474493e+01] [ 2.36920685e-01 3.48637094e-03 9.71522740e-01 1.98037502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95088847899999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:105.48, Y:67.07, Z:19.81 [[ 4.40011651e-01 -8.91911832e-01 -1.04321766e-01 1.05484734e+02] [ 8.65977002e-01 4.52194812e-01 -2.13550191e-01 6.70716284e+01] [ 2.37641703e-01 3.62432228e-03 9.71346120e-01 1.98111091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.980888479 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:105.50, Y:67.09, Z:19.82 [[ 4.39725776e-01 -8.92083311e-01 -1.04060598e-01 1.05499154e+02] [ 8.66246591e-01 4.51856660e-01 -2.13172238e-01 6.70934629e+01] [ 2.37187871e-01 3.59518961e-03 9.71457147e-01 1.98187657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010888479 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:105.51, Y:67.12, Z:19.83 [[ 4.38846018e-01 -8.92511189e-01 -1.04105478e-01 1.05512338e+02] [ 8.66623280e-01 4.51012114e-01 -2.13429527e-01 6.71164652e+01] [ 2.37441073e-01 3.44246697e-03 9.71395844e-01 1.98257193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.040888479 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:105.53, Y:67.14, Z:19.83 [[ 4.37963055e-01 -8.92959292e-01 -1.03981084e-01 1.05526139e+02] [ 8.67107003e-01 4.50125545e-01 -2.13336446e-01 6.71404178e+01] [ 2.37305304e-01 3.27075532e-03 9.71429614e-01 1.98328060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.070888479 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:105.50, Y:67.19, Z:19.78 [[ 4.29293811e-01 -9.03070305e-01 -1.30708491e-02 1.05496604e+02] [ 8.76825125e-01 4.20199942e-01 -2.33687201e-01 6.71886868e+01] [ 2.16528342e-01 8.88596204e-02 9.72223968e-01 1.97810267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.100888479 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:105.60, Y:67.16, Z:19.90 [[ 4.35348181e-01 -8.76600673e-01 -2.05044437e-01 1.05596815e+02] [ 8.66924877e-01 4.69615250e-01 -1.67041236e-01 6.71605718e+01] [ 2.42720454e-01 -1.05037025e-01 9.64393076e-01 1.99008899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.130888479 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:105.56, Y:67.22, Z:19.84 [[ 4.34134502e-01 -8.97261237e-01 -8.03088201e-02 1.05559571e+02] [ 8.68612479e-01 4.40567512e-01 -2.26743532e-01 6.72183340e+01] [ 2.38829639e-01 2.86799471e-02 9.70637865e-01 1.98446940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.160888479 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:105.58, Y:67.23, Z:19.86 [[ 4.31085413e-01 -8.96244630e-01 -1.04455393e-01 1.05584825e+02] [ 8.70127232e-01 4.43556825e-01 -2.14792792e-01 6.72332223e+01] [ 2.38838789e-01 1.70455769e-03 9.71057736e-01 1.98623661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.190888479 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:105.60, Y:67.26, Z:19.87 [[ 4.29990177e-01 -8.96775858e-01 -1.04410289e-01 1.05598733e+02] [ 8.70658664e-01 4.42482622e-01 -2.14854881e-01 6.72557052e+01] [ 2.38876409e-01 1.47976615e-03 9.71048851e-01 1.98697346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.220888479 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:105.61, Y:67.28, Z:19.88 [[ 4.28965411e-01 -8.97257780e-01 -1.04485178e-01 1.05612273e+02] [ 8.71087396e-01 4.41505234e-01 -2.15127585e-01 6.72788516e+01] [ 2.39155652e-01 1.26657150e-03 9.70980417e-01 1.98768072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25088847899997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:105.63, Y:67.30, Z:19.88 [[ 4.28433967e-01 -8.97483053e-01 -1.04730634e-01 1.05625141e+02] [ 8.71156611e-01 4.41047274e-01 -2.15785685e-01 6.73022571e+01] [ 2.39855156e-01 1.21313254e-03 9.70807928e-01 1.98829344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28088847899997 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:105.64, Y:67.33, Z:19.89 [[ 4.28036684e-01 -8.97603090e-01 -1.05324693e-01 1.05639044e+02] [ 8.70936003e-01 4.40802893e-01 -2.17171104e-01 6.73262330e+01] [ 2.41360883e-01 1.22613189e-03 9.70434656e-01 1.98891520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31088847899997 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:105.65, Y:67.35, Z:19.90 [[ 4.28410159e-01 -8.97389947e-01 -1.05622057e-01 1.05651880e+02] [ 8.70524066e-01 4.41236061e-01 -2.17941712e-01 6.73499653e+01] [ 2.42182962e-01 1.42190143e-03 9.70229556e-01 1.98954658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34088847899997 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:105.66, Y:67.38, Z:19.89 [[ 4.28707647e-01 -8.98480217e-01 -9.45677182e-02 1.05663141e+02] [ 8.71383475e-01 4.38860447e-01 -2.19299675e-01 6.73794306e+01] [ 2.38538451e-01 1.16107008e-02 9.71063643e-01 1.98934395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37088847899997 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:105.68, Y:67.40, Z:19.91 [[ 4.29260387e-01 -8.95617954e-01 -1.16636189e-01 1.05681416e+02] [ 8.69568522e-01 4.44727109e-01 -2.14635468e-01 6.73957603e+01] [ 2.44102654e-01 -9.28865454e-03 9.69704911e-01 1.99120729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40088847899997 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:105.68, Y:67.43, Z:19.89 [[ 4.30846496e-01 -8.99188342e-01 -7.63650632e-02 1.05683413e+02] [ 8.71132125e-01 4.36505563e-01 -2.24926020e-01 6.74329857e+01] [ 2.35584630e-01 3.03845278e-02 9.71378743e-01 1.98938601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43088847899998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:105.71, Y:67.44, Z:19.93 [[ 4.30488410e-01 -8.92848969e-01 -1.32289260e-01 1.05714906e+02] [ 8.68842088e-01 4.49621282e-01 -2.07253777e-01 6.74385098e+01] [ 2.44526388e-01 -2.57181280e-02 9.69301513e-01 1.99324637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46088847899998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:105.72, Y:67.47, Z:19.93 [[ 4.31011855e-01 -8.96055663e-01 -1.06362723e-01 1.05718232e+02] [ 8.68601557e-01 4.43934746e-01 -2.20121051e-01 6.74696341e+01] [ 2.44458823e-01 2.48795587e-03 9.69656483e-01 1.99276090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49088847899998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:105.73, Y:67.49, Z:19.93 [[ 4.30421515e-01 -8.96401037e-01 -1.05841863e-01 1.05732232e+02] [ 8.69191225e-01 4.43237700e-01 -2.19196160e-01 6.74932537e+01] [ 2.43400769e-01 2.34992517e-03 9.69922958e-01 1.99329213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52088847899998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:105.74, Y:67.52, Z:19.94 [[ 4.29656485e-01 -8.96803105e-01 -1.05543807e-01 1.05744904e+02] [ 8.69720313e-01 4.42424453e-01 -2.18739985e-01 6.75161815e+01] [ 2.42861859e-01 2.18946033e-03 9.70058412e-01 1.99388480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55088847899998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:105.76, Y:67.54, Z:19.95 [[ 4.29278921e-01 -8.96994698e-01 -1.05451983e-01 1.05758023e+02] [ 8.69923156e-01 4.42036043e-01 -2.18718632e-01 6.75398789e+01] [ 2.42803031e-01 2.15617671e-03 9.70073213e-01 1.99455726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58088847899998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:105.77, Y:67.56, Z:19.95 [[ 4.28494700e-01 -8.97431226e-01 -1.04926097e-01 1.05772569e+02] [ 8.70605468e-01 4.41149976e-01 -2.17790767e-01 6.75620855e+01] [ 2.41740380e-01 1.97295592e-03 9.70338959e-01 1.99521319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:67.59, Z:19.96 [[ 4.27778400e-01 -8.97784233e-01 -1.04828967e-01 1.05785487e+02] [ 8.70981945e-01 4.40431704e-01 -2.17739214e-01 6.75851991e+01] [ 2.41652833e-01 1.83999514e-03 9.70361027e-01 1.99586067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:67.61, Z:19.96 [[ 4.27337531e-01 -8.98015106e-01 -1.04649436e-01 1.05798744e+02] [ 8.71270740e-01 4.39961010e-01 -2.17535301e-01 6.76096811e+01] [ 2.41391658e-01 1.78300638e-03 9.70426137e-01 1.99648487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:67.63, Z:19.97 [[ 4.27063915e-01 -8.98166215e-01 -1.04469437e-01 1.05811207e+02] [ 8.71479874e-01 4.39652508e-01 -2.17321195e-01 6.76328254e+01] [ 2.41120805e-01 1.76702881e-03 9.70493501e-01 1.99699629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:67.67, Z:19.94 [[ 4.25028094e-01 -9.03357402e-01 -5.74153643e-02 1.05805245e+02] [ 8.75802357e-01 4.26434296e-01 -2.26106220e-01 6.76734140e+01] [ 2.28738608e-01 4.58169841e-02 9.72409098e-01 1.99408242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:67.67, Z:20.00 [[ 4.25152142e-01 -8.93647253e-01 -1.43667126e-01 1.05850061e+02] [ 8.72379131e-01 4.46883781e-01 -1.98114963e-01 6.76699806e+01] [ 2.41247401e-01 -4.11032013e-02 9.69592811e-01 1.99992636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:67.70, Z:19.99 [[ 4.23403329e-01 -8.99930602e-01 -1.04185087e-01 1.05851159e+02] [ 8.73338539e-01 4.36032108e-01 -2.17153856e-01 6.77046820e+01] [ 2.40851444e-01 9.54813395e-04 9.70561523e-01 1.99874392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:67.73, Z:19.99 [[ 4.20969542e-01 -9.01270753e-01 -1.02448404e-01 1.05865145e+02] [ 8.74324758e-01 4.33249018e-01 -2.18749872e-01 6.77307798e+01] [ 2.41538532e-01 2.51385714e-03 9.70387973e-01 1.99932659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:67.75, Z:20.00 [[ 4.19398902e-01 -9.01456172e-01 -1.07150971e-01 1.05879750e+02] [ 8.75115260e-01 4.32859751e-01 -2.16346291e-01 6.77520185e+01] [ 2.41408042e-01 -3.03405289e-03 9.70418957e-01 2.00013667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:67.78, Z:20.01 [[ 4.17449646e-01 -9.02685164e-01 -1.04380492e-01 1.05892082e+02] [ 8.75981376e-01 4.30301389e-01 -2.17938852e-01 6.77770210e+01] [ 2.41645239e-01 -4.56870722e-04 9.70364555e-01 2.00061578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:67.81, Z:19.98 [[ 4.13112785e-01 -9.07865014e-01 -7.15467873e-02 1.05892934e+02] [ 8.80766101e-01 4.18278832e-01 -2.22022283e-01 6.78117801e+01] [ 2.31492769e-01 2.87042586e-02 9.72413062e-01 1.99835247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.910888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:105.93, Y:67.81, Z:20.03 [[ 4.12893441e-01 -9.00190209e-01 -1.38479583e-01 1.05931354e+02] [ 8.79517677e-01 4.33579255e-01 -1.96106310e-01 6.78148474e+01] [ 2.36574854e-01 -4.08242319e-02 9.70755232e-01 2.00315486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:67.85, Z:20.02 [[ 4.12622355e-01 -9.06221056e-01 -9.22290086e-02 1.05926965e+02] [ 8.79043930e-01 4.22688138e-01 -2.20491514e-01 6.78517520e+01] [ 2.38798160e-01 9.90637752e-03 9.71018693e-01 2.00162276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:67.87, Z:20.03 [[ 4.11762941e-01 -9.05535503e-01 -1.02258173e-01 1.05945706e+02] [ 8.79820155e-01 4.24266936e-01 -2.14275668e-01 6.78722235e+01] [ 2.37418987e-01 -1.73802199e-03 9.71405788e-01 2.00269006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.96, Y:67.90, Z:20.03 [[ 4.11778818e-01 -9.05559810e-01 -1.01978604e-01 1.05958592e+02] [ 8.79949642e-01 4.24215290e-01 -2.13845775e-01 6.78967413e+01] [ 2.36911022e-01 -1.67887510e-03 9.71529901e-01 2.00327072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:67.92, Z:20.04 [[ 4.12228535e-01 -9.05373600e-01 -1.01814926e-01 1.05971804e+02] [ 8.79802781e-01 4.24613228e-01 -2.13660179e-01 6.79212371e+01] [ 2.36674250e-01 -1.50023217e-03 9.71587901e-01 2.00384268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:67.94, Z:20.05 [[ 4.15454574e-01 -9.03182467e-01 -1.07976514e-01 1.05987470e+02] [ 8.79059266e-01 4.29168700e-01 -2.07530800e-01 6.79416280e+01] [ 2.33778321e-01 -8.69813524e-03 9.72251017e-01 2.00463904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:105.99, Y:67.97, Z:20.05 [[ 4.16169487e-01 -9.04344616e-01 -9.46772096e-02 1.05994680e+02] [ 8.78243104e-01 4.26751011e-01 -2.15806915e-01 6.79705350e+01] [ 2.35567417e-01 6.66264692e-03 9.71835172e-01 2.00465195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:67.99, Z:20.05 [[ 4.17099889e-01 -9.03345144e-01 -9.99761639e-02 1.06008495e+02] [ 8.77845238e-01 4.28912898e-01 -2.13123119e-01 6.79918856e+01] [ 2.35404801e-01 1.13003008e-03 9.71896755e-01 2.00542934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:68.02, Z:20.06 [[ 4.18382975e-01 -9.02683863e-01 -1.00585934e-01 1.06021071e+02] [ 8.77502881e-01 4.30304245e-01 -2.11723758e-01 6.80156507e+01] [ 2.34402174e-01 3.17168647e-04 9.72139661e-01 2.00608133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:68.06, Z:20.03 [[ 4.18347809e-01 -9.06783067e-01 -5.22453779e-02 1.06012848e+02] [ 8.80955892e-01 4.19091998e-01 -2.19723949e-01 6.80565318e+01] [ 2.21137577e-01 4.58951592e-02 9.74162105e-01 2.00275756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.04, Y:68.07, Z:20.05 [[ 4.19389507e-01 -9.03228731e-01 -9.10510868e-02 1.06040440e+02] [ 8.81360590e-01 4.29151553e-01 -1.97566329e-01 6.80682257e+01] [ 2.17522300e-01 2.60840573e-03 9.76051866e-01 2.00492133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:68.09, Z:20.06 [[ 4.21721527e-01 -9.01364555e-01 -9.84524900e-02 1.06056060e+02] [ 8.79624621e-01 4.33046121e-01 -1.96803412e-01 6.80881369e+01] [ 2.20026088e-01 -3.60499906e-03 9.75487327e-01 2.00615947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:68.12, Z:20.06 [[ 4.21990294e-01 -9.02865941e-01 -8.22027032e-02 1.06064047e+02] [ 8.79229555e-01 4.29675898e-01 -2.05752310e-01 6.81190348e+01] [ 2.21087273e-01 1.45504316e-02 9.75145478e-01 2.00603902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:68.12, Z:20.11 [[ 4.25241078e-01 -8.94093671e-01 -1.40593500e-01 1.06099738e+02] [ 8.74291390e-01 4.45960821e-01 -1.91659884e-01 6.81235011e+01] [ 2.34061082e-01 -4.14180304e-02 9.71339259e-01 2.01099566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:68.16, Z:20.10 [[ 4.25474555e-01 -8.99406337e-01 -1.00198027e-01 1.06097338e+02] [ 8.74316692e-01 4.37108217e-01 -2.10966178e-01 6.81582794e+01] [ 2.33541699e-01 2.15593309e-03 9.72344397e-01 2.00968017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36088847899998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:106.11, Y:68.18, Z:20.10 [[ 4.25251570e-01 -9.00499397e-01 -9.08952038e-02 1.06106011e+02] [ 8.73809027e-01 4.34654156e-01 -2.18021900e-01 6.81849367e+01] [ 2.35836568e-01 1.32891057e-02 9.71701864e-01 2.00977657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:68.20, Z:20.11 [[ 4.24586556e-01 -8.98710208e-01 -1.09755266e-01 1.06126849e+02] [ 8.74691236e-01 4.38464404e-01 -2.06553160e-01 6.82039619e+01] [ 2.33755211e-01 -8.30227446e-03 9.72260034e-01 2.01131348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:68.24, Z:20.09 [[ 4.21250008e-01 -9.04693169e-01 -6.38647058e-02 1.06120105e+02] [ 8.78942851e-01 4.24593348e-01 -2.17209468e-01 6.82429959e+01] [ 2.23624451e-01 3.53660635e-02 9.74033545e-01 2.00855835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:68.25, Z:20.14 [[ 4.23217102e-01 -8.96735655e-01 -1.29431251e-01 1.06159377e+02] [ 8.75538254e-01 4.41528354e-01 -1.96177159e-01 6.82458548e+01] [ 2.33066621e-01 -3.02964825e-02 9.71988721e-01 2.01352365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:68.28, Z:20.13 [[ 4.23280408e-01 -9.00502630e-01 -9.96429057e-02 1.06160462e+02] [ 8.75575369e-01 4.34846750e-01 -2.10418813e-01 6.82798741e+01] [ 2.32812088e-01 1.82128702e-03 9.72520033e-01 2.01271300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.17, Y:68.30, Z:20.13 [[ 4.21573722e-01 -9.01381783e-01 -9.89266320e-02 1.06173676e+02] [ 8.76806122e-01 4.33023033e-01 -2.09050416e-01 6.83028314e+01] [ 2.31271747e-01 1.39068554e-03 9.72888198e-01 2.01328856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.19, Y:68.33, Z:20.14 [[ 4.20551207e-01 -9.01885732e-01 -9.86854008e-02 1.06186282e+02] [ 8.77406638e-01 4.31973063e-01 -2.08702815e-01 6.83265464e+01] [ 2.30855526e-01 1.18299520e-03 9.72987321e-01 2.01389330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.20, Y:68.35, Z:20.15 [[ 4.19421406e-01 -9.02419686e-01 -9.86123487e-02 1.06198999e+02] [ 8.77953748e-01 4.30857041e-01 -2.08708952e-01 6.83502157e+01] [ 2.30830892e-01 9.59920886e-04 9.72993411e-01 2.01454375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:68.37, Z:20.15 [[ 4.17971349e-01 -9.03104416e-01 -9.85005853e-02 1.06213280e+02] [ 8.78675630e-01 4.29420527e-01 -2.08631610e-01 6.83735374e+01] [ 2.30714301e-01 6.51971523e-04 9.73021318e-01 2.01519318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:68.40, Z:20.16 [[ 4.17643778e-01 -9.03283383e-01 -9.82486875e-02 1.06225745e+02] [ 8.78949469e-01 4.29043991e-01 -2.08252453e-01 6.83974294e+01] [ 2.30263989e-01 6.19709494e-04 9.73128004e-01 2.01577146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:68.42, Z:20.16 [[ 4.17269972e-01 -9.03462936e-01 -9.81860136e-02 1.06237927e+02] [ 8.79126768e-01 4.28665805e-01 -2.08282871e-01 6.84218322e+01] [ 2.30264841e-01 5.92234971e-04 9.73127819e-01 2.01639627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:68.45, Z:20.17 [[ 4.17081556e-01 -9.03559500e-01 -9.80979397e-02 1.06251067e+02] [ 8.79233870e-01 4.28462207e-01 -2.08249705e-01 6.84462919e+01] [ 2.30197259e-01 6.06079657e-04 9.73143800e-01 2.01693402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:68.47, Z:20.17 [[ 4.16378226e-01 -9.04697683e-01 -9.02844122e-02 1.06261076e+02] [ 8.80021398e-01 4.25979157e-01 -2.10009757e-01 6.84748248e+01] [ 2.28454618e-01 7.99127542e-03 9.73521765e-01 2.01693538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:68.49, Z:20.18 [[ 4.16457496e-01 -9.03034428e-01 -1.05318450e-01 1.06277793e+02] [ 8.79466230e-01 4.29507631e-01 -2.05091068e-01 6.84933683e+01] [ 2.30439373e-01 -7.21230754e-03 9.73059956e-01 2.01846883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:68.53, Z:20.16 [[ 4.12209430e-01 -9.09163781e-01 -5.91997165e-02 1.06269328e+02] [ 8.84033458e-01 4.14840410e-01 -2.15388672e-01 6.85328564e+01] [ 2.20382014e-01 3.64507115e-02 9.74732329e-01 2.01554599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81088847899997 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:106.30, Y:68.54, Z:20.18 [[ 4.12486228e-01 -9.05740662e-01 -9.74113126e-02 1.06297015e+02] [ 8.83567990e-01 4.23814454e-01 -1.99220769e-01 6.85446285e+01] [ 2.21726674e-01 -3.89369401e-03 9.75101083e-01 2.01822993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:68.57, Z:20.19 [[ 4.12071985e-01 -9.06502774e-01 -9.19206117e-02 1.06308541e+02] [ 8.83662592e-01 4.22194627e-01 -2.02218001e-01 6.85716233e+01] [ 2.22119567e-01 2.10156704e-03 9.75017170e-01 2.01871448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:68.59, Z:20.20 [[ 4.12071860e-01 -9.05728522e-01 -9.92604014e-02 1.06324575e+02] [ 8.83309341e-01 4.23827308e-01 -2.00337269e-01 6.85934550e+01] [ 2.23520447e-01 -5.12428860e-03 9.74685771e-01 2.02005094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.34, Y:68.62, Z:20.21 [[ 4.12083000e-01 -9.05804327e-01 -9.85196568e-02 1.06336019e+02] [ 8.83033339e-01 4.23679109e-01 -2.01861671e-01 6.86179171e+01] [ 2.24587895e-01 -3.81237857e-03 9.74446378e-01 2.02083725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:68.64, Z:20.23 [[ 4.13648205e-01 -9.03474946e-01 -1.12375192e-01 1.06354046e+02] [ 8.81534336e-01 4.28307465e-01 -1.98620067e-01 6.86372749e+01] [ 2.27579388e-01 -1.69037561e-02 9.73612801e-01 2.02275633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.36, Y:68.67, Z:20.23 [[ 4.13294438e-01 -9.05495243e-01 -9.62604366e-02 1.06359410e+02] [ 8.82027134e-01 4.24356335e-01 -2.04816592e-01 6.86659868e+01] [ 2.26309176e-01 -2.54758607e-04 9.74055487e-01 2.02264434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:68.69, Z:20.23 [[ 4.13025015e-01 -9.05632262e-01 -9.61277425e-02 1.06371037e+02] [ 8.82196094e-01 4.24063838e-01 -2.04694681e-01 6.86909531e+01] [ 2.26142407e-01 -2.59495117e-04 9.74094217e-01 2.02324206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:68.72, Z:20.24 [[ 4.12912063e-01 -9.06113571e-01 -9.19881804e-02 1.06380608e+02] [ 8.81748175e-01 4.23003812e-01 -2.08777226e-01 6.87167754e+01] [ 2.28087229e-01 5.09622485e-03 9.73627364e-01 2.02360281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:68.74, Z:20.25 [[ 4.13720337e-01 -9.04803896e-01 -1.00823570e-01 1.06394760e+02] [ 8.81449467e-01 4.25806274e-01 -2.04293548e-01 6.87381730e+01] [ 2.27776907e-01 -4.35048691e-03 9.73703627e-01 2.02465768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:68.77, Z:20.25 [[ 4.11998616e-01 -9.06516665e-01 -9.21123029e-02 1.06403386e+02] [ 8.81735101e-01 4.22133649e-01 -2.10585835e-01 6.87681236e+01] [ 2.29783272e-01 5.54242201e-03 9.73226042e-01 2.02481210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:68.79, Z:20.26 [[ 4.12843333e-01 -9.04843944e-01 -1.04008749e-01 1.06417287e+02] [ 8.81140421e-01 4.25691326e-01 -2.05860276e-01 6.87892561e+01] [ 2.30547046e-01 -6.65827033e-03 9.73038399e-01 2.02592911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:68.82, Z:20.26 [[ 4.12475978e-01 -9.05699501e-01 -9.78365040e-02 1.06425527e+02] [ 8.81245762e-01 4.23920292e-01 -2.09039453e-01 6.88155795e+01] [ 2.30801807e-01 5.74810043e-06 9.73000784e-01 2.02623376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:68.84, Z:20.27 [[ 4.12067243e-01 -9.05926515e-01 -9.74563288e-02 1.06436449e+02] [ 8.81632432e-01 4.23434938e-01 -2.08391720e-01 6.88402790e+01] [ 2.30054000e-01 -4.92584533e-05 9.73177864e-01 2.02688153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:68.86, Z:20.28 [[ 4.10954498e-01 -9.06443103e-01 -9.73514297e-02 1.06446994e+02] [ 8.82179454e-01 4.22327867e-01 -2.08323266e-01 6.88649603e+01] [ 2.29947410e-01 -2.70047661e-04 9.73203019e-01 2.02762140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:68.89, Z:20.28 [[ 4.10494558e-01 -9.06651693e-01 -9.73494990e-02 1.06458169e+02] [ 8.82357865e-01 4.21879847e-01 -2.08475403e-01 6.88903268e+01] [ 2.30084369e-01 -3.19077515e-04 9.73170633e-01 2.02828650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:68.92, Z:20.29 [[ 4.10040392e-01 -9.06852798e-01 -9.73903527e-02 1.06468899e+02] [ 8.82506968e-01 4.21447352e-01 -2.08718903e-01 6.89155341e+01] [ 2.30322228e-01 -3.64484109e-04 9.73114350e-01 2.02890896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:68.94, Z:20.29 [[ 4.09554400e-01 -9.07030069e-01 -9.77836746e-02 1.06478563e+02] [ 8.82451030e-01 4.21065668e-01 -2.09723349e-01 6.89404245e+01] [ 2.31398732e-01 -3.96183839e-04 9.72858916e-01 2.02945634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:68.96, Z:20.30 [[ 4.09518524e-01 -9.07029624e-01 -9.79379419e-02 1.06489469e+02] [ 8.82331402e-01 4.21066690e-01 -2.10224023e-01 6.89647468e+01] [ 2.31917822e-01 -3.23089829e-04 9.72735329e-01 2.03008816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:68.99, Z:20.31 [[ 4.09193782e-01 -9.07162734e-01 -9.80623389e-02 1.06500530e+02] [ 8.82364647e-01 4.20779832e-01 -2.10658404e-01 6.89896543e+01] [ 2.32364108e-01 -3.26632046e-04 9.72628817e-01 2.03077060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:69.01, Z:20.31 [[ 4.08919610e-01 -9.07288976e-01 -9.80380855e-02 1.06511569e+02] [ 8.82469619e-01 4.20507555e-01 -2.10762348e-01 6.90149864e+01] [ 2.32448111e-01 -3.30774765e-04 9.72608743e-01 2.03148706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.52, Y:69.04, Z:20.32 [[ 4.09019880e-01 -9.07284848e-01 -9.76572717e-02 1.06522961e+02] [ 8.82623338e-01 4.20516513e-01 -2.10099751e-01 6.90401827e+01] [ 2.31686816e-01 -2.59611998e-04 9.72790395e-01 2.03215636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:69.06, Z:20.33 [[ 4.08973153e-01 -9.07336026e-01 -9.73770864e-02 1.06534031e+02] [ 8.82782173e-01 4.20406099e-01 -2.09652921e-01 6.90648107e+01] [ 2.31163569e-01 -2.20339728e-04 9.72914876e-01 2.03286613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.54, Y:69.09, Z:20.34 [[ 4.09691152e-01 -9.07082252e-01 -9.67209805e-02 1.06544310e+02] [ 8.82819387e-01 4.20953428e-01 -2.08394199e-01 6.90895196e+01] [ 2.29745708e-01 -9.89709836e-06 9.73250692e-01 2.03357411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:69.12, Z:20.34 [[ 4.10472641e-01 -9.06763636e-01 -9.63946048e-02 1.06554998e+02] [ 8.82621424e-01 4.21639246e-01 -2.07845542e-01 6.91152739e+01] [ 2.29110527e-01 2.34965130e-04 9.73400386e-01 2.03421563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:69.14, Z:20.35 [[ 4.10796568e-01 -9.07056602e-01 -9.21656198e-02 1.06563163e+02] [ 8.82155972e-01 4.20973638e-01 -2.11144587e-01 6.91406697e+01] [ 2.30319388e-01 5.43301970e-03 9.73099924e-01 2.03460948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.58, Y:69.16, Z:20.36 [[ 4.12710083e-01 -9.05222209e-01 -1.01208395e-01 1.06577375e+02] [ 8.81436291e-01 4.24918630e-01 -2.06189774e-01 6.91638781e+01] [ 2.29652896e-01 -4.11215332e-03 9.73263910e-01 2.03569100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:69.19, Z:20.36 [[ 4.13395873e-01 -9.05379643e-01 -9.69100333e-02 1.06586860e+02] [ 8.80844676e-01 4.24601353e-01 -2.09347435e-01 6.91897578e+01] [ 2.30687037e-01 1.18067891e-03 9.73027285e-01 2.03610783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:69.21, Z:20.37 [[ 4.13714500e-01 -9.05198529e-01 -9.72416379e-02 1.06597951e+02] [ 8.80449422e-01 4.24986802e-01 -2.10226150e-01 6.92139461e+01] [ 2.31622814e-01 1.35726257e-03 9.72804723e-01 2.03676680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:69.24, Z:20.37 [[ 4.13479418e-01 -9.05258462e-01 -9.76825863e-02 1.06609638e+02] [ 8.80241849e-01 4.24858969e-01 -2.11350763e-01 6.92385340e+01] [ 2.32828389e-01 1.40488999e-03 9.72516821e-01 2.03744507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:69.26, Z:20.38 [[ 4.12962842e-01 -9.05500576e-01 -9.76237603e-02 1.06620981e+02] [ 8.80482937e-01 4.24342926e-01 -2.11383251e-01 6.92623776e+01] [ 2.32833608e-01 1.33737299e-03 9.72515667e-01 2.03807529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:69.29, Z:20.39 [[ 4.12005083e-01 -9.05964184e-01 -9.73689263e-02 1.06632299e+02] [ 8.81063258e-01 4.23352846e-01 -2.10950000e-01 6.92870936e+01] [ 2.32334556e-01 1.12428869e-03 9.72635281e-01 2.03870525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:69.31, Z:20.39 [[ 4.10585265e-01 -9.06629741e-01 -9.71712531e-02 1.06643575e+02] [ 8.81811696e-01 4.21926353e-01 -2.10680529e-01 6.93115341e+01] [ 2.32008346e-01 8.15573511e-04 9.72713453e-01 2.03932293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:69.33, Z:20.40 [[ 4.07424636e-01 -9.08086199e-01 -9.68742586e-02 1.06654972e+02] [ 8.83424471e-01 4.18783300e-01 -2.10194558e-01 6.93349928e+01] [ 2.31444099e-01 5.73505746e-05 9.72848203e-01 2.03997660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:69.36, Z:20.41 [[ 4.05434046e-01 -9.08993935e-01 -9.67122576e-02 1.06666911e+02] [ 8.84413315e-01 4.16809140e-01 -2.09960067e-01 6.93596437e+01] [ 2.31162981e-01 -4.08648748e-04 9.72914955e-01 2.04066255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:69.38, Z:20.41 [[ 4.03555747e-01 -9.09864362e-01 -9.63825813e-02 1.06679361e+02] [ 8.85440075e-01 4.14904983e-01 -2.09403266e-01 6.93842760e+01] [ 2.30518182e-01 -8.35108757e-04 9.73067660e-01 2.04135285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:69.41, Z:20.42 [[ 3.99795262e-01 -9.11581328e-01 -9.58291775e-02 1.06691080e+02] [ 8.87451397e-01 4.11116098e-01 -2.08359238e-01 6.94085610e+01] [ 2.29333308e-01 -1.74270135e-03 9.73346391e-01 2.04206628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:69.43, Z:20.43 [[ 3.97885080e-01 -9.12442155e-01 -9.55864854e-02 1.06701790e+02] [ 8.88422649e-01 4.09199986e-01 -2.07991751e-01 6.94323959e+01] [ 2.28894430e-01 -2.16438394e-03 9.73448846e-01 2.04268982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:69.46, Z:20.43 [[ 3.96289404e-01 -9.13144725e-01 -9.55061211e-02 1.06712959e+02] [ 8.89146557e-01 4.07627867e-01 -2.07985390e-01 6.94572603e+01] [ 2.28851718e-01 -2.49653236e-03 9.73458093e-01 2.04334310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.72, Y:69.48, Z:20.44 [[ 3.93806725e-01 -9.14238860e-01 -9.53077690e-02 1.06723393e+02] [ 8.90335730e-01 4.05164114e-01 -2.07712130e-01 6.94816720e+01] [ 2.28513788e-01 -3.05747845e-03 9.73535875e-01 2.04400097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.980888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:106.73, Y:69.51, Z:20.45 [[ 3.92385083e-01 -9.14847160e-01 -9.53342587e-02 1.06734064e+02] [ 8.90908726e-01 4.03786456e-01 -2.07937826e-01 6.95064459e+01] [ 2.28726012e-01 -3.34242198e-03 9.73485100e-01 2.04458630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:69.53, Z:20.45 [[ 3.91454828e-01 -9.15224516e-01 -9.55363943e-02 1.06744808e+02] [ 8.91154748e-01 4.02929057e-01 -2.08545895e-01 6.95307291e+01] [ 2.29360705e-01 -3.50141385e-03 9.73335198e-01 2.04523830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:69.56, Z:20.46 [[ 3.90298331e-01 -9.15698057e-01 -9.57302548e-02 1.06755339e+02] [ 8.91503956e-01 4.01849771e-01 -2.09135022e-01 6.95563061e+01] [ 2.29973714e-01 -3.71885102e-03 9.73189735e-01 2.04587861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:69.58, Z:20.46 [[ 3.90100648e-01 -9.15765799e-01 -9.58878846e-02 1.06766045e+02] [ 8.91455487e-01 4.01695545e-01 -2.09637313e-01 6.95820763e+01] [ 2.30496417e-01 -3.70012924e-03 9.73066139e-01 2.04649955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:69.61, Z:20.47 [[ 3.89826179e-01 -9.15866429e-01 -9.60428750e-02 1.06776668e+02] [ 8.91441540e-01 4.01466053e-01 -2.10135642e-01 6.96078906e+01] [ 2.31014134e-01 -3.70023397e-03 9.72943358e-01 2.04709507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:69.63, Z:20.48 [[ 3.90402518e-01 -9.15604888e-01 -9.61954382e-02 1.06786549e+02] [ 8.91055555e-01 4.02064099e-01 -2.10628721e-01 6.96339850e+01] [ 2.31529419e-01 -3.48549646e-03 9.72821659e-01 2.04774679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:69.66, Z:20.48 [[ 3.90697818e-01 -9.15482231e-01 -9.61639248e-02 1.06796663e+02] [ 8.90907851e-01 4.02344491e-01 -2.10718085e-01 6.96580135e+01] [ 2.31599688e-01 -3.34609952e-03 9.72805422e-01 2.04835688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:69.68, Z:20.49 [[ 3.91242214e-01 -9.15261794e-01 -9.60488341e-02 1.06807775e+02] [ 8.90700861e-01 4.02847333e-01 -2.10632387e-01 6.96832186e+01] [ 2.31476793e-01 -3.14249766e-03 9.72835350e-01 2.04901511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:69.71, Z:20.50 [[ 3.92689095e-01 -9.14690258e-01 -9.55876885e-02 1.06818269e+02] [ 8.90313282e-01 4.04146396e-01 -2.09780720e-01 6.97079077e+01] [ 2.30515801e-01 -2.72438770e-03 9.73064768e-01 2.04966720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:69.73, Z:20.50 [[ 3.93627891e-01 -9.14328627e-01 -9.51853172e-02 1.06828155e+02] [ 8.90109271e-01 4.04965738e-01 -2.09065151e-01 6.97319654e+01] [ 2.29701044e-01 -2.43145887e-03 9.73258197e-01 2.05027166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:69.76, Z:20.51 [[ 3.95104380e-01 -9.13726556e-01 -9.48488774e-02 1.06838521e+02] [ 8.89625160e-01 4.06324697e-01 -2.08488168e-01 6.97575989e+01] [ 2.29040617e-01 -2.00535919e-03 9.73414801e-01 2.05092814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31088847899997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:106.85, Y:69.78, Z:20.52 [[ 3.99699077e-01 -9.11788738e-01 -9.42440705e-02 1.06848412e+02] [ 8.87907078e-01 4.10658778e-01 -2.07317119e-01 6.97836583e+01] [ 2.27731569e-01 -8.15516132e-04 9.73723609e-01 2.05150122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:69.81, Z:20.52 [[ 4.02292916e-01 -9.10665787e-01 -9.40650543e-02 1.06858555e+02] [ 8.86808646e-01 4.13143816e-01 -2.07081173e-01 6.98075912e+01] [ 2.27444135e-01 -1.10414595e-04 9.73791124e-01 2.05215576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.87, Y:69.83, Z:20.53 [[ 4.05254124e-01 -9.09371458e-01 -9.38757007e-02 1.06869323e+02] [ 8.85550174e-01 4.15984504e-01 -2.06779550e-01 6.98328257e+01] [ 2.27090257e-01 6.66622184e-04 9.73873488e-01 2.05280177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:69.86, Z:20.53 [[ 4.05017682e-01 -9.09482863e-01 -9.38168378e-02 1.06880739e+02] [ 8.85658343e-01 4.15740872e-01 -2.06806253e-01 6.98582416e+01] [ 2.27090237e-01 6.70524207e-04 9.73873490e-01 2.05344681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43088847899998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:106.89, Y:69.88, Z:20.54 [[ 4.08014204e-01 -9.08148784e-01 -9.37560387e-02 1.06891167e+02] [ 8.84286323e-01 4.18644958e-01 -2.06818996e-01 6.98836102e+01] [ 2.27072913e-01 1.47790524e-03 9.73876639e-01 2.05407597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:106.90, Y:69.91, Z:20.55 [[ 4.14171619e-01 -9.05348375e-01 -9.38413062e-02 1.06900848e+02] [ 8.81333438e-01 4.24658377e-01 -2.07163304e-01 6.99092313e+01] [ 2.27405457e-01 3.09567995e-03 9.73795243e-01 2.05468285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.91, Y:69.93, Z:20.55 [[ 4.16821746e-01 -9.04101292e-01 -9.41301536e-02 1.06911770e+02] [ 8.79868142e-01 4.27300788e-01 -2.07956940e-01 6.99343556e+01] [ 2.28236027e-01 3.85885171e-03 9.73598185e-01 2.05530705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.92, Y:69.96, Z:20.56 [[ 4.19082907e-01 -9.03027063e-01 -9.44014872e-02 1.06921919e+02] [ 8.78586676e-01 4.29559769e-01 -2.08719566e-01 6.99585508e+01] [ 2.29030498e-01 4.53091369e-03 9.73408702e-01 2.05590450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:69.98, Z:20.56 [[ 4.22966388e-01 -9.01176587e-01 -9.47638799e-02 1.06932565e+02] [ 8.76470900e-01 4.33415790e-01 -2.09641395e-01 6.99836456e+01] [ 2.29996079e-01 5.61348055e-03 9.73175366e-01 2.05646908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:70.01, Z:20.57 [[ 4.24060837e-01 -9.00679747e-01 -9.45959827e-02 1.06943740e+02] [ 8.76012251e-01 4.34442922e-01 -2.09432287e-01 7.00083128e+01] [ 2.29727974e-01 5.94479104e-03 9.73236722e-01 2.05704504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:70.03, Z:20.58 [[ 4.25036580e-01 -9.00230208e-01 -9.44959176e-02 1.06955529e+02] [ 8.75566602e-01 4.35369347e-01 -2.09372053e-01 7.00334001e+01] [ 2.29623673e-01 6.25331181e-03 9.73259403e-01 2.05767397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:70.06, Z:20.58 [[ 4.26087439e-01 -8.99744800e-01 -9.43863861e-02 1.06966641e+02] [ 8.75088854e-01 4.36366808e-01 -2.09292873e-01 7.00576204e+01] [ 2.29497261e-01 6.58058996e-03 9.73287061e-01 2.05825685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.98, Y:70.08, Z:20.59 [[ 4.25796316e-01 -8.99874901e-01 -9.44598273e-02 1.06977954e+02] [ 8.75142294e-01 4.36098256e-01 -2.09628904e-01 7.00824488e+01] [ 2.29833555e-01 6.59342536e-03 9.73207616e-01 2.05888192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.99, Y:70.11, Z:20.59 [[ 4.25151385e-01 -9.00199750e-01 -9.42693495e-02 1.06989523e+02] [ 8.75538115e-01 4.35429062e-01 -2.09367001e-01 7.01068106e+01] [ 2.29519737e-01 6.47626195e-03 9.73282461e-01 2.05948878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:70.13, Z:20.60 [[ 4.23990739e-01 -9.00747813e-01 -9.42615004e-02 1.07002698e+02] [ 8.76065424e-01 4.34297471e-01 -2.09511526e-01 7.01296790e+01] [ 2.29654580e-01 6.25170534e-03 9.73252121e-01 2.06015921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:70.15, Z:20.61 [[ 4.23083986e-01 -9.01157372e-01 -9.44210339e-02 1.07015033e+02] [ 8.76359783e-01 4.33448935e-01 -2.10037025e-01 7.01537224e+01] [ 2.30203110e-01 6.11650500e-03 9.73123382e-01 2.06081459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.03, Y:70.18, Z:20.61 [[ 4.22083801e-01 -9.01620179e-01 -9.44791882e-02 1.07027765e+02] [ 8.76765351e-01 4.32487898e-01 -2.10325314e-01 7.01784289e+01] [ 2.30494653e-01 5.93882938e-03 9.73055469e-01 2.06147021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:70.20, Z:20.62 [[ 4.20210847e-01 -9.02476406e-01 -9.46529441e-02 1.07041160e+02] [ 8.77512323e-01 4.30703518e-01 -2.10871057e-01 7.02027908e+01] [ 2.31073510e-01 5.55118053e-03 9.72920458e-01 2.06206520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:70.23, Z:20.63 [[ 4.18859483e-01 -9.03108024e-01 -9.46183391e-02 1.07052382e+02] [ 8.78138832e-01 4.29381038e-01 -2.10959987e-01 7.02269762e+01] [ 2.31146977e-01 5.27455327e-03 9.72904545e-01 2.06261604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:70.25, Z:20.63 [[ 4.17107391e-01 -9.03910849e-01 -9.46921367e-02 1.07063608e+02] [ 8.78881019e-01 4.27692715e-01 -2.11298594e-01 7.02517442e+01] [ 2.31494229e-01 4.91108374e-03 9.72823881e-01 2.06316784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:70.28, Z:20.64 [[ 4.15094033e-01 -9.04856416e-01 -9.45082522e-02 1.07075395e+02] [ 8.79910297e-01 4.25693652e-01 -2.11051612e-01 7.02770511e+01] [ 2.31202968e-01 4.44748031e-03 9.72895373e-01 2.06375703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.09, Y:70.30, Z:20.64 [[ 4.11537025e-01 -9.06545192e-01 -9.38780679e-02 1.07089209e+02] [ 8.81939486e-01 4.22093851e-01 -2.09808303e-01 7.02998783e+01] [ 2.29826064e-01 3.54910998e-03 9.73225249e-01 2.06443882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:70.32, Z:20.65 [[ 4.09409225e-01 -9.07551940e-01 -9.34535303e-02 1.07101948e+02] [ 8.83168772e-01 4.19928966e-01 -2.08979865e-01 7.03240727e+01] [ 2.28903927e-01 3.02304514e-03 9.73444325e-01 2.06512655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00088847899997 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:107.11, Y:70.35, Z:20.66 [[ 4.07427168e-01 -9.08482050e-01 -9.30777516e-02 1.07114447e+02] [ 8.84282494e-01 4.17916023e-01 -2.08304268e-01 7.03480230e+01] [ 2.28139372e-01 2.56179170e-03 9.73625115e-01 2.06581350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:70.37, Z:20.66 [[ 4.02701451e-01 -9.10672110e-01 -9.22380040e-02 1.07127507e+02] [ 8.86931320e-01 4.13127573e-01 -2.06587614e-01 7.03709772e+01] [ 2.26239641e-01 1.38435722e-03 9.74070690e-01 2.06647291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.14, Y:70.39, Z:20.67 [[ 4.00220286e-01 -9.11786486e-01 -9.20278569e-02 1.07138824e+02] [ 8.88144256e-01 4.10663755e-01 -2.06288782e-01 7.03946898e+01] [ 2.25883829e-01 8.26942811e-04 9.74153895e-01 2.06703903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09088847899997 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:107.15, Y:70.42, Z:20.68 [[ 3.97658048e-01 -9.12903994e-01 -9.20563694e-02 1.07150438e+02] [ 8.89237298e-01 4.08174262e-01 -2.06520699e-01 7.04202028e+01] [ 2.26108612e-01 2.64660826e-04 9.74102061e-01 2.06760822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:70.45, Z:20.68 [[ 3.95128804e-01 -9.13990063e-01 -9.21704537e-02 1.07161271e+02] [ 8.90255093e-01 4.05736468e-01 -2.06939091e-01 7.04450970e+01] [ 2.26537187e-01 -2.87620363e-04 9.74002474e-01 2.06811829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.17, Y:70.47, Z:20.69 [[ 3.92054763e-01 -9.15275206e-01 -9.25438275e-02 1.07171415e+02] [ 8.91339721e-01 4.02827972e-01 -2.07949816e-01 7.04692789e+01] [ 2.27610553e-01 -9.60273757e-04 9.73751772e-01 2.06860205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18088847899998 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:107.18, Y:70.50, Z:20.69 [[ 3.89964579e-01 -9.16636758e-01 -8.77763105e-02 1.07180163e+02] [ 8.91732784e-01 3.99695863e-01 -2.12263656e-01 7.04952455e+01] [ 2.29652497e-01 4.50229333e-03 9.73262277e-01 2.06895173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:70.52, Z:20.70 [[ 3.88531932e-01 -9.16195111e-01 -9.81297979e-02 1.07195184e+02] [ 8.92738026e-01 4.00661973e-01 -2.06128118e-01 7.05164689e+01] [ 2.28170453e-01 -7.51684595e-03 9.73592184e-01 2.07011462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:70.54, Z:20.70 [[ 3.84173117e-01 -9.18637200e-01 -9.22860328e-02 1.07202703e+02] [ 8.94815844e-01 3.95092741e-01 -2.07861329e-01 7.05430722e+01] [ 2.27410691e-01 -2.72426966e-03 9.73795130e-01 2.07043217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.21, Y:70.57, Z:20.71 [[ 3.81869494e-01 -9.19621567e-01 -9.20427248e-02 1.07213129e+02] [ 8.95916371e-01 3.92792218e-01 -2.07480432e-01 7.05687333e+01] [ 2.26957146e-01 -3.23213639e-03 9.73899382e-01 2.07105204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:70.59, Z:20.72 [[ 3.79375038e-01 -9.20674025e-01 -9.18363793e-02 1.07223256e+02] [ 8.97069202e-01 3.90313982e-01 -2.07175873e-01 7.05931434e+01] [ 2.26586468e-01 -3.78623289e-03 9.73983695e-01 2.07165008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:70.62, Z:20.72 [[ 3.73874872e-01 -9.22964774e-01 -9.13980645e-02 1.07232473e+02] [ 8.99614981e-01 3.84851013e-01 -2.06355482e-01 7.06187312e+01] [ 2.25633478e-01 -5.07193860e-03 9.74199060e-01 2.07228356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.24, Y:70.64, Z:20.73 [[ 3.71128312e-01 -9.24559596e-01 -8.63326698e-02 1.07239609e+02] [ 9.00428238e-01 3.81037442e-01 -2.09855798e-01 7.06449916e+01] [ 2.26920171e-01 1.47054250e-04 9.73913350e-01 2.07261601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:70.67, Z:20.74 [[ 3.66588592e-01 -9.25438225e-01 -9.57961171e-02 1.07251816e+02] [ 9.03008192e-01 3.78704244e-01 -2.02877551e-01 7.06688277e+01] [ 2.24029037e-01 -1.21320827e-02 9.74506954e-01 2.07369592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:70.70, Z:20.74 [[ 3.64781170e-01 -9.26697351e-01 -9.03698969e-02 1.07259424e+02] [ 9.03878263e-01 3.75741719e-01 -2.04504879e-01 7.06955622e+01] [ 2.23469870e-01 -7.08385637e-03 9.74685096e-01 2.07404746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:70.72, Z:20.75 [[ 3.63998928e-01 -9.27116844e-01 -8.92139998e-02 1.07268351e+02] [ 9.04433215e-01 3.74716772e-01 -2.03931116e-01 7.07210322e+01] [ 2.22497954e-01 -6.45739721e-03 9.74911772e-01 2.07460065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.28, Y:70.75, Z:20.75 [[ 3.62937645e-01 -9.27463562e-01 -8.99311290e-02 1.07278204e+02] [ 9.04971856e-01 3.73835254e-01 -2.03157926e-01 7.07473795e+01] [ 2.22041000e-01 -7.65148161e-03 9.75007307e-01 2.07531115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:70.78, Z:20.76 [[ 3.63736045e-01 -9.27205808e-01 -8.93615084e-02 1.07285134e+02] [ 9.04814408e-01 3.74484200e-01 -2.02663443e-01 7.07750629e+01] [ 2.21375195e-01 -7.13958097e-03 9.75162576e-01 2.07579434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:70.80, Z:20.76 [[ 3.64805814e-01 -9.26768776e-01 -8.95340955e-02 1.07293576e+02] [ 9.04240493e-01 3.75570279e-01 -2.03214413e-01 7.08007696e+01] [ 2.21959118e-01 -6.82655538e-03 9.75032075e-01 2.07641817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.30, Y:70.83, Z:20.77 [[ 3.66751687e-01 -9.25994092e-01 -8.95998932e-02 1.07301744e+02] [ 9.03373115e-01 3.77485438e-01 -2.03523363e-01 7.08264958e+01] [ 2.22284087e-01 -6.29959790e-03 9.74961589e-01 2.07697390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.31, Y:70.85, Z:20.78 [[ 3.69585692e-01 -9.24840814e-01 -8.98659274e-02 1.07309727e+02] [ 9.02011102e-01 3.80313835e-01 -2.04297231e-01 7.08522861e+01] [ 2.23119673e-01 -5.55473066e-03 9.74775234e-01 2.07756713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.630888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.31, Y:70.88, Z:20.78 [[ 3.75064056e-01 -9.22623587e-01 -8.99592727e-02 1.07314661e+02] [ 8.99645635e-01 3.85679075e-01 -2.04668959e-01 7.08796335e+01] [ 2.23527818e-01 -4.16749719e-03 9.74688641e-01 2.07811884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.660888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:70.91, Z:20.79 [[ 3.77539018e-01 -9.21595516e-01 -9.01443004e-02 1.07322857e+02] [ 8.98453673e-01 3.88135899e-01 -2.05259643e-01 7.09060194e+01] [ 2.24154606e-01 -3.49695375e-03 9.74547323e-01 2.07875702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.690888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:107.33, Y:70.93, Z:20.79 [[ 3.82784142e-01 -9.19456702e-01 -8.98647499e-02 1.07327976e+02] [ 8.96364702e-01 3.93185310e-01 -2.04781914e-01 7.09337885e+01] [ 2.23621603e-01 -2.16432077e-03 9.74673635e-01 2.07939125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.34, Y:70.96, Z:20.80 [[ 3.84717708e-01 -9.18671004e-01 -8.96430205e-02 1.07335174e+02] [ 8.95636621e-01 3.95020132e-01 -2.04436148e-01 7.09596128e+01] [ 2.23220360e-01 -1.63736551e-03 9.74766634e-01 2.07995973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:107.34, Y:70.99, Z:20.81 [[ 3.86214413e-01 -9.18056464e-01 -8.95028291e-02 1.07343114e+02] [ 8.95052269e-01 3.96447740e-01 -2.04231794e-01 7.09860214e+01] [ 2.22979513e-01 -1.23244799e-03 9.74822352e-01 2.08057550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78088847899997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:107.35, Y:71.01, Z:20.81 [[ 3.89189790e-01 -9.16811941e-01 -8.93709843e-02 1.07348833e+02] [ 8.93807850e-01 3.99318997e-01 -2.04087886e-01 7.10125768e+01] [ 2.22797742e-01 -4.51565928e-04 9.74864587e-01 2.08122042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81088847899997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:107.36, Y:71.04, Z:20.82 [[ 3.90171316e-01 -9.16413368e-01 -8.91789425e-02 1.07357130e+02] [ 8.93461187e-01 4.00233076e-01 -2.03815093e-01 7.10390365e+01] [ 2.22471238e-01 -1.55121010e-04 9.74939241e-01 2.08185301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84088847899997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:107.36, Y:71.06, Z:20.82 [[ 3.90634944e-01 -9.16237308e-01 -8.89580545e-02 1.07364695e+02] [ 8.93360522e-01 4.00635988e-01 -2.03464451e-01 7.10642435e+01] [ 2.22061519e-01 8.71046133e-06 9.75032657e-01 2.08242670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87088847899997 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:107.37, Y:71.09, Z:20.83 [[ 3.91631764e-01 -9.15799655e-01 -8.90817244e-02 1.07371312e+02] [ 8.92821667e-01 4.01635282e-01 -2.03859194e-01 7.10914101e+01] [ 2.22472543e-01 3.03642090e-04 9.74938909e-01 2.08301634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90088847899997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:107.38, Y:71.12, Z:20.84 [[ 3.92342811e-01 -9.15739070e-01 -8.65394349e-02 1.07379077e+02] [ 8.92075581e-01 4.01753958e-01 -2.06869319e-01 7.11186018e+01] [ 2.24205878e-01 3.96397364e-03 9.74533740e-01 2.08352569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93088847899998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:107.39, Y:71.14, Z:20.84 [[ 3.92330638e-01 -9.15173573e-01 -9.23796638e-02 1.07390537e+02] [ 8.92102093e-01 4.03053431e-01 -2.04210157e-01 7.11432828e+01] [ 2.24121679e-01 -2.29419029e-03 9.74558469e-01 2.08439251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96088847899998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:107.40, Y:71.17, Z:20.85 [[ 3.93009501e-01 -9.15118110e-01 -9.00132029e-02 1.07396772e+02] [ 8.91552618e-01 4.03184990e-01 -2.06339023e-01 7.11706469e+01] [ 2.25116549e-01 8.41689736e-04 9.74331479e-01 2.08487985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99088847899998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:107.41, Y:71.20, Z:20.86 [[ 3.93150587e-01 -9.15050584e-01 -9.00835390e-02 1.07405812e+02] [ 8.91408145e-01 4.03337982e-01 -2.06663958e-01 7.11960781e+01] [ 2.25442089e-01 9.48856113e-04 9.74256108e-01 2.08551949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02088847899998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:107.41, Y:71.22, Z:20.86 [[ 3.93155303e-01 -9.15061959e-01 -8.99473172e-02 1.07414981e+02] [ 8.91454576e-01 4.03312032e-01 -2.06514269e-01 7.12213834e+01] [ 2.25250187e-01 1.00823249e-03 9.74300435e-01 2.08616133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05088847899998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:107.42, Y:71.25, Z:20.87 [[ 3.92698752e-01 -9.15247402e-01 -9.00548899e-02 1.07424698e+02] [ 8.91564059e-01 4.02891176e-01 -2.06862826e-01 7.12470453e+01] [ 2.25612984e-01 9.45070271e-04 9.74216551e-01 2.08683375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08088847899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:107.43, Y:71.27, Z:20.87 [[ 3.90975968e-01 -9.15974321e-01 -9.01600591e-02 1.07433559e+02] [ 8.92215346e-01 4.01236451e-01 -2.07270567e-01 7.12725103e+01] [ 2.26030018e-01 5.95622151e-04 9.74120155e-01 2.08747888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11088847899998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:107.44, Y:71.30, Z:20.88 [[ 3.89638639e-01 -9.16525691e-01 -9.03459397e-02 1.07443211e+02] [ 8.92642472e-01 3.99975671e-01 -2.07867458e-01 7.12976082e+01] [ 2.26652043e-01 3.46570223e-04 9.73975734e-01 2.08807599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14088847899998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:107.45, Y:71.32, Z:20.89 [[ 3.87964832e-01 -9.17211213e-01 -9.05918310e-02 1.07453351e+02] [ 8.93178673e-01 3.98401294e-01 -2.08586354e-01 7.13232758e+01] [ 2.27409645e-01 9.47840971e-06 9.73799185e-01 2.08866813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17088847899998 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:107.46, Y:71.35, Z:20.89 [[ 3.84096013e-01 -9.18800100e-01 -9.09759773e-02 1.07463183e+02] [ 8.94563958e-01 3.94722224e-01 -2.09641818e-01 7.13477720e+01] [ 2.28529164e-01 -8.61243770e-04 9.73536686e-01 2.08930789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20088847899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:107.47, Y:71.37, Z:20.90 [[ 3.81893055e-01 -9.19722634e-01 -9.09283805e-02 1.07473789e+02] [ 8.95495791e-01 3.92566534e-01 -2.09711240e-01 7.13726067e+01] [ 2.28571613e-01 -1.33871614e-03 9.73526181e-01 2.09003860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230888479 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:107.48, Y:71.40, Z:20.91 [[ 3.79321008e-01 -9.20809162e-01 -9.06976346e-02 1.07483506e+02] [ 8.96698348e-01 3.90008722e-01 -2.09344859e-01 7.13966337e+01] [ 2.28139533e-01 -1.91951617e-03 9.73626555e-01 2.09066912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.260888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:107.49, Y:71.42, Z:20.91 [[ 3.76721330e-01 -9.21894701e-01 -9.05052471e-02 1.07493469e+02] [ 8.97877305e-01 3.87432462e-01 -2.09075184e-01 7.14204572e+01] [ 2.27809975e-01 -2.49952588e-03 9.73702402e-01 2.09132307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:107.50, Y:71.45, Z:20.92 [[ 3.76490460e-01 -9.21995180e-01 -9.04423648e-02 1.07504415e+02] [ 8.97974112e-01 3.87193347e-01 -2.09102383e-01 7.14460554e+01] [ 2.27810071e-01 -2.48984982e-03 9.73702404e-01 2.09196819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.320888479 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:107.51, Y:71.47, Z:20.93 [[ 3.71693751e-01 -9.23953566e-01 -9.02970805e-02 1.07514164e+02] [ 9.00032391e-01 3.82487536e-01 -2.08913810e-01 7.14712310e+01] [ 2.27564168e-01 -3.61833944e-03 9.73756364e-01 2.09257218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.350888479 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:107.52, Y:71.50, Z:20.93 [[ 3.69712853e-01 -9.24758913e-01 -9.01851384e-02 1.07524216e+02] [ 9.00883300e-01 3.80531996e-01 -2.08817337e-01 7.14971163e+01] [ 2.27424024e-01 -4.04383181e-03 9.73787431e-01 2.09316647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.380888479 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:107.53, Y:71.52, Z:20.94 [[ 3.67706830e-01 -9.25545660e-01 -9.03156584e-02 1.07533565e+02] [ 9.01584384e-01 3.78609609e-01 -2.09285362e-01 7.15227281e+01] [ 2.27897534e-01 -4.47153034e-03 9.73674853e-01 2.09377898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.410888479 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:107.54, Y:71.55, Z:20.94 [[ 3.66941440e-01 -9.25852071e-01 -9.02879999e-02 1.07543323e+02] [ 9.01875521e-01 3.77858213e-01 -2.09388910e-01 7.15473002e+01] [ 2.27979218e-01 -4.59506876e-03 9.73655155e-01 2.09443651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.440888479 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:107.55, Y:71.57, Z:20.95 [[ 3.66470635e-01 -9.26052859e-01 -9.01408690e-02 1.07553111e+02] [ 9.02120148e-01 3.77365262e-01 -2.09224035e-01 7.15727054e+01] [ 2.27768549e-01 -4.64342913e-03 9.73704230e-01 2.09506445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.470888479 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:107.56, Y:71.60, Z:20.96 [[ 3.65889961e-01 -9.26288832e-01 -9.00751677e-02 1.07561039e+02] [ 9.02359741e-01 3.76784684e-01 -2.09237183e-01 7.15988326e+01] [ 2.27753009e-01 -4.72242031e-03 9.73707485e-01 2.09559441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50088847899997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:107.57, Y:71.62, Z:20.96 [[ 3.65501656e-01 -9.26456093e-01 -8.99313422e-02 1.07569907e+02] [ 9.02570614e-01 3.76372824e-01 -2.09068848e-01 7.16237121e+01] [ 2.27540821e-01 -4.75437666e-03 9.73756936e-01 2.09613434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53088847899997 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:107.58, Y:71.65, Z:20.97 [[ 3.65152957e-01 -9.26597595e-01 -8.98900136e-02 1.07579635e+02] [ 9.02697629e-01 3.76024095e-01 -2.09147964e-01 7.16494093e+01] [ 2.27596811e-01 -4.77250465e-03 9.73743762e-01 2.09673669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56088847899997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:107.59, Y:71.67, Z:20.97 [[ 3.64819688e-01 -9.26741865e-01 -8.97558385e-02 1.07589089e+02] [ 9.02879404e-01 3.75668162e-01 -2.09002904e-01 7.16736849e+01] [ 2.27410152e-01 -4.79032380e-03 9.73787285e-01 2.09734065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59088847899997 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:107.60, Y:71.70, Z:20.98 [[ 3.64941058e-01 -9.26721131e-01 -8.94760884e-02 1.07598934e+02] [ 9.02967652e-01 3.75720525e-01 -2.08526994e-01 7.16995184e+01] [ 2.26864374e-01 -4.69395180e-03 9.73915049e-01 2.09804495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62088847899997 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:107.61, Y:71.73, Z:20.99 [[ 3.64744769e-01 -9.26808512e-01 -8.93713390e-02 1.07609006e+02] [ 9.03075670e-01 3.75505112e-01 -2.08447223e-01 7.17252826e+01] [ 2.26750055e-01 -4.67904776e-03 9.73941743e-01 2.09872017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65088847899997 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:107.62, Y:71.75, Z:20.99 [[ 3.64564900e-01 -9.26893100e-01 -8.92278807e-02 1.07619032e+02] [ 9.03200876e-01 3.75296516e-01 -2.08280348e-01 7.17511084e+01] [ 2.26540530e-01 -4.65899596e-03 9.73990597e-01 2.09920881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68088847899998 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:107.63, Y:71.78, Z:21.00 [[ 3.66518617e-01 -9.26157170e-01 -8.88650694e-02 1.07627017e+02] [ 9.02599500e-01 3.77115266e-01 -2.07601105e-01 7.17765620e+01] [ 2.25783626e-01 -4.11989728e-03 9.74168764e-01 2.09992014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71088847899998 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:107.64, Y:71.80, Z:21.00 [[ 3.67534692e-01 -9.25757869e-01 -8.88291506e-02 1.07635622e+02] [ 9.02166818e-01 3.78097739e-01 -2.07694806e-01 7.18017370e+01] [ 2.25861202e-01 -3.80366552e-03 9.74152067e-01 2.10049356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74088847899998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:107.64, Y:71.83, Z:21.01 [[ 3.68583342e-01 -9.25332631e-01 -8.89148075e-02 1.07644874e+02] [ 9.01643091e-01 3.79140369e-01 -2.08068058e-01 7.18276133e+01] [ 2.26243356e-01 -3.47900179e-03 9.74064598e-01 2.10105169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77088847899998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:107.65, Y:71.85, Z:21.02 [[ 3.71616351e-01 -9.24053069e-01 -8.95947175e-02 1.07654194e+02] [ 8.99918406e-01 3.82255009e-01 -2.09828431e-01 7.18524972e+01] [ 2.28140635e-01 -2.65225955e-03 9.73624577e-01 2.10157319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80088847899998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:107.66, Y:71.88, Z:21.02 [[ 3.72836303e-01 -9.23540084e-01 -8.98153861e-02 1.07664395e+02] [ 8.99228195e-01 3.83495166e-01 -2.10523420e-01 7.18784745e+01] [ 2.28870584e-01 -2.27375371e-03 9.73454203e-01 2.10218246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83088847899998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:107.67, Y:71.90, Z:21.03 [[ 3.74095265e-01 -9.23031922e-01 -8.98042531e-02 1.07674093e+02] [ 8.98672832e-01 3.84718694e-01 -2.10662448e-01 7.19045917e+01] [ 2.28997539e-01 -1.89681821e-03 9.73425153e-01 2.10281648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86088847899998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:107.68, Y:71.93, Z:21.03 [[ 3.75706979e-01 -9.22403224e-01 -8.95352320e-02 1.07683233e+02] [ 8.98135787e-01 3.86225594e-01 -2.10194904e-01 7.19303860e+01] [ 2.28465256e-01 -1.44310344e-03 9.73550997e-01 2.10341034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89088847899998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:107.69, Y:71.96, Z:21.04 [[ 3.78916714e-01 -9.21120249e-01 -8.92166549e-02 1.07691245e+02] [ 8.96953978e-01 3.89277702e-01 -2.09610191e-01 7.19572990e+01] [ 2.27806246e-01 -5.98428789e-04 9.73706299e-01 2.10401986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92088847899998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:107.70, Y:71.98, Z:21.05 [[ 3.80508996e-01 -9.20487115e-01 -8.89740181e-02 1.07700770e+02] [ 8.96397599e-01 3.90772887e-01 -2.09207781e-01 7.19817533e+01] [ 2.27341700e-01 -1.50653706e-04 9.73815038e-01 2.10460605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95088847899999 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:107.71, Y:72.01, Z:21.05 [[ 3.83314009e-01 -9.19360707e-01 -8.85791241e-02 1.07709721e+02] [ 8.95416623e-01 3.93415232e-01 -2.08455094e-01 7.20060244e+01] [ 2.26493799e-01 5.88537509e-04 9.74012429e-01 2.10523296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.980888479 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:107.72, Y:72.03, Z:21.06 [[ 3.84412442e-01 -9.18897180e-01 -8.86287064e-02 1.07719668e+02] [ 8.94872864e-01 3.94496009e-01 -2.08747349e-01 7.20308098e+01] [ 2.26781022e-01 9.33654031e-04 9.73945325e-01 2.10579522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010888479 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:107.73, Y:72.06, Z:21.06 [[ 3.85653771e-01 -9.18380791e-01 -8.85883227e-02 1.07730021e+02] [ 8.94326343e-01 3.95695614e-01 -2.08818995e-01 7.20555623e+01] [ 2.26829365e-01 1.30496214e-03 9.73933641e-01 2.10646066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.040888479 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:107.74, Y:72.08, Z:21.07 [[ 3.87592439e-01 -9.17537834e-01 -8.88618309e-02 1.07740677e+02] [ 8.93273660e-01 3.97644096e-01 -2.09621902e-01 7.20802237e+01] [ 2.27671408e-01 1.86993155e-03 9.73736224e-01 2.10708959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.070888479 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:107.75, Y:72.11, Z:21.08 [[ 3.88022196e-01 -9.17357928e-01 -8.88437236e-02 1.07750992e+02] [ 8.93060537e-01 3.98058111e-01 -2.09744172e-01 7.21053174e+01] [ 2.27775444e-01 2.04257085e-03 9.73711546e-01 2.10767462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.100888479 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:107.76, Y:72.13, Z:21.08 [[ 3.88384772e-01 -9.17217365e-01 -8.87106176e-02 1.07760916e+02] [ 8.92950202e-01 3.98381102e-01 -2.09600655e-01 7.21298442e+01] [ 2.27589994e-01 2.19153868e-03 9.73754585e-01 2.10820434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.130888479 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:107.77, Y:72.15, Z:21.09 [[ 3.88497272e-01 -9.17160903e-01 -8.88017304e-02 1.07771541e+02] [ 8.92812346e-01 3.98510585e-01 -2.09941489e-01 7.21548091e+01] [ 2.27938555e-01 2.27841445e-03 9.73672853e-01 2.10884615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.160888479 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:107.78, Y:72.18, Z:21.09 [[ 3.88875801e-01 -9.16962098e-01 -8.91970940e-02 1.07783433e+02] [ 8.92347532e-01 3.98966635e-01 -2.11048587e-01 7.21790606e+01] [ 2.29110219e-01 2.47688149e-03 9.73397335e-01 2.10940946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.190888479 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:107.79, Y:72.20, Z:21.10 [[ 3.88955480e-01 -9.16915891e-01 -8.93245951e-02 1.07794404e+02] [ 8.92199054e-01 3.99072296e-01 -2.11476124e-01 7.22029881e+01] [ 2.29552790e-01 2.55947802e-03 9.73292847e-01 2.11002955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.220888479 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:107.81, Y:72.23, Z:21.11 [[ 3.89645670e-01 -9.16617963e-01 -8.93742838e-02 1.07805943e+02] [ 8.91835912e-01 3.99754595e-01 -2.11719084e-01 7.22272878e+01] [ 2.29793296e-01 2.78822827e-03 9.73235463e-01 2.11067011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25088847899997 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:107.82, Y:72.25, Z:21.11 [[ 3.89878629e-01 -9.16515840e-01 -8.94056511e-02 1.07816777e+02] [ 8.91672684e-01 3.99987733e-01 -2.11966123e-01 7.22510525e+01] [ 2.30031473e-01 2.92048468e-03 9.73178808e-01 2.11128063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28088847899997 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:107.79, Y:72.29, Z:21.07 [[ 3.84930231e-01 -9.22770611e-01 -1.79754757e-02 1.07794383e+02] [ 8.97700647e-01 3.78854410e-01 -2.24950849e-01 7.22948475e+01] [ 2.14388121e-01 7.04537861e-02 9.74204290e-01 2.10743501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31088847899997 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:107.86, Y:72.29, Z:21.14 [[ 3.87461051e-01 -9.11346509e-01 -1.39001704e-01 1.07858617e+02] [ 8.92784541e-01 4.08525745e-01 -1.89848570e-01 7.22886173e+01] [ 2.29803606e-01 -5.05396461e-02 9.71923889e-01 2.11422090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34088847899997 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:107.85, Y:72.32, Z:21.13 [[ 3.88065549e-01 -9.16702234e-01 -9.51952955e-02 1.07854150e+02] [ 8.93356615e-01 3.99536616e-01 -2.05631833e-01 7.23223259e+01] [ 2.26537167e-01 -5.24471688e-03 9.73988401e-01 2.11323623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37088847899997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:107.86, Y:72.35, Z:21.14 [[ 3.86983011e-01 -9.18216692e-01 -8.43934627e-02 1.07861803e+02] [ 8.93769330e-01 3.96032136e-01 -2.10558620e-01 7.23510525e+01] [ 2.26760962e-01 6.05432006e-03 9.73931626e-01 2.11351581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40088847899997 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:107.88, Y:72.38, Z:21.14 [[ 3.85785933e-01 -9.18329814e-01 -8.85413230e-02 1.07875405e+02] [ 8.94306448e-01 3.95813848e-01 -2.08680080e-01 7.23758077e+01] [ 2.26683021e-01 1.32276316e-03 9.73967689e-01 2.11435280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43088847899998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:107.89, Y:72.40, Z:21.15 [[ 3.84480660e-01 -9.18693579e-01 -9.04252748e-02 1.07888364e+02] [ 8.95232557e-01 3.94967643e-01 -2.06298886e-01 7.23989443e+01] [ 2.25240520e-01 -1.63371808e-03 9.74301821e-01 2.11503887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46088847899998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:107.90, Y:72.42, Z:21.16 [[ 3.82720688e-01 -9.19725854e-01 -8.73454522e-02 1.07898450e+02] [ 8.95794377e-01 3.92558277e-01 -2.08447675e-01 7.24243632e+01] [ 2.26002896e-01 1.53367269e-03 9.74125422e-01 2.11552288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49088847899998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:107.89, Y:72.47, Z:21.13 [[ 3.80994031e-01 -9.23929757e-01 -3.46027647e-02 1.07887424e+02] [ 8.98789540e-01 3.78885498e-01 -2.20506559e-01 7.24653421e+01] [ 2.16843058e-01 5.29110801e-02 9.74771515e-01 2.11291146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52088847899998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:107.91, Y:72.48, Z:21.14 [[ 3.79369414e-01 -9.23118247e-01 -6.27020788e-02 1.07909293e+02] [ 8.99131244e-01 3.83801442e-01 -2.10379324e-01 7.24835861e+01] [ 2.18270141e-01 2.34340827e-02 9.75606985e-01 2.11422274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55088847899998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:107.96, Y:72.48, Z:21.21 [[ 3.85056308e-01 -9.08766131e-01 -1.60859440e-01 1.07962918e+02] [ 8.91248517e-01 4.11412355e-01 -1.90829649e-01 7.24819458e+01] [ 2.39599083e-01 -6.98855768e-02 9.68353389e-01 2.12111338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58088847899998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:107.95, Y:72.52, Z:21.19 [[ 3.84684178e-01 -9.18343944e-01 -9.30724660e-02 1.07947781e+02] [ 8.91591382e-01 3.95779760e-01 -2.20052695e-01 7.25249784e+01] [ 2.38920258e-01 1.66818157e-03 9.71037758e-01 2.11900444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61088847899998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:107.95, Y:72.56, Z:21.18 [[ 3.81420925e-01 -9.22516705e-01 -5.90000504e-02 1.07948973e+02] [ 8.95189500e-01 3.84532919e-01 -2.25322422e-01 7.25631057e+01] [ 2.30551160e-01 3.31264613e-02 9.72496170e-01 2.11758893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64088847899998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:107.98, Y:72.56, Z:21.22 [[ 3.82357224e-01 -9.15603888e-01 -1.24388397e-01 1.07984046e+02] [ 8.92884686e-01 4.00760445e-01 -2.05299790e-01 7.25645640e+01] [ 2.37823235e-01 -3.25666365e-02 9.70762341e-01 2.12159922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67088847899998 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:107.97, Y:72.61, Z:21.19 [[ 3.79748029e-01 -9.23116202e-01 -6.03979531e-02 1.07974074e+02] [ 8.95173496e-01 3.83152696e-01 -2.27724446e-01 7.26113326e+01] [ 2.33357764e-01 3.24112626e-02 9.71850639e-01 2.11934930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70088847899999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:108.01, Y:72.61, Z:21.23 [[ 3.77923839e-01 -9.17460076e-01 -1.24260136e-01 1.08007507e+02] [ 8.95279629e-01 3.96341055e-01 -2.03440790e-01 7.26124391e+01] [ 2.35898196e-01 -3.43624439e-02 9.71170049e-01 2.12287761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730888479 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:108.01, Y:72.65, Z:21.22 [[ 3.76694118e-01 -9.21818273e-01 -9.13926342e-02 1.08005975e+02] [ 8.95934180e-01 3.87622294e-01 -2.16912200e-01 7.26462958e+01] [ 2.35379452e-01 -1.72235113e-04 9.71903536e-01 2.12217629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.760888479 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:107.98, Y:72.69, Z:21.18 [[ 3.68125593e-01 -9.29436132e-01 -2.51400983e-02 1.07982513e+02] [ 9.03736745e-01 3.64039327e-01 -2.25244898e-01 7.26888735e+01] [ 2.18502731e-01 6.01983811e-02 9.73977778e-01 2.11819400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790888479 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:108.04, Y:72.69, Z:21.24 [[ 3.73987241e-01 -9.19776209e-01 -1.18933883e-01 1.08039987e+02] [ 8.98985843e-01 3.91040904e-01 -1.97259892e-01 7.26921425e+01] [ 2.27942969e-01 -3.31471939e-02 9.73110100e-01 2.12373558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.820888479 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:108.04, Y:72.72, Z:21.24 [[ 3.71213532e-01 -9.22859850e-01 -1.02616819e-01 1.08042210e+02] [ 8.99637689e-01 3.84814683e-01 -2.06324230e-01 7.27174123e+01] [ 2.29896807e-01 -1.57276114e-02 9.73087920e-01 2.12402302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.850888479 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:108.03, Y:72.75, Z:21.22 [[ 3.65602346e-01 -9.29071681e-01 -5.62204210e-02 1.08031160e+02] [ 9.04311650e-01 3.68860320e-01 -2.14854613e-01 7.27530607e+01] [ 2.20352819e-01 2.77105691e-02 9.75026543e-01 2.12175112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.880888479 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:108.06, Y:72.77, Z:21.25 [[ 3.67713273e-01 -9.24189854e-01 -1.03247581e-01 1.08063691e+02] [ 9.01208428e-01 3.81534078e-01 -2.05560491e-01 7.27679623e+01] [ 2.29369391e-01 -1.74602693e-02 9.73182830e-01 2.12514816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.910888479 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:108.07, Y:72.80, Z:21.25 [[ 3.67296232e-01 -9.25984951e-01 -8.74376883e-02 1.08067340e+02] [ 9.01266948e-01 3.77559685e-01 -2.12524287e-01 7.27969874e+01] [ 2.29807237e-01 -7.45328756e-04 9.73235880e-01 2.12506174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.940888479 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:108.08, Y:72.82, Z:21.25 [[ 3.68634059e-01 -9.25518985e-01 -8.67383391e-02 1.08078218e+02] [ 9.01236355e-01 3.78700840e-01 -2.10615068e-01 7.28232829e+01] [ 2.27776126e-01 -5.31857046e-04 9.73713384e-01 2.12531702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.970888479 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:108.09, Y:72.84, Z:21.27 [[ 3.69177695e-01 -9.23992738e-01 -9.97258729e-02 1.08091893e+02] [ 9.00739961e-01 3.82167542e-01 -2.06435202e-01 7.28415757e+01] [ 2.28856620e-01 -1.36158066e-02 9.73364915e-01 2.12667413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00088847899997 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:108.10, Y:72.87, Z:21.27 [[ 3.70082763e-01 -9.24841098e-01 -8.77934631e-02 1.08098402e+02] [ 9.00228196e-01 3.80353240e-01 -2.11944821e-01 7.28686459e+01] [ 2.29407809e-01 -5.97025887e-04 9.73330212e-01 2.12684370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03088847899997 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:108.11, Y:72.89, Z:21.27 [[ 3.70355739e-01 -9.24748746e-01 -8.76149742e-02 1.08108764e+02] [ 9.00191410e-01 3.80577902e-01 -2.11697630e-01 7.28939334e+01] [ 2.29111441e-01 -4.66815018e-04 9.73400087e-01 2.12746268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06088847899997 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:108.12, Y:72.92, Z:21.28 [[ 3.71072424e-01 -9.24466912e-01 -8.75567545e-02 1.08119058e+02] [ 8.99893709e-01 3.81262219e-01 -2.11731986e-01 7.29191455e+01] [ 2.29121298e-01 -2.23871054e-04 9.73397853e-01 2.12810999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.13, Y:72.94, Z:21.29 [[ 3.71412023e-01 -9.24370598e-01 -8.71326979e-02 1.08128958e+02] [ 8.99994792e-01 3.81495726e-01 -2.10880027e-01 7.29449801e+01] [ 2.28172049e-01 -9.55967082e-05 9.73620823e-01 2.12867748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12088847899997 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:108.14, Y:72.97, Z:21.29 [[ 3.72608375e-01 -9.24237640e-01 -8.33533735e-02 1.08138875e+02] [ 8.99742940e-01 3.81799080e-01 -2.11405071e-01 7.29726940e+01] [ 2.27212765e-01 3.77469046e-03 9.73837826e-01 2.12910665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15088847899997 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:108.15, Y:73.00, Z:21.30 [[ 3.73834899e-01 -9.23817406e-01 -8.25158684e-02 1.08148844e+02] [ 8.98770473e-01 3.82790362e-01 -2.13736230e-01 7.29959267e+01] [ 2.29039529e-01 5.73923601e-03 9.73400203e-01 2.12966793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18088847899998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:108.16, Y:73.02, Z:21.31 [[ 3.74101876e-01 -9.22441875e-01 -9.56492270e-02 1.08164061e+02] [ 8.99145075e-01 3.86034191e-01 -2.06193449e-01 7.30168930e+01] [ 2.27125343e-01 -8.86517541e-03 9.73825183e-01 2.13099400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21088847899998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:108.17, Y:73.05, Z:21.31 [[ 3.73839751e-01 -9.23449534e-01 -8.65147354e-02 1.08170987e+02] [ 8.99262156e-01 3.83719266e-01 -2.09969281e-01 7.30450477e+01] [ 2.27093406e-01 6.95436300e-04 9.73872734e-01 2.13128933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24088847899998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:108.18, Y:73.07, Z:21.32 [[ 3.74392590e-01 -9.23216627e-01 -8.66097467e-02 1.08181515e+02] [ 8.98931696e-01 3.84278867e-01 -2.10360545e-01 7.30688116e+01] [ 2.27490648e-01 9.01182888e-04 9.73779848e-01 2.13199100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27088847899998 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:108.19, Y:73.09, Z:21.33 [[ 3.76278051e-01 -9.22474298e-01 -8.63481175e-02 1.08191334e+02] [ 8.98276474e-01 3.86055900e-01 -2.09905260e-01 7.30942137e+01] [ 2.26967407e-01 1.41825956e-03 9.73901322e-01 2.13260029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30088847899998 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:108.20, Y:73.12, Z:21.33 [[ 3.77469561e-01 -9.22003546e-01 -8.61753564e-02 1.08200436e+02] [ 8.97852278e-01 3.87177407e-01 -2.09654340e-01 7.31189949e+01] [ 2.26667196e-01 1.76539140e-03 9.73970670e-01 2.13313328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33088847899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:108.21, Y:73.14, Z:21.34 [[ 3.78815116e-01 -9.21465132e-01 -8.60297523e-02 1.08210201e+02] [ 8.97341210e-01 3.88455098e-01 -2.09478854e-01 7.31446055e+01] [ 2.26446156e-01 2.15571438e-03 9.74021299e-01 2.13365468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36088847899998 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:108.22, Y:73.17, Z:21.34 [[ 3.81074234e-01 -9.20502214e-01 -8.63603074e-02 1.08220994e+02] [ 8.96124770e-01 3.90727239e-01 -2.10458121e-01 7.31696484e+01] [ 2.27470491e-01 2.81055663e-03 9.73780918e-01 2.13423684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39088847899998 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:108.22, Y:73.20, Z:21.33 [[ 3.80610865e-01 -9.22731784e-01 -6.08393354e-02 1.08222662e+02] [ 8.97458722e-01 3.84445237e-01 -2.16263038e-01 7.32018967e+01] [ 2.22942172e-01 2.77112698e-02 9.74437722e-01 2.13336002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42088847899998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:108.25, Y:73.21, Z:21.37 [[ 3.82558623e-01 -9.17345886e-01 -1.10115509e-01 1.08253444e+02] [ 8.94922618e-01 3.97536365e-01 -2.02677939e-01 7.32122606e+01] [ 2.29700693e-01 -2.10086667e-02 9.73034546e-01 2.13653443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45088847899999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:108.26, Y:73.24, Z:21.36 [[ 3.82314655e-01 -9.19914073e-01 -8.71412818e-02 1.08256158e+02] [ 8.94974812e-01 3.92105628e-01 -2.12775144e-01 7.32435885e+01] [ 2.29903436e-01 3.35780351e-03 9.73207653e-01 2.13621243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.480888479 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:108.26, Y:73.28, Z:21.35 [[ 3.80907648e-01 -9.22527700e-01 -6.20645374e-02 1.08256599e+02] [ 8.96979812e-01 3.84978200e-01 -2.17299340e-01 7.32764386e+01] [ 2.24358155e-01 2.71003436e-02 9.74129863e-01 2.13521607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510888479 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:108.29, Y:73.29, Z:21.38 [[ 3.81516478e-01 -9.17909037e-01 -1.09032914e-01 1.08286093e+02] [ 8.95134438e-01 3.96301036e-01 -2.04156378e-01 7.32878562e+01] [ 2.30606841e-01 -1.97100938e-02 9.72847366e-01 2.13832923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.540888479 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:108.29, Y:73.32, Z:21.38 [[ 3.80846233e-01 -9.20493740e-01 -8.74495413e-02 1.08290368e+02] [ 8.95280798e-01 3.90744166e-01 -2.13988994e-01 7.33172713e+01] [ 2.31145927e-01 3.20500699e-03 9.72913813e-01 2.13799051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.570888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:108.30, Y:73.34, Z:21.39 [[ 3.81375942e-01 -9.20066004e-01 -8.96155106e-02 1.08302845e+02] [ 8.94903392e-01 3.91761208e-01 -2.13707921e-01 7.33401771e+01] [ 2.31733274e-01 1.30583543e-03 9.72778487e-01 2.13869034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.600888479 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:108.31, Y:73.37, Z:21.39 [[ 3.80026402e-01 -9.21077828e-01 -8.48266974e-02 1.08313256e+02] [ 8.95246870e-01 3.89325750e-01 -2.16699105e-01 7.33675829e+01] [ 2.32621959e-01 6.41054581e-03 9.72546107e-01 2.13910986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.630888479 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:108.33, Y:73.39, Z:21.40 [[ 3.79995563e-01 -9.20808830e-01 -8.78320560e-02 1.08327582e+02] [ 8.95262819e-01 3.90000901e-01 -2.15415371e-01 7.33914874e+01] [ 2.32610956e-01 3.22411097e-03 9.72564521e-01 2.13987518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.660888479 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:108.34, Y:73.42, Z:21.41 [[ 3.79806182e-01 -9.20917617e-01 -8.75100375e-02 1.08338226e+02] [ 8.95522115e-01 3.89744020e-01 -2.14801632e-01 7.34151403e+01] [ 2.31921121e-01 3.21581380e-03 9.72729280e-01 2.14051765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.690888479 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:108.35, Y:73.44, Z:21.41 [[ 3.79698242e-01 -9.20980582e-01 -8.73155947e-02 1.08349808e+02] [ 8.95656839e-01 3.89594973e-01 -2.14510103e-01 7.34398480e+01] [ 2.31577356e-01 3.24429969e-03 9.72811083e-01 2.14118811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.720888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:108.36, Y:73.46, Z:21.42 [[ 3.79346442e-01 -9.21133971e-01 -8.72266251e-02 1.08362873e+02] [ 8.95825523e-01 3.89232402e-01 -2.14463912e-01 7.34633206e+01] [ 2.31501424e-01 3.21628495e-03 9.72829248e-01 2.14194235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75088847899997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:108.37, Y:73.49, Z:21.43 [[ 3.79196841e-01 -9.21191751e-01 -8.72669157e-02 1.08374727e+02] [ 8.95818976e-01 3.89095328e-01 -2.14739814e-01 7.34874247e+01] [ 2.31771695e-01 3.25330013e-03 9.72764770e-01 2.14262398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78088847899997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:108.39, Y:73.51, Z:21.43 [[ 3.79240880e-01 -9.21164931e-01 -8.73585988e-02 1.08386922e+02] [ 8.95694227e-01 3.89158036e-01 -2.15146173e-01 7.35119675e+01] [ 2.32181411e-01 3.34563151e-03 9.72666746e-01 2.14332113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:108.40, Y:73.54, Z:21.44 [[ 3.78913643e-01 -9.21278055e-01 -8.75853657e-02 1.08398478e+02] [ 8.95632001e-01 3.88890041e-01 -2.15888526e-01 7.35356384e+01] [ 2.32954437e-01 3.35885146e-03 9.72481850e-01 2.14395969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84088847899997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:108.41, Y:73.56, Z:21.45 [[ 3.78306766e-01 -9.21482057e-01 -8.80614012e-02 1.08411237e+02] [ 8.95510728e-01 3.88406656e-01 -2.17257465e-01 7.35598675e+01] [ 2.34402490e-01 3.33003933e-03 9.72133933e-01 2.14456005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87088847899997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:108.42, Y:73.59, Z:21.45 [[ 3.77026650e-01 -9.22007601e-01 -8.80504868e-02 1.08422448e+02] [ 8.96013332e-01 3.87159560e-01 -2.17411093e-01 7.35850030e+01] [ 2.34544268e-01 3.07536615e-03 9.72100575e-01 2.14516162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90088847899997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:108.43, Y:73.61, Z:21.46 [[ 3.75717949e-01 -9.22527241e-01 -8.82015410e-02 1.08434097e+02] [ 8.96412548e-01 3.85921609e-01 -2.17965720e-01 7.36099949e+01] [ 2.35118195e-01 2.82866531e-03 9.71962671e-01 2.14582405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:108.45, Y:73.63, Z:21.46 [[ 3.72648710e-01 -9.23776392e-01 -8.81482610e-02 1.08447798e+02] [ 8.97683911e-01 3.82926504e-01 -2.18015798e-01 7.36331092e+01] [ 2.35152153e-01 2.11403005e-03 9.71956273e-01 2.14648792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.46, Y:73.66, Z:21.47 [[ 3.70834091e-01 -9.24520972e-01 -8.79945932e-02 1.08460303e+02] [ 8.98495053e-01 3.81127316e-01 -2.17827017e-01 7.36573551e+01] [ 2.34922789e-01 1.71497721e-03 9.72012522e-01 2.14718109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:73.68, Z:21.48 [[ 3.69005388e-01 -9.25247134e-01 -8.80497870e-02 1.08473052e+02] [ 8.99164068e-01 3.79362601e-01 -2.18146729e-01 7.36817307e+01] [ 2.35242432e-01 1.32611380e-03 9.71935821e-01 2.14792865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:73.70, Z:21.49 [[ 3.65178556e-01 -9.26765621e-01 -8.80346872e-02 1.08486704e+02] [ 9.00690489e-01 3.75639860e-01 -2.18291867e-01 7.37040097e+01] [ 2.35374735e-01 4.23503377e-04 9.71904602e-01 2.14862733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:73.73, Z:21.49 [[ 3.62894547e-01 -9.27657700e-01 -8.80837065e-02 1.08498239e+02] [ 9.01532135e-01 3.73431634e-01 -2.18606095e-01 7.37292988e+01] [ 2.35684870e-01 -7.93321431e-05 9.71829530e-01 2.14927614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:73.75, Z:21.50 [[ 3.60697364e-01 -9.28513610e-01 -8.80902225e-02 1.08509521e+02] [ 9.02365452e-01 3.71297930e-01 -2.18802280e-01 7.37543177e+01] [ 2.35868612e-01 -5.68167884e-04 9.71784788e-01 2.14988240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.52, Y:73.78, Z:21.50 [[ 3.56766294e-01 -9.30026429e-01 -8.81399656e-02 1.08521406e+02] [ 9.03848845e-01 3.67489603e-01 -2.19108781e-01 7.37788854e+01] [ 2.36167478e-01 -1.49457823e-03 9.71711217e-01 2.15046520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.53, Y:73.80, Z:21.51 [[ 3.55349090e-01 -9.30560189e-01 -8.82312838e-02 1.08533104e+02] [ 9.04299255e-01 3.66134620e-01 -2.19518331e-01 7.38036223e+01] [ 2.36579547e-01 -1.78184491e-03 9.71610489e-01 2.15112586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:73.83, Z:21.52 [[ 3.53989327e-01 -9.31060589e-01 -8.84179614e-02 1.08544910e+02] [ 9.04657608e-01 3.64858835e-01 -2.20165035e-01 7.38287473e+01] [ 2.37247062e-01 -2.05190885e-03 9.71447179e-01 2.15179446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:73.85, Z:21.53 [[ 3.52566434e-01 -9.31545043e-01 -8.89985561e-02 1.08557827e+02] [ 9.04759467e-01 3.63618515e-01 -2.21792433e-01 7.38516353e+01] [ 2.38971164e-01 -2.32571895e-03 9.71023879e-01 2.15256143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:73.88, Z:21.53 [[ 3.52017620e-01 -9.31705285e-01 -8.94922220e-02 1.08569252e+02] [ 9.04588477e-01 3.63207260e-01 -2.23159525e-01 7.38762757e+01] [ 2.40423134e-01 -2.39754787e-03 9.70665220e-01 2.15327277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.58, Y:73.90, Z:21.54 [[ 3.51535036e-01 -9.31861923e-01 -8.97578620e-02 1.08579064e+02] [ 9.04540708e-01 3.62804884e-01 -2.24006077e-01 7.39002279e+01] [ 2.41307325e-01 -2.44365550e-03 9.70445673e-01 2.15390285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:108.59, Y:73.92, Z:21.54 [[ 3.51819326e-01 -9.31746582e-01 -8.98413528e-02 1.08588923e+02] [ 9.04322487e-01 3.63101967e-01 -2.24405439e-01 7.39245207e+01] [ 2.41710573e-01 -2.29538533e-03 9.70345676e-01 2.15446705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:73.95, Z:21.55 [[ 3.52451300e-01 -9.31488179e-01 -9.00436148e-02 1.08598825e+02] [ 9.03896244e-01 3.63765692e-01 -2.25046886e-01 7.39503504e+01] [ 2.42383292e-01 -2.07201754e-03 9.70178358e-01 2.15507710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.61, Y:73.97, Z:21.56 [[ 3.52654517e-01 -9.31421939e-01 -8.99331058e-02 1.08609086e+02] [ 9.03849741e-01 3.63935923e-01 -2.24958418e-01 7.39746235e+01] [ 2.42261093e-01 -1.95341219e-03 9.70209125e-01 2.15577877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.380888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:74.00, Z:21.56 [[ 3.52885264e-01 -9.31356600e-01 -8.97043693e-02 1.08619615e+02] [ 9.03875634e-01 3.64103743e-01 -2.24582507e-01 7.39989062e+01] [ 2.41828097e-01 -1.82973639e-03 9.70317383e-01 2.15649904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:74.02, Z:21.57 [[ 3.53331187e-01 -9.31200421e-01 -8.95703553e-02 1.08631363e+02] [ 9.03748341e-01 3.64503867e-01 -2.24445688e-01 7.40231529e+01] [ 2.41652660e-01 -1.64539862e-03 9.70361420e-01 2.15736108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:74.05, Z:21.58 [[ 3.53369592e-01 -9.31171779e-01 -8.97164996e-02 1.08641380e+02] [ 9.03580923e-01 3.64577414e-01 -2.24999611e-01 7.40473740e+01] [ 2.42221897e-01 -1.55809696e-03 9.70219627e-01 2.15807579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:74.07, Z:21.59 [[ 3.53398102e-01 -9.31181171e-01 -8.95064725e-02 1.08651093e+02] [ 9.03672881e-01 3.64553721e-01 -2.24668441e-01 7.40725551e+01] [ 2.41836939e-01 -1.48717141e-03 9.70315765e-01 2.15870050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:74.10, Z:21.59 [[ 3.53614163e-01 -9.31099571e-01 -8.95020286e-02 1.08660851e+02] [ 9.03545035e-01 3.64762575e-01 -2.24843576e-01 7.40982485e+01] [ 2.41998747e-01 -1.36124083e-03 9.70275607e-01 2.15933502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.64, Y:74.14, Z:21.56 [[ 3.50599549e-01 -9.35855518e-01 -3.54175988e-02 1.08642921e+02] [ 9.07873330e-01 3.48913092e-01 -2.32434231e-01 7.41350826e+01] [ 2.29882521e-01 4.93366431e-02 9.71967038e-01 2.15576327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:74.14, Z:21.63 [[ 3.56314930e-01 -9.24888471e-01 -1.32744064e-01 1.08697389e+02] [ 9.02111850e-01 3.77531118e-01 -2.08960440e-01 7.41357816e+01] [ 2.43380117e-01 -4.52942689e-02 9.68872823e-01 2.16279949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:74.17, Z:21.62 [[ 3.57784301e-01 -9.29455620e-01 -9.00146912e-02 1.08692380e+02] [ 9.01499990e-01 3.68933883e-01 -2.26242254e-01 7.41727127e+01] [ 2.43491604e-01 -2.02316388e-04 9.69902984e-01 2.16150380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:74.20, Z:21.62 [[ 3.58589152e-01 -9.29140293e-01 -9.00673961e-02 1.08702299e+02] [ 9.01093803e-01 3.69727343e-01 -2.26564890e-01 7.41966074e+01] [ 2.43810948e-01 8.45393275e-05 9.69822775e-01 2.16217850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:108.71, Y:74.22, Z:21.63 [[ 3.60184969e-01 -9.28465627e-01 -9.06552075e-02 1.08712378e+02] [ 8.99973690e-01 3.71417811e-01 -2.28245848e-01 7.42223269e+01] [ 2.45589383e-01 6.23422233e-04 9.69373749e-01 2.16282074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:74.25, Z:21.63 [[ 3.60798370e-01 -9.28205607e-01 -9.08784268e-02 1.08722645e+02] [ 8.99514886e-01 3.72066642e-01 -2.28996471e-01 7.42478733e+01] [ 2.46368639e-01 8.75055557e-04 9.69175798e-01 2.16342798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.73, Y:74.27, Z:21.64 [[ 3.61911632e-01 -9.27746907e-01 -9.11353265e-02 1.08733085e+02] [ 8.98828630e-01 3.73207823e-01 -2.29832581e-01 7.42730262e+01] [ 2.47238883e-01 1.26404401e-03 9.68953733e-01 2.16403389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:74.30, Z:21.65 [[ 3.61940295e-01 -9.27737859e-01 -9.11135969e-02 1.08742910e+02] [ 8.98783865e-01 3.73230032e-01 -2.29971537e-01 7.42978595e+01] [ 2.47359632e-01 1.34453511e-03 9.68922806e-01 2.16467740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.75, Y:74.32, Z:21.65 [[ 3.62032542e-01 -9.27705386e-01 -9.10777417e-02 1.08752928e+02] [ 8.98721648e-01 3.73310367e-01 -2.30084267e-01 7.43232238e+01] [ 2.47450679e-01 1.44445400e-03 9.68899414e-01 2.16534452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:74.35, Z:21.66 [[ 3.62173286e-01 -9.27652022e-01 -9.10617153e-02 1.08763274e+02] [ 8.98628393e-01 3.73442513e-01 -2.30234011e-01 7.43482027e+01] [ 2.47583362e-01 1.55396562e-03 9.68865349e-01 2.16599747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:74.37, Z:21.67 [[ 3.61569875e-01 -9.27897744e-01 -9.09560446e-02 1.08773887e+02] [ 8.98900279e-01 3.72831928e-01 -2.30162206e-01 7.43725118e+01] [ 2.47478309e-01 1.45930619e-03 9.68892335e-01 2.16668189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.78, Y:74.40, Z:21.67 [[ 3.60715599e-01 -9.28246764e-01 -9.07865727e-02 1.08784444e+02] [ 8.99317835e-01 3.71962721e-01 -2.29937309e-01 7.43973942e+01] [ 2.47207784e-01 1.29599015e-03 9.68961626e-01 2.16735115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.80, Y:74.42, Z:21.68 [[ 3.58553785e-01 -9.28875023e-01 -9.28998121e-02 1.08796262e+02] [ 9.00554673e-01 3.70387650e-01 -2.27627478e-01 7.44225495e+01] [ 2.45846422e-01 -2.04466609e-03 9.69306637e-01 2.16814956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.80, Y:74.45, Z:21.69 [[ 3.58237801e-01 -9.29432544e-01 -8.84354267e-02 1.08804736e+02] [ 9.00736576e-01 3.68983970e-01 -2.29182133e-01 7.44483844e+01] [ 2.45640588e-01 2.44467974e-03 9.69357893e-01 2.16859371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:74.47, Z:21.69 [[ 3.56100145e-01 -9.30145783e-01 -8.95628762e-02 1.08815147e+02] [ 9.01921365e-01 3.67190391e-01 -2.27396282e-01 7.44721495e+01] [ 2.44398320e-01 1.97177313e-04 9.69674905e-01 2.16933805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:74.50, Z:21.69 [[ 3.57306312e-01 -9.30530068e-01 -8.02869380e-02 1.08825928e+02] [ 9.01619178e-01 3.66081060e-01 -2.30363875e-01 7.45032759e+01] [ 2.43752040e-01 9.92222344e-03 9.69786828e-01 2.16942923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.84, Y:74.52, Z:21.71 [[ 3.54383315e-01 -9.29659773e-01 -1.00723246e-01 1.08839024e+02] [ 9.02670655e-01 3.68223801e-01 -2.22703664e-01 7.45194309e+01] [ 2.44127334e-01 -1.19974551e-02 9.69668967e-01 2.17111785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.84, Y:74.55, Z:21.71 [[ 3.52606620e-01 -9.31490272e-01 -8.94116544e-02 1.08844773e+02] [ 9.03285957e-01 3.63765814e-01 -2.27483871e-01 7.45478721e+01] [ 2.44423917e-01 -5.51972868e-04 9.69668317e-01 2.17122695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:74.57, Z:21.72 [[ 3.51685051e-01 -9.31825466e-01 -8.95484538e-02 1.08854692e+02] [ 9.03496138e-01 3.62906034e-01 -2.28021797e-01 7.45737950e+01] [ 2.44974192e-01 -7.14824767e-04 9.69529337e-01 2.17182709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.86, Y:74.60, Z:21.72 [[ 3.51445263e-01 -9.31922117e-01 -8.94840468e-02 1.08864760e+02] [ 9.03589437e-01 3.62657776e-01 -2.28047071e-01 7.45997435e+01] [ 2.44974195e-01 -7.10776528e-04 9.69529339e-01 2.17248447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.87, Y:74.63, Z:21.73 [[ 3.50279238e-01 -9.32333557e-01 -8.97696733e-02 1.08874327e+02] [ 9.03784412e-01 3.61598211e-01 -2.28955170e-01 7.46252632e+01] [ 2.45923141e-01 -9.34188810e-04 9.69288882e-01 2.17309353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:74.65, Z:21.74 [[ 3.48051705e-01 -9.33134660e-01 -9.01094720e-02 1.08883461e+02] [ 9.04342288e-01 3.59524206e-01 -2.30016025e-01 7.46519943e+01] [ 2.47032462e-01 -1.43233650e-03 9.69006146e-01 2.17356507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.89, Y:74.68, Z:21.74 [[ 3.47136040e-01 -9.33489497e-01 -8.99662578e-02 1.08892324e+02] [ 9.04752421e-01 3.58601124e-01 -2.29844058e-01 7.46765295e+01] [ 2.46819015e-01 -1.61003341e-03 9.69060257e-01 2.17412369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.220888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:74.70, Z:21.75 [[ 3.45612106e-01 -9.34076376e-01 -8.97418321e-02 1.08901463e+02] [ 9.05467026e-01 3.57067847e-01 -2.29416692e-01 7.47027378e+01] [ 2.46336635e-01 -1.96908374e-03 9.69182328e-01 2.17474632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:74.73, Z:21.75 [[ 3.42412316e-01 -9.35320126e-01 -8.90509254e-02 1.08910426e+02] [ 9.07148786e-01 3.53791761e-01 -2.27843081e-01 7.47277221e+01] [ 2.44611703e-01 -2.76616165e-03 9.69617173e-01 2.17534190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.92, Y:74.76, Z:21.75 [[ 3.40998441e-01 -9.36547466e-01 -8.12336620e-02 1.08920453e+02] [ 9.08494828e-01 3.50520309e-01 -2.27536064e-01 7.47575972e+01] [ 2.41572373e-01 3.78908133e-03 9.70375408e-01 2.17543293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:74.78, Z:21.77 [[ 3.38886716e-01 -9.35930725e-01 -9.58617346e-02 1.08933493e+02] [ 9.09358636e-01 3.51978939e-01 -2.21760452e-01 7.47760553e+01] [ 2.41293732e-01 -1.20210248e-02 9.70377674e-01 2.17711220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.94, Y:74.80, Z:21.77 [[ 3.37211292e-01 -9.37439593e-01 -8.65768715e-02 1.08939465e+02] [ 9.10786639e-01 3.48125019e-01 -2.21983489e-01 7.48040951e+01] [ 2.38235686e-01 -3.99771873e-03 9.71199143e-01 2.17742523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:74.83, Z:21.78 [[ 3.37224598e-01 -9.37476337e-01 -8.61259954e-02 1.08947790e+02] [ 9.11059910e-01 3.48026775e-01 -2.21014037e-01 7.48293039e+01] [ 2.37169582e-01 -3.93457188e-03 9.71460297e-01 2.17799047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:74.86, Z:21.78 [[ 3.39386245e-01 -9.37193176e-01 -8.05352575e-02 1.08958379e+02] [ 9.09588747e-01 3.48794358e-01 -2.25811442e-01 7.48586419e+01] [ 2.39719186e-01 3.38333342e-03 9.70836374e-01 2.17838270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43088847899998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:108.97, Y:74.88, Z:21.79 [[ 3.39657598e-01 -9.35755631e-01 -9.48373106e-02 1.08966206e+02] [ 9.10333726e-01 3.52422993e-01 -2.17003550e-01 7.48776382e+01] [ 2.36485142e-01 -1.26266979e-02 9.71553058e-01 2.17945449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.97, Y:74.91, Z:21.80 [[ 3.41127043e-01 -9.36105420e-01 -8.56678653e-02 1.08971155e+02] [ 9.09796017e-01 3.51708730e-01 -2.20390964e-01 7.49051071e+01] [ 2.36439312e-01 -2.75896494e-03 9.71642342e-01 2.17960809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.98, Y:74.93, Z:21.80 [[ 3.42832641e-01 -9.35504801e-01 -8.54198367e-02 1.08979677e+02] [ 9.09283927e-01 3.53306716e-01 -2.19947959e-01 7.49315724e+01] [ 2.35941773e-01 -2.26554500e-03 9.71764553e-01 2.18019243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.99, Y:74.96, Z:21.81 [[ 3.44286209e-01 -9.34976415e-01 -8.53587134e-02 1.08987408e+02] [ 9.08732221e-01 3.54705150e-01 -2.19977286e-01 7.49570693e+01] [ 2.35950749e-01 -1.83306743e-03 9.71763286e-01 2.18080034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:108.99, Y:74.98, Z:21.81 [[ 3.48488851e-01 -9.33473515e-01 -8.47509113e-02 1.08994276e+02] [ 9.07515819e-01 3.58645593e-01 -2.18605528e-01 7.49841381e+01] [ 2.34458012e-01 -7.31203342e-04 9.72125972e-01 2.18141625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:75.01, Z:21.82 [[ 3.49941261e-01 -9.32946368e-01 -8.45706132e-02 1.09002630e+02] [ 9.07040600e-01 3.60015250e-01 -2.18326292e-01 7.50103557e+01] [ 2.34133432e-01 -3.07601974e-04 9.72204424e-01 2.18208009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:75.04, Z:21.83 [[ 3.51512609e-01 -9.32370719e-01 -8.44021861e-02 1.09011156e+02] [ 9.06508110e-01 3.61503557e-01 -2.18078483e-01 7.50362915e+01] [ 2.33841683e-01 1.46070410e-04 9.72274676e-01 2.18274483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.02, Y:75.06, Z:21.83 [[ 3.53240486e-01 -9.31766022e-01 -8.38644167e-02 1.09017446e+02] [ 9.06175102e-01 3.63058817e-01 -2.16875495e-01 7.50636804e+01] [ 2.32524933e-01 6.13358830e-04 9.72590242e-01 2.18326573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.03, Y:75.09, Z:21.84 [[ 3.53147552e-01 -9.31824748e-01 -8.36029045e-02 1.09025255e+02] [ 9.06352839e-01 3.62908015e-01 -2.16384622e-01 7.50892348e+01] [ 2.31972709e-01 6.41969601e-04 9.72722083e-01 2.18386103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.03, Y:75.12, Z:21.84 [[ 3.52644199e-01 -9.32047538e-01 -8.32433507e-02 1.09033025e+02] [ 9.06757136e-01 3.62335571e-01 -2.15648858e-01 7.51153790e+01] [ 2.31157015e-01 5.65816608e-04 9.72916294e-01 2.18437633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.04, Y:75.14, Z:21.85 [[ 3.52001674e-01 -9.32289200e-01 -8.32566403e-02 1.09040738e+02] [ 9.06953143e-01 3.61713450e-01 -2.15868887e-01 7.51408133e+01] [ 2.31367279e-01 4.76338085e-04 9.72866361e-01 2.18490518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.760888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.05, Y:75.17, Z:21.85 [[ 3.50147335e-01 -9.33011047e-01 -8.29893416e-02 1.09048007e+02] [ 9.07813336e-01 3.59847720e-01 -2.15370765e-01 7.51675284e+01] [ 2.30806828e-01 7.26682223e-05 9.72999590e-01 2.18547707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:109.06, Y:75.19, Z:21.86 [[ 3.48284117e-01 -9.33730172e-01 -8.27414012e-02 1.09056820e+02] [ 9.08661841e-01 3.57977448e-01 -2.14908829e-01 7.51924013e+01] [ 2.30286414e-01 -3.34622236e-04 9.73122837e-01 2.18607471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.820888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.07, Y:75.22, Z:21.87 [[ 3.46388729e-01 -9.34441797e-01 -8.26642355e-02 1.09066066e+02] [ 9.09395357e-01 3.56115131e-01 -2.14900206e-01 7.52178736e+01] [ 2.30249720e-01 -7.35462639e-04 9.73131299e-01 2.18675465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.850888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:109.07, Y:75.24, Z:21.87 [[ 3.41965174e-01 -9.36084056e-01 -8.25012702e-02 1.09073898e+02] [ 9.11141983e-01 3.51771974e-01 -2.14654994e-01 7.52432987e+01] [ 2.29956752e-01 -1.76583872e-03 9.73199247e-01 2.18725908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.880888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:109.08, Y:75.27, Z:21.88 [[ 3.39858081e-01 -9.36862880e-01 -8.23676459e-02 1.09083072e+02] [ 9.11980590e-01 3.49689888e-01 -2.14495655e-01 7.52695258e+01] [ 2.29756150e-01 -2.21961262e-03 9.73245696e-01 2.18779929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.910888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:109.09, Y:75.30, Z:21.88 [[ 3.37523312e-01 -9.37712932e-01 -8.22950252e-02 1.09092351e+02] [ 9.12856013e-01 3.47400373e-01 -2.14492145e-01 7.52954269e+01] [ 2.29721380e-01 -2.72740948e-03 9.73252613e-01 2.18837754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.940888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:109.10, Y:75.32, Z:21.89 [[ 3.33975890e-01 -9.38969959e-01 -8.24349498e-02 1.09101537e+02] [ 9.14020698e-01 3.43981056e-01 -2.15042313e-01 7.53196165e+01] [ 2.30274332e-01 -3.52830272e-03 9.73119357e-01 2.18900153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.970888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:109.11, Y:75.35, Z:21.90 [[ 3.32092642e-01 -9.39648226e-01 -8.23145710e-02 1.09110600e+02] [ 9.14747164e-01 3.42119604e-01 -2.14922782e-01 7.53451145e+01] [ 2.30113239e-01 -3.92274603e-03 9.73155953e-01 2.18959577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00088847899997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:109.12, Y:75.37, Z:21.90 [[ 3.28898998e-01 -9.40749666e-01 -8.25561302e-02 1.09119317e+02] [ 9.15690534e-01 3.39070101e-01 -2.15736673e-01 7.53713568e+01] [ 2.30946518e-01 -4.64029144e-03 9.72955381e-01 2.19024598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03088847899997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:109.13, Y:75.40, Z:21.91 [[ 3.27072563e-01 -9.41410852e-01 -8.22748182e-02 1.09128481e+02] [ 9.16501203e-01 3.37224514e-01 -2.15186364e-01 7.53971462e+01] [ 2.30323864e-01 -5.02341415e-03 9.73101065e-01 2.19088726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06088847899997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:109.14, Y:75.42, Z:21.92 [[ 3.25527330e-01 -9.41936934e-01 -8.23818603e-02 1.09137843e+02] [ 9.16932880e-01 3.35747427e-01 -2.15656577e-01 7.54227511e+01] [ 2.30794393e-01 -5.33652656e-03 9.72987908e-01 2.19159391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09088847899997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:109.15, Y:75.45, Z:21.92 [[ 3.23942597e-01 -9.42506625e-01 -8.21124605e-02 1.09146652e+02] [ 9.17641458e-01 3.34139582e-01 -2.15139245e-01 7.54477994e+01] [ 2.30207187e-01 -5.65703214e-03 9.73125197e-01 2.19218478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12088847899997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:109.17, Y:75.47, Z:21.94 [[ 3.24503732e-01 -9.41192495e-01 -9.40957802e-02 1.09166118e+02] [ 9.16333936e-01 3.37477783e-01 -2.15501424e-01 7.54726356e+01] [ 2.34583558e-01 -1.62921402e-02 9.71959423e-01 2.19410056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:109.16, Y:75.50, Z:21.93 [[ 3.20099806e-01 -9.44380250e-01 -7.53794263e-02 1.09161091e+02] [ 9.19129782e-01 3.28855470e-01 -2.16920547e-01 7.55002445e+01] [ 2.29644417e-01 1.52749206e-04 9.73274585e-01 2.19320846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18088847899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:109.17, Y:75.52, Z:21.94 [[ 3.19126947e-01 -9.44198764e-01 -8.15272142e-02 1.09172602e+02] [ 9.19649957e-01 3.29308467e-01 -2.14009090e-01 7.55247601e+01] [ 2.28914721e-01 -6.68043134e-03 9.73423558e-01 2.19411285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21088847899998 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:109.19, Y:75.55, Z:21.96 [[ 3.21814878e-01 -9.41498210e-01 -1.00081489e-01 1.09194961e+02] [ 9.17510344e-01 3.36201173e-01 -2.12470093e-01 7.55497289e+01] [ 2.33687727e-01 -2.34497648e-02 9.72028886e-01 2.19642924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24088847899998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:109.18, Y:75.58, Z:21.95 [[ 3.17083221e-01 -9.45871134e-01 -6.91811301e-02 1.09183564e+02] [ 9.20731404e-01 3.24503788e-01 -2.16681731e-01 7.55791546e+01] [ 2.27402533e-01 5.00890201e-03 9.73787964e-01 2.19482251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27088847899998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:109.21, Y:75.60, Z:21.97 [[ 3.21102181e-01 -9.43051182e-01 -8.68784017e-02 1.09207470e+02] [ 9.18684235e-01 3.32454806e-01 -2.13291064e-01 7.56033341e+01] [ 2.30027533e-01 -1.13255920e-02 9.73118217e-01 2.19683344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30088847899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:109.21, Y:75.63, Z:21.97 [[ 3.17606168e-01 -9.44893402e-01 -7.93900627e-02 1.09205648e+02] [ 9.20920156e-01 3.27324740e-01 -2.11576420e-01 7.56273076e+01] [ 2.25903495e-01 -5.91393313e-03 9.74131735e-01 2.19659073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33088847899998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:109.21, Y:75.65, Z:21.97 [[ 3.19985571e-01 -9.44012457e-01 -8.03101190e-02 1.09213457e+02] [ 9.19989158e-01 3.29852605e-01 -2.11700752e-01 7.56539160e+01] [ 2.26338649e-01 -6.14325267e-03 9.74029300e-01 2.19728389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36088847899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:109.22, Y:75.68, Z:21.98 [[ 3.22910502e-01 -9.42885694e-01 -8.18252736e-02 1.09220955e+02] [ 9.18916659e-01 3.33044154e-01 -2.11361691e-01 7.56773872e+01] [ 2.26541344e-01 -6.93969719e-03 9.73976827e-01 2.19791251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39088847899998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:109.23, Y:75.71, Z:21.98 [[ 3.23773535e-01 -9.42901047e-01 -7.81556973e-02 1.09228140e+02] [ 9.18181655e-01 3.33064965e-01 -2.14499830e-01 7.57063849e+01] [ 2.28283039e-01 -2.31175940e-03 9.73592066e-01 2.19842109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42088847899998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:109.23, Y:75.73, Z:21.99 [[ 3.28970716e-01 -9.40967690e-01 -7.97375423e-02 1.09234221e+02] [ 9.15900894e-01 3.38490155e-01 -2.15754412e-01 7.57326762e+01] [ 2.30008304e-01 -2.05480294e-03 9.73186497e-01 2.19901106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45088847899999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:109.24, Y:75.76, Z:22.00 [[ 3.30860602e-01 -9.40077380e-01 -8.23758537e-02 1.09244024e+02] [ 9.15257982e-01 3.40933017e-01 -2.14633419e-01 7.57589503e+01] [ 2.29856670e-01 -4.38141550e-03 9.73214629e-01 2.19976664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.480888479 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:109.25, Y:75.79, Z:22.00 [[ 3.32860193e-01 -9.39451226e-01 -8.14584890e-02 1.09252361e+02] [ 9.14403814e-01 3.42671582e-01 -2.15503717e-01 7.57856356e+01] [ 2.30368740e-01 -2.75334423e-03 9.73099513e-01 2.20036424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510888479 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:109.26, Y:75.81, Z:22.01 [[ 3.34751805e-01 -9.38774064e-01 -8.15137111e-02 1.09261041e+02] [ 9.13627425e-01 3.44526233e-01 -2.15839301e-01 7.58117710e+01] [ 2.30707950e-01 -2.22056626e-03 9.73020509e-01 2.20102885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.540888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:109.27, Y:75.84, Z:22.02 [[ 3.37961970e-01 -9.37625262e-01 -8.14897271e-02 1.09269368e+02] [ 9.12415408e-01 3.47644944e-01 -2.15965545e-01 7.58379449e+01] [ 2.30824242e-01 -1.36434160e-03 9.72994506e-01 2.20166872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.570888479 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:109.29, Y:75.86, Z:22.04 [[ 3.44074657e-01 -9.33853851e-01 -9.76197497e-02 1.09294860e+02] [ 9.08636430e-01 3.57366038e-01 -2.16030909e-01 7.58638681e+01] [ 2.36627279e-01 -1.43701002e-02 9.71494226e-01 2.20391675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.600888479 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:109.28, Y:75.89, Z:22.03 [[ 3.40699608e-01 -9.37308317e-01 -7.33273169e-02 1.09284329e+02] [ 9.11331368e-01 3.48412068e-01 -2.19281026e-01 7.58913248e+01] [ 2.31082051e-01 7.88347533e-03 9.72902326e-01 2.20274772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.630888479 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:109.30, Y:75.92, Z:22.04 [[ 3.44124166e-01 -9.35419212e-01 -8.10521883e-02 1.09295123e+02] [ 9.10317854e-01 3.53540402e-01 -2.15245415e-01 7.59157561e+01] [ 2.29999920e-01 2.87894717e-04 9.73190605e-01 2.20376840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.660888479 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:109.30, Y:75.94, Z:22.04 [[ 3.45945685e-01 -9.34774046e-01 -8.07407327e-02 1.09303460e+02] [ 9.09804697e-01 3.55241981e-01 -2.14612556e-01 7.59407815e+01] [ 2.29296745e-01 7.85989905e-04 9.73356248e-01 2.20438157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.690888479 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:109.31, Y:75.97, Z:22.05 [[ 3.47582517e-01 -9.34174043e-01 -8.06551340e-02 1.09312336e+02] [ 9.09193897e-01 3.56815467e-01 -2.14590728e-01 7.59665764e+01] [ 2.29244087e-01 1.25682973e-03 9.73368157e-01 2.20505037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.720888479 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:109.32, Y:75.99, Z:22.06 [[ 3.48953174e-01 -9.33652700e-01 -8.07732487e-02 1.09321283e+02] [ 9.08539032e-01 3.58175705e-01 -2.15097633e-01 7.59921502e+01] [ 2.29757501e-01 1.67335264e-03 9.73246470e-01 2.20572677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75088847899997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:109.33, Y:76.02, Z:22.06 [[ 3.51272832e-01 -9.32745340e-01 -8.12005383e-02 1.09329677e+02] [ 9.07290919e-01 3.60528208e-01 -2.16431515e-01 7.60180140e+01] [ 2.31150571e-01 2.35400011e-03 9.72915141e-01 2.20623170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78088847899997 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:109.34, Y:76.04, Z:22.07 [[ 3.52155120e-01 -9.32393661e-01 -8.14176414e-02 1.09338887e+02] [ 9.06742480e-01 3.61434553e-01 -2.17216802e-01 7.60440322e+01] [ 2.31958718e-01 2.66917483e-03 9.72721969e-01 2.20683514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81088847899997 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:109.35, Y:76.07, Z:22.07 [[ 3.52792256e-01 -9.32133131e-01 -8.16422058e-02 1.09348071e+02] [ 9.06285714e-01 3.62103990e-01 -2.18006662e-01 7.60703991e+01] [ 2.32774201e-01 2.91989724e-03 9.72526424e-01 2.20743760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84088847899997 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:109.36, Y:76.10, Z:22.08 [[ 3.53063695e-01 -9.32025691e-01 -8.16953982e-02 1.09357465e+02] [ 9.06095709e-01 3.62379256e-01 -2.18338822e-01 7.60961407e+01] [ 2.33102109e-01 3.06366155e-03 9.72447439e-01 2.20805888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87088847899997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:109.37, Y:76.12, Z:22.09 [[ 3.52658583e-01 -9.32159884e-01 -8.19138212e-02 1.09367466e+02] [ 9.06046378e-01 3.62034000e-01 -2.19114909e-01 7.61220243e+01] [ 2.33905716e-01 3.05503231e-03 9.72254484e-01 2.20873762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90088847899997 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:109.38, Y:76.15, Z:22.09 [[ 3.51839314e-01 -9.32468709e-01 -8.19219390e-02 1.09377172e+02] [ 9.06310725e-01 3.61238924e-01 -2.19333786e-01 7.61466592e+01] [ 2.34115286e-01 2.92351699e-03 9.72204447e-01 2.20935701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93088847899998 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:109.39, Y:76.17, Z:22.10 [[ 3.48813659e-01 -9.33580030e-01 -8.22031595e-02 1.09388224e+02] [ 9.07219165e-01 3.58361820e-01 -2.20295692e-01 7.61713007e+01] [ 2.35122133e-01 2.26586477e-03 9.71963193e-01 2.21001550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96088847899998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:109.40, Y:76.20, Z:22.11 [[ 3.46271998e-01 -9.34522227e-01 -8.22429992e-02 1.09398500e+02] [ 9.08114227e-01 3.55900710e-01 -2.20597449e-01 7.61965723e+01] [ 2.35423561e-01 1.70068200e-03 9.71891380e-01 2.21066617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99088847899998 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:109.41, Y:76.22, Z:22.11 [[ 3.43407603e-01 -9.35582686e-01 -8.21964413e-02 1.09408860e+02] [ 9.09187154e-01 3.53106131e-01 -2.20668934e-01 7.62210727e+01] [ 2.35478102e-01 1.04744124e-03 9.71879091e-01 2.21129495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02088847899998 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:109.42, Y:76.25, Z:22.12 [[ 3.43245555e-01 -9.35646266e-01 -8.21495794e-02 1.09418456e+02] [ 9.09248355e-01 3.52937602e-01 -2.20686379e-01 7.62471506e+01] [ 2.35478062e-01 1.05524860e-03 9.71879092e-01 2.21195296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05088847899998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:109.43, Y:76.27, Z:22.13 [[ 3.39996422e-01 -9.36825227e-01 -8.22248527e-02 1.09428979e+02] [ 9.10382259e-01 3.49797672e-01 -2.21010702e-01 7.62725480e+01] [ 2.35810463e-01 2.86800818e-04 9.71799024e-01 2.21263751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08088847899998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:109.44, Y:76.30, Z:22.14 [[ 3.33833630e-01 -9.38734996e-01 -8.56254324e-02 1.09442624e+02] [ 9.12878091e-01 3.44602082e-01 -2.18867532e-01 7.62955943e+01] [ 2.34965314e-01 -5.10023847e-03 9.71990375e-01 2.21350874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11088847899998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:109.45, Y:76.32, Z:22.14 [[ 3.30673792e-01 -9.40489824e-01 -7.83181551e-02 1.09450707e+02] [ 9.13902166e-01 3.39816805e-01 -2.22052628e-01 7.63227314e+01] [ 2.35452063e-01 1.85185315e-03 9.71884199e-01 2.21387173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14088847899998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:109.46, Y:76.35, Z:22.15 [[ 3.27848728e-01 -9.41194654e-01 -8.16568091e-02 1.09462642e+02] [ 9.15112939e-01 3.37854935e-01 -2.20050793e-01 7.63464144e+01] [ 2.34698786e-01 -2.58183020e-03 9.72064717e-01 2.21469028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17088847899998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:109.47, Y:76.37, Z:22.15 [[ 3.24120336e-01 -9.42500635e-01 -8.14773596e-02 1.09473431e+02] [ 9.16526561e-01 3.34186605e-01 -2.19768916e-01 7.63720581e+01] [ 2.34360985e-01 -3.44458944e-03 9.72143541e-01 2.21533181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20088847899999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:109.48, Y:76.40, Z:22.16 [[ 3.22558208e-01 -9.43040977e-01 -8.14243077e-02 1.09482674e+02] [ 9.17071852e-01 3.32655254e-01 -2.19817426e-01 7.63966861e+01] [ 2.34383064e-01 -3.76802557e-03 9.72137018e-01 2.21589181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230888479 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:109.49, Y:76.42, Z:22.16 [[ 3.21387392e-01 -9.43425196e-01 -8.16029697e-02 1.09492471e+02] [ 9.17318139e-01 3.31561202e-01 -2.20441833e-01 7.64219524e+01] [ 2.35026758e-01 -4.00865875e-03 9.71980634e-01 2.21648642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.260888479 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:109.50, Y:76.45, Z:22.17 [[ 3.20638794e-01 -9.43647796e-01 -8.19731749e-02 1.09502720e+02] [ 9.17259528e-01 3.30925703e-01 -2.21637403e-01 7.64468126e+01] [ 2.36274677e-01 -4.12512618e-03 9.71677550e-01 2.21713044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290888479 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:109.51, Y:76.47, Z:22.18 [[ 3.20536013e-01 -9.43672050e-01 -8.20958422e-02 1.09512571e+02] [ 9.17156939e-01 3.30857053e-01 -2.22163813e-01 7.64727416e+01] [ 2.36811769e-01 -4.08326850e-03 9.71546969e-01 2.21780191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.320888479 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:109.52, Y:76.50, Z:22.18 [[ 3.20590547e-01 -9.43645924e-01 -8.21831557e-02 1.09522009e+02] [ 9.17025149e-01 3.30932550e-01 -2.22594978e-01 7.64980466e+01] [ 2.37247925e-01 -4.00217491e-03 9.71440891e-01 2.21846915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.350888479 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:109.53, Y:76.52, Z:22.19 [[ 3.20732867e-01 -9.43594918e-01 -8.22134918e-02 1.09531382e+02] [ 9.16903949e-01 3.31079196e-01 -2.22876008e-01 7.65235579e+01] [ 2.37523846e-01 -3.89821411e-03 9.71373886e-01 2.21908558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.380888479 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:109.54, Y:76.55, Z:22.20 [[ 3.21700148e-01 -9.43264527e-01 -8.22255813e-02 1.09541363e+02] [ 9.16505975e-01 3.32022848e-01 -2.23108999e-01 7.65479418e+01] [ 2.37751576e-01 -3.58603871e-03 9.71319375e-01 2.21976597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.410888479 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:109.55, Y:76.57, Z:22.20 [[ 3.22224486e-01 -9.43089927e-01 -8.21752442e-02 1.09551495e+02] [ 9.16307468e-01 3.32520596e-01 -2.23183057e-01 7.65737444e+01] [ 2.37806654e-01 -3.38274401e-03 9.71306621e-01 2.22046681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.440888479 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:109.56, Y:76.60, Z:22.21 [[ 3.22579172e-01 -9.42979588e-01 -8.20498330e-02 1.09561336e+02] [ 9.16228280e-01 3.32834906e-01 -2.23039602e-01 7.65994631e+01] [ 2.37630840e-01 -3.22844714e-03 9.71350174e-01 2.22109727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.470888479 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:109.57, Y:76.62, Z:22.22 [[ 3.24074516e-01 -9.42502624e-01 -8.16364592e-02 1.09571086e+02] [ 9.15960391e-01 3.34187072e-01 -2.22116101e-01 7.66233917e+01] [ 2.36626857e-01 -2.79359523e-03 9.71596586e-01 2.22173680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50088847899997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:109.58, Y:76.65, Z:22.22 [[ 3.24566999e-01 -9.42355224e-01 -8.13811677e-02 1.09580856e+02] [ 9.15925483e-01 3.34604015e-01 -2.21631820e-01 7.66491261e+01] [ 2.36086369e-01 -2.60471058e-03 9.71728585e-01 2.22235959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53088847899997 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:109.59, Y:76.67, Z:22.23 [[ 3.25405802e-01 -9.41891071e-01 -8.33802943e-02 1.09591239e+02] [ 9.15822526e-01 3.35885083e-01 -2.20114315e-01 7.66735677e+01] [ 2.35329905e-01 -4.73507634e-03 9.71904015e-01 2.22307069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56088847899997 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:109.60, Y:76.70, Z:22.24 [[ 3.27029119e-01 -9.41752731e-01 -7.84458362e-02 1.09599769e+02] [ 9.15199375e-01 3.36305089e-01 -2.22056280e-01 7.67005722e+01] [ 2.35503842e-01 8.25289204e-04 9.71873068e-01 2.22354710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59088847899997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:109.61, Y:76.72, Z:22.24 [[ 3.28189977e-01 -9.41157035e-01 -8.07141492e-02 1.09611064e+02] [ 9.14978341e-01 3.37966222e-01 -2.20439261e-01 7.67246233e+01] [ 2.34746617e-01 -1.50574246e-03 9.72055430e-01 2.22432581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62088847899997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:109.62, Y:76.75, Z:22.25 [[ 3.29351428e-01 -9.40779551e-01 -8.03832924e-02 1.09621572e+02] [ 9.14757606e-01 3.39016951e-01 -2.19740824e-01 7.67493997e+01] [ 2.33978972e-01 -1.15927397e-03 9.72240966e-01 2.22501872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65088847899997 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:109.63, Y:76.77, Z:22.26 [[ 3.30375039e-01 -9.40434936e-01 -8.02151184e-02 1.09631691e+02] [ 9.14467093e-01 3.39972670e-01 -2.19473276e-01 7.67735911e+01] [ 2.33671284e-01 -8.45594267e-04 9.72315286e-01 2.22567310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68088847899998 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:109.64, Y:76.80, Z:22.26 [[ 3.34126500e-01 -9.39119848e-01 -8.00836672e-02 1.09642334e+02] [ 9.13151937e-01 3.43589710e-01 -2.19316324e-01 7.67992251e+01] [ 2.33480237e-01 1.50840018e-04 9.72361536e-01 2.22634301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71088847899998 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:109.65, Y:76.82, Z:22.27 [[ 3.37048086e-01 -9.38305774e-01 -7.73360320e-02 1.09650110e+02] [ 9.11910852e-01 3.45783882e-01 -2.21025124e-01 7.68246665e+01] [ 2.34130703e-01 3.97252801e-03 9.72197013e-01 2.22675884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74088847899998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:109.66, Y:76.85, Z:22.28 [[ 3.39164185e-01 -9.37111807e-01 -8.23960968e-02 1.09661932e+02] [ 9.11199193e-01 3.49028270e-01 -2.18849943e-01 7.68496674e+01] [ 2.33845433e-01 -8.53194267e-04 9.72273411e-01 2.22756867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77088847899998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:109.67, Y:76.88, Z:22.28 [[ 3.43808363e-01 -9.35872972e-01 -7.70557568e-02 1.09669574e+02] [ 9.08850844e-01 3.52272657e-01 -2.23369914e-01 7.68771696e+01] [ 2.36190501e-01 6.76425475e-03 9.71683226e-01 2.22786505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80088847899998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:109.68, Y:76.90, Z:22.29 [[ 3.46102772e-01 -9.34673228e-01 -8.12331739e-02 1.09680854e+02] [ 9.07737846e-01 3.55492041e-01 -2.22794553e-01 7.69007363e+01] [ 2.37117851e-01 3.37138607e-03 9.71475043e-01 2.22863999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83088847899998 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:109.69, Y:76.92, Z:22.29 [[ 3.47580870e-01 -9.33876758e-01 -8.40341621e-02 1.09691723e+02] [ 9.07322488e-01 3.57594505e-01 -2.21115520e-01 7.69246544e+01] [ 2.36544799e-01 6.09439609e-04 9.71620392e-01 2.22933488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:109.69, Y:76.96, Z:22.28 [[ 3.51815084e-01 -9.34603881e-01 -5.23615656e-02 1.09691277e+02] [ 9.05606243e-01 3.53987148e-01 -2.33603151e-01 7.69591608e+01] [ 2.36861732e-01 3.47661512e-02 9.70921127e-01 2.22830428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89088847899998 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:109.72, Y:76.97, Z:22.32 [[ 3.52416699e-01 -9.29965237e-01 -1.04724052e-01 1.09720609e+02] [ 9.05246164e-01 3.67133766e-01 -2.13874217e-01 7.69690500e+01] [ 2.37343323e-01 -1.94282007e-02 9.71231534e-01 2.23152551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.72, Y:77.00, Z:22.31 [[ 3.52277595e-01 -9.32262988e-01 -8.23784971e-02 1.09721183e+02] [ 9.05482841e-01 3.61763714e-01 -2.21873475e-01 7.69999005e+01] [ 2.36645980e-01 3.56873866e-03 9.71589391e-01 2.23118094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95088847899999 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:109.73, Y:77.03, Z:22.32 [[ 3.51851204e-01 -9.32770102e-01 -7.83624048e-02 1.09729086e+02] [ 9.05555191e-01 3.60387728e-01 -2.23809027e-01 7.70251363e+01] [ 2.37003218e-01 7.78599335e-03 9.71477665e-01 2.23162724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.980888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:109.74, Y:77.05, Z:22.33 [[ 3.52672688e-01 -9.31730659e-01 -8.66022717e-02 1.09744991e+02] [ 9.05941030e-01 3.63146201e-01 -2.17705503e-01 7.70455899e+01] [ 2.34292178e-01 -1.67776627e-03 9.72164781e-01 2.23255510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:109.75, Y:77.08, Z:22.33 [[ 3.51252761e-01 -9.33571916e-01 -7.11686469e-02 1.09749493e+02] [ 9.06019850e-01 3.58085718e-01 -2.25616157e-01 7.70751597e+01] [ 2.36113384e-01 1.47680913e-02 9.71613284e-01 2.23262953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.040888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.76, Y:77.11, Z:22.32 [[ 3.50148064e-01 -9.34547614e-01 -6.33805194e-02 1.09759148e+02] [ 9.07866055e-01 3.55251634e-01 -2.22655568e-01 7.71051467e+01] [ 2.30598263e-01 2.04213939e-02 9.72834728e-01 2.23244491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:77.12, Z:22.36 [[ 3.49620186e-01 -9.30828372e-01 -1.06415546e-01 1.09784754e+02] [ 9.06396776e-01 3.64794738e-01 -2.13001607e-01 7.71160277e+01] [ 2.37087770e-01 -2.19850468e-02 9.71239439e-01 2.23570814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.79, Y:77.15, Z:22.35 [[ 3.47785993e-01 -9.34135253e-01 -8.02261283e-02 1.09785276e+02] [ 9.07170407e-01 3.56887826e-01 -2.22874253e-01 7.71473744e+01] [ 2.36826425e-01 4.73377389e-03 9.71540445e-01 2.23510541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.130888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.80, Y:77.17, Z:22.36 [[ 3.46727005e-01 -9.34503927e-01 -8.05158010e-02 1.09795495e+02] [ 9.07314412e-01 3.55923687e-01 -2.23827807e-01 7.71730496e+01] [ 2.37825446e-01 4.55399856e-03 9.71297235e-01 2.23571066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.79, Y:77.21, Z:22.34 [[ 3.44340536e-01 -9.37803783e-01 -4.42002345e-02 1.09790990e+02] [ 9.10405295e-01 3.45039453e-01 -2.28276095e-01 7.72105306e+01] [ 2.29329010e-01 3.83645855e-02 9.72592599e-01 2.23363465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.190888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:77.22, Z:22.38 [[ 3.42987524e-01 -9.32915123e-01 -1.09676483e-01 1.09828145e+02] [ 9.08890840e-01 3.59086724e-01 -2.12071134e-01 7.72155981e+01] [ 2.37227737e-01 -2.69461970e-02 9.71080276e-01 2.23786325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.220888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:109.83, Y:77.24, Z:22.37 [[ 3.43200705e-01 -9.35432342e-01 -8.47325800e-02 1.09828254e+02] [ 9.09106814e-01 3.53502997e-01 -2.20364314e-01 7.72442091e+01] [ 2.36089128e-01 -1.40177785e-03 9.71730394e-01 2.23734734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:77.27, Z:22.38 [[ 3.39809837e-01 -9.37590175e-01 -7.38507828e-02 1.09834607e+02] [ 9.10008320e-01 3.47610415e-01 -2.25946580e-01 7.72736025e+01] [ 2.37516595e-01 9.57404363e-03 9.71336299e-01 2.23755945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:77.30, Z:22.38 [[ 3.38589217e-01 -9.38016580e-01 -7.40421300e-02 1.09845088e+02] [ 9.10031158e-01 3.46454899e-01 -2.27623140e-01 7.72984761e+01] [ 2.39166538e-01 9.69009553e-03 9.70930208e-01 2.23821515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.86, Y:77.32, Z:22.39 [[ 3.34366346e-01 -9.38523768e-01 -8.58619983e-02 1.09861067e+02] [ 9.12214305e-01 3.45184941e-01 -2.20708899e-01 7.73189912e+01] [ 2.36778817e-01 -4.52691490e-03 9.71553035e-01 2.23941157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34088847899997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:109.86, Y:77.35, Z:22.39 [[ 3.33205584e-01 -9.40319034e-01 -6.90952448e-02 1.09862982e+02] [ 9.11970049e-01 3.40027312e-01 -2.29547504e-01 7.73462838e+01] [ 2.39342157e-01 1.34737162e-02 9.70841795e-01 2.23930047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.88, Y:77.37, Z:22.41 [[ 3.30257863e-01 -9.39660466e-01 -8.92633849e-02 1.09881226e+02] [ 9.13726867e-01 3.41987551e-01 -2.19425903e-01 7.73662991e+01] [ 2.36712813e-01 -9.09522313e-03 9.71537092e-01 2.24083316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:77.39, Z:22.41 [[ 3.28223926e-01 -9.41258934e-01 -7.93767862e-02 1.09887482e+02] [ 9.14575693e-01 3.37685390e-01 -2.22530624e-01 7.73943954e+01] [ 2.36263319e-01 4.43795771e-04 9.71688966e-01 2.24108044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.90, Y:77.42, Z:22.42 [[ 3.25891459e-01 -9.42311424e-01 -7.64456523e-02 1.09896724e+02] [ 9.15534966e-01 3.34726565e-01 -2.23055717e-01 7.74186953e+01] [ 2.35776341e-01 2.70328553e-03 9.71803586e-01 2.24156527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.91, Y:77.44, Z:22.43 [[ 3.23657896e-01 -9.42439235e-01 -8.39872318e-02 1.09909015e+02] [ 9.16742434e-01 3.34319562e-01 -2.18663531e-01 7.74424318e+01] [ 2.34155665e-01 -6.22248113e-03 9.72179204e-01 2.24255960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.91, Y:77.47, Z:22.43 [[ 3.22425440e-01 -9.43449300e-01 -7.71054696e-02 1.09914860e+02] [ 9.17259703e-01 3.31516538e-01 -2.20751948e-01 7.74692520e+01] [ 2.33830010e-01 4.50304000e-04 9.72277390e-01 2.24286873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52088847899998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:109.92, Y:77.50, Z:22.43 [[ 3.20004017e-01 -9.44670041e-01 -7.20828861e-02 1.09920201e+02] [ 9.17734465e-01 3.27975304e-01 -2.24043862e-01 7.74956900e+01] [ 2.35288930e-01 5.54198678e-03 9.71909669e-01 2.24326652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55088847899998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:109.93, Y:77.52, Z:22.44 [[ 3.18501931e-01 -9.44357224e-01 -8.21337520e-02 1.09933076e+02] [ 9.18411128e-01 3.28877445e-01 -2.19910493e-01 7.75186860e+01] [ 2.34686002e-01 -5.39063519e-03 9.72056285e-01 2.24433216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58088847899998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:109.94, Y:77.54, Z:22.45 [[ 3.18147169e-01 -9.44670587e-01 -7.98740359e-02 1.09940306e+02] [ 9.18711075e-01 3.28002927e-01 -2.19963724e-01 7.75428494e+01] [ 2.33992178e-01 -3.40032535e-03 9.72232533e-01 2.24476551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.95, Y:77.57, Z:22.45 [[ 3.17204990e-01 -9.45130617e-01 -7.81608006e-02 1.09948212e+02] [ 9.19087882e-01 3.26686927e-01 -2.20347720e-01 7.75695473e+01] [ 2.33791488e-01 -1.94124836e-03 9.72284820e-01 2.24532875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64088847899998 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:109.96, Y:77.59, Z:22.46 [[ 3.16596076e-01 -9.45159029e-01 -8.02579213e-02 1.09955539e+02] [ 9.19446505e-01 3.26580081e-01 -2.19005881e-01 7.75934246e+01] [ 2.33206024e-01 -4.45646267e-03 9.72417138e-01 2.24602290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:109.96, Y:77.62, Z:22.46 [[ 3.16812856e-01 -9.45664426e-01 -7.31328081e-02 1.09960154e+02] [ 9.19135348e-01 3.25127976e-01 -2.22445524e-01 7.76191370e+01] [ 2.34136341e-01 3.25465280e-03 9.72198324e-01 2.24631423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.95, Y:77.65, Z:22.45 [[ 3.14308785e-01 -9.48301145e-01 -4.39877891e-02 1.09953706e+02] [ 9.21837793e-01 3.15950288e-01 -2.24478279e-01 7.76521194e+01] [ 2.26770964e-01 3.00058888e-02 9.73485787e-01 2.24461047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:77.66, Z:22.49 [[ 3.16839874e-01 -9.42449350e-01 -1.06778823e-01 1.09989588e+02] [ 9.19202701e-01 3.32862937e-01 -2.10401189e-01 7.76600704e+01] [ 2.33835176e-01 -3.14878962e-02 9.71766239e-01 2.24921187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.760888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:109.98, Y:77.69, Z:22.49 [[ 3.16356379e-01 -9.45395213e-01 -7.83998279e-02 1.09984547e+02] [ 9.19477175e-01 3.25916375e-01 -2.19864142e-01 7.76933251e+01] [ 2.33410295e-01 -2.53142848e-03 9.72375044e-01 2.24857910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:77.72, Z:22.49 [[ 3.15746535e-01 -9.45943812e-01 -7.41244200e-02 1.09990105e+02] [ 9.19508306e-01 3.24324613e-01 -2.22076611e-01 7.77197556e+01] [ 2.34112370e-01 1.96190055e-03 9.72207565e-01 2.24900567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.820888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.00, Y:77.75, Z:22.50 [[ 3.15749508e-01 -9.45707743e-01 -7.70656419e-02 1.09999776e+02] [ 9.19602026e-01 3.25016067e-01 -2.20673218e-01 7.77453624e+01] [ 2.33739943e-01 -1.19226028e-03 9.72298420e-01 2.24979063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.850888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.01, Y:77.77, Z:22.50 [[ 3.15636862e-01 -9.45998314e-01 -7.38956134e-02 1.10006550e+02] [ 9.19540182e-01 3.24164230e-01 -2.22178769e-01 7.77717862e+01] [ 2.34135056e-01 2.17782373e-03 9.72201642e-01 2.25029998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.02, Y:77.80, Z:22.51 [[ 3.14168158e-01 -9.46269089e-01 -7.66366748e-02 1.10016220e+02] [ 9.20185161e-01 3.23378066e-01 -2.20648808e-01 7.77983148e+01] [ 2.33575766e-01 -1.19910140e-03 9.72337865e-01 2.25120081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.910888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.03, Y:77.82, Z:22.52 [[ 3.13925487e-01 -9.46274997e-01 -7.75526829e-02 1.10025752e+02] [ 9.20270318e-01 3.23355494e-01 -2.20326500e-01 7.78243301e+01] [ 2.33566544e-01 -2.20332824e-03 9.72338323e-01 2.25190931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.940888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:110.03, Y:77.85, Z:22.53 [[ 3.15354248e-01 -9.45405234e-01 -8.22231245e-02 1.10034993e+02] [ 9.20299730e-01 3.25813567e-01 -2.16550056e-01 7.78451100e+01] [ 2.31516966e-01 -7.37993931e-03 9.72802874e-01 2.25273076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.970888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:110.01, Y:77.89, Z:22.48 [[ 3.10369132e-01 -9.50553871e-01 -1.08784613e-02 1.10005383e+02] [ 9.25582868e-01 3.04785060e-01 -2.24504836e-01 7.78870684e+01] [ 2.16719533e-01 5.96104538e-02 9.74412252e-01 2.24820630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.07, Y:77.89, Z:22.56 [[ 3.19210323e-01 -9.39400837e-01 -1.25023346e-01 1.10065346e+02] [ 9.18256225e-01 3.39215298e-01 -2.04299994e-01 7.78856516e+01] [ 2.34329417e-01 -4.95887981e-02 9.70891691e-01 2.25589431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03088847899997 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:110.05, Y:77.92, Z:22.54 [[ 3.20324291e-01 -9.44343433e-01 -7.48854392e-02 1.10052468e+02] [ 9.17430415e-01 3.28947472e-01 -2.23863786e-01 7.79238260e+01] [ 2.36037673e-01 3.00682925e-03 9.71739253e-01 2.25427462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06088847899997 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:110.06, Y:77.95, Z:22.55 [[ 3.21962807e-01 -9.43540635e-01 -7.79167551e-02 1.10061424e+02] [ 9.16831120e-01 3.31256636e-01 -2.22911953e-01 7.79485135e+01] [ 2.36136928e-01 3.32852262e-04 9.71719734e-01 2.25496200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09088847899997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:110.03, Y:77.99, Z:22.51 [[ 3.17859375e-01 -9.48124261e-01 -5.07971698e-03 1.10032005e+02] [ 9.21051218e-01 3.10045708e-01 -2.35661439e-01 7.79929782e+01] [ 2.25011272e-01 7.02285180e-02 9.71821940e-01 2.25065154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:77.98, Z:22.59 [[ 3.25675851e-01 -9.35365270e-01 -1.37938576e-01 1.10100236e+02] [ 9.15037274e-01 3.48540734e-01 -2.03042222e-01 7.79836161e+01] [ 2.37995855e-01 -6.00929901e-02 9.69405388e-01 2.25883685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:78.03, Z:22.57 [[ 3.24259317e-01 -9.42965296e-01 -7.53149739e-02 1.10084335e+02] [ 9.15298994e-01 3.32859235e-01 -2.26787302e-01 7.80270690e+01] [ 2.38921840e-01 4.60217602e-03 9.71027896e-01 2.25672284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:110.07, Y:78.06, Z:22.55 [[ 3.20366526e-01 -9.46361297e-01 -4.20188530e-02 1.10073619e+02] [ 9.18954458e-01 3.21245022e-01 -2.28745144e-01 7.80583996e+01] [ 2.29973899e-01 3.46688749e-02 9.72579084e-01 2.25453578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21088847899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:110.11, Y:78.07, Z:22.59 [[ 3.23010705e-01 -9.40271085e-01 -1.07491258e-01 1.10112068e+02] [ 9.16237662e-01 3.39138059e-01 -2.13293046e-01 7.80676372e+01] [ 2.37007661e-01 -2.95916019e-02 9.71057004e-01 2.25901126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.11, Y:78.10, Z:22.58 [[ 3.21842396e-01 -9.43295756e-01 -8.13055333e-02 1.10110287e+02] [ 9.17188043e-01 3.31933627e-01 -2.20422689e-01 7.80970751e+01] [ 2.34911828e-01 -3.63109655e-03 9.72009901e-01 2.25849348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:110.12, Y:78.12, Z:22.59 [[ 3.20344939e-01 -9.44450797e-01 -7.34289606e-02 1.10116321e+02] [ 9.17755016e-01 3.28627922e-01 -2.23000941e-01 7.81244324e+01] [ 2.34744223e-01 4.04742605e-03 9.72048748e-01 2.25881110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:110.13, Y:78.15, Z:22.60 [[ 3.19676673e-01 -9.44175219e-01 -7.96239910e-02 1.10132630e+02] [ 9.17076323e-01 3.29441424e-01 -2.24587103e-01 7.81519147e+01] [ 2.38281018e-01 -1.22601902e-03 9.71195476e-01 2.26005220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33088847899998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:110.14, Y:78.18, Z:22.60 [[ 3.17501500e-01 -9.45322660e-01 -7.45510886e-02 1.10135316e+02] [ 9.18620575e-01 3.26128093e-01 -2.23106940e-01 7.81752700e+01] [ 2.35221250e-01 2.35262421e-03 9.71939005e-01 2.26022225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36088847899998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:110.12, Y:78.21, Z:22.57 [[ 3.11869269e-01 -9.49651795e-01 -2.99837934e-02 1.10120563e+02] [ 9.22925835e-01 3.10287348e-01 -2.27880814e-01 7.82084359e+01] [ 2.25711016e-01 4.33962054e-02 9.73227264e-01 2.25745471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39088847899998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:110.17, Y:78.21, Z:22.63 [[ 3.16015886e-01 -9.41279307e-01 -1.18858008e-01 1.10170638e+02] [ 9.19029942e-01 3.34816315e-01 -2.08043268e-01 7.82135279e+01] [ 2.35622423e-01 -4.34890903e-02 9.70871141e-01 2.26343942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:110.16, Y:78.25, Z:22.62 [[ 3.14318474e-01 -9.46693649e-01 -7.05339066e-02 1.10160650e+02] [ 9.18993401e-01 3.22066312e-01 -2.27430033e-01 7.82519321e+01] [ 2.38023163e-01 6.66526629e-03 9.71236608e-01 2.26196684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45088847899999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.17, Y:78.28, Z:22.63 [[ 3.12547526e-01 -9.46757895e-01 -7.72239060e-02 1.10172071e+02] [ 9.19001895e-01 3.21946367e-01 -2.27565492e-01 7.82765012e+01] [ 2.40311383e-01 1.56115623e-04 9.70695841e-01 2.26293438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.480888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:110.16, Y:78.31, Z:22.60 [[ 3.08141220e-01 -9.50871992e-01 -2.98570466e-02 1.10156869e+02] [ 9.23063301e-01 3.06429815e-01 -2.32497118e-01 7.83123746e+01] [ 2.30224087e-01 4.40820015e-02 9.72138697e-01 2.26012576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:110.21, Y:78.32, Z:22.66 [[ 3.12368454e-01 -9.42279129e-01 -1.20565301e-01 1.10207218e+02] [ 9.18615018e-01 3.31952394e-01 -2.14368975e-01 7.83171269e+01] [ 2.42017352e-01 -4.37909902e-02 9.69283215e-01 2.26616035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.540888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:110.20, Y:78.35, Z:22.65 [[ 3.12655859e-01 -9.46491105e-01 -8.00056436e-02 1.10199871e+02] [ 9.18303720e-01 3.22724963e-01 -2.29274676e-01 7.83529330e+01] [ 2.42826259e-01 -1.78540948e-03 9.70068152e-01 2.26506465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.570888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:110.21, Y:78.38, Z:22.66 [[ 3.13518067e-01 -9.46188209e-01 -8.02140500e-02 1.10208284e+02] [ 9.17788343e-01 3.23613459e-01 -2.30084522e-01 7.83777285e+01] [ 2.43661608e-01 -1.48386526e-03 9.69859175e-01 2.26576514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.600888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:110.22, Y:78.40, Z:22.66 [[ 3.13704903e-01 -9.46133126e-01 -8.01332757e-02 1.10216818e+02] [ 9.17750089e-01 3.23774897e-01 -2.30009977e-01 7.84039717e+01] [ 2.43565201e-01 -1.38706354e-03 9.69883534e-01 2.26640996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.630888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:110.23, Y:78.43, Z:22.67 [[ 3.14305904e-01 -9.45915602e-01 -8.03459593e-02 1.10225315e+02] [ 9.17319861e-01 3.24410769e-01 -2.30828778e-01 7.84295547e+01] [ 2.44409636e-01 -1.15209658e-03 9.69671389e-01 2.26709635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.660888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.21, Y:78.46, Z:22.65 [[ 3.12284405e-01 -9.49007863e-01 -4.31569906e-02 1.10214533e+02] [ 9.20514370e-01 3.13511411e-01 -2.33160655e-01 7.84614583e+01] [ 2.34801504e-01 3.30858063e-02 9.71480099e-01 2.26493725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.690888479 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:110.26, Y:78.47, Z:22.70 [[ 3.16000767e-01 -9.42346361e-01 -1.10121982e-01 1.10255670e+02] [ 9.16614504e-01 3.33188024e-01 -2.20915347e-01 7.84732050e+01] [ 2.44870099e-01 -3.11299864e-02 9.69056014e-01 2.26996485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.720888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.23, Y:78.52, Z:22.66 [[ 3.11972852e-01 -9.49548736e-01 -3.20957660e-02 1.10227424e+02] [ 9.20784314e-01 3.10502850e-01 -2.36102156e-01 7.85154506e+01] [ 2.34156330e-01 4.41041851e-02 9.71198040e-01 2.26598230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:78.53, Z:22.69 [[ 3.14121193e-01 -9.46543637e-01 -7.33690601e-02 1.10256282e+02] [ 9.19829975e-01 3.22564847e-01 -2.23304137e-01 7.85337270e+01] [ 2.35033390e-01 2.65750110e-03 9.71983664e-01 2.26856191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78088847899997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:110.28, Y:78.55, Z:22.72 [[ 3.17648552e-01 -9.40874322e-01 -1.17706871e-01 1.10284282e+02] [ 9.16121507e-01 3.36545555e-01 -2.17849657e-01 7.85476206e+01] [ 2.44582873e-01 -3.86341681e-02 9.68858410e-01 2.27249754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:78.59, Z:22.68 [[ 3.12618487e-01 -9.49549668e-01 -2.50022086e-02 1.10249059e+02] [ 9.21059540e-01 3.09463117e-01 -2.36393534e-01 7.85948921e+01] [ 2.32204663e-01 5.08724660e-02 9.71335672e-01 2.26764961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:110.30, Y:78.60, Z:22.74 [[ 3.18403681e-01 -9.39603791e-01 -1.25554017e-01 1.10303986e+02] [ 9.15678383e-01 3.39120144e-01 -2.15709590e-01 7.85976330e+01] [ 2.45259445e-01 -4.62843723e-02 9.68351982e-01 2.27429820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87088847899997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:110.29, Y:78.63, Z:22.73 [[ 3.19140917e-01 -9.44277814e-01 -8.05511299e-02 1.10293949e+02] [ 9.15483036e-01 3.29149506e-01 -2.31411785e-01 7.86337876e+01] [ 2.45030379e-01 1.09776274e-04 9.69515395e-01 2.27296891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90088847899997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:110.30, Y:78.66, Z:22.74 [[ 3.20337916e-01 -9.43885097e-01 -8.04023773e-02 1.10302603e+02] [ 9.15130821e-01 3.30273657e-01 -2.31203141e-01 7.86593971e+01] [ 2.44783987e-01 4.84439021e-04 9.69577519e-01 2.27373059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93088847899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:110.31, Y:78.68, Z:22.74 [[ 3.20304358e-01 -9.43893522e-01 -8.04371594e-02 1.10310983e+02] [ 9.15060290e-01 3.30249474e-01 -2.31516631e-01 7.86847535e+01] [ 2.45091378e-01 5.50935611e-04 9.69499826e-01 2.27444783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.33, Y:78.71, Z:22.76 [[ 3.23270632e-01 -9.41448911e-01 -9.57603532e-02 1.10331587e+02] [ 9.12984134e-01 3.36903557e-01 -2.30121628e-01 7.87103530e+01] [ 2.48909760e-01 -1.30361189e-02 9.68438945e-01 2.27643029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99088847899998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:110.32, Y:78.74, Z:22.75 [[ 3.20673379e-01 -9.44478908e-01 -7.16112806e-02 1.10322341e+02] [ 9.14717546e-01 3.28419982e-01 -2.35440282e-01 7.87384014e+01] [ 2.45886956e-01 9.99533579e-03 9.69246975e-01 2.27532151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02088847899998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:110.33, Y:78.76, Z:22.76 [[ 3.20660045e-01 -9.43725821e-01 -8.09858660e-02 1.10332180e+02] [ 9.14339965e-01 3.30727683e-01 -2.33669914e-01 7.87626546e+01] [ 2.47304599e-01 8.79991155e-04 9.68937388e-01 2.27625495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.34, Y:78.79, Z:22.77 [[ 3.20329199e-01 -9.43820381e-01 -8.11929337e-02 1.10340591e+02] [ 9.14227342e-01 3.30457719e-01 -2.34491072e-01 7.87882750e+01] [ 2.48148285e-01 8.85537343e-04 9.68721655e-01 2.27691980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08088847899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:110.35, Y:78.81, Z:22.78 [[ 3.18794517e-01 -9.44343144e-01 -8.11546789e-02 1.10349022e+02] [ 9.14738351e-01 3.28961576e-01 -2.34601856e-01 7.88136105e+01] [ 2.48241426e-01 5.54488261e-04 9.68698037e-01 2.27759035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11088847899998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:110.36, Y:78.84, Z:22.78 [[ 3.17655251e-01 -9.44739253e-01 -8.10116370e-02 1.10357637e+02] [ 9.15193588e-01 3.27822573e-01 -2.34420683e-01 7.88383850e+01] [ 2.48023864e-01 3.23630146e-04 9.68753869e-01 2.27829628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14088847899998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:110.37, Y:78.86, Z:22.79 [[ 3.15900588e-01 -9.45336921e-01 -8.09007032e-02 1.10366257e+02] [ 9.15833970e-01 3.26095233e-01 -2.34328910e-01 7.88645698e+01] [ 2.47901104e-01 -6.69717804e-05 9.68785342e-01 2.27901739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17088847899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:110.37, Y:78.89, Z:22.80 [[ 3.14482116e-01 -9.45824273e-01 -8.07306899e-02 1.10374370e+02] [ 9.16406983e-01 3.24678770e-01 -2.34055415e-01 7.88893535e+01] [ 2.47586833e-01 -3.75926039e-04 9.68865635e-01 2.27965454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20088847899999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:110.38, Y:78.91, Z:22.80 [[ 3.11772727e-01 -9.46728647e-01 -8.06389211e-02 1.10382614e+02] [ 9.17349908e-01 3.22030810e-01 -2.34019877e-01 7.89148233e+01] [ 2.47521539e-01 -1.01309164e-03 9.68881861e-01 2.28036874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230888479 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:110.37, Y:78.95, Z:22.79 [[ 3.07665554e-01 -9.50412604e-01 -4.53628662e-02 1.10374428e+02] [ 9.20947311e-01 3.09432833e-01 -2.36869950e-01 7.89495067e+01] [ 2.39160946e-01 3.10999147e-02 9.70481755e-01 2.27852103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.260888479 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:110.41, Y:78.96, Z:22.83 [[ 3.09041205e-01 -9.44680300e-01 -1.09875678e-01 1.10412302e+02] [ 9.18343014e-01 3.26452431e-01 -2.23774259e-01 7.89587886e+01] [ 2.47264316e-01 -3.17480948e-02 9.68427806e-01 2.28301585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290888479 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:110.41, Y:78.99, Z:22.82 [[ 3.07704459e-01 -9.48077584e-01 -8.04167981e-02 1.10409152e+02] [ 9.18795505e-01 3.18033221e-01 -2.33815503e-01 7.89912532e+01] [ 2.47250451e-01 -1.94051978e-03 9.68949663e-01 2.28247271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.320888479 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:110.42, Y:79.02, Z:22.83 [[ 3.04814520e-01 -9.49009672e-01 -8.04285475e-02 1.10418123e+02] [ 9.19690276e-01 3.15236096e-01 -2.34085455e-01 7.90172254e+01] [ 2.47503342e-01 -2.61670736e-03 9.68883506e-01 2.28321597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.350888479 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:110.43, Y:79.04, Z:22.84 [[ 3.03496874e-01 -9.49437494e-01 -8.03622573e-02 1.10426970e+02] [ 9.20125653e-01 3.13942809e-01 -2.34112570e-01 7.90435273e+01] [ 2.47504405e-01 -2.89094105e-03 9.68882455e-01 2.28390088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.380888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:110.43, Y:79.07, Z:22.84 [[ 3.02057707e-01 -9.50248411e-01 -7.60861297e-02 1.10434823e+02] [ 9.20878286e-01 3.11492221e-01 -2.34426490e-01 7.90723837e+01] [ 2.46463638e-01 7.44263507e-04 9.69151754e-01 2.28428820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.410888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:110.44, Y:79.09, Z:22.85 [[ 3.00959992e-01 -9.49821780e-01 -8.52154283e-02 1.10444183e+02] [ 9.20754838e-01 3.12683009e-01 -2.33323517e-01 7.90942961e+01] [ 2.48261175e-01 -8.24147404e-03 9.68658076e-01 2.28537448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.440888479 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:110.45, Y:79.12, Z:22.86 [[ 3.00447841e-01 -9.50797501e-01 -7.55989874e-02 1.10449626e+02] [ 9.21238917e-01 3.09811312e-01 -2.35235647e-01 7.91239194e+01] [ 2.47082887e-01 1.03131319e-03 9.68993799e-01 2.28550275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.470888479 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:110.46, Y:79.15, Z:22.87 [[ 3.01494884e-01 -9.49609545e-01 -8.56886622e-02 1.10459681e+02] [ 9.20365435e-01 3.13325006e-01 -2.33997664e-01 7.91455254e+01] [ 2.49054816e-01 -8.31578432e-03 9.68453688e-01 2.28672531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50088847899997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:110.47, Y:79.17, Z:22.87 [[ 3.01909882e-01 -9.49912283e-01 -8.07284235e-02 1.10465172e+02] [ 9.20081937e-01 3.12502582e-01 -2.36201958e-01 7.91716478e+01] [ 2.49598982e-01 -2.96505900e-03 9.68344751e-01 2.28718939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53088847899997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:110.47, Y:79.20, Z:22.88 [[ 3.02879165e-01 -9.49615865e-01 -8.05848637e-02 1.10472996e+02] [ 9.19822702e-01 3.13405077e-01 -2.36015792e-01 7.91975329e+01] [ 2.49380046e-01 -2.63952090e-03 9.68402099e-01 2.28786517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56088847899997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.48, Y:79.23, Z:22.88 [[ 3.03614916e-01 -9.49688611e-01 -7.68734374e-02 1.10480661e+02] [ 9.19884209e-01 3.13194237e-01 -2.36055953e-01 7.92258292e+01] [ 2.48255967e-01 9.55447133e-04 9.68693998e-01 2.28834920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59088847899997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:110.49, Y:79.25, Z:22.89 [[ 3.06366729e-01 -9.48190309e-01 -8.41104351e-02 1.10488534e+02] [ 9.19111385e-01 3.17648233e-01 -2.33096253e-01 7.92487038e+01] [ 2.47737139e-01 -5.89392200e-03 9.68809358e-01 2.28932399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62088847899997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.49, Y:79.28, Z:22.90 [[ 3.07790578e-01 -9.48106251e-01 -7.97464549e-02 1.10494872e+02] [ 9.18730179e-01 3.17951459e-01 -2.34183109e-01 7.92755464e+01] [ 2.47385971e-01 -1.18612030e-03 9.68916289e-01 2.28986982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65088847899997 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:110.50, Y:79.30, Z:22.91 [[ 3.09666864e-01 -9.47506165e-01 -7.96146980e-02 1.10503191e+02] [ 9.18153432e-01 3.19736872e-01 -2.34014119e-01 7.93004963e+01] [ 2.47185575e-01 -6.32089707e-04 9.68967952e-01 2.29055893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68088847899998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:110.51, Y:79.33, Z:22.91 [[ 3.13578053e-01 -9.46315141e-01 -7.84631087e-02 1.10511270e+02] [ 9.16439957e-01 3.23238874e-01 -2.35911923e-01 7.93271167e+01] [ 2.48609352e-01 2.07007351e-03 9.68601624e-01 2.29129267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71088847899998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:110.52, Y:79.35, Z:22.92 [[ 3.15771943e-01 -9.45318398e-01 -8.16162080e-02 1.10520834e+02] [ 9.15856870e-01 3.26147936e-01 -2.34166003e-01 7.93521362e+01] [ 2.47980389e-01 -8.05711058e-04 9.68764717e-01 2.29209523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74088847899998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:110.54, Y:79.38, Z:22.94 [[ 3.19746928e-01 -9.42877315e-01 -9.35108084e-02 1.10538180e+02] [ 9.13542150e-01 3.32967318e-01 -2.33609729e-01 7.93775043e+01] [ 2.51401357e-01 -1.07300718e-02 9.67823446e-01 2.29377726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77088847899998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:110.53, Y:79.41, Z:22.93 [[ 3.18751165e-01 -9.45208712e-01 -7.05562625e-02 1.10532161e+02] [ 9.14670708e-01 3.26263429e-01 -2.38599396e-01 7.94067487e+01] [ 2.48546156e-01 1.15180888e-02 9.68551569e-01 2.29292104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80088847899998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:110.54, Y:79.43, Z:22.94 [[ 3.20994159e-01 -9.43685603e-01 -8.01263600e-02 1.10544576e+02] [ 9.13576728e-01 3.30832493e-01 -2.36489796e-01 7.94301083e+01] [ 2.49680419e-01 2.71026536e-03 9.68324503e-01 2.29389967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83088847899998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:110.55, Y:79.46, Z:22.95 [[ 3.20751490e-01 -9.43773785e-01 -8.00595095e-02 1.10553371e+02] [ 9.13661971e-01 3.30580816e-01 -2.36512426e-01 7.94564328e+01] [ 2.49680365e-01 2.71438384e-03 9.68324505e-01 2.29458383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86088847899998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:110.56, Y:79.48, Z:22.95 [[ 3.21394304e-01 -9.43539199e-01 -8.02463788e-02 1.10562497e+02] [ 9.13223070e-01 3.31247531e-01 -2.37273466e-01 7.94823361e+01] [ 2.50458231e-01 2.97549619e-03 9.68122834e-01 2.29527218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89088847899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:110.57, Y:79.51, Z:22.96 [[ 3.21989764e-01 -9.43325223e-01 -8.03748381e-02 1.10571873e+02] [ 9.12845058e-01 3.31854067e-01 -2.37879756e-01 7.95072846e+01] [ 2.51070691e-01 3.22507276e-03 9.67963381e-01 2.29596584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92088847899998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:110.58, Y:79.53, Z:22.97 [[ 3.22290147e-01 -9.43225350e-01 -8.03430177e-02 1.10582098e+02] [ 9.12722721e-01 3.32136496e-01 -2.37955003e-01 7.95329363e+01] [ 2.51130039e-01 3.35965505e-03 9.67947528e-01 2.29666216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95088847899999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:110.59, Y:79.56, Z:22.97 [[ 3.24034240e-01 -9.42955981e-01 -7.63926044e-02 1.10594163e+02] [ 9.12253447e-01 3.32828715e-01 -2.38785877e-01 7.95621521e+01] [ 2.50590223e-01 7.68538360e-03 9.68062743e-01 2.29724368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.980888479 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:110.60, Y:79.58, Z:22.98 [[ 3.22081371e-01 -9.42769885e-01 -8.63048904e-02 1.10602692e+02] [ 9.12886772e-01 3.33431141e-01 -2.35502475e-01 7.95821737e+01] [ 2.50801380e-01 -2.93563273e-03 9.68034116e-01 2.29823019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010888479 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:110.61, Y:79.61, Z:22.99 [[ 3.21658421e-01 -9.43485589e-01 -7.98173197e-02 1.10610693e+02] [ 9.13260865e-01 3.31396995e-01 -2.36919025e-01 7.96084796e+01] [ 2.49980906e-01 3.31296507e-03 9.68245099e-01 2.29870670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.040888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.62, Y:79.63, Z:22.99 [[ 3.21046638e-01 -9.43711153e-01 -7.96135444e-02 1.10620607e+02] [ 9.13592051e-01 3.30755173e-01 -2.36538750e-01 7.96334125e+01] [ 2.49556848e-01 3.20566916e-03 9.68354844e-01 2.29939978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.070888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:110.63, Y:79.66, Z:23.00 [[ 3.19950557e-01 -9.44094799e-01 -7.94773672e-02 1.10630547e+02] [ 9.14034206e-01 3.29660647e-01 -2.36358473e-01 7.96592520e+01] [ 2.49345366e-01 2.97799297e-03 9.68410048e-01 2.30012422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.100888479 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:110.64, Y:79.69, Z:23.01 [[ 3.18995272e-01 -9.44429116e-01 -7.93451998e-02 1.10640191e+02] [ 9.14422713e-01 3.28703317e-01 -2.36188974e-01 7.96850215e+01] [ 2.49144775e-01 2.78811326e-03 9.68462239e-01 2.30081351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.130888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:110.65, Y:79.71, Z:23.01 [[ 3.17108092e-01 -9.45072861e-01 -7.92448499e-02 1.10650143e+02] [ 9.15106240e-01 3.26851250e-01 -2.36111900e-01 7.97100198e+01] [ 2.49044227e-01 2.35553729e-03 9.68489249e-01 2.30141642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.160888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:79.74, Z:23.02 [[ 3.16200360e-01 -9.45373612e-01 -7.92847093e-02 1.10659481e+02] [ 9.15342918e-01 3.25981592e-01 -2.36396582e-01 7.97351153e+01] [ 2.49328447e-01 2.17598726e-03 9.68416538e-01 2.30210688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.190888479 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:110.67, Y:79.76, Z:23.03 [[ 3.15276383e-01 -9.45665715e-01 -7.94805454e-02 1.10668867e+02] [ 9.15435519e-01 3.25134207e-01 -2.37203623e-01 7.97608727e+01] [ 2.50157178e-01 2.02538610e-03 9.68203121e-01 2.30277202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.220888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:110.67, Y:79.79, Z:23.03 [[ 3.14182412e-01 -9.46772603e-01 -7.00788866e-02 1.10673314e+02] [ 9.14980981e-01 3.21663660e-01 -2.43602740e-01 7.97875916e+01] [ 2.53178231e-01 1.24148481e-02 9.67339989e-01 2.30300723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.68, Y:79.82, Z:23.03 [[ 3.11475422e-01 -9.48461696e-01 -5.83392896e-02 1.10680556e+02] [ 9.17310107e-01 3.16135158e-01 -2.42075877e-01 7.98161310e+01] [ 2.48042797e-01 2.18854659e-02 9.68501831e-01 2.30262839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28088847899997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:110.72, Y:79.83, Z:23.07 [[ 3.13689884e-01 -9.42832988e-01 -1.12537161e-01 1.10718920e+02] [ 9.14391915e-01 3.31895465e-01 -2.31803421e-01 7.98320587e+01] [ 2.55902485e-01 -3.01886823e-02 9.66231112e-01 2.30671223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31088847899997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:110.71, Y:79.86, Z:23.06 [[ 3.10285187e-01 -9.47229934e-01 -8.04894705e-02 1.10709673e+02] [ 9.16126992e-01 3.20553475e-01 -2.40742194e-01 7.98609801e+01] [ 2.53839392e-01 9.60160045e-04 9.67245905e-01 2.30571415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34088847899997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:110.73, Y:79.89, Z:23.07 [[ 3.11535275e-01 -9.46224908e-01 -8.72020397e-02 1.10729695e+02] [ 9.14829394e-01 3.23478827e-01 -2.41761510e-01 7.98891198e+01] [ 2.56968776e-01 -4.45775067e-03 9.66409425e-01 2.30705180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37088847899997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:110.73, Y:79.91, Z:23.07 [[ 3.08007046e-01 -9.48014189e-01 -8.00047281e-02 1.10729104e+02] [ 9.16740904e-01 3.18226367e-01 -2.41491397e-01 7.99113810e+01] [ 2.54396885e-01 1.03744515e-03 9.67099348e-01 2.30698916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:110.74, Y:79.94, Z:23.08 [[ 3.07035367e-01 -9.48281962e-01 -8.05642786e-02 1.10739251e+02] [ 9.17020610e-01 3.17429127e-01 -2.41478676e-01 7.99358683e+01] [ 2.54563321e-01 2.63390121e-04 9.67056072e-01 2.30766288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.75, Y:79.96, Z:23.08 [[ 3.06870484e-01 -9.48350983e-01 -8.03798380e-02 1.10749372e+02] [ 9.17174314e-01 3.17222842e-01 -2.41165807e-01 7.99616070e+01] [ 2.54208151e-01 2.84345120e-04 9.67149490e-01 2.30835073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.76, Y:79.99, Z:23.09 [[ 3.06693356e-01 -9.48406177e-01 -8.04046584e-02 1.10759404e+02] [ 9.17152338e-01 3.17057764e-01 -2.41466279e-01 7.99866408e+01] [ 2.54501032e-01 3.12783026e-04 9.67072452e-01 2.30908874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:80.01, Z:23.10 [[ 3.06528697e-01 -9.48463019e-01 -8.03620475e-02 1.10769079e+02] [ 9.17183582e-01 3.16887652e-01 -2.41570887e-01 8.00111087e+01] [ 2.54586793e-01 3.41658743e-04 9.67049868e-01 2.30979008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.78, Y:80.04, Z:23.11 [[ 3.07081254e-01 -9.48302559e-01 -8.01458665e-02 1.10779902e+02] [ 9.17124809e-01 3.17367217e-01 -2.41164123e-01 8.00361545e+01] [ 2.54132226e-01 5.53218771e-04 9.67169326e-01 2.31055292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:80.06, Z:23.11 [[ 3.07395297e-01 -9.48220729e-01 -7.99098276e-02 1.10789107e+02] [ 9.17166840e-01 3.17611347e-01 -2.40682405e-01 8.00614661e+01] [ 2.53600314e-01 6.93995337e-04 9.67308844e-01 2.31122622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.80, Y:80.09, Z:23.12 [[ 3.08446194e-01 -9.47920699e-01 -7.94184771e-02 1.10799167e+02] [ 9.17183631e-01 3.18504829e-01 -2.39434460e-01 8.00869106e+01] [ 2.52260049e-01 1.01132057e-03 9.67658951e-01 2.31195309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:110.81, Y:80.11, Z:23.13 [[ 3.08747476e-01 -9.47841099e-01 -7.91975160e-02 1.10809063e+02] [ 9.17214222e-01 3.18741161e-01 -2.39002392e-01 8.01125681e+01] [ 2.51779798e-01 1.15029742e-03 9.67783865e-01 2.31265524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.82, Y:80.14, Z:23.13 [[ 3.08979417e-01 -9.47779195e-01 -7.90336451e-02 1.10818788e+02] [ 9.17218352e-01 3.18924711e-01 -2.38741540e-01 8.01378451e+01] [ 2.51480047e-01 1.27511203e-03 9.67861643e-01 2.31335545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.83, Y:80.16, Z:23.14 [[ 3.08968785e-01 -9.47797509e-01 -7.88553797e-02 1.10828207e+02] [ 9.17316532e-01 3.18870038e-01 -2.38437160e-01 8.01631308e+01] [ 2.51134764e-01 1.33429619e-03 9.67951213e-01 2.31403447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:80.19, Z:23.15 [[ 3.08651192e-01 -9.47895139e-01 -7.89255753e-02 1.10837204e+02] [ 9.17300943e-01 3.18579702e-01 -2.38884812e-01 8.01878501e+01] [ 2.51581838e-01 1.33357744e-03 9.67835110e-01 2.31466729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:110.85, Y:80.21, Z:23.15 [[ 3.08166404e-01 -9.48046262e-01 -7.90047673e-02 1.10846942e+02] [ 9.17329834e-01 3.18129868e-01 -2.39372853e-01 8.02126591e+01] [ 2.52070315e-01 1.29324117e-03 9.67708057e-01 2.31518173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.760888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.86, Y:80.24, Z:23.16 [[ 3.07663890e-01 -9.48197573e-01 -7.91472875e-02 1.10856429e+02] [ 9.17308824e-01 3.17678758e-01 -2.40051513e-01 8.02384725e+01] [ 2.52759674e-01 1.25267723e-03 9.67528283e-01 2.31585999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.87, Y:80.26, Z:23.17 [[ 3.06837311e-01 -9.48463019e-01 -7.91755333e-02 1.10866733e+02] [ 9.17499381e-01 3.16885888e-01 -2.40371006e-01 8.02630243e+01] [ 2.53072619e-01 1.11129043e-03 9.67446647e-01 2.31659024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.820888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:80.29, Z:23.17 [[ 3.06246896e-01 -9.48661357e-01 -7.90852021e-02 1.10875949e+02] [ 9.17712436e-01 3.16291919e-01 -2.40339982e-01 8.02881861e+01] [ 2.53015264e-01 1.02589988e-03 9.67461743e-01 2.31727757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.850888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.89, Y:80.31, Z:23.18 [[ 3.04267859e-01 -9.49302557e-01 -7.90298974e-02 1.10885472e+02] [ 9.18358776e-01 3.14363374e-01 -2.40401387e-01 8.03117204e+01] [ 2.53057757e-01 5.68615249e-04 9.67451006e-01 2.31794004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.880888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.89, Y:80.34, Z:23.19 [[ 3.02769977e-01 -9.49798181e-01 -7.88273831e-02 1.10894644e+02] [ 9.18962378e-01 3.12863160e-01 -2.40051642e-01 8.03378966e+01] [ 2.52662798e-01 2.41030719e-04 9.67554367e-01 2.31862059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.910888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.90, Y:80.36, Z:23.19 [[ 3.01520825e-01 -9.50212646e-01 -7.86200901e-02 1.10904046e+02] [ 9.19495300e-01 3.11602191e-01 -2.39650721e-01 8.03639191e+01] [ 2.52217338e-01 -3.11200662e-05 9.67670612e-01 2.31930443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.940888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:80.39, Z:23.20 [[ 2.98707783e-01 -9.51110581e-01 -7.85004617e-02 1.10913626e+02] [ 9.20457109e-01 3.08849735e-01 -2.39521504e-01 8.03888352e+01] [ 2.52056284e-01 -7.09370531e-04 9.67712316e-01 2.31995403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.970888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.92, Y:80.41, Z:23.21 [[ 2.97067922e-01 -9.51623495e-01 -7.85071508e-02 1.10922297e+02] [ 9.20936020e-01 3.07264611e-01 -2.39719223e-01 8.04134093e+01] [ 2.52244914e-01 -1.08717164e-03 9.67662814e-01 2.32065703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00088847899997 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:110.93, Y:80.44, Z:23.21 [[ 2.95594281e-01 -9.52098025e-01 -7.83158430e-02 1.10931455e+02] [ 9.21514390e-01 3.05789739e-01 -2.39382257e-01 8.04392990e+01] [ 2.51863556e-01 -1.40914993e-03 9.67761729e-01 2.32136131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:80.47, Z:23.22 [[ 2.94132714e-01 -9.52564476e-01 -7.81464393e-02 1.10940273e+02] [ 9.22070324e-01 3.04331937e-01 -2.39099123e-01 8.04654440e+01] [ 2.51539788e-01 -1.72963858e-03 9.67845413e-01 2.32206307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.95, Y:80.49, Z:23.23 [[ 2.92246124e-01 -9.53134856e-01 -7.82697216e-02 1.10948041e+02] [ 9.22501529e-01 3.02538142e-01 -2.39711495e-01 8.04903949e+01] [ 2.52156957e-01 -2.14918263e-03 9.67683962e-01 2.32267347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.96, Y:80.52, Z:23.23 [[ 2.91741253e-01 -9.53281025e-01 -7.83730056e-02 1.10955747e+02] [ 9.22505691e-01 3.02076882e-01 -2.40276522e-01 8.05157631e+01] [ 2.52725722e-01 -2.20097010e-03 9.67535459e-01 2.32325945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.96, Y:80.54, Z:23.24 [[ 2.91451535e-01 -9.53375634e-01 -7.83000808e-02 1.10963476e+02] [ 9.22597767e-01 3.01778133e-01 -2.40298396e-01 8.05420582e+01] [ 2.52723887e-01 -2.20414357e-03 9.67535931e-01 2.32385638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.97, Y:80.57, Z:23.24 [[ 2.91438007e-01 -9.53385520e-01 -7.82300308e-02 1.10971229e+02] [ 9.22602623e-01 3.01747381e-01 -2.40318370e-01 8.05680724e+01] [ 2.52721761e-01 -2.13732462e-03 9.67536637e-01 2.32447051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:80.59, Z:23.25 [[ 2.92856288e-01 -9.53098162e-01 -7.64139326e-02 1.10977833e+02] [ 9.22009581e-01 3.02661247e-01 -2.41442543e-01 8.05916187e+01] [ 2.53245980e-01 2.53588852e-04 9.67401886e-01 2.32506277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.99, Y:80.62, Z:23.26 [[ 2.92916667e-01 -9.52874510e-01 -7.89303086e-02 1.10986973e+02] [ 9.22303379e-01 3.03353076e-01 -2.39443914e-01 8.06170651e+01] [ 2.52103754e-01 -2.66057718e-03 9.67696553e-01 2.32589776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.99, Y:80.64, Z:23.27 [[ 2.93628411e-01 -9.52757438e-01 -7.76892594e-02 1.10993457e+02] [ 9.22153611e-01 3.03729424e-01 -2.39543638e-01 8.06418548e+01] [ 2.51823497e-01 -1.30461319e-03 9.67772300e-01 2.32650002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.00, Y:80.67, Z:23.27 [[ 2.95448245e-01 -9.52217941e-01 -7.74036705e-02 1.10999354e+02] [ 9.21755373e-01 3.05418437e-01 -2.38928047e-01 8.06682708e+01] [ 2.51152081e-01 -7.56376911e-04 9.67947344e-01 2.32713167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.01, Y:80.69, Z:23.28 [[ 2.96578451e-01 -9.51877543e-01 -7.72681414e-02 1.11006276e+02] [ 9.21450920e-01 3.06478367e-01 -2.38745078e-01 8.06932859e+01] [ 2.50937092e-01 -3.92154369e-04 9.68003317e-01 2.32775767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.01, Y:80.72, Z:23.28 [[ 2.97621290e-01 -9.51568297e-01 -7.70671387e-02 1.11013565e+02] [ 9.21228741e-01 3.07437430e-01 -2.38369111e-01 8.07198020e+01] [ 2.50517812e-01 -5.27407741e-05 9.68111989e-01 2.32841098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:80.74, Z:23.29 [[ 2.99351570e-01 -9.51041879e-01 -7.68633946e-02 1.11019925e+02] [ 9.20789361e-01 3.09061696e-01 -2.37966008e-01 8.07447345e+01] [ 2.50071171e-01 4.60502166e-04 9.68227348e-01 2.32908248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:80.77, Z:23.30 [[ 2.99497371e-01 -9.51009803e-01 -7.66921118e-02 1.11027563e+02] [ 9.20841735e-01 3.09160238e-01 -2.37635112e-01 8.07703496e+01] [ 2.49703473e-01 5.49794065e-04 9.68322195e-01 2.32975736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.04, Y:80.80, Z:23.30 [[ 2.99212257e-01 -9.51109439e-01 -7.65693214e-02 1.11035136e+02] [ 9.20977956e-01 3.08853586e-01 -2.37505930e-01 8.07954385e+01] [ 2.49542841e-01 5.46028296e-04 9.68363605e-01 2.33047902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.04, Y:80.82, Z:23.31 [[ 2.98788155e-01 -9.51269127e-01 -7.62409754e-02 1.11041480e+02] [ 9.21340842e-01 3.08361489e-01 -2.36736658e-01 8.08202080e+01] [ 2.48710054e-01 4.90184820e-04 9.68577859e-01 2.33112785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.480888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.05, Y:80.85, Z:23.32 [[ 2.98536725e-01 -9.51359632e-01 -7.60964790e-02 1.11048457e+02] [ 9.21482437e-01 3.08082137e-01 -2.36549183e-01 8.08457007e+01] [ 2.48487309e-01 4.97049359e-04 9.68635024e-01 2.33174204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:111.06, Y:80.87, Z:23.32 [[ 2.97902982e-01 -9.51568266e-01 -7.59713659e-02 1.11056299e+02] [ 9.21732848e-01 3.07437267e-01 -2.36412530e-01 8.08723202e+01] [ 2.48319091e-01 4.02694524e-04 9.68678206e-01 2.33242678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:80.90, Z:23.33 [[ 2.97161820e-01 -9.51815877e-01 -7.57719613e-02 1.11064030e+02] [ 9.22085202e-01 3.06669958e-01 -2.36034781e-01 8.08976655e+01] [ 2.47898636e-01 2.72320859e-04 9.68785937e-01 2.33308824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.570888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.07, Y:80.92, Z:23.34 [[ 2.95640333e-01 -9.52296305e-01 -7.56871245e-02 1.11071711e+02] [ 9.22583369e-01 3.05174942e-01 -2.36025807e-01 8.09236452e+01] [ 2.47864318e-01 -4.89340088e-05 9.68794755e-01 2.33379007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:80.95, Z:23.34 [[ 2.94268418e-01 -9.52720219e-01 -7.56986234e-02 1.11079091e+02] [ 9.22950545e-01 3.03848769e-01 -2.36301115e-01 8.09499331e+01] [ 2.48129784e-01 -3.30130452e-04 9.68726742e-01 2.33440999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.630888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.09, Y:80.98, Z:23.35 [[ 2.92157607e-01 -9.53362149e-01 -7.57927821e-02 1.11085956e+02] [ 9.23476888e-01 3.01827722e-01 -2.36834255e-01 8.09766962e+01] [ 2.48665177e-01 -7.99953324e-04 9.68589175e-01 2.33501676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.660888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:111.09, Y:81.00, Z:23.36 [[ 2.90874369e-01 -9.53751117e-01 -7.58347459e-02 1.11093223e+02] [ 9.23784105e-01 3.00595553e-01 -2.37202951e-01 8.10014236e+01] [ 2.49028167e-01 -1.05867400e-03 9.68495664e-01 2.33569012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.10, Y:81.03, Z:23.36 [[ 2.89525493e-01 -9.54171009e-01 -7.57144288e-02 1.11101097e+02] [ 9.24269314e-01 2.99258802e-01 -2.37002963e-01 8.10276552e+01] [ 2.48799566e-01 -1.36212339e-03 9.68554036e-01 2.33639524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.11, Y:81.05, Z:23.37 [[ 2.89275543e-01 -9.54252253e-01 -7.56458678e-02 1.11109438e+02] [ 9.24347569e-01 2.98999656e-01 -2.37024845e-01 8.10541207e+01] [ 2.48799581e-01 -1.35758314e-03 9.68554038e-01 2.33708645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:81.08, Z:23.38 [[ 2.87657631e-01 -9.54752231e-01 -7.55067244e-02 1.11117152e+02] [ 9.24919329e-01 2.97397426e-01 -2.36810062e-01 8.10802563e+01] [ 2.48550440e-01 -1.71740736e-03 9.68617432e-01 2.33780533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.12, Y:81.11, Z:23.38 [[ 2.84237739e-01 -9.55794231e-01 -7.52748005e-02 1.11123737e+02] [ 9.26123186e-01 2.94025366e-01 -2.36315316e-01 8.11053628e+01] [ 2.48001516e-01 -2.54400713e-03 9.68756304e-01 2.33846543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.13, Y:81.13, Z:23.39 [[ 2.82292330e-01 -9.56374699e-01 -7.52228365e-02 1.11131056e+02] [ 9.26721155e-01 2.92127450e-01 -2.36324891e-01 8.11315255e+01] [ 2.47989802e-01 -2.99788998e-03 9.68758004e-01 2.33910307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.14, Y:81.16, Z:23.40 [[ 2.80189651e-01 -9.56992562e-01 -7.52263037e-02 1.11137865e+02] [ 9.27297916e-01 2.90091671e-01 -2.36570067e-01 8.11565845e+01] [ 2.48218319e-01 -3.47271011e-03 9.68697892e-01 2.33972292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:111.15, Y:81.18, Z:23.40 [[ 2.76620927e-01 -9.58035396e-01 -7.51601107e-02 1.11145230e+02] [ 9.28367703e-01 2.86617293e-01 -2.36609247e-01 8.11830966e+01] [ 2.48222221e-01 -4.32515016e-03 9.68693461e-01 2.34036522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.15, Y:81.21, Z:23.41 [[ 2.75111632e-01 -9.58470178e-01 -7.51565511e-02 1.11153432e+02] [ 9.28762350e-01 2.85154884e-01 -2.36827341e-01 8.12088184e+01] [ 2.48423201e-01 -4.64861875e-03 9.68640441e-01 2.34111237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:111.16, Y:81.23, Z:23.42 [[ 2.73939708e-01 -9.58819691e-01 -7.49789037e-02 1.11160832e+02] [ 9.29207899e-01 2.83973486e-01 -2.36498923e-01 8.12344346e+01] [ 2.48051845e-01 -4.88454372e-03 9.68734444e-01 2.34177957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.17, Y:81.26, Z:23.42 [[ 2.72873790e-01 -9.59129432e-01 -7.49041203e-02 1.11166683e+02] [ 9.29523089e-01 2.82922033e-01 -2.36520506e-01 8.12613744e+01] [ 2.48045804e-01 -5.08486246e-03 9.68734960e-01 2.34242387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:81.29, Z:23.43 [[ 2.72822894e-01 -9.59149226e-01 -7.48360229e-02 1.11173231e+02] [ 9.29538866e-01 2.82855900e-01 -2.36537602e-01 8.12870698e+01] [ 2.48042669e-01 -5.03011858e-03 9.68736049e-01 2.34304437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:111.18, Y:81.31, Z:23.44 [[ 2.73155296e-01 -9.59070759e-01 -7.46288348e-02 1.11179943e+02] [ 9.29561522e-01 2.83124592e-01 -2.36126751e-01 8.13120336e+01] [ 2.47591521e-01 -4.87282050e-03 9.68852256e-01 2.34369523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:111.18, Y:81.34, Z:23.44 [[ 2.73749257e-01 -9.59338396e-01 -6.87836139e-02 1.11184548e+02] [ 9.29069430e-01 2.82254236e-01 -2.39086887e-01 8.13393773e+01] [ 2.48779697e-01 1.54510475e-03 9.68558865e-01 2.34413519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08088847899998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:111.20, Y:81.36, Z:23.45 [[ 2.75028724e-01 -9.58121759e-01 -7.97614937e-02 1.11196239e+02] [ 9.29500250e-01 2.86181161e-01 -2.32657751e-01 8.13632164e+01] [ 2.45740690e-01 -1.01507640e-02 9.69282454e-01 2.34545640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:111.20, Y:81.39, Z:23.46 [[ 2.75411200e-01 -9.58475986e-01 -7.39760478e-02 1.11201135e+02] [ 9.29329691e-01 2.85143270e-01 -2.34605288e-01 8.13910097e+01] [ 2.45957307e-01 -4.13521388e-03 9.69271842e-01 2.34594530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14088847899998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:111.21, Y:81.42, Z:23.47 [[ 2.77709407e-01 -9.57348461e-01 -7.97584392e-02 1.11208589e+02] [ 9.28941895e-01 2.88771303e-01 -2.31685327e-01 8.14155115e+01] [ 2.44835539e-01 -9.74976086e-03 9.69515601e-01 2.34682694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17088847899998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:111.21, Y:81.44, Z:23.47 [[ 2.77721136e-01 -9.58310358e-01 -6.71731261e-02 1.11209777e+02] [ 9.28493921e-01 2.85707794e-01 -2.37213186e-01 8.14440410e+01] [ 2.46515739e-01 3.50927640e-03 9.69132434e-01 2.34692735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20088847899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:111.22, Y:81.47, Z:23.48 [[ 2.78760017e-01 -9.57524124e-01 -7.37591032e-02 1.11219452e+02] [ 9.28332981e-01 2.88336910e-01 -2.34648042e-01 8.14684482e+01] [ 2.45948633e-01 -3.06251587e-03 9.69278026e-01 2.34784812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230888479 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:111.23, Y:81.49, Z:23.49 [[ 2.79956767e-01 -9.57183190e-01 -7.36515438e-02 1.11226298e+02] [ 9.28006855e-01 2.89470412e-01 -2.34542442e-01 8.14945517e+01] [ 2.45820025e-01 -2.68739382e-03 9.69311763e-01 2.34853695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.260888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:111.23, Y:81.52, Z:23.49 [[ 2.83104522e-01 -9.56280185e-01 -7.33487455e-02 1.11231438e+02] [ 9.27256442e-01 2.92446409e-01 -2.33817427e-01 8.15201179e+01] [ 2.45045550e-01 -1.81832583e-03 9.69509862e-01 2.34915672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290888479 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:111.24, Y:81.55, Z:23.50 [[ 2.84756499e-01 -9.55786440e-01 -7.33894947e-02 1.11238229e+02] [ 9.26649561e-01 2.94058751e-01 -2.34200857e-01 8.15463416e+01] [ 2.45426826e-01 -1.31612707e-03 9.69414226e-01 2.34983192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.320888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:111.24, Y:81.57, Z:23.50 [[ 2.88301172e-01 -9.54707960e-01 -7.35876774e-02 1.11243695e+02] [ 9.25315230e-01 2.97544298e-01 -2.35072574e-01 8.15721641e+01] [ 2.46321252e-01 -3.20100033e-04 9.69188185e-01 2.35043448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.350888479 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:111.25, Y:81.60, Z:23.51 [[ 2.89996485e-01 -9.54184519e-01 -7.37152743e-02 1.11250676e+02] [ 9.24606987e-01 2.99218751e-01 -2.35733025e-01 8.15987599e+01] [ 2.46989796e-01 2.04091029e-04 9.69018059e-01 2.35110275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.380888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:111.26, Y:81.62, Z:23.52 [[ 2.91347771e-01 -9.53769035e-01 -7.37638347e-02 1.11257565e+02] [ 9.24077713e-01 3.00539894e-01 -2.36127408e-01 8.16244175e+01] [ 2.47379985e-01 6.31678184e-04 9.68918337e-01 2.35175887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.410888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:111.26, Y:81.65, Z:23.52 [[ 2.93154945e-01 -9.53202624e-01 -7.39252064e-02 1.11264147e+02] [ 9.23296684e-01 3.02329846e-01 -2.36896384e-01 8.16507860e+01] [ 2.48160051e-01 1.19244834e-03 9.68718312e-01 2.35235643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.440888479 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:111.27, Y:81.68, Z:23.53 [[ 2.93106183e-01 -9.53219677e-01 -7.38986643e-02 1.11271713e+02] [ 9.23272930e-01 3.02275824e-01 -2.37057848e-01 8.16764195e+01] [ 2.48305985e-01 1.25448480e-03 9.68680837e-01 2.35301020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.470888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:111.28, Y:81.70, Z:23.54 [[ 2.92684357e-01 -9.53347474e-01 -7.39219925e-02 1.11279309e+02] [ 9.23318670e-01 3.01872633e-01 -2.37393232e-01 8.17016179e+01] [ 2.48633265e-01 1.22772970e-03 9.68596919e-01 2.35367344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50088847899997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:111.29, Y:81.73, Z:23.54 [[ 2.91496499e-01 -9.53721757e-01 -7.37875379e-02 1.11287138e+02] [ 9.23750356e-01 3.00688937e-01 -2.37216025e-01 8.17272424e+01] [ 2.48425181e-01 9.86376459e-04 9.68650585e-01 2.35442373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53088847899997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:111.30, Y:81.75, Z:23.55 [[ 2.92183734e-01 -9.53302046e-01 -7.64452385e-02 1.11295290e+02] [ 9.23888939e-01 3.02012145e-01 -2.34984878e-01 8.17497845e+01] [ 2.47098955e-01 -1.96815111e-03 9.68988252e-01 2.35517917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56088847899997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:111.30, Y:81.78, Z:23.56 [[ 2.90273871e-01 -9.54450619e-01 -6.90296791e-02 1.11300249e+02] [ 9.24225403e-01 2.98320259e-01 -2.38353576e-01 8.17786204e+01] [ 2.48089670e-01 5.38883217e-03 9.68722084e-01 2.35559041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59088847899997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:111.31, Y:81.80, Z:23.56 [[ 2.89872268e-01 -9.54227558e-01 -7.36466943e-02 1.11309132e+02] [ 9.24222697e-01 2.99080593e-01 -2.37409363e-01 8.18027958e+01] [ 2.48568854e-01 7.52443973e-04 9.68613937e-01 2.35645181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62088847899997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:111.32, Y:81.83, Z:23.57 [[ 2.90046603e-01 -9.54178284e-01 -7.35987121e-02 1.11316704e+02] [ 9.24145896e-01 2.99237430e-01 -2.37510681e-01 8.18288173e+01] [ 2.48651023e-01 8.73218204e-04 9.68592745e-01 2.35707819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65088847899997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:111.32, Y:81.85, Z:23.58 [[ 2.90398040e-01 -9.54080193e-01 -7.34844459e-02 1.11324277e+02] [ 9.24077847e-01 2.99549536e-01 -2.37381987e-01 8.18544839e+01] [ 2.48493683e-01 1.02991488e-03 9.68632969e-01 2.35773286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68088847899998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:111.33, Y:81.88, Z:23.58 [[ 2.90675345e-01 -9.54008850e-01 -7.33141075e-02 1.11332385e+02] [ 9.24080880e-01 2.99776173e-01 -2.37083896e-01 8.18807197e+01] [ 2.48157957e-01 1.16627815e-03 9.68718880e-01 2.35840388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71088847899998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:111.34, Y:81.90, Z:23.59 [[ 2.91552460e-01 -9.53939167e-01 -7.06910824e-02 1.11338134e+02] [ 9.23707871e-01 2.99971050e-01 -2.38287930e-01 8.19044087e+01] [ 2.48517467e-01 4.17552280e-03 9.68618415e-01 2.35890599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74088847899998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:111.31, Y:81.95, Z:23.55 [[ 2.86198477e-01 -9.58168156e-01 2.05370686e-03 1.11307318e+02] [ 9.29401855e-01 2.77083627e-01 -2.43796750e-01 8.19452583e+01] [ 2.33029233e-01 7.16829773e-02 9.69824173e-01 2.35451558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77088847899998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:111.38, Y:81.94, Z:23.63 [[ 2.90988151e-01 -9.47511994e-01 -1.32464776e-01 1.11379722e+02] [ 9.23133076e-01 3.14434119e-01 -2.21261179e-01 8.19398284e+01] [ 2.51299066e-01 -5.78982345e-02 9.66176264e-01 2.36295627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80088847899998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:111.37, Y:81.98, Z:23.61 [[ 2.88884336e-01 -9.54525502e-01 -7.36675371e-02 1.11365171e+02] [ 9.23876714e-01 2.98126631e-01 -2.39942343e-01 8.19800850e+01] [ 2.50993341e-01 1.25586246e-03 9.67987999e-01 2.36121643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83088847899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:111.37, Y:82.01, Z:23.62 [[ 2.87538143e-01 -9.54904717e-01 -7.40189089e-02 1.11373840e+02] [ 9.24341627e-01 2.96912008e-01 -2.39657706e-01 8.20058491e+01] [ 2.50827377e-01 4.91972984e-04 9.68031707e-01 2.36191389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86088847899998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:111.38, Y:82.03, Z:23.63 [[ 2.86872547e-01 -9.55105817e-01 -7.40068870e-02 1.11382405e+02] [ 9.24496873e-01 2.96264621e-01 -2.39859974e-01 8.20316973e+01] [ 2.51017279e-01 3.90106052e-04 9.67982528e-01 2.36263163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89088847899998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:111.39, Y:82.06, Z:23.63 [[ 2.86488498e-01 -9.55224548e-01 -7.39621703e-02 1.11391106e+02] [ 9.24594871e-01 2.95881620e-01 -2.39954977e-01 8.20571772e+01] [ 2.51094932e-01 3.59297806e-04 9.67962399e-01 2.36334332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92088847899998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:111.40, Y:82.08, Z:23.64 [[ 2.85595082e-01 -9.55491186e-01 -7.39732604e-02 1.11399137e+02] [ 9.24797466e-01 2.95019582e-01 -2.40235494e-01 8.20819491e+01] [ 2.51366457e-01 1.99791657e-04 9.67891969e-01 2.36403721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95088847899999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:111.41, Y:82.11, Z:23.65 [[ 2.85884624e-01 -9.55508816e-01 -7.26146282e-02 1.11406064e+02] [ 9.24666417e-01 2.94957639e-01 -2.40815301e-01 8.21068567e+01] [ 2.51519382e-01 1.70108365e-03 9.67850767e-01 2.36459301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.980888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:82.13, Z:23.65 [[ 2.86076385e-01 -9.55625998e-01 -7.02798259e-02 1.11415324e+02] [ 9.24976729e-01 2.94559656e-01 -2.40109683e-01 8.21347171e+01] [ 2.50156656e-01 3.68250655e-03 9.68198371e-01 2.36499316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:111.43, Y:82.16, Z:23.66 [[ 2.84523304e-01 -9.55874356e-01 -7.31485161e-02 1.11425860e+02] [ 9.25017503e-01 2.93774469e-01 -2.40913221e-01 8.21620866e+01] [ 2.51771937e-01 8.81767959e-04 9.67786193e-01 2.36596400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.040888479 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:111.44, Y:82.19, Z:23.67 [[ 2.84357356e-01 -9.55915455e-01 -7.32566555e-02 1.11437610e+02] [ 9.25045291e-01 2.93641060e-01 -2.40969161e-01 8.21882356e+01] [ 2.51857307e-01 7.55629151e-04 9.67764086e-01 2.36661003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.070888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:111.45, Y:82.21, Z:23.68 [[ 2.81197093e-01 -9.55953985e-01 -8.41437646e-02 1.11445295e+02] [ 9.25867954e-01 2.93313115e-01 -2.38193092e-01 8.22068012e+01] [ 2.52382105e-01 -1.09268101e-02 9.67565955e-01 2.36778513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.100888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.45, Y:82.23, Z:23.68 [[ 2.78723364e-01 -9.57507971e-01 -7.41064899e-02 1.11449811e+02] [ 9.26602998e-01 2.88403365e-01 -2.41309725e-01 8.22327691e+01] [ 2.52428546e-01 -1.40863751e-03 9.67614513e-01 2.36804833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.130888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:111.46, Y:82.26, Z:23.69 [[ 2.77745345e-01 -9.57792900e-01 -7.40964459e-02 1.11458368e+02] [ 9.26832902e-01 2.87454785e-01 -2.41558519e-01 8.22587393e+01] [ 2.52662412e-01 -1.58326983e-03 9.67553202e-01 2.36871727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.160888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:111.47, Y:82.29, Z:23.69 [[ 2.77041545e-01 -9.58005386e-01 -7.39842056e-02 1.11466923e+02] [ 9.27083190e-01 2.86745165e-01 -2.41441440e-01 8.22851175e+01] [ 2.52516813e-01 -1.70020405e-03 9.67591013e-01 2.36940568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.190888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.47, Y:82.31, Z:23.70 [[ 2.76323105e-01 -9.58216269e-01 -7.39399996e-02 1.11474741e+02] [ 9.27273878e-01 2.86038945e-01 -2.41546842e-01 8.23103242e+01] [ 2.52603833e-01 -1.81765690e-03 9.67568085e-01 2.37006126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.220888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:111.48, Y:82.34, Z:23.71 [[ 2.76145438e-01 -9.58264617e-01 -7.39771651e-02 1.11483271e+02] [ 9.27223433e-01 2.85877137e-01 -2.41931741e-01 8.23366181e+01] [ 2.52983007e-01 -1.78501457e-03 9.67469075e-01 2.37076165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25088847899997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:111.49, Y:82.36, Z:23.71 [[ 2.75917769e-01 -9.58328194e-01 -7.40030948e-02 1.11491618e+02] [ 9.27202244e-01 2.85664030e-01 -2.42264444e-01 8.23613055e+01] [ 2.53308869e-01 -1.77077053e-03 9.67383833e-01 2.37139911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28088847899997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:111.50, Y:82.39, Z:23.72 [[ 2.76187050e-01 -9.58222229e-01 -7.43698418e-02 1.11501179e+02] [ 9.26708701e-01 2.86020253e-01 -2.43728125e-01 8.23871284e+01] [ 2.54816988e-01 -1.60462774e-03 9.66987967e-01 2.37213816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31088847899997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:111.51, Y:82.41, Z:23.73 [[ 2.76483207e-01 -9.58065877e-01 -7.52782347e-02 1.11510070e+02] [ 9.26580821e-01 2.86537998e-01 -2.43606152e-01 8.24123806e+01] [ 2.54960816e-01 -2.39835848e-03 9.66948411e-01 2.37285167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34088847899997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:111.52, Y:82.44, Z:23.73 [[ 2.76534945e-01 -9.58200233e-01 -7.33535153e-02 1.11518352e+02] [ 9.26532008e-01 2.86098147e-01 -2.44307774e-01 8.24390390e+01] [ 2.55082071e-01 -4.04743046e-04 9.66919321e-01 2.37344812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:111.53, Y:82.46, Z:23.74 [[ 2.77096064e-01 -9.57977939e-01 -7.41352833e-02 1.11528196e+02] [ 9.26463130e-01 2.86839561e-01 -2.43698862e-01 8.24639872e+01] [ 2.54723066e-01 -1.15561112e-03 9.67013353e-01 2.37422270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40088847899997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:111.54, Y:82.49, Z:23.75 [[ 2.77817413e-01 -9.57777215e-01 -7.40289959e-02 1.11536815e+02] [ 9.26280864e-01 2.87510011e-01 -2.43601631e-01 8.24889432e+01] [ 2.54600169e-01 -8.94867385e-04 9.67045993e-01 2.37491418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43088847899998 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:111.55, Y:82.51, Z:23.76 [[ 2.79440510e-01 -9.57310774e-01 -7.39532474e-02 1.11546646e+02] [ 9.25814144e-01 2.89060395e-01 -2.43541082e-01 8.25133618e+01] [ 2.54521456e-01 -4.11718316e-04 9.67067039e-01 2.37558665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46088847899998 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:111.52, Y:82.55, Z:23.71 [[ 2.73354786e-01 -9.61891649e-01 -6.45115711e-03 1.11519291e+02] [ 9.31576179e-01 2.66398719e-01 -2.47381375e-01 8.25517090e+01] [ 2.39672659e-01 6.16131386e-02 9.68896712e-01 2.37142039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49088847899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:111.59, Y:82.55, Z:23.80 [[ 2.82398004e-01 -9.50685055e-01 -1.28254797e-01 1.11587025e+02] [ 9.24413635e-01 3.05411943e-01 -2.28435934e-01 8.25518709e+01] [ 2.56341175e-01 -5.40506317e-02 9.65073951e-01 2.37954036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52088847899998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:111.57, Y:82.59, Z:23.78 [[ 2.84245856e-01 -9.55862031e-01 -7.43778881e-02 1.11574145e+02] [ 9.23895419e-01 2.93814319e-01 -2.45133433e-01 8.25884192e+01] [ 2.56167030e-01 9.60772572e-04 9.66632055e-01 2.37784781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55088847899998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:111.55, Y:82.62, Z:23.74 [[ 2.80736602e-01 -9.59555443e-01 -2.09836184e-02 1.11553260e+02] [ 9.27893763e-01 2.76932566e-01 -2.49642784e-01 8.26243344e+01] [ 2.45357139e-01 5.06132981e-02 9.68110618e-01 2.37436692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58088847899998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:111.61, Y:82.63, Z:23.81 [[ 2.88147469e-01 -9.50320092e-01 -1.17740217e-01 1.11609359e+02] [ 9.22156345e-01 3.08516959e-01 -2.33334440e-01 8.26290490e+01] [ 2.58067260e-01 -4.13401592e-02 9.65242084e-01 2.38122262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61088847899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:111.60, Y:82.66, Z:23.80 [[ 2.89233008e-01 -9.54332052e-01 -7.47970767e-02 1.11601430e+02] [ 9.21919678e-01 2.98738525e-01 -2.46615898e-01 8.26629523e+01] [ 2.57698224e-01 2.37256121e-03 9.66222540e-01 2.37998340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64088847899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:111.61, Y:82.69, Z:23.81 [[ 2.88961069e-01 -9.54420420e-01 -7.47205645e-02 1.11609078e+02] [ 9.22004962e-01 2.98456052e-01 -2.46639079e-01 8.26887589e+01] [ 2.57698178e-01 2.37636090e-03 9.66222543e-01 2.38066757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67088847899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:111.59, Y:82.72, Z:23.77 [[ 2.82749540e-01 -9.58931354e-01 -2.24356056e-02 1.11589721e+02] [ 9.27262308e-01 2.79246968e-01 -2.49410793e-01 8.27214787e+01] [ 2.45432904e-01 4.97170955e-02 9.68137852e-01 2.37735548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70088847899999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:111.65, Y:82.73, Z:23.84 [[ 2.89356241e-01 -9.50201568e-01 -1.15714938e-01 1.11645754e+02] [ 9.21331711e-01 3.09256263e-01 -2.35602296e-01 8.27287450e+01] [ 2.59655240e-01 -3.84388468e-02 9.64936066e-01 2.38403273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730888479 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:111.62, Y:82.77, Z:23.80 [[ 2.84249901e-01 -9.57829836e-01 -4.19999853e-02 1.11619716e+02] [ 9.25365725e-01 2.85548170e-01 -2.49320110e-01 8.27688851e+01] [ 2.50799259e-01 3.20038698e-02 9.67509940e-01 2.38021206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.760888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:111.66, Y:82.78, Z:23.85 [[ 2.87223278e-01 -9.52577235e-01 -1.00495775e-01 1.11661103e+02] [ 9.21902185e-01 3.03392371e-01 -2.40934494e-01 8.27809875e+01] [ 2.59998366e-01 -2.34452789e-02 9.65324385e-01 2.38488185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790888479 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:111.60, Y:82.83, Z:23.77 [[ 2.71575358e-01 -9.61736781e-01 3.61827196e-02 1.11596368e+02] [ 9.33330898e-01 2.54008638e-01 -2.53718438e-01 8.28318618e+01] [ 2.34819631e-01 1.02674126e-01 9.66601141e-01 2.37653472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.820888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:111.70, Y:82.82, Z:23.89 [[ 2.84512173e-01 -9.44912217e-01 -1.61844759e-01 1.11704876e+02] [ 9.22412433e-01 3.15813130e-01 -2.22300179e-01 8.28152076e+01] [ 2.61166855e-01 -8.60405107e-02 9.61451457e-01 2.38941033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.850888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:111.62, Y:82.88, Z:23.79 [[ 2.72377675e-01 -9.61788561e-01 2.78058749e-02 1.11622717e+02] [ 9.32201406e-01 2.56619508e-01 -2.55239040e-01 8.28803243e+01] [ 2.38350459e-01 9.54420922e-02 9.66478073e-01 2.37867804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.880888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:111.72, Y:82.87, Z:23.91 [[ 2.83786428e-01 -9.45981803e-01 -1.56791874e-01 1.11722513e+02] [ 9.22352725e-01 3.14005629e-01 -2.25090906e-01 8.28665010e+01] [ 2.62165432e-01 -8.07396683e-02 9.61639429e-01 2.39074170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.910888479 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:111.70, Y:82.91, Z:23.88 [[ 2.83864382e-01 -9.55847507e-01 -7.60036524e-02 1.11701015e+02] [ 9.22415856e-01 2.93861344e-01 -2.50588307e-01 8.29119469e+01] [ 2.61858745e-01 1.02612097e-03 9.65105665e-01 2.38766758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.940888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:111.71, Y:82.94, Z:23.88 [[ 2.82616556e-01 -9.56220135e-01 -7.59666723e-02 1.11709567e+02] [ 9.22763753e-01 2.92647355e-01 -2.50728103e-01 8.29371475e+01] [ 2.61982706e-01 7.60621310e-04 9.65072268e-01 2.38836760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.970888479 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:111.72, Y:82.96, Z:23.89 [[ 2.79714358e-01 -9.57054728e-01 -7.61979292e-02 1.11718868e+02] [ 9.23345318e-01 2.89907300e-01 -2.51768110e-01 8.29601728e+01] [ 2.63046196e-01 6.61541808e-05 9.64783237e-01 2.38915449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00088847899997 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:111.73, Y:82.99, Z:23.90 [[ 2.78342458e-01 -9.57461124e-01 -7.61161799e-02 1.11727747e+02] [ 9.23761653e-01 2.88562201e-01 -2.51786148e-01 8.29855920e+01] [ 2.63039701e-01 -2.30432786e-04 9.64784983e-01 2.38988091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03088847899997 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:111.74, Y:83.01, Z:23.91 [[ 2.76714214e-01 -9.57950996e-01 -7.58889524e-02 1.11736129e+02] [ 9.24403080e-01 2.86931196e-01 -2.51295511e-01 8.30106626e+01] [ 2.62503693e-01 -6.14941492e-04 9.64930792e-01 2.39057856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.74, Y:83.04, Z:23.91 [[ 2.73783308e-01 -9.58807267e-01 -7.57055108e-02 1.11744395e+02] [ 9.25403213e-01 2.84054124e-01 -2.50882739e-01 8.30367139e+01] [ 2.62052656e-01 -1.37061665e-03 9.65052603e-01 2.39129649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09088847899997 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:111.75, Y:83.06, Z:23.92 [[ 2.72519520e-01 -9.59177945e-01 -7.55697117e-02 1.11752275e+02] [ 9.25837896e-01 2.82798449e-01 -2.50697482e-01 8.30623828e+01] [ 2.61834493e-01 -1.64534548e-03 9.65111388e-01 2.39202017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.76, Y:83.09, Z:23.93 [[ 2.70412065e-01 -9.59783662e-01 -7.54495686e-02 1.11760393e+02] [ 9.26503210e-01 2.80732439e-01 -2.50561567e-01 8.30885353e+01] [ 2.61666040e-01 -2.14939663e-03 9.65156083e-01 2.39274610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.77, Y:83.11, Z:23.93 [[ 2.69647517e-01 -9.60017213e-01 -7.52141434e-02 1.11768359e+02] [ 9.26885558e-01 2.79931599e-01 -2.50042920e-01 8.31149688e+01] [ 2.61100323e-01 -2.29145065e-03 9.65308951e-01 2.39346326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:111.78, Y:83.14, Z:23.94 [[ 2.68887790e-01 -9.60245250e-01 -7.50227732e-02 1.11776174e+02] [ 9.27222921e-01 2.79147193e-01 -2.49668781e-01 8.31413878e+01] [ 2.60685658e-01 -2.42994815e-03 9.65420677e-01 2.39417994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:83.17, Z:23.95 [[ 2.68688449e-01 -9.60319195e-01 -7.47901179e-02 1.11783705e+02] [ 9.27436899e-01 2.78892813e-01 -2.49157777e-01 8.31667175e+01] [ 2.60129422e-01 -2.41729844e-03 9.65570733e-01 2.39486663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.79, Y:83.19, Z:23.96 [[ 2.69134044e-01 -9.60216575e-01 -7.45050022e-02 1.11791426e+02] [ 9.27510981e-01 2.79247492e-01 -2.48483840e-01 8.31930048e+01] [ 2.59403637e-01 -2.22874693e-03 9.65766424e-01 2.39561493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.80, Y:83.22, Z:23.96 [[ 2.69533607e-01 -9.60124598e-01 -7.42454722e-02 1.11799103e+02] [ 9.27576036e-01 2.79564895e-01 -2.47883373e-01 8.32190898e+01] [ 2.58755351e-01 -2.05542127e-03 9.65940704e-01 2.39633242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:83.24, Z:23.97 [[ 2.70091064e-01 -9.59986427e-01 -7.40059319e-02 1.11806221e+02] [ 9.27575178e-01 2.80040493e-01 -2.47349168e-01 8.32442627e+01] [ 2.58176501e-01 -1.83926566e-03 9.66096016e-01 2.39704511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:83.27, Z:23.98 [[ 2.71890502e-01 -9.59503928e-01 -7.36733832e-02 1.11813135e+02] [ 9.27296908e-01 2.81692285e-01 -2.46515517e-01 8.32703740e+01] [ 2.57285831e-01 -1.29187279e-03 9.66334483e-01 2.39775317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:83.30, Z:23.98 [[ 2.73246894e-01 -9.59131587e-01 -7.35032970e-02 1.11820652e+02] [ 9.26993864e-01 2.82959106e-01 -2.46204224e-01 8.32962533e+01] [ 2.56940675e-01 -8.62565963e-04 9.66426793e-01 2.39848146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:83.32, Z:23.99 [[ 2.74411171e-01 -9.58816524e-01 -7.32760677e-02 1.11827309e+02] [ 9.26800661e-01 2.84025763e-01 -2.45702870e-01 8.33210871e+01] [ 2.56396263e-01 -4.88695904e-04 9.66571631e-01 2.39916921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:83.35, Z:24.00 [[ 2.76988335e-01 -9.58097815e-01 -7.29797158e-02 1.11833082e+02] [ 9.26269979e-01 2.86441130e-01 -2.44898764e-01 8.33470720e+01] [ 2.55541363e-01 2.35181126e-04 9.66798095e-01 2.39979377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:83.37, Z:24.00 [[ 2.77835015e-01 -9.57861344e-01 -7.28652938e-02 1.11839854e+02] [ 9.26077339e-01 2.87230549e-01 -2.44702622e-01 8.33738853e+01] [ 2.55320320e-01 5.08059123e-04 9.66856388e-01 2.40045441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.480888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:111.85, Y:83.40, Z:24.01 [[ 2.78975831e-01 -9.57545260e-01 -7.26605846e-02 1.11847432e+02] [ 9.25865249e-01 2.88281661e-01 -2.44268756e-01 8.34005821e+01] [ 2.54845103e-01 8.71169010e-04 9.66981496e-01 2.40109897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.85, Y:83.43, Z:24.02 [[ 2.79813283e-01 -9.57300181e-01 -7.26697285e-02 1.11854910e+02] [ 9.25535594e-01 2.89093390e-01 -2.44558533e-01 8.34263117e+01] [ 2.55124266e-01 1.17230570e-03 9.66907562e-01 2.40179286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.540888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:111.86, Y:83.45, Z:24.02 [[ 2.80588249e-01 -9.57086352e-01 -7.24979328e-02 1.11861968e+02] [ 9.25399534e-01 2.89799310e-01 -2.44237718e-01 8.34519880e+01] [ 2.54766437e-01 1.44068037e-03 9.67001545e-01 2.40239628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.570888479 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:111.87, Y:83.48, Z:24.03 [[ 2.82696522e-01 -9.56705891e-01 -6.92568784e-02 1.11867238e+02] [ 9.24543894e-01 2.91004005e-01 -2.46039137e-01 8.34758248e+01] [ 2.55541121e-01 5.52338416e-03 9.66782410e-01 2.40280396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.600888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:111.88, Y:83.50, Z:24.04 [[ 2.80210877e-01 -9.57113058e-01 -7.35965969e-02 1.11876405e+02] [ 9.25451050e-01 2.89714522e-01 -2.44143095e-01 8.35024721e+01] [ 2.54994547e-01 3.01502882e-04 9.66942444e-01 2.40373946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.630888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:111.88, Y:83.53, Z:24.04 [[ 2.81252415e-01 -9.57474885e-01 -6.43344736e-02 1.11880026e+02] [ 9.24503758e-01 2.88320128e-01 -2.49327708e-01 8.35278157e+01] [ 2.57273942e-01 1.06465574e-02 9.66279861e-01 2.40390222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.660888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.89, Y:83.55, Z:24.05 [[ 2.79543373e-01 -9.56872154e-01 -7.90644209e-02 1.11894306e+02] [ 9.25517150e-01 2.90461977e-01 -2.43001738e-01 8.35507400e+01] [ 2.55486804e-01 -5.24595196e-03 9.66798310e-01 2.40535593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.690888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:83.58, Z:24.06 [[ 2.78789673e-01 -9.57623949e-01 -7.23373324e-02 1.11899464e+02] [ 9.25759730e-01 2.88018405e-01 -2.44978206e-01 8.35768497e+01] [ 2.55431480e-01 1.33040471e-03 9.66826245e-01 2.40576642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.720888479 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:111.91, Y:83.60, Z:24.06 [[ 2.77848112e-01 -9.57902812e-01 -7.22677615e-02 1.11907417e+02] [ 9.26038097e-01 2.87090352e-01 -2.45015455e-01 8.36026353e+01] [ 2.55448370e-01 1.15438123e-03 9.66822009e-01 2.40647026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75088847899997 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:111.92, Y:83.63, Z:24.07 [[ 2.75928654e-01 -9.58479182e-01 -7.19794188e-02 1.11915562e+02] [ 9.26822982e-01 2.85161661e-01 -2.44298970e-01 8.36289780e+01] [ 2.54681247e-01 6.96906209e-04 9.67024807e-01 2.40710767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78088847899997 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:111.92, Y:83.66, Z:24.08 [[ 2.74586725e-01 -9.58871564e-01 -7.18850092e-02 1.11923110e+02] [ 9.27243725e-01 2.83840017e-01 -2.44241518e-01 8.36554048e+01] [ 2.54600089e-01 4.10554834e-04 9.67046341e-01 2.40779857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:111.93, Y:83.68, Z:24.08 [[ 2.73190725e-01 -9.59288455e-01 -7.16413841e-02 1.11930726e+02] [ 9.27823241e-01 2.82428133e-01 -2.43676800e-01 8.36808409e+01] [ 2.53989883e-01 9.97004788e-05 9.67206870e-01 2.40844708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:111.94, Y:83.71, Z:24.09 [[ 2.70438693e-01 -9.60098213e-01 -7.12343614e-02 1.11939277e+02] [ 9.28951406e-01 2.79662460e-01 -2.42565855e-01 8.37064813e+01] [ 2.52808621e-01 -5.74067237e-04 9.67516135e-01 2.40918034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87088847899997 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:111.95, Y:83.73, Z:24.10 [[ 2.68650910e-01 -9.60603055e-01 -7.11931193e-02 1.11946814e+02] [ 9.29442059e-01 2.77922339e-01 -2.42686283e-01 8.37316207e+01] [ 2.52911343e-01 -9.71988804e-04 9.67488970e-01 2.40987412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90088847899997 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:111.95, Y:83.76, Z:24.11 [[ 2.67006747e-01 -9.61053967e-01 -7.12928490e-02 1.11954487e+02] [ 9.29747424e-01 2.76357610e-01 -2.43302689e-01 8.37579664e+01] [ 2.53529336e-01 -1.32088306e-03 9.67326796e-01 2.41060189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93088847899998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:111.96, Y:83.78, Z:24.11 [[ 2.65415739e-01 -9.61491945e-01 -7.13282970e-02 1.11961654e+02] [ 9.30099619e-01 2.74828079e-01 -2.43688791e-01 8.37834703e+01] [ 2.53907828e-01 -1.66358134e-03 9.67226988e-01 2.41127897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96088847899998 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:111.97, Y:83.81, Z:24.12 [[ 2.62964951e-01 -9.62158858e-01 -7.14126514e-02 1.11968952e+02] [ 9.30641341e-01 2.72480028e-01 -2.44256686e-01 8.38093834e+01] [ 2.54472255e-01 -2.22861823e-03 9.67077507e-01 2.41196176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99088847899998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:111.98, Y:83.84, Z:24.13 [[ 2.61898434e-01 -9.62451384e-01 -7.13900873e-02 1.11976677e+02] [ 9.30895621e-01 2.71443165e-01 -2.44442121e-01 8.38357673e+01] [ 2.54642009e-01 -2.43771113e-03 9.67032319e-01 2.41271058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02088847899998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:111.98, Y:83.86, Z:24.13 [[ 2.60758411e-01 -9.62765883e-01 -7.13225527e-02 1.11983940e+02] [ 9.31213492e-01 2.70323391e-01 -2.44472283e-01 8.38622307e+01] [ 2.54649728e-01 -2.66831919e-03 9.67029677e-01 2.41344239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05088847899998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:111.99, Y:83.89, Z:24.14 [[ 2.59416663e-01 -9.63123641e-01 -7.13852025e-02 1.11990062e+02] [ 9.31458394e-01 2.69043048e-01 -2.44951215e-01 8.38890150e+01] [ 2.55123999e-01 -2.94791930e-03 9.66903850e-01 2.41418784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08088847899998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:112.00, Y:83.91, Z:24.15 [[ 2.58421245e-01 -9.63397670e-01 -7.12978904e-02 1.11996820e+02] [ 9.31751550e-01 2.68057955e-01 -2.44916275e-01 8.39148763e+01] [ 2.55063736e-01 -3.14035110e-03 9.66919143e-01 2.41487647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11088847899998 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:112.00, Y:83.94, Z:24.16 [[ 2.57465274e-01 -9.63653234e-01 -7.13027161e-02 1.12004241e+02] [ 9.31938459e-01 2.67135638e-01 -2.45212681e-01 8.39414337e+01] [ 2.55347489e-01 -3.31599331e-03 9.66843661e-01 2.41558843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14088847899998 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:112.01, Y:83.97, Z:24.16 [[ 2.55118388e-01 -9.64256494e-01 -7.15822731e-02 1.12011193e+02] [ 9.32241126e-01 2.64942460e-01 -2.46438586e-01 8.39662019e+01] [ 2.56595191e-01 -3.86092399e-03 9.66511253e-01 2.41631064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17088847899998 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:112.02, Y:83.99, Z:24.17 [[ 2.53940370e-01 -9.64559451e-01 -7.16892839e-02 1.12018263e+02] [ 9.32376335e-01 2.63833938e-01 -2.47115406e-01 8.39919195e+01] [ 2.57271566e-01 -4.08881411e-03 9.66330494e-01 2.41703506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20088847899999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:112.02, Y:84.02, Z:24.18 [[ 2.53095239e-01 -9.64779303e-01 -7.17195664e-02 1.12024766e+02] [ 9.32507046e-01 2.63026423e-01 -2.47482748e-01 8.40175960e+01] [ 2.57630374e-01 -4.24229582e-03 9.66234233e-01 2.41770537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230888479 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:112.03, Y:84.04, Z:24.18 [[ 2.52039488e-01 -9.65048636e-01 -7.18138400e-02 1.12031057e+02] [ 9.32621437e-01 2.62033187e-01 -2.48104544e-01 8.40440591e+01] [ 2.58250561e-01 -4.44298438e-03 9.66067755e-01 2.41844284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.260888479 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:112.04, Y:84.07, Z:24.19 [[ 2.51805746e-01 -9.65114088e-01 -7.17541821e-02 1.12037121e+02] [ 9.32671562e-01 2.61792190e-01 -2.48170520e-01 8.40691290e+01] [ 2.58297550e-01 -4.43232217e-03 9.66055242e-01 2.41911072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290888479 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:112.04, Y:84.09, Z:24.20 [[ 2.51510930e-01 -9.65205496e-01 -7.15583863e-02 1.12042099e+02] [ 9.32870353e-01 2.61454921e-01 -2.47778587e-01 8.40940142e+01] [ 2.57866546e-01 -4.43567417e-03 9.66170362e-01 2.41986165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.320888479 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:112.05, Y:84.12, Z:24.21 [[ 2.51553065e-01 -9.65202340e-01 -7.14527686e-02 1.12048768e+02] [ 9.32881743e-01 2.61468146e-01 -2.47721745e-01 8.41207643e+01] [ 2.57784231e-01 -4.34181915e-03 9.66192755e-01 2.42060366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.350888479 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:112.06, Y:84.15, Z:24.21 [[ 2.52075323e-01 -9.65076772e-01 -7.13081686e-02 1.12055900e+02] [ 9.32814272e-01 2.61934614e-01 -2.47482911e-01 8.41472701e+01] [ 2.57518087e-01 -4.13294266e-03 9.66264640e-01 2.42132398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.380888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:112.06, Y:84.17, Z:24.22 [[ 2.52410883e-01 -9.64983458e-01 -7.13839769e-02 1.12062583e+02] [ 9.32575717e-01 2.62280710e-01 -2.48014843e-01 8.41730843e+01] [ 2.58052861e-01 -3.96931781e-03 9.66122645e-01 2.42211743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.410888479 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:112.07, Y:84.20, Z:24.23 [[ 2.54759683e-01 -9.64366407e-01 -7.13788331e-02 1.12068010e+02] [ 9.31867493e-01 2.64550106e-01 -2.48266425e-01 8.41995084e+01] [ 2.58303078e-01 -3.26733847e-03 9.66058406e-01 2.42295782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.440888479 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:112.07, Y:84.23, Z:24.24 [[ 2.55954454e-01 -9.64054308e-01 -7.13204668e-02 1.12073884e+02] [ 9.31524821e-01 2.65689726e-01 -2.48335413e-01 8.42264525e+01] [ 2.58357940e-01 -2.87423008e-03 9.66044985e-01 2.42370822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.470888479 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:112.08, Y:84.25, Z:24.24 [[ 2.56889615e-01 -9.63809244e-01 -7.12703810e-02 1.12079315e+02] [ 9.31244088e-01 2.66580641e-01 -2.48433512e-01 8.42523011e+01] [ 2.58441819e-01 -2.55013195e-03 9.66023459e-01 2.42438639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50088847899997 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:112.08, Y:84.28, Z:24.25 [[ 2.56356612e-01 -9.63999699e-01 -7.06106741e-02 1.12082782e+02] [ 9.30752814e-01 2.65899758e-01 -2.50991072e-01 8.42796173e+01] [ 2.60730679e-01 -1.37786288e-03 9.65410594e-01 2.42512113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53088847899997 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:112.09, Y:84.31, Z:24.26 [[ 2.55789497e-01 -9.63950027e-01 -7.32944710e-02 1.12090801e+02] [ 9.30909896e-01 2.66049884e-01 -2.50248327e-01 8.43050810e+01] [ 2.60726867e-01 -4.21965491e-03 9.65403385e-01 2.42594548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56088847899997 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:112.10, Y:84.33, Z:24.27 [[ 2.58104002e-01 -9.63264301e-01 -7.41903650e-02 1.12097177e+02] [ 9.30456898e-01 2.68514299e-01 -2.49299081e-01 8.43275028e+01] [ 2.60062079e-01 -4.68584660e-03 9.65580529e-01 2.42650533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59088847899997 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:112.10, Y:84.35, Z:24.27 [[ 2.58483363e-01 -9.63374389e-01 -7.13872430e-02 1.12102646e+02] [ 9.30246922e-01 2.68154827e-01 -2.50466872e-01 8.43549619e+01] [ 2.60436203e-01 -1.66624368e-03 9.65489621e-01 2.42708631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62088847899997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:112.11, Y:84.38, Z:24.28 [[ 2.58409685e-01 -9.63393385e-01 -7.13976185e-02 1.12109057e+02] [ 9.30182634e-01 2.68086918e-01 -2.50778134e-01 8.43811616e+01] [ 2.60738763e-01 -1.60932621e-03 9.65408052e-01 2.42779936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65088847899997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:112.11, Y:84.41, Z:24.29 [[ 2.59008279e-01 -9.63236458e-01 -7.13458950e-02 1.12114717e+02] [ 9.29993539e-01 2.68651524e-01 -2.50875219e-01 8.44066181e+01] [ 2.60819341e-01 -1.37246284e-03 9.65386652e-01 2.42855357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68088847899998 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:112.12, Y:84.43, Z:24.29 [[ 2.59424286e-01 -9.63145450e-01 -7.10625270e-02 1.12121146e+02] [ 9.30088877e-01 2.68978469e-01 -2.50170469e-01 8.44332942e+01] [ 2.60064839e-01 -1.19417069e-03 9.65590417e-01 2.42924538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71088847899998 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:112.13, Y:84.46, Z:24.30 [[ 2.60587040e-01 -9.62849342e-01 -7.08204764e-02 1.12125596e+02] [ 9.29937320e-01 2.70037916e-01 -2.49591878e-01 8.44593400e+01] [ 2.59443589e-01 -8.18195290e-04 9.65757917e-01 2.42988573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74088847899998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:112.13, Y:84.49, Z:24.31 [[ 2.61273546e-01 -9.62675690e-01 -7.06516162e-02 1.12131186e+02] [ 9.29839807e-01 2.70656977e-01 -2.49284445e-01 8.44858131e+01] [ 2.59102428e-01 -5.63254346e-04 9.65849685e-01 2.43053267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77088847899998 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:112.14, Y:84.51, Z:24.31 [[ 2.62046590e-01 -9.62480005e-01 -7.04544175e-02 1.12136930e+02] [ 9.29751646e-01 2.71352454e-01 -2.48856833e-01 8.45124248e+01] [ 2.58637705e-01 -2.93026187e-04 9.65974354e-01 2.43121162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80088847899998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:112.14, Y:84.54, Z:24.32 [[ 2.64995811e-01 -9.61687702e-01 -7.02423231e-02 1.12142028e+02] [ 9.29060437e-01 2.74146770e-01 -2.48375227e-01 8.45373984e+01] [ 2.58116107e-01 5.59031478e-04 9.66113742e-01 2.43186872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83088847899998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:112.15, Y:84.56, Z:24.33 [[ 2.65954838e-01 -9.61427669e-01 -7.01773600e-02 1.12147957e+02] [ 9.28789997e-01 2.75056479e-01 -2.48380908e-01 8.45622317e+01] [ 2.58103015e-01 8.78074246e-04 9.66117003e-01 2.43252344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86088847899998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:112.15, Y:84.59, Z:24.33 [[ 2.67217168e-01 -9.61081403e-01 -7.01250420e-02 1.12154359e+02] [ 9.28397625e-01 2.76262268e-01 -2.48509574e-01 8.45877966e+01] [ 2.58210834e-01 1.30210225e-03 9.66087713e-01 2.43320504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89088847899998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:112.16, Y:84.61, Z:24.34 [[ 2.68034811e-01 -9.60848711e-01 -7.01932678e-02 1.12160292e+02] [ 9.28012799e-01 2.77068858e-01 -2.49048374e-01 8.46137025e+01] [ 2.58746178e-01 1.61338300e-03 9.65944001e-01 2.43387861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92088847899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:112.17, Y:84.64, Z:24.35 [[ 2.69463574e-01 -9.60448968e-01 -7.01937526e-02 1.12165398e+02] [ 9.27520031e-01 2.78448272e-01 -2.49345449e-01 8.46403317e+01] [ 2.59028908e-01 2.08340415e-03 9.65867322e-01 2.43451629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95088847899999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:112.17, Y:84.67, Z:24.35 [[ 2.69685960e-01 -9.60388317e-01 -7.01695403e-02 1.12171772e+02] [ 9.27406521e-01 2.78656332e-01 -2.49535154e-01 8.46657788e+01] [ 2.59203833e-01 2.22043832e-03 9.65820088e-01 2.43518321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.980888479 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:112.18, Y:84.69, Z:24.36 [[ 2.69120395e-01 -9.60556170e-01 -7.00432471e-02 1.12178244e+02] [ 9.27623161e-01 2.78077816e-01 -2.49375217e-01 8.46924908e+01] [ 2.59016377e-01 2.13821879e-03 9.65870563e-01 2.43587156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010888479 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:112.18, Y:84.72, Z:24.37 [[ 2.66984210e-01 -9.61169431e-01 -6.98051291e-02 1.12184365e+02] [ 9.28412294e-01 2.75954181e-01 -2.48796909e-01 8.47192699e+01] [ 2.58399000e-01 1.61690598e-03 9.66036926e-01 2.43654265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.040888479 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:112.17, Y:84.75, Z:24.34 [[ 2.62800523e-01 -9.64266528e-01 -3.35551498e-02 1.12174619e+02] [ 9.31949700e-01 2.62690047e-01 -2.49927380e-01 8.47546872e+01] [ 2.49811211e-01 3.44093345e-02 9.67682983e-01 2.43436003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.070888479 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:112.21, Y:84.76, Z:24.39 [[ 2.63410631e-01 -9.59401756e-01 -1.00812254e-01 1.12210956e+02] [ 9.29336019e-01 2.80398935e-01 -2.40231141e-01 8.47637371e+01] [ 2.58745828e-01 -3.04090224e-02 9.65466669e-01 2.43925628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.100888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:112.21, Y:84.80, Z:24.39 [[ 2.61661495e-01 -9.62639025e-01 -6.97091849e-02 1.12206341e+02] [ 9.29867243e-01 2.70787721e-01 -2.49039998e-01 8.47962108e+01] [ 2.58612013e-01 3.43890661e-04 9.65981216e-01 2.43864476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.130888479 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:112.21, Y:84.82, Z:24.39 [[ 2.57759904e-01 -9.63695785e-01 -6.96438512e-02 1.12213483e+02] [ 9.30944258e-01 2.67001953e-01 -2.49103884e-01 8.48208031e+01] [ 2.58655407e-01 -6.25550260e-04 9.65969456e-01 2.43931572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.160888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:112.22, Y:84.85, Z:24.40 [[ 2.55652969e-01 -9.64266851e-01 -6.95053877e-02 1.12219607e+02] [ 9.31584902e-01 2.64930559e-01 -2.48920406e-01 8.48459612e+01] [ 2.58439797e-01 -1.11292890e-03 9.66026725e-01 2.43992327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.190888479 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:112.23, Y:84.87, Z:24.41 [[ 2.52475921e-01 -9.65108171e-01 -6.94415404e-02 1.12225568e+02] [ 9.32435473e-01 2.61844749e-01 -2.49000837e-01 8.48718265e+01] [ 2.58495645e-01 -1.88303995e-03 9.66010588e-01 2.44051860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.220888479 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:112.23, Y:84.90, Z:24.41 [[ 2.51025067e-01 -9.65501663e-01 -6.92311680e-02 1.12232613e+02] [ 9.32967465e-01 2.60387579e-01 -2.48535749e-01 8.48972097e+01] [ 2.57988615e-01 -2.20172424e-03 9.66145448e-01 2.44116843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25088847899997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:112.24, Y:84.92, Z:24.42 [[ 2.49366486e-01 -9.65949651e-01 -6.89755532e-02 1.12239665e+02] [ 9.33599482e-01 2.58717288e-01 -2.47905974e-01 8.49225703e+01] [ 2.57309858e-01 -2.57609911e-03 9.66325515e-01 2.44186136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28088847899997 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:112.25, Y:84.95, Z:24.43 [[ 2.46264624e-01 -9.66771650e-01 -6.86025691e-02 1.12246521e+02] [ 9.34729892e-01 2.55619779e-01 -2.46857365e-01 8.49483752e+01] [ 2.56190875e-01 -3.33263572e-03 9.66620468e-01 2.44257419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31088847899997 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:112.25, Y:84.97, Z:24.43 [[ 2.44657221e-01 -9.67188502e-01 -6.84780658e-02 1.12253316e+02] [ 9.35206079e-01 2.54033095e-01 -2.46691662e-01 8.49739588e+01] [ 2.55993034e-01 -3.68620693e-03 9.66671598e-01 2.44321756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34088847899997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:112.27, Y:85.00, Z:24.44 [[ 2.45814885e-01 -9.66770916e-01 -7.02071059e-02 1.12267014e+02] [ 9.34856021e-01 2.55594128e-01 -2.46405889e-01 8.50027261e+01] [ 2.56162571e-01 -5.06330049e-03 9.66620453e-01 2.44406254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37088847899997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:112.28, Y:85.03, Z:24.45 [[ 2.44792222e-01 -9.66683116e-01 -7.48366238e-02 1.12276722e+02] [ 9.34978386e-01 2.55787821e-01 -2.45739717e-01 8.50293116e+01] [ 2.56694732e-01 -9.81545429e-03 9.66442689e-01 2.44505099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:112.27, Y:85.05, Z:24.45 [[ 2.40581083e-01 -9.68212330e-01 -6.84516333e-02 1.12273284e+02] [ 9.36355501e-01 2.50083215e-01 -2.46367128e-01 8.50519553e+01] [ 2.55654295e-01 -4.82379302e-03 9.66756232e-01 2.44506218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43088847899998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:112.28, Y:85.08, Z:24.46 [[ 2.39603430e-01 -9.68676512e-01 -6.52381132e-02 1.12278109e+02] [ 9.35935367e-01 2.48323006e-01 -2.49721192e-01 8.50782626e+01] [ 2.58099178e-01 -1.22460338e-03 9.66117651e-01 2.44560424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46088847899998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:112.29, Y:85.10, Z:24.46 [[ 2.41090177e-01 -9.67838918e-01 -7.18564955e-02 1.12286564e+02] [ 9.35984602e-01 2.51448063e-01 -2.46387290e-01 8.51004234e+01] [ 2.56531384e-01 -7.85501794e-03 9.66503982e-01 2.44649554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49088847899998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:112.29, Y:85.13, Z:24.47 [[ 2.41484302e-01 -9.68036019e-01 -6.77613367e-02 1.12290788e+02] [ 9.36241341e-01 2.50779107e-01 -2.46093461e-01 8.51272718e+01] [ 2.55220461e-01 -4.01325722e-03 9.66874557e-01 2.44697260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:112.30, Y:85.15, Z:24.48 [[ 2.42168257e-01 -9.67887488e-01 -6.74414230e-02 1.12296098e+02] [ 9.36302640e-01 2.51355836e-01 -2.45270482e-01 8.51517537e+01] [ 2.54346026e-01 -3.74885707e-03 9.67106015e-01 2.44761838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55088847899998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:112.30, Y:85.18, Z:24.48 [[ 2.42724851e-01 -9.67836329e-01 -6.61625753e-02 1.12300591e+02] [ 9.35810405e-01 2.51572877e-01 -2.46920986e-01 8.51776359e+01] [ 2.55623810e-01 -1.98176694e-03 9.66774297e-01 2.44819549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58088847899998 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:112.31, Y:85.20, Z:24.49 [[ 2.48157686e-01 -9.65768208e-01 -7.55614359e-02 1.12313875e+02] [ 9.35474865e-01 2.59170375e-01 -2.40244652e-01 8.52027705e+01] [ 2.51603933e-01 -1.10672671e-02 9.67767005e-01 2.44898652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61088847899998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:112.30, Y:85.24, Z:24.48 [[ 2.45846925e-01 -9.68392056e-01 -4.21439878e-02 1.12303023e+02] [ 9.34636514e-01 2.48353505e-01 -2.54509576e-01 8.52383725e+01] [ 2.56931658e-01 2.31810868e-02 9.66151520e-01 2.44848128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64088847899998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:112.33, Y:85.25, Z:24.52 [[ 2.47470279e-01 -9.64499146e-01 -9.21946815e-02 1.12327850e+02] [ 9.34226009e-01 2.62759080e-01 -2.41204124e-01 8.52504621e+01] [ 2.56866161e-01 -2.64398176e-02 9.66085251e-01 2.45173423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67088847899998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:112.32, Y:85.29, Z:24.50 [[ 2.49124178e-01 -9.67387217e-01 -4.58161063e-02 1.12316018e+02] [ 9.34391726e-01 2.52527891e-01 -2.51280255e-01 8.52867301e+01] [ 2.54655151e-01 1.97897964e-02 9.66829415e-01 2.44979367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70088847899999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:112.33, Y:85.31, Z:24.52 [[ 2.51278302e-01 -9.64983891e-01 -7.52682258e-02 1.12331722e+02] [ 9.32290749e-01 2.62200151e-01 -2.49168698e-01 8.53081016e+01] [ 2.60179120e-01 -7.56118330e-03 9.65530763e-01 2.45228776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730888479 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:112.34, Y:85.33, Z:24.53 [[ 2.52848714e-01 -9.64377813e-01 -7.77364887e-02 1.12338496e+02] [ 9.32634951e-01 2.64324287e-01 -2.45610910e-01 8.53329546e+01] [ 2.57409354e-01 -1.03973636e-02 9.66246511e-01 2.45302912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.760888479 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:112.33, Y:85.37, Z:24.52 [[ 2.54559213e-01 -9.65896982e-01 -4.73563804e-02 1.12334477e+02] [ 9.32228958e-01 2.58120669e-01 -2.53619576e-01 8.53681080e+01] [ 2.57194044e-01 2.04142106e-02 9.66144132e-01 2.45203111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790888479 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:112.36, Y:85.39, Z:24.54 [[ 2.57603327e-01 -9.62866537e-01 -8.07994951e-02 1.12355775e+02] [ 9.30957381e-01 2.69718871e-01 -2.46109904e-01 8.53871932e+01] [ 2.58764139e-01 -1.18221563e-02 9.65868188e-01 2.45437552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.820888479 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:112.36, Y:85.41, Z:24.55 [[ 2.56575240e-01 -9.63208282e-01 -7.99934460e-02 1.12358295e+02] [ 9.31588141e-01 2.68503533e-01 -2.45049769e-01 8.54108456e+01] [ 2.57512490e-01 -1.16472423e-02 9.66204771e-01 2.45513318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.850888479 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:112.35, Y:85.45, Z:24.54 [[ 2.56677317e-01 -9.65643809e-01 -4.06052869e-02 1.12349945e+02] [ 9.33020986e-01 2.58529637e-01 -2.50268389e-01 8.54479728e+01] [ 2.52167790e-01 2.63526338e-02 9.67324632e-01 2.45359957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.880888479 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:112.36, Y:85.47, Z:24.54 [[ 2.54041713e-01 -9.66130757e-01 -4.53229396e-02 1.12355684e+02] [ 9.34908017e-01 2.57298285e-01 -2.44427070e-01 8.54721995e+01] [ 2.47810025e-01 1.97218920e-02 9.68607887e-01 2.45388867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.910888479 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:112.39, Y:85.48, Z:24.59 [[ 2.56831995e-01 -9.60381447e-01 -1.08188734e-01 1.12390095e+02] [ 9.31308123e-01 2.75850958e-01 -2.37847489e-01 8.54841244e+01] [ 2.58268282e-01 -3.96702016e-02 9.65258395e-01 2.45854040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.940888479 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:112.38, Y:85.52, Z:24.57 [[ 2.57569651e-01 -9.64499617e-01 -5.82954857e-02 1.12380758e+02] [ 9.31636014e-01 2.63893392e-01 -2.49829173e-01 8.55245535e+01] [ 2.56343935e-01 1.00382391e-02 9.66533507e-01 2.45711380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.970888479 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:112.37, Y:85.56, Z:24.55 [[ 2.49573853e-01 -9.68032630e-01 -2.50144009e-02 1.12367687e+02] [ 9.36282787e-01 2.47820374e-01 -2.48916865e-01 8.55552571e+01] [ 2.47158726e-01 3.87025880e-02 9.68201773e-01 2.45507736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00088847899997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:112.42, Y:85.56, Z:24.61 [[ 2.52834526e-01 -9.60508049e-01 -1.16185151e-01 1.12416835e+02] [ 9.31930928e-01 2.74040733e-01 -2.37500361e-01 8.55594610e+01] [ 2.59960472e-01 -4.82282442e-02 9.64414117e-01 2.46121789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03088847899997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:112.41, Y:85.60, Z:24.60 [[ 2.51470094e-01 -9.65499878e-01 -6.76223217e-02 1.12405026e+02] [ 9.32361466e-01 2.60403507e-01 -2.50782995e-01 8.55955169e+01] [ 2.59740041e-01 1.59762350e-05 9.65678575e-01 2.45996298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06088847899997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:112.41, Y:85.62, Z:24.61 [[ 2.50173489e-01 -9.65833524e-01 -6.76670424e-02 1.12412485e+02] [ 9.32579983e-01 2.59163157e-01 -2.51254918e-01 8.56213682e+01] [ 2.60207228e-01 -2.47609709e-04 9.65552763e-01 2.46067745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:112.42, Y:85.65, Z:24.61 [[ 2.48194886e-01 -9.66338716e-01 -6.77405704e-02 1.12419385e+02] [ 9.32952784e-01 2.57272222e-01 -2.51813635e-01 8.56474866e+01] [ 2.60765032e-01 -6.99897246e-04 9.65402045e-01 2.46126036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12088847899997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:112.43, Y:85.67, Z:24.62 [[ 2.47446882e-01 -9.66530788e-01 -6.77368124e-02 1.12426489e+02] [ 9.33078833e-01 2.56549317e-01 -2.52083992e-01 8.56736936e+01] [ 2.61024773e-01 -8.26388053e-04 9.65331749e-01 2.46192346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15088847899997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:112.39, Y:85.71, Z:24.57 [[ 2.38115698e-01 -9.71201156e-01 8.32036498e-03 1.12392816e+02] [ 9.39997005e-01 2.28292983e-01 -2.53550674e-01 8.57143971e+01] [ 2.44349227e-01 6.81955139e-02 9.67286321e-01 2.45705608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18088847899998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:112.47, Y:85.71, Z:24.66 [[ 2.46334052e-01 -9.60440902e-01 -1.29895374e-01 1.12468941e+02] [ 9.33231600e-01 2.71222126e-01 -2.35621179e-01 8.57091499e+01] [ 2.61530717e-01 -6.31809482e-02 9.63125045e-01 2.46613728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21088847899998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:112.45, Y:85.74, Z:24.64 [[ 2.47831483e-01 -9.66035810e-01 -7.31735602e-02 1.12453611e+02] [ 9.33257562e-01 2.58328153e-01 -2.49593447e-01 8.57435056e+01] [ 2.60018998e-01 -6.43266423e-03 9.65582074e-01 2.46442472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24088847899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:112.44, Y:85.78, Z:24.63 [[ 2.43404249e-01 -9.69425668e-01 -3.11166343e-02 1.12444133e+02] [ 9.36136504e-01 2.43198059e-01 -2.53974704e-01 8.57827156e+01] [ 2.53777103e-01 3.26891049e-02 9.66710197e-01 2.46258732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27088847899998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:112.47, Y:85.79, Z:24.66 [[ 2.44848684e-01 -9.65687503e-01 -8.65838814e-02 1.12474242e+02] [ 9.34270090e-01 2.58868221e-01 -2.45207348e-01 8.57925085e+01] [ 2.59207487e-01 -2.08540343e-02 9.65596493e-01 2.46603714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30088847899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:112.47, Y:85.82, Z:24.66 [[ 2.43413248e-01 -9.67404639e-01 -6.98445129e-02 1.12474617e+02] [ 9.34811753e-01 2.53192491e-01 -2.49039253e-01 8.58235521e+01] [ 2.58605835e-01 -4.67201809e-03 9.65971632e-01 2.46610639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33088847899998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:112.48, Y:85.85, Z:24.67 [[ 2.44273666e-01 -9.67195222e-01 -6.97407930e-02 1.12481850e+02] [ 9.34757877e-01 2.53994266e-01 -2.48424284e-01 8.58470175e+01] [ 2.57988542e-01 -4.50724489e-03 9.66137463e-01 2.46675828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36088847899998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:112.49, Y:85.87, Z:24.67 [[ 2.44689532e-01 -9.67304881e-01 -6.66955811e-02 1.12490140e+02] [ 9.34450408e-01 2.53613727e-01 -2.49965021e-01 8.58733069e+01] [ 2.58707300e-01 -1.15988885e-03 9.65955065e-01 2.46736847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:112.50, Y:85.90, Z:24.68 [[ 2.44730316e-01 -9.67294561e-01 -6.66956105e-02 1.12498307e+02] [ 9.34362703e-01 2.53653463e-01 -2.50252391e-01 8.58994468e+01] [ 2.58985350e-01 -1.07354420e-03 9.65880653e-01 2.46811592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:85.92, Z:24.69 [[ 2.43937069e-01 -9.67603795e-01 -6.50968720e-02 1.12505070e+02] [ 9.34358286e-01 2.52473028e-01 -2.51459665e-01 8.59249299e+01] [ 2.59748530e-01 5.16531917e-04 9.65676154e-01 2.46873540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:85.95, Z:24.70 [[ 2.43598737e-01 -9.67535977e-01 -6.73334113e-02 1.12512709e+02] [ 9.34442494e-01 2.52726897e-01 -2.50891094e-01 8.59504268e+01] [ 2.59763124e-01 -1.80244701e-03 9.65670684e-01 2.46954926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.480888479 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:112.52, Y:85.97, Z:24.70 [[ 2.44328066e-01 -9.67218240e-01 -6.92291279e-02 1.12521903e+02] [ 9.33953733e-01 2.53926331e-01 -2.51499192e-01 8.59746893e+01] [ 2.60833705e-01 -3.20849129e-03 9.65378415e-01 2.47030976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:112.53, Y:86.00, Z:24.71 [[ 2.44165293e-01 -9.67418096e-01 -6.69741551e-02 1.12529089e+02] [ 9.33858372e-01 2.53182689e-01 -2.52600609e-01 8.60016093e+01] [ 2.61327097e-01 -8.68073699e-04 9.65249913e-01 2.47091291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.540888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:112.54, Y:86.03, Z:24.72 [[ 2.43836893e-01 -9.67498125e-01 -6.70145277e-02 1.12537251e+02] [ 9.33820337e-01 2.52876665e-01 -2.53047369e-01 8.60277130e+01] [ 2.61769265e-01 -8.77244617e-04 9.65130086e-01 2.47167632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.570888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:112.51, Y:86.07, Z:24.67 [[ 2.33873664e-01 -9.72266701e-01 7.55807758e-04 1.12507143e+02] [ 9.40343253e-01 2.25996943e-01 -2.54322526e-01 8.60653608e+01] [ 2.47098513e-01 6.01900596e-02 9.67119166e-01 2.46716053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.600888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:112.57, Y:86.07, Z:24.75 [[ 2.40818991e-01 -9.63858181e-01 -1.13945688e-01 1.12573988e+02] [ 9.34025262e-01 2.62061111e-01 -2.42736040e-01 8.60682698e+01] [ 2.63823852e-01 -4.79727030e-02 9.63377182e-01 2.47509899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.630888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:112.57, Y:86.10, Z:24.74 [[ 2.40335688e-01 -9.68009183e-01 -7.20900730e-02 1.12565344e+02] [ 9.34418520e-01 2.50828301e-01 -2.52877824e-01 8.61033783e+01] [ 2.62870286e-01 -6.58673349e-03 9.64808700e-01 2.47404220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.660888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:112.57, Y:86.13, Z:24.75 [[ 2.40537214e-01 -9.68154779e-01 -6.94130536e-02 1.12571637e+02] [ 9.34318899e-01 2.50323271e-01 -2.53744864e-01 8.61282119e+01] [ 2.63040005e-01 -3.81884502e-03 9.64777369e-01 2.47457088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.690888479 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:112.58, Y:86.15, Z:24.75 [[ 2.38698125e-01 -9.69020484e-01 -6.34232286e-02 1.12577247e+02] [ 9.34156444e-01 2.46970195e-01 -2.57599420e-01 8.61547928e+01] [ 2.65282762e-01 2.24128092e-03 9.64168052e-01 2.47500242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.720888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:86.18, Z:24.76 [[ 2.39587857e-01 -9.68192987e-01 -7.21110217e-02 1.12588510e+02] [ 9.34292621e-01 2.50119959e-01 -2.54041936e-01 8.61761116e+01] [ 2.63998026e-01 -6.50743235e-03 9.64501268e-01 2.47600342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:86.20, Z:24.77 [[ 2.39365738e-01 -9.68611116e-01 -6.70563082e-02 1.12594248e+02] [ 9.34265130e-01 2.48576731e-01 -2.55652646e-01 8.62025242e+01] [ 2.64296633e-01 -1.45388606e-03 9.64440343e-01 2.47650541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78088847899997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:112.60, Y:86.23, Z:24.77 [[ 2.39045552e-01 -9.68695070e-01 -6.69857067e-02 1.12601707e+02] [ 9.34335468e-01 2.48249329e-01 -2.55713713e-01 8.62269283e+01] [ 2.64337770e-01 -1.45989602e-03 9.64429060e-01 2.47717477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.61, Y:86.25, Z:24.78 [[ 2.38626718e-01 -9.68793055e-01 -6.70619532e-02 1.12610871e+02] [ 9.34262168e-01 2.47866542e-01 -2.56352062e-01 8.62521037e+01] [ 2.64974512e-01 -1.48099460e-03 9.64254279e-01 2.47792469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:86.28, Z:24.79 [[ 2.38026345e-01 -9.68944270e-01 -6.70109020e-02 1.12618310e+02] [ 9.34380234e-01 2.47274268e-01 -2.56493695e-01 8.62759460e+01] [ 2.65098168e-01 -1.56140568e-03 9.64220163e-01 2.47860362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:86.30, Z:24.79 [[ 2.37439128e-01 -9.69088394e-01 -6.70100428e-02 1.12625662e+02] [ 9.34433732e-01 2.46708376e-01 -2.56843487e-01 8.63003638e+01] [ 2.65435981e-01 -1.63175075e-03 9.64127106e-01 2.47930041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:86.33, Z:24.80 [[ 2.37170299e-01 -9.69154757e-01 -6.70022798e-02 1.12633455e+02] [ 9.34414436e-01 2.46447649e-01 -2.57163795e-01 8.63261678e+01] [ 2.65744070e-01 -1.61628323e-03 9.64042259e-01 2.47997475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.64, Y:86.35, Z:24.80 [[ 2.37086602e-01 -9.69877353e-01 -5.59273069e-02 1.12635226e+02] [ 9.33697978e-01 2.43386550e-01 -2.62623443e-01 8.63526888e+01] [ 2.68324484e-01 1.00452862e-02 9.63276214e-01 2.48015175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96088847899998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:112.64, Y:86.38, Z:24.80 [[ 2.34684110e-01 -9.70523985e-01 -5.48321337e-02 1.12640103e+02] [ 9.36138707e-01 2.40843998e-01 -2.56200096e-01 8.63797860e+01] [ 2.61854329e-01 8.79560879e-03 9.65067328e-01 2.48014700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99088847899998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:112.65, Y:86.41, Z:24.81 [[ 2.33876867e-01 -9.70686789e-01 -5.53964690e-02 1.12647572e+02] [ 9.36982330e-01 2.40233317e-01 -2.53677093e-01 8.64054789e+01] [ 2.59549080e-01 7.42369115e-03 9.65701384e-01 2.48065260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:86.42, Z:24.84 [[ 2.35996778e-01 -9.66998180e-01 -9.60210434e-02 1.12675580e+02] [ 9.33730907e-01 2.53023200e-01 -2.53230830e-01 8.64196757e+01] [ 2.69169303e-01 -2.98961561e-02 9.62628748e-01 2.48446546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.67, Y:86.45, Z:24.84 [[ 2.35526872e-01 -9.69497379e-01 -6.78374929e-02 1.12671283e+02] [ 9.33726487e-01 2.45094422e-01 -2.60928288e-01 8.64512749e+01] [ 2.69595882e-01 -1.88604036e-03 9.62971704e-01 2.48396400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:86.48, Z:24.85 [[ 2.34693123e-01 -9.69701416e-01 -6.78107741e-02 1.12678217e+02] [ 9.33874317e-01 2.44284718e-01 -2.61158451e-01 8.64764435e+01] [ 2.69810855e-01 -2.03464799e-03 9.62911191e-01 2.48468695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11088847899998 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:112.69, Y:86.50, Z:24.85 [[ 2.34443644e-01 -9.69764090e-01 -6.77774846e-02 1.12685270e+02] [ 9.33882148e-01 2.44035907e-01 -2.61362983e-01 8.65016605e+01] [ 2.70000575e-01 -2.02129282e-03 9.62858039e-01 2.48536231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14088847899998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:112.69, Y:86.53, Z:24.86 [[ 2.33022382e-01 -9.70110824e-01 -6.77167538e-02 1.12692117e+02] [ 9.34214707e-01 2.42651059e-01 -2.61463851e-01 8.65268013e+01] [ 2.70080454e-01 -2.33505803e-03 9.62834927e-01 2.48602740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:86.55, Z:24.87 [[ 2.31979347e-01 -9.70366168e-01 -6.76393563e-02 1.12699261e+02] [ 9.34462002e-01 2.41625875e-01 -2.61529547e-01 8.65534975e+01] [ 2.70122843e-01 -2.53695483e-03 9.62822524e-01 2.48675890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:86.58, Z:24.88 [[ 2.30876238e-01 -9.70634372e-01 -6.75653587e-02 1.12706354e+02] [ 9.34734415e-01 2.40543649e-01 -2.61553679e-01 8.65797780e+01] [ 2.70125409e-01 -2.76913654e-03 9.62821165e-01 2.48754976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.230888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:86.60, Z:24.88 [[ 2.29297501e-01 -9.71020623e-01 -6.73914379e-02 1.12713070e+02] [ 9.35238546e-01 2.38975122e-01 -2.61189112e-01 8.66044871e+01] [ 2.69724892e-01 -3.13705963e-03 9.62932314e-01 2.48829456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.260888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:86.63, Z:24.89 [[ 2.28235977e-01 -9.71290072e-01 -6.71113592e-02 1.12719592e+02] [ 9.35721234e-01 2.37874697e-01 -2.60463818e-01 8.66285063e+01] [ 2.68950015e-01 -3.35030985e-03 9.63148309e-01 2.48898377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:112.73, Y:86.65, Z:24.90 [[ 2.26037475e-01 -9.71816060e-01 -6.69373192e-02 1.12726375e+02] [ 9.36361232e-01 2.35708524e-01 -2.60132919e-01 8.66538126e+01] [ 2.68579045e-01 -3.87772253e-03 9.63249843e-01 2.48967190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.320888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:86.68, Z:24.90 [[ 2.24895935e-01 -9.72082646e-01 -6.69114882e-02 1.12732817e+02] [ 9.36576120e-01 2.34602651e-01 -2.60358922e-01 8.66788655e+01] [ 2.68788002e-01 -4.11403875e-03 9.63190575e-01 2.49039145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:86.71, Z:24.89 [[ 2.20237850e-01 -9.74839321e-01 -3.44033086e-02 1.12722399e+02] [ 9.40121380e-01 2.21535602e-01 -2.59024648e-01 8.67136907e+01] [ 2.60128970e-01 2.47037457e-02 9.65257812e-01 2.48850971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.380888479 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:112.74, Y:86.73, Z:24.90 [[ 2.17774212e-01 -9.74495287e-01 -5.41602096e-02 1.12736965e+02] [ 9.41365916e-01 2.24374303e-01 -2.51965047e-01 8.67346556e+01] [ 2.57690910e-01 3.88691434e-03 9.66219585e-01 2.48984538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.410888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:86.77, Z:24.88 [[ 2.12155132e-01 -9.77062352e-01 -1.84217258e-02 1.12721144e+02] [ 9.44708257e-01 2.09880136e-01 -2.51945703e-01 8.67676251e+01] [ 2.50033016e-01 3.60484174e-02 9.67566020e-01 2.48777162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:86.77, Z:24.97 [[ 2.21854760e-01 -9.65611781e-01 -1.35552033e-01 1.12786682e+02] [ 9.37059579e-01 2.49574842e-01 -2.44196117e-01 8.67679869e+01] [ 2.69629025e-01 -7.28442598e-02 9.60205136e-01 2.49667979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.470888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:86.81, Z:24.94 [[ 2.21796092e-01 -9.72761224e-01 -6.73950616e-02 1.12765568e+02] [ 9.36681466e-01 2.31757570e-01 -2.62519065e-01 8.68100015e+01] [ 2.70987683e-01 -4.90200230e-03 9.62570333e-01 2.49424802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:86.85, Z:24.92 [[ 2.18487257e-01 -9.75357648e-01 -3.06721014e-02 1.12752282e+02] [ 9.40023132e-01 2.18801486e-01 -2.61691461e-01 8.68466200e+01] [ 2.61953869e-01 2.83437646e-02 9.64664087e-01 2.49212449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53088847899997 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:112.79, Y:86.86, Z:24.97 [[ 2.22923454e-01 -9.69851411e-01 -9.84549387e-02 1.12790084e+02] [ 9.36677924e-01 2.41082860e-01 -2.53995120e-01 8.68550754e+01] [ 2.70073324e-01 -3.55990982e-02 9.62181430e-01 2.49717262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.78, Y:86.89, Z:24.97 [[ 2.23988557e-01 -9.72280416e-01 -6.70814296e-02 1.12783126e+02] [ 9.36339111e-01 2.33781238e-01 -2.61945418e-01 8.68878649e+01] [ 2.70366779e-01 -4.13819011e-03 9.62748503e-01 2.49653482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:86.91, Z:24.97 [[ 2.24981234e-01 -9.72063153e-01 -6.69079343e-02 1.12788620e+02] [ 9.36209043e-01 2.34688944e-01 -2.61598409e-01 8.69145116e+01] [ 2.69992726e-01 -3.78508032e-03 9.62854922e-01 2.49725674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:86.94, Z:24.98 [[ 2.28476912e-01 -9.71247179e-01 -6.69120122e-02 1.12792765e+02] [ 9.35264950e-01 2.38057631e-01 -2.61931361e-01 8.69414196e+01] [ 2.70329010e-01 -2.73519119e-03 9.62764117e-01 2.49799621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:86.97, Z:24.99 [[ 2.30285280e-01 -9.70827182e-01 -6.68077354e-02 1.12798141e+02] [ 9.34853858e-01 2.39770567e-01 -2.61836473e-01 8.69686421e+01] [ 2.70216494e-01 -2.15838378e-03 9.62797169e-01 2.49869464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68088847899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:112.80, Y:86.99, Z:24.99 [[ 2.32109512e-01 -9.70393089e-01 -6.68014013e-02 1.12803400e+02] [ 9.34319003e-01 2.41525954e-01 -2.62132055e-01 8.69940259e+01] [ 2.70505407e-01 -1.57047533e-03 9.62717175e-01 2.49939745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.81, Y:87.02, Z:25.00 [[ 2.35636534e-01 -9.69560767e-01 -6.65382839e-02 1.12807972e+02] [ 9.33648690e-01 2.44850259e-01 -2.61435411e-01 8.70202858e+01] [ 2.69769433e-01 -5.19647438e-04 9.62924806e-01 2.50012128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.81, Y:87.05, Z:25.01 [[ 2.36951051e-01 -9.69248711e-01 -6.64163841e-02 1.12813658e+02] [ 9.33359786e-01 2.46083180e-01 -2.61309353e-01 8.70459638e+01] [ 2.69617708e-01 -7.28563579e-05 9.62967438e-01 2.50087850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:87.07, Z:25.02 [[ 2.37791203e-01 -9.69047741e-01 -6.63462078e-02 1.12819275e+02] [ 9.33130013e-01 2.46873277e-01 -2.61384704e-01 8.70720564e+01] [ 2.69673363e-01 2.45345461e-04 9.62951825e-01 2.50160047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:112.82, Y:87.10, Z:25.02 [[ 2.38080073e-01 -9.68986842e-01 -6.61995349e-02 1.12824441e+02] [ 9.33140327e-01 2.47112007e-01 -2.61122166e-01 8.70966812e+01] [ 2.69382643e-01 3.94528650e-04 9.63033144e-01 2.50227666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:112.83, Y:87.12, Z:25.03 [[ 2.38444738e-01 -9.68909614e-01 -6.60171728e-02 1.12829438e+02] [ 9.33158050e-01 2.47414286e-01 -2.60772360e-01 8.71234353e+01] [ 2.68998439e-01 5.75340728e-04 9.63140441e-01 2.50304456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.84, Y:87.15, Z:25.04 [[ 2.38141824e-01 -9.68997283e-01 -6.58235325e-02 1.12835397e+02] [ 9.33373700e-01 2.47070751e-01 -2.60325911e-01 8.71484253e+01] [ 2.68518170e-01 5.56533190e-04 9.63274459e-01 2.50380875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.84, Y:87.17, Z:25.05 [[ 2.37432534e-01 -9.69186130e-01 -6.56051575e-02 1.12841859e+02] [ 9.33745253e-01 2.46329218e-01 -2.59695434e-01 8.71749462e+01] [ 2.67853680e-01 4.01640515e-04 9.63459519e-01 2.50460503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:87.20, Z:25.05 [[ 2.36051246e-01 -9.69536963e-01 -6.54055509e-02 1.12847964e+02] [ 9.34242125e-01 2.44945034e-01 -2.59217251e-01 8.72012268e+01] [ 2.67341471e-01 8.39341476e-05 9.63601853e-01 2.50536433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:87.23, Z:25.06 [[ 2.32805499e-01 -9.70332006e-01 -6.52487312e-02 1.12853363e+02] [ 9.35151920e-01 2.41775201e-01 -2.58912414e-01 8.72276542e+01] [ 2.67006528e-01 -7.41242410e-04 9.63694435e-01 2.50607141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.980888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:112.86, Y:87.25, Z:25.07 [[ 2.30728389e-01 -9.70808314e-01 -6.55410373e-02 1.12859281e+02] [ 9.35567514e-01 2.39851886e-01 -2.59199729e-01 8.72528096e+01] [ 2.67353393e-01 -1.51332948e-03 9.63597360e-01 2.50676299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:87.28, Z:25.07 [[ 2.28670998e-01 -9.71320307e-01 -6.51646832e-02 1.12865180e+02] [ 9.35849303e-01 2.37770035e-01 -2.60099005e-01 8.72789807e+01] [ 2.68133654e-01 -1.50722432e-03 9.63380544e-01 2.50744371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.040888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:112.87, Y:87.30, Z:25.08 [[ 2.24067607e-01 -9.72409670e-01 -6.49087213e-02 1.12870770e+02] [ 9.36761010e-01 2.33267934e-01 -2.60892471e-01 8.73047631e+01] [ 2.68835485e-01 -2.34640761e-03 9.63183252e-01 2.50807623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.070888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.88, Y:87.33, Z:25.09 [[ 2.21883657e-01 -9.72888491e-01 -6.52351703e-02 1.12876780e+02] [ 9.37232644e-01 2.31252133e-01 -2.60993147e-01 8.73300799e+01] [ 2.69003001e-01 -3.23041740e-03 9.63133921e-01 2.50883042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.100888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:112.88, Y:87.36, Z:25.09 [[ 2.19079718e-01 -9.73995628e-01 -5.77632495e-02 1.12879618e+02] [ 9.37253849e-01 2.26532842e-01 -2.65024704e-01 8.73570624e+01] [ 2.71218176e-01 3.92270958e-03 9.62509903e-01 2.50923416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.130888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.90, Y:87.38, Z:25.11 [[ 2.16344188e-01 -9.73249636e-01 -7.73326497e-02 1.12895384e+02] [ 9.37975547e-01 2.29174576e-01 -2.60155504e-01 8.73798212e+01] [ 2.70918927e-01 -1.62530032e-02 9.62464948e-01 2.51107541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.160888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:112.89, Y:87.41, Z:25.11 [[ 2.10801111e-01 -9.75253032e-01 -6.66664554e-02 1.12894550e+02] [ 9.39423862e-01 2.20968013e-01 -2.62022795e-01 8.74070395e+01] [ 2.70269680e-01 -7.39336272e-03 9.62756272e-01 2.51134386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.190888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:112.90, Y:87.44, Z:25.12 [[ 2.09739265e-01 -9.75787788e-01 -6.20292985e-02 1.12898468e+02] [ 9.40155182e-01 2.18691266e-01 -2.61308942e-01 8.74352530e+01] [ 2.68547340e-01 -3.51042116e-03 9.63260091e-01 2.51176857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.220888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:112.91, Y:87.46, Z:25.13 [[ 2.07701512e-01 -9.76037909e-01 -6.48851398e-02 1.12905529e+02] [ 9.40757827e-01 2.17487629e-01 -2.60141967e-01 8.74611435e+01] [ 2.68020136e-01 -7.00932325e-03 9.63387812e-01 2.51263972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:112.93, Y:87.48, Z:25.15 [[ 2.08005095e-01 -9.73999830e-01 -8.97675381e-02 1.12925555e+02] [ 9.38913132e-01 2.24548960e-01 -2.60806240e-01 8.74832551e+01] [ 2.74182441e-01 -3.00348937e-02 9.61208559e-01 2.51545349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:87.51, Z:25.16 [[ 2.07916890e-01 -9.75257421e-01 -7.51234305e-02 1.12926336e+02] [ 9.38057896e-01 2.20568641e-01 -2.67201907e-01 8.75116427e+01] [ 2.77160516e-01 -1.49143377e-02 9.60707870e-01 2.51585171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31088847899997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:112.91, Y:87.55, Z:25.14 [[ 2.03574916e-01 -9.78306939e-01 -3.83769097e-02 1.12911667e+02] [ 9.41353887e-01 2.06357791e-01 -2.66963146e-01 8.75451674e+01] [ 2.69091273e-01 1.82207470e-02 9.62942309e-01 2.51386573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34088847899997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:112.93, Y:87.57, Z:25.16 [[ 2.03314776e-01 -9.76962007e-01 -6.48717066e-02 1.12929084e+02] [ 9.41635691e-01 2.13258436e-01 -2.60467015e-01 8.75653006e+01] [ 2.68300817e-01 -8.12872135e-03 9.63300885e-01 2.51569296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37088847899997 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:112.94, Y:87.59, Z:25.16 [[ 2.03078251e-01 -9.77015553e-01 -6.48061270e-02 1.12935002e+02] [ 9.41671910e-01 2.13013444e-01 -2.60536536e-01 8.75918137e+01] [ 2.68352824e-01 -8.11680547e-03 9.63286499e-01 2.51649890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40088847899997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:112.94, Y:87.62, Z:25.17 [[ 2.03159723e-01 -9.77000922e-01 -6.47713383e-02 1.12940279e+02] [ 9.41605802e-01 2.13084140e-01 -2.60717592e-01 8.76178716e+01] [ 2.68523072e-01 -8.02175432e-03 9.63239851e-01 2.51725888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43088847899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:112.95, Y:87.64, Z:25.18 [[ 2.03895080e-01 -9.76850541e-01 -6.47287943e-02 1.12945773e+02] [ 9.41404462e-01 2.13782672e-01 -2.60872782e-01 8.76442926e+01] [ 2.68671613e-01 -7.74529904e-03 9.63200693e-01 2.51802149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46088847899998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:112.95, Y:87.67, Z:25.19 [[ 2.07177573e-01 -9.76148889e-01 -6.48906698e-02 1.12949361e+02] [ 9.40396169e-01 2.16996491e-01 -2.61854097e-01 8.76697371e+01] [ 2.69689633e-01 -6.77264106e-03 9.62923482e-01 2.51877867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49088847899998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:112.95, Y:87.70, Z:25.19 [[ 2.09403095e-01 -9.75677356e-01 -6.48385668e-02 1.12953950e+02] [ 9.39864106e-01 2.19127257e-01 -2.61989898e-01 8.76951223e+01] [ 2.69825509e-01 -6.07794598e-03 9.62890053e-01 2.51947696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52088847899998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:112.96, Y:87.72, Z:25.20 [[ 2.12014333e-01 -9.75117565e-01 -6.47738890e-02 1.12958488e+02] [ 9.39255116e-01 2.21625578e-01 -2.62072377e-01 8.77218626e+01] [ 2.69906928e-01 -5.27610657e-03 9.62871961e-01 2.52022705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55088847899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:112.96, Y:87.75, Z:25.21 [[ 2.14679414e-01 -9.74529964e-01 -6.48390182e-02 1.12962646e+02] [ 9.38475187e-01 2.24212953e-01 -2.62664950e-01 8.77477770e+01] [ 2.70512612e-01 -4.46105209e-03 9.62706095e-01 2.52096489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58088847899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:112.97, Y:87.77, Z:25.22 [[ 2.20020493e-01 -9.73331651e-01 -6.49344255e-02 1.12965824e+02] [ 9.37018386e-01 2.29384255e-01 -2.63399710e-01 8.77748701e+01] [ 2.71270210e-01 -2.89141661e-03 9.62498890e-01 2.52167009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61088847899998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:113.00, Y:87.80, Z:25.26 [[ 2.27343479e-01 -9.67777145e-01 -1.08269753e-01 1.12997135e+02] [ 9.31808485e-01 2.48490179e-01 -2.64547877e-01 8.77955987e+01] [ 2.82927359e-01 -4.07434395e-02 9.58275577e-01 2.52581688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64088847899998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:112.99, Y:87.83, Z:25.25 [[ 2.29234504e-01 -9.70763934e-01 -7.11963970e-02 1.12987607e+02] [ 9.31603427e-01 2.40006874e-01 -2.72968414e-01 8.78300631e+01] [ 2.82075516e-01 -3.75302840e-03 9.59384864e-01 2.52487366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67088847899998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:112.98, Y:87.86, Z:25.24 [[ 2.29268174e-01 -9.72125235e-01 -4.90778060e-02 1.12978964e+02] [ 9.33414983e-01 2.33875670e-01 -2.72100424e-01 8.78595072e+01] [ 2.75993794e-01 1.65740081e-02 9.61016508e-01 2.52388307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70088847899999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:113.00, Y:87.88, Z:25.27 [[ 2.32927946e-01 -9.69135730e-01 -8.07496673e-02 1.12999841e+02] [ 9.30518873e-01 2.46236056e-01 -2.71113318e-01 8.78766754e+01] [ 2.82629083e-01 -1.19892212e-02 9.59154346e-01 2.52654048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.730888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.01, Y:87.91, Z:25.27 [[ 2.32319404e-01 -9.69202060e-01 -8.17010484e-02 1.13005812e+02] [ 9.31919070e-01 2.45857128e-01 -2.66610426e-01 8.79055669e+01] [ 2.78486160e-01 -1.41999896e-02 9.60335264e-01 2.52725376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.760888479 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:113.00, Y:87.94, Z:25.26 [[ 2.30909862e-01 -9.71744901e-01 -4.89130112e-02 1.12995544e+02] [ 9.33812688e-01 2.35454577e-01 -2.69360364e-01 8.79393722e+01] [ 2.73266353e-01 1.65223739e-02 9.61796502e-01 2.52591984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:87.96, Z:25.27 [[ 2.32980368e-01 -9.70225449e-01 -6.62021600e-02 1.13008921e+02] [ 9.33354943e-01 2.42203578e-01 -2.64926361e-01 8.79629689e+01] [ 2.73072698e-01 -6.74721858e-05 9.61993398e-01 2.52723319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.820888479 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:113.01, Y:87.98, Z:25.28 [[ 2.31645391e-01 -9.70392326e-01 -6.84042941e-02 1.13010706e+02] [ 9.33971457e-01 2.41516982e-01 -2.63375900e-01 8.79836360e+01] [ 2.72098751e-01 -2.87784507e-03 9.62265030e-01 2.52776942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.850888479 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:113.02, Y:88.02, Z:25.28 [[ 2.34100263e-01 -9.70199067e-01 -6.25366882e-02 1.13019655e+02] [ 9.32950237e-01 2.42276342e-01 -2.66281860e-01 8.80150613e+01] [ 2.73497572e-01 3.99303515e-03 9.61864405e-01 2.52849507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.880888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:113.02, Y:88.03, Z:25.29 [[ 2.32611803e-01 -9.69991116e-01 -7.07741798e-02 1.13023515e+02] [ 9.33436589e-01 2.43095017e-01 -2.63819913e-01 8.80338576e+01] [ 2.73107822e-01 -4.69558326e-03 9.61971969e-01 2.52932298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.910888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:113.03, Y:88.06, Z:25.30 [[ 2.32960144e-01 -9.70372317e-01 -6.40869472e-02 1.13025996e+02] [ 9.33405318e-01 2.41606354e-01 -2.65293955e-01 8.80611894e+01] [ 2.72917723e-01 1.98382065e-03 9.62035332e-01 2.52984693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.940888479 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:113.03, Y:88.09, Z:25.31 [[ 2.32714955e-01 -9.70443654e-01 -6.38972941e-02 1.13031870e+02] [ 9.33597058e-01 2.41319634e-01 -2.64879910e-01 8.80871573e+01] [ 2.72470700e-01 1.98719072e-03 9.62162028e-01 2.53050862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97088847899997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:113.04, Y:88.11, Z:25.31 [[ 2.32139350e-01 -9.70584157e-01 -6.38570024e-02 1.13038131e+02] [ 9.33685314e-01 2.40754505e-01 -2.65083011e-01 8.81131256e+01] [ 2.72659231e-01 1.91385241e-03 9.62108768e-01 2.53126449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00088847899997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.05, Y:88.14, Z:25.32 [[ 2.30700649e-01 -9.70933871e-01 -6.37544365e-02 1.13045536e+02] [ 9.34072236e-01 2.39342659e-01 -2.64998395e-01 8.81387056e+01] [ 2.72555074e-01 1.58405253e-03 9.62138879e-01 2.53203882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:113.05, Y:88.17, Z:25.33 [[ 2.29391954e-01 -9.71243419e-01 -6.37616810e-02 1.13052496e+02] [ 9.34287454e-01 2.38085119e-01 -2.65372248e-01 8.81650071e+01] [ 2.72921756e-01 1.30251985e-03 9.62035352e-01 2.53282752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06088847899997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:113.06, Y:88.19, Z:25.34 [[ 2.27516515e-01 -9.71677706e-01 -6.38644691e-02 1.13059044e+02] [ 9.34518252e-01 2.36308438e-01 -2.66146499e-01 8.81911095e+01] [ 2.73700333e-01 8.70211925e-04 9.61814624e-01 2.53358656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09088847899997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:113.07, Y:88.22, Z:25.34 [[ 2.25882076e-01 -9.72052442e-01 -6.39635642e-02 1.13065792e+02] [ 9.34691043e-01 2.34763278e-01 -2.66906084e-01 8.82175144e+01] [ 2.74463007e-01 5.03129820e-04 9.61597527e-01 2.53431765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12088847899997 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:113.07, Y:88.24, Z:25.35 [[ 2.23595622e-01 -9.72575890e-01 -6.40401199e-02 1.13072257e+02] [ 9.35045406e-01 2.32585761e-01 -2.67570463e-01 8.82440886e+01] [ 2.75127401e-01 -5.28358674e-05 9.61407775e-01 2.53501451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15088847899997 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:113.08, Y:88.27, Z:25.36 [[ 2.19738433e-01 -9.73450703e-01 -6.40995372e-02 1.13080461e+02] [ 9.35786061e-01 2.28894323e-01 -2.68163823e-01 8.82701282e+01] [ 2.75716283e-01 -1.05755499e-03 9.61238479e-01 2.53573266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18088847899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:113.09, Y:88.30, Z:25.37 [[ 2.17531118e-01 -9.73953564e-01 -6.39895908e-02 1.13087824e+02] [ 9.36343685e-01 2.26741857e-01 -2.68045956e-01 8.82956544e+01] [ 2.75573433e-01 -1.60791271e-03 9.61278679e-01 2.53653227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21088847899998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:113.09, Y:88.32, Z:25.37 [[ 2.15408025e-01 -9.74438424e-01 -6.37898147e-02 1.13094991e+02] [ 9.36990541e-01 2.24644581e-01 -2.67551001e-01 8.83220454e+01] [ 2.75042012e-01 -2.13782027e-03 9.61429832e-01 2.53731814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24088847899998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:113.10, Y:88.35, Z:25.38 [[ 2.13484415e-01 -9.74864640e-01 -6.37443165e-02 1.13101540e+02] [ 9.37391621e-01 2.22782758e-01 -2.67702803e-01 8.83482662e+01] [ 2.75175132e-01 -2.60301201e-03 9.61390592e-01 2.53811009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27088847899998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:113.05, Y:88.39, Z:25.31 [[ 1.96687505e-01 -9.79597566e-01 4.12629943e-02 1.13047857e+02] [ 9.47578419e-01 1.79112946e-01 -2.64601007e-01 8.83930397e+01] [ 2.51811765e-01 9.11436348e-02 9.63474791e-01 2.53138925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30088847899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:113.15, Y:88.38, Z:25.43 [[ 2.08501483e-01 -9.66814438e-01 -1.47637979e-01 1.13148702e+02] [ 9.38258021e-01 2.40338605e-01 -2.48815679e-01 8.83816035e+01] [ 2.76041697e-01 -8.66440802e-02 9.57232357e-01 2.54331120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33088847899998 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:113.12, Y:88.43, Z:25.41 [[ 2.07788978e-01 -9.76071500e-01 -6.40949894e-02 1.13123120e+02] [ 9.38241259e-01 2.17409027e-01 -2.69140587e-01 8.84255604e+01] [ 2.76635286e-01 -4.21211611e-03 9.60965752e-01 2.54057849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36088847899998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:113.13, Y:88.46, Z:25.40 [[ 2.06885410e-01 -9.77337097e-01 -4.48400081e-02 1.13125006e+02] [ 9.39658588e-01 2.11255597e-01 -2.69096287e-01 8.84595831e+01] [ 2.72470486e-01 1.35377968e-02 9.62068897e-01 2.54011398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.14, Y:88.47, Z:25.43 [[ 2.04850360e-01 -9.75177113e-01 -8.40590756e-02 1.13144497e+02] [ 9.39270336e-01 2.20010267e-01 -2.63375622e-01 8.84717621e+01] [ 2.75331738e-01 -2.50016054e-02 9.61024117e-01 2.54290764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42088847899998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:113.14, Y:88.50, Z:25.43 [[ 2.04368464e-01 -9.76816344e-01 -6.37444960e-02 1.13142290e+02] [ 9.39166436e-01 2.14021386e-01 -2.68628464e-01 8.85019689e+01] [ 2.76043359e-01 -4.96750453e-03 9.61132347e-01 2.54281218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.15, Y:88.53, Z:25.44 [[ 2.04648701e-01 -9.76752896e-01 -6.38176207e-02 1.13148442e+02] [ 9.38905401e-01 2.14314457e-01 -2.69306444e-01 8.85281328e+01] [ 2.76722888e-01 -4.80549490e-03 9.60937745e-01 2.54356458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.480888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.15, Y:88.55, Z:25.44 [[ 2.05288959e-01 -9.76621351e-01 -6.37744470e-02 1.13154040e+02] [ 9.38719755e-01 2.14918739e-01 -2.69471999e-01 8.85544537e+01] [ 2.76878432e-01 -4.54670705e-03 9.60894199e-01 2.54429656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510888479 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:113.13, Y:88.59, Z:25.41 [[ 2.00418618e-01 -9.79596811e-01 -1.49152813e-02 1.13134302e+02] [ 9.43272866e-01 1.97055637e-01 -2.67217844e-01 8.85931353e+01] [ 2.64704888e-01 3.94862508e-02 9.63520710e-01 2.54136365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.540888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:88.60, Z:25.48 [[ 2.06567442e-01 -9.72850336e-01 -1.04365298e-01 1.13182071e+02] [ 9.38755252e-01 2.27127552e-01 -2.59136360e-01 8.85980670e+01] [ 2.75805130e-01 -4.44443369e-02 9.60185519e-01 2.54752165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.570888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.17, Y:88.63, Z:25.47 [[ 2.07342965e-01 -9.76211126e-01 -6.34092439e-02 1.13171094e+02] [ 9.38489234e-01 2.16789178e-01 -2.68775761e-01 8.86321113e+01] [ 2.76128327e-01 -3.78012955e-03 9.61113343e-01 2.54656949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.600888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.18, Y:88.66, Z:25.47 [[ 2.08357459e-01 -9.75999389e-01 -6.33432127e-02 1.13176006e+02] [ 9.38243085e-01 2.17746529e-01 -2.68861234e-01 8.86587360e+01] [ 2.76201165e-01 -3.41208783e-03 9.61093791e-01 2.54729693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.630888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.18, Y:88.68, Z:25.48 [[ 2.08108980e-01 -9.76133057e-01 -6.20878976e-02 1.13180956e+02] [ 9.38165615e-01 2.17162765e-01 -2.69602694e-01 8.86849503e+01] [ 2.76651282e-01 -2.14198901e-03 9.60967991e-01 2.54799005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.660888479 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:113.19, Y:88.71, Z:25.49 [[ 2.08092900e-01 -9.75957664e-01 -6.48381377e-02 1.13188133e+02] [ 9.38290443e-01 2.17903965e-01 -2.68568254e-01 8.87109917e+01] [ 2.76239733e-01 -4.94985818e-03 9.61076016e-01 2.54886767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.690888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.19, Y:88.74, Z:25.49 [[ 2.08598873e-01 -9.76091619e-01 -6.10873307e-02 1.13192451e+02] [ 9.37970881e-01 2.17357420e-01 -2.70122897e-01 8.87368859e+01] [ 2.76942480e-01 -9.50805464e-04 9.60886028e-01 2.54948134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72088847899997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:113.20, Y:88.76, Z:25.50 [[ 2.08662249e-01 -9.75823143e-01 -6.50327528e-02 1.13199827e+02] [ 9.38201582e-01 2.18504200e-01 -2.68390957e-01 8.87623330e+01] [ 2.76112037e-01 -5.01077089e-03 9.61112395e-01 2.55035417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75088847899997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:113.20, Y:88.79, Z:25.51 [[ 2.08352234e-01 -9.76019134e-01 -6.30555064e-02 1.13204315e+02] [ 9.38187343e-01 2.17662882e-01 -2.69123352e-01 8.87894372e+01] [ 2.76394384e-01 -3.08542650e-03 9.61039346e-01 2.55102466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78088847899997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:113.21, Y:88.81, Z:25.52 [[ 2.07991251e-01 -9.76098496e-01 -6.30187668e-02 1.13209810e+02] [ 9.38213690e-01 2.17306373e-01 -2.69319534e-01 8.88148380e+01] [ 2.76576772e-01 -3.10896294e-03 9.60986797e-01 2.55174846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81088847899997 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:113.22, Y:88.84, Z:25.52 [[ 2.06828052e-01 -9.76352544e-01 -6.29115789e-02 1.13216511e+02] [ 9.38503908e-01 2.16158354e-01 -2.69232205e-01 8.88412188e+01] [ 2.76464411e-01 -3.35799018e-03 9.61018290e-01 2.55248798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84088847899997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:113.22, Y:88.87, Z:25.53 [[ 2.05752792e-01 -9.76575269e-01 -6.29804077e-02 1.13223029e+02] [ 9.38551083e-01 2.15146254e-01 -2.69877665e-01 8.88670148e+01] [ 2.77105852e-01 -3.58224670e-03 9.60832719e-01 2.55331431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87088847899997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.23, Y:88.89, Z:25.54 [[ 2.04699688e-01 -9.76796444e-01 -6.29821049e-02 1.13229538e+02] [ 9.38677028e-01 2.14136075e-01 -2.70242813e-01 8.88936539e+01] [ 2.77458960e-01 -3.80123548e-03 9.60729971e-01 2.55406585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90088847899997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:113.24, Y:88.92, Z:25.55 [[ 2.03414986e-01 -9.77057416e-01 -6.30963511e-02 1.13235003e+02] [ 9.38705122e-01 2.12936893e-01 -2.71091447e-01 8.89193092e+01] [ 2.78307450e-01 -4.08480504e-03 9.60483356e-01 2.55468975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93088847899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:113.24, Y:88.95, Z:25.55 [[ 2.03012311e-01 -9.77137518e-01 -6.31527667e-02 1.13240936e+02] [ 9.38609515e-01 2.12568427e-01 -2.71710955e-01 8.89454999e+01] [ 2.78923252e-01 -4.11511887e-03 9.60304579e-01 2.55546305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96088847899998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:113.25, Y:88.97, Z:25.56 [[ 2.02613556e-01 -9.77226917e-01 -6.30499732e-02 1.13246750e+02] [ 9.38727259e-01 2.12156349e-01 -2.71626245e-01 8.89721061e+01] [ 2.78816930e-01 -4.15156915e-03 9.60335298e-01 2.55619404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:89.00, Z:25.57 [[ 2.02556412e-01 -9.77250505e-01 -6.28677167e-02 1.13252876e+02] [ 9.38875037e-01 2.12048831e-01 -2.71199112e-01 8.89987747e+01] [ 2.78360495e-01 -4.09181086e-03 9.60467955e-01 2.55698485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02088847899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:113.26, Y:89.02, Z:25.58 [[ 2.02621005e-01 -9.77239862e-01 -6.28250019e-02 1.13258444e+02] [ 9.38810422e-01 2.12099763e-01 -2.71382907e-01 8.90239017e+01] [ 2.78531363e-01 -3.99288916e-03 9.60418834e-01 2.55769307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05088847899998 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:113.24, Y:89.06, Z:25.55 [[ 1.99114041e-01 -9.79917097e-01 -1.07741664e-02 1.13236229e+02] [ 9.42064601e-01 1.94427924e-01 -2.73335086e-01 8.90607195e+01] [ 2.69940523e-01 4.42748927e-02 9.61858538e-01 2.55498810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.29, Y:89.07, Z:25.61 [[ 2.02542801e-01 -9.73579986e-01 -1.05443936e-01 1.13286483e+02] [ 9.39046669e-01 2.23637924e-01 -2.61108086e-01 8.90655763e+01] [ 2.77790870e-01 -4.61312136e-02 9.59533295e-01 2.56082131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11088847899998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:113.24, Y:89.12, Z:25.55 [[ 1.96561936e-01 -9.80442579e-01 9.78541978e-03 1.13235302e+02] [ 9.44850648e-01 1.86741133e-01 -2.69044610e-01 8.91183142e+01] [ 2.61955451e-01 6.21296897e-02 9.63078005e-01 2.55460474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14088847899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:113.30, Y:89.12, Z:25.63 [[ 2.04250672e-01 -9.71148986e-01 -1.23090656e-01 1.13304833e+02] [ 9.38537763e-01 2.30013273e-01 -2.57372807e-01 8.91153974e+01] [ 2.78259826e-01 -6.29566602e-02 9.58440363e-01 2.56314696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17088847899998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:113.26, Y:89.17, Z:25.58 [[ 2.01747609e-01 -9.79346481e-01 -1.33556442e-02 1.13260610e+02] [ 9.42425416e-01 1.97818854e-01 -2.69633151e-01 8.91676895e+01] [ 2.66706275e-01 4.18111449e-02 9.62870495e-01 2.55770757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20088847899999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:113.31, Y:89.17, Z:25.64 [[ 2.05181415e-01 -9.73139455e-01 -1.04403967e-01 1.13309092e+02] [ 9.38651181e-01 2.25869354e-01 -2.60608895e-01 8.91722209e+01] [ 2.77190455e-01 -4.45268049e-02 9.59782692e-01 2.56383616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.230888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:113.30, Y:89.21, Z:25.63 [[ 2.06931003e-01 -9.76418161e-01 -6.15396998e-02 1.13297787e+02] [ 9.38548411e-01 2.15878321e-01 -2.69301748e-01 8.92050529e+01] [ 2.76236205e-01 -2.03110645e-03 9.61087631e-01 2.56291611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.260888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:113.30, Y:89.23, Z:25.64 [[ 2.06688222e-01 -9.76519844e-01 -6.07369179e-02 1.13303338e+02] [ 9.38599071e-01 2.15423502e-01 -2.69489329e-01 8.92312887e+01] [ 2.76245838e-01 -1.30734437e-03 9.61086119e-01 2.56363348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:113.26, Y:89.28, Z:25.58 [[ 1.96748755e-01 -9.79845080e-01 3.45477479e-02 1.13258500e+02] [ 9.46138331e-01 1.80503974e-01 -2.68776066e-01 8.92797051e+01] [ 2.57122900e-01 8.55683050e-02 9.62582921e-01 2.55819302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.320888479 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.35, Y:89.27, Z:25.69 [[ 2.07738751e-01 -9.67333124e-01 -1.45297072e-01 1.13350679e+02] [ 9.37643563e-01 2.39239474e-01 -2.52168641e-01 8.92670209e+01] [ 2.78691874e-01 -8.38516662e-02 9.56712986e-01 2.56930168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.350888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:89.31, Z:25.67 [[ 2.09330071e-01 -9.75836599e-01 -6.26406700e-02 1.13323424e+02] [ 9.37402963e-01 2.18492822e-01 -2.71176276e-01 8.93098546e+01] [ 2.78310271e-01 -1.95420066e-03 9.60489237e-01 2.56660960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.380888479 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:113.33, Y:89.34, Z:25.67 [[ 2.09750535e-01 -9.75755221e-01 -6.25016998e-02 1.13329269e+02] [ 9.37379431e-01 2.18857661e-01 -2.70963332e-01 8.93364753e+01] [ 2.78072861e-01 -1.75310401e-03 9.60558385e-01 2.56738625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.410888479 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:113.33, Y:89.36, Z:25.68 [[ 2.10184045e-01 -9.75668047e-01 -6.24061680e-02 1.13334822e+02] [ 9.37304482e-01 2.19247464e-01 -2.70907471e-01 8.93621299e+01] [ 2.77998157e-01 -1.55315295e-03 9.60580352e-01 2.56809307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.440888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:89.39, Z:25.69 [[ 2.10432433e-01 -9.75616576e-01 -6.23737730e-02 1.13340615e+02] [ 9.37181854e-01 2.19477431e-01 -2.71145402e-01 8.93877079e+01] [ 2.78223585e-01 -1.39778146e-03 9.60515322e-01 2.56883065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.35, Y:89.41, Z:25.70 [[ 2.10693806e-01 -9.75552812e-01 -6.24886506e-02 1.13347082e+02] [ 9.36855239e-01 2.19761713e-01 -2.72042368e-01 8.94138408e+01] [ 2.79124310e-01 -1.22517756e-03 9.60254195e-01 2.56963588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:113.35, Y:89.44, Z:25.70 [[ 2.11098930e-01 -9.75453065e-01 -6.26782299e-02 1.13354327e+02] [ 9.36404636e-01 2.20205114e-01 -2.73232623e-01 8.94389475e+01] [ 2.80327666e-01 -1.01307084e-03 9.59903836e-01 2.57033708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.36, Y:89.47, Z:25.71 [[ 2.10890009e-01 -9.75494254e-01 -6.27404596e-02 1.13360776e+02] [ 9.36255903e-01 2.20022724e-01 -2.73888452e-01 8.94650539e+01] [ 2.80980938e-01 -9.80787529e-04 9.59712848e-01 2.57110089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56088847899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:113.37, Y:89.49, Z:25.72 [[ 2.10761155e-01 -9.75520487e-01 -6.27655532e-02 1.13367373e+02] [ 9.36143048e-01 2.19906597e-01 -2.74367058e-01 8.94913696e+01] [ 2.81453245e-01 -9.31618225e-04 9.59574491e-01 2.57184927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.36, Y:89.53, Z:25.70 [[ 2.07817919e-01 -9.77908236e-01 -2.25210000e-02 1.13357641e+02] [ 9.39560104e-01 2.05967183e-01 -2.73503802e-01 8.95311872e+01] [ 2.72100207e-01 3.56791578e-02 9.61607235e-01 2.56975944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.38, Y:89.55, Z:25.72 [[ 2.07630807e-01 -9.76049798e-01 -6.49325797e-02 1.13383885e+02] [ 9.39424936e-01 2.17464713e-01 -2.64933742e-01 8.95470028e+01] [ 2.72709070e-01 -5.99087786e-03 9.62077893e-01 2.57237660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:89.56, Z:25.75 [[ 2.06097646e-01 -9.74001594e-01 -9.40460231e-02 1.13400586e+02] [ 9.38370080e-01 2.23975759e-01 -2.63242194e-01 8.95607225e+01] [ 2.77462346e-01 -3.39963777e-02 9.60134831e-01 2.57517353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.68088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:89.59, Z:25.75 [[ 2.01916274e-01 -9.77470457e-01 -6.14924745e-02 1.13396214e+02] [ 9.39421566e-01 2.11047520e-01 -2.70085295e-01 8.95908108e+01] [ 2.76978231e-01 -3.23274017e-03 9.60870756e-01 2.57461769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.40, Y:89.62, Z:25.75 [[ 1.99039643e-01 -9.78074955e-01 -6.12584892e-02 1.13403357e+02] [ 9.40260221e-01 2.08215043e-01 -2.69364461e-01 8.96174661e+01] [ 2.76213572e-01 -3.98471449e-03 9.61088021e-01 2.57537343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74088847899998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.41, Y:89.64, Z:25.76 [[ 1.96252268e-01 -9.78647369e-01 -6.11095289e-02 1.13410021e+02] [ 9.40941272e-01 2.05492816e-01 -2.69076616e-01 8.96425477e+01] [ 2.75888691e-01 -4.69358178e-03 9.61178131e-01 2.57608636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77088847899998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:113.42, Y:89.67, Z:25.77 [[ 1.94064432e-01 -9.79094277e-01 -6.09376093e-02 1.13416836e+02] [ 9.41514737e-01 2.03339791e-01 -2.68706027e-01 8.96682398e+01] [ 2.75479574e-01 -5.22737463e-03 9.61292712e-01 2.57680983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:89.69, Z:25.78 [[ 1.89916723e-01 -9.79927858e-01 -6.06055409e-02 1.13424569e+02] [ 9.42693406e-01 1.99252722e-01 -2.67633136e-01 8.96944305e+01] [ 2.74336985e-01 -6.30443560e-03 9.61612954e-01 2.57752650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83088847899998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:113.43, Y:89.72, Z:25.78 [[ 1.88132534e-01 -9.80288766e-01 -6.03331096e-02 1.13431120e+02] [ 9.43310085e-01 1.97455730e-01 -2.66790777e-01 8.97199784e+01] [ 2.73445120e-01 -6.72080580e-03 9.61864126e-01 2.57821219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86088847899998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:113.44, Y:89.75, Z:25.79 [[ 1.86676177e-01 -9.80579998e-01 -6.01238029e-02 1.13437794e+02] [ 9.43769098e-01 1.95993078e-01 -2.66245380e-01 8.97465470e+01] [ 2.72858744e-01 -7.04131759e-03 9.62028339e-01 2.57897170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89088847899998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:113.44, Y:89.77, Z:25.80 [[ 1.85668759e-01 -9.80782037e-01 -5.99475381e-02 1.13444115e+02] [ 9.44099304e-01 1.94972203e-01 -2.65823897e-01 8.97717759e+01] [ 2.72403407e-01 -7.24123591e-03 9.62155886e-01 2.57970073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:113.45, Y:89.80, Z:25.80 [[ 1.85028046e-01 -9.80901835e-01 -5.99684338e-02 1.13450871e+02] [ 9.44090892e-01 1.94364788e-01 -2.66298173e-01 8.97977423e+01] [ 2.72868119e-01 -7.34302144e-03 9.62023425e-01 2.58039651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95088847899999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.46, Y:89.82, Z:25.81 [[ 1.85291086e-01 -9.80848796e-01 -6.00237697e-02 1.13456770e+02] [ 9.43863545e-01 1.94637637e-01 -2.66904099e-01 8.98230067e+01] [ 2.73475449e-01 -7.19929768e-03 9.61852041e-01 2.58105307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.980888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:113.46, Y:89.85, Z:25.82 [[ 1.87368398e-01 -9.80482536e-01 -5.95573746e-02 1.13462263e+02] [ 9.43209074e-01 1.96514922e-01 -2.67840489e-01 8.98470352e+01] [ 2.74316835e-01 -5.99021279e-03 9.61620711e-01 2.58169122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010888479 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:113.47, Y:89.88, Z:25.82 [[ 1.87666689e-01 -9.80469695e-01 -5.88250870e-02 1.13469536e+02] [ 9.42980819e-01 1.96604916e-01 -2.68577144e-01 8.98758224e+01] [ 2.74897052e-01 -5.06794530e-03 9.61460310e-01 2.58241766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.040888479 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:113.48, Y:89.90, Z:25.83 [[ 1.88418478e-01 -9.80251512e-01 -6.00454030e-02 1.13476234e+02] [ 9.42939033e-01 1.97659718e-01 -2.67948905e-01 8.99024083e+01] [ 2.74525877e-01 -6.13262929e-03 9.61560156e-01 2.58316773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.070888479 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:113.48, Y:89.93, Z:25.84 [[ 1.89115794e-01 -9.80127665e-01 -5.98746681e-02 1.13481998e+02] [ 9.42921679e-01 1.98281190e-01 -2.67550511e-01 8.99283488e+01] [ 2.74105678e-01 -5.85909525e-03 9.61681729e-01 2.58380758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.100888479 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:113.49, Y:89.95, Z:25.84 [[ 1.90792092e-01 -9.79821905e-01 -5.95601628e-02 1.13488613e+02] [ 9.42890853e-01 1.99802061e-01 -2.66525752e-01 8.99529275e+01] [ 2.73048013e-01 -5.30772683e-03 9.61985764e-01 2.58442128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.130888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.50, Y:89.98, Z:25.85 [[ 1.91368749e-01 -9.79723283e-01 -5.93320307e-02 1.13495070e+02] [ 9.42987700e-01 2.00290975e-01 -2.65815205e-01 8.99778596e+01] [ 2.72309016e-01 -5.08065200e-03 9.62196439e-01 2.58518084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.160888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.50, Y:90.00, Z:25.86 [[ 1.91855954e-01 -9.79645872e-01 -5.90360818e-02 1.13501658e+02] [ 9.43167521e-01 2.00674705e-01 -2.64886181e-01 9.00028566e+01] [ 2.71341703e-01 -4.86092392e-03 9.62470806e-01 2.58595374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.190888479 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.51, Y:90.03, Z:25.87 [[ 1.92502410e-01 -9.79538649e-01 -5.87099486e-02 1.13508202e+02] [ 9.43354087e-01 2.01203601e-01 -2.63818455e-01 9.00283334e+01] [ 2.70233026e-01 -4.59858171e-03 9.62783966e-01 2.58673365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22088847899997 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:113.52, Y:90.05, Z:25.88 [[ 1.94903353e-01 -9.79090156e-01 -5.82679089e-02 1.13515232e+02] [ 9.43329470e-01 2.03390234e-01 -2.62224950e-01 9.00538755e+01] [ 2.68592991e-01 -3.85731347e-03 9.63246036e-01 2.58750158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25088847899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:113.52, Y:90.08, Z:25.88 [[ 1.96237246e-01 -9.78831277e-01 -5.81401276e-02 1.13520473e+02] [ 9.43109664e-01 2.04640424e-01 -2.62042856e-01 9.00782409e+01] [ 2.68393564e-01 -3.40994798e-03 9.63303310e-01 2.58817311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28088847899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:113.53, Y:90.10, Z:25.89 [[ 1.98243188e-01 -9.78087435e-01 -6.35972240e-02 1.13528120e+02] [ 9.43222325e-01 2.08014823e-01 -2.58962310e-01 9.01013482e+01] [ 2.66516947e-01 -8.64880752e-03 9.63791427e-01 2.58906609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31088847899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:113.53, Y:90.13, Z:25.89 [[ 1.98409178e-01 -9.78753888e-01 -5.17167718e-02 1.13528817e+02] [ 9.42567056e-01 2.05007436e-01 -2.63703045e-01 9.01301177e+01] [ 2.68702704e-01 3.57457919e-03 9.63216528e-01 2.58926549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34088847899997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.54, Y:90.15, Z:25.90 [[ 1.99422027e-01 -9.78189256e-01 -5.81088112e-02 1.13537462e+02] [ 9.42198189e-01 2.07702666e-01 -2.62910965e-01 9.01532921e+01] [ 2.69246036e-01 -2.31977916e-03 9.63068632e-01 2.59009877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37088847899997 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:113.54, Y:90.18, Z:25.91 [[ 1.99343199e-01 -9.78201925e-01 -5.81659869e-02 1.13543655e+02] [ 9.42019136e-01 2.07643792e-01 -2.63598184e-01 9.01792077e+01] [ 2.69930057e-01 -2.24696741e-03 9.62877311e-01 2.59078533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40088847899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:90.20, Z:25.91 [[ 1.98503903e-01 -9.78374298e-01 -5.81371961e-02 1.13549341e+02] [ 9.42122342e-01 2.06828446e-01 -2.63870207e-01 9.02036700e+01] [ 2.70188254e-01 -2.39308556e-03 9.62804539e-01 2.59148746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:113.55, Y:90.23, Z:25.92 [[ 1.96328251e-01 -9.78821721e-01 -5.79935847e-02 1.13554806e+02] [ 9.42653029e-01 2.04693873e-01 -2.63639309e-01 9.02286360e+01] [ 2.69926813e-01 -2.90798383e-03 9.62876451e-01 2.59219113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46088847899998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:113.56, Y:90.25, Z:25.93 [[ 1.94887682e-01 -9.79118420e-01 -5.78438446e-02 1.13559820e+02] [ 9.43035930e-01 2.03265218e-01 -2.63375182e-01 9.02543870e+01] [ 2.69633134e-01 -3.22024511e-03 9.62957737e-01 2.59284650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.56, Y:90.28, Z:25.94 [[ 1.93476979e-01 -9.79402701e-01 -5.77668403e-02 1.13564890e+02] [ 9.43320262e-01 2.01885877e-01 -2.63417873e-01 9.02797810e+01] [ 2.69654486e-01 -3.52733656e-03 9.62950682e-01 2.59352203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.57, Y:90.30, Z:25.94 [[ 1.91912383e-01 -9.79710465e-01 -5.77671448e-02 1.13570126e+02] [ 9.43556052e-01 2.00380228e-01 -2.63722850e-01 9.03042894e+01] [ 2.69947430e-01 -3.89485851e-03 9.62867185e-01 2.59418538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55088847899998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:113.58, Y:90.33, Z:25.95 [[ 1.89453332e-01 -9.80197250e-01 -5.76262674e-02 1.13575666e+02] [ 9.44129728e-01 1.97972749e-01 -2.63487852e-01 9.03298911e+01] [ 2.69678498e-01 -4.48802070e-03 9.62939959e-01 2.59485540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58088847899998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:113.58, Y:90.36, Z:25.96 [[ 1.87863810e-01 -9.80508454e-01 -5.75357400e-02 1.13581346e+02] [ 9.44459822e-01 1.96417181e-01 -2.63469043e-01 9.03565672e+01] [ 2.69634631e-01 -4.84389671e-03 9.62950519e-01 2.59559679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61088847899998 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:113.58, Y:90.39, Z:25.96 [[ 1.85837388e-01 -9.81495163e-01 -4.61704499e-02 1.13581324e+02] [ 9.43764012e-01 1.91375627e-01 -2.69601298e-01 9.03853168e+01] [ 2.73448268e-01 6.52799194e-03 9.61864559e-01 2.59592640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.60, Y:90.40, Z:25.97 [[ 1.83822333e-01 -9.80499660e-01 -6.94965227e-02 1.13595593e+02] [ 9.45192064e-01 1.95726949e-01 -2.61348279e-01 9.04049596e+01] [ 2.69854241e-01 -1.76459114e-02 9.62739482e-01 2.59739671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67088847899998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.59, Y:90.44, Z:25.97 [[ 1.83041063e-01 -9.81916434e-01 -4.83330809e-02 1.13591490e+02] [ 9.44484799e-01 1.89282390e-01 -2.68552866e-01 9.04358737e+01] [ 2.72845073e-01 3.50634202e-03 9.62051595e-01 2.59720780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70088847899999 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:113.60, Y:90.46, Z:25.98 [[ 1.81845062e-01 -9.81780698e-01 -5.51274315e-02 1.13598885e+02] [ 9.44684651e-01 1.89985992e-01 -2.67350393e-01 9.04606418e+01] [ 2.72952896e-01 -3.46168948e-03 9.62021171e-01 2.59819311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.730888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:113.61, Y:90.49, Z:25.99 [[ 1.82083937e-01 -9.81277279e-01 -6.27721461e-02 1.13605161e+02] [ 9.44049301e-01 1.92315332e-01 -2.67928592e-01 9.04856102e+01] [ 2.74984286e-01 -1.04745078e-02 9.61391662e-01 2.59926255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.760888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:113.61, Y:90.51, Z:26.00 [[ 1.83535722e-01 -9.80794192e-01 -6.60105461e-02 1.13610796e+02] [ 9.44097872e-01 1.94579249e-01 -2.66116749e-01 9.05093303e+01] [ 2.73850045e-01 -1.34784863e-02 9.61677952e-01 2.60009938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790888479 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:113.61, Y:90.54, Z:26.00 [[ 1.83192531e-01 -9.81649419e-01 -5.29614484e-02 1.13609063e+02] [ 9.43210767e-01 1.90694528e-01 -2.72009274e-01 9.05376825e+01] [ 2.77117204e-01 -1.23741030e-04 9.60836115e-01 2.60024865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.820888479 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:113.61, Y:90.56, Z:26.01 [[ 1.83898082e-01 -9.81450025e-01 -5.41972756e-02 1.13614091e+02] [ 9.43102201e-01 1.91714676e-01 -2.71668404e-01 9.05644624e+01] [ 2.77019374e-01 -1.15427153e-03 9.60863640e-01 2.60098226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.850888479 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:113.62, Y:90.59, Z:26.02 [[ 1.85115522e-01 -9.80501732e-01 -6.59438971e-02 1.13623898e+02] [ 9.43504032e-01 1.96094925e-01 -2.67108445e-01 9.05870098e+01] [ 2.74831556e-01 -1.27724136e-02 9.61407552e-01 2.60218200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.880888479 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:113.62, Y:90.62, Z:26.02 [[ 1.84564612e-01 -9.81342316e-01 -5.38809997e-02 1.13622865e+02] [ 9.43412965e-01 1.92266300e-01 -2.70195572e-01 9.06155306e+01] [ 2.75513849e-01 -9.63492647e-04 9.61296620e-01 2.60244463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.910888479 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:113.63, Y:90.64, Z:26.03 [[ 1.85455519e-01 -9.81240131e-01 -5.26692987e-02 1.13625911e+02] [ 9.43143774e-01 1.92788779e-01 -2.70762458e-01 9.06414509e+01] [ 2.75837039e-01 5.39670889e-04 9.61204264e-01 2.60326383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.940888479 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:113.64, Y:90.66, Z:26.06 [[ 1.86156200e-01 -9.79236346e-01 -8.02623634e-02 1.13643984e+02] [ 9.42317934e-01 2.01071138e-01 -2.67595420e-01 9.06614883e+01] [ 2.78177606e-01 -2.58181179e-02 9.60182610e-01 2.60575569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97088847899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:113.63, Y:90.69, Z:26.04 [[ 1.84246834e-01 -9.81962511e-01 -4.24585921e-02 1.13628745e+02] [ 9.44204062e-01 1.88830304e-01 -2.69855156e-01 9.06942266e+01] [ 2.73005115e-01 9.63038288e-03 9.61964377e-01 2.60415668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00088847899997 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:113.64, Y:90.72, Z:26.05 [[ 1.84184380e-01 -9.81568556e-01 -5.09831640e-02 1.13636829e+02] [ 9.44052120e-01 1.91105412e-01 -2.68783028e-01 9.07177783e+01] [ 2.73572127e-01 1.37487134e-03 9.61850509e-01 2.60527725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03088847899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:113.65, Y:90.74, Z:26.07 [[ 1.88427031e-01 -9.79611539e-01 -6.96885031e-02 1.13648505e+02] [ 9.43959740e-01 2.00235234e-01 -2.62384948e-01 9.07358576e+01] [ 2.70989416e-01 -1.63427245e-02 9.62443584e-01 2.60657437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06088847899997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:113.65, Y:90.76, Z:26.07 [[ 1.89282266e-01 -9.80341322e-01 -5.57056267e-02 1.13647041e+02] [ 9.43645033e-01 1.97296074e-01 -2.65722244e-01 9.07642937e+01] [ 2.71488997e-01 -2.26982956e-03 9.62438867e-01 2.60669072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.65, Y:90.79, Z:26.07 [[ 1.90215323e-01 -9.80151865e-01 -5.58610158e-02 1.13651937e+02] [ 9.43117168e-01 1.98238869e-01 -2.66892035e-01 9.07907776e+01] [ 2.72668550e-01 -1.91652827e-03 9.62106121e-01 2.60745549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.67, Y:90.81, Z:26.10 [[ 1.95504718e-01 -9.77086011e-01 -8.41476823e-02 1.13674944e+02] [ 9.39537145e-01 2.11206259e-01 -2.69558658e-01 9.08138724e+01] [ 2.81154511e-01 -2.63598837e-02 9.59300421e-01 2.61044569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15088847899997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.67, Y:90.85, Z:26.10 [[ 1.95072694e-01 -9.78762118e-01 -6.30187308e-02 1.13671669e+02] [ 9.39747927e-01 2.04916093e-01 -2.73648001e-01 9.08453433e+01] [ 2.80749850e-01 -5.84046887e-03 9.59763206e-01 2.61030078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18088847899998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:113.68, Y:90.87, Z:26.11 [[ 1.95345505e-01 -9.78645263e-01 -6.39811083e-02 1.13676636e+02] [ 9.39491392e-01 2.05451726e-01 -2.74126820e-01 9.08702665e+01] [ 2.81417943e-01 -6.56025816e-03 9.59562871e-01 2.61112817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:113.66, Y:90.90, Z:26.10 [[ 1.92605232e-01 -9.80637848e-01 -3.53925847e-02 1.13664063e+02] [ 9.41903713e-01 1.94871192e-01 -2.73573783e-01 9.08990128e+01] [ 2.75173801e-01 1.93553349e-02 9.61199641e-01 2.60971012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24088847899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:113.68, Y:90.92, Z:26.11 [[ 1.92853145e-01 -9.79635919e-01 -5.58670759e-02 1.13677825e+02] [ 9.41748846e-01 2.00781299e-01 -2.69807305e-01 9.09191386e+01] [ 2.75529991e-01 -5.79566971e-04 9.61292301e-01 2.61133806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27088847899998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.70, Y:90.94, Z:26.14 [[ 1.96966315e-01 -9.77686823e-01 -7.30256555e-02 1.13695172e+02] [ 9.39534021e-01 2.09513197e-01 -2.70887512e-01 9.09442535e+01] [ 2.80142990e-01 -1.52543728e-02 9.59837074e-01 2.61375143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30088847899998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:113.70, Y:90.97, Z:26.15 [[ 1.99236227e-01 -9.77349378e-01 -7.13660968e-02 1.13702739e+02] [ 9.38485832e-01 2.11259555e-01 -2.73155166e-01 9.09711292e+01] [ 2.82044801e-01 -1.25536661e-02 9.59319100e-01 2.61480624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.69, Y:91.00, Z:26.14 [[ 1.96604815e-01 -9.79359493e-01 -4.69204687e-02 1.13694233e+02] [ 9.39990689e-01 2.01879885e-01 -2.75067296e-01 9.10016370e+01] [ 2.78862066e-01 9.97475103e-03 9.60279362e-01 2.61414809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36088847899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:113.70, Y:91.02, Z:26.15 [[ 1.93809982e-01 -9.79722009e-01 -5.08180763e-02 1.13696444e+02] [ 9.41586503e-01 2.00308381e-01 -2.70723863e-01 9.10234030e+01] [ 2.75413413e-01 4.61937219e-03 9.61314784e-01 2.61451535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:91.05, Z:26.15 [[ 1.93764513e-01 -9.79480168e-01 -5.54428950e-02 1.13703833e+02] [ 9.41566015e-01 2.01540549e-01 -2.69879319e-01 9.10477008e+01] [ 2.75515432e-01 8.98890760e-05 9.61296645e-01 2.61544320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42088847899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.71, Y:91.07, Z:26.16 [[ 1.93587979e-01 -9.79507014e-01 -5.55851095e-02 1.13709580e+02] [ 9.41309208e-01 2.01410022e-01 -2.70870777e-01 9.10740660e+01] [ 2.76515224e-01 1.14551061e-04 9.61009530e-01 2.61626856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45088847899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:91.10, Z:26.17 [[ 1.93448424e-01 -9.79535838e-01 -5.55630260e-02 1.13715564e+02] [ 9.41254554e-01 2.01269764e-01 -2.71164795e-01 9.11002568e+01] [ 2.76798792e-01 1.57451163e-04 9.60927887e-01 2.61704998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.480888479 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:113.72, Y:91.13, Z:26.18 [[ 1.92717143e-01 -9.79680950e-01 -5.55458235e-02 1.13721256e+02] [ 9.41314524e-01 2.00562296e-01 -2.71480629e-01 9.11256553e+01] [ 2.77104798e-01 3.28806101e-05 9.60839700e-01 2.61784896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.73, Y:91.15, Z:26.19 [[ 1.91422663e-01 -9.79932139e-01 -5.55910614e-02 1.13726175e+02] [ 9.41425820e-01 1.99331208e-01 -2.72000909e-01 9.11513274e+01] [ 2.77623467e-01 -2.67722011e-04 9.60689929e-01 2.61857841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.540888479 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.73, Y:91.18, Z:26.18 [[ 1.89928313e-01 -9.81070264e-01 -3.77938307e-02 1.13725733e+02] [ 9.42258670e-01 1.92958694e-01 -2.73707036e-01 9.11838774e+01] [ 2.75818482e-01 1.63731509e-02 9.61070281e-01 2.61808974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.570888479 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:113.74, Y:91.20, Z:26.21 [[ 1.88380469e-01 -9.79293885e-01 -7.41369369e-02 1.13744635e+02] [ 9.41439908e-01 2.01561890e-01 -2.70302984e-01 9.11986537e+01] [ 2.79649241e-01 -1.88756682e-02 9.59916669e-01 2.62071797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.600888479 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:91.23, Z:26.21 [[ 1.85360118e-01 -9.81074330e-01 -5.59891604e-02 1.13743739e+02] [ 9.41679894e-01 1.93623969e-01 -2.75224881e-01 9.12284285e+01] [ 2.80856909e-01 -1.70815035e-03 9.59748133e-01 2.62065856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.630888479 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:113.75, Y:91.25, Z:26.21 [[ 1.83531700e-01 -9.81416349e-01 -5.60184342e-02 1.13749500e+02] [ 9.41862392e-01 1.91878535e-01 -2.75822157e-01 9.12525734e+01] [ 2.81445109e-01 -2.13954695e-03 9.59574944e-01 2.62141085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.660888479 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:113.76, Y:91.28, Z:26.22 [[ 1.81814319e-01 -9.81741550e-01 -5.59203292e-02 1.13755487e+02] [ 9.42204937e-01 1.90202707e-01 -2.75812958e-01 9.12769181e+01] [ 2.81413239e-01 -2.54166509e-03 9.59583310e-01 2.62215800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.690888479 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:113.76, Y:91.30, Z:26.23 [[ 1.78390231e-01 -9.82378604e-01 -5.57602338e-02 1.13762181e+02] [ 9.42964774e-01 1.86870229e-01 -2.75494017e-01 9.13023324e+01] [ 2.81059355e-01 -3.43449484e-03 9.59684241e-01 2.62294903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72088847899997 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:113.77, Y:91.33, Z:26.24 [[ 1.76790490e-01 -9.82675289e-01 -5.56273330e-02 1.13767549e+02] [ 9.43343061e-01 1.85296374e-01 -2.75261918e-01 9.13278578e+01] [ 2.80800627e-01 -3.81196938e-03 9.59758551e-01 2.62370034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75088847899997 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:113.77, Y:91.35, Z:26.24 [[ 1.75738157e-01 -9.82876951e-01 -5.53985516e-02 1.13773032e+02] [ 9.43752798e-01 1.84219085e-01 -2.74579653e-01 9.13533443e+01] [ 2.80083483e-01 -4.02841590e-03 9.59967195e-01 2.62444893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78088847899997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:113.78, Y:91.38, Z:26.25 [[ 1.74918278e-01 -9.83045350e-01 -5.50039574e-02 1.13778961e+02] [ 9.44365118e-01 1.83314985e-01 -2.73075337e-01 9.13782647e+01] [ 2.78528490e-01 -4.17795107e-03 9.60418880e-01 2.62522217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81088847899997 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:113.78, Y:91.40, Z:26.26 [[ 1.74704315e-01 -9.83106205e-01 -5.45947927e-02 1.13783965e+02] [ 9.44877900e-01 1.82988969e-01 -2.71515729e-01 9.14030490e+01] [ 2.76919043e-01 -4.15044373e-03 9.60884289e-01 2.62590987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84088847899997 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:113.79, Y:91.43, Z:26.27 [[ 1.74572277e-01 -9.83146491e-01 -5.42908597e-02 1.13788547e+02] [ 9.45212167e-01 1.82773644e-01 -2.70495387e-01 9.14290485e+01] [ 2.75859529e-01 -4.09538558e-03 9.61189236e-01 2.62659915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87088847899997 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:113.74, Y:91.49, Z:26.21 [[ 1.68790066e-01 -9.84412789e-01 4.94102729e-02 1.13744208e+02] [ 9.51462406e-01 1.49641690e-01 -2.68936152e-01 9.14884933e+01] [ 2.57350351e-01 9.24057678e-02 9.61889792e-01 2.62051968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90088847899997 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:113.84, Y:91.46, Z:26.32 [[ 1.74551076e-01 -9.73182048e-01 -1.49828648e-01 1.13835073e+02] [ 9.46422147e-01 2.07807585e-01 -2.47186421e-01 9.14642095e+01] [ 2.71692916e-01 -9.86544949e-02 9.57314081e-01 2.63201111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93088847899998 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:113.80, Y:91.51, Z:26.28 [[ 1.74653546e-01 -9.83180930e-01 -5.33984844e-02 1.13800836e+02] [ 9.46113801e-01 1.82594468e-01 -2.67447071e-01 9.15097251e+01] [ 2.72699128e-01 -3.81046370e-03 9.62091818e-01 2.62844259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96088847899998 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:113.81, Y:91.55, Z:26.27 [[ 1.78952899e-01 -9.83469547e-01 -2.76316820e-02 1.13805401e+02] [ 9.46261460e-01 1.79736326e-01 -2.68857031e-01 9.15531621e+01] [ 2.69379119e-01 2.19659493e-02 9.62783666e-01 2.62748397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99088847899998 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:113.82, Y:91.56, Z:26.31 [[ 1.75467078e-01 -9.81010356e-01 -8.26437287e-02 1.13820148e+02] [ 9.46690813e-01 1.91171815e-01 -2.59287181e-01 9.15565563e+01] [ 2.70162561e-01 -3.27416947e-02 9.62257851e-01 2.63087371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02088847899998 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:113.81, Y:91.59, Z:26.30 [[ 1.76600143e-01 -9.82589027e-01 -5.77164992e-02 1.13813293e+02] [ 9.47256800e-01 1.85596308e-01 -2.61263401e-01 9.15875998e+01] [ 2.67426520e-01 -8.53319232e-03 9.63540472e-01 2.63043879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05088847899998 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:113.81, Y:91.62, Z:26.31 [[ 1.77349204e-01 -9.82801865e-01 -5.14563290e-02 1.13813629e+02] [ 9.47685471e-01 1.84645083e-01 -2.60381338e-01 9.16156440e+01] [ 2.65404423e-01 -2.58599235e-03 9.64133707e-01 2.63075426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08088847899998 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:113.81, Y:91.64, Z:26.31 [[ 1.79107699e-01 -9.82523064e-01 -5.06839387e-02 1.13813234e+02] [ 9.48334464e-01 1.86129645e-01 -2.56938709e-01 9.16422917e+01] [ 2.61881991e-01 -2.04562504e-03 9.65097735e-01 2.63118422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11088847899998 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:113.82, Y:91.67, Z:26.32 [[ 1.80472090e-01 -9.82294232e-01 -5.02779007e-02 1.13815799e+02] [ 9.48519062e-01 1.87337870e-01 -2.55374455e-01 9.16691604e+01] [ 2.60271809e-01 -1.60158559e-03 9.65534060e-01 2.63179942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14088847899998 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:113.82, Y:91.70, Z:26.32 [[ 1.81690705e-01 -9.82091358e-01 -4.98503061e-02 1.13817888e+02] [ 9.48764940e-01 1.88401461e-01 -2.53672975e-01 9.16950111e+01] [ 2.58521907e-01 -1.20620091e-03 9.66004642e-01 2.63241655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17088847899998 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:113.82, Y:91.72, Z:26.33 [[ 1.82808819e-01 -9.81901180e-01 -4.95076629e-02 1.13819800e+02] [ 9.48900615e-01 1.89392133e-01 -2.52424728e-01 9.17210387e+01] [ 2.57232500e-01 -8.32385494e-04 9.66349185e-01 2.63303946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20088847899999 meters Centerline goodness : 0.990858 Centerline is valid? [True, True] Translation: X:113.82, Y:91.75, Z:26.34 [[ 1.84786426e-01 -9.81563118e-01 -4.88653433e-02 1.13817612e+02] [ 9.49282736e-01 1.91138119e-01 -2.49656779e-01 9.17493410e+01] [ 2.54393916e-01 -2.53842894e-04 9.67100652e-01 2.63355818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.230888479 meters Centerline goodness : 0.990096 Centerline is valid? [True, True] Translation: X:113.82, Y:91.78, Z:26.34 [[ 1.85158383e-01 -9.81506034e-01 -4.86032736e-02 1.13818008e+02] [ 9.49451811e-01 1.91431184e-01 -2.48787781e-01 9.17760858e+01] [ 2.53490890e-01 -8.13229830e-05 9.67337770e-01 2.63410607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.260888479 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:113.82, Y:91.80, Z:26.35 [[ 1.85071757e-01 -9.81533299e-01 -4.83821004e-02 1.13817992e+02] [ 9.49664571e-01 1.91291353e-01 -2.48082287e-01 9.18028289e+01] [ 2.52756103e-01 -3.37418583e-05 9.67530026e-01 2.63462724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290888479 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:113.82, Y:91.83, Z:26.35 [[ 1.84374618e-01 -9.81674449e-01 -4.81796210e-02 1.13818172e+02] [ 9.49955727e-01 1.90565628e-01 -2.47525469e-01 9.18305215e+01] [ 2.52170808e-01 -1.31093205e-04 9.67682730e-01 2.63517364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.320888479 meters Centerline goodness : 0.988770 Centerline is valid? [True, True] Translation: X:113.81, Y:91.86, Z:26.36 [[ 1.81289205e-01 -9.82253904e-01 -4.80779751e-02 1.13813739e+02] [ 9.50567340e-01 1.87554174e-01 -2.47477604e-01 9.18579325e+01] [ 2.52103068e-01 -8.36334769e-04 9.67700028e-01 2.63551710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.350888479 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:113.81, Y:91.88, Z:26.36 [[ 1.78439335e-01 -9.82788985e-01 -4.78039116e-02 1.13813802e+02] [ 9.51358747e-01 1.84725778e-01 -2.46562205e-01 9.18840541e+01] [ 2.51149234e-01 -1.48227351e-03 9.67947243e-01 2.63597256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.380888479 meters Centerline goodness : 0.996055 Centerline is valid? [True, True] Translation: X:113.84, Y:91.95, Z:26.36 [[ 1.86184936e-01 -9.80815282e-01 -5.77628984e-02 1.13841083e+02] [ 9.51796248e-01 1.94637783e-01 -2.37065469e-01 9.19476279e+01] [ 2.43760277e-01 -1.08404908e-02 9.69774928e-01 2.63613012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.410888479 meters Centerline goodness : 0.990410 Centerline is valid? [True, True] Translation: X:113.80, Y:91.96, Z:26.32 [[ 1.68711394e-01 -9.85601440e-01 1.12369001e-02 1.13796645e+02] [ 9.57516309e-01 1.61177529e-01 -2.39132437e-01 9.19625672e+01] [ 2.33878138e-01 5.11038819e-02 9.70921938e-01 2.63214402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.440888479 meters Centerline goodness : 0.983096 Centerline is valid? [True, True] Translation: X:113.89, Y:91.94, Z:26.41 [[ 0.18534439 -0.96856368 -0.16592728 113.88853698] [ 0.95071469 0.21945427 -0.21904655 91.93846572] [ 0.24857399 -0.11715045 0.96150234 26.4063863 ] [ 0. 0. 0. 1. ]] SLAMing on 173.47088847899997 meters Centerline goodness : 0.986405 Centerline is valid? [True, True] Translation: X:113.88, Y:92.03, Z:26.42 [[ 1.77277450e-01 -9.77319787e-01 -1.15839287e-01 1.13877943e+02] [ 9.52781120e-01 1.99917385e-01 -2.28563289e-01 9.20261111e+01] [ 2.46537712e-01 -6.98503688e-02 9.66612685e-01 2.64159391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50088847899997 meters Centerline goodness : 0.974156 Centerline is valid? [True, True] Translation: X:113.82, Y:92.00, Z:26.37 [[ 1.72368340e-01 -9.84732985e-01 -2.42920711e-02 1.13821596e+02] [ 9.51523690e-01 1.72831683e-01 -2.54424601e-01 9.20047370e+01] [ 2.54738737e-01 2.07402650e-02 9.66787473e-01 2.63684221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53088847899997 meters Centerline goodness : 0.957082 Centerline is valid? [True, True] Translation: X:113.54, Y:92.03, Z:26.22 [[ 7.39240499e-02 -9.38674362e-01 3.36787288e-01 1.13543685e+02] [ 9.73875665e-01 -4.76060255e-03 -2.27031992e-01 9.20348586e+01] [ 2.14712420e-01 3.44772069e-01 9.13800195e-01 2.62196801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56088847899997 meters Centerline goodness : 0.948891 Centerline is valid? [True, False] Translation: X:113.91, Y:90.45, Z:26.40 [[ 0.93914104 0.14837703 0.30983601 113.91431087] [ -0.27296377 0.86991064 0.41078737 90.45403392] [ -0.20857823 -0.47036129 0.85747034 26.39635265] [ 0. 0. 0. 1. ]] SLAMing on 173.59088847899997 meters Centerline goodness : 0.966566 Centerline is valid? [False, True] Translation: X:113.93, Y:90.46, Z:26.38 [[ 0.94233925 0.14913408 0.29959265 113.93015891] [ -0.26395632 0.88153924 0.39142768 90.46446709] [ -0.20572747 -0.44793704 0.87007392 26.38159932] [ 0. 0. 0. 1. ]] SLAMing on 173.62088847899997 meters Centerline goodness : 0.942320 Centerline is valid? [True, False] Translation: X:113.97, Y:90.47, Z:26.36 [[ 0.94478892 0.15003665 0.29131238 113.96591975] [ -0.25723089 0.89032458 0.37570521 90.47212845] [ -0.20299302 -0.42989667 0.87976286 26.36262947] [ 0. 0. 0. 1. ]] SLAMing on 173.65088847899997 meters Centerline goodness : 0.907207 Centerline is valid? [False, False] Translation: X:113.98, Y:90.48, Z:26.35 [[ 0.94744792 0.15086935 0.28210085 113.98142192] [ -0.25044473 0.89845648 0.36062916 90.48255789] [ -0.19904745 -0.41232802 0.88902515 26.34990547] [ 0. 0. 0. 1. ]] SLAMing on 173.68088847899998 meters Centerline goodness : 0.168849 Centerline is valid? [False, False] Translation: X:114.00, Y:90.49, Z:26.34 [[ 0.95008763 0.15118868 0.27290195 113.99774678] [ -0.24381483 0.90556674 0.34713573 90.49295078] [ -0.19464793 -0.39634691 0.8972298 26.33776254] [ 0. 0. 0. 1. ]] SLAMing on 173.71088847899998 meters Centerline goodness : 0.733054 Centerline is valid? [False, False] Translation: X:114.04, Y:90.50, Z:26.32 [[ 0.94986976 0.15587757 0.27101591 114.03970224] [ -0.24571957 0.90818299 0.33885918 90.49606287] [ -0.19331149 -0.388466 0.90095773 26.31879038] [ 0. 0. 0. 1. ]] SLAMing on 173.74088847899998 meters Centerline goodness : 0.672389 Centerline is valid? [False, False] Translation: X:114.05, Y:90.51, Z:26.31 [[ 0.95215801 0.15526831 0.26322401 114.05453901] [ -0.2394955 0.9141369 0.32710187 90.50700092] [ -0.18983423 -0.37449363 0.90758883 26.30781896] [ 0. 0. 0. 1. ]] SLAMing on 173.77088847899998 meters Centerline goodness : 0.684494 Centerline is valid? [False, False] Translation: X:114.07, Y:90.52, Z:26.30 [[ 0.95425853 0.15408773 0.25621791 114.06825013] [ -0.23340647 0.91948891 0.31632509 90.51815121] [ -0.18684772 -0.36165883 0.91339522 26.29844193] [ 0. 0. 0. 1. ]] SLAMing on 173.80088847899998 meters Centerline goodness : 0.536169 Centerline is valid? [False, False] Translation: X:114.10, Y:90.54, Z:26.28 [[ 0.95645522 0.1621643 0.24268527 114.09937043] [ -0.22841828 0.93348374 0.27646554 90.54270288] [ -0.18170991 -0.31986067 0.92987669 26.27592766] [ 0. 0. 0. 1. ]] SLAMing on 173.83088847899998 meters Centerline goodness : 0.532683 Centerline is valid? [False, False] Translation: X:114.12, Y:90.56, Z:26.26 [[ 0.95852674 0.16703836 0.23092138 114.11651621] [ -0.22321907 0.94376808 0.24387509 90.56220426] [ -0.17719973 -0.28530685 0.94191308 26.26269443] [ 0. 0. 0. 1. ]] SLAMing on 173.86088847899998 meters Centerline goodness : 0.539090 Centerline is valid? [False, False] Translation: X:114.13, Y:90.58, Z:26.25 [[ 0.96026341 0.1708246 0.22071052 114.1315385 ] [ -0.21828889 0.95245615 0.21254941 90.58225791] [ -0.17390842 -0.25228207 0.9518979 26.25061657] [ 0. 0. 0. 1. ]] SLAMing on 173.89088847899998 meters Centerline goodness : 0.444528 Centerline is valid? [False, False] Translation: X:114.16, Y:90.60, Z:26.24 [[ 0.96168966 0.17254525 0.21302851 114.16393731] [ -0.21406867 0.95808894 0.19036858 90.60137399] [ -0.17125306 -0.22867822 0.95832075 26.23744584] [ 0. 0. 0. 1. ]] Total time of SLAM: 3369.81 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%| | 0/5796 [00:00